Military vehicle running speed planning method, device and equipment based on digital main line

Abstract

The invention relates to the technical field of traffic information, in particular to a military vehicle driving speed planning method, device and equipment based on a digital main line, and the method comprises the steps: obtaining the road condition information of each road section in a current period, a signal lamp time sequence interval, the driving information of a military vehicle, an objective function and a constraint condition from the digital main line; the deduction model obtains queuing dissipation time of each road section according to the road condition information and the signal lamp time sequence interval; according to the driving information of the military vehicles, the signal lamp time sequence interval and the queuing dissipation time, the passing time interval of the military vehicles passing through the road section intersection is determined; solving the target function under the constraint of the constraint condition and the passing time interval to obtain an acceleration sequence; and when the military vehicle does not pass through all the road sections in the target route at the end moment of the current period, updating the driving information of the target route and the military vehicle, continuously executing the determination and issuing operation of the acceleration sequence in the next period, and ending the operation until the military vehicle passes through all the road sections in the target route.

Description

Technical Field

[0001] The present disclosure relates to the field of traffic information technology, and in particular to a method, device and equipment for planning the driving speed of military vehicles based on a digital main line. Background Art

[0002] Military vehicles have higher road rights than ordinary civilian vehicles during driving, but they should abide by national and local road traffic regulations when performing non-emergency tasks. When performing non-emergency tasks, military vehicles will delay their travel time due to continuous signalized intersections in the city and vehicles queuing at intersections.

[0003] In order to reduce the waiting time, the relevant technology will use the traffic scene at the time of military vehicle start as a reference to plan the driving speed for military vehicles. However, this method does not take into account the real-time changing road conditions.

[0004] So, how to plan the driving speed so that military vehicles can comply with traffic regulations, ensure traffic efficiency, and avoid a major impact on civilian vehicles? Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a method, device and equipment for military vehicle driving speed planning based on digital main line.

[0006] In a first aspect, the present disclosure provides a method for military vehicle speed planning based on a digital main line, comprising:

[0007] The road condition information, signal light timing interval, driving information of military vehicles, pre-built objective functions and constraints of each section in the target line in the current cycle are obtained through the digital main line. The target line is the driving line from the position corresponding to the start time of the current cycle to the target position of the military vehicle. The pre-built deduction model is used to predict the queue dissipation time of each section in the current cycle according to the road condition information and signal light timing interval, and the queue dissipation time corresponding to each section is obtained. According to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time, the military vehicle in the current cycle is determined. The corresponding travel time interval when passing through the road section intersection; under the constraints of the constraint of the travel time interval, solve the objective function, and send the obtained acceleration sequence corresponding to the current cycle to the military vehicle, the acceleration sequence is the sequence corresponding to the military vehicle passing through the road section intersection within the travel time interval; when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, the driving information of the target route and the military vehicle is updated, and the determination and sending operation of the acceleration sequence of the next cycle is continued until the military vehicle passes through all sections of the target route, and the operation is ended.

[0008] In a second aspect, the present disclosure provides a military vehicle driving speed planning device based on a digital main line, comprising:

[0009] The acquisition module is used to obtain the road condition information, signal light timing interval, driving information of military vehicles, pre-built objective functions and constraints of each section in the target line in the current cycle through the digital main line. The target line is the driving line from the position corresponding to the start time of the current cycle to the target position of the military vehicle; the prediction module is used to use the pre-built deduction model to predict the queue dissipation time of each section in the current cycle according to the road condition information and signal light timing interval, and obtain the queue dissipation time corresponding to each section; the first determination module is used to determine the military vehicle in the current cycle according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time. The corresponding travel time interval when passing through the road section intersection in the previous cycle; the second determination module is used to solve the objective function under the constraints of the constraint conditions and the travel time interval, and send the obtained acceleration sequence corresponding to the current cycle to the military vehicle, and the acceleration sequence is the sequence corresponding to the military vehicle passing through the road section intersection within the travel time interval; the update module is used to update the driving information of the target route and the military vehicle when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, and continue to perform the determination and sending operations of the acceleration sequence of the next cycle until the military vehicle passes through all sections of the target route, and then the operation is terminated.

[0010] In a third aspect, the present disclosure provides a computer device, comprising:

[0011] The memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the military vehicle driving speed planning method based on the digital main line of the first aspect and any embodiment thereof by executing the computer instructions.

[0012] In a fourth aspect, the present disclosure provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for military vehicle driving speed planning based on a digital main line of the first aspect and any embodiment thereof.

[0013] In a fifth aspect, the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method for military vehicle driving speed planning based on a digital main line of the first aspect and any embodiment thereof.

