CN100498231C - Path planning system and method - Google Patents
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- CN100498231C CN100498231C CNB2004101039541A CN200410103954A CN100498231C CN 100498231 C CN100498231 C CN 100498231C CN B2004101039541 A CNB2004101039541 A CN B2004101039541A CN 200410103954 A CN200410103954 A CN 200410103954A CN 100498231 C CN100498231 C CN 100498231C
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Abstract
The invention discloses a path planning system and a method, which are used for planning an optimal path of a first vehicle moving from a starting point to a destination. The invention plans a plurality of road sections between the starting point and the destination, judges the traffic conditions of the road sections by detecting the moving time or the moving speed of the wireless communication device moving on the road sections along with a second vehicle and provides the driving information to the first vehicle, and can plan an optimal path which takes the shortest time after the traffic conditions of the road sections are obtained. The method of the invention comprises the following steps: obtaining average moving time of a plurality of road sections, (b) determining the optimal path according to the average moving time of the plurality of road sections and (c) informing the first vehicle of the optimal path. The system and the method can obtain the shortest optimal path in one time, thereby being convenient for users.
Description
Technical field
The present invention relates to a kind of method and system of planning optimal path, particularly a kind of route method and system that plans that the time spent is the shortest.
Background technology
Present gps system only can be used to show the position, and other system that is used in combination with gps system, as satellite navigation system etc., though can plan a driving path the shortest according to user's starting point and destination.But, provide the path of short traveling time and a traveling time of estimating to the user is more helpful.Present system all can't provide such service.
At United States Patent (USP) 6,611, disclose when the automobile with wireless device enters the appointed area in No. 687, the message of appointed area is passed to automobile with wireless device.It only is sent to this automobile with the message of appointed area (may be certain station or the cities and towns in the way), rather than the message of entire path.
In addition, U.S. Pat 6,804,524 openly utilize a plurality of platforms to obtain the traffic message of vehicle with wireless mode, and then learn present traffic behavior, but still can't give path that traveling time is the shortest of user and estimate the information on services of traveling time.
Summary of the invention
The object of the present invention is to provide a kind of path planning system and method, the user can obtain the shortest path of a traveling time and estimate the information on services of traveling time according to this method and system.
To achieve these goals, the invention provides a kind of method and system of planning one optimal path, use for one first vehicle, this first vehicle moves to a second place (being the destination) by primary importance (being starting point).The present invention cooks up a plurality of highway sections between this starting point and destination, be displaced into the traveling time of the wireless communication apparatus on these a plurality of highway sections or the traffic that speed is judged these a plurality of highway sections by detection, after obtaining the traffic in these a plurality of highway sections, just can cook up a shortest time-consuming optimal path.
The present invention can be according to all can get the traffic and the running information in highway section (highway section) between starting point and the destination, cook up one and inform a user after taking the shortest driving path (optimal path) and estimating required time.By method and system of the present invention, congested highway section is avoided in the highway section that the user can select more not congested (time-consuming less), has not only shortened traveling time, and therefore whole traffic behavior also will obtain significantly to improve.Anyone wants to understand the traffic behavior in any highway section, also can see through system and method for the present invention and obtain running information.Utilize the resulting running information of the present invention to comprise traveling time, translational speed and the mobile required time in each highway section.In addition, it should be noted that because the present invention utilizes wireless station to detect the wireless communication apparatus that moves along with vehicle, so also can detect the driving number that in certain period, passes through this wireless station.This driving number also can provide as running information provided by the present invention.
The present invention is described in detail below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is the synoptic diagram of path planning of the present invention;
Fig. 2 is a synoptic diagram of explanation system of the present invention; And
Fig. 3 is a process flow diagram of explanation the inventive method.
