CN112161636B - Truck route planning method and system based on one-way simulation - Google Patents
Truck route planning method and system based on one-way simulation Download PDFInfo
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- CN112161636B CN112161636B CN202010887515.3A CN202010887515A CN112161636B CN 112161636 B CN112161636 B CN 112161636B CN 202010887515 A CN202010887515 A CN 202010887515A CN 112161636 B CN112161636 B CN 112161636B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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Abstract
The invention discloses a freight train route planning method and a system based on one-way simulation, wherein the method comprises the following steps: receiving a vehicle route planning request sent by a terminal; according to the starting place information and the destination information, performing one-way route simulation on the vehicle from the starting place to the destination; in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section; stopping the line simulation when the simulation line from the starting place to the destination is completed to form a complete line; and feeding back the complete line obtained by simulation as a vehicle planning line to the terminal. The method and the system set a route for avoiding the truck passing road section by combining the relevant information of the truck and the road.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a freight car route planning method and system based on one-way simulation.
Background
In the logistics industry, for customers with large one-time delivery quantity, large article volume and heavy weight, the goods characteristics of the customers determine that the vehicles for taking goods are medium-sized or large-sized trucks. The current route Calculation service (Routing Calculation) usually takes the car passing condition as a standard and plans a goods taking route. But in practice cars are passable and travel on roads where many trucks cannot or are not passable. Some of these restrictions are regulatory restrictions, and some are physical traffic restrictions. For example, it is common on roads to prohibit trucks 7:00-23:00 from entering a certain area, which is a traffic regulation restriction; some overpasses are limited to 3 meters in height, while most trucks are over 3 meters in height, resulting in a no-pass, which is a physical limitation.
With the development of economy, roads are increasingly repaired and complicated, and the passing of trucks is increasingly limited. If the truck enters a restricted area due to a route, the truck can be shot by an electronic eye to generate an electronic ticket or be subjected to spot punishment. If physical limitations such as height limitation and weight limitation exist on a driving route, a driver passes through the driving route without paying attention to the driving route, road facilities are damaged, vehicles are damaged, even if the driver pays attention to the limitation, the vehicles cannot pass through the driving route, only backing or other roads can be found, and a plurality of traffic hazards are brought. And road management is more and more strict and standard, field law enforcement and off-site snapshot are carried out, a truck is allowed to run a limit and is forbidden, fine deduction is carried out if the rate is low, heavy property loss is brought if the rate is high, due to inaccuracy of a planned route, the timeliness of goods taking/dispatching is inaccurate, time cost and expense cost are estimated to generate larger deviation with the reality, and further customer experience and the reputation of a logistics company are reduced.
Disclosure of Invention
The application provides a method and a system for planning a truck route based on one-way simulation, which are used for solving the problem that the route planned by the conventional route planning scheme is not suitable for the passing of trucks.
In order to solve the above problem, the present application provides a method for planning a route of a truck based on one-way simulation, including: s1, receiving a vehicle route planning request sent by a terminal, wherein the route planning request comprises starting place information, destination information and vehicle parameter information; s2, performing route simulation on the vehicle from the starting place to the destination according to the starting place information and the destination information; in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section; s3, stopping the line simulation when the simulation line from the starting place to the destination is completed to form a complete line; and S4, feeding back the complete circuit obtained by simulation to the terminal as a vehicle planning route.
As a further refinement of the present application, the vehicle parameter information includes a width, a height, a weight, and a vehicle type of the vehicle; the selectable road section information comprises road length, road width and road grade of the selectable road section, turning type between the current road section and the selectable road section, the current road section and the selectable road sectionSelecting traffic light information between road sections, and selecting vehicle width, height, weight and traffic control information of the road sections; and calculating the total cost value of each optional road section by combining the vehicle parameter information and the optional road section information, wherein the calculation comprises the following steps: and calculating the total cost value of each optional road section according to a cost calculation formula, wherein the cost calculation formula is as follows:
wherein cost is the total cost value of the selectable road segment, w i Weight values, z, of sub-items preset according to vehicle parameter information and optional road section information i The cost value of each sub item is determined according to the vehicle parameter information and the optional road section information.
As a further improvement of the present application, the preset weighted values of the sub-items according to the vehicle parameter information and the selectable road section information include: a road length weight value, a road width weight value, a road grade weight value, a turning type weight value, a red road lamp weight value, a vehicle width limit weight value, a vehicle height limit weight value, a vehicle weight limit weight value and a vehicle traffic restriction weight value; setting the values of the road length weight value, the road width weight value, the road grade weight value, the turning type weight value and the traffic light weight value according to a preset value rule; the values of the vehicle width limit weight value, the vehicle height limit weight value and the vehicle weight limit weight value are 0 or 1; the value of the vehicle restriction weight value is 0 or set according to the vehicle type.