[0014] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0015] The military vehicle driving speed planning method based on the digital main line provided in this embodiment obtains the road condition information, signal light timing interval, military vehicle driving information, pre-constructed objective function and constraint conditions of each section in the target line in the current cycle through the digital main line; uses the pre-constructed deduction model to predict the queue dissipation time of each section in the current cycle according to the road condition information and signal light timing interval, and obtains the queue dissipation time corresponding to each section; determines the corresponding travel time interval when the military vehicle passes through the section intersection in the current cycle according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time; and calculates the travel time interval based on the constraint conditions and the constraint conditions of the travel time interval. Under, solve the objective function, and send the obtained acceleration sequence corresponding to the current cycle to the military vehicle; when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, update the driving information of the target route and the military vehicle, and continue to determine and send the acceleration sequence of the next cycle until the military vehicle passes through all sections of the target route, and then end the operation; the solution provided in this embodiment obtains and processes data in a periodic manner, so that the generated acceleration sequence can change in real time with the actual road conditions, so that the military vehicle can completely avoid red lights and queuing vehicles when driving according to the issued acceleration sequence, thereby realizing smooth driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A schematic diagram of a flow chart of a method for military vehicle speed planning based on a digital main line provided in an embodiment of the present disclosure;

[0019] Figure 2 A schematic diagram of interval distribution provided in an embodiment of the present disclosure;

[0020] Figure 3 A schematic diagram of a flow chart for determining a travel time interval provided in an embodiment of the present disclosure;

[0021] Figure 4 A schematic diagram of a process for determining a time interval for a military vehicle to arrive at the next road intersection provided in an embodiment of the present disclosure;

[0022] Figure 5A structural connection diagram of a military vehicle driving speed planning device based on a digital main line provided in an embodiment of the present disclosure;

[0023] Figure 6 A structural connection diagram of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0026] It should be noted that, in this article, relational terms such as "first" and "second" 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. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0027] According to an embodiment of the present disclosure, an embodiment of a method for planning the speed of military vehicles based on a digital main line is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] In this embodiment, a method for planning the speed of a military vehicle based on a digital main line is provided, which can be used for a device for planning the speed of a military vehicle based on a digital main line. The device for planning the speed of a military vehicle based on a digital main line can be integrated into a control device or a data processing device of a military vehicle. Figure 1is a flow chart of a method for planning the speed of military vehicles based on a digital main line according to an embodiment of the present disclosure, such as Figure 1 As shown, the process includes the following steps:

[0029] S101, obtaining the road condition information, signal light timing interval, driving information of military vehicles, pre-built objective functions and constraints of each section in the target line in the current cycle through the digital main line.

[0030] The current cycle is the data collection cycle to which the current moment belongs. The military vehicle driving process includes at least one data collection cycle, and the first data collection cycle starts at the start time of the military vehicle. The cycle duration can be set according to the actual situation. For example, the cycle duration can be the longest duration of the same road condition information, or it can be consistent with the duration corresponding to the signal cycle. The signal cycle here can be understood as the duration corresponding to a green light and a red light under normal circumstances.

[0031] The target route is the route from the position of the military vehicle corresponding to the start time of the current cycle to the target position, and the target position is the location of the destination of this driving. It can be understood that the target route corresponds to the cycle and is updated as the cycle changes. If the military vehicle's driving route this time is A-B, then the target route corresponding to the first data collection cycle of the military vehicle during the driving process is A-B. At the end of the first data collection cycle, the military vehicle travels to C, then the target route corresponding to the second data collection cycle of the military vehicle during the driving process is C-B.

[0032] The road condition information is information that characterizes the road traffic conditions of a road section. The road condition information corresponds to the road section. The road section information at least includes vehicle flow, vehicle density, preset flow threshold, preset density threshold and preset saturation density. The preset flow threshold and preset density threshold are the vehicle flow and vehicle density corresponding to the optimal traffic state. Each road section corresponds to a set of preset flow thresholds and preset density thresholds. The preset flow thresholds and preset density thresholds of each road section are not completely the same. The preset saturation density is the vehicle density corresponding to the complete congestion situation. The preset saturation density is independent of the road section.

[0033] The signal light timing interval refers to the interval distribution of the signal light in the timing. The signal light timing intervals corresponding to different cycles of the same road section are different. Therefore, when the cycle changes, the signal light timing interval is also updated. For example, the intervals corresponding to the red signal light are [12:00, 12:01), [12:02, 12:03), [12:04, 12:05)...; the intervals corresponding to the green signal light are [12:01, 12:02), [12:03, 12:04), [12:05, 12:06)...

[0034] The driving information of the military vehicle is the information required during the driving process of the military vehicle, and the driving information of the military vehicle at least includes the initial speed, initial time, initial position, target position, maximum speed of the road section, minimum speed of the road section, maximum acceleration of the road section, minimum acceleration of the road section, and the position of each intersection of the road section corresponding to the current cycle. If the current cycle is a cycle other than the first cycle, the initial speed is the speed corresponding to the end time of the previous cycle, the initial time is the starting time of the current cycle, and the initial position is the position of the military vehicle at the end time of the previous cycle.

[0035] The pre-constructed objective function is obtained by combining the first function with the rapidity objective and the second function with the stability objective. The constraints include the constraints on the acceleration, speed and displacement of the military vehicle.

[0036] Specifically, the digital main line aggregates the road condition information, signal light timing intervals and driving information of military vehicles of each road section. Therefore, the road condition information, signal light timing intervals and driving information of military vehicles of each road section in the target line in the current cycle can be directly obtained from the road data management platform through the digital main line. At the same time, the pre-built objective function and constraints can be obtained.

[0037] Exemplarily, the cycle duration of the data collection cycle is consistent with the signal cycle, which is 2 minutes. The duration of the green signal light and the red signal light in the signal cycle is 1 minute respectively. The current cycle is the first data collection cycle in the driving process of the military vehicle. The target route is the route from the starting point A to the end point B of the military vehicle. The target route includes 5 sections, namely AC, CD, DE, EF, and FB. At the starting time (12:00) of the first data collection cycle (12:00-12:02), the road condition information, signal light timing interval and driving information of the military vehicle corresponding to each section are obtained.

