CN105070076A - Method and system for planning special route of special vehicle based on V2I (Vehicle to Infrastructure) - Google Patents
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Abstract
一种基于V2I的特种车辆专用路线规划系统，包括：侦测单元侦测是否有接收到特种车辆发送紧急通行请求；采集单元在确定有接收到特种车辆发送紧急通信请求时，采集与路测单元以V2I通信方式连接的特种车辆及特种车辆前进方向上预设范围内的若干车辆的运动状态数据，运动状态数据包括经纬度信息和速度信息；规划出特种车辆和多个车辆的行车车道及行车速度，并分别发送规划的信息给对应的车辆。在预设时间后，监测特种车辆和多个车辆是否各自按照规划的车道和车速行驶。本发明的有益效果为基于V2I的特种车辆专用路线规划方法及系统能为区域内的特种车辆提供优先通行的服务，还能对阻碍特种车辆通行的车辆进行记录。
A V2I-based route planning system for special vehicles, including: a detection unit detects whether an emergency traffic request is received from a special vehicle; when the acquisition unit determines that an emergency communication request is received from a special vehicle, the acquisition and road test unit The motion state data of special vehicles connected by V2I communication and several vehicles within the preset range in the forward direction of special vehicles. The motion state data includes latitude and longitude information and speed information; planning the driving lanes and driving speeds of special vehicles and multiple vehicles , and send the planning information to the corresponding vehicles respectively. After a preset time, monitor whether the special vehicle and multiple vehicles are running according to the planned lane and speed. The beneficial effect of the present invention is that the V2I-based route planning method and system for special vehicles can provide priority traffic services for special vehicles in the area, and can also record vehicles that hinder the passage of special vehicles.
Description
技术领域 technical field
本发明涉及车联网领域，具体涉及一种基于V2I的特种车辆专用路线规划方法及系统。 The invention relates to the field of Internet of Vehicles, in particular to a V2I-based route planning method and system for special vehicles.
背景技术 Background technique
车联网是通过互联网技术，所有的车辆可以将自身的各种信息传输汇聚到中央处理器。通过计算机技术，这些大量车辆的信息可以被分析和处理，从而计算出不同车辆的最佳路线、及时汇报路况和安排信号灯周期。 The Internet of Vehicles is through the Internet technology, all vehicles can transmit various information of themselves to the central processing unit. Through computer technology, the information of these large numbers of vehicles can be analyzed and processed to calculate the best routes for different vehicles, report road conditions in time and arrange signal light cycles.
车联网包括车与车（V2V）、车与路（V2I，VehicletoInfrastructure）、车与人（V2P）、车与中心（V2C）等的互联互通，实现车辆自组网及多种异构网络之间的通信与漫游，在功能和性能上保障实时性、可服务性与网络泛在性，同时它是公网与专网的统一体。车与路（V2I）是通过设置在公路边的路侧单元与车辆或车辆上的车载单元连接，路测单元连接互联网，来使车与互联网进行信息交互。 The Internet of Vehicles includes interconnection between vehicles and vehicles (V2V), vehicles and roads (V2I, Vehicle to Infrastructure), vehicles and people (V2P), vehicles and centers (V2C), etc. Communication and roaming, guarantee real-time, serviceability and network ubiquity in terms of functions and performance, and it is a unity of public network and private network. Vehicle-to-road (V2I) is to connect the roadside unit on the side of the road with the vehicle or the on-board unit on the vehicle, and the drive test unit is connected to the Internet to enable the vehicle to interact with the Internet.
由于特种车辆（救护车、消防车、救援车等）担负着拯救生命、降低事故二次影响的重任，在拥挤的道路上为其快速规划一条专用通道尤其重要。现有的车联网系统没有出现可以为特种车辆提供优先通行的服务，也没出现对阻碍特种车辆通行的车辆进行记录的功能。 Since special vehicles (ambulances, fire trucks, rescue vehicles, etc.) are responsible for saving lives and reducing the secondary impact of accidents, it is especially important to quickly plan a dedicated channel for them on crowded roads. The existing Internet of Vehicles system does not have a service that can provide priority passage for special vehicles, nor does it have the function of recording vehicles that hinder the passage of special vehicles.
