Real-time path planning method based on congestion control

Abstract

The invention, which belongs to the technical field of path planning, discloses a real-time path planning method based on congestion control. The method comprises: planning initial routes for all vehicles in a road network and calculating alternative routes; establishing a road network road congestion model and carrying out updating continuously; generating a cluster head random seed and carryingout communication based on a cluster queue communication rule; subscribing vehicle dynamic data and real-time road traffic flow data via a vehicle-mounted self-organizing network; and predicting an upcoming congested road for a cluster head vehicle based on the congestion model, establishing a cluster queue and carrying out congestion message notification and prompting under the condition of congestion prediction, comparing residual travel time of a current path and an alternate path for the cluster head and the queue vehicle, and determining whether to update the route. Therefore, the trafficflow on the congested road can be divided effectively to realize reasonable distribution of the global traffic flow; and path planning of all vehicles in the road network can be performed simultaneously, thereby saving the computing load and improving the path planning efficiency.

Description

technical field [0001] The invention belongs to the technical field of path planning, and in particular relates to a real-time path planning method based on congestion control. Background technique [0002] In the current intelligent transportation field, path planning is a research point, focusing on how to quickly provide vehicles with an optimal or relatively optimal route under a certain strategy, such as the minimum travel time or expressway priority, etc., so that vehicles can travel smoothly. To reach the destination in a timely manner, and make the traffic road network continue to operate in a regular and orderly manner. In actual path planning, especially in navigation, distance and time are the most basic issues regardless of the navigation requirements, so the shortest path problem is the core issue of all path planning strategy algorithms. The most classic algorithms for the shortest path problem include Dijkstra algorithm and A*(A-Star) algorithm. According to...

AI Technical Summary

Problems solved by technology

[0007] (3) The GPS data of floating vehicles generally only contains the location information of the vehicle, and most of them come from the records of taxis, and the delay is relatively high

[0013] 1. For changes in traffic flow and congestion in real-time traffic, the handling is not timely, resulting in the failure to update the driving route in time, and the obtained route is not optimal or even relatively optimal

[0014] 2. Congestion processing is likely to cause new congestion in new streets, and the traffic flow of old congested streets will decrease sharply or even have no traffic flow for a period of time

[0015] 3. Vehicles are not diverted, so that the overall road network traffic flow is in an unreasonable state, some roads are very congested, and some roads have very little traffic flow

Images