Ice and snow removing equipment formation operation path planning method considering road network operation toughness

Abstract

The invention relates to an ice and snow removing equipment formation operation path planning method considering road network operation toughness, and belongs to the technical field of traffic transportation and intelligent pavement maintenance. The method comprises the steps of calculating operation toughness based on a road network operation performance function; an objective function is constructed under constraint conditions, the total driving distance is minimized under full coverage of each road and each lane, key road sections influencing road network operation toughness are preferentially processed, toughness recovery speed and road section toughness influence importance degree are considered, dynamic construction, separation and combination of ice and snow removing equipment formation are realized, and the ice and snow removing equipment formation is optimized. And the snow removal path planning of the road network level is optimized. According to the method, the operation path of the ice and snow removing equipment in the road network can be optimized, the total driving distance is minimized under the full coverage of each road and each lane, and the road network toughness reduction in ice and snow weather is dealt with.

Description

Technical Field

[0001] This invention belongs to the field of transportation and intelligent road maintenance technology, and relates to a method for planning the operation path of snow and ice removal equipment platoons that takes into account the resilience of road network operation. Background Technology

[0002] Road network resilience refers to the ability of a transportation system to maintain basic operational stability and quickly return to normal after experiencing sudden disturbances (such as extreme weather or traffic accidents). In cold regions during winter, low-temperature rain, snow, and ice storms pose a significant threat to road traffic safety and have long been a major challenge for multiple departments, including transportation management, road administration, and traffic police. Efficiently and quickly completing road network de-icing and snow removal operations is crucial for improving road network resilience and ensuring smooth traffic flow.

[0003] Currently, road snow removal operations during snow and ice disasters rely heavily on manual experience for scheduling. The traditional operational model typically involves road administration and traffic police departments determining the snow removal sequence based on past experience and assigning snow and ice removal equipment to operate along a single route. However, in practice, this model has the following significant drawbacks:

[0004] Due to traffic regulations and equipment operation requirements, snow removal equipment can usually only adopt a "forward snow removal" method. In urban road networks or highway networks that include complex interchanges and multi-level branching intersections, relying solely on experience for scheduling can easily lead to some key road sections being repeatedly passed through, while some peripheral road sections are missed or delayed in coverage, resulting in a waste of resources.

[0005] Existing operational models often treat snow removal equipment as independent units, lacking flexible formation, separation, and merging mechanisms. When dealing with large-scale, high-intensity snow and ice disasters, it is impossible to dynamically adjust operational forces in real time according to the severity of snow accumulation and traffic flow demand on each road section, resulting in severely limited overall snow removal efficiency at the road network level.

[0006] Existing technologies often focus solely on minimizing total operation time or travel distance, without adequately considering the importance of road segments within the road network structure (such as hub nodes and key relief routes). Slow recovery of core road segments can trigger cascading traffic congestion, severely weakening the resilience of the road network.

[0007] In summary, how to break through the limitations of experience-based approaches and propose a snow and ice removal method that can adapt to complex road network structures, support dynamic coordination of equipment formations, and optimize routes based on the resilience of road network operations is a technical challenge that urgently needs to be addressed in the field of traffic emergency response. Summary of the Invention

[0008] In view of this, the purpose of this invention is to provide a method for planning the operation path of snow and ice removal equipment platoons that takes into account the resilience of road network operation, so as to realize the dynamic formation, separation and merging of snow and ice removal equipment platoons, optimize the snow removal path planning at the road network level, ensure the minimum total travel distance under full coverage of each road and each lane, and prioritize the treatment of key road sections that affect the resilience of road network operation.

[0009] To achieve the above objectives, the present invention provides the following technical solution: A method for planning the operational path of snow and ice removal equipment platoons that considers the resilience of road network operation includes: Calculate operational resilience based on road network operation performance functions; Constructing a platoon path planning model involves building an objective function under constraints to ensure that the total travel distance is minimized while ensuring full coverage of each road and lane, and prioritizing the handling of key road sections that affect the resilience of the road network. It also considers the resilience recovery speed and the importance of the road section resilience impact, enabling the dynamic formation, separation, and merging of snow removal equipment platoons, and optimizing snow removal path planning at the road network level. The constraints include formation composition constraints, lane full coverage constraints, formation operation logic constraints, road segment width coverage constraints, traffic rule constraints, inflow and outflow balance constraints of formations at nodes, formation separation and merging constraints at nodes, formation safety distance constraints, and formation continuity constraints.