发明内容 Contents of the invention
为解决现有的车联网系统存在的没有可以为特种车辆提供优先通行的服务，也没有对阻碍特种车辆通行的车辆进行记录的功能的问题，本发明提出一种基于V2I的特种车辆专用路线规划方法及系统。 In order to solve the problem that the existing Internet of Vehicles system does not provide priority services for special vehicles, and does not have the function of recording vehicles that hinder the passage of special vehicles, this invention proposes a special vehicle-specific route planning based on V2I methods and systems.
本发明提供的一种基于V2I的特种车辆专用路线规划方法，其特征在于，通过采集特种车辆前进方向预设范围内的车辆的运动状态数据，结合地图数据规划出特种车辆的专用路线；该方法包括以下步骤： A special route planning method for special vehicles based on V2I provided by the present invention is characterized in that, by collecting the movement state data of the vehicles within the preset range of the forward direction of special vehicles, combined with map data, the special route for special vehicles is planned; the method Include the following steps:
S1：侦测是否有接收到特种车辆发送紧急通行请求；当确定有接收到特种车辆发送紧急通信请求时，进入S2；否则，继续侦测； S1: Detect whether a special vehicle has received an emergency communication request; when it is determined that a special vehicle has received an emergency communication request, enter S2; otherwise, continue detection;
S2：采集与路测单元以V2I通信方式连接的特种车辆及所述特种车辆前进方向上预设范围内的多个车辆的运动状态数据，所述运动状态数据包括经纬度信息和速度信息； S2: Collecting the motion state data of the special vehicle connected with the drive test unit in a V2I communication mode and a plurality of vehicles within a preset range in the forward direction of the special vehicle, the motion state data including latitude and longitude information and speed information;
S3：根据根据地图数据、所述特种车辆运动状态数据和所述多个车辆的运动状态数据按照路径规划算法规划出所述特种车辆和所述多个车辆的行车车道及行车速度，并分别发送规划的信息给对应的车辆； S3: According to the map data, the motion state data of the special vehicle and the motion state data of the multiple vehicles, plan the driving lanes and driving speeds of the special vehicle and the multiple vehicles according to the path planning algorithm, and send them respectively The planned information is sent to the corresponding vehicle;
S4：在发出规划的信息预设时间后，监测所述特种车辆和所述多个车辆是否各自按照规划的车道和车速行驶； S4: After sending out the planned information for a preset time, monitor whether the special vehicle and the plurality of vehicles are respectively traveling according to the planned lane and vehicle speed;
S5：如监测到所述多个车辆没有按照各自规划的车道和车速行驶的，记录所述违规车辆的身份信息并发送给交通控制中心，同时发送警示消息到所述违规车辆以提醒所述违规车辆按照规划的车道和行车速度行驶。 S5: If it is detected that the multiple vehicles do not travel according to their respective planned lanes and vehicle speeds, record the identity information of the violating vehicles and send them to the traffic control center, and at the same time send a warning message to the violating vehicles to remind the violations The vehicle travels according to the planned lane and driving speed.
进一步的，所述特种车辆前进方向预设范围的大小根据道路的线形和道路的等级来设置。 Further, the size of the preset range of the forward direction of the special vehicle is set according to the alignment of the road and the grade of the road.
进一步的，所述道路的线形为直线的预设范围大于曲线，所述道路的等级为高速路的预设范围大于城市道路。 Further, the alignment of the road is that the preset range of the straight line is larger than the curve, and the grade of the road is that the preset range of the expressway is larger than the urban road.
进一步的，当所述特种车辆行驶至红绿灯路口时，对红绿灯的配时进行控制，以确保所述特种车辆优先通行。 Further, when the special vehicle reaches the intersection of traffic lights, the timing of the traffic lights is controlled to ensure that the special vehicle passes first.
