Urban road traffic jam control method and system based on radio positioning

Abstract

The invention belongs to the technical field of communication, and provides an urban road traffic jam control method and system based on radio positioning, and the main scheme is as follows: a first confirmation instruction is sent to a first communication range at a first communication frequency through a base station; receiving a first confirmation instruction through vehicle-mounted navigation software of the vehicle, acquiring initial congestion condition information based on the receiving condition information of the first confirmation instruction, and judging whether to establish an ad hoc network according to the initial congestion condition information; in the ad hoc network, taking each vehicle receiving the first confirmation instruction as a basic node, and selecting a central node from the basic nodes; sending a second request instruction to a basic node in a second communication range through the central node at a second wireless communication frequency; and based on the response condition information of the second request instruction, judging whether the lane where the vehicle corresponding to the basic node is located is congested or not, and if so, sending suggested lane change information to a backward vehicle in the same driving direction.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, and particularly to a method and system for controlling urban road traffic congestion based on radio positioning. Background Art

[0002] Due to the development of vehicle intelligence and road monitoring intelligence, vehicle-road cooperation has become closer, thus greatly alleviating urban road congestion.

[0003] However, the current RSU roadside unit not only needs to interface with the traffic signal system, but also needs to access functions such as microwave radar, positioning and timing, and edge computing, resulting in a large amount of data processing for the roadside unit. Moreover, even though most vehicles are already equipped with in-vehicle navigation software, the manufacturers of the in-vehicle navigation software used among different automobile brands are not the same. Even under the same automobile brand, the in-vehicle navigation software is also updated irregularly, resulting in incomplete version coordination. Eventually, vehicle-road cooperation cannot be synchronized in a timely manner, and thus the urban road traffic congestion cannot be solved effectively and in a timely manner.

[0004] Due to the rapid development of radio technology in the communication field, radio positioning technology has become increasingly mature. Therefore, if the data processing volume of roadside units and in-vehicle units can be greatly reduced, and the issue of in-vehicle navigation software versions does not need to be considered, then the urban road traffic congestion problem can be effectively alleviated. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for controlling urban road traffic congestion based on radio positioning, which can effectively alleviate the urban road traffic congestion problem without considering the issue of in-vehicle navigation software versions and without increasing the hardware investment cost of additional roadside units, and the data processing volume of roadside units and in-vehicle navigation software is greatly reduced.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0007] On the one hand, the present invention provides a method for controlling urban road traffic congestion based on radio positioning, including the following steps:

[0008] Monitor whether the in-vehicle navigation software of the vehicle is started. When the in-vehicle navigation software is started, send a first request command with a first wireless communication frequency to the roadside units within the first communication range;

[0009] Determine a roadside unit according to the first request commands received by each roadside unit, and use it as the base station for forming an ad-hoc network;

[0010] Send a first confirmation command within the first communication range at the first communication frequency through the base station;

[0011] Receive the first confirmation instruction through the in-vehicle navigation software of the vehicle, obtain the initial congestion situation information based on the reception situation information of the first confirmation instruction, and determine whether to form a self-organizing network according to the initial congestion situation information. If so, form a self-organizing network among the vehicles that receive the first confirmation instruction in the same driving direction within the first communication range from the base station in all lanes;

[0012] In the self-organizing network, regard each vehicle that receives the first confirmation instruction as a basic node, and select a central node from the basic nodes;

[0013] Send a second request instruction to the basic nodes within the second communication range through the central node at the second wireless communication frequency;

[0014] Based on the response situation information of the second request instruction, determine whether the lane where the vehicle corresponding to the basic node is located is congested. When it is determined that there is congestion, send information suggesting lane change to the rearward vehicles in the same driving direction.

[0015] As a further optimization, the determining a roadside unit according to the first request instructions received by each roadside unit and using it as the base station for forming the self-organizing network means:

[0016] Obtain the number of first request instructions received by each roadside unit within the first preset time period. When the number of received first request instructions reaches the first preset instruction number, screen out the roadside unit with the largest number of received first request instructions and use it as the base station for forming the self-organizing network.

[0017] As a further optimization, if there are multiple roadside units with the largest number of received first request instructions screened out, use the roadside unit whose number of received first request instructions reaches the first preset instruction number first as the base station for forming the self-organizing network.