[0010] Furthermore, the objective function of the formation path planning model is:

[0011] in, The objective function is... For road network map, For a set of nodes, It is a directed edge set; For formation assembly; , The duration of snowy or icy weather; It is a set of road network nodes; For road section direction The set of lanes; For road section The set of driving directions (1-forward, 2-reverse); For road section Length; For formation At any moment Is it driving on a road section? Above, 1 represents yes, and 0 represents no; For formation At any moment The number of vehicles; For formation At any moment Is it located at a road network node (such as an urban road intersection or a highway diversion point)? A separation occurs; 1 represents yes, and 0 represents no. For formation and At any moment Is it located at a road network node (such as an urban road intersection or a highway merging point)? Merge, 1 represents yes, 0 represents no; For road section The importance weight of resilience; For road section direction The Lane at time Has snow removal been completed? For formation On the road section direction Formation width; For formation At any moment Is it for the road section? direction Conduct the first For de-icing operations, 1 represents yes, and 0 represents no. For formation At any moment The number of vehicles; The operating width for road de-icing and snow removal equipment; For average recovery speed, For road section Resilience contribution; , These are the weighting coefficients.

[0012] Furthermore, road sections Resilience contribution The calculation formula is:

[0013] in, For road section Traffic capacity, For a moment Section Performance degradation rate.

[0014] Furthermore, the road segment performance degradation model is as follows:

[0015] in, For the first Such equipment in road sections Recovery efficiency This represents the maximum performance degradation rate. and This is a parameter representing the degradation rate. For road section The moment when performance begins to degrade To reach the moment of maximum degradation, This is the moment when performance begins to recover.

[0016] Furthermore, average recovery speed The calculation formula is: The formula for calculating the point at which system performance reaches its minimum is:

[0017] ,

[0018]

[0019]

[0020] in, Indicates time The overall performance of the road network operation For the initial operating performance of the road network; The road network operation performance recovery time is subject to the following formula:

[0021]

[0022]

[0023] in, For the area of ​​toughness loss, To run the resilience triangle index, This represents the peak impact depth.

[0024] Furthermore, the formation composition constraints are as follows:

[0025]

[0026]

[0027] in, This is the lower bound for the formation size; This represents the upper limit of the formation size; A collection of snow and ice removal equipment; For snow and ice removal equipment At any moment Does it belong to a formation? ; The formation operation logic constraints are as follows:

[0028]

[0029]

[0030] in, For formation At any moment Is it for the road section? direction The Work is being carried out in the lane; 1 represents yes, 0 represents no. For formation On the road section direction The number of vehicles operating in parallel; For lane grouping; The inflow and outflow balance constraints of the formation at the node are as follows:

[0031] The formation has node separation constraints as follows:

[0032]

[0033]

[0034] in, For indicator functions, if , ;on the contrary ; The formation's node merging constraint is as follows:

[0035]

[0036]

[0037] Among them, variables Indicates connection to node The upstream end node; The formation safety distance constraint is as follows:

[0038]

[0039] in, Maintain a safe distance for formation separation; For convoy following distance; The formation continuity constraint is as follows: .

[0040] Furthermore, the lane full coverage constraint is as follows:

[0041] in, For lane grouping; The road segment width coverage constraint is:

[0042] in, For road section direction The required number of passes for each lane; For road section direction Total width; The traffic rules are as follows:

[0043]

[0044]

[0045] in, For formation At any moment Select a route The direction of travel, 1 represents yes, 0 represents no.

[0046] The beneficial effects of this invention are as follows: This invention optimizes the operating path of snow and ice removal equipment on the road network, ensuring full coverage of every road and lane while minimizing the total travel distance, and addressing the reduced resilience of the road network under icy and snowy weather. Specific beneficial effects are as follows: 1) By constructing a road network operation performance function and a resilience triangle index, accurate modeling of the road network's maintenance and recovery capabilities under ice and snow disturbances was achieved, significantly improving the road network's operational resilience. The algorithm model introduces "road segment resilience contribution reward" and "expected resilience recovery speed reward" into the objective function, ensuring that key hubs and road segments affecting overall traffic are prioritized for snow removal, thereby minimizing the area of ​​performance loss across the entire network and significantly improving the recovery speed.

[0047] 2) This invention enables the dynamic formation, separation, and merging of snow removal equipment formations, breaking the limitations of traditional single-machine operations or fixed formations. Through node separation and merging constraints (such as interchanges and merging / diversion points), it solves the problem of difficult snow removal equipment scheduling in complex road network environments, effectively avoiding the common phenomenon of repeated traversal or missed sections under experience-based guidance. This invention achieves efficient collaboration and flexible scheduling of snow removal operations.

[0048] 3) Ensuring full coverage of all roads and lanes, the mathematical model optimizes the operational path, significantly reducing the equipment's ineffective empty mileage and lowering energy consumption. The model considers road segment width coverage, lane operation pass count, and platooning efficiency factors, ensuring that each lane receives compliant processing and improving operational accuracy. This invention optimizes resource allocation and reduces operating costs.

