Vehicle distribution strategy in urban traffic by using coverage control

基于覆盖控制的城市多应急救援车辆分布规划策略

¹ School of Electrical and Control Engineering, Chang'an University, Xi'an 710064, China
² School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China

Received: 29 September 2022

Abstract

In order to optimize the distribution of the urban emergency rescue vehicles and achieve the rapid response of the traffic accident, the distribution of multi-emergency rescue vehicles for the minimum rescue time is studied. According to the coverage control and the influence of traffic congestion for rescue time, the main research contents are as follows: analysis of the overall time consumption on the target area, establishment of the optimization model which considers the responsible area and the driving constraints of each vehicle for rescue time consumption. In details, for the division problem of responsible area of emergency rescue vehicle, the responsible area of each vehicle is calculated by using Voronoi region allocation principle and taking the driving time of vehicle to any point in urban road networks as evaluation index. Then, in consideration of the driving constraints in urban road networks, the constraints in the optimization model is clarified further on the premise of analyzing the vehicle kinematic characteristics. Finally, the optimal distribution position of multi-emergency rescue vehicles in the target area and the corresponding responsible area are calculated by gradient descent. The results show that the vehicle can converge to the optimal distribution position from any position in the target city, and the traffic accidents in responsible area can be timely response.

摘要

为了优化应急救援车辆在城市内的分布规划, 实现对城市交通事故的快速响应, 研究了面向最短救援时间的多应急救援车辆分布规划策略。根据覆盖控制理论, 考虑交通拥堵对车辆救援时间的影响, 分析多应急救援车网络对目标区域的整体时间消耗, 构建面向救援时间的优化模型; 针对应急救援车辆的负责区域划分问题, 以应急救援车辆达到城市路网内任意一点的行驶时间为评价指标, 利用Voronoi区域分配原则, 计算每辆应急救援车的负责区域; 考虑应急救援车在城市路网内的行驶约束, 分析城市道路中车辆的运动学特性, 进一步明确优化模型中的约束条件; 根据梯度下降法, 计算多应急救援车辆在目标区域内的最优分布位置以及相应的负责区域。实验结果表明, 多应急救援车辆能够从目标城市内的任意位置逐渐收敛到最优分布位置, 使得目标区域内任意一点的交通事故都能够得到有效响应。