CN-122024346-A - Expressway dynamic twin charging method based on global vehicle-road cooperation

CN122024346ACN 122024346 ACN122024346 ACN 122024346ACN-122024346-A

Abstract

The invention relates to the field of intelligent traffic management and discloses a dynamic highway twin charging method based on global vehicle-road cooperation, which comprises the following steps of constructing a digital twin voxel space mapping physical impedance; the method comprises the steps of self-adapting fission to adjust voxel resolution based on traffic event entropy, generating a dynamic space-time potential energy field by fusing congestion and environmental factors, carrying out multidimensional consensus verification on vehicle tracks by utilizing an end-to-end dual and group interaction mechanism, carrying out weighted space-time integration on charging potential energy of vehicles in effectively occupied voxels based on a micro driving behavior correction coefficient, and calculating traffic cost. According to the invention, the road resources are discretized into dynamic potential energy fields, and the behavior correction and the consensus verification are introduced, so that the normal form conversion of the charging model from static mileage to dynamic space-time resource occupation is realized, the true non-repudiation of transaction data is ensured, the price lever is effectively utilized to actively regulate the traffic flow distribution, and the road network traffic efficiency and charging fairness are obviously improved.

Inventors

LI JIANGUO
YUAN LEI
CHEN BO
ZHANG ZIWEN

Assignees

宁夏交投科技发展有限公司

Dates

Publication Date: 20260512
Application Date: 20260224

Claims (10)

