Cross-regional collaborative management system and method for smart cities

Abstract

The present invention discloses a cross-regional collaborative management system and method for smart cities, and relates to the technical field of traffic data processing. The method obtains historical records of handling security events, classifies security events according to work vehicles corresponding to the handling of security events, establishes a corresponding relationship between the impact range of the security events and the work vehicles, divides urban roads into a number of sections, marks sections that cannot be passed by various types of work vehicles, obtains a set of avoidance sections corresponding to various types of work vehicles, takes the location where the security event currently exists as a target location, obtains path information between the target location and the departure location of the relevant work vehicles, removes the sections that cannot be passed by the work vehicles from the path information, calculates the predicted travel time of each section, plans a target driving path for the work vehicle to reach the target location, predicts the time range for occupying each section, and reminds vehicles that enter the same section as the work vehicle in the same time period.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic data processing, and in particular to a cross-regional collaborative management system and method for smart cities. Background Art

[0002] With the acceleration of informatization and urbanization, smart cities as a new urban form have gradually attracted widespread attention. In order to deal with corresponding security incidents in cities, it is often necessary to call resources across regions for corresponding handling. However, due to the development of cities, the geographical distance for calling resources continues to increase, and the increasing complexity of urban road conditions has increased the difficulty of handling security incidents across regions.

[0003] In addition, security incidents are sudden in nature. During the process of handling security incidents, other vehicles or pedestrians on urban roads may not be notified in time, resulting in the inability of relevant vehicles or pedestrians to give way to the work vehicles involved in handling the security incidents, causing traffic congestion and the security incidents cannot be handled in time. Summary of the invention

[0004] The purpose of the present invention is to provide a cross-regional collaborative management system and method for smart cities to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solution: a cross-regional collaborative management method for smart cities.

[0006] Step S100: Acquire the historical records of handling security events, classify the security events according to the working vehicles corresponding to the security events, and establish the corresponding relationship between the impact scope of the security events and the working vehicles;

[0007] Step S200: obtaining city road information from a city map, dividing the city roads into several sections, marking sections that cannot be passed by various types of working vehicles, and obtaining a set of avoidance sections corresponding to various types of working vehicles;

[0008] Step S300: taking the location where the current security incident occurs as the target location, obtaining the path information between the target location and the departure location of the relevant work vehicle, removing the road sections that the work vehicle cannot pass through from the path information, and calculating the predicted travel time of each road section;

[0009] Step S400: Based on the shortest time for the work vehicle to reach the target location, plan the target driving path for the work vehicle to reach the target location, predict the time range for occupying each road section, and remind vehicles that enter the same road section as the work vehicle in the same time period.

[0010] Furthermore, step S100 includes:

[0011] Step S101: obtaining classification information of working vehicles, obtaining the type of working vehicles corresponding to each security event from the historical records of handling security events, and classifying the security events;

[0012] Step S102: obtaining body information of each type of working vehicle and extracting the width of each type of vehicle;

[0013] Step S103: Extract the records of various types of security events from the historical records of handling security events, and obtain the relationship between the number of working vehicles handling any security event and the change of the impact range, where the change relationship of the impact range of the a-th security event is expressed as G a (R a , M a ), R a represents the impact range of the a-th security event, M a The impact range of the a-th security event is R a The number of working vehicles.

[0014] Further, step S200 includes:

[0015] Step S201: dividing the urban road into several sections according to the nodes of the urban road, and obtaining the driving direction of each section, as well as the number of lanes and lane width corresponding to the driving direction from the urban road information;

[0016] Step S202: obtaining safe passage widths for different types of working vehicles, and merging road sections whose widths are less than the safe passage widths into an avoidance road section set, wherein the road section width is the sum of lane widths in any direction of the road section, and the avoidance road section set corresponds to the type of working vehicle;

[0017] Step S203: Obtain the minimum value of the safety distance of the same type of working vehicles at different driving speeds, where the safety distance includes the distance between any two adjacent working vehicles and the body length of a working vehicle.

