1. A traffic jam analysis and prevention method based on V2X is characterized by comprising the following steps: providing a cloud server, roadside V2X terminals arranged at a traffic intersection and vehicle V2X terminals arranged on a vehicle, wherein the cloud server is in communication connection with each roadside V2X terminal, and the roadside V2X terminals are in communication connection with the vehicle V2X terminals in a preset communication range;

the congestion information direct acquiring step comprises the steps that a roadside V2X terminal monitors traffic conditions in a preset range, a congestion duration time period is recorded when congestion occurs in the preset range, unique identification marks of vehicles passing through congested roads in the congestion duration time period are acquired through a vehicle V2X terminal, a travel planning path is acquired from the vehicles, a congestion registration table is configured at the roadside V2X terminal, and the roadside V2X terminal monitoring the congestion stores the congestion duration time period, the unique identification marks of all vehicles passing through the congested roads in the congestion duration time period and the acquired travel planning path of the vehicles in the congestion registration table and enters the congestion information indirect acquiring step;

the congestion information indirectly acquiring step includes the road side V2X terminal monitoring congestion packages unique identification of vehicles which do not acquire a travel planned path to form information to be monitored and sends the information to the cloud server, the cloud server sends the information to be monitored to all the road side V2X terminals within a preset distance around the road side V2X terminal monitoring congestion, the road side V2X terminal receives the information to be monitored and then identifies corresponding vehicles according to the unique identification within a preset monitoring duration, when the corresponding vehicles are identified, the time when the corresponding vehicles are identified, the positions of the corresponding vehicles and the running directions of the corresponding vehicles are recorded, the information and the unique identification of the corresponding vehicles are packaged to form monitored information and sent to the cloud server, and the cloud server sends the acquired monitored information to the road side V2X terminal monitoring congestion, the road side V2X terminal monitoring congestion arranges the travel planned path of the vehicle according to the received monitored information, stores the travel planned path to the congestion registry, and enters the travel path optimization step;

the travel path optimization step includes that the roadside V2X terminal sorts all unique identifiers of a plurality of congestion duration time periods recorded latest on the congestion registration table according to occurrence times, calls the travel planned path corresponding to the unique identifier with the occurrence times higher than a preset time threshold, and replans the travel planned path to obtain an optimized travel path, the optimized travel path bypasses a road section where congestion is monitored, stores the optimized travel path in the congestion registration table, and enters the optimized travel path distribution step;

the optimized travel path distribution step includes that the roadside V2C terminal packages the optimized travel path corresponding to the unique identity to form path optimization information, and sends the path optimization information to the cloud server, the cloud server sends the path optimization information to other roadside V2C terminals, and when the roadside V2C terminal detects a vehicle matched with the unique identity in the path optimization information, the roadside V2C terminal sends the corresponding optimized travel path to the vehicle V2C terminal of the corresponding vehicle.

2. The method for analyzing and preventing traffic congestion based on V2X as recited in claim 1, wherein: the road side V2X terminal presets corresponding road vehicle threshold values to be passed on each road in the monitoring range, the congestion information directly acquiring step further comprises a congestion judging substep, the congestion judging substep comprises the step that the road side V2X terminal acquires the position information of all the vehicle V2X terminals in the monitoring range, the number of the vehicle V2X terminals on each road is compared with the road vehicle threshold values to be passed on the corresponding road, and when the number of the vehicle V2X terminals on the road is larger than the corresponding road vehicle threshold values to be passed on the road, the road is judged to be congested.

3. The method for analyzing and preventing traffic congestion based on V2X as recited in claim 2, wherein: the roadside V2X terminal presets a corresponding road first threshold and a corresponding road second threshold on each road in a monitoring range, and the road to-be-passed vehicle sub-threshold and the road second threshold are both smaller than the road to-be-passed vehicle threshold;

the starting time of the congestion duration time period is the time when the number of the terminals of the vehicle V2X on the current road at the last time before the congestion of the road is determined to be greater than the corresponding first threshold of the road, and the ending time of the congestion duration time period is the time when the number of the terminals of the vehicle V2X on the current road at the first time after the congestion of the road is determined to be less than the corresponding second threshold of the road.