1. The dynamic highway twin charging method based on the global vehicle-road cooperation is characterized by comprising the following steps of: constructing a highway global digital twin space, discretizing a physical space into a voxel set, and giving a basic physical impedance value to each voxel in the voxel set based on a road physical attribute; monitoring traffic flow data of a local area in real time, calculating traffic event entropy, and dynamically adjusting the spatial resolution of the voxels according to the traffic event entropy; Generating a dynamic space-time potential energy field based on the basic physical impedance value and the real-time traffic flow state, and determining charging potential energy of each voxel at the current moment; verifying the running track of the vehicle in the digital twin space through a multi-dimensional consensus verification mechanism, and determining an effective occupation voxel set of the vehicle; And calculating the passing cost of the vehicle by integrating the running track according to the micro driving behavior of the vehicle in the effective occupation voxel set and the charging potential energy.
2. The highway dynamic twin charging method based on global road cooperation according to claim 1, wherein the assigning a basic physical impedance value to each voxel in the voxel set based on road physical properties specifically comprises: Acquiring the friction coefficient, the longitudinal gradient, the road curvature and the real-time maintenance loss degree of the physical road surface corresponding to the voxels; establishing a physical impedance mapping function, wherein the basic physical impedance value is inversely related to the friction coefficient and positively related to the sine value of the longitudinal gradient, the absolute value of the road curvature and the real-time maintenance loss; And calculating a static impedance substrate of each voxel according to the physical impedance mapping function as the basic physical impedance value.
3. The dynamic highway twin charging method based on global vehicle-road coordination according to claim 1, wherein the calculating traffic event entropy specifically comprises: counting the number of vehicles in a local detection area, and calculating the space occupation probability distribution of each vehicle in the local detection area; calculating the speed vector variance of all vehicles in the local detection area; and determining the traffic event entropy of the local area based on the weighted sum of the information entropy of the space occupation probability distribution and the speed vector variance so as to represent the chaotic degree of traffic flow.
4. The dynamic highway twin charging method based on global vehicle-road cooperation according to claim 1, wherein the dynamic adjustment of the spatial resolution of the voxels according to the traffic event entropy adopts an adaptive octree fission mechanism: Setting a first entropy threshold and a second entropy threshold; when the traffic event entropy is smaller than the first entropy threshold, controlling the adaptive octree to execute node merging operation, and maintaining the voxels as macro-voxel forms; When the traffic event entropy is larger than the second entropy threshold, activating an octree recursion fission mechanism, and dividing the current voxel into sub voxels until reaching a preset minimum resolution; And when the traffic event entropy is between the first entropy threshold and the second entropy threshold, determining a decomposition level of the voxel according to a logarithmic mapping value of the traffic event entropy.
5. The highway dynamic twin charging method based on the global vehicle-road cooperation according to claim 1, wherein the generating a dynamic space-time potential energy field based on the basic physical impedance value and the real-time traffic flow state specifically comprises: Acquiring real-time vehicle density and area average flow velocity of an area where the voxel is located, and calculating a congestion index based on the ratio of the real-time vehicle density and the area average flow velocity; acquiring a current dynamic environment factor, wherein the dynamic environment factor increases along with the rise of the weather risk level; and generating a dynamic congestion gain coefficient by using the congestion index, and performing product operation on the basic physical impedance value, the dynamic congestion gain coefficient and the dynamic environment factor to obtain the charging potential energy of the voxel at the current moment.
6. The highway dynamic twin charging method based on the global vehicle-road cooperation according to claim 1, wherein the running track of the vehicle in the digital twin space is verified by a multidimensional consensus verification mechanism, and specifically end-to-end dual consensus verification is adopted: receiving a self-twinning track vector generated by the vehicle-mounted terminal and a mirror image twinning track vector generated by the road side edge calculation unit; Calculating cosine similarity between the self-twinning track vector and the mirror image twinning track vector to be used as an end-side dual verification component; And when the end-to-end dual verification component meets a preset consistency condition, confirming the geometric validity of the running track, and judging the occupation state of the vehicle on the voxels according to the confirmed valid running track, so as to determine the valid occupation voxel set.
7. The dynamic highway twin charging method based on the global vehicle-road cooperation according to claim 6, wherein the multidimensional consensus verification mechanism further comprises a group interaction step based on the end-to-end dual consensus verification: acquiring perception data of neighbor vehicles of the vehicle; Counting the number of witness nodes of the neighbor vehicles, which observe that the vehicles occupy target voxels, and generating a group witness signal; And calculating comprehensive verification confidence coefficient by combining the end-edge dual verification component and the group witness signal, judging that the occupation behavior of the vehicle on the target voxel is effective only when the comprehensive verification confidence coefficient is higher than a preset confidence coefficient threshold value, and adding the target voxel into the effective occupation voxel set.
8. The dynamic highway twin charging method based on global road cooperation according to claim 1, wherein the calculating the passing cost of the vehicle by integrating the driving track according to the micro driving behavior of the vehicle in the effective occupation voxel set and the charging potential energy specifically comprises: Determining the effective occupation voxel set of the vehicle at each moment, and acquiring the occupation volume proportion of the vehicle in each voxel; determining a behavior modification coefficient of the vehicle within the set of valid occupancy voxels; According to the occupied volume proportion and the behavior correction coefficient, weighting and summing the charging potential energy in the effective occupied voxel set to obtain a transient potential energy consumption value; and integrating the instantaneous potential energy consumption value in a time period from the entering time to the exiting time to obtain the toll.
9. The method of dynamic highway twinning based on global road coordination according to claim 8, wherein said determining the behavior modification coefficients of the vehicle within the set of valid occupancy voxels comprises: analyzing microscopic driving behaviors of the vehicle within the set of valid occupancy voxels; if the micro driving behavior comprises the characteristic that the absolute value of the longitudinal acceleration exceeds a preset acceleration threshold value or the number of variation passes in unit time exceeds a preset frequency threshold value, setting the behavior correction coefficient to be larger than 1; And if the micro driving behavior accords with the preset green wave guiding speed, setting the behavior correction coefficient to be smaller than or equal to 1.
10. The highway dynamic twin charging method based on global vehicle road cooperation according to claim 2, wherein the real-time maintenance loss is obtained by: collecting road surface flatness index data; And carrying out normalization processing on the pavement evenness index data to obtain the real-time maintenance loss degree with the value interval of [0,1], wherein the value of 1 corresponds to the physical loss of the pavement reaching a preset limit value, and the value of the real-time maintenance loss degree is used for weighting calculation of the basic physical impedance value.