[0018] Furthermore, step S300 includes:

[0019] Step S301: Set the currently occurring security event as the target event, obtain the security event type and the impact range r corresponding to the target event, and obtain the number of corresponding working vehicles m when the impact range of the target event is r according to the relationship between the number of working vehicles and the impact range, set the type of working vehicle for handling the target event as the target vehicle type, and set the m working vehicles as the target vehicles;

[0020] Step S302: Obtain all paths between the target location and the target departure location, collect the road segments in all the paths and record them in a set E1, obtain an avoidance road segment set avo corresponding to the target vehicle type, calculate a passable road segment set E2, where E2 = E1-avo, perform path planning based on the road segments in the set E2, and obtain a number of candidate paths, wherein any one of the candidate paths is formed by connecting the road segments in E2 end to end;

[0021] By marking the road sections that the working vehicles cannot pass through, the road sections that the relevant working vehicles cannot pass through are marked in the planned path, and the paths including the marked road sections in the planned path are removed, and the remaining paths are used as alternative paths;

[0022] Step S303: Set the maximum road occupancy rate α, where 0<α≤1, obtain the road width w of any road section in the alternative path, and calculate the traffic width lin1. Wherein, pass represents the safe passage width corresponding to the target vehicle, lin1 is rounded down to obtain the permutation value lin2;

[0023] Step S304: Setting the unit time interval T int , set the unit time interval as the cycle period, collect the average vehicle speed of all sections in the set of alternative paths, obtain the average vehicle speed v0 per unit time in any section, obtain the length d0 of any section and the minimum value f0 of the safety distance of the target vehicle at the speed v0, calculate the occupation time T0 of any section,

[0024] The arrangement value lin2 represents the number of columns of working vehicles when the available road surface is the largest, where The part of the calculation assumes that the travel time required when all vehicles are lined up in a row. Taking into account the different number of lanes in different sections, the number of queues of related working vehicles can be increased to improve the traffic efficiency. The maximum occupancy rate of the road surface and the safe passage width are used to estimate the number of queues that may appear for related working vehicles.

[0025] Since the change in the number of working vehicle queues will have a significant impact on the estimated value of the passing time of the road section, it is assumed that the time required for the working vehicles to line up when the working vehicle fleet travels in a line, and then the queues are allocated according to the number of possible queues. In the previous step S200, the road sections that the working vehicles cannot pass through have been screened, so each road section in the set E2 at least ensures that the working vehicles can pass through in a line.

[0026] When the working vehicles can be arranged in multiple rows, the travel time of multiple rows is obtained by dividing the time of one row by the number of rows. When the number of rows of the working vehicles arranged in different sections is different, this calculation method simplifies the impact of the number of lanes and different lane widths on the queue, reduces the uncontrollability of the calculation results of the estimated time with changes in road conditions, and is suitable for urban roads with different road widths, so that the adaptability of the method is expanded;

[0027] In order to ensure the driving safety of vehicles, the relevant time calculation starts from the time when the first working vehicle in the working vehicle fleet maintains the minimum safety distance with the starting position of the road section, so there are m minimum values ​​of the safety distance in the formula.

[0028] Furthermore, step S400 includes:

[0029] Step S401: Accumulate the occupied time of the road sections in each alternative route to obtain the total time corresponding to the alternative route, and set the alternative route with the shortest total time as the target driving route;

[0030] Step S402: Obtain the departure time t0 of the target vehicle and calculate the arrival time t1 of the i-th segment in the target driving path. Where T b represents the occupancy time of the bth segment in the target driving path;

[0031] Step S403: Obtain the occupancy time T of the i-th segment in the target driving path i , calculate the departure time t2 of the i-th segment in the target driving path, t2 = t1 + T i , obtaining the driving plan of each vehicle on the urban road, and providing information reminders to vehicles in the relevant direction that need to pass through the i-th section of the target driving path within the time range from time t1 to time t2;

[0032] For the routes of the relevant work vehicles, the time spent in each section is predicted in sections to obtain the time the work vehicles occupy each section. When other social vehicles obtain the time of each section, they can estimate whether they overlap with the relevant work vehicles in time and space according to their own situations, that is, whether they travel in the same time period and in the same direction of the same section.