Embodiment
The present invention discloses a kind of method and system of planning one optimal path, uses for one first vehicle, and this first vehicle moves to a second place (being the destination) by primary importance (being starting point).The present invention cooks up a plurality of highway sections between this starting point and destination, be displaced into the traveling time of the wireless communication apparatus on these a plurality of highway sections or the traffic that speed is judged these a plurality of highway sections by detection, just can cook up the shortest optimal path of a time spent after obtaining the traffic in these a plurality of highway sections.
As shown in Figure 1, path planning system of the present invention, be used to plan that one first vehicle 50 is moved to an optimal path of a second place 20 by a primary importance 10, have a plurality of highway sections between this primary importance 10 and this second place 20, for example highway sections such as 11,12,13,14,15,16,17 and 18.These a plurality of highway sections can be obtained by a Geographic Information System (GIS).
As shown in Figure 2, system of the present invention comprises a plurality of wireless communication apparatus 30, at least one first wireless station 10A, at least one second wireless station 20A and a computer installation 60.Wherein these a plurality of wireless communication apparatus are along with a plurality of vehicles (convenient for expression, as only to represent with one second vehicle 70) are displaced on each highway section highway section 11 for example shown in Figure 1.This first wireless station 10A is arranged at first end in each highway section and second end that this second wireless station 20A is arranged at each highway section.This wireless communication apparatus 30 has an identifying information, can be by the first wireless station 10A and second wireless station 20A identification by this wireless communication apparatus 30 of this identifying information.This computer installation 60 can be connected with the first wireless station 10A and the second wireless station 20A obtaining the traveling time (by this first end move to this second end required time) of each wireless communication apparatus 30 on each highway section, and the traveling time of all wireless communication apparatus 30 in each highway section is obtained an average traveling time as the foundation of planning optimal path after average.The present invention obtains the average traveling time of wireless communication apparatus 30 on these a plurality of highway sections respectively and plans this optimal path.In case after obtaining the average traveling time in each highway section, the present invention just can determine an optimal path according to the average traveling time in these highway sections.This optimal path is meant that wireless communication apparatus 30 moves to the shortest path of the second place 20 required times by primary importance 10.
This optimal path is made up of selected part or all of institute in these a plurality of highway sections, and for example the path that moves to the second place 20 by primary importance 10 comprises highway section group 11,12,13 and 18 or highway section group 11,12,16 and 18 or highway section group 14,15,16 and 18 or highway section group 17 and 18 etc.Because it is known that wireless communication apparatus is covered the required traveling time in each highway section, so can calculate the required traveling time of all highway section groups, wherein the highway section group of short traveling time is optimal path, so the present invention just can estimate out the optimal path of first vehicle 50, and notifies first vehicle, 50 these traveling times or this optimal path.
As shown in Figure 2, the utilization of the present invention second wireless station 20A that is arranged at one first wireless station 10A of each highway section first end and is arranged at second end obtains the average traveling time T in each highway section.Move to second wireless station, 20 required time T (abbreviating traveling time as) according to a wireless communication apparatus 30 that is displaced into each vehicle 70 on these highway sections by first wireless station 10, and vehicle number can be tried to achieve average traveling time T.As for speed,, just can try to achieve speed V=D/T as long as in the distance D of knowing between this first wireless station and this second wireless station.First wireless station 10 moves to second wireless station, 20 required time T=T2-T1, and wherein first moment T1 is the time point that this first wireless station is obtained this identifying information, and second moment T2 obtains the time point of this identifying information for this first wireless station.Or T1 is the moment of wireless communication apparatus 30 through first wireless station 10, and T2 is the moment of wireless communication apparatus 30 through second wireless station 20.Or be, first constantly T1 may be defined as the first wireless station 10A and detect this wireless communication apparatus 30 and have the time of strong signal, second constantly T2 may be defined as the second wireless station 20A and detect this wireless communication apparatus 30 and have the time of strong signal.This process that obtains first moment T1 and second moment T2 can be described as a sampling process in the present invention.