As a further improvement of the present application, in the route simulation process, after selecting the selectable road segment with the minimum total cost value at the intersection as the next road segment, the method further includes: and performing sector area scanning at the intersection, judging the deviation degree of the selected next road section and the destination to be driven, adjusting the weight value of the turning type according to the direction of the destination when the deviation degree is greater than a preset value, and selecting the next road section with the smallest total cost value from all the selectable road sections again.
As a further improvement of the application, the preset sub-item cost values according to the vehicle parameter information and the optional road section information comprise: road length cost value, road width cost value, road grade cost value, turn type cost value, red road light cost value, vehicle width limit cost value, vehicle height limit cost value, vehicle weight limit cost value, and vehicle driving limit cost value; the road length cost value, the road width cost value and the road grade cost value are respectively valued according to the road length, the road width and the road grade of the selectable road section; the turning type cost value is taken according to the turning type of the intersection; the red road lamp value is taken according to the exchange time of traffic lights at the intersection; the vehicle width limit cost value, the vehicle height limit cost value and the vehicle weight limit cost value are respectively valued according to the relations of the width limit, the height limit and the weight limit of the selectable road section with the vehicle width, the vehicle height and the vehicle weight; and the vehicle restriction cost value is taken according to the restriction information of the selectable road section.
As a further improvement of the present application, after step S3 and before step S4, the method further includes:
s5, using the destination as a reference point, confirming a target intersection at a preset distance on the starting place driving to the destination simulation line; s6, taking the selectable road section corresponding to the minimum total cost value in the unselected total cost values as the next road section in the selectable road sections corresponding to the target intersection, and continuing to execute the steps S2-S3; the above steps S5 to S6 are executed in a loop until a preset number of candidate routes are obtained.
In order to solve the above problem, the present application further provides a system for planning a route of a truck based on one-way simulation, including: the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a vehicle route planning request sent by a terminal, and the route planning request comprises starting place information, destination information and vehicle parameter information; the route simulation module is used for carrying out route simulation on the vehicles from the starting place to the destination according to the starting place information and the destination information; in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section; the stopping module is used for stopping the line simulation when the simulation line from the starting place to the destination is completed to form a complete line; and the feedback module is used for feeding back the complete line obtained by simulation as a vehicle planning line to the terminal.
As a further improvement of the present application, the vehicle parameter information includes a width, a height, a weight, and a vehicle type of the vehicle; the selectable road section information comprises road length, road width and road grade of the selectable road section, turning type between the current road section and the selectable road section, traffic light information between the current road section and the selectable road section, and vehicle width, height, weight and traffic limitation information of the selectable road section; the route simulation module calculates the total cost value of each optional road section by combining the vehicle parameter information and the optional road section information, and the calculation method comprises the following steps: and calculating the total cost value of each optional road section according to a cost calculation formula, wherein the cost calculation formula is as follows:
wherein cost is the total cost value of the selectable road segment, w i Weight values, z, of sub-items preset according to vehicle parameter information and optional road section information i The cost value of each sub item is determined according to the vehicle parameter information and the optional road section information.
As a further improvement of the present application, the preset weighted values of the sub-items by the route simulation module according to the vehicle parameter information and the selectable road section information include: a road length weight value, a road width weight value, a road grade weight value, a turning type weight value, a red road lamp weight value, a vehicle width limit weight value, a vehicle height limit weight value, a vehicle weight limit weight value and a vehicle traffic restriction weight value; setting the values of the road length weight value, the road width weight value, the road grade weight value, the turning type weight value and the traffic light weight value according to a preset value rule; the values of the vehicle width limit weight value, the vehicle height limit weight value and the vehicle weight limit weight value are 0 or 1; the value of the vehicle restriction weight value is 0 or set according to the vehicle type.
As a further improvement of the present application, in the route simulation process, after the selectable road segment with the minimum total cost value is selected as the next road segment at the intersection, the route simulation module is further configured to:
and performing sector area scanning at the intersection, judging the deviation degree of the selected next road section and the destination to be driven, adjusting the weight value of the turning type according to the direction of the destination when the deviation degree is greater than a preset value, and selecting the next road section with the smallest total cost value from all the selectable road sections again.