进一步的，所述路径规划算法包括以下步骤： Further, the path planning algorithm includes the following steps:
T1：读取地图和所述路测单元范围内的车辆运动状态数据； T1: read the map and the vehicle motion state data within the range of the drive test unit;
T2：计算所述特种车辆前方各车道上的车辆数量并确定最畅通车道m； T2: Calculate the number of vehicles on each lane in front of the special vehicle and determine the most smooth lane m;
T3：确认所述特种车辆所在车道是否为最畅通车道m；是则进入步骤T8，否则进入步骤T4； T3: Confirm whether the lane where the special vehicle is located is the most smooth lane m; if yes, go to step T8, otherwise go to step T4;
T4：指挥所述特种车辆左/右侧且位于车道m的车辆停车； T4: Command the vehicle on the left/right side of the special vehicle and located in lane m to stop;
T5：指挥所述特种车辆进入最畅通车道m； T5: Command the special vehicle to enter the most smooth lane m;
T6：确认特种车辆前方预设距离n内是否有车辆；是则进入步骤T7，否则继续执行步骤T6； T6: Confirm whether there is a vehicle within the preset distance n in front of the special vehicle; if yes, go to step T7, otherwise continue to step T6;
T7：提取所述特种车辆前方预设距离n内的多个车辆运动状态信息； T7: extracting a plurality of vehicle motion state information within a preset distance n in front of the special vehicle;
T8：指挥特种车辆前方预设距离n内的多个车辆的左/右侧车辆停车，空出相邻车道位置；及 T8: Command the left/right side vehicles of multiple vehicles within the preset distance n in front of the special vehicle to stop, and leave the adjacent lane position; and
T9：指挥特种车辆前方预设距离n内的多个车辆进入相邻车道空位。 T9: Command multiple vehicles within the preset distance n in front of the special vehicle to enter the space in the adjacent lane.
本发明还提供的一种基于V2I的特种车辆专用路线规划系统，其特征在于，通过采集特种车辆前进方向预设范围内的车辆的运动状态数据，结合地图数据规划出特种车辆的专用路线；该系统包括：侦测单元，用于侦测是否有接收到特种车辆发送紧急通行请求；采集单元，用于在确定有接收到特种车辆发送紧急通信请求时，采集与路测单元以V2I通信方式连接的特种车辆及所述特种车辆前进方向上预设范围内的若干车辆的运动状态数据，所述运动状态数据包括经纬度信息和速度信息；规划单元，用于根据地图数据、所述特种车辆运动状态数据和所述多个车辆的运动状态数据按照路径规划算法规划出所述特种车辆和所述多个车辆的行车车道及行车速度，并分别发送规划的信息给对应的车辆；其中，在发出规划的信息预设时间后，监测所述特种车辆和所述多个车辆是否各自按照规划的车道和车速行驶；如监测到所述多个车辆没有按照各自规划的车道和车速行驶的，记录所述违规车辆的身份信息并发送给交通控制中心，同时发送警示消息到所述违规车辆以提醒所述违规车辆按照规划的车道和行车速度行驶。 The present invention also provides a special route planning system for special vehicles based on V2I, which is characterized in that, by collecting the movement state data of the vehicles within the preset range of the direction of advance of the special vehicles, combined with map data, the special routes for the special vehicles are planned; The system includes: a detection unit, which is used to detect whether an emergency communication request is received from a special vehicle; a collection unit, which is used to connect the collection unit with the drive test unit in a V2I communication mode when it is determined that an emergency communication request is received from a special vehicle The special vehicle and the movement state data of several vehicles within the preset range in the forward direction of the special vehicle, the movement state data includes latitude and longitude information and speed information; the planning unit is used to use the map data, the movement state of the special vehicle The data and the motion state data of the plurality of vehicles plan the driving lanes and driving speeds of the special vehicle and the plurality of vehicles according to the path planning algorithm, and send the planned information to the corresponding vehicles respectively; After the information preset time, monitor whether the special vehicles and the multiple vehicles are running according to the planned lanes and speeds; if it is detected that the multiple vehicles are not running according to the respective planned lanes and speeds, record the The identity information of the violating vehicle is sent to the traffic control center, and a warning message is sent to the violating vehicle to remind the violating vehicle to drive according to the planned lane and driving speed.
进一步的，所述特种车辆前进方向预设范围的大小根据道路的线形和道路的等级来设置。 Further, the size of the preset range of the forward direction of the special vehicle is set according to the alignment of the road and the grade of the road.
进一步的，所述道路的线形为直线的预设范围大于曲线，所述道路的等级为高速路的预设范围大于城市道路。 Further, the alignment of the road is that the preset range of the straight line is larger than the curve, and the grade of the road is that the preset range of the expressway is larger than the urban road.
进一步的，当所述特种车辆行驶至红绿灯路口时，对红绿灯的配时进行控制，以确保所述特种车辆优先通行。 Further, when the special vehicle reaches the intersection of traffic lights, the timing of the traffic lights is controlled to ensure that the special vehicle passes first.