It should be noted that, for getting rid of the factor that some may influence the degree of accuracy of above-mentioned traveling time T calculating mean value, proper is in sampling process or after finishing, if above-mentioned traveling time T when being lower than one first default value or being higher than one second default value with disallowable.For example the first wireless station 10A and the second wireless station 20A may be in the information of a certain section time detecting to hundreds of wireless communication apparatus 30, the possibility of the traveling time in the same highway section of possibility from 10 seconds (mistake is surveyed) to 1 hour (parking area director's feelings on the way) all has, by removing some irrational traveling time, for example after the ascending arrangement of all traveling times, remove preceding 2% or 10%, remaining traveling time is averaged, can obtain the average traveling time in this highway section in this section period, try to achieve after average translational speed also can be divided by with distance D again.
This wireless station can be any electronic installation that detects wireless communication apparatus 30, and only needing to be fixed on needs the point of fixity in sampling highway section to get final product.It for example is the mobile telephone base station that interior device with wireless communication module of any household or telecommunications service provider are set up.For example, be that as the advantage of wireless station of the present invention mobile telephone base station is provided with at large,, also need not spend in addition this wireless station is set so its covering scope comparatively extensively and not can only be confined to some zone with mobile telephone base station.
The first wireless station 10A and the second wireless station 20A can discern this wireless communication apparatus 30 by the identifying information of wireless communication apparatus 30.The wireless communication apparatus 30 of obtaining the source as the traveling time data can be a GPS device, a mobile phone or a PDA.This identifying information comprises identification code (ID code), SIM card card number, IMEI sign indicating number and the ESN sign indicating number of wireless identification label (RFID tag).As, when this wireless communication apparatus 30 was a GSM mobile handset, it had one and is called international mobile Equipment Identification Code (International Mobile Equipment Identity; IMEI) fuselage number, in be built in the chip of mobile phone.When this wireless communication apparatus 30 was a GSM mobile handset, this identification code can be the SIM card card number of a GSM mobile handset.Or be, when this wireless communication apparatus 30 was a CDMA mobile phone, it had a fuselage number that is called the ENS sign indicating number, in be built in the chip of this CDMA mobile phone.Because according to existing GSM standard, GSM mobile handset (or CDMA mobile phone) can be uploaded to telecommunications service provider with its SIM card card number and IMEI sign indicating number and ESN sign indicating number when connecting to network, so can obtain this identification code (ID code) by this.This identification code (ID code) also can be provided by the RFID tag (RFID tag) of a radio-frequency recognition system (RFID).When this wireless communication apparatus 30 was a RFID tag, this RFID tag can be arranged at many places, on a vehicle, or on the part of this vehicle, or even drive on the clothes of going into to be worn.And this first wireless station 10A and the second wireless station 20A have the identification code (ID code) of reading device reader to read this RFID tag of a radio frequency recognition volume label.
With the average traveling time in each above-mentioned highway section and in fact first vehicle when time traveling time be stored in the database to revise next time and use for above-mentioned first vehicle.If the traveling time of the reality of first vehicle different with average traveling time (each car owner drive habit difference), as being averaging time 5 minutes, but the actual traveling time of first vehicle is 10 minutes, and then this variance data will be recorded among wireless communication apparatus 30, wireless station 10A or 20A or the server and form a database.When the car owner carries out path planning next time, just can be according to the required traveling time in each highway section of database data correction, and as the reference of estimating required time.Moreover server or wireless station will write down the average traveling time in this highway section and the related data of driving quantity, to set up a conversion table.When the driving of certain period of estimating out this highway section is counted, can calculate according to this transfer function to draw the traveling time of estimating of this period.
The resulting running information in front comprises traveling time, translational speed and the mobile required time in each highway section.In addition, it should be noted that because the present invention utilizes wireless station to detect the wireless communication apparatus that moves along with vehicle, so also can detect the driving number that in certain period, passes through this wireless station.This driving number also can provide as running information.