As a further improvement of the present application, the preset sub-cost values of the route simulation module according to the vehicle parameter information and the selectable road section information include: road length cost value, road width cost value, road grade cost value, turn type cost value, red road light cost value, vehicle width limit cost value, vehicle height limit cost value, vehicle weight limit cost value, and vehicle driving limit cost value; the road length cost value, the road width cost value and the road grade cost value are respectively valued according to the road length, the road width and the road grade of the selectable road section; the turn type cost value is taken according to the turn type of the intersection; the red road lamp value is taken according to the exchange time of traffic lights at the intersection; the vehicle width limit cost value, the vehicle height limit cost value and the vehicle weight limit cost value are respectively valued according to the relations of the width limit, the height limit and the weight limit of the selectable road section with the vehicle width, the vehicle height and the vehicle weight; and the vehicle restriction cost value is taken according to the restriction information of the selectable road section.
As a further improvement of the present application, it further comprises: the confirming module is used for confirming a target intersection at a preset distance on a starting place driving to a destination simulation line by taking a destination as a reference point; the selection module is used for taking the selectable road section corresponding to the minimum total cost value in all the unselected total cost values as the next road section in the selectable road sections corresponding to the target intersection, and the line simulation module and the stopping module continue to execute corresponding operation steps; and the confirming module and the selecting module circularly execute the operations until a preset number of candidate routes are obtained.
Compared with the prior art, the truck route planning method based on the one-way simulation carries out the one-way route simulation on the condition that the vehicle drives from the starting place to the destination according to the information of the starting place and the information of the destination, carries out the total cost value calculation by combining the information of the vehicle parameters and the information of all selectable road sections at each intersection in the simulation process, selects a selectable road section with the minimum total cost value as the next road section at each intersection until the simulated lines driven from the starting place to the destination and from the destination to the starting place are intersected to form a complete route, stops the route simulation, finally obtains a route with the minimum total cost value, uses the total cost value of the selectable road sections as the selection standard in the route simulation process, ensures that the finally obtained complete route needs to pay the minimum cost, and helps the truck to avoid the road sections between the starting place and the destination and limiting the truck, the possibility of violation of regulations and accidents in the process of truck transportation is reduced, the problem of overtime taking/delivery due to inaccurate routes is avoided, and the problem of cost increase due to repeated detour to find the correct route is also avoided.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a truck route planning method based on one-way simulation according to the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of the truck route planning method based on one-way simulation according to the present invention;
FIG. 3 is a functional block diagram of a first embodiment of the one-way simulation based freight car route planning system according to the present invention;
fig. 4 is a functional block diagram of a second embodiment of the one-way simulation-based truck route planning system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 shows a flow chart of an embodiment of the truck route planning method based on one-way simulation of the present invention. As shown in fig. 1, the truck route planning method based on one-way simulation includes:
step S1: the method comprises the steps of receiving a vehicle route planning request sent by a terminal, wherein the route planning request comprises starting place information, destination information and vehicle parameter information.
In step S1, the terminal is a terminal carried by a truck and provides route guidance for a user, where the terminal includes, but is not limited to, a mobile phone, a tablet computer, and the like, the terminal downloads an electronic map, and the user submits a route planning request on the electronic map, where the route planning request includes start location information, which may be information input by the user, such as "XX building", or the start location information may also be geographical location information detected by the terminal through a positioning function; the destination information is the information input by the user. It should be noted that the vehicle parameter information includes the width, height, weight, and model of the vehicle.
Step S2: according to the starting place information and the destination information, performing route simulation on the vehicle from the starting place to the destination; in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section.
It should be noted that the selectable road section information includes road length, road width, and road grade of the selectable road section, turning type between the current road section and the selectable road section, traffic light information between the current road section and the selectable road section, and vehicle width, height, weight, and driving restriction information of the selectable road section.
In step S2, after the start point and the destination are acquired, a route simulation is performed for the vehicle traveling from the start point to the destination. When the road topology connectivity relation needs to be described, the road topology connectivity relation can be obtained through existing map software, the road sections in the embodiment are all road sections between two adjacent intersections, in the process of road simulation, the current road section of a truck is taken as the current road section, according to the simulated truck driving direction, all optional road section information of the current road section driving to the next intersection is obtained when the current road section meets the intersection, then the total cost value of each optional road section is calculated by combining vehicle parameter information and the optional road section information, and the optional road section with the minimum total cost value is selected as the next road section. For example, the current road section where the truck is located is an A road section, the intersection comprises a B road section, a C road section and a D road section which are communicated with the A road section, when the truck drives to the intersection on the A road section, the total cost values corresponding to the A road section, the B road section, the C road section and the D road section are obtained through calculation by combining vehicle parameter information and information of the A road section in the turning direction, the straight B road section, the left-turning C road section and the right-turning D road section, and then the road section with the minimum total cost value is selected as the next road section.