[0018] As a further optimization, the obtaining the initial congestion situation information based on the reception situation information of the first confirmation instruction and determining whether to form a self-organizing network according to the initial congestion situation information means:

[0019] From the time when the base station sends the first confirmation instruction within the first communication range at the first communication frequency until the subsequent first preset time period, obtain the number of first confirmation instructions received by the in-vehicle navigation software of the vehicle. When the number of first confirmation instructions reaches the second preset instruction number, the obtained initial congestion situation information indicates that the corresponding vehicle lane section within the first communication range from the base station is congested;

[0020] When the corresponding vehicle lane section within the first communication range from the base station is congested, determine to form a self-organizing network.

[0021] As a further optimization, selecting the central node from the basic nodes means:

[0022] After the ad hoc network is formed, the position information of the vehicles receiving the first confirmation instruction in each lane in the same driving direction is obtained through the base station;

[0023] The two basic nodes with the farthest distance in all lanes are connected by a straight line, and the basic node closest to the midpoint of the straight line is taken as the central node.

[0024] As a further optimization, after the central node sends a second request instruction to the basic nodes within the second communication range at the second wireless communication frequency, it further includes:

[0025] Within the second preset time period starting from when the central node issues the second request instruction for the number of basic nodes until all basic nodes have received the corresponding second request instruction, the second confirmation instructions returned by each basic node to the central node are obtained.

[0026] As a further optimization, if within the second preset time period, the number of the second confirmation instructions returned by each basic node to the central node reaches the third preset instruction number, it indicates that there is congestion in the corresponding lane within the second communication range of the central node.

[0027] As a further optimization, determining whether there is congestion in the lane where the vehicle corresponding to the basic node is located based on the response situation information of the second request instruction means:

[0028] The lane where the vehicle corresponding to the basic node that returns the second confirmation instruction to the central node is located is the corresponding lane with congestion within the second communication range of the central node.

[0029] As a further optimization, when it is determined that there is congestion, sending information suggesting lane change to the rearward vehicles in the same driving direction means:

[0030] After obtaining the corresponding lane with congestion, it is notified to the base station through the central node, and the base station sends information suggesting lane change to the rearward vehicles in the same driving direction in the first communication range of the base station on this lane.

[0031] On the other hand, the present invention also provides an urban road traffic congestion control system based on radio positioning, which is applied to the urban road traffic congestion control method based on radio positioning, including:

[0032] A monitoring unit for monitoring whether the in-vehicle navigation software of the vehicle is started, and when the in-vehicle navigation software is started, sending a first request instruction at the first wireless communication frequency to the roadside unit within the first communication range;

[0033] A base station selection unit, configured to determine a roadside unit according to the first request instructions received by each roadside unit, and use it as a base station for forming a self-organizing network;

[0034] A first sending unit, configured to send a first confirmation instruction to a first communication range at a first communication frequency through the base station;

[0035] A first judgment unit, configured to receive the first confirmation instruction through the vehicle-mounted navigation software of the vehicle, obtain initial congestion situation information based on the reception situation information of the first confirmation instruction, and judge whether to form a self-organizing network according to the initial congestion situation information. If so, form a self-organizing network between the vehicles that receive the first confirmation instruction in all lanes in the same driving direction within the first communication range of the base station;

[0036] A node selection unit, configured to use each vehicle that receives the first confirmation instruction as a basic node in the self-organizing network, and select a central node from the basic nodes;

[0037] A second sending unit, configured to send a second request instruction to the basic nodes within a second communication range at a second wireless communication frequency through the central node;

[0038] A second judgment unit, configured to judge whether the lane where the vehicle corresponding to the basic node is located is congested based on the response situation information of the second request instruction. When it is judged that congestion occurs, send information for suggesting lane change to the rearward vehicles in the same driving direction.

[0039] The beneficial effects of the present invention are as follows: Through the above-mentioned urban road traffic congestion control method and system based on radio positioning, there is no need to pay attention to the version problem of the vehicle-mounted navigation software. Only by cooperating with the selected roadside unit as the base station, it is possible to initially screen out which sections may be congested. Then, the vehicles that perform instruction transceiver with the base station within the first communication range at the first communication frequency are used as basic nodes, and a self-organizing network is formed. In the self-organizing network, the central node communicates with each basic node within the second communication range at the second communication frequency, so that it is possible to accurately determine which lane is congested through the self-organizing network.