Wherein Fig. 3 is moved to the method flow diagram of the optimal path of a second place by a primary importance for planning one first vehicle.As shown in Figure 1, have a plurality of highway sections (for example highway section 11-18) between primary importance 10 and this second place 20.As shown in Figure 2, there is one second vehicle to move thereon on each highway section, for example has one second vehicle 70 to move thereon on the highway section 11.One wireless communication apparatus 30 is arranged in addition along with this second vehicle 70 moves.This wireless communication apparatus has an identifying information.In addition, second end that first end in each highway section shown in first figure is provided with one first wireless station and each highway section shown in Figure 1 is provided with one second wireless station, and for example first end in highway section 11 second end that is provided with one first wireless station 10A and highway section 11 is provided with one second wireless station 10B.This first wireless station 10A and the second wireless station 10B can discern the identifying information of this wireless communication apparatus.
As shown in Figure 3, step 310 obtains one first moment T1, and this first moment, T1 was the time point that the first wireless station 10A shown in Figure 2 obtains this identifying information.Perhaps first constantly T1 be wireless communication apparatus 30 shown in Figure 2 time point through the first wireless station 10A.It should be noted that the moment that also wireless communication apparatus 30 can be entered the covering scope of the first wireless station 10A is considered as T1.Or the first wireless station 10A is detected wireless communication apparatus 30 has that the moment of strong signal is considered as T1.
Then, shown in step 320, step 320 obtains one second moment T2, and this second moment, T2 was the time point that the second wireless station 10B shown in Figure 2 obtains this identifying information.Or wireless communication apparatus shown in Figure 2 30 is through the time point of the second wireless station 20A.It should be noted that the moment that also wireless communication apparatus 30 can be entered the covering scope of the second wireless station 20A is considered as T2.Or each wireless station is detected wireless communication apparatus 30 has that the moment of strong signal is considered as T2.
Then, shown in step 330, because the present invention utilizes a plurality of mean values that are displaced into institute's time-consuming (being called " traveling time ") of wireless communication apparatus 30 between the first wireless station 10A and the second wireless station 20A to decide the average traveling time in this highway section 40, so step 310 and step 320 must be repeated several till this sampling process end.The multiplicity of this step 310 and step 320 was decided on the time of the number of wireless communication apparatus 30 or the data desiring to obtain, and average traveling time or the average translational speed estimated of multiplicity the present invention more at most of this step 310 and step 320 will be accurate more certainly.Perhaps, sampling process is a process that does not stop, so that the information in real-time each highway section is provided.
Then, shown in step 340, the first wireless station 10A and the second wireless station 20A can with first constantly T1 and second constantly T2 pass to as shown in Figure 2 a computer installation 60.
Then, shown in step 350, this computer installation 60 according to received first constantly T1 and second constantly T2 calculate this wireless communication apparatus 30 by the first wireless station 10A to the required time T of the second wireless station 20A.It should be noted that this computer installation 60 part of wireless communication apparatus 30 for this reason, or this computer installation can be a server that is independent of outside the wireless communication apparatus 30.Even second wireless station 20A also can be used as this computer installation 60, or this computer installation 60 can be positioned among the second wireless station 20A.If this computer installation is for this reason during the second wireless station 20A, this second wireless station 20A only need first T1 and itself constantly detected second transmitted according to the first wireless station 10A constantly T2 can calculate this wireless communication apparatus 30 by the first wireless station 10A to the required time T (T=T2-T1) of the second wireless station 20A, it is called traveling time.As described above, when a plurality of wireless communication apparatus 30, the mean value of the traveling time of these a plurality of wireless communication apparatus 30 is called average traveling time.
Then, shown in step 370, be understandable that this highway section of the short more expression of average traveling time is not congested more.So the present invention can plan a time-consuming minimum optimal path according to the average translational speed of wireless communication apparatus 30 on each highway section.For example this optimal path system is made up of the highway section shown in first figure 11,12,13 and 18.Even other path is shorter, if traffic is not good, still do not elected as the composition highway section of optimal path in the present invention by meeting, for example highway section 14,15,16 and 18 paths of being formed are shorter, but are not still elected as the composition highway section of optimal path in the present invention by meeting.