4. The method for analyzing and preventing traffic congestion based on V2X as recited in claim 3, wherein: the road first threshold is greater than or equal to the road second threshold.

5. The method for analyzing and preventing traffic congestion based on V2X as recited in claim 4, wherein: the road first threshold and the road second threshold are obtained by calculating the road vehicle threshold to be passed through a preset algorithm, and the road first threshold and the road second threshold are positively correlated with the road vehicle threshold to be passed through.

6. The method for analyzing and preventing traffic congestion based on V2X as recited in claim 1, wherein: the congestion information indirect obtaining step further comprises a route sorting sub-step, wherein the route sorting sub-step comprises the steps that when the road side V2X terminal which monitors congestion receives the monitored information, possible running routes of the corresponding vehicle are sorted according to the positions of the corresponding vehicles in the last two times and the running directions of the corresponding vehicles, when the possible running routes are more than one, the time required for the vehicle to run on different running routes is calculated, the required time is compared with the time difference between the corresponding vehicles in the last two times, and the running route with the smaller difference value between the required time and the time difference between the corresponding vehicles in the last two times is selected as the travel planning route between the positions of the vehicle in the last two times.

7. The method for analyzing and preventing traffic congestion based on V2X as recited in claim 6, wherein: the calculating of the time required by the vehicle to travel on different travel paths specifically simulates that the vehicle travels on different travel paths under the congestion condition and calculates the time required by completing each travel path on the basis of the congestion condition on the travel path in the time period between the times of the last two corresponding vehicles being identified.

Background

With the gradual development of scientific cause, automobiles gradually become a main travel mode in life of people. However, with the rapid development of cities, vehicles in the cities are more and more, the road traffic pressure is increased, particularly during rush hours when people go on duty and go off duty, congestion is very serious, the working time is delayed, and great pressure is caused to traffic departments, so that the congestion condition is the most serious particularly at three-fork or four-fork at present.

The existing method for solving the traffic jam is to identify the traffic jam road section by setting up an electronic camera to take a picture, and control a traffic light according to the traffic jam condition, so as to alleviate the traffic jam. However, this approach has the following problems: 1. the shooting region of camera is fixed, and shooting angle is limited, need set up a plurality of cameras in a crossing generally and be used for shooing different angles, and the arrangement cost of camera is high, still need merge the processing to the data of each camera, because data source is a plurality of cameras to a plurality of, and the data processing degree of difficulty is big. 2. The mode that the camera discernment was blocked up can be very big receives the influence of environment, for example the haze day appears, during this kind of adverse circumstances of big snow day, leads to whole traffic jam analytic system paralysis easily, can't normally work. 3. Traffic jam can not be prevented only by controlling the traffic lights to slow down the traffic jam after the traffic jam occurs.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a traffic jam analysis and prevention method based on V2X, which can analyze traffic jams and actively and finely process vehicles causing the jams so as to prevent the traffic jams. The method has low cost and single data source, is favorable for improving the data processing efficiency, and cannot be influenced by weather.

In order to achieve the purpose, the invention provides the following technical scheme: a traffic jam analysis and prevention method based on V2X is provided with a cloud server, roadside V2X terminals arranged at a traffic intersection and vehicle V2X terminals arranged on a vehicle, wherein the cloud server is in communication connection with the roadside V2X terminals, and the roadside V2X terminals are in communication connection with the vehicle V2X terminals in a preset communication range;