In this embodiment, the calculating the total cost value of each optional road segment by combining the vehicle parameter information and the optional road segment information includes:
and calculating the total cost value of each optional road section according to a cost calculation formula, wherein the cost calculation formula is as follows:
wherein cost is the total cost value of the selectable road segments, and n is the number of the sub-items.
w i The preset weight values of all sub items according to the vehicle parameter information and the optional road section information comprise: the road traffic control system comprises a road length weight value, a road width weight value, a road grade weight value, a turning type weight value, a red road lamp weight value, a vehicle width limit weight value, a vehicle height limit weight value, a vehicle weight limit weight value and a vehicle traffic control weight value. It should be noted that, each sub-item weight value represents a weight proportion assigned to each sub-item cost value type.
z i The cost value of each sub item determined according to the vehicle parameter information and the optional road section information comprises the following steps: road length cost value, road width cost value, road grade cost value, turn type cost value, red road light cost value, vehicle width limit cost value, vehicle height limit cost value, vehicle weight limit cost value, and vehicle driving limit cost value.
The road length weight value, the road width weight value, the road grade weight value, the turning type weight value and the traffic light weight value are set according to a preset value rule. The road grade is defined by the country, and is generally divided into: specific values of a road length weight value, a road width weight value and a road grade weight value are taken according to actual conditions of roads, and can be adjusted according to the actual conditions of the roads, for example, the road length of an optional road section is longer and the value of the road length weight value is larger under normal conditions; the road width of the selectable road section is wide, and the value of the road width weight value is small; the road grade weight value of the selectable road section is taken according to the width of the road and the smooth running degree, the wider the general road and the more smooth the running are, the smaller the value of the road grade weight value is, but the highway with the height can generate high-speed cost, and the general value is larger.
The values of the vehicle width limit weight value, the vehicle height limit weight value and the vehicle weight limit weight value are 0 or 1. Specifically, the vehicle width limit weight value is compared with the width limit value of the road section according to the width value of the vehicle, and when the width value of the vehicle is smaller than the width limit value of the road section, the vehicle width limit weight value is 0; and when the width value of the vehicle is greater than or equal to the width limit value of the road section, the width limit weight value of the vehicle is 1. The values of the vehicle height limit weight value and the vehicle weight limit weight value are the same as above, and are not repeated here.
The value of the vehicle restriction weight value is 0 or set according to the vehicle type. Specifically, when the model of the truck is in the traffic control model of the road section, a preset vehicle traffic control weight value is obtained according to the model of the truck; and when the model of the truck is not in the traffic control model of the road section, the value of the vehicle traffic control weight value is 0. Further, for the problem of the truck traffic control time in a part of road sections, when the vehicle traffic control weight value is set, the vehicle traffic control weight value can be set in combination with the goods taking/delivering time, for example, the vehicle traffic control weight value is 0 in non-traffic control time, and the traffic control time is set according to the vehicle type.
Further, the road length cost value and the road width cost value are respectively valued according to the road actual length value and the road actual width value of the selectable road section.
The road grade cost value is taken according to the width of the road and the smooth running degree, the wider the road and the more smooth the running are, the smaller the road grade cost value is taken, but the highway with the height can generate high-speed cost, and the general value is larger. For example, if a certain selectable road section is a secondary road, the selectable road section is narrow, so that the situation of traffic jam often occurs during driving, then the road grade cost value of the selectable road section will be set to a large value of 50, 100, etc., and if another selectable road section is a main road, the selectable road section is wide in road and few in vehicles, so that the vehicle is driven and is not smooth, then the road grade cost value of the selectable road section will be set to a minimum value of 0, 1, etc., it should be noted that the specific values of the large value and the minimum value are set according to the actual situation.
The turning type cost value is taken according to the turning type of the intersection, specifically, the value is different according to different turning, under a common condition, the right turning value is minimum, and the turning value is maximum, but in an actual condition, the turning type cost value can be adjusted according to the condition of a road.
The red road lamp value is taken according to the exchange time of the traffic lights at the intersection.
The vehicle width limit cost value, the vehicle height limit cost value and the vehicle weight limit cost value are respectively valued according to the relations of the width limit, the height limit and the weight limit of the selectable road section, the vehicle width, the vehicle height and the vehicle weight. Specifically, if the selectable road section has the conditions of height limitation, width limitation and weight limitation on the vehicle, the vehicle width limitation cost value, the vehicle height limitation cost value and the vehicle weight limitation cost value are set to be maximum values of 1000, 2000 and the like, and conversely, if the selectable road section does not have the conditions of width limitation, height limitation and weight limitation, the vehicle width limitation cost value, the vehicle height limitation cost value and the vehicle weight limitation cost value are set to be minimum values of 0, 1 and the like, it should be noted that the specific values of the maximum values and the minimum values are set according to actual conditions, and the occurrence of the maximum values indicates that the selectable road section has the condition of incapability.
