A Real-time Path Planning Method Based on Congestion Control

Abstract

The invention discloses a real-time path planning method based on congestion control, which belongs to the technical field of path planning. The planning steps of the present invention include: planning initial routes for all vehicles in the road network, and calculating alternative routes; establishing a road network road congestion model, and continuously updating; generating random seeds for cluster heads, and communicating according to cluster queue communication rules; Vehicle nodes subscribe to vehicle dynamics and road real-time traffic flow data through the vehicle ad hoc network; use the congestion model to predict the congested streets that the cluster head vehicles will encounter, and if it is predicted that they will encounter congestion, a cluster queue will be established to notify the congestion message. The cluster head and the queuing vehicles compare the remaining travel time of the current route and the alternative route to determine whether the route needs to be updated. The invention can effectively divert the traffic flow of the congested street, and is beneficial to the rational distribution of the global traffic flow; it can simultaneously plan the paths of all the vehicles in the road network, save the amount of calculation, and improve the efficiency of path planning.

Description

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

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Problems solved by technology

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

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

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

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

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