the congestion information direct acquiring step comprises the steps that a roadside V2X terminal monitors traffic conditions in a preset range, a congestion duration time period is recorded when congestion occurs in the preset range, unique identification marks of vehicles passing through congested roads in the congestion duration time period are acquired through a vehicle V2X terminal, a travel planning path is acquired from the vehicles, a congestion registration table is configured at the roadside V2X terminal, and the roadside V2X terminal monitoring the congestion stores the congestion duration time period, the unique identification marks of all vehicles passing through the congested roads in the congestion duration time period and the acquired travel planning path of the vehicles in the congestion registration table and enters the congestion information indirect acquiring step;

the congestion information indirectly acquiring step includes the road side V2X terminal monitoring congestion packages unique identification of vehicles which do not acquire a travel planned path to form information to be monitored and sends the information to the cloud server, the cloud server sends the information to be monitored to all the road side V2X terminals within a preset distance around the road side V2X terminal monitoring congestion, the road side V2X terminal receives the information to be monitored and then identifies corresponding vehicles according to the unique identification within a preset monitoring duration, when the corresponding vehicles are identified, the time when the corresponding vehicles are identified, the positions of the corresponding vehicles and the running directions of the corresponding vehicles are recorded, the information and the unique identification of the corresponding vehicles are packaged to form monitored information and sent to the cloud server, and the cloud server sends the acquired monitored information to the road side V2X terminal monitoring congestion, the road side V2X terminal monitoring congestion arranges the travel planned path of the vehicle according to the received monitored information, stores the travel planned path to the congestion registry, and enters the travel path optimization step;

the travel path optimization step includes that the roadside V2X terminal sorts all unique identifiers of a plurality of congestion duration time periods recorded latest on the congestion registration table according to occurrence times, calls the travel planned path corresponding to the unique identifier with the occurrence times higher than a preset time threshold, and replans the travel planned path to obtain an optimized travel path, the optimized travel path bypasses a road section where congestion is monitored, stores the optimized travel path in the congestion registration table, and enters the optimized travel path distribution step;

the optimized travel path distribution step includes that the roadside V2C terminal packages the optimized travel path corresponding to the unique identity to form path optimization information, and sends the path optimization information to the cloud server, the cloud server sends the path optimization information to other roadside V2C terminals, and when the roadside V2C terminal detects a vehicle matched with the unique identity in the path optimization information, the roadside V2C terminal sends the corresponding optimized travel path to the vehicle V2C terminal of the corresponding vehicle.

As a further improvement of the present invention, the roadside V2X terminal presets a corresponding road vehicle threshold to be passed on each road in the monitoring range, the congestion information directly acquiring step further includes a congestion determining sub-step, the congestion determining sub-step includes the roadside V2X terminal acquiring position information of all the vehicle V2X terminals in the monitoring range, comparing the number of the vehicle V2X terminals on each road with the road vehicle threshold to be passed on the corresponding road, and when the number of the vehicle V2X terminals on the road is greater than the corresponding road vehicle threshold to be passed on the road, determining that the road is congested.

As a further improvement of the invention, the roadside V2X terminal also presets a corresponding road first threshold and a road second threshold for each road in the monitoring range, and both the road to-be-passed vehicle second threshold and the road second threshold are smaller than the road to-be-passed vehicle threshold;

the starting time of the congestion duration time period is the time when the number of the terminals of the vehicle V2X on the current road at the last time before the congestion of the road is determined to be greater than the corresponding first threshold of the road, and the ending time of the congestion duration time period is the time when the number of the terminals of the vehicle V2X on the current road at the first time after the congestion of the road is determined to be less than the corresponding second threshold of the road.

As a further refinement of the invention, the road first threshold is greater than or equal to the road second threshold.

As a further improvement of the present invention, the road first threshold and the road second threshold are both calculated by the road vehicle threshold to be passed through a preset algorithm, and both the road first threshold and the road second threshold are positively correlated with the road vehicle threshold to be passed through.