And the vehicle restriction cost value is selected according to the restriction information of the selectable road section.
It should be noted that the weight values of the sub items and the specific values of the cost values of the sub items are set according to the actual conditions of the road, and the next road section is selected by integrating the final calculation results of the weight values of the sub items and the cost values of the sub items.
In addition, in the optional road section information, except the traffic light information is captured in real time, other information is obtained, stored and dynamically updated in advance. And because the weighted value of each sub item is preset, when the total cost value of the selectable road sections is calculated at the intersection, partial sub item cost values in the total cost value of each selectable road section only need to be directly called, so that the total cost value can be conveniently and quickly calculated.
Further, after the selectable road segment with the minimum total cost value is selected at the intersection as the next road segment, the method further comprises the following steps:
and performing sector area scanning at the intersection, judging the deviation degree of the selected next road section and the destination to be driven, adjusting the weight value of the turning type according to the direction of the destination when the deviation degree is greater than a preset value, and selecting the next road section with the smallest total cost value from all the selectable road sections again.
Specifically, in order to avoid that the selected selectable road section deviates from the destination seriously, at each intersection, after the selectable road section is selected as a next road section, a fan-shaped area is constructed by taking the next road section as a central line, the deviation degree between the next road section and the destination is confirmed by combining the position of the destination, when the deviation degree is greater than a preset value, a turning type weight value is adjusted according to the direction of the destination, and the next road section with the smallest total cost value is selected from all the selectable road sections again, so that the truck is ensured to travel towards the destination all the time.
Step S3: and stopping the line simulation when the simulation line from the starting place to the destination is completed to form a complete line.
In the path planning process, whether the road sections are avoided is determined by calculating the cost values of different road sections of the intersection, and compared with the traditional navigation calculation scheme, the method not only saves the storage of the restriction information, but also improves the path searching speed.
Further, as shown in fig. 2, in some embodiments, a preset number of routes need to be acquired for the driver to select, and therefore, after step S3, the method further includes:
and S5, using the destination as a reference point, confirming a target intersection at a preset distance on the starting point driving to the destination simulation line.
It should be noted that the preset distance is preset, and usually, the preset distance is set according to the distance from the starting place to the destination, taking the destination as a standard, the preset distance is smaller than half of the distance from the starting place to the destination, for example, if the starting place and the destination are both in the same city, the set distance of the preset distance is generally not more than about 1000 meters from the destination, if the starting place and the destination are in different cities, the preset distance is set according to the distance of more than one kilometer, but the preset distance is not too large, if the set distance is too large, the route will have great difference, and in addition, the confirmed target intersection can be a target intersection from the starting place to the destination direction at the preset distance.
S6, among the selectable links corresponding to the target intersection, the selectable link corresponding to the smallest total cost value among the unselected total cost values is set as the next link, and the steps S2 to S3 are continuously executed.
The above steps S5 to S6 are executed in a loop until a preset number of candidate routes are obtained. The predetermined number is predetermined.
Specifically, for example, the point a is a destination, the intersection B is a target intersection at a preset distance from the point a, and the intersection B includes four selectable road segments a, B, c, and d, where the total cost value relationship of the four selectable road segments is that a < B < c < d, at this time, two preset candidate routes to be output are provided, a has been selected as the selectable road segment with the minimum total cost value and the complete route including the road segment a has been output, at this time, the road segment a is excluded, the road segment B with the minimum total cost value is selected from the road segments B, c, and d as the next road segment, and steps S2 to S3 are repeatedly performed, so that a complete route including the road segment B is obtained, and finally, two candidate routes are obtained.
Further, after obtaining a preset number of candidate routes, priority setting is performed on the multiple candidate routes, and the setting rule is as follows: the shorter the total distance, the less expensive the candidate route, the higher the priority.
Step S4: and feeding back the complete line obtained by simulation as a vehicle planning line to the terminal.
The embodiment performs one-way line simulation on the vehicle from the starting place to the destination according to the starting place information and the destination information, calculates the total cost value by combining the vehicle parameter information and all the selectable road section information at each intersection in the simulation process, selects a selectable road section with the minimum total cost value as the next road section at each intersection until the simulated lines from the starting place to the destination and from the destination to the starting place intersect to form a complete line, stops line simulation, finally obtains a line with the minimum total cost value, and uses the total cost value of the selectable road sections as the selection standard in the line simulation process, so that the cost required to be paid by the finally obtained complete line is minimum, helps a truck to avoid the road section limited by the truck between the starting place and the destination, and reduces the possibility of violation and accident occurrence in the truck transportation process, in addition, the problem of overtime taking/delivery due to inaccurate route is avoided, and the problem of cost increase due to repeated detour for finding the correct route is also avoided.