[0033] Furthermore, the predicted time range of the path in the target driving path also includes a method for adjusting the predicted time, the steps comprising:

[0034] Step S4-1: Obtain the predicted time pt of the i-th segment in the target driving path iThe predicted time is one of the occupied time of the i-th segment in the target driving path or the second predicted time of the i-th segment in the target driving path, and the actual driving time rt of the target vehicle passing through the i-th segment in the target driving path i , the length d of the i-th section in the target driving path i ; The occupancy time pt of the i+qth segment in the target driving path i+q , the length d of the i+qth segment in the target driving path i+q ;

[0035] Step S4-2: Calculate the second predicted time pt of the i+qth segment in the target driving path 2 i+q ,in,

[0036] During the driving process of the relevant work vehicles, the traffic conditions of the roads may change. The starting point of this plan is to provide information reminders to the social vehicles on the roads in the city, and avoid the sections where the relevant work vehicles pass when possible, so as to reduce the external interference of the relevant work vehicles during the driving process, and avoid the inconvenience caused to the social vehicles when the relevant work vehicles occupy the road;

[0037] As the implementation effect of this plan, after receiving the relevant information reminder, the social vehicles in the city take certain evasive or detour measures. The traffic conditions in the original road section have changed compared to when the working vehicles set out. If the predicted time before the traffic situation changed is used, the time prediction for the subsequent road sections will be biased, so it is necessary to adjust the occupancy time prediction of each road section;

[0038] The road is connected by various sections. The direction generated in one section will be transmitted as the path continues, that is, the traffic flow in the previous section will affect the traffic flow in the next section. Therefore, the predicted time of the i+qth section after the i-th section is adjusted by the difference between the predicted time and the actual driving time of the i-th section.

[0039] When the actual travel time is longer than the predicted time, pt i -rt i The value obtained is a value less than 0, pt i+q Subtracting a value less than 0 will make pt 2 i+q >pt i+q , thereby improving the accuracy of prediction;

[0040] When the second prediction time exists for the i-th segment, the second prediction time of the i-th segment is brought into pt i, when there is no second prediction time in the i-th segment, the occupied time is brought into pt i .

[0041] In order to better implement the above methods, a cross-regional collaborative management system for smart cities is also proposed, which includes:

[0042] The security event record management module, the avoidance section management module, the predicted travel time calculation module and the information reminder module, wherein the security event record management module is used to manage the historical records of security events, the avoidance section management module is used to manage the avoidance sections corresponding to various types of work vehicles, the predicted travel time calculation module is used to calculate the predicted travel time of each section, and the information reminder module is used to remind vehicles entering the same section as the work vehicle in the same time period.

[0043] Furthermore, the security event record management module includes: a history record acquisition unit, an event classification unit and a relationship management unit, wherein the history record acquisition unit is used to acquire the historical records of security events, the event classification unit is used to classify security events, and the relationship management unit is used to manage the changing relationship between the number of working vehicles and the impact range.

[0044] Furthermore, the avoidance section management module includes: a map management unit, a vehicle information management unit and an avoidance section set management unit, wherein the map management unit is used to manage the city road information in the city map, the vehicle information management unit is used to manage the vehicle information of the work vehicle, and the avoidance section set management unit is used to manage the avoidance section set.

[0045] Furthermore, the predicted travel time calculation module includes: a target vehicle acquisition unit, a passable road section set management unit, an arrangement value calculation unit and an occupied time calculation unit, wherein the target vehicle acquisition unit is used to obtain the information of the target vehicle, the passable road section set management unit is used to obtain the passable road section set, the arrangement value calculation unit is used to calculate the arrangement value, and the occupied time calculation unit is used to calculate the occupied time of any road section.

[0046] Furthermore, the information reminder module includes: a driving path acquisition unit, a time range calculation unit, a predicted time update unit and an information reminder unit, wherein the driving path acquisition unit is used to obtain the target driving path, the time range calculation unit is used to calculate the occupancy time range of each road section occupied by the working vehicle, the predicted time update unit is used to calculate the second predicted time, and the information reminder unit is used to provide information reminders to related vehicles.