As a further improvement of the present invention, the congestion information indirect obtaining step further includes a route sorting sub-step, where the route sorting sub-step includes that when the roadside V2X terminal that monitors congestion receives the monitored information, the possible travel routes of the corresponding vehicle are sorted according to the positions of the corresponding vehicles in the last two times and the travel directions of the corresponding vehicles, when there is more than one possible travel route, the time required for the vehicle to travel on different travel routes is calculated, the required time is compared with the time difference between the corresponding vehicles in the last two times, and the travel route with the smaller difference between the two travel routes is selected as the travel planned route between the positions of the vehicle in the last two times.

As a further improvement of the present invention, the calculating of the time required for the vehicle to travel on the different travel routes is performed by taking a congestion situation on the travel routes in a time period between the times when the last two corresponding vehicles are identified as a reference, simulating the vehicle to travel on the different travel routes in the congestion situation, and calculating the time required for completing each travel route.

The invention has the beneficial effects that: according to the method, through a congestion information direct acquisition step, a roadside V2X terminal monitors the congestion condition of a road in real time, when the road is congested, a unique identity of a vehicle passing through a congested road section is acquired, a travel planning path of the vehicle is directly acquired through a vehicle V2X terminal, and for the vehicle which cannot acquire the travel planning path through a vehicle V2X terminal, the travel planning path of the vehicle is acquired through a congestion information indirect acquisition step. And replanning the vehicles which often pass through the congested road section in the congested time period through a travel path optimization step to obtain an optimized travel path, and finally sending the optimized travel path to a vehicle V2C terminal of the corresponding vehicle through an optimized travel path distribution step. The vehicle can reset the travel route by optimizing the travel route, so that the road section which is easy to jam is avoided. By the method, the corresponding vehicles causing traffic jam are found out, the corresponding optimized travel paths are sent to the corresponding vehicles, the corresponding vehicles causing the traffic jam can be accurately obtained, the vehicles can be subjected to fine processing, and the corresponding vehicles can be prevented from being jammed and are favorable for preventing the corresponding road sections from being jammed when traveling according to the optimized travel paths. Therefore, the method can analyze the traffic jam and actively and finely process the vehicles causing the jam, thereby playing a role in preventing the traffic jam. And each intersection only needs one roadside V2X terminal, for a plurality of cameras installed at each intersection, the cost is lower, data of the plurality of cameras does not need to be fused, the data source is single, the data processing efficiency is improved, the roadside V2X terminal cannot be affected by severe weather, and the reliability is high.

Drawings

FIG. 1 is a schematic flow chart of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals.

Referring to fig. 1, the traffic congestion analysis and prevention method based on V2X of the present embodiment provides a cloud server, roadside V2X terminals disposed at a traffic intersection, and vehicle V2X terminals disposed on a vehicle, where the cloud server is in communication connection with each roadside V2X terminal, and the roadside V2X terminal is in communication connection with a vehicle V2X terminal within a preset communication range.

The method comprises a congestion information direct acquisition step, a congestion information indirect acquisition step, a travel path optimization step and an optimized travel path distribution step.

The congestion information direct acquiring step comprises the steps that a road side V2X terminal monitors traffic conditions in a preset range, a congestion duration time period is recorded when congestion occurs in the preset range, a unique identification of vehicles passing through a congested road in the congestion duration time period is acquired through a vehicle V2X terminal, a travel planning path is acquired from the vehicles, a congestion registration table is configured at the road side V2X terminal, and the road side V2X terminal monitoring the congestion stores the congestion duration time period, the unique identifications of all vehicles passing through the congested road in the congestion duration time period and the acquired travel planning path of the vehicles in the congestion registration table.

The roadside V2X terminal presets corresponding road vehicle threshold values to be passed, road first threshold values and road second threshold values in each road in the monitoring range, the road vehicle sub-threshold values to be passed and the road second threshold values are smaller than the road vehicle threshold values to be passed, and the road first threshold values are larger than or equal to the road second threshold values. The road first threshold and the road second threshold are calculated by a road vehicle threshold to be passed through a preset algorithm, and are positively correlated with the road vehicle threshold, namely, the larger the road vehicle threshold to be passed is, the larger the calculated road first threshold and road second threshold are.