Fig. 3 shows an embodiment of the one-way simulation based truck route planning system of the present invention. As shown in fig. 3, the one-way simulation-based truck route planning system includes: a receiving module 10, a line simulation module 11, a stopping module 12 and a feedback module 13.
The receiving module 10 is configured to receive a vehicle route planning request sent by a terminal, where the route planning request includes start location information, destination information, and vehicle parameter information.
The route simulation module 11 is used for performing route simulation on the vehicle from the starting place to the destination according to the starting place information and the destination information; in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section.
And a stopping module 12, configured to stop the line simulation when a complete line is formed by completing the simulated line from the starting place to the destination.
And the feedback module 13 is used for feeding back the complete circuit obtained by simulation as a vehicle planning route to the terminal.
Optionally, the vehicle parameter information includes a width, a height, a weight, and a vehicle type of the vehicle; the selectable road section information comprises road length, road width and road grade of the selectable road section, turning type between the current road section and the selectable road section, traffic light information between the current road section and the selectable road section, and vehicle width, height, weight and traffic limitation information of the selectable road section;
the route simulation module 11 calculates the total cost value of each optional road section by combining the vehicle parameter information and the optional road section information, and includes:
and calculating the total cost value of each optional road section according to a cost calculation formula, wherein the cost calculation formula is as follows:
wherein cost is the total cost value of the selectable road segment, w i Weight values, z, of sub-items preset according to vehicle parameter information and optional road section information i The cost value of each sub item is determined according to the vehicle parameter information and the optional road section information.
Optionally, the line simulation module 11 presets each sub-weighted value according to the vehicle parameter information and the selectable road section information, and includes: a road length weight value, a road width weight value, a road grade weight value, a turning type weight value, a red road lamp weight value, a vehicle width limit weight value, a vehicle height limit weight value, a vehicle weight limit weight value and a vehicle traffic restriction weight value;
Setting the values of the road length weight value, the road width weight value, the road grade weight value, the turning type weight value and the traffic light weight value according to a preset value rule;
the values of the vehicle width limiting weight value, the vehicle height limiting weight value and the vehicle weight limiting weight value are 0 or 1;
the value of the vehicle restriction weight value is 0 or set according to the vehicle type.
Optionally, in the route simulation process, after the selectable road segment with the minimum total cost value is selected as the next road segment at the intersection, the route simulation module 11 is further configured to:
and performing sector area scanning at the intersection, judging the deviation degree of the selected next road section and the destination to be driven, adjusting the weight value of the turning type according to the direction of the destination when the deviation degree is greater than a preset value, and selecting the next road section with the smallest total cost value from all the selectable road sections again.
Optionally, the route simulation module 11 presets each sub-cost value according to the vehicle parameter information and the optional road section information, and includes: road length cost value, road width cost value, road grade cost value, turn type cost value, red road light cost value, vehicle width limit cost value, vehicle height limit cost value, vehicle weight limit cost value, and vehicle driving limit cost value;
The road length cost value and the road width cost value are respectively taken according to the road length and the road width of the selectable road section;
the turn type cost value is taken according to the turn type of the intersection;
the red road lamp value is taken according to the exchange time of traffic lights at the intersection;
the vehicle width limit cost value, the vehicle height limit cost value and the vehicle weight limit cost value are respectively valued according to the relations of the width limit, the height limit and the weight limit of the selectable road section with the vehicle width, the vehicle height and the vehicle weight;
and the vehicle restriction cost value is taken according to the restriction information of the selectable road section.
On the basis of the above embodiment, in another embodiment, as shown in fig. 4, the truck route planning system based on one-way simulation further includes:
a confirming module 14, configured to confirm a target intersection at a preset distance on a simulated route from an origin to a destination with a destination as a reference point;
the selection module 15 is configured to, in the selectable road segments corresponding to the target intersection, use the selectable road segment corresponding to the minimum total cost value among the unselected total cost values as a next road segment, and the line simulation module 11 and the stop module 12 continue to perform corresponding operations;
the confirming module 14 and the selecting module 15 execute the above operations in a loop until a preset number of candidate routes are obtained.