[0040] Therefore, the present invention not only does not need to pay attention to the version of the vehicle-mounted navigation software, but also does not need to additionally increase the hardware investment cost of the roadside unit. Only by reusing the roadside unit as the base station, reusing the vehicle-mounted navigation software as the basic node and the central node, and performing instruction transceiver within the first communication range and the second communication range at the communication frequency and the second communication frequency respectively, can the urban road traffic congestion situation be alleviated. Description of the Drawings

[0041] Figure 1Flowchart of the urban road traffic congestion control method based on radio positioning in Embodiment 1 of the present invention;

[0042] Figure 2 Schematic diagram of vehicles in four lanes within the first communication range after selecting a base station in Embodiment 1 of the present invention;

[0043] Figure 3 Schematic diagram of selecting a central node in Embodiment 1 of the present invention;

[0044] Figure 4 Schematic diagram of the composition structure of the urban road traffic congestion control system based on radio positioning in Embodiment 2 of the present invention.

[0045] Among them, 101 represents a vehicle with an in-vehicle navigation software enabled, and 102 represents a vehicle without an installed or enabled in-vehicle navigation software. Detailed implementation manners

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0047] Embodiment 1

[0048] This embodiment provides an urban road traffic congestion control method based on radio positioning. The flowchart is shown in Figure 1 , where the method includes the following steps:

[0049] S1. Monitor whether the in-vehicle navigation software of the vehicle is started. When the in-vehicle navigation software is started, send a first request instruction of the first wireless communication frequency to the roadside unit within the first communication range;

[0050] S2. Determine a roadside unit according to the first request instructions received by each roadside unit, and use it as the base station for forming an ad hoc network;

[0051] S3. Send a first confirmation instruction to the first communication range at the first communication frequency through the base station;

[0052] S4. Receive the first confirmation instruction through the in-vehicle navigation software of the vehicle, and based on the received situation information of the first confirmation instruction, obtain the initial congestion situation information, and determine whether to form an ad hoc network according to the initial congestion situation information. If so, form an ad hoc network between the vehicles that receive the first confirmation instruction in the same driving direction in all lanes within the first communication range from the base station;

[0053] S5. In the ad hoc network, each vehicle that receives the first confirmation instruction is used as a basic node, and a central node is selected from the basic nodes;

[0054] S6. The central node sends a second request instruction to the basic nodes within the second communication range at the second wireless communication frequency;

[0055] S7. Based on the reception situation information of the second request instruction, it is judged whether the lane where the vehicle corresponding to the basic node is located is congested. When it is judged that there is congestion, advice on changing lanes is sent to the rearward vehicles in the same driving direction.

[0056] In the actual application process, since the roadside units already installed on both sides of the road need to be connected to the traffic signal control system and also need to cooperate with the vehicle to achieve functions such as positioning timing and edge computing, therefore, if image and video acquisition devices are used and image and video processing are carried out to assist in alleviating urban road traffic congestion problems, it will take a long time delay and multiple roadside units need to be used together. Moreover, currently, different in-vehicle navigation software manufacturers and different versions exist. Therefore, currently, using roadside units for image and video processing and notifying the recommended roads or recommended routes of the in-vehicle navigation software to alleviate road traffic congestion requires more data processing processes and also takes more data processing time. Therefore, this embodiment abandons the traditional solutions for alleviating traffic congestion. On the one hand, based on the roadside unit, one of the roadside units is selected as a base station, and within the first communication range of the base station, instructions are sent and received with the vehicles with in-vehicle navigation enabled to initially confirm whether the road is congested. On the other hand, based on the vehicles that send and receive instructions with the base station, an ad hoc network is formed, and each vehicle is used as a basic node, and a central node is selected. In the ad hoc network, the accurate judgment of lane-level congestion is carried out through the sending and receiving of instructions between the central node and the basic nodes, and then lane-changing prompts can be given to the subsequent vehicles within the first communication range.

[0057] See Figure 2 , for the schematic diagram of vehicles in four lanes within the first communication range after the base station is selected. Taking four lanes in the same driving direction as an example, there are both vehicles 101 with in-vehicle navigation software enabled and vehicles 102 without installed or without enabled in-vehicle navigation software. Through Figure 2 it can be seen that the number of vehicles in each lane cannot achieve complete balance. Therefore, after the base station is selected, based on the base station, within the first communication range, the base station and the vehicle 101 with navigation software enabled carry out the sending and receiving of the first request instruction and the first confirmation instruction.