[0049] 4) This invention clarifies the "forward snow removal" and related traffic logic constraints, ensuring that the planned route complies with actual traffic laws and regulations. By setting constraints such as platoon separation safety distance and following distance, the risk of collisions during multi-machine collaborative operations is effectively reduced, ensuring the safety of personnel and equipment.

[0050] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0051] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 The flowchart illustrates the snow and ice removal equipment platooning operation path planning method that takes into account the road network operational resilience, as presented in this invention. Detailed Implementation

[0052] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0053] Please see Figure 1This invention provides a method for planning the operation path of snow and ice removal equipment platoons that takes into account the resilience of road network operation, specifically including the following steps: Step 1: Real-time resilience quantification of road network operation.

[0054] In the context of icy and snowy weather, road network operational resilience is defined as the ability of a road network to maintain and recover its functions when subjected to icy and snowy disturbances. This patent employs a resilience quantification method based on road network operational performance losses.

[0055] Road network operation performance functions:

[0056] in, Indicates time The overall performance of the road network operation For the initial operating performance of the road network; For road section The importance weight of resilience, For road section Traffic capacity; Let be the set of directed edges in the road network graph.

[0057] To facilitate cross-scenario comparisons, normalized performance is defined as follows: ,

[0058] Build operational resilience metrics:

[0059] in, This is the time required for the road network to recover its operational performance. Area of ​​toughness loss; peak impact depth ; This represents the average recovery rate. The moment when system performance reaches its lowest point. .

[0060] Road segment performance degradation model:

[0061] in, For the first Such equipment in road sections Recovery efficiency This represents the maximum performance degradation rate. For road section The moment when performance begins to degrade To reach the moment of maximum degradation, and This is the degradation rate parameter. This is the moment when performance begins to recover. Therefore, yes and The function, i.e. .also, .

[0062] Road segment resilience contribution:

[0063] in, The duration of snowy or icy weather.

[0064] Step 2: Construct a formation path planning model.

[0065] This model enables the dynamic formation, separation, and merging of snow removal equipment formations, optimizes snow removal path planning at the road network level, minimizes the total travel distance while ensuring full coverage of every road and lane, and prioritizes the handling of key road sections that affect the resilience of the road network.

[0066] 1) Decision variables Snow and ice removal equipment At any moment Does it belong to a formation? 1 represents yes, and 0 represents no; :formation At any moment Is it driving on a road section? Above, 1 represents yes, and 0 represents no; :formation At any moment Is it for the road section? direction The Work is being carried out in the lane; 1 represents yes, 0 represents no. :formation At any moment Is it located at a road network node (such as an urban road intersection or a highway diversion point)? A separation occurs; 1 represents yes, and 0 represents no. :formation and At any moment Is it located at a road network node (such as an urban road intersection or a highway merging point)? Merge, 1 represents yes, 0 represents no; :formation At any moment Select a route The direction of travel, 1 represents yes, 0 represents no; Road section direction The Lane at time Has snow removal been completed? 1 represents yes, 0 represents no. :formation Reaching the node The moment; :formation At any moment The number of vehicles; :formation At any moment Is it for the road section? direction Conduct the first For de-icing operations, 1 represents yes, and 0 represents no. :formation On the road section direction The number of vehicles operating in parallel; :formation On the road section direction Formation width; :formation On the road section direction The initial horizontal position; :formation On the road section direction Operational strategies; :formation At any moment Spatial location vector; Snow and ice removal equipment At any moment The spatial location vector.

[0067] 2) Objective function Minimize the total travel distance and prioritize resilient critical road segments, while also considering the resilience recovery rate and the importance of the road segment resilience impact:

[0068] in, For road network map, For a set of nodes, It is a directed edge set; For formation assembly; ; It is a set of road network nodes; For road section direction The set of lanes; For road section The set of driving directions (1-forward, 2-reverse); For road section Length; For the operating width of road de-icing and snow removal equipment, , These are the weighting coefficients.

[0069] 3) Constraints (1) Formation composition constraints:

[0070]

[0071]

[0072] in, This is the lower bound for the formation size; This represents the upper limit of the formation size; A collection of snow and ice removal equipment.

[0073] (2) Lane full coverage constraint:

[0074] (3) Formation operation logic constraints:

[0075]

[0076]

[0077] (4) Road segment width coverage constraints:

[0078] in, For road section direction The required number of passes for each lane; For road section direction Total width.

[0079] (5) Traffic rules constraints:

[0080]

[0081]

[0082] (6) Inflow and outflow balance constraints of the formation at the node:

[0083] (7) Formation separation constraint at nodes:

[0084]

[0085]

[0086] (8) Formation merging constraints at nodes:

[0087]

[0088]

[0089] Among them, variables , Indicates connection to node The final node of the upstream road segment.