The congestion information direct acquiring step further comprises a congestion judging sub-step, wherein the congestion judging sub-step comprises the steps that the terminals of the road side V2X acquire the position information of all the terminals of the vehicles V2X in the monitoring range, the number of the terminals of the vehicles V2X positioned on each road is compared with the threshold value of the vehicles to be passed through on the road corresponding to the road, and when the number of the terminals of the vehicles V2X on the road is larger than the threshold value of the vehicles to be passed through on the corresponding road, the road is judged to be congested.

The starting time of the congestion duration time period is the time when the number of the terminals of the vehicle V2X on the current road at the last time before the congestion of the road is determined to be greater than the first threshold value of the corresponding road, and the ending time of the congestion duration time period is the time when the number of the terminals of the vehicle V2X on the current road at the first time after the congestion of the road is determined to be less than the second threshold value of the corresponding road.

For example, an intersection is provided with a roadside V2X terminal, and since the roads in four directions all have one-way roads in opposite directions close to and far from the intersection, there are eight roads in total. If the communication range of the roadside V2C terminal is 100 meters, the roadside V2X terminal detects all the vehicle V2X terminals on the eight roads within 100 meters around the intersection to carry out communication, obtains the position information of the vehicle corresponding to each vehicle V2X terminal, judges the number of the vehicles on each road according to the position information of each vehicle, records the time when the number is greater than the first threshold of the road and is the initial time of the congestion duration time period, and judges that the road is congested when the number is greater than the threshold of the vehicles to be passed on the road. And acquiring the unique identity of the vehicle passing through the road section from the initial time of the congestion duration time period, and acquiring the travel planned path from the vehicle through the vehicle V2X terminal until the number of the vehicles on the road is less than a second threshold value of the road, which is the ending time of the congestion duration time period. And if the travel planned path fed back by the vehicle V2X terminal is received, storing the congestion duration time period, the unique identification of all vehicles passing through the road in the congestion duration time period and the acquired travel planned path of the vehicle into a congestion registration table at the roadside V2X terminal.

The congestion information indirect obtaining step comprises the steps that a road side V2X terminal which monitors congestion packs unique identification marks of vehicles which do not obtain travel planning paths to form information to be monitored and sends the information to a cloud server, the cloud server takes the road side V2X terminal which monitors congestion as a center and sends the information to be monitored to all road side V2X terminals within a preset distance around the vehicle, the road side V2X terminal receives the information to be monitored and then identifies corresponding vehicles according to the unique identification marks within a preset monitoring duration, when the corresponding vehicles are identified, the time when the corresponding vehicles are identified, the positions of the corresponding vehicles and the traveling directions of the corresponding vehicles are recorded, the time when the corresponding vehicles are identified and the corresponding vehicles are packed with the unique identification marks of the corresponding vehicles to form monitored information and sent to the cloud server, the cloud server sends the obtained monitored information to the road side V2X terminal which monitors congestion, and the road side V2 congestion 2X terminal which monitors obtains the travel paths of the vehicles according to the received monitored information, and storing the travel planning path to a congestion registration table, and entering a travel path optimization step.

The congestion information indirect obtaining step further comprises a route sorting sub-step, wherein the route sorting sub-step comprises the steps that when a road side V2X terminal which monitors congestion receives monitored information, possible running routes of a corresponding vehicle are sorted according to the positions of the corresponding vehicle and the running directions of the corresponding vehicle at the last two times, and when more than one possible running route is available, the time required for the vehicle to run on different running routes is calculated. When the required time is calculated, specifically, the congestion situation on the running route in the time period between the times of the last two corresponding vehicles being identified is taken as a reference, the vehicles are simulated to run on different running routes under the congestion situation, and the required time for completing each running route is calculated. And comparing the required time with the time difference between the two identified corresponding vehicles in the last two times, and selecting the running path with smaller difference as the travel planning path between the two identified positions of the vehicle in the last two times.