进一步的，所述路径规划算法包括以下步骤： Further, the path planning algorithm includes the following steps:
T1：读取地图和所述路测单元范围内的车辆运动状态数据； T1: read the map and the vehicle motion state data within the range of the drive test unit;
T2：计算所述特种车辆前方各车道上的车辆数量并确定最畅通车道m； T2: Calculate the number of vehicles on each lane in front of the special vehicle and determine the most smooth lane m;
T3：确认所述特种车辆所在车道是否为最畅通车道m；是则进入步骤T8，否则进入步骤T4； T3: Confirm whether the lane where the special vehicle is located is the most smooth lane m; if yes, go to step T8, otherwise go to step T4;
T4：指挥所述特种车辆左/右侧且位于车道m的车辆停车； T4: Command the vehicle on the left/right side of the special vehicle and located in lane m to stop;
T5：指挥所述特种车辆进入最畅通车道m； T5: Command the special vehicle to enter the most smooth lane m;
T6：确认特种车辆前方预设距离n内是否有车辆；是则进入步骤T7，否则继续执行步骤T6； T6: Confirm whether there is a vehicle within the preset distance n in front of the special vehicle; if yes, go to step T7, otherwise continue to step T6;
T7：提取所述特种车辆前方预设距离n内的多个车辆运动状态信息； T7: extracting a plurality of vehicle motion state information within a preset distance n in front of the special vehicle;
T8：指挥特种车辆前方预设距离n内的多个车辆的左/右侧车辆停车，空出相邻车道位置；及 T8: Command the left/right side vehicles of multiple vehicles within the preset distance n in front of the special vehicle to stop, and leave the adjacent lane position; and
T9：指挥特种车辆前方预设距离n内的多个车辆进入相邻车道空位。 T9: Command multiple vehicles within the preset distance n in front of the special vehicle to enter the space in the adjacent lane.
本发明的有益效果为该基于V2I的特种车辆专用路线规划方法及系统能为区域内的特种车辆提供优先通行的服务，还能对阻碍特种车辆通行的车辆进行记录，还可以对红绿灯的配时进行控制，保证特种车辆的优先通行。 The beneficial effect of the present invention is that the V2I-based special vehicle route planning method and system can provide priority traffic services for special vehicles in the area, and can also record vehicles that hinder the passage of special vehicles, and can also adjust the timing of traffic lights. Carry out control to ensure the priority passage of special vehicles.
附图说明 Description of drawings
图1为本发明基于V2I的特种车辆专用路线规划系统一实施方式的功能模块图。 FIG. 1 is a functional block diagram of an embodiment of the V2I-based route planning system for special vehicles of the present invention.
图2为本发明基于V2I的特种车辆专用路线规划方法一实施方式的流程图。 FIG. 2 is a flow chart of an embodiment of the V2I-based route planning method for special vehicles in the present invention.
图3为本发明图2中步骤S204的路径规划算法一实施方式的流程图。 FIG. 3 is a flowchart of an embodiment of the path planning algorithm in step S204 in FIG. 2 of the present invention.
具体实施方式 Detailed ways
图1为本发明基于V2I的特种车辆专用路线规划系统一实施方式的功能模块图。图中，10为基于V2I的特种车辆专用路线规划系统，100为侦测单元，102为采集单元，104规划单元。 FIG. 1 is a functional block diagram of an embodiment of the V2I-based route planning system for special vehicles of the present invention. In the figure, 10 is a special vehicle route planning system based on V2I, 100 is a detection unit, 102 is a collection unit, and 104 is a planning unit.
请参阅图1，为本发明基于V2I的特种车辆专用路线规划系统1一实施方式的功能模块图，在本实施方式中，基于V2I的特种车辆专用路线规划系统1包括采集单元100、采集单元102和规划单元104。在本实施例中，车与路（V2I）是通过设置在公路边的路侧单元（未标示）与车辆或车辆上的车载单元连接，路测单元连接互联网，来使车与互联网进行信息交互。 Please refer to FIG. 1 , which is a functional block diagram of an embodiment of the V2I-based special vehicle route planning system 1 of the present invention. In this embodiment, the V2I-based special vehicle route planning system 1 includes a collection unit 100 and a collection unit 102 and planning unit 104 . In this embodiment, the vehicle-to-road (V2I) is connected to the vehicle or the on-board unit on the vehicle through the roadside unit (not marked) installed on the side of the road, and the drive test unit is connected to the Internet to enable the vehicle to interact with the Internet. .