[0038] Taking the first road section AC as an example, the road condition information obtained includes vehicle flow q1, vehicle density k1, and preset flow threshold q m1 , preset density threshold k m1 and the preset saturation density k d The obtained signal light timing intervals are: green light (12:00:00-12:00:40), red light (12:00:41-12:01:40), green light (12:01:41-12:02:00). The obtained driving information of the military vehicle is: initial speed v now =0, initial time t now =12:00, initial position S now =S A 、Target position S B , maximum speed of the road section v max, minimum speed of the road section v min , maximum acceleration of the road section a max , minimum acceleration of the road section a min , the location of each road section intersection S C , S D , S E , S F , S B .

[0039] The pre-built objective function and constraints obtained are:

[0040] The objective function is:

[0041] Z=min(Z1+Z2)

[0042]

[0043] The constraints are:

[0044]

[0045] Among them, w1 is the first coefficient, S now is the initial position, S j is the position of the intersection of the jth road section, w2 is the coefficient, N target The time to arrive at the destination is planned. is the current time N now To N target The displacement at the moment, v n-1 is the velocity at the previous moment, v n is the speed at the current moment.

[0046] S102, using a pre-built deduction model, according to the road condition information and the signal light timing interval, predicting the queue dissipation time of each road section in the current cycle, and obtaining the queue dissipation time corresponding to each road section.

[0047] Among them, the deduction model is a model built based on shock wave theory, which is used to predict the time it takes for the queue in the stop line to dissipate after the green signal light comes on.

[0048] Specifically, the duration of the red traffic light corresponding to each road section is obtained from the traffic light timing interval of each road section in the current cycle. The traffic condition information corresponding to each road section in the current cycle and the duration of the red traffic light are input into the pre-built deduction model as a set of input data, and the queue dissipation time corresponding to each road section in the current cycle can be obtained. Since the deduction model takes into account the traffic condition information of each road section in the current cycle and the duration of the red traffic light of each road section, the queue dissipation time obtained by the deduction model is more real-time and accurate.

[0049] Exemplarily, in this embodiment, the deduction model is as follows:

[0050]

[0051] Among them, L j represents the jth road segment, represents the queue dissipation time of the j-th road section in the current cycle, represents the stop wave speed of the jth section in the current cycle, represents the duration of the red traffic light on the jth road section in the current cycle, represents the starting wave speed of the jth section in the current cycle, represents the vehicle flow of the jth road section in the current cycle, represents the vehicle density of the jth road section in the current cycle, k d Indicates the preset saturation density, represents the preset flow threshold of the jth road segment, k m Represents the preset density threshold of the j-th road segment.

[0052] S103, determining the corresponding travel time interval when the military vehicle passes through the road section intersection in the current cycle according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time.

[0053] Specifically, the earliest time and the latest time for the military vehicle to arrive at the intersection of the road section are calculated according to the driving information of the military vehicle, and the time interval for the military vehicle to arrive at the intersection of the road section is formed by the earliest time and the latest time, that is, it can be understood that the military vehicle can arrive at the corresponding intersection of the road section at any time within the time interval. In order to enable the military vehicle to travel smoothly, it is necessary to avoid the red signal light and the waiting queue in the stop line when the military vehicle arrives at the intersection of the road section. Therefore, after determining the time interval for the military vehicle to arrive at a certain intersection of the road section, it is also necessary to analyze it in combination with the signal light timing interval and the queue dissipation time, so as to obtain the travel time interval that can ensure the smooth travel of the military vehicle.

[0054] After obtaining the travel time interval when the military vehicle passes through the jth road section intersection, it is necessary to determine whether the travel time interval is within the current cycle. If the travel time interval is within the current cycle, it means that the military vehicle can pass through the jth road section intersection within the current cycle. At this time, the driving information of the military vehicle can be updated according to the travel time interval, and the travel time interval of the military vehicle passing through the j+1th road section intersection can be continued to be calculated based on the updated driving information of the military vehicle. Until the calculated travel time interval is not within the current cycle, it means that the military vehicle cannot pass through the corresponding road section intersection within the current cycle. At this time, the calculation operation of the travel time interval needs to be stopped, and the travel time intervals corresponding to all road section intersections that the military vehicle can pass through within the current cycle need to be counted.

[0055] For example, still taking the embodiment in S101 as an example, in the first data collection cycle of the military vehicle driving, if Figure 2 As shown, according to the driving information of the military vehicle, it is calculated that the time interval for the military vehicle to arrive at the first section intersection is 12:01:45-12:02:00 (i.e., the area corresponding to the black block in the figure), the queue dissipation time of the first section intersection obtained by S103 is 10s (i.e., the area corresponding to the yellow block in the figure), and the signal light timing interval obtained by S101 is green light 12:00:00-12:00:40 (the area corresponding to the first green block from left to right in the figure), red light 12:00:41-12:01:40 (the area corresponding to the red block in the figure), green light 12:01:41-12:02:00 (the area corresponding to the second green block from left to right in the figure). By combining the signal light timing interval and the queue dissipation time for analysis, it can be seen that if military vehicles want to avoid the queue and the red light and pass the first section intersection in the current cycle, then their travel time interval is 12:01:50-12:02:00 (the blue block in the figure corresponds to the area).