For other details of the technical solutions implemented by the modules in the truck route planning system based on unidirectional simulation in the foregoing embodiment, reference may be made to the description of the truck route planning method based on unidirectional simulation in the foregoing embodiment, and details are not repeated here.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system-class embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The embodiments of the present invention have been described in detail, but the present invention is only exemplary and is not limited to the embodiments described above. It will be apparent to those skilled in the art that any equivalent modifications or substitutions can be made within the scope of the present invention, and thus, equivalent changes and modifications, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention.
Claims (10)
1. A truck route planning method based on one-way simulation is characterized by comprising the following steps:
S1, receiving a vehicle route planning request sent by a terminal, wherein the route planning request comprises starting place information, destination information and vehicle parameter information;
s2, performing route simulation on the vehicle from the starting place to the destination according to the starting place information and the destination information;
in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section;
the total cost value is composed of child values determined by various vehicle parameter information and optional road section information, and the child values are preset with corresponding weight values; the selectable road section information comprises a turning type between a current road section and a selectable road section, and the descendant value determined by the turning type corresponds to a preset turning type weight value; after the next road section is selected from the intersection, sector area scanning is carried out on the intersection, whether the deviation degree of the selected next road section and the destination to be driven to is larger than a preset value or not is judged, if yes, the turning type weight value is adjusted according to the direction of the destination, and the next road section with the smallest total cost value is selected from all the selectable road sections again;
S3, stopping the line simulation when the simulation line from the starting place to the destination is completed to form a complete line;
and S4, feeding back the complete line obtained by simulation as a vehicle planning line to the terminal.
2. A method for truck routing based on one-way simulation according to claim 1, wherein the vehicle parameter information includes width, height, weight and model of the vehicle; the selectable road section information comprises road length, road width and road grade of the selectable road section, turning type between the current road section and the selectable road section, traffic light information between the current road section and the selectable road section, and vehicle width, height, weight and traffic limitation information of the selectable road section;
the calculating the total cost value of each optional road section by combining the vehicle parameter information and the optional road section information comprises the following steps:
calculating the total cost value of each optional road section according to a cost calculation formula, wherein the cost calculation formula is as follows:
wherein cost is the total cost value of the selectable road segment, w i Weight values z of sub-items preset according to the vehicle parameter information and the optional road section information i And determining the cost value of each sub item according to the vehicle parameter information and the optional road section information.
3. The method for planning a truck route based on one-way simulation according to claim 2, wherein the preset sub-weighted values according to the vehicle parameter information and the optional road segment information comprise: a road length weight value, a road width weight value, a road grade weight value, a turning type weight value, a red road lamp weight value, a vehicle width limit weight value, a vehicle height limit weight value, a vehicle weight limit weight value and a vehicle traffic restriction weight value;
the road length weight value, the road width weight value, the road grade weight value, the turning type weight value and the traffic light weight value are set according to a preset value rule;
the values of the vehicle width limit weight value, the vehicle height limit weight value and the vehicle weight limit weight value are 0 or 1;
the value of the vehicle restriction weight value is 0 or set according to the vehicle type.
4. A method for planning a truck route based on one-way simulation according to claim 2, wherein the sub-cost values preset according to the vehicle parameter information and the optional road section information comprise: road length cost value, road width cost value, road grade cost value, turn type cost value, red road light cost value, vehicle width limit cost value, vehicle height limit cost value, vehicle weight limit cost value, and vehicle driving limit cost value;
The road length cost value, the road width cost value and the road grade cost value are respectively valued according to the road length, the road width and the road grade of the selectable road section;
the turning type cost value is taken according to the turning type of the intersection;
the replacement value of the red road lamp is taken according to the exchange time of traffic lights at the intersection;
the vehicle width limit cost value, the vehicle height limit cost value and the vehicle weight limit cost value are respectively valued according to the relations of the width limit, the height limit, the weight limit, the vehicle width, the vehicle height and the vehicle weight of the selectable road section;
and the vehicle restriction cost value is taken according to the restriction information of the selectable road section.
5. A method for planning a truck route based on one-way simulation according to claim 1, after S3 and before S4, further comprising:
s5, using the destination as a reference point, confirming a target intersection which is driven from the starting place to a preset distance on a destination simulation line;
s6, taking the selectable road section corresponding to the minimum total cost value in the unselected total cost values as the next road section in the selectable road sections corresponding to the target intersection, and continuing to execute the steps S2-S3;
and circularly executing the steps S5-S6 until a preset number of candidate routes are obtained.