[0047] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention models urban roads and work vehicles, screens out road sections that work vehicles cannot pass through, improves the reliability of planned paths for work vehicles, predicts the time periods when work vehicles use different road sections, and alerts other vehicles on urban roads, thereby helping other vehicles to plan reasonable routes and reducing the impact of other vehicles on work vehicles during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0049] Figure 1 This is a schematic diagram of the structure of the cross-regional collaborative management system for smart cities in the present invention;

[0050] Figure 2 It is a flow chart of the cross-regional collaborative management method for smart cities according to the patent of this invention. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] See also Figure 1 and Figure 2 , the present invention provides a technical solution:

[0053] Step S100: Acquire the historical records of handling security events, classify the security events according to the working vehicles corresponding to the security events, and establish the corresponding relationship between the impact scope of the security events and the working vehicles;

[0054] Wherein, step S100 includes:

[0055] Step S101: obtaining classification information of working vehicles, obtaining the type of working vehicles corresponding to each security event from the historical records of handling security events, and classifying the security events;

[0056] Step S102: obtaining body information of each type of working vehicle and extracting the width of each type of vehicle;

[0057] Step S103: Extract the records of various types of security events from the historical records of handling security events, and obtain the relationship between the number of working vehicles handling any security event and the change of the impact range, where the change relationship of the impact range of the a-th security event is expressed as G a (R a , M a ), R a represents the impact range of the a-th security event, M a The impact range of the a-th security event is R a The number of working vehicles corresponding to the time;

[0058] During the implementation process, the scope of impact is related to the security event itself. For example, when a fire occurs, the scope of impact can be measured by the area burned by the fire; when people are injured or sick, the scope of impact can be measured by the number of people injured or sick.

[0059] Step S200: obtaining city road information from a city map, dividing the city roads into several sections, marking sections that cannot be passed by various types of working vehicles, and obtaining a set of avoidance sections corresponding to various types of working vehicles;

[0060] Wherein, step S200 includes:

[0061] Step S201: dividing the urban road into several sections according to the nodes of the urban road, and obtaining the driving direction of each section, as well as the number of lanes and lane width corresponding to the driving direction from the urban road information;

[0062] Step S202: obtaining safe passage widths for different types of working vehicles, and merging road sections whose widths are less than the safe passage widths into an avoidance road section set, wherein the road section width is the sum of lane widths in any direction of the road section, and the avoidance road section set corresponds to the type of working vehicle;

[0063] Step S203: Obtaining the minimum value of the safety distance of the same type of working vehicles at different driving speeds, wherein the safety distance includes the distance between any two adjacent working vehicles and the body length of a working vehicle;

[0064] Step S300: taking the location where the current security incident occurs as the target location, obtaining the path information between the target location and the departure location of the relevant work vehicle, removing the road sections that the work vehicle cannot pass through from the path information, and calculating the predicted travel time of each road section;

[0065] Wherein, step S300 includes:

[0066] Step S301: Set the currently occurring security event as the target event, obtain the security event type and the impact range r corresponding to the target event, and obtain the number of corresponding working vehicles m when the impact range of the target event is r according to the relationship between the number of working vehicles and the impact range, set the type of working vehicle for handling the target event as the target vehicle type, and set the m working vehicles as the target vehicles;

[0067] Step S302: Obtain all paths between the target location and the target departure location, collect the road segments in all the paths and record them in a set E1, obtain an avoidance road segment set avo corresponding to the target vehicle type, calculate a passable road segment set E2, where E2 = E1-avo, perform path planning based on the road segments in the set E2, and obtain a number of candidate paths, wherein any one of the candidate paths is formed by connecting the road segments in E2 end to end;

[0068] Step S303: Set the maximum road occupancy rate α, where 0<α≤1, obtain the road width w of any road section in the alternative path, and calculate the traffic width lin1. Wherein, pass represents the safe passage width corresponding to the target vehicle, lin1 is rounded down to obtain the permutation value lin2;

[0069] The value of α is determined according to the importance of the security incident. The more important the security incident is, the larger the value of α is.