[0056] For example, in another example, if the first cycle is 12:00-12:02, the time interval for the military vehicle to arrive at the first road section intersection obtained by S103 is 12:03-12:05. Obviously, the military vehicle cannot arrive at the first road section intersection in the first cycle. At this time, there is no need to perform subsequent steps, and the analysis of the second cycle is directly started, that is, the operations of S101-S103 are performed in the second cycle until the travel time interval corresponding to the military vehicle at a certain road section intersection is within the current cycle, and then the subsequent steps can be continued.

[0057] S104, solving the objective function under the constraints of the constraint conditions and the travel time interval, and sending the obtained acceleration sequence corresponding to the current cycle to the military vehicle.

[0058] The acceleration sequence is a sequence corresponding to when the military vehicle passes through the road section intersection within the travel time interval. The acceleration sequence includes the acceleration corresponding to each moment in the current cycle.

[0059] Specifically, first, under the constraints of the constraints, solve the objective function to obtain at least one set of candidate acceleration sequences. Then, select an acceleration sequence that enables the military vehicle to reach the corresponding road section intersection within the travel time interval from the at least one set of candidate acceleration sequences. Finally, send the determined acceleration sequence to the military vehicle, specifically to the control device of the military vehicle, to control the military vehicle to complete the driving operation according to the acceleration sequence. Alternatively, the determined acceleration sequence can also be sent to the display device of the military vehicle so that the driver can complete the driving according to the displayed acceleration. In addition, the method of solving the objective function includes but is not limited to genetic algorithm and particle swarm algorithm.

[0060] S105, when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, the driving information of the target route and the military vehicle is updated, and the determination and issuance of the acceleration sequence of the next cycle are continued until the military vehicle passes through all sections of the target route, and the operation is terminated.

[0061] Specifically, when the military vehicle has not passed all sections of the target route at the end of the current cycle, it means that the current trip of the military vehicle has not yet ended. At this time, it is necessary to obtain the position and corresponding speed of the military vehicle at the end of the current cycle, and update the target route according to the position of the military vehicle at the end, and update the driving information of the military vehicle according to the position of the military vehicle at the end and the corresponding speed of the military vehicle. After the data update is completed, according to the updated target route and the driving information of the military vehicle, continue to perform the determination and issuance operation of the next cycle acceleration sequence according to S101-S104, until the military vehicle passes all sections of the target route at the end of a certain cycle, and all operations are terminated.

[0062] It should be noted that, can judge whether military vehicle passes through all sections in target route at the end time of current cycle according to the road section intersection that military vehicle passes through in current cycle.As, in an example, the whole driving route of military vehicle comprises 5 sections, 4 road section intersections.If the result that S103 obtains is that military vehicle can pass through the 3rd, 4th road section intersection in current cycle, so, can determine that military vehicle can pass through all sections in target route at the end time of current cycle.If the result that S103 obtains is that military vehicle can pass through the 2nd road section intersection in current cycle, so, can determine that military vehicle can not pass through all sections in target route at the end time of current cycle.

[0063] The military vehicle driving speed planning method based on the digital main line provided in this embodiment obtains the road condition information, signal light timing interval, military vehicle driving information, pre-constructed objective function and constraint conditions of each section in the target line in the current cycle through the digital main line; uses the pre-constructed deduction model to predict the queue dissipation time of each section in the current cycle according to the road condition information and signal light timing interval, and obtains the queue dissipation time corresponding to each section; determines the corresponding travel time interval when the military vehicle passes through the section intersection in the current cycle according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time; under the constraints of the constraint conditions and the travel time interval, , solve the objective function, and send the obtained acceleration sequence corresponding to the current cycle to the military vehicle; when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, the driving information of the target route and the military vehicle is updated, and the determination and sending operation of the acceleration sequence of the next cycle is continued until the military vehicle passes through all sections of the target route, and the operation is ended; the solution provided in this embodiment obtains and processes data in a periodic manner, so that the generated acceleration sequence can change in real time with the actual road conditions, so that the military vehicle can completely avoid red lights and queuing vehicles when driving according to the issued acceleration sequence, thereby realizing smooth driving of the military vehicle.

[0064] In an optional embodiment, the process of determining the travel time interval is optimized, such as Figure 3 As shown, according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time, the corresponding travel time interval when the military vehicle passes through the road section intersection in the current cycle is determined, including the following steps:

[0065] S301: Equivalent queue dissipation time to the duration of the red traffic light, and using the queue dissipation time to update the traffic light timing interval.

[0066] Specifically, when the traffic light switches from red to green, the vehicles gathered in the stop line due to the red light begin to disperse. If a military vehicle reaches the intersection of a road section when the light switches to green, it needs to wait for the queued vehicles in front to disperse before it can drive out. Therefore, in this embodiment, the queue dissipation time is equivalent to the duration of the red traffic light, and the queue dissipation time of the current cycle is used to update the traffic light timing interval corresponding to the corresponding road section.

