CN120146357B - A highway inspection route optimization method, device and storage medium - Google Patents
A highway inspection route optimization method, device and storage mediumInfo
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- CN120146357B CN120146357B CN202510614601.XA CN202510614601A CN120146357B CN 120146357 B CN120146357 B CN 120146357B CN 202510614601 A CN202510614601 A CN 202510614601A CN 120146357 B CN120146357 B CN 120146357B
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Abstract
The invention provides a highway inspection path optimization method, a highway inspection path optimization device and a storage medium, which comprise the steps of obtaining basic data of a highway and an inspection road section in a district to construct a basic data set; the method comprises the steps of generating an initial patrol path based on a basic data set and the traversal requirement of a patrol road section, wherein a patrol vehicle carries out patrol according to the initial patrol path and starts to receive emergency data, if an emergency belongs to an instant response event, the emergency is directly inserted into a current patrol path and remains to be processed if the emergency belongs to an event to be responded, the patrol vehicle stops receiving the emergency data after continuously receiving the emergency data T, and a dynamic patrol path is generated according to real-time position data of the patrol vehicle, the rest patrol road section data and the emergency data which are not processed currently. The invention can give consideration to the balance between the operation time and the priority of the emergency abnormal event in the path under the condition of optimal path.
Description
Technical Field
The invention relates to the technical field of path optimization, in particular to a method and a device for optimizing a highway inspection path and a storage medium.
Background
The highway inspection is an important measure for guaranteeing the road safety, improving the service quality, preventing maintenance and responding to emergencies. At present, the traditional inspection mode is still a mainstream inspection mode, and as one of the traditional inspection modes, the manual driving inspection workload is large, the danger coefficient is high, most of researches at present are focused on the construction of inspection systems and inspection systems, the expressway inspection path mainly depends on the personal experience of inspection staff, and the rationality and the high efficiency of the inspection path are difficult to guarantee.
In addition to the fixed road section inspection work, the highway inspection personnel also need to respond timely to the sudden abnormal events which occur in real time in the jurisdiction in the inspection process. Along with the continuous increase of the quantity of the automobile, the occurrence frequency of the traffic accidents of the expressway is increased year by year, and a series of emergency abnormal events affecting the driving safety of the road, such as component scattering caused by the traffic accidents, road facility damage, road ponding caused by bad weather, slope water damage, road tree breakage and the like, are all required to be responded and processed rapidly by inspection staff. The expressway is a long closed road, and efficient emergency handling is very important for reducing traffic jam and guaranteeing the traffic efficiency of the expressway. Therefore, the method in the prior art cannot be directly transplanted because of different application scenes, and needs to make a targeted dynamic path optimization model and a dynamic response strategy by closely combining the processing requirements and characteristics of the expressway emergency, so as to scientifically and reasonably adjust the dynamic path to cope with the emergency in the inspection process.
In view of the foregoing, there is an urgent need for a method, apparatus and storage medium for optimizing a highway inspection path to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide an optimization method for a highway inspection path, which realizes balance between operation time and priority of emergency abnormal events in the path under the condition of optimal path, and the specific technical scheme is as follows:
A highway inspection path optimization method comprises the following steps:
S01, basic data of expressways and patrol road sections in the jurisdiction are obtained to construct a basic data set;
S02, generating an initial patrol path based on the basic data set and the traversal requirements of all patrol road sections;
S03, the patrol vehicle carries out patrol according to the initial patrol path and starts to receive the emergency data;
S04, if the emergency data are received, judging that the emergency event belongs to an instant response event or an event to be responded, wherein if the emergency event belongs to the instant response event, the emergency event is directly inserted into a current inspection path, and if the emergency event belongs to the event to be responded, the emergency event is left to be processed;
S05, continuously receiving emergency data by the inspection vehicle After the time, stopping receiving the emergency data;
S06, constructing a dynamic optimization data set according to real-time position data of the patrol vehicle, residual patrol road section data and current unprocessed emergency data, and generating a dynamic patrol path based on the dynamic optimization data set;
s07, the inspection vehicle runs according to a dynamic inspection path and processes emergency abnormal events;
S08, if all the emergency events are processed, the patrol car starts to receive the emergency event data again;
s09, repeating the steps S04-S08 until the patrol task of all the patrol road sections is completed.
Preferably, the method for generating the initial patrol path in step S02 specifically includes:
S21, according to the highway network topology structure Constructing a directed graphWherein, one expressway is used as a node, one road in one driving direction of the expressway section is used as one side,Representing a set of all nodes in the directed graph,Representing a set of all edges in the directed graph;
s22, calculating the first Starting point pile number of each patrol road sectionRoad length between high speed interworking with reverse end of road where it is locatedAnd the destination pile number of the patrol road sectionRoad length between high speed interworking with forward end of road where it is located, wherein,Is an integer and takes the value,Is the total number of the patrol road sections;
S23, obtaining based on each patrol road section AndObtaining an originating nodeAndSet of individual patrol road sectionsThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
S24, using shortest path distance matrixAll shortest paths form a set of road segmentsAnd solving the initial patrol path optimization model by using a genetic algorithm to obtain an initial patrol path for the input parameters.
Preferably, the objective function of the initial patrol path optimization model is:
(1.2),
In formula (1.2): Representing an originating node AndA set of individual patrol road segments,AndAll belong toAnd is also provided with,Is thatTo the point ofIs the distance of the shortest path of (a); Representing 0-1 decision variables, if the inspection vehicle is driven by Travel toThenOtherwise;For inspection vehicles specifying a running speed; In order to adjust the speed of the motor, The method is used for representing the delay influence of the operation process of the inspection vehicle on the inspection road section on the running time; For destination of When the weight of (1)Representing the originating nodeThe value of (1) is 0 whenWhen the patrol road section is representedThe value of (2) is the length of the patrol road section.
Preferably, the method for judging that the emergency abnormal event belongs to the instant response event or the event to be responded comprises the following steps:
If the emergency is located on the path between the patrol car and the next patrol road section which is not being patrol in the current patrol path, the emergency is used as an immediate response event, immediately responded and inserted into the current patrol path, otherwise, the emergency is used as an event to be responded to be left to be processed.