侦测单元100用于侦测是否有接收到特种车辆发送紧急通行请求。采集单元102用于在确定有接收到特种车辆发送紧急通信请求时，采集与路测单元以V2I通信方式连接的特种车辆及特种车辆前进方向上预设范围内的若干车辆的运动状态数据。在本实施方式中，运动状态数据包括经纬度信息和速度信息。在本实施例中，特种车辆前进方向预设范围（可为100米）的大小根据道路的线形和道路的等级来设置，例如，道路的线形为直线的预设范围大于曲线，道路的等级为高速路的预设范围大于城市道路。 The detecting unit 100 is used for detecting whether an emergency passage request is received from a special vehicle. The collection unit 102 is used to collect the motion state data of the special vehicle connected to the drive test unit in the V2I communication mode and several vehicles within the preset range in the forward direction of the special vehicle when it is determined that the special vehicle sends an emergency communication request. In this embodiment, the motion state data includes latitude and longitude information and speed information. In this embodiment, the size of the preset range (which can be 100 meters) of the direction of special vehicles is set according to the alignment of the road and the grade of the road. The default range for highways is larger than urban roads.
规划单元104用于根据根据地图数据、特种车辆运动状态数据和多个车辆的运动状态数据按照路径规划算法规划出特种车辆和多个车辆的行车车道及行车速度，并分别发送规划的信息给对应的车辆。在本实施例中，规划单元104发送给特种车辆对应的行车车道及行车速度，分别发送给其他车辆对应的行车车道及行车速度。 The planning unit 104 is used to plan the driving lanes and driving speeds of the special vehicle and multiple vehicles according to the map data, the motion state data of the special vehicle and the motion state data of multiple vehicles according to the path planning algorithm, and send the planned information to the corresponding Vehicles. In this embodiment, the planning unit 104 sends the driving lanes and driving speeds corresponding to special vehicles, and sends the corresponding driving lanes and driving speeds to other vehicles respectively.
在本实施方式中，在规划单元104发出规划的信息预设时间后，侦测单元100侦测特种车辆是否按规划的车速行驶，确保特种车辆优先通行。当侦测单元100侦测到特种车辆未按规划的车速行驶时，确定多个车辆是否有按预定的车道和行车速度行驶。当规划单元104确定多个车辆中有未按照预定的车道和行车速度行驶的违规车辆时，记录违规车辆的身份信息并发送给交通控制中心，以便交通控制中心以违反交规处理，同时发送警示消息到违规车辆以提醒所述违规车辆按照预定的车道和行车速度行驶。 In this embodiment, after the planning unit 104 sends out the planning information for a preset time, the detection unit 100 detects whether the special vehicle is traveling at the planned speed to ensure that the special vehicle is given priority. When the detection unit 100 detects that the special vehicle is not traveling at the planned speed, it is determined whether the vehicles are traveling at the predetermined lane and speed. When the planning unit 104 determines that there are violating vehicles that do not travel according to the predetermined lane and driving speed among the multiple vehicles, record the identity information of the violating vehicle and send it to the traffic control center, so that the traffic control center will handle it as a violation of traffic regulations and send a warning message at the same time To the violating vehicle to remind the violating vehicle to travel according to the predetermined lane and driving speed.
特种车辆行驶至红绿灯路口时，路侧单元对红绿灯的配时进行控制，保证特种车辆的前进方向上为绿灯状态，以确保特种车辆优先通行。 When the special vehicle reaches the traffic light intersection, the roadside unit controls the timing of the traffic light to ensure that the forward direction of the special vehicle is in the green light state, so as to ensure the priority of the special vehicle.
当特种车辆行驶出本路侧单元的范围后，本路侧单元处于未接收紧急通行请求的正常工作状态，下一路侧单元接收到紧急通行请求时，重复以上过程来为特种车辆优先通行服务。 After the special vehicle drives out of the range of the roadside unit, the roadside unit is in the normal working state without receiving the emergency passage request, and when the next roadside unit receives the emergency passage request, repeat the above process to serve the special vehicle priority passage.
请参阅图2，为本发明基于V2I的特种车辆专用路线规划方法一实施方式的流程图。 Please refer to FIG. 2 , which is a flow chart of an embodiment of the V2I-based route planning method for special vehicles of the present invention.