[0067] For example, the queue dissipation time of the first road section in the current cycle is 1 minute, and the signal light timing interval of the first road section is red light 12:00:00-12:00:40, green light 12:00:41-12:01:40, and red light 12:01:41-12:02:00. It can be seen from the above signal light timing interval that the duration of the green light is 1 minute. Therefore, after the queue dissipation time of 1 minute is equivalent to the duration of the red signal light, the signal light timing interval corresponding to the first road section in the current cycle is red light 12:00:00-12:02:00.

[0068] For example, if the queue dissipation time of the first road section in the current cycle is 30 seconds, then after the queue dissipation time of 30 seconds is equivalent to the duration of the red signal light, the duration of the green signal light is still 30 seconds. Therefore, in this embodiment, the signal light timing interval corresponding to the first road section in the current cycle is red light 12:00:00-12:01:10, green light 12:01:11-12:01:40, red light 12:01:41-12:02:00.

[0069] S302, calculating a first time interval for a military vehicle to arrive at a first road section intersection in a target route according to the driving information of the military vehicle.

[0070] Specifically, the above S202 includes:

[0071] S3021, calculating the earliest time when the military vehicle passes through the first road section intersection based on the initial speed, initial time, initial position, the position of the first road section intersection, the maximum speed of the road section and the maximum acceleration of the road section.

[0072] Specifically, the earliest time when the military vehicle passes through the first road section intersection is calculated by the following formula:

[0073]

[0074] in, represents the earliest time when the military vehicle reaches the intersection of the ,th road section, t now represents the initial time, S j represents the location of the intersection of the jth road section, S now represents the initial position, a max Indicates the maximum acceleration of the road section, v max Indicates the maximum speed of the road section, v now Indicates the initial velocity.

[0075] S3022, calculating the latest time when the military vehicle passes through the first road section intersection based on the initial speed, initial time, initial position, the position of the first road section intersection, the minimum speed of the road section and the minimum acceleration of the road section.

[0076] Specifically, the latest time when the military vehicle passes through the first road section intersection is calculated by the following formula:

[0077]

[0078] in, represents the earliest time when the military vehicle reaches the intersection of the ,th road section, t now represents the initial time, S j represents the location of the intersection of the jth road section, S now represents the initial position, a min Indicates the minimum acceleration of the road section, v min Indicates the minimum speed of the road section, v now Indicates the initial velocity.

[0079] S3023, obtaining the first time interval for the military vehicle to arrive at the first road section intersection according to the earliest time and the latest time.

[0080] Specifically, the earliest time As the lower limit of the interval, the latest time As the upper limit of the interval, the first time interval is formed

[0081] S303: When the first time interval is within the current cycle and there is an interval corresponding to a green signal light in the intersection of the first time interval and the updated signal light timing interval, the interval corresponding to the green signal light is determined as the passing time interval corresponding to the first road section.

[0082] Specifically, after obtaining the first time interval, first determine whether the first time interval is a subset of the time interval corresponding to the current cycle. If the first time interval is a subset of the time interval corresponding to the current cycle, it means that the first time interval is within the current cycle. At this time, the intersection of the first time interval and the updated signal light timing interval can be calculated. When there is only one interval corresponding to a green signal light in the intersection, the interval corresponding to the only green signal light is determined as the passage time interval corresponding to the first road section. When there are at least two intervals corresponding to green signal lights in the intersection, the interval corresponding to the earliest green signal light is determined as the passage time interval corresponding to the first road section. When there is no interval corresponding to a green signal light in the intersection, the interval corresponding to the first green signal light after the first time interval in the signal light timing interval can be determined as the passage time interval corresponding to the first road section.

[0083] Exemplarily, the time interval corresponding to the current cycle is [12:00, 12:06], and the updated traffic light timing interval corresponding to the first road section in the current cycle is red light [12:00, 12:03], green light [12:03, 12:04], red light [12:04, 12:05], green light [12:05, 12:06].

[0084] For example, the first time interval is [11:59, 12:04], and the intersection of the first time interval and the updated signal light timing interval is calculated to be [12:00, 12:04]. There is only one interval corresponding to the green signal light in the intersection, namely [12:03, 12:04]. At this time, [12:03, 12:04] is directly determined as the travel time interval corresponding to the first road section.

[0085] For example, the first time interval is [12:02, 12:06], and the intersection of the first time interval and the updated signal light timing interval is calculated to be [12:02, 12:06]. There are two intervals corresponding to the green signal light in the intersection, namely [12:03, 12:04] and [12:05, 12:06]. At this time, the interval corresponding to the earliest green signal light, namely [12:03, 12:04], can be determined as the travel time interval corresponding to the first road section.

[0086] For example, the first time interval is [11:58, 12:02], and the intersection of the first time interval and the updated signal light timing interval is calculated to be [12:00, 12:02]. There is no interval corresponding to the green signal light in the intersection. At this time, it can be determined whether there is an interval corresponding to the green signal light after the first time interval in the current cycle. After determination, after the first time interval, there are two intervals corresponding to the green signal light in the current cycle, namely [12:03, 12:04] and [12:05, 12:06]. At this time, the interval corresponding to the first green signal light after the first time interval, namely [12:03, 12:04], can be determined as the travel time interval corresponding to the first road section.

[0087] In an optional embodiment, when the first time interval is not within the current cycle, the road condition information, traffic light timing interval and driving information of military vehicles of each section in the target line in the next cycle are re-acquired, and the determination and issuance of the acceleration sequence of the next cycle are continued.