Description

Expressway dynamic twin charging method based on global vehicle-road cooperation Technical Field The invention relates to the technical field of intelligent traffic management, in particular to a dynamic expressway twin charging method based on global vehicle-road cooperation. Background With the continuous increase of the density of expressway networks and the rapid development of intelligent traffic systems, electronic toll collection systems have become the main stream means for collecting expressway tolls. The existing charging system mainly depends on microwave communication between a road side unit and a vehicle-mounted unit, or based on license plate recognition technology, a vehicle driving path is recorded in a segmented mode through a portal frame erected along the way, and finally, the toll is settled according to a mode of 'driving mileage multiplied by a fixed rate'. Although the mode improves the passing efficiency to a certain extent and reduces the congestion of manual charging, the mode still has obvious technical bottlenecks in coping with increasingly complex traffic flow regulation and control requirements and realizing the refined distribution of road right resources. The existing charging technical scheme generally adopts static and single charging logic, namely the rate standard mainly depends on the vehicle type and the driving mileage, and the dynamic time-space attribute of road traffic is often ignored. In actual traffic operation, the road resource scarcity degree of different time periods and different road sections has great difference, for example, under the condition of a congestion peak period or severe weather, the occupation cost of the road resource should show differentiation, but the existing static charging mode cannot reflect the supply and demand relationship of a road network in real time through a price lever, and is difficult to actively guide traffic flow to avoid a congestion area or to avoid traveling with a peak staggering. In addition, in the prior art, path fitting is performed based on discrete portal frame nodes, so that the full-course sensing capability of a vehicle in a continuous running state between two nodes is lacked, and the actual occupation amount of space-time resources of the vehicle on a road cannot be accurately quantified. More importantly, the traditional charging method regards the vehicle as homogeneous moving particles, and lacks a screening and association mechanism for microscopic driving behaviors. The frequent lane changing, rapid acceleration, rapid deceleration and other non-cooperative driving behaviors of the vehicle in the running process can actually cause traffic flow disturbance, increase road surface abrasion and reduce the overall passing efficiency, thereby generating additional social edge cost. However, the existing system cannot take these microscopic behaviors into account for charging, so that smooth drivers following the seal-keeping period and aggressive drivers bear the same cost, and the fairness principle of 'who occupies, pays, destroys and pays' is difficult to embody, and a long-acting incentive mechanism for standardizing driving behaviors cannot be established from economic dimension. Meanwhile, the data acquisition mode of single-point equipment is simply relied on, and when the conditions of signal shielding, equipment failure or malicious shielding of signals are faced, the integrity and the repudiation resistance of the data are also challenged. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a dynamic expressway twin charging method based on global vehicle-road cooperation, which solves the technical problems that the existing expressway charging technology depends on static mileage rate and cannot dynamically quantify the space-time resource occupation cost of roads according to the real-time road condition supply-demand relationship and the micro driving behavior, so that the price lever is difficult to effectively regulate traffic flow distribution, inhibit non-cooperative driving behavior and ensure the reality and credibility of transaction data. The invention provides a dynamic highway twin charging method based on global vehicle-road cooperation, which relies on global digital twin technology to carry out voxel discrete processing on physical road space, and constructs space-time potential energy field through physical properties of multiple dimensions and dynamic traffic flow state, thereby realizing accurate charging of 'one vehicle for one time and one time for one time'. Specifically, the technical scheme comprises the following core logic steps: First, a highway global digital twin space is constructed. Traditional two-dimensional road network models are upgraded to three-dimensional voxel sets. In order to quantify the physical scarcity and loss cost of road resources, the invention innovatively introduces the physical quantity of "basic physical impe