[0070] Step S304: Setting the unit time interval T int , set the unit time interval as the cycle period, collect the average vehicle speed of all sections in the set of alternative paths, obtain the average vehicle speed v0 per unit time in any section, obtain the length d0 of any section and the minimum value f0 of the safety distance of the target vehicle at the speed v0, calculate the occupation time T0 of any section,

[0071] In one embodiment, the maximum occupancy rate of the road surface α=50%, the road surface width w=10.5 meters, there are 3 working vehicles of a certain type, the safe passage width is 3 meters, lin1=(10.5×50%)÷3=1.75, lin1 is rounded down to obtain lin2=1;

[0072] When the target vehicle is at a speed of v0 = 60 km / h, the minimum value of the safety distance f0 is 6 meters, the length of a road is 800 meters, and the calculated occupied time is T = (800 + 3 × 6) ÷ 16.67 = 51.125 s;

[0073] In another embodiment, the maximum occupancy rate of the road surface α=40%, the road surface width w=8 meters, there are 6 working vehicles of a certain type, the safe passage width is 0.9 meters, lin1=(8×40%)÷0.9=3.2, and lin1 is rounded down to obtain lin2=3;

[0074] When the target vehicle is at a speed of v0 = 80 km / h, the minimum value of the safety distance f0 is 5 meters, the length of a road is 600 meters, and the calculated occupied time is T = (600 + 6 × 5) ÷ (22.22 × 3) = 9.45 s;

[0075] Step S400: planning a target driving path for the working vehicle to reach the target location based on the shortest time it takes for the working vehicle to reach the target location, predicting the time range for occupying each road section, and reminding vehicles that enter the same road section as the working vehicle in the same time period;

[0076] Wherein, step S400 includes:

[0077] Step S401: Accumulate the occupied time of the road sections in each candidate path to obtain the total time corresponding to the candidate path, and set the candidate path with the shortest total time as the target driving path;

[0078] For the kth path ru in the alternative path k , get ru k The occupancy times corresponding to the gk sections are recorded as: T1, T2, T3, ... and T gk , calculate the path ru k The corresponding total occupied time Y k , Where Tq represents T1, T2, T3, ... and T gk The qth occupation time in ;

[0079] Traverse the total occupied time corresponding to all paths, and obtain the path with the shortest total occupied time as the alternative path;

[0080] Step S402: Obtain the departure time t0 of the target vehicle and calculate the arrival time t1 of the i-th segment in the target driving path. Where T b represents the occupancy time of the bth segment in the target driving path;

[0081] Step S403: Obtain the occupancy time T of the i-th segment in the target driving path i , calculate the departure time t2 of the i-th segment in the target driving path, t2 = t1 + T i, obtaining the driving plan of each vehicle on the urban road, and providing information reminders to vehicles in the relevant direction that need to pass through the i-th section of the target driving path within the time range from time t1 to time t2;

[0082] The predicted time range of the path in the target driving path also includes a method for adjusting the predicted time, the steps comprising:

[0083] Step S4-1: Obtain the predicted time pt of the i-th segment in the target driving path i The predicted time is one of the occupied time of the i-th segment in the target driving path or the second predicted time of the i-th segment in the target driving path, and the actual driving time rt of the target vehicle passing through the i-th segment in the target driving path i , the length d of the i-th section in the target driving path i ; The occupancy time pt of the i+qth segment in the target driving path i+q , the length d of the i+qth segment in the target driving path i+q ;

[0084] Step S4-2: Calculate the second predicted time pt of the i+qth segment in the target driving path 2 i+q ,in,

[0085] The system includes:

[0086] Security event record management module, avoidance section management module, predicted travel time calculation module and information reminder module;

[0087] The security event record management module is used to manage the historical records of security events, wherein the security event record management module includes: a historical record acquisition unit, an event classification unit and a relationship management unit, wherein the historical record acquisition unit is used to acquire the historical records of security events, the event classification unit is used to classify security events, and the relationship management unit is used to manage the relationship between the number of working vehicles and the change of the impact range;

[0088] The avoidance road section management module is used to manage the avoidance road sections corresponding to various types of working vehicles, wherein the avoidance road section management module includes: a map management unit, a vehicle information management unit and an avoidance road section set management unit, wherein the map management unit is used to manage the city road information in the city map, the vehicle information management unit is used to manage the vehicle information of the working vehicle, and the avoidance road section set management unit is used to manage the avoidance road section set;