Preferably, when constructing the dynamic optimization dataset:
if a certain emergency is located in the patrol road section, dividing the patrol road section in which the emergency is located into two patrol road sections by taking the emergency as a dividing point, counting the two newly obtained patrol road sections into a dynamic optimization data set, and deleting the divided patrol road sections;
If the patrol car is carrying out patrol on a certain patrol road section, taking the rest road sections which are not being patrol on the patrol road section as a new patrol road section, and counting into a dynamic optimization data set.
Preferably, the specific method for generating the dynamic patrol path in step S06 includes:
s61, constructing a priority evaluation model of the events to be responded, and calculating the priority of each event to be responded ;
S62, obtaining real-time coordinates of the inspection vehicleOriginating nodeAll unprocessed emergency events and the rest patrol road sections form a setThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
S63, using shortest path distance matrixAll shortest paths form a set of road segmentsSolving the global dynamic path optimization model to obtain a dynamic patrol path for input parameters;
wherein the global dynamic path optimization model is used for minimizing the total cost Taking the total priority value G of the event to be responded contained in the maximum inspection path as a second objective function, wherein the total priority value G is as follows:
(1.8),
(1.9),
in formulas (1.8) and (1.9): indicating the total time cost of travel and operation of the inspection vehicle, Indicating the total punishment cost generated when the inspection vehicle reaches each event to be responded and exceeds the optimal arrival time limit; real-time coordinates of inspection vehicle Originating nodeA set formed by all unprocessed emergency events and the rest patrol road sections; represents a set of all unprocessed emergency events, ,For a set of all outstanding immediate response events,A set formed for all events to be responded;、 representing any element within the belonging set and Aggregation ofRepresenting a collectionRemoving originating nodeCollections of elements other than elementsRepresenting a collectionReal-time coordinates of medium-removal inspection vehicleCollections of elements other than elementsReal-time coordinates of all unprocessed emergency events and inspection vehiclesA set of formations; is 0-1 decision variable, if the inspection vehicle is driven by Travel toThenOtherwise;Is thatTo the point ofIs the distance of the shortest path of (a); For events to be responded to Priority values of (2); Is in the inspection vehicle The working time at which the working time is to be taken,To the event to be responded when the inspection vehicle arrivesPenalty costs incurred when exceeding the optimal arrival time limit; The speed is set for the inspection vehicle.
Preferably, the method comprises the steps of,The values under different conditions are expressed as:
(1.10),
In formula (1.10): representing a patrol road section Is provided for the length of (a),Representing a set of all remaining patrol segments,Representing an emergency eventIs used for the remaining processing time of the (c) wafer,To adjust the speed;
further, the method comprises the steps of, The calculation mode of (a) is as follows:
(1.11),
in formula (1.11): Is a constant value and represents an emergency Is used for the pre-determined processing time of the (c) in the (c),Is an emergency abnormal eventIs a processed time of (a);
the values under different conditions are expressed as:
(1.12),
in formula (1.12): Real-time coordinates for inspection vehicle Travel to event to be respondedTime spent, optimal arrival time limit of event to be responded toRepresenting real-time coordinates of inspection vehicleTravel to event to be respondedExpressed as the time length limit of (a):
(1.13),
In formula (1.13): Is a constant value, which indicates the optimal time range from the occurrence of the event to be responded to the arrival of the patrol car at the process, For events to be responded toWhen the inspection vehicle happens, the inspection vehicle is in the current time periodThe time that the vehicle has traveled.
Preferably, the to-be-responded event priority evaluation model is as follows:
(1.3),
In formula (1.3): 、、、 And Are all the weight coefficients of the two-dimensional space model,;Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatTaking the value after normalization; The road type of the hundred-meter road section in the pile number interval of the event to be responded; real-time traffic flow in a pile number interval where the emergency abnormal event is located; Representing the occurrence sequence of the events to be responded, sequencing the events according to the occurrence time of the emergency abnormal events from the small to the large, and taking the same value if the events to be responded which occur simultaneously exist; For event position coordinates to be responded to Real-time coordinates of inspection vehicleEuclidean distance between them; Is the type of event to be responded to.
The invention also provides a highway inspection path optimizing device, which adopts the highway inspection path optimizing method, and comprises the following steps:
The information storage module is used for storing basic data of the expressway, basic data of the patrol road section, emergency data, real-time position data of the patrol vehicle, residual patrol road section data and currently unprocessed emergency data;
The real-time data acquisition module is used for acquiring real-time position data, emergency data and residual patrol road section data of the patrol vehicle in real time;
The initial path generation module is used for generating an initial patrol path according to the basic data of the expressway, the basic data of the patrol road sections and the traversal requirements of all the patrol road sections;
the dynamic path generation module is used for generating a dynamic patrol path according to the dynamic optimization data set;
And the information feedback module is used for feeding the generated patrol path back to the remote control end and displaying the patrol path on a screen of the patrol car.
The invention also provides a storage medium, wherein the storage medium stores a computer program, and the method for optimizing the highway inspection path is executed when the computer program runs.
The technical scheme of the invention has the following beneficial effects:
According to the invention, the emergency events with high priority can be responded preferentially and processed in time by sequencing the priority of the emergency events, so that the dispatching of the inspection vehicle is optimized, the influence of the emergency events on the traffic operation of the expressway is reduced, and secondary accidents are avoided.
The invention processes the emergency abnormal event preferentially, and then considers the patrol task of the patrol road section, so that the emergency abnormal event can be processed according to the respective priority order at the first time, and the influence of the emergency abnormal event on the expressway is reduced. Meanwhile, after the first emergency is received, the inspection vehicle only continuously performsThe time data is received, so that the processing capability of a single inspection vehicle can be considered, and the situation that excessive emergency events are accumulated to cause that the emergency events cannot be processed in proper time is avoided.
On the basis of an initial path inspection scheme, when an inspector encounters an emergency abnormal event in the operation process, the path inspection is dynamically adjusted through a mixed response strategy mode combining instant response and reserved response taking the emergency abnormal event as a key point, and the balance between the operation time and the priority of the emergency abnormal event in the path is considered under the condition of optimal path.