[0088] For example, the time interval corresponding to the current cycle is [12:00, 12:06], and the first time interval is [12:07, 12:09]. At this time, it means that the military vehicle cannot pass through the first road section intersection in the current cycle. At this time, it is necessary to re-perform the determination and issuance of the next cycle acceleration sequence according to S101-S104.

[0089] It should also be noted that after obtaining the travel time interval corresponding to the first road section, S104 may be directly executed.

[0090] S304, using the travel time interval to update the driving information of the military vehicle, and calculating the travel time interval for the military vehicle to pass the next road section intersection based on the updated driving information of the military vehicle, until the calculated travel time interval exceeds the current cycle, or the military vehicle passes through all sections of the target route at the end of the current cycle, the operation is terminated.

[0091] Specifically, after obtaining the travel time interval corresponding to the first road section, the travel time interval can be used to update the driving information of the military vehicle. And continue to calculate the time interval for the military vehicle to reach the intersection of the next road section according to the operation of S3021-S3023 based on the updated travel information of the military vehicle. The operation ends when the calculated travel time interval exceeds the current cycle or the military vehicle has passed all the road sections in the target route at the end of the current cycle.

[0092] In an optional embodiment, the travel time interval is used to update the driving information of the military vehicle, and the time interval for the military vehicle to arrive at the next road section intersection is calculated based on the updated driving information of the military vehicle, including: Figure 4 Steps shown:

[0093] S401, updating the initial time to the upper limit of the first time interval, and calculating the earliest time when the military vehicle passes through the second section intersection based on the updated initial time, the position of the first section intersection, the position of the second section intersection, the maximum speed of the section and the maximum acceleration of the section.

[0094] Specifically, first, the maximum speed of the military vehicle when passing through the first section is reversely calculated according to the updated initial time. Then, the section length of the second section is determined according to the position of the intersection of the first section and the position of the intersection of the second section. Finally, the updated initial time, the maximum speed of the section, the maximum acceleration of the section, the maximum speed of the military vehicle when passing through the first section, and the section length of the second section are input into the following formula to obtain the earliest time when the military vehicle passes through the intersection of the second section.

[0095]

[0096] in, represents the earliest time when the military vehicle passes the intersection of the jth road section, t j-1 represents the updated initial velocity, Indicates the length of the current section, a max Indicates the maximum acceleration of the road section, vmax Indicates the maximum speed of the road section, v max，j-1 Indicates the maximum speed of the military vehicle when passing the previous road section.

[0097] S402, updating the initial time to the lower limit of the first time interval, and calculating the latest time when the military vehicle passes the second section intersection based on the updated initial time, the position of the first section intersection, the position of the second section intersection, the minimum speed of the section and the minimum acceleration of the section.

[0098] Specifically, first, the minimum speed of the military vehicle when passing through the first section is reversely calculated based on the updated initial time. Then, the section length of the second section is determined based on the position of the intersection of the first section and the position of the intersection of the second section. Finally, the updated initial time, the maximum speed of the section, the maximum acceleration of the section, the minimum speed of the military vehicle when passing through the first section, and the section length of the second section are input into the following formula to obtain the latest time when the military vehicle passes through the intersection of the second section.

[0099]

[0100] in, represents the latest time when the military vehicle passes the intersection of the jth road section, t j-1 represents the initial time after the update, Indicates the length of the current section, a min Indicates the minimum acceleration of the road section, v min Indicates the minimum speed of the road section, v min，j-1 Indicates the maximum speed of the military vehicle when passing the previous road section.

[0101] S403, obtaining a second time interval when the military vehicle passes through the second road section intersection according to the earliest time when the military vehicle passes through the second road section intersection and the latest time when the military vehicle passes through the second road section intersection.

[0102] Specifically, the earliest time is taken as the lower limit of the interval, and the latest time is taken as the upper limit of the interval, to obtain the second time interval.

[0103] It should be noted that when calculating the time interval of the military vehicle arriving at each road section intersection after the first road section intersection, the earliest time for the military vehicle to arrive at the road section intersection can be calculated by the formula in S402, and the latest time for the military vehicle to arrive at the road section intersection can be calculated by the formula in S403, which will not be repeated here.

[0104] In the present embodiment, a military vehicle speed planning device based on a digital main line is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0105] This embodiment provides a military vehicle speed planning device based on a digital main line, such as Figure 5 As shown, including:

[0106] The acquisition module 501 is used to acquire the road condition information, signal light timing interval, driving information of military vehicles, pre-built objective functions and constraints of each section in the target route in the current cycle through the digital main line. The target route is the driving route from the position corresponding to the start time of the current cycle to the target position of the military vehicle;

[0107] The prediction module 502 is used to use the pre-built deduction model to predict the queue dissipation time of each road section in the current cycle according to the road condition information and the signal light timing interval, and obtain the queue dissipation time corresponding to each road section;

[0108] The first determination module 503 is used to determine the corresponding travel time interval when the military vehicle passes through the road section intersection in the current cycle according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time;

[0109] The second determination module 504 is used to solve the objective function under the constraint of the constraint of the passing time interval, and send the obtained acceleration sequence corresponding to the current cycle to the military vehicle, where the acceleration sequence is the sequence corresponding to the military vehicle passing through the road section intersection within the passing time interval;

[0110] The updating module 505 is used to update the driving information of the target route and the military vehicle when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, and continue to perform the determination and issuance operation of the acceleration sequence of the next cycle until the military vehicle passes through all sections of the target route, and then terminate the operation.