[0058] It should be pointed out that, in the present embodiment, since the first communication range and the first communication frequency can be determined after the base station is selected, then, to determine whether the relevant road section within the first communication range is congested, it can be determined by the number of instructions sent and received between the vehicle 101 with the vehicle navigation software turned on and the base station, and after the vehicle enters the first communication range, if the vehicle passes through the range in a short time, it indicates that there is no congestion, and if the stay time is too long, it indicates that congestion may occur, therefore, it is necessary to define a first preset time period and a first preset instruction number as judgment conditions, therefore, in the present embodiment, the determination of a roadside unit according to the first request instruction received by each roadside unit and using it as a base station for forming an ad hoc network may refer to:

[0059] The number of first request instructions received by each roadside unit within a first preset time period is obtained. When the number of first request instructions received reaches the first preset number, the roadside unit with the largest number of first request instructions is screened out and used as the base station for forming an ad hoc network.

[0060] Generally speaking, since current roadside units are installed relatively closely, there may be multiple roadside units within the first communication range. At this time, how to select a suitable roadside unit from multiple roadside units and use it as a base station is critical. Therefore, in this embodiment, if multiple roadside units are screened out that receive the largest number of first request instructions, the roadside unit whose number of received first request instructions first reaches the first preset instruction number will be used as the base station for establishing the self-organizing network.

[0061] It should be pointed out that many vehicles on the road are not equipped with onboard navigation software. Even if some vehicles are equipped with onboard navigation software, the driver may use the mobile terminal for navigation based on navigation habits instead of choosing the onboard navigation software for navigation. Therefore, for the vehicle 101 with the onboard navigation software turned on, the instructions sent and received between the vehicle 101 and the base station can only preliminarily determine whether the relevant road section within the first communication range based on the base station is congested. Only when it is determined that the road section may be initially congested, the subsequent self-organizing network establishment process will be carried out. Therefore, in this embodiment, the information on the reception of the first confirmation instruction, the acquisition of initial congestion information, and the determination of whether to establish an self-organizing network based on the initial congestion information may refer to:

[0062] From the time when the first confirmation instruction is sent by the base station at the first communication frequency within the first communication range to the first preset time period thereafter, the number of first confirmation instructions received by the vehicle-mounted navigation software of the vehicle is obtained, and when the number of first confirmation instructions reaches a second preset number of instructions, the obtained initial congestion situation information is represented as follows: the corresponding road section within the first communication range from the base station is congested;

[0063] When the corresponding road section within the first communication range from the base station is congested, it is determined to establish an ad hoc network.

[0064] See also Figure 3 Regarding the schematic diagram of selecting the central node, due to the first communication range based on the base station, the number of lanes is different, and the vehicles 101 with the vehicle navigation software turned on may also be distributed in different lanes. Therefore, in order to ensure that the central node and other basic nodes can send and receive instructions with a lower packet loss rate as much as possible in the self-organizing network to accurately determine the congested lanes, in this embodiment, the central node is selected from the basic nodes, which means:

[0065] After the self-organizing network is established, the position information of the vehicle receiving the first confirmation instruction in each lane in the same driving direction is obtained through the base station;

[0066] Connect the two farthest basic nodes in all lanes with a straight line, and take the basic node closest to the midpoint of the straight line as the central node.

[0067] Figure 3 In the figure, the two vehicles 101 with the in-vehicle navigation software turned on that are farthest apart in the leftmost lane are the farthest apart. After the midpoint of the straight line is confirmed, the basic node closest to the midpoint of the straight line is the vehicle 101 with the in-vehicle navigation software turned on that is marked in the leftmost lane.

[0068] It should be noted that after selecting the central node, it is necessary to use the central node as a basis, within the second communication range, and use the second communication frequency to send and receive instructions between the central node and other basic nodes to accurately determine which lane is congested. Therefore, it is necessary to set a second preset time to determine the stay time of the vehicle 101 with the vehicle navigation software turned on in each lane, so as to accurately determine which lane is congested. Therefore, in this embodiment, after the central node sends the second request instruction to the basic node within the second communication range at the second wireless communication frequency, it is also necessary to include:

[0069] Within a second preset time period from when the central node issues a second request instruction for the number of basic nodes to when all basic nodes receive the corresponding second request instruction, a second confirmation instruction returned by each basic node to the central node is obtained.

[0070] Specifically, since if each basic node does not drive out of the second communication range after moving during the second preset time period, it will surely return a second confirmation instruction to the central node. Therefore, it is also necessary to use the received quantity of the second confirmation instruction as a judgment condition for whether the lane is congested. At the same time, since the central node may also move within the first communication range based on the base station, then after the second preset time period, if the central node drives out of the first communication range, it is necessary to reconfirm the central node. Therefore, in this embodiment, within the second preset time period, if the number of second confirmation instructions returned by each basic node to the central node reaches the third preset instruction quantity, it indicates that the corresponding lane within the second communication range from the central node is congested.