Then, shown in step 380, the present invention can notify an end user this optimal path by appropriate device, for example by being equipped on the wireless communication apparatus on first vehicle, and for example a mobile phone, a PDA, a GPS device or connect the computing machine etc. of network.
One path planning system user can by native system estimate present or following any moment from first to optimal path that moves to the second place (traveling time is the shortest) and required traveling time thereof.It estimates mode two kinds:
By different each highway section in the past each holiday, the data of the average traveling time of the day part of each day estimate weekly;
Earlier according to different each highway section in the past in each holiday, the data of the average traveling time of the day part of each day estimate average traveling time weekly, again according to the user who has used path planning system plan optimal path the highway section of process, revise may vehicle flowrate increase, and revise the average traveling time that this highway section should the period again.
Estimate mode for first kind and mainly consider the different periods, the congestion situation in each highway section also can be different, period for example on and off duty and non-period on and off duty and night, perhaps Monday to Sunday each highway section each period, the continuous leave of special holiday or different length all can be different, and our correction that these factors are caused is defined as the time modified value in a word.
Utilize above-mentioned mode except can calculating average traveling time, only to write down analysis, the classification that time point can carry out the various periods that obtain of each data again, and become the required database data of first method, with as estimating each optimal path from the primary importance to the second place constantly.
What specify is, when the user for example as Fig. 1 at 8 in input XX morning January 1 move to the second place 20 by primary importance 10, the present invention estimates that (starting point is primary importance 10 in highway section 11,14,17, start time is 8 points) traveling time, the present invention is according to 8 running time of New Year's Day over the years, and the traveling time that fate estimates that highway section 11,14,17 is required is stopped by the company on XX New Year's Day.When estimating highway section 12,15,18, then need respectively to estimate for benchmark by the running time (reach at 8 and add the required traveling time in highway section 11,14,17) that makes in each highway section.So each highway section all be with estimate can pass through time be that benchmark is estimated, estimate traveling time accurately and try to achieve, and then the path of the optimum of therefrom getting.And following second kind estimated mode and also estimate optimal path in the same way, is not repeated in the following explanation.
Estimate mode for second kind and consider that mainly the average traveling time in each highway section in fact is relevant with vehicle flowrate.Identical vehicle flowrate just has close average traveling time, situation is different with record in the past to cause the different of vehicle flowrate as long as can estimate according to a mode correction according in the past record (i.e. first kind of data that mode is used) again, just can try to achieve average traveling time according to the vehicle flowrate in each highway section and the conversion table of time.The mode of this correction vehicle flowrate is described below:
Vehicle flowrate when correction is planned earlier and the comparison of the vehicle flowrate in former years.At first, need record wireless station in this highway section, the correction of the vehicle flowrate that records of this period and actual vehicle flowrate, for example when this highway section be 100 but wireless station only measures 60 in this period in certain period actual uplink car quantity, as: the part vehicle does not carry wireless communication apparatus, then 100/60 is defined as actual measurement ratio.So certain highway section vehicle flowrate of 8 in hypothesis XX morning January 1 is 160,7 is 80.But when estimating for 7, the vehicle flowrate that measures is 60, being converted into actual vehicle flowrate is 100, promptly vehicle flowrate was many more in the past in this highway section as can be known, with equal proportion, etc. quantity or other correcting mode, the vehicle flowrate in the time of can revising at 8 is 200 (=160*100/80) platform, 180 (=160+100-80) platform etc.