[0111] In some optional implementations, the road condition information includes vehicle flow, vehicle density, a preset flow threshold, a preset density threshold, and a preset saturation density. The deduction model is constructed based on the shock wave theory. The prediction module 502 includes:

[0112] The acquisition submodule is used to obtain the duration of the red signal light from the signal light timing interval corresponding to each road section; the prediction submodule is used to input the duration, vehicle flow, vehicle density, preset flow threshold, preset density threshold and preset saturation density corresponding to each road section into the deduction model to obtain the queue dissipation time corresponding to each road section.

[0113] In some optional implementations, the first determining module 503 includes:

[0114] The first updating submodule is used to equate the queue dissipation time to the duration of the red signal light, and use the queue dissipation time to update the signal light timing interval; the first determining submodule is used to calculate the first time interval for the military vehicle to arrive at the first section intersection in the target route according to the driving information of the military vehicle; the second determining submodule is used to determine the interval corresponding to the green signal light as the travel time interval corresponding to the first section when the first time interval is within the current cycle and there is an interval corresponding to the green signal light in the intersection of the first time interval and the updated signal light timing interval; the second updating submodule is used to update the driving information of the military vehicle using the travel time interval, and calculate the travel time interval for the military vehicle to pass the next section intersection according to the updated driving information of the military vehicle, until the calculated travel time interval exceeds the current cycle, or the military vehicle passes through all sections in the target route at the end of the current cycle, the operation is terminated.

[0115] In some optional implementations, the driving information of the military vehicle includes the initial speed, initial time, initial position, maximum speed of the road section, minimum speed of the road section, maximum acceleration of the road section, minimum acceleration of the road section, and the position of each road section intersection corresponding to the military vehicle in the current cycle. The first determination submodule includes:

[0116] The first determination unit is used to calculate the earliest time when the military vehicle passes through the first road section intersection based on the initial speed, initial time, initial position, the position of the first road section intersection, the maximum speed of the section and the maximum acceleration of the section; the second determination unit is used to calculate the latest time when the military vehicle passes through the first road section intersection based on the initial speed, initial time, initial position, the position of the first road section intersection, the minimum speed of the section and the minimum acceleration of the section; the third determination unit is used to obtain the first time interval for the military vehicle to arrive at the first road section intersection based on the earliest time and the latest time.

[0117] In some optional implementations, the second updating submodule includes:

[0118] The fourth determination unit is used to update the initial time to the upper limit of the first time interval, and calculate the earliest time when the military vehicle passes through the second section intersection based on the updated initial time, the position of the first section intersection, the position of the second section intersection, the maximum speed of the section and the maximum acceleration of the section; the fifth determination unit is used to update the initial time to the lower limit of the first time interval, and calculate the latest time when the military vehicle passes through the second section intersection based on the updated initial time, the position of the first section intersection, the position of the second section intersection, the minimum speed of the section and the minimum acceleration of the section; the sixth determination unit is used to obtain the second time interval when the military vehicle passes through the second section intersection based on the earliest time when the military vehicle passes through the second section intersection and the latest time when the military vehicle passes through the second section intersection.

[0119] In some optional implementations, the first determining module 503 further includes:

[0120] The third determination submodule is used to re-acquire the road condition information, signal light timing interval and driving information of military vehicles of each section in the target line in the next cycle when the first time interval is not in the current cycle, and continue to perform the determination operation of the acceleration sequence of the next cycle.

[0121] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0122] The military vehicle driving speed planning device based on the digital main line in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0123] The present disclosure also provides a computer device having the above Figure 5 The military vehicle driving speed planning device based on the digital main line is shown.

[0124] See also Figure 6 , Figure 6 is a schematic diagram of a computer device provided by an optional embodiment of the present disclosure, such as Figure 6As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0125] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0126] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0127] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0128] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0129] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0130] The embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned method according to the embodiments of the present disclosure can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0131] In addition to the above-mentioned computer device and computer-readable storage medium, the embodiments of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the sound source localization method provided by any embodiment of the present application.

[0132] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0133] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for military vehicle speed planning based on digital main line, characterized in that: include: Obtaining the road condition information, signal light timing interval, driving information of military vehicles, pre-built objective functions and constraints of each section in the target route in the current cycle through the digital main line, wherein the target route is the driving route from the position corresponding to the start time of the current cycle to the target position of the military vehicle; Using a pre-built deduction model, according to the road condition information and the signal light timing interval, the queue dissipation time of each road section in the current cycle is predicted to obtain the queue dissipation time corresponding to each road section; Determine the corresponding travel time interval when the military vehicle passes through the road section intersection in the current cycle according to the driving information of the military vehicle, in combination with the signal light timing interval and the queue dissipation time; Under the constraints of the constraint conditions and the travel time interval, the objective function is solved, and the obtained acceleration sequence corresponding to the current cycle is sent to the military vehicle, where the acceleration sequence is a sequence corresponding to when the military vehicle passes through the road section intersection within the travel time interval; When the military vehicle cannot pass through all sections of the target route at the end of the current cycle, the driving information of the target route and the military vehicle is updated, and the determination and issuance of the acceleration sequence of the next cycle are continued until the military vehicle passes through all sections of the target route, and the operation is terminated.