[0089] The predicted travel time calculation module is used to calculate the predicted travel time of each road section, wherein the predicted travel time calculation module includes: a target vehicle acquisition unit, a passable road section set management unit, a ranking value calculation unit and an occupied time calculation unit, wherein the target vehicle acquisition unit is used to obtain information of the target vehicle, the passable road section set management unit is used to obtain the passable road section set, the ranking value calculation unit is used to calculate the ranking value, and the occupied time calculation unit is used to calculate the occupied time of any road section;

[0090] Among them, the information reminder module is used to remind vehicles that enter the same road section as the work vehicle in the same time period, wherein the information reminder module includes: a driving path acquisition unit, a time range calculation unit, a predicted time update unit and an information reminder unit, wherein the driving path acquisition unit is used to obtain the target driving path, the time range calculation unit is used to calculate the occupancy time range of each road section occupied by the work vehicle, the predicted time update unit is used to calculate the second predicted time, and the information reminder unit is used to provide information reminders to related vehicles.

[0091] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0092] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cross-regional collaborative management method for smart cities, characterized in that: The method comprises the following steps: Step S100: Acquire the historical records of handling security events, classify the security events according to the working vehicles corresponding to the security events, and establish the corresponding relationship between the impact scope of the security events and the working vehicles; Step S100 includes: Step S101: Obtaining classification information of working vehicles, obtaining the type of working vehicles corresponding to each security event from the historical records of handling security events, and classifying the security events; Step S102: obtaining body information of each type of working vehicle and extracting the width of each type of vehicle; Step S103: Extract the records of various types of security events from the historical records of handling security events, and obtain the relationship between the number of working vehicles handling any security event and the change of the impact range, where the change relationship of the impact range of the a-th security event is expressed as G a (R a , M a ), R a represents the impact range of the a-th security event, M a The impact range of the a-th security event is R a The number of working vehicles corresponding to the time; Step S200: obtaining city road information from a city map, dividing the city roads into several sections, marking sections that cannot be passed by various types of working vehicles, and obtaining a set of avoidance sections corresponding to various types of working vehicles; Step S300: taking the location where the current security incident occurs as the target location, obtaining the path information between the target location and the departure location of the relevant work vehicle, removing the road sections that the work vehicle cannot pass through from the path information, and calculating the predicted travel time of each road section; Step S300 includes: Step S301: Set the currently occurring security event as the target event, obtain the security event type and the impact range r corresponding to the target event, and obtain the number of corresponding working vehicles m when the impact range of the target event is r according to the relationship between the number of working vehicles and the impact range, set the type of working vehicle for handling the target event as the target vehicle type, and set m working vehicles as the target vehicles; Step S302: Obtain all paths between the target location and the target departure location, collect the road segments in all the paths and record them in a set E1, obtain an avoidance road segment set avo corresponding to the target vehicle type, calculate a passable road segment set E2, where E2 = E1-avo, perform path planning based on the road segments in the set E2, and obtain a number of candidate paths, any of which is formed by connecting the road segments in E2 end to end; Step S303: Set the maximum road occupancy rate α, where 0<α≤1, obtain the road width w of any road section in the alternative path, and calculate the traffic width lin1. Wherein, pass represents the safe passage width corresponding to the target vehicle, lin1 is rounded down to obtain the permutation value lin2; Step S304: Setting the unit time interval T int , set the unit time interval as the cycle period, collect the average vehicle speed of all sections in the set of alternative paths, obtain the average vehicle speed v0 per unit time in any section, obtain the length d0 of any section and the minimum value f0 of the safety distance of the target vehicle at the speed v0, calculate the occupation time T0 of any section, Step S400: Based on the shortest time for the work vehicle to reach the target location, plan the target driving path for the work vehicle to reach the target location, predict the time range for occupying each road section, and remind vehicles that enter the same road section as the work vehicle in the same time period.