In addition, can utilize the data of each optimal path planned that uses this path planning system, in the time of can learning certain period the accumulation in certain highway section estimate possible extra vehicle flowrate, next user adds these factors and revises and obtain further to revise when estimating optimal path.We are example again with Fig. 1, when first estimate at 8 in XX morning January 1 by primary importance 10 to the second place 20, obtain highway section 11,12,16 and 18 optimal paths, and suppose that original path planning system had carried out a considerable amount of path planning demands, and to add up known these path planning demands and try to achieve the quantity that at 8 in the inherent XX of optimal path morning January 1 will the section of driving 11 be 100, after certain person estimated to finish, the quantity that at 8 in XX morning January 1 will the section of driving 11 was modified to 101.Certain second is carried out optimal path when planning subsequently, and it is that carry out on the basis that the quantity that at 8 in XX morning January 1 will the section of driving 11 is measured with 101.Certainly, be not carry out path planning quantity what, in fact highway section 11 at that time section will increase the vehicle flowrate of these quantity.Suppose that the optimal path that on average increases each hundred people when the same period of a highway section is estimated by this highway section through actual measurement, then this highway section is actual will increase by 25 people, is defined as 25/100 and additionally estimates modified value.Therefore,, reach with above-mentioned time modified value, actual measurement ratio again and additionally estimate modified value, can obtain more accurate average traveling time and estimate as long as according to first kind of vehicle flowrate over the years of estimating used each highway section of various time points of mode.And because average traveling time predictor method of the present invention can be according to the former the estimated data correction latter's data, avoid congested highway section and reach the highway section that allows the user select more not congested (time-consuming less), not only shortened traveling time, and therefore whole traffic behavior also will obtain significantly to improve.
In addition, need carry out huge path planning for fear of server end, this path planning can be brought in the user and carry out.Just server need not calculate the shortest time path, and as long as give user's end (even comprise time modified value, actual measurement ratio and additionally estimate modified value) with each highway section at the average traveling time of each period, user's processor carries out path planning according to the average traveling time that server provides.Certainly, this path planning be except that can and additionally estimating the modified value according to time modified value, actual measurement ratio, can hold the difference of the custom of driving to revise again according to the user after, offer estimating of user's optimal path, and this information repaid to server.And server also can provide up-to-date information to the user at any time, carries out real-time correction.Certainly, as long as under the situation that server can operate, the computing of this path planning planning also can be carried out on server.
In addition, the user removes when carrying out path planning again, can provide outside the temporal information of primary importance, the second place and departure time, also can temporal information also can be the time of arrival (when for example going the second place with friend about a certain location point) of a certain location point that must process in time of arrival of the second place or the road.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (20)
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| CNB2004101039541A CN100498231C (en) | 2004-12-31 | 2004-12-31 | Path planning system and method |
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| US20030191579A1 (en) * | 2002-04-03 | 2003-10-09 | Kiyomi Sakamoto | Travel route searching apparatus |
| WO2004057273A1 (en) * | 2002-12-20 | 2004-07-08 | Jicoux Datasystems, Inc. | Route search apparatus, route search system, program, and route search method |
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2004
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| EP0681278A2 (en) * | 1994-04-28 | 1995-11-08 | Pioneer Electronic Corporation | Navigation apparatus and navigation method |
| CN1345413A (en) * | 1999-03-01 | 2002-04-17 | 环球研究系统公司 | Base station system and method for monitoring travel of mobile vehicles and communication notification messages |
| WO2001063456A2 (en) * | 2000-02-22 | 2001-08-30 | Pointserve, Inc. | Data formats and usage for massive point to point route calculation |
| CN1344909A (en) * | 2000-09-20 | 2002-04-17 | 日本先锋公司 | Navigation system and computer readable message record medium recording navigation control program |
| US20030109986A1 (en) * | 2001-12-12 | 2003-06-12 | Eric Tseng | Road navigation method and system |
| US20030191579A1 (en) * | 2002-04-03 | 2003-10-09 | Kiyomi Sakamoto | Travel route searching apparatus |
| WO2004057273A1 (en) * | 2002-12-20 | 2004-07-08 | Jicoux Datasystems, Inc. | Route search apparatus, route search system, program, and route search method |
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| CN1800783A (en) | 2006-07-12 |
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