| Large-scale vehicles must calculate and update their optimal paths in near real time under congested scenarios and various road accident conditions,which is of great signif-icance for the road network to balance and reduce traffic.Given the spatial and temporal regularity of traffic zones,it is important to make full use of traffic history to establish optimal path planning.A novel road network traffic congestion model based on histor-ical and real-time traffic data flow is proposed to predict the future status of the roads.By adapting the clustered queue communication mechanism from the VANET,the road network condition is detected,and the instantaneous queue is established for broadcast-ing and forwarding.On this basis,a novel queue-based shunting approach is proposed to relieve congestion,which can provide real-time optimal path planning for large-scale vehicles at the same time,and increase road network traffic capacity.This paper first proposes a road network traffic congestion model based on histori-cal and real-time traffic data streams,and predicts the queue’s future congestion.Then,a clustered queue-based communication mechanism based on an ad hoc network is pro-posed,which can detect road network conditions and establish instantaneous queues for broadcast.Based on this,queue-type shunting is used to deal with real-time congestion,which can provide route planning for large-scale vehicles at the same time,and even the traffic capacity of each road in the road network.The proposed approach is evaluated in a local traffic zone area and the Luxembourg traffic scenario,showing improvement compared with renowned approaches.And the potential under high congestion traffic is verified,which improves the efficiency of path planning and eases traffic congestion on the road network.Compared with the existing path planning methods,the proposed strategy saves computational load,can cope with large-scale areas to plan routes for large-scale vehicles at the same time,and on the other hand adopts off-line queue-type path planning.Results show the proposed approach per-formances well,which can divide traffic flow,improve route planning efficiency,and ease traffic congestion during peak hours. |