6. A system for planning a route of a truck based on one-way simulation, comprising:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a vehicle route planning request sent by a terminal, and the route planning request comprises starting place information, destination information and vehicle parameter information;
the route simulation module is used for carrying out route simulation on the vehicles from the starting place to the destination according to the starting place information and the destination information; in the route simulation process, when an intersection is encountered, all selectable road section information of the current road section driving to the next intersection is obtained according to the topological connection relation of the road, then the total cost value of each selectable road section is calculated by combining the vehicle parameter information and the selectable road section information, and the selectable road section with the minimum total cost value is selected as the next road section;
the total cost value is composed of child values determined by various vehicle parameter information and optional road section information, and the child values are preset with corresponding weight values; the selectable road section information comprises a turning type between a current road section and a selectable road section, and the descendant value determined by the turning type corresponds to a preset turning type weight value; the line simulation module is further configured to: after the next road section is selected from the intersection, sector area scanning is carried out on the intersection, whether the deviation degree of the selected next road section and the destination to be driven to is larger than a preset value or not is judged, if yes, the turning type weight value is adjusted according to the direction of the destination, and the next road section with the smallest total cost value is selected from all the selectable road sections again;
The stopping module is used for stopping the line simulation when the simulation line from the starting place to the destination is completed to form a complete line;
and the feedback module is used for feeding back the complete line obtained by simulation as a vehicle planning line to the terminal.
7. A truck routing system based on one-way simulation according to claim 6, characterized in that the vehicle parameter information comprises width, height, weight and model of the vehicle; the selectable road section information comprises road length, road width and road grade of the selectable road section, turning type between the current road section and the selectable road section, traffic light information between the current road section and the selectable road section, and vehicle width, height, weight and traffic limitation information of the selectable road section;
the route simulation module calculates the total cost value of each optional road section by combining the vehicle parameter information and the optional road section information, and the calculation comprises the following steps:
calculating the total cost value of each optional road section according to a cost calculation formula, wherein the cost calculation formula is as follows:
wherein cost is the total cost value of the selectable road segment, w i Weight values z of sub-items preset according to the vehicle parameter information and the optional road section information i And determining the cost value of each sub item according to the vehicle parameter information and the optional road section information.
8. The truck route planning system based on one-way simulation of claim 7, wherein the route simulation module presets respective weight values according to the vehicle parameter information and the selectable road segment information, and comprises: a road length weight value, a road width weight value, a road grade weight value, a turning type weight value, a red road lamp weight value, a vehicle width limit weight value, a vehicle height limit weight value, a vehicle weight limit weight value and a vehicle traffic restriction weight value;
the road length weight value, the road width weight value, the road grade weight value, the turning type weight value and the traffic light weight value are set according to a preset value rule;
the values of the vehicle width limiting weight value, the vehicle height limiting weight value and the vehicle weight limiting weight value are 0 or 1;
the value of the vehicle restriction weight value is 0 or set according to the vehicle type.
9. A truck routing system based on one-way simulation according to claim 7, wherein the route simulation module presets sub-cost values according to vehicle parameter information and the selectable segment information, and comprises: road length cost value, road width cost value, road grade cost value, turn type cost value, red road light cost value, vehicle width limit cost value, vehicle height limit cost value, vehicle weight limit cost value, and vehicle driving limit cost value;
The road length cost value, the road width cost value and the road grade cost value are respectively valued according to the road length, the road width and the road grade of the selectable road section;
the turning type cost value is taken according to the turning type of the intersection;
the red road lamp value is taken according to the exchange time of traffic lights at the intersection;
the vehicle width limit cost value, the vehicle height limit cost value and the vehicle weight limit cost value are respectively valued according to the relations of the width limit, the height limit, the weight limit, the vehicle width, the vehicle height and the vehicle weight of the selectable road section;
and the vehicle restriction cost value is taken according to the restriction information of the selectable road section.
10. A one-way simulation-based freight car routing system as claimed in claim 6, further comprising:
the confirming module is used for confirming a target intersection which is driven to a preset distance on a destination simulation line from the starting place by taking the destination as a datum point;
the selection module is used for taking the selectable road section corresponding to the minimum total cost value in all the unselected total cost values as the next road section in the selectable road sections corresponding to the target intersection, and the line simulation module and the stopping module continue to execute corresponding operations;
The confirming module and the selecting module circularly execute the operations until a preset number of candidate routes are obtained.
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| CN115973197B (en) * | 2023-03-21 | 2023-08-11 | 宁波均胜智能汽车技术研究院有限公司 | Lane planning method and device, electronic equipment and readable storage medium |
| CN116153166A (en) * | 2023-04-21 | 2023-05-23 | 西北铁道电子股份有限公司 | Vehicle-mounted simulation method, system and equipment for rail car driver before taking out |
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