The invention provides the optimal arrival time limit of the emergency abnormal event, and sets punishment cost exceeding the time limit in the objective function value of the dynamic path optimization model based on the optimal arrival time limit, so that the generated dynamic path can fully consider the urgency of the processing requirement of each emergency abnormal event.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a flow chart of a highway inspection route optimization method in embodiment 1;
fig. 2 is a topology construction diagram of the expressway network in embodiment 2;
FIG. 3 is a directed graph of the highway network in example 2;
FIG. 4 is a directed graph of each patrol road section in example 2 A schematic of the location of (a);
FIG. 5 is a schematic diagram of real-time coordinates of the remaining inspection road segments, inspection vehicles and emergency points of the expressway at 14:25 in example 2;
FIG. 6 is a schematic diagram of emergency numbers and positions at 14:30 in example 2;
fig. 7 is a schematic diagram of real-time coordinates of the patrol road section, the patrol vehicle and the emergency point of the emergency exception left at 14:30 in embodiment 2.
Detailed Description
The present invention will be described more fully hereinafter in order to facilitate an understanding of the present invention, and preferred embodiments of the present invention are set forth. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example 1:
Referring to fig. 1, the present embodiment provides a method for optimizing a highway inspection path, which specifically includes the following steps:
s01, acquiring basic data of expressways and patrol road sections in the jurisdiction, and constructing a basic data set;
preferably, the basic data of the expressway and the patrol road section in step S01 are specifically:
the basic data of the expressway comprises an expressway network topology structure Road nameOriginating high speed interworkingBidirectional road length of each highway section(The expressway section refers to a section between two adjacent expressways, and the two adjacent expressways comprise two roads with opposite driving directions), and each road pile number sectionHundred-meter road section type between pile numbers。
The basic data of the patrol road section comprises the following steps of starting the patrol road section and stake numberTerminal pile number of patrol road sectionLength of patrol road sectionRoad name of patrol road sectionTraveling direction of road where patrol road section is located。
Furthermore, the high-speed intercommunication comprises two kinds of pivot intercommunication and floor intercommunication, wherein the pivot intercommunication is a position where different highways are intersected (namely, one high-speed driving into the other high-speed is realized), the floor intercommunication is an inlet and an outlet (namely, the lower high-speed driving and the turning-around driving into the other driving direction are realized) of a common highway on a connecting place, the two different high-speed intercommunication types have different influences on the driving path planning of the inspection vehicle, and the actual high-speed intercommunication type is used for carrying out the path planning. Wherein the originating high-speed interworkingRefers to the departure point of the inspection vehicle when performing inspection.
S02, generating an initial patrol path based on the basic data set and the traversal requirements of all patrol road sections;
further, in step S02 of the present embodiment, the method for generating the initial patrol path specifically includes:
S21, according to the highway network topology structure Constructing a directed graphWherein, one expressway is used as a node, one road in one driving direction of the expressway section is used as one side,Representing a set of all nodes in the directed graph,Representing a set of all edges in the directed graph;
s22, calculating the first Starting point pile number of each patrol road sectionRoad length between high speed interworking with reverse end of road where it is located(I.e. the start stake of the patrol roadRoad length between high-speed interworking located behind and closest to the road on which it is located) And the destination pile number of the patrol road sectionRoad length between high speed interworking with forward end of road where it is located(I.e. destination pile number)Road length between high-speed intercommunication located in front of and nearest to road where it is) , wherein,Is an integer and takes the value,Is the total number of patrol road segments.
It is known that a road on an expressway can travel only in one direction, and the reverse direction herein means a direction opposite to the travel direction of the road, and the forward direction means the same direction as the travel direction of the road.
S23, bidirectional road length based on each expressway sectionAnd obtained from each patrol road sectionAndObtaining an originating node using the Floyd algorithm (plug-in method)AndSet of individual patrol road sectionsThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
Preferably, high speed interworking is initiated in directed graphsAs an originating nodeNamely, the starting node is used when the inspection vehicle inspectsAnd starting to carry out inspection.
Preferably, all shortest paths form a set of road segments,Represent the firstThe shortest paths constitute a collection of road segments,Is an integer and takes the value,Is the total number of shortest paths, further, the shortest paths form a set of road segmentsIncludes the firstAll the component road segments of the shortest path, the road segments in one shortest path having high speed interworking (i.e. nodes in the directed graph) as segmentation points, e.g. from the originating nodeOnly node # 2 is needed in the shortest path to the patrol segment # 1, then its construction of the road segment set includes the start nodeRoad segment to node No. 2 and road segment to patrol road segment from node No. 2 to node No. 1.
Preferably, since the inspection vehicle is from the originating nodeStarting from and presentA patrol road section, thus a generation of a road section is requiredShortest path distance matrix of (a)The shortest path distance matrixExpressed as:
(1.1),
Wherein, take 、All belong to a collectionAnd is also provided withAggregation ofWherein 0 represents an originating node, 1 toEach of which represents a road segment to be patrolled,RepresentingTo the point ofWhen the distance of the shortest path of (a)In the time-course of which the first and second contact surfaces,Is infinite when the value of (a)In the time-course of which the first and second contact surfaces,The value of (2) isTo the point ofThe actual path length of the shortest path of (c).
S24, using shortest path distance matrixAll shortest paths form a set of road segmentsSolving the initial patrol path optimization model by using a genetic algorithm to obtain an initial patrol path for the input parameters;
Specifically, the objective function of the initial patrol path optimization model is the time cost of the minimized path, and the objective function is expressed as:
(1.2),
In formula (1.2): Representing an originating node AndA set of individual patrol road segments,AndAll belong toAnd is also provided with,Is thatTo the point ofIs the distance of the shortest path of (a); Representing 0-1 decision variables, if the inspection vehicle is driven by Travel toThenOtherwise;For inspection vehicles specifying a running speed; In order to adjust the speed of the motor, ,The method is used for representing the delay influence of the operation process of the inspection vehicle on the inspection road section on the running time; For destination of When the weight of (1)Representing the originating nodeThe value of (1) is 0 whenWhen the patrol road section is representedThe value of (2) is the length of the patrol road section.
Preferably, when the genetic algorithm is used for solving and obtaining the initial patrol path, the parameters required to be input comprise a shortest path distance matrixAll shortest paths form a set of road segmentsPrescribed running speed of inspection vehicleSpeed of adjustmentAnd the length of each patrol road section。
Further, the specific way of solving the genetic algorithm is common knowledge in the art, and in this embodiment, only the solving process of the genetic algorithm is simply described, namely, firstly, the generated shortest path distance matrix is obtainedAnd all shortest paths form a set of road segmentsLimiting the originating node of the inspection vehicleStarting, each patrol road section is patrol and only one time, and finally returns to the originating nodeSecondly, setting population quantityChromosome numberNumber of selectionsCrossover probabilityProbability of variationInitializing the population, calculating the fitness value of each individual (namely the time cost of each inspection path scheme), executing the operations of selection, intersection and variation to generate a new population, finally judging whether the termination condition is met, if so, ending the iteration, and outputting a final initial inspection path, otherwise, continuing the iterative optimization.
