CN107665269A - Quick crowd evacuation emulation method and device based on geography information - Google Patents
Quick crowd evacuation emulation method and device based on geography information Download PDFInfo
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Abstract
The invention discloses a kind of quick crowd evacuation emulation method and device based on geography information, the described method comprises the following steps：Obtain the two-dimensional map of scene；Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild；According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established；Relative velocity obstruction method and Scene Semantics based on normal distribution carry out crowd movement's calculating；With reference to Realistic Rendering technology, crowd movement's result of calculation and road, building group model are rendered to obtain crowd evacuation emulation animation.Method complexity proposed by the invention is low, can efficiently carry out crowd evacuation emulation.
Description
Technical field
The present invention relates to three-dimensional artificial field, more particularly to a kind of quick crowd evacuation emulation method based on geography information
And device.
Background technology
In recent years, China's economic society is continued to develop, and densely populated place is continuously increased, and the personal security of public place is dredged
The problem of dissipating turns into a very important focus in today's society.When emergency safety accident occurs, how to instruct crowd fast
The safety of fast, safe, orderly evacuation, at utmost support personnel, turn into the study hotspot of public safety field.Utilize calculating
Machine emulation technology, build model of place and carry out crowd evacuation simulation be solve the problems, such as such public safety key method it
One.In order to provide timely decision support, crowd evacuation emulation is carried out using virtual model of place, high efficiency and promptness show
Obtain particularly important.Therefore, how crowd simulation model is efficiently built, carries out focus of the quick crowd movement's emulation as research
Problem.At present in the research of crowd evacuation emulation method, crowd evacuation emulation method is unable to rapid build model of place mostly
And extract Scene Semantics and carry out efficient crowd evacuation emulation.
The efficiency of crowd evacuation emulation how is improved, is a technology for needing those skilled in the art urgently to solve at present
Problem.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of quick crowd evacuation emulation method based on geography information.
This method builds model of place, extraction Scene Semantics by extracting the geographic information data in two-dimensional map, and utilizes and be based on
Relative velocity obstruction method combination Scene Semantics and the global path navigation of normal distribution calculate crowd movement, realize that quick crowd dredges
Emulation is dissipated, to solve the problems, such as that public safety provides timely decision support.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of quick crowd evacuation emulation method based on geography information, comprises the following steps：
Step 1：Obtain the two-dimensional map of scene.
Step 2：Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild.
Step 3：According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established.
Step 4：Relative velocity obstruction method and Scene Semantics based on normal distribution carry out crowd movement's calculating.
Step 5：With reference to Realistic Rendering technology, crowd movement's result of calculation and road, building group model are rendered
Obtain crowd evacuation emulation animation.
Further, the step 2 specifically includes：
Step 2.1：Road skeleton data is extracted based on the two-dimensional map, by being added on the basis of the road skeleton
Road width information, complete the reconstruction of road model；
Step 2.2：Using the building group model of the method generation scene based on shape grammar；
Step 2.3：Road model and groups of building model combination are obtained into model of place.
Further, the road model is rebuild and included：
Based on road skeleton data and road width, the summit of each composition road is obtained using Vector rotation method；
The coordinate points of obtained road on both sides of the road are saved in data acquisition system left_edge and right_edge respectively, will
Coordinate points in set left_edge and right_edge corresponding to same path combine counterclockwise, are owned
Road polygon, realize road model rebuild.
Further, the step 3 specifically includes：
Step 3.1：Coordinate points in road skeleton data set are subjected to duplicate removal pretreatment, then carry out coordinate transform,
And using the coordinate points after coordinate transform as path semanteme topological diagram summit；
Step 3.2：For any two summit in the semanteme topological diagram of path, judge whether distance between two points are less than r, with
And whether point-to-point transmission line passes through barrier, distance that and if only if is less than r and during without barrier, by the company of described two points
Side of the line as path semanteme topological diagram.
Further, the step 4 specifically includes：
Step 4.1：N velocity amplitude V of normal distribution is met according to formula (1)prefAnd assignment is individual in n respectively
Body；
Wherein, individual i desired speed is Vi pref, μVRepresent the average of desired speed, σVDetermine point of desired speed
Cloth amplitude；
Step 4.2：The set V of all candidate's speed of motion unit subsequent time is obtained according to formula (2)cand, individual i's
Maximal rate Vi maxAnd peak accelerationBy candidate's speed control within the specific limits；
Wherein, ViIndividual i present speed is represented,Individual i j-th candidates speed is represented, t represents time step；
Step 4.3：According to path semanteme topological diagram, path planning is carried out using shortest path first, selects to work as from individual
Front position reaches a shortest path of final goal point, and the shortest path is made up of a series of path semanteme topological diagram summits；
Step 4.4：It away from the nearest summit in individual current location is next transient target point to select on shortest path, each
In individual time step, more new individual i desired speed Vi prefDirection is the direction of next transient target point；And according to formula
(3) selection causes penalty factor penalty minimumsAs the new speed of individual i subsequent times,
Wherein, wiRepresent weight, tci′(