[0090] (9) Formation safety distance constraints:

[0091]

[0092] in, Maintain a safe distance for formation separation; This refers to the following distance in a convoy.

[0093] (10) Formation continuity constraints:

[0094] This invention optimizes the operating path of snow and ice removal equipment on the road network, ensuring full coverage of every road and lane while minimizing the total travel distance, and addressing the reduced resilience of the road network under icy and snowy weather.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for planning the operational path of snow and ice removal equipment platoons considering the resilience of road network operation, characterized in that, The method includes: Calculate operational resilience based on road network operation performance functions; Constructing a platoon path planning model involves building an objective function under constraints to ensure that the total travel distance is minimized while ensuring full coverage of each road and lane, and prioritizing the handling of key road sections that affect the resilience of the road network. It also considers the resilience recovery speed and the importance of the road section resilience impact, enabling the dynamic formation, separation, and merging of snow removal equipment platoons, and optimizing snow removal path planning at the road network level. The constraints include formation composition constraints, lane full coverage constraints, formation operation logic constraints, road segment width coverage constraints, traffic rule constraints, inflow and outflow balance constraints of formations at nodes, formation separation and merging constraints at nodes, formation safety distance constraints, and formation continuity constraints.

2. The method for planning the operational path of snow and ice removal equipment formation according to claim 1, characterized in that, The objective function of the formation path planning model is: in, The objective function is... For road network map, For a set of nodes, It is a directed edge set; For formation assembly; , The duration of snowy or icy weather; It is a set of road network nodes; For road section direction The set of lanes; For road section A set of driving directions; For road section Length; For formation At any moment Is it driving on a road section? Above, 1 represents yes, and 0 represents no; For formation At any moment The number of vehicles; For formation At any moment Is it at a road network node? A separation occurs; 1 represents yes, and 0 represents no. For formation and At any moment Is it at a road network node? Merge, 1 represents yes, 0 represents no; For road section The importance weight of resilience; For road section direction The Lane at time Has snow removal been completed? For formation On the road section direction Formation width; For formation At any moment Is it for the road section? direction Conduct the first For de-icing operations, 1 represents yes, and 0 represents no. For formation At any moment The number of vehicles; The operating width for road de-icing and snow removal equipment; For average recovery speed, For road section Resilience contribution; , These are the weighting coefficients.

3. The method for planning the operational path of snow and ice removal equipment formation according to claim 2, characterized in that, Section Resilience contribution The calculation formula is: in, For road section Traffic capacity, For a moment Section Performance degradation rate.

4. The method for planning the operational path of snow and ice removal equipment formation according to claim 3, characterized in that, The road segment performance degradation model is as follows: in, For the first Such equipment in road sections Recovery efficiency This represents the maximum performance degradation rate. and This is a parameter representing the degradation rate. For road section The moment when performance begins to degrade To reach the moment of maximum degradation, This is the moment when performance begins to recover.

5. The method for planning the operational path of snow and ice removal equipment formation according to claim 4, characterized in that, Average recovery speed The calculation formula is: The formula for calculating the point at which system performance reaches its minimum is: ， in, Indicates time The overall performance of the road network operation For the initial operating performance of the road network; The road network operation performance recovery time is subject to the following formula: in, For the area of ​​toughness loss, To run the resilience triangle index, This represents the peak impact depth.

6. The method for planning the operational path of snow and ice removal equipment formation according to claim 2, characterized in that, The formation composition constraints are as follows: in, This is the lower bound for the formation size; This represents the upper limit of the formation size; A collection of snow and ice removal equipment; For snow and ice removal equipment At any moment Does it belong to a formation? 1 represents yes, and 0 represents no; The formation operation logic constraints are as follows: in, For formation At any moment Is it for the road section? direction The Work is being carried out on the lane; For formation On the road section direction The number of vehicles operating in parallel; For lane grouping; The inflow and outflow balance constraints of the formation at the node are as follows: The formation has node separation constraints as follows: in, For indicator functions, if , ;on the contrary ; The formation's node merging constraint is as follows: Among them, variables Indicates connection to node The upstream end node; The formation safety distance constraint is as follows: in, Maintain a safe distance for formation separation; For convoy following distance; The formation continuity constraint is as follows: 。 7. The method for planning the operational path of snow and ice removal equipment formation according to claim 2, characterized in that, The lane full coverage constraint is: in, For lane grouping; The road segment width coverage constraint is: in, For road section direction The required number of passes for each lane; For road section direction Total width; The traffic rules are as follows: in, For formation At any moment Select a route The direction of travel, 1 represents yes, 0 represents no.

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