S03, the patrol vehicle carries out patrol according to the initial patrol path and starts to receive the emergency data;
Preferably, the emergency data comprises road names of emergency events Direction of travel of the road on which the emergency event is locatedPile number interval where emergency abnormal event is locatedTime of occurrence of emergencyPosition coordinates of emergencyAnd type of emergency event。
Further, the emergency type includes landslide, falling object, damage to road facilities, car accident, etc., and the emergency in this embodiment refers to an event affecting normal traffic of the expressway.
Furthermore, when the emergency data is received, numbering is carried out according to the time of occurrence of the emergency, from the early to the late, and if multiple emergency events occur at the same time, random numbering can be adopted.
S04, if the emergency data are received, judging that the emergency event belongs to an instant response event or an event to be responded, wherein if the emergency event belongs to the instant response event, the emergency event is directly inserted into a current inspection path, and if the emergency event belongs to the event to be responded, the emergency event is left to be processed;
specifically, the method for judging that the emergency abnormal event belongs to the instant response event or the event to be responded comprises the following steps:
If the emergency is located on the path between the patrol car and the next patrol road section which is not being patrol in the current patrol path, the emergency is used as an immediate response event, immediately responded and inserted into the current patrol path, otherwise, the emergency is used as an event to be responded to be left to be processed.
Further, when the sudden abnormal event is judged to belong to the instant response event or the event to be responded, if the patrol vehicle is patrol a certain road section, after the instant response event is judged to exist, the current road section patrol task is immediately stopped to process the instant response event, and if the event data is judged not to exist, the current road section patrol task is immediately stopped to process the instant response eventAnd if the time instant response event is the time instant response event, continuing the current road section inspection task and waiting for the subsequent dynamic path optimization.
S05, stopping receiving the emergency data after the patrol vehicle continuously receives the emergency abnormality;
specifically, in order to consider the event processing capability of a single inspection vehicle, in this embodiment, the time for receiving the emergency data is set Namely, after receiving the first emergency data, the patrol car continuously receives the emergency dataTime to reachAfter the time, the patrol vehicle does not receive the emergency data any more, and the patrol vehicle fully processes the emergency which is not processed currently, so as to ensure that the emergency can be processed timely and efficiently. Further, the method comprises the steps of,The value of (2) can be set by a person skilled in the art according to the situation, and can be 5min, 10min, 15min or even longer.
S06, constructing a dynamic optimization data set according to real-time position data of the inspection vehicle, residual inspection road section data and current unprocessed emergency abnormal event data, and generating a dynamic inspection path based on the dynamic optimization data set, wherein the current unprocessed emergency abnormal event comprises an unprocessed instant response event and all events to be responded;
preferably, the real-time position data of the inspection vehicle comprises real-time coordinates of the inspection vehicle Road name of inspection vehicleDistance between inspection vehicle and high-speed intercommunication at forward end of road where inspection vehicle is located(I.e., the distance between the inspection vehicle and the nearest one of the high-speed intercommunications in the direction of travel of the road on which it is located).
Further, the remaining patrol section data includes a patrol section start point pile numberAnd destination pile numberLength of patrol road sectionRoad name of patrol road sectionTraveling direction of road where patrol road section is located。
Further, the currently unprocessed emergency data comprises the road name of the emergencyDirection of travel of the road on which the emergency event is locatedPile number interval where emergency abnormal event is locatedTime of occurrence of emergencyPosition coordinates of emergencyType of emergency eventTime of processing emergencyReal-time traffic flow in pile number interval where emergency abnormal event isAnd the type of the road of the hundred-meter road section in the pile number interval of the emergency abnormal event. Wherein the processing time of the emergency exception eventMainly consider that when a dynamic patrol path is regenerated, there may be a situation that a certain emergency exception event (generally, an immediate response event) is being processed but not processed, and the processing time of the emergency exception event is introducedThe influence of the emergency on the regeneration of the dynamic patrol path can be accurately considered.
Preferably, when the dynamic patrol path is generated, if the patrol vehicle is patrol a certain patrol road section, the remaining road sections which are not being patrol of the patrol road section are taken as a new patrol road section, and the dynamic optimization data set is counted.
Preferably, when the dynamic optimization data set is constructed, if a certain emergency is located in the patrol road section, the patrol road section in which the emergency is located is divided into two patrol road sections by taking the emergency as a dividing point, the two newly obtained patrol road sections are counted into the dynamic optimization data set, and meanwhile, the divided patrol road sections are deleted. Therefore, after the last emergency in the dynamic patrol path is processed, the patrol task can be immediately carried out, the situation that a long distance is needed between the last emergency in the dynamic patrol path and the first patrol road section, and the time required for completing patrol is reduced.
Preferably, the specific method for generating the dynamic patrol path comprises the following steps:
s61, constructing a priority evaluation model of the events to be responded, and calculating the priority of each event to be responded ;
Specifically, the to-be-responded event priority evaluation model is as follows:
(1.3),
In formula (1.3): 、、、 And Are all the weight coefficients of the two-dimensional space model,;Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatTaking the value after normalization; for the road type of the hundred-meter road section in the pile number interval where the event to be responded is located, For the integer discrete variable, different values correspond to different road types of hundred-meter road sections, and in the embodiment, the value 0 is set to represent a conventional road section, the value 1 is set to represent an easy-to-slide road section, the value 2 is set to represent a bridge, and the value 3 is set to represent a tunnel; real-time traffic flow in a pile number interval where the emergency abnormal event is located; is an integer discrete variable, which represents the occurrence sequence of the events to be responded and the occurrence time of the emergency abnormal events Ordering from small to large in the morning and evening, and taking the same value if the simultaneous events to be responded exist; For event position coordinates to be responded to Real-time coordinates of inspection vehicleEuclidean distance between them; in order to be responsive to the event type, For the integer discrete variable, different values correspond to different event types, and in this embodiment, the value 0 is set to indicate a falling object, 1 indicates damage to road facilities, 2 indicates an automobile accident, and 3 indicates landslide.