[0071] Therefore, in this embodiment, determining whether the lane where the vehicle corresponding to the basic node is located is congested based on the response situation information of the second request instruction means: obtaining the lane where the vehicle corresponding to the basic node that returns the second confirmation instruction to the central node is the corresponding lane that is congested within the second communication range from the central node.

[0072] It should be noted that since the subsequent vehicles entering the first communication range based on the base station may also have the in-vehicle navigation software enabled, then for these subsequent vehicles, after accurately determining which lane is more congested as described above, a lane-changing prompt can be given to the subsequent entering vehicles. Therefore, in this embodiment, when it is determined that there is congestion, sending advice on changing lanes to the backward vehicles in the same driving direction means:

[0073] After obtaining the corresponding congested lane, notify the base station through the central node, and send advice on changing lanes to the backward vehicles in the same driving direction on this lane within the first communication range from the base station through the base station.

[0074] In the actual application process, since many vehicles are equipped with in-vehicle navigation software and will also receive lane-changing information, due to the driving habits of the drivers and the failure to pay timely attention to the advice on changing lanes, subsequent vehicles keep the original lane and enter the first communication range based on the base station. Therefore, it can be set that after every third preset time period, the base station is reselected, and the congested section and congested lane are reconfirmed.

[0075] Embodiment 2

[0076] Based on Embodiment 1, this embodiment provides an urban road traffic congestion control system based on radio positioning. The schematic diagram of its system composition structure is shown in Figure 4 This system includes:

[0077] A monitoring unit, configured to monitor whether the in-vehicle navigation software of a vehicle is started. When the in-vehicle navigation software is started, it sends a first request instruction at a first wireless communication frequency to a roadside unit within the first communication range;

[0078] A base station selection unit, configured to determine a roadside unit according to the first request instructions received by each roadside unit, and use it as a base station for forming a self-organizing network;

[0079] A first sending unit, configured to send a first confirmation instruction at the first communication frequency to within the first communication range through the base station;

[0080] A first judgment unit, configured to receive the first confirmation instruction through the in-vehicle navigation software of the vehicle, obtain initial congestion situation information based on the reception situation information of the first confirmation instruction, and judge whether to form a self-organizing network according to the initial congestion situation information. If so, form a self-organizing network among the vehicles that have received the first confirmation instruction in all lanes in the same driving direction within the first communication range from the base station;

[0081] A node selection unit, configured to use each vehicle that has received the first confirmation instruction as a basic node in the self-organizing network, and select a central node from the basic nodes;

[0082] A second sending unit, configured to send a second request instruction at a second wireless communication frequency to the basic nodes within the second communication range through the central node;

[0083] A second judgment unit, configured to judge whether the lane where the vehicle corresponding to the basic node is located is congested based on the reception situation information of the second request instruction. When it is judged that there is congestion, it sends information for suggesting lane change to the rearward vehicles in the same driving direction.

[0084] As can be seen from the description of Embodiment 1, the application scenario and implementation principle of this embodiment are the same as those of Embodiment 1, so they will not be elaborated here.

[0085] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for controlling urban road traffic congestion based on radio positioning, characterized in that: The steps include: Monitoring whether the vehicle navigation software of the vehicle is started, and when the vehicle navigation software is started, sending a first request instruction of the first wireless communication frequency to the roadside unit within the first communication range; According to the first request instructions received by each roadside unit, a roadside unit is determined and used as a base station for forming an ad hoc network; Sending a first confirmation instruction via a base station within a first communication range at a first communication frequency; Receiving the first confirmation instruction through the vehicle's onboard navigation software, and obtaining initial congestion information based on the reception information of the first confirmation instruction, and determining whether to establish an ad hoc network according to the initial congestion information, and if so, establishing an ad hoc network among the vehicles that have received the first confirmation instruction in all lanes in the same driving direction within the first communication range from the base station; In the self-organizing network, each vehicle that receives the first confirmation instruction is used as a basic node, and a central node is selected from the basic nodes; Sending a second request instruction to the basic nodes within the second communication range through the central node at a second wireless communication frequency; Based on the response information of the second request instruction, it is determined whether congestion occurs in the lane where the vehicle corresponding to the basic node is located. When congestion is determined to occur, lane change suggestion information is sent to the rear vehicle in the same driving direction.