2. The cross-regional collaborative management method for smart cities according to claim 1 is characterized in that: Step S200 includes: Step S201: dividing the urban road into several sections according to the nodes of the urban road, and obtaining the driving direction of each section, as well as the number of lanes and lane width corresponding to the driving direction from the urban road information; Step S202: obtaining safe passage widths for different types of working vehicles, and merging road sections whose widths are less than the safe passage widths into an avoidance road section set, wherein the road section width is the sum of lane widths in any direction of the road section, and the avoidance road section set corresponds to the type of working vehicle; Step S203: Obtain the minimum value of the safety distance of the same type of working vehicles at different driving speeds, where the safety distance includes the distance between any two adjacent working vehicles and the body length of a working vehicle.

3. The cross-regional collaborative management method for smart cities according to claim 2 is characterized in that: Step S400 includes: Step S401: Accumulate the occupied time of the road sections in each alternative route to obtain the total time corresponding to the alternative route, and set the alternative route with the shortest total time as the target driving route; Step S402: Obtain the departure time t0 of the target vehicle and calculate the arrival time t1 of the i-th segment in the target driving path. Where T b represents the occupancy time of the bth segment in the target driving path; Step S403: Obtain the occupancy time T of the i-th segment in the target driving path i , calculate the departure time t2 of the i-th segment in the target driving path, t2 = t1 + T i , obtain the driving plan of each vehicle on the urban road, and provide information reminders to vehicles in the relevant direction that need to pass through the i-th section of the target driving path within the time range from time t1 to time t2.

4. The cross-regional collaborative management method for smart cities according to claim 3 is characterized by: The predicted time range of the path in the target driving path also includes a method for adjusting the predicted time, the steps comprising: Step S4-1: Obtain the predicted time pt of the i-th segment in the target driving path i The predicted time is one of the occupied time of the i-th segment in the target driving path or the second predicted time of the i-th segment in the target driving path, and the actual driving time rt of the target vehicle passing through the i-th segment in the target driving path i , the length d of the i-th section in the target driving path i ; The occupancy time pt of the i+qth segment in the target driving path i+q , the length d of the i+qth segment in the target driving path i+q ; Step S4-2: Calculate the second predicted time pt of the i+qth segment in the target driving path 2 i+q ,in, 5. A cross-regional collaborative management system for executing the cross-regional collaborative management method for smart cities as described in any one of claims 1 to 4, characterized in that: The system includes the following modules: a security event record management module, an avoidance section management module, a predicted travel time calculation module and an information reminder module, wherein the security event record management module is used to manage the historical records of security events, the avoidance section management module is used to manage the avoidance sections corresponding to various types of work vehicles, the predicted travel time calculation module is used to calculate the predicted travel time of each section, and the information reminder module is used to remind vehicles that enter the same section as the work vehicle in the same time period.

6. The cross-regional collaborative management system according to claim 5, characterized in that: The security event record management module includes: a history record acquisition unit, an event classification unit and a relationship management unit, wherein the history record acquisition unit is used to acquire the historical records of security events, the event classification unit is used to classify security events, and the relationship management unit is used to manage the changing relationship between the number of working vehicles and the impact range.

7. The cross-regional collaborative management system according to claim 5, characterized in that: The avoidance section management module includes: a map management unit, a vehicle information management unit and an avoidance section set management unit, wherein the map management unit is used to manage the city road information in the city map, the vehicle information management unit is used to manage the vehicle information of the working vehicle, and the avoidance section set management unit is used to manage the avoidance section set.

8. The cross-regional collaborative management system according to claim 5, characterized in that: The predicted travel time calculation module includes: a target vehicle acquisition unit, a passable road section set management unit, a ranking value calculation unit and an occupied time calculation unit, wherein the target vehicle acquisition unit is used to obtain information of the target vehicle, the passable road section set management unit is used to obtain the passable road section set, the ranking value calculation unit is used to calculate the ranking value, and the occupied time calculation unit is used to calculate the occupied time of any road section; The information reminder module includes: a driving path acquisition unit, a time range calculation unit, a predicted time update unit and an information reminder unit, wherein the driving path acquisition unit is used to obtain the target driving path, the time range calculation unit is used to calculate the occupancy time range of each road section occupied by the working vehicle, the predicted time update unit is used to calculate the second predicted time, and the information reminder unit is used to provide information reminders to related vehicles.

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