Further, in this embodiment, the weight coefficient、、、AndThe determining method of (1) comprises the following steps:
S61.1. Adopt Respectively calculating to obtain weight coefficients in different modes、、、AndOf (2), whereinIs an integer of 2 or more;
s61.2, constructing a comprehensive weight calculation model based on a minimum information entropy theory;
specifically, the objective function of the comprehensive weight calculation model is expressed as:
(1.4),
in formula (1.4): a difference function that is a combined weight; Is the first Combining weights of the individual indicators; Is the first The first mode of productionWeights of the individual indicators; the weight coefficient in this embodiment includes 、、、AndThus, it is。
Further, the method uses the constraint of the result value to limit the value of each combination weight solved by the comprehensive weight calculation model, and specifically includes:
(1.5),
(1.6),
(1.7),
s61.3. will Respectively calculating the obtained weight coefficients in different modes、、、AndInputting the combination weight calculation model, and solving the combination weight calculation model through a genetic algorithm to obtain a combination weight coefficient、、、And。
Further, those skilled in the art determine the weight coefficients、、、AndIt is also possible to use not S61.1-S61.3 but directly a calculation (i.e.Equal to 1) obtaining weight coefficients、、、AndThen substituting the calculated value into the formula (1.3).
S62, using Floyd algorithm to obtain real-time coordinates of inspection vehicleOriginating nodeAll unprocessed emergency events and the rest patrol road sections form a setThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
Specifically, in step S62, the shortest path and shortest path distance matrixAll shortest paths form a set of road segmentsThe obtaining mode of (2) is consistent with step S23, and the difference between the two is only that the setSum setThe number of elements in (a) is different, and thus a detailed description of step S62 is not provided here.
S63, using shortest path distance matrixAll shortest paths form a set of road segmentsAnd (3) solving the global dynamic path optimization model by using an NSGA-II algorithm (multi-objective genetic algorithm) to obtain a dynamic patrol path for the input parameters.
Specifically, the global dynamic path optimization model in the present embodiment minimizes the total costFor the first objective function to maximize the total priority value of the events to be responded to contained in the patrol pathFor the second objective function, respectively:
(1.8),
(1.9) ,
in formulas (1.8) and (1.9): indicating the total time cost of travel and operation of the inspection vehicle, Indicating the total punishment cost generated when the inspection vehicle reaches each event to be responded and exceeds the optimal arrival time limit; real-time coordinates of inspection vehicle Originating nodeA set formed by all unprocessed emergency events and the rest patrol road sections; represents a set of all unprocessed emergency events, ,For a set of all outstanding immediate response events,A set formed for all events to be responded;、 representing any element within the belonging set and Aggregation ofRepresenting a collectionRemoving originating nodeCollections of elements other than elementsRepresenting a collectionReal-time coordinates of medium-removal inspection vehicleCollections of elements other than elementsReal-time coordinates of all unprocessed emergency events and inspection vehiclesA set of formations; is 0-1 decision variable, if the inspection vehicle is driven by Travel toThenOtherwise;Is thatTo the point ofIs the distance of the shortest path of (a); For events to be responded to Priority values of (2); Is in the inspection vehicle The working time at which the working time is to be taken,The values under different conditions are that ifRepresenting the originating nodeIf (if)Indicating the patrol road sectionIf (if)Indicating that the treatment is not finished emergency abnormal eventRemaining processing time for the emergency event,The values under different conditions are specifically expressed as follows:
(1.10)
wherein, the Representing a patrol road sectionIs provided for the length of (a),Representing a set of all remaining patrol segments,Representing the originating node and,Representing a set formed by all unprocessed emergency events;
further, the method comprises the steps of, The calculation mode of (a) is as follows:
(1.11),
in formula (1.11): Is a constant value and represents an emergency Is used for the pre-determined processing time of the (c) in the (c),Is an emergency abnormal eventThe time of treatment.
To the event to be responded when the inspection vehicle arrivesThe penalty cost incurred when the optimal arrival time limit is exceeded,The values under different conditions are that if the inspection vehicle runs to the event to be responded(Wherein) Time spentAt the optimal arrival time of the event to be respondedThe internal value is 0, otherwise the value is,The values under different conditions are specifically expressed as follows:
(1.12),
Optimal arrival time limit of event to be responded to Representing real-time coordinates of inspection vehicleTravel to event to be respondedExpressed as the time length limit of (a):
(1.13),
In formula (1.13): Is a constant value, which indicates the optimal time range from the occurrence of the event to be responded to the arrival of the patrol car at the process, For events to be responded to(Wherein) When the inspection vehicle happens, the inspection vehicle is in the current time periodThe time that the vehicle has traveled.
Preferably, the manner in which the NSGA-II algorithm (multi-objective genetic algorithm) solves the global dynamic path optimization model is common knowledge in the art, and in this embodiment, only a simple description thereof is given:
first, the generated shortest path distance matrix is obtained And all shortest paths form a set of road segmentsLimiting real-time coordinates of slave inspection vehicleStarting, the real-time coordinates of the inspection vehicle are firstly calculated according to the distanceInserting unprocessed instant response events from near to far, then completing random number insertion in the rest of the events to be responded according to the priority order of the events to be responded (namely, allowing not all the events to be responded to be inserted but requiring the inserted events to be responded to accord with the priority order), traversing the rest of the patrol road segments, and only conducting patrol once on each patrol road segment, finally returning to the original node, secondly, setting population quantityChromosome numberNumber of generationsProbability of crossoverProbability of variationInitializing population, performing non-dominant sorting and congestion degree calculation according to fitness value of each individual (the fitness value is the opposite number of total cost of inspection path and total priority value of event to be responded), performing selection, crossover and mutation operations, merging population, performing non-dominant sorting and congestion degree calculation again to generate new population, judging whether termination condition is satisfied, if yes, performing normalization processing on the values of objective function formula (1.8) and formula (1.9), and setting weight coefficientAndUsingCalculating the weighted sum of the two objective function values, and outputtingAnd (3) dynamically inspecting the path with the minimum value, otherwise, continuing to iterate and optimize, wherein,For equation (1.8) versus path schemeIs used for the normalization of the output value of (a),For equation (1.9) versus path schemeIs a normalized value of the output value of (a).