在步骤S200，侦测是否有接收到特种车辆发送紧急通行请求。当确定有接收到特种车辆发送紧急通信请求时，路侧单元处于未接收紧急通行请求的正常工作状态。当确定没有接收到特种车辆发送紧急通信请求时，继续侦测是否有接收到特种车辆发送紧急通行请求。 In step S200, it is detected whether an emergency passage request is received from a special vehicle. When it is determined that an emergency communication request is received from a special vehicle, the roadside unit is in a normal working state of not receiving an emergency passage request. When it is determined that the emergency communication request sent by the special vehicle is not received, continue to detect whether an emergency passage request sent by the special vehicle is received.
当确定有接收到特种车辆发送紧急通信请求时，进入步骤S202：采集与路测单元以V2I通信方式连接的特种车辆及特种车辆前进方向上预设范围内的若干车辆的运动状态数据。具体的，运动状态数据包括经纬度信息和速度信息。在本实施例中，特种车辆前进方向上预设范围（可为100米）内根据道路的线形和道路的等级来设置，例如，道路的线形为直线段的预设范围大于曲线段，道路的等级为高速路的预设范围大于城市道路。 When it is determined that an emergency communication request from a special vehicle has been received, proceed to step S202: collect movement state data of the special vehicle connected to the drive test unit through V2I communication and several vehicles within a preset range in the forward direction of the special vehicle. Specifically, the motion state data includes latitude and longitude information and speed information. In this embodiment, the preset range (may be 100 meters) in the forward direction of the special vehicle is set according to the alignment of the road and the grade of the road. The default range for grades is highways are larger than urban roads.
在步骤S204，根据地图数据、特种车辆运动状态数据和多个车辆的运动状态数据规划出特种车辆和多个车辆的行车车道及行车速度，并分别发送规划的信息给对应的车辆。 In step S204, plan the driving lanes and driving speeds of the special vehicle and multiple vehicles according to the map data, the motion state data of the special vehicle and the motion state data of multiple vehicles, and send the planned information to the corresponding vehicles respectively.
在步骤S206，在发出规划的信息预设时间后，监测特种车辆和多个车辆是否各自按照规划的车道和车速行驶。 In step S206, after sending out the planned information for a preset time, it is monitored whether the special vehicle and multiple vehicles are running according to the planned lane and vehicle speed respectively.
当侦测到特种车辆按规划的车速行驶时，进入步骤S210，确定特种车辆是否超出本路侧单元的覆盖范围。当超出覆盖范围时，下一路侧单元接收到紧急通行请求时，重复以上过程来为特种车辆优先通行服务。当未超出本路侧单元的覆盖范围时，进入步骤S202。 When it is detected that the special vehicle is traveling at the planned speed, go to step S210 to determine whether the special vehicle exceeds the coverage of the roadside unit. When the coverage area is exceeded, when the next roadside unit receives an emergency passage request, it will repeat the above process to provide priority passage service for special vehicles. When the coverage area of the roadside unit is not exceeded, go to step S202.
当侦测到特种车辆按规划的车速行驶时，进入步骤S208,监测到多个车辆没有按照各自规划的车道和车速行驶的，记录违规车辆的身份信息并发送给交通控制中心，同时发送警示消息到违规车辆以提醒违规车辆按照规划的车道和行车速度行驶。 When it is detected that special vehicles are traveling at the planned speed, enter step S208, and if multiple vehicles are detected not traveling according to their respective planned lanes and speeds, record the identity information of the violating vehicle and send it to the traffic control center, and send a warning message at the same time To the violating vehicle to remind the violating vehicle to drive according to the planned lane and speed.
当确定所有车辆中都按照预定的车道和行车速度行驶时，进入步骤S202。 When it is determined that all vehicles are traveling according to the predetermined lane and driving speed, go to step S202.
在本实施方式中，当特种车辆行驶至红绿灯路口时，对红绿灯的配时进行控制，以确保特种车辆优先通行。 In this embodiment, when the special vehicles drive to the intersection of traffic lights, the timing of the traffic lights is controlled to ensure that the special vehicles pass first.