2. The urban road traffic congestion control method based on radio positioning according to claim 1 is characterized in that: The step of determining a roadside unit according to the first request instruction received by each roadside unit and using it as a base station for forming an ad hoc network refers to: The number of first request instructions received by each roadside unit within a first preset time period is obtained. When the number of first request instructions received reaches the first preset number, the roadside unit with the largest number of first request instructions is screened out and used as the base station for forming an ad hoc network.

3. The urban road traffic congestion control method based on radio positioning according to claim 2 is characterized in that: If multiple roadside units are screened out that receive the largest number of first request instructions, the roadside unit whose number of received first request instructions first reaches the first preset number of instructions is used as the base station for forming the ad hoc network.

4. The urban road traffic congestion control method based on radio positioning according to claim 2 is characterized in that: The acquiring of initial congestion information based on the reception information of the first confirmation instruction, and determining whether to establish an ad hoc network according to the initial congestion information, refers to: From the time when the first confirmation instruction is sent by the base station at the first communication frequency within the first communication range to the first preset time period thereafter, the number of first confirmation instructions received by the vehicle-mounted navigation software of the vehicle is obtained, and when the number of first confirmation instructions reaches a second preset number of instructions, the obtained initial congestion situation information is represented as follows: the corresponding road section within the first communication range from the base station is congested; When the corresponding road section within the first communication range from the base station is congested, it is determined to establish an ad hoc network.

5. The urban road traffic congestion control method based on radio positioning according to claim 1 is characterized in that: The selecting of the central node from the basic nodes refers to: After the self-organizing network is established, the position information of the vehicle receiving the first confirmation instruction in each lane in the same driving direction is obtained through the base station; Connect the two farthest basic nodes in all lanes with a straight line, and take the basic node closest to the midpoint of the straight line as the central node.

6. The urban road traffic congestion control method based on radio positioning according to claim 1 is characterized in that: After sending a second request instruction to a basic node within a second communication range through the central node at a second wireless communication frequency, the method further includes: Within a second preset time period from when the central node issues a second request instruction for the number of basic nodes to when all basic nodes receive the corresponding second request instruction, a second confirmation instruction returned by each basic node to the central node is obtained.

7. The urban road traffic congestion control method based on radio positioning according to claim 6 is characterized in that: If the number of second confirmation instructions returned by each basic node to the central node reaches a third preset number of instructions within the second preset time period, it indicates that congestion occurs in the corresponding lane within the second communication range from the central node.

8. The urban road traffic congestion control method based on radio positioning according to claim 7 is characterized in that: The step of judging whether congestion occurs in a lane where the vehicle corresponding to the basic node is located based on the response information of the second request instruction refers to: The lane where the basic node corresponding to the vehicle that obtains the second confirmation instruction returned to the central node is located is the corresponding lane where congestion occurs within the second communication range from the central node.

9. The urban road traffic congestion control method based on radio positioning according to claim 8 is characterized in that: When it is determined that congestion occurs, the lane change suggestion information is sent to the rearward vehicle in the same driving direction, which means: After obtaining the corresponding lane where congestion occurs, the base station is notified through the central node, and the base station sends lane change suggestion information to the rear vehicles in the same driving direction of the lane within the first communication range from the base station.

10. A radio-positioning-based urban road traffic congestion control system, applied to the radio-positioning-based urban road traffic congestion control method according to any one of claims 1 to 9, characterized in that: include: A monitoring unit, configured to monitor whether an onboard navigation software of the vehicle is started, and when the onboard navigation software is started, send a first request instruction of a first wireless communication frequency to a roadside unit within a first communication range; A base station selection unit, configured to determine a roadside unit according to the first request instruction received by each roadside unit, and use it as a base station for forming an ad hoc network; A first sending unit, configured to send a first confirmation instruction at a first communication frequency within a first communication range through a base station; A first judgment unit is used to receive the first confirmation instruction through the vehicle navigation software of the vehicle, and obtain initial congestion information based on the reception information of the first confirmation instruction, and determine whether to establish an ad hoc network according to the initial congestion information, and if so, establish an ad hoc network among the vehicles that have received the first confirmation instruction in all lanes in the same driving direction within the first communication range from the base station; A node selection unit, used to take each vehicle that receives the first confirmation instruction as a basic node in the ad hoc network, and select a central node from the basic nodes; A second sending unit, configured to send a second request instruction to a basic node within a second communication range through the central node at a second wireless communication frequency; The second judgment unit is used to judge whether the lane where the vehicle corresponding to the basic node is located is congested based on the response information of the second request instruction, and when congestion is judged to occur, send lane change suggestion information to the rear vehicle in the same driving direction.

Images