Preferably, when the NSGA-II algorithm (multi-objective genetic algorithm) solves the global dynamic path optimization model, the parameters required to be input comprise the shortest path distance matrixAll shortest paths form a set of road segmentsPrescribed running speed of inspection vehicleSpeed of adjustmentLength of the patrol road sectionPriority value of event to be respondedSequencing and waiting for optimal arrival time limit of response eventResidual processing time of emergency。
S07, the inspection vehicle runs according to the dynamic inspection path and processes the emergency in the dynamic inspection path;
S08, if all the emergency events are processed, the patrol car starts to receive the emergency event data again;
s09, repeating the steps S04-S08 until the patrol task of all the patrol road sections is completed.
According to the method, the emergency events with high priority can be responded preferentially and processed timely by means of priority ordering, scheduling of the patrol car is optimized, influence of the emergency events on expressway traffic operation is reduced, and secondary accidents are avoided.
The method of the embodiment processes the emergency abnormal event preferentially, then considers the patrol task of the patrol road section, and can process the emergency abnormal event according to the respective priority order at the first time, thereby reducing the influence of the emergency abnormal event on the expressway. Meanwhile, after the first emergency is received, the inspection vehicle only continuously performsThe time data is received, so that the processing capability of a single inspection vehicle can be considered, and the situation that excessive emergency events are accumulated to cause that the emergency events cannot be processed in proper time is avoided.
According to the method, on the basis of an initial path inspection scheme, when an inspector encounters an emergency during operation, the path inspection is dynamically adjusted through a mixed response strategy mode combining instant response and reserved response taking the emergency as key points, and balance between operation time and priority of the emergency in the path is considered under the condition that the path is optimal.
The method of the embodiment provides the optimal arrival time limit of the emergency, and sets the punishment cost exceeding the time limit in the objective function value of the dynamic path optimization model based on the optimal arrival time limit, so that the generated dynamic path can fully consider the urgency of the processing requirement of each emergency.
Example 2:
the present embodiment adopts the expressway inspection path optimization method in embodiment 1 to conduct the inspection path planning based on the expressway of the surrounding part of the long sand city, and specifically comprises the following steps:
s01, basic data of expressways and patrol road sections in jurisdictions are obtained to construct a basic data set, and the basic data set is specifically as follows:
The embodiment obtains the highway network topology structure As shown in fig. 2, the original high-speed interworking of patrolThe basic data of the expressway in this embodiment are shown in table 1 and table 2:
The uplink direction in this embodiment refers to north-south and west-east directions uniformly, the downlink direction refers to south-north and east-west directions uniformly, and the regular road section refers to a road section other than a bridge, a tunnel and a landslide road section.
The basic data of the patrol road section in this embodiment is shown in table 3:
S02, generating an initial patrol path based on the basic data set and the traversal requirements of all patrol road sections;
S21, expressway network topology structure based on FIG. 2 Constructing a directed graphAs shown in FIG. 3, the obtained directed graph has a weight on each side of a road length RL (km) in one traveling direction of a highway section, a high-speed intercommunication is used as a node, and the nodes are numbered as-The road of one traveling direction of the expressway section is taken as one side, and the corresponding road information of each side is shown in table 4:
wherein due to originating high speed interworking For gold bridge interworking, so the originating node is determined to be。
Further, each patrol road section is numbered according to the basic data of the patrol road section, wherein the patrol road sections with ID of 1-10 in table 3 are respectively numberedEach patrol road section is in a directed graphThe positions in (2) are shown in figure 4.
S22 according to the firstLength of each patrol road sectionRespectively calculating the start pile numbersRoad length between high speed interworking with reverse end of road where it is locatedEnd point pile numberRoad length between high speed interworking with forward end of road where it is locatedTo patrol road sectionFor example, its origin pile number 229 and nodeDistance between pile numbers 9413.6Km, end point pile number 241 and nodeDistance between pile numbers 292Is 5.2km.
S23, obtaining based on each patrol road sectionAndObtaining an originating node using the Floyd algorithm (plug-in method)AndSet of individual patrol road sectionsThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
In particular, since the inspection vehicle is connected with the road nodeStarting from, and with 10 patrol segments in the current road network, it is therefore necessary to generate an 11×11 shortest path distance matrixWill originate the nodeRepresented by 0, the shortest path distance matrixExpressed as:
(2.1),
s24, using shortest path distance matrix All shortest paths form a set of road segmentsSolving the initial patrol path optimization model by using a genetic algorithm to obtain an initial patrol path for the input parameters;
Specifically, the present embodiment assumes a prescribed travel speed of the patrol car For 80km/h, adjust speedFor 40km/h, the final initial path was found to be expressed as:→→→→→→→→→→→。
S03, the patrol vehicle carries out patrol according to the initial patrol path and starts to receive the emergency data;
S04, if the emergency data are received, judging that the emergency event belongs to an instant response event or an event to be responded, wherein if the emergency event belongs to the instant response event, the emergency event is directly inserted into a current inspection path, and if the emergency event belongs to the event to be responded, the emergency event is left to be processed;
In this embodiment, it is assumed that the inspection vehicle starts the inspection work at 13:50 pm and receives 2 emergency data at 14:25. For ease of calculation, the present embodiment is described with reference to FIG. 3 A rectangular coordinate system is constructed for the origin with 1m as a unit, and if the bidirectional lane interval is 2m, the received emergency data are as shown in table 5:
Further, as shown in FIG. 5, assume that when 14:25 receives an emergency exception event 、When the data of (a) is displayed, the inspection vehicle is positioned on the directed graph sideOn the corresponding high-speed road section with a long north line, the remaining path of the inspection vehicle is→→→→→→→→→。
Through judgment, emergency abnormal eventAndNot located in the path→Between, thus, will be an emergencyAndLeave to be processed as a pending event.
S05, continuously receiving emergency data by the inspection vehicleAfter the time, stopping receiving the emergency data;
In the present embodiment, time is assumed =5 Min, since the inspection truck received the emergency at 14:25、And thus continue to receive emergency data for a period of 14:25-14:30.