2. The method according to claim 1, characterized in that The road condition information includes vehicle flow, vehicle density, a preset flow threshold, a preset density threshold and a preset saturation density. The deduction model is constructed based on shock wave theory. The pre-constructed deduction model is used to predict the queue dissipation time of each road section in the current cycle according to the road condition information and the signal light timing interval to obtain the queue dissipation time corresponding to each road section, including: Obtaining the duration of the red signal light from the signal light timing interval corresponding to each road section; The duration, vehicle flow, vehicle density, preset flow threshold, preset density threshold and preset saturation density corresponding to each road section are input into the deduction model to obtain the queue dissipation time corresponding to each road section.

3. The method according to claim 1, characterized in that The determining, based on the driving information of the military vehicle, in combination with the signal light timing interval and the queue dissipation time, a corresponding travel time interval when the military vehicle passes through the road section intersection in the current cycle includes: The queue dissipation time is equivalent to the duration of the red traffic light, and the traffic light timing interval is updated using the queue dissipation time; Calculating a first time interval for the military vehicle to arrive at a first road section intersection in the target route according to the driving information of the military vehicle; When the first time interval is within the current cycle and there is an interval corresponding to a green signal light in the intersection of the first time interval and the updated signal light timing interval, determining the interval corresponding to the green signal light as the passing time interval corresponding to the first road section; The travel time interval is used to update the driving information of the military vehicle, and the travel time interval for the military vehicle to pass through the next road section intersection is calculated based on the updated driving information of the military vehicle, until the calculated travel time interval exceeds the current cycle, or the military vehicle passes through all sections of the target route at the end of the current cycle, the operation is terminated.

4. The method according to claim 3, characterized in that The driving information of the military vehicle includes the initial speed, initial time, initial position, maximum speed of the road section, minimum speed of the road section, maximum acceleration of the road section, minimum acceleration of the road section, and the position of each road section intersection of the military vehicle corresponding to the current cycle. The first time interval for the military vehicle to arrive at the first road section intersection in the target route is calculated according to the driving information of the military vehicle, including: Calculate the earliest time when the military vehicle passes through the first road section intersection according to the initial speed, the initial time, the initial position, the position of the first road section intersection, the maximum speed of the road section and the maximum acceleration of the road section; Calculate the latest time when the military vehicle passes through the first road section intersection according to the initial speed, the initial time, the initial position, the position of the first road section intersection, the road section minimum speed and the road section minimum acceleration; According to the earliest time and the latest time, a first time interval for the military vehicle to arrive at the first road section intersection is obtained.

5. The method according to claim 4, characterized in that The method of updating the driving information of the military vehicle by using the travel time interval, and calculating the time interval for the military vehicle to arrive at the next road section intersection according to the updated driving information of the military vehicle, includes: The initial time is updated to the upper limit of the first time interval, and the earliest time when the military vehicle passes through the second road section intersection is calculated according to the updated initial time, the position of the first road section intersection, the position of the second road section intersection, the maximum speed of the road section, and the maximum acceleration of the road section; The initial time is updated to the lower limit of the first time interval, and the latest time when the military vehicle passes through the second road section intersection is calculated according to the updated initial time, the position of the first road section intersection, the position of the second road section intersection, the minimum speed of the road section, and the minimum acceleration of the road section; According to the earliest time when the military vehicle passes through the second road section intersection and the latest time when the military vehicle passes through the second road section intersection, a second time interval when the military vehicle passes through the second road section intersection is obtained.

6. The method according to claim 3, characterized in that The method further comprises: When the first time interval is not within the current cycle, the road condition information, traffic light timing interval and driving information of military vehicles of each section in the target line in the next cycle are re-acquired, and the determination operation of the acceleration sequence in the next cycle is continued.

7. A military vehicle speed planning device based on a digital main line, characterized in that: include: An acquisition module, used to acquire the road condition information, signal light timing interval, driving information of military vehicles, pre-built objective functions and constraints of each section in the target route in the current cycle through the digital main line, wherein the target route is the driving route from the position corresponding to the start time of the current cycle to the target position of the military vehicle; A prediction module, configured to use a pre-built deduction model to predict the queue dissipation time of each road section in the current cycle according to the road condition information and the signal light timing interval, and obtain the queue dissipation time corresponding to each road section; A first determination module is used to determine the corresponding travel time interval when the military vehicle passes through the road section intersection in the current cycle according to the driving information of the military vehicle, combined with the signal light timing interval and the queue dissipation time; A second determination module is used to solve the objective function under the constraint of the constraint condition and the travel time interval, and send the obtained acceleration sequence corresponding to the current cycle to the military vehicle, wherein the acceleration sequence is a sequence corresponding to when the military vehicle passes through the road section intersection within the travel time interval; An updating module is used to update the driving information of the target route and the military vehicle when the military vehicle cannot pass through all sections of the target route at the end of the current cycle, and continue to perform the determination and issuance operation of the acceleration sequence in the next cycle until the military vehicle passes through all sections of the target route, and then terminate the operation.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the military vehicle driving speed planning method based on a digital main line according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the military vehicle driving speed planning method based on a digital main line according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for military vehicle driving speed planning based on a digital main line according to any one of claims 1 to 6 are implemented.

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