在一具体实施例中，当有接收到特种车辆发送紧急通行请求时，采集特种车辆前进方向上预设范围内的若干车辆的运动数据，再根据地图信息和所有车辆的运动数据来规划每一车辆的行车车道和速度，并监控特种车辆和普通车辆是否按预定的车道和速度行驶，以优先让特种车辆通行，当特种车辆行驶至红绿灯路口时，对红绿灯的配时进行控制，保证特种车辆前进方向上的红绿灯保持绿灯状态，以确保特种车辆优先通行，还能对阻碍特种车辆通行的车辆进行记录。 In a specific embodiment, when a request for emergency passage is received from a special vehicle, the motion data of several vehicles within a preset range in the forward direction of the special vehicle are collected, and then each vehicle is planned according to the map information and the motion data of all vehicles. The driving lane and speed of the vehicle, and monitor whether special vehicles and ordinary vehicles are running according to the predetermined lane and speed, so as to let special vehicles pass first. When special vehicles drive to the intersection of traffic lights, control the timing of traffic lights to ensure special vehicles The traffic lights in the forward direction are kept green to ensure that special vehicles pass first, and the vehicles that hinder the passage of special vehicles can also be recorded.
请参阅图3，为本发明图2中步骤S204的路径规划算法一实施方式的流程图。 Please refer to FIG. 3 , which is a flowchart of an embodiment of the path planning algorithm in step S204 in FIG. 2 of the present invention.
在步骤S300，读取地图和路测单元范围内的车辆运动状态数据。 In step S300, read the map and vehicle motion state data within the range of the drive test unit.
在步骤S302，计算特种车辆前方各车道上的车辆数量并确定最畅通车道m。 In step S302, the number of vehicles on each lane in front of the special vehicle is calculated and the most smooth lane m is determined.
在步骤S304，确认特种车辆所在车道是否为最畅通车道m，是则进入步骤S314。 In step S304, it is confirmed whether the lane where the special vehicle is located is the most smooth lane m, and if so, proceed to step S314.
当确定特种车辆所在车道不为最畅通车道m时，进入步骤S306，指挥特种车辆对应的左/右侧且位于车道m的车辆停车。 When it is determined that the lane where the special vehicle is located is not the smoothest lane m, go to step S306 and direct the vehicle on the left/right side corresponding to the special vehicle and located in lane m to stop.
在步骤S308，指挥特种车辆进入最畅通车道m。 In step S308, command the special vehicle to enter the most smooth lane m.
在步骤S310，确认特种车辆前方预设距离n内是否有车辆。在本实施例中，预设距离n大于或等于特种车辆车长的两倍。 In step S310, it is confirmed whether there is a vehicle within the preset distance n in front of the special vehicle. In this embodiment, the preset distance n is greater than or equal to twice the length of the special vehicle.
当特种车辆前方预设距离n内有车辆时，进入步骤S312，提取特种车辆前方预设距离n内的多个车辆运动状态信息。 When there is a vehicle within the preset distance n ahead of the special vehicle, go to step S312 to extract a plurality of vehicle motion state information within the preset distance n ahead of the special vehicle.
当特种车辆前方预设距离n内没有车辆时，继续执行步骤S310。在本实施例中，当特种车辆前方预设距离n内没有车辆时，经过一定时间（可为5-10秒）后，继续执行步骤S310。 When there is no vehicle within the preset distance n in front of the special vehicle, continue to execute step S310. In this embodiment, when there is no vehicle within the preset distance n ahead of the special vehicle, after a certain period of time (may be 5-10 seconds), continue to execute step S310.
在步骤S314，指挥特种车辆前方预设距离n内的多个车辆所对应的左/右侧车辆停车，空出相邻车道位置。 In step S314, command the left/right vehicles corresponding to the multiple vehicles within the preset distance n in front of the special vehicle to stop, and leave an adjacent lane position.
在步骤S316,指挥特种车辆前方预设距离n内的多个车辆进入相邻车道空位。以保证特种车辆优先通过。 In step S316, multiple vehicles within a preset distance n in front of the special vehicle are commanded to enter adjacent lane spaces. To ensure priority for special vehicles to pass.
本发明的有益效果为所述基于V2I的特种车辆专用路线规划方法及系统能为区域内的特种车辆提供优先通行的服务，还能对阻碍特种车辆通行的车辆进行记录，还可以对红绿灯的配时进行控制，保证特种车辆的优先通行。 The beneficial effect of the present invention is that the V2I-based special vehicle route planning method and system can provide priority traffic services for special vehicles in the area, and can also record vehicles that hinder the passage of special vehicles, and can also configure traffic lights. Timely control to ensure the priority of special vehicles.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。 The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention , should be included within the protection scope of the present invention.
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