S06, constructing a dynamic optimization data set according to real-time position data of the patrol vehicle, residual patrol road section data and current unprocessed emergency data, and generating a dynamic patrol path based on the dynamic optimization data set;
s61, constructing a priority evaluation model of the events to be responded, and calculating the priority of each event to be responded ;
Specifically, in the patrol road sections shown in table 3 at 14:30, the patrol road sections areAndHas been inspected, road sectionIf the vehicle is being patrolled, the remaining patrol data are as shown in table 6:
specifically, the real-time position data of the inspection vehicle at 14:30 are shown in Table 7:
as shown in fig. 6, it is assumed that 4 emergency events occur in total in the 14:25-14:30 time period, and the numbers are respectively 、、、. Specifically, the data of the emergency exception event that is not processed currently in this embodiment is shown in table 8 and table 9:
due to sudden abnormal events AndRespectively located on the patrol road sectionsAndIntermediate, thus based onAndFor the patrol road sectionAndDividing into segmentsIn (a)→And→Divided into two patrol road sections with the number of each road sectionAndWill beIn (a)→And→Divided into two patrol road sections with the number of each road sectionAndAs shown in fig. 7, the remaining patrol section data after the division is shown in table 10:
further, referring to fig. 7,14:30, the inspection vehicle is disposed with a normal long north line high speed downlink direction stake mark 43, so that the currently unprocessed emergency event includes an immediate response event And events to be responded to、。
Preferably, in this embodiment, three methods, namely, an entropy weight method, a CRITIC method and a coefficient of variation method are adopted to calculate and obtain the weight coefficient in the formula (1.3)、、、AndThe specific results are shown in Table 11:
solving the comprehensive weight calculation model through a genetic algorithm to obtain a combined weight coefficient 、、、AndAs shown in table 12:
further, the obtained combination weight coefficient 、、、AndSubstituting into the formula (1.3) to obtain the event to be responded、、Priority value of (2)The prioritization is shown in table 13:
s62, using Floyd algorithm to obtain real-time coordinates of inspection vehicle Originating nodeAll unprocessed emergency events and the rest patrol road sections form a setThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
In this embodiment, the shortest path distance matrix is obtained in the manner of step S23 in embodiment 1All shortest paths form a set of road segmentsSpecifically, the termination node is the originating nodeRepresented as the number 0, a 16 x 16 shortest path distance matrix should be constructedIn the matrixReal-time coordinates of medium-sized inspection vehicleAnd (3) withDistance(s),AndRespectively withDistance sum of (2)AndRespectively withIs 0km.
S63, using shortest path distance matrixAll shortest paths form a set of road segmentsAnd (3) solving the global dynamic path optimization model by using an NSGA-II algorithm (multi-objective genetic algorithm) to obtain a dynamic patrol path for the input parameters.
Specifically, in this embodiment, when the NSGA-II algorithm (multi-objective genetic algorithm) is used to solve the global dynamic path optimization model to obtain the dynamic inspection path, real-time coordinates of the inspection vehicle are limitedStarting, first, the unprocessed instant response events are inserted according to the corresponding sequenceNext, according to→→The random number of the 3 events to be responded is inserted, the rest of the patrol road sections are traversed, each patrol road section is only patrol once, and finally the original node is returned. The final output dynamic patrol path is expressed as:→→→→→→→→→→→→→→。
s07, the inspection vehicle runs according to a dynamic inspection path and processes emergency abnormal events;
S08, if all the emergency events are processed, the patrol car starts to receive the emergency event data again;
In this embodiment, after the inspection vehicle finishes processing the emergency 、、The emergency data is not received any more until the emergency is processedAnd restarting receiving the emergency data.
S09, repeating the steps S04-S08 until the patrol task of all the patrol road sections is completed.
Example 3:
the present embodiment provides an expressway inspection path optimization device, where the device in this embodiment adopts the expressway inspection path optimization method in embodiment 1, and specifically includes:
The information storage module is used for storing basic data of the expressway, basic data of the patrol road section, emergency data, real-time position data of the patrol vehicle, residual patrol road section data and currently unprocessed emergency data;
The real-time data acquisition module is used for acquiring real-time position data, emergency data and residual patrol road section data of the patrol vehicle in real time;
The initial path generation module is used for generating an initial patrol path according to the basic data of the expressway, the basic data of the patrol road sections and the traversal requirements of all the patrol road sections;
the dynamic path generation module is used for generating a dynamic patrol path according to the dynamic optimization data set;
And the information feedback module is used for feeding the generated patrol path back to the remote control end and displaying the patrol path on a screen of the patrol car.
Example 4:
The present embodiment provides a storage medium having a computer program stored therein, which when executed, performs the highway inspection route optimization method in embodiment 1.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The highway inspection path optimization method is characterized by comprising the following steps of:
S01, basic data of expressways and patrol road sections in the jurisdiction are obtained to construct a basic data set;
S02, generating an initial patrol path based on the basic data set and the traversal requirements of all patrol road sections;
S03, the patrol vehicle carries out patrol according to the initial patrol path and starts to receive the emergency data;
S04, if the emergency data are received, judging that the emergency event belongs to an instant response event or an event to be responded, wherein if the emergency event belongs to the instant response event, the emergency event is directly inserted into a current inspection path, and if the emergency event belongs to the event to be responded, the emergency event is left to be processed;
S05, continuously receiving emergency data by the inspection vehicle After the time, stopping receiving the emergency data;
S06, constructing a dynamic optimization data set according to real-time position data of the patrol vehicle, residual patrol road section data and current unprocessed emergency data, and generating a dynamic patrol path based on the dynamic optimization data set;
s07, the inspection vehicle runs according to a dynamic inspection path and processes emergency abnormal events;
S08, if all the emergency events are processed, the patrol car starts to receive the emergency event data again;
s09, repeating the steps S04-S08 until the patrol task of all the patrol road sections is completed;
the specific method for generating the dynamic patrol path in the step S06 comprises the following steps:
s61, constructing a priority evaluation model of the events to be responded, and calculating the priority of each event to be responded ;
S62, obtaining real-time coordinates of the inspection vehicleOriginating nodeAll unprocessed emergencies and the rest of the patrol road sectionsThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
S63, using shortest path distance matrixAll shortest paths form a set of road segmentsSolving the global dynamic path optimization model to obtain a dynamic patrol path for input parameters;
wherein the global dynamic path optimization model is used for minimizing the total cost For the first objective function to maximize the total priority value of the events to be responded to contained in the patrol pathFor the second objective function, respectively:
(1.8),
(1.9),
in formulas (1.8) and (1.9): indicating the total time cost of travel and operation of the inspection vehicle, Indicating the total punishment cost generated when the inspection vehicle reaches each event to be responded and exceeds the optimal arrival time limit; real-time coordinates of inspection vehicle Originating nodeA set formed by all unprocessed emergency events and the rest patrol road sections; represents a set of all unprocessed emergency events, ,For a set of all outstanding immediate response events,A set formed for all events to be responded;、 representing any element within the belonging set and Aggregation ofRepresenting a collectionRemoving originating nodeCollections of elements other than elementsRepresenting a collectionReal-time coordinates of medium-removal inspection vehicleCollections of elements other than elementsReal-time coordinates of all unprocessed emergency events and inspection vehiclesA set of formations; is 0-1 decision variable, if the inspection vehicle is driven by Travel toThenOtherwise;Is thatTo the point ofIs the distance of the shortest path of (a); For events to be responded to Priority values of (2); Is in the inspection vehicle The working time at which the working time is to be taken,To the event to be responded when the inspection vehicle arrivesPenalty costs incurred when exceeding the optimal arrival time limit; The speed is set for the inspection vehicle.