For example, the roadside V2X terminal packages the unique identity of the vehicle that fails to acquire the travel planned path through the vehicle V2X terminal to form information to be monitored, and sends the information to be monitored to the cloud server, the cloud server sends the information to be monitored to the surrounding roadside V2X terminals, the surrounding roadside V2X terminals receive the information to be monitored, identify the corresponding vehicle within a preset monitoring duration through the unique identity, and stop identifying the corresponding vehicle after the monitoring duration is exceeded. If the corresponding vehicle is identified within the monitoring duration, the time when the corresponding vehicle is identified, the position of the corresponding vehicle, the driving direction of the corresponding vehicle and the unique identity of the corresponding vehicle are packaged together to form monitored information, and the monitored information is sent to the cloud server. And the cloud server sends the monitored information to the corresponding roadside V2X terminal. After the roadside V2X terminal receives the monitored information, the possible driving path of the corresponding vehicle between the two positions is combed according to the position of the corresponding vehicle, the driving direction of the corresponding vehicle, the position of the corresponding vehicle obtained last time and the driving direction of the corresponding vehicle in the monitored information. When the possible travel routes are more than one, the vehicles are simulated to travel on different travel routes under the congestion condition by taking the congestion condition on the travel routes in the time interval in which the corresponding vehicles are identified twice as a reference, and the time required for completing each travel route is calculated. And selecting a travel path with the required time closest to the time interval between two times of recognized corresponding vehicles as a travel planning path between the vehicles and the positions of the two times of recognized vehicles. And splicing the travel planned paths among the adjacent positions according to time to obtain the integral travel planned paths of a plurality of positions in a long time period, and storing the travel planned paths to a congestion register table.

The travel path optimization step comprises the steps that the roadside V2X terminal sorts all unique identification marks of a plurality of congestion duration time periods recorded on a congestion registration table most recently according to occurrence times, a travel planning path corresponding to the unique identification mark with the occurrence times higher than a preset time threshold value is taken, the travel planning path is re-planned to obtain an optimized travel path, the optimized travel path bypasses a road section where congestion is monitored, the optimized travel path is stored on the congestion registration table, and the optimized travel path distribution step is carried out.

For example, the preset number threshold is set to 2 times. And transferring all unique identification marks acquired in the past 5 congestion continuous time periods, sequencing according to the occurrence times, transferring travel planning paths of the vehicles corresponding to all unique identification marks with the occurrence times of 3 times, 4 times or 5 times, and replanning to obtain optimized travel paths of all the vehicles, wherein all the optimized travel paths bypass the congestion road sections, and the optimized travel paths are stored in a congestion registry and correspond to the unique identification marks.

The optimized travel path distribution step comprises the steps that the road side V2C terminal packs the optimized travel path corresponding to the unique identity to form path optimization information and sends the path optimization information to the cloud server, the cloud server sends the path optimization information to other road side V2C terminals, and when the road side V2C terminal detects a vehicle matched with the unique identity in the path optimization information, the road side V2C terminal sends the corresponding optimized travel path to the vehicle V2C terminal of the corresponding vehicle.

For example, the roadside V2C terminal packages the optimized travel path corresponding to the unique identifier to form path optimization information and sends the path optimization information to the cloud server, the cloud server sends the optimized travel path to other roadside V2C terminals, the roadside V2C terminal identifies the corresponding vehicle according to the unique identifier, and when the communication connection is made with the vehicle V2X terminal of the corresponding vehicle, the path optimization information is sent to the vehicle V2X terminal of the vehicle.

The method also comprises a path optimization application step, wherein the path optimization application step comprises the step of replacing the travel planning path on the corresponding road with the optimized travel path after the vehicle V2X terminal receives the path optimization information.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.