2. The method for optimizing an inspection path of highway according to claim 1, wherein the method for generating an initial inspection path in step S02 specifically comprises:
S21, according to the highway network topology structure Constructing a directed graphWherein, one expressway is used as a node, one road in one driving direction of the expressway section is used as one side,Representing a set of all nodes in the directed graph,Representing a set of all edges in the directed graph;
s22, calculating the first Starting point pile number of each patrol road sectionRoad length between high speed interworking with reverse end of road where it is locatedAnd the destination pile number of the patrol road sectionRoad length between high speed interworking with forward end of road where it is located, wherein,Is an integer and takes the value,Is the total number of the patrol road sections;
S23, obtaining based on each patrol road section AndObtaining an originating nodeAndSet of individual patrol road sectionsThe shortest path between any two of the two, and further obtain a shortest path distance matrixAll shortest paths form a set of road segments;
S24, using shortest path distance matrixAll shortest paths form a set of road segmentsAnd solving the initial patrol path optimization model by using a genetic algorithm to obtain an initial patrol path for the input parameters.
3. The method of claim 2, wherein the objective function of the initial patrol route optimization model is:
(1.2),
In formula (1.2): Representing an originating node AndA set of individual patrol road segments,AndAll belong toAnd is also provided with,Is thatTo the point ofIs the distance of the shortest path of (a); Representing 0-1 decision variables, if the inspection vehicle is driven by Travel toThenOtherwise;For inspection vehicles specifying a running speed; In order to adjust the speed of the motor, The method is used for representing the delay influence of the operation process of the inspection vehicle on the inspection road section on the running time; For destination of When the weight of (1)Representing the originating nodeThe value of (1) is 0 whenWhen the patrol road section is representedThe value of (2) is the length of the patrol road section.
4. The method for optimizing a highway inspection path according to claim 1, wherein the method for judging that the emergency event belongs to an immediate response event or an event to be responded is:
If the emergency is located on the path between the patrol car and the next patrol road section which is not being patrol in the current patrol path, the emergency is used as an immediate response event, immediately responded and inserted into the current patrol path, otherwise, the emergency is used as an event to be responded to be left to be processed.
5. The method for optimizing a highway inspection path according to claim 1, wherein when the dynamic optimization data set is constructed:
if a certain emergency is located in the patrol road section, dividing the patrol road section in which the emergency is located into two patrol road sections by taking the emergency as a dividing point, counting the two newly obtained patrol road sections into a dynamic optimization data set, and deleting the divided patrol road sections;
If the patrol car is carrying out patrol on a certain patrol road section, taking the rest road sections which are not being patrol on the patrol road section as a new patrol road section, and counting into a dynamic optimization data set.
6. The method for optimizing a highway inspection path according to claim 1, wherein,The values under different conditions are expressed as:
(1.10),
In formula (1.10): representing a patrol road section Is provided for the length of (a),Representing a set of all remaining patrol segments,Representing an emergency eventIs used for the remaining processing time of the (c) wafer,To adjust the speed;
further, the method comprises the steps of, The calculation mode of (a) is as follows:
(1.11),
in formula (1.11): Is a constant value and represents an emergency Is used for the pre-determined processing time of the (c) in the (c),Is an emergency abnormal eventA processed time;
the values under different conditions are expressed as:
(1.12),
in formula (1.12): Real-time coordinates for inspection vehicle Travel to event to be respondedTime spent, optimal arrival time limit of event to be responded toRepresenting real-time coordinates of inspection vehicleTravel to event to be respondedExpressed as the time length limit of (a):
(1.13),
In formula (1.13): Is a constant value, which indicates the optimal time range from the occurrence of the event to be responded to the arrival of the patrol car at the process, For events to be responded toWhen the inspection vehicle happens, the inspection vehicle is in the current time periodThe time that the vehicle has traveled.
7. The method for optimizing a highway inspection path according to claim 1, wherein the event priority evaluation model to be responded is:
(1.3),
In formula (1.3): 、、、 And Are all the weight coefficients of the two-dimensional space model,;Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatThe value of the normalized value is taken out,Is thatTaking the value after normalization; The road type of the hundred-meter road section in the pile number interval of the event to be responded; real-time traffic flow in a pile number interval where the emergency abnormal event is located; Representing the occurrence sequence of the events to be responded, sequencing the events according to the occurrence time of the emergency abnormal events from the small to the large, and taking the same value if the events to be responded which occur simultaneously exist; For event position coordinates to be responded to Real-time coordinates of inspection vehicleEuclidean distance between them; Is the type of event to be responded to.
8. A highway inspection path optimizing apparatus, characterized in that the apparatus adopts the highway inspection path optimizing method according to any one of claims 1 to 7, comprising:
The information storage module is used for storing basic data of the expressway, basic data of the patrol road section, emergency data, real-time position data of the patrol vehicle, residual patrol road section data and currently unprocessed emergency data;
The real-time data acquisition module is used for acquiring real-time position data, emergency data and residual patrol road section data of the patrol vehicle in real time;
The initial path generation module is used for generating an initial patrol path according to the basic data of the expressway, the basic data of the patrol road sections and the traversal requirements of all the patrol road sections;
the dynamic path generation module is used for generating a dynamic patrol path according to the dynamic optimization data set;
And the information feedback module is used for feeding the generated patrol path back to the remote control end and displaying the patrol path on a screen of the patrol car.
9. A storage medium having a computer program stored therein, which when run performs the highway inspection route optimization method according to any one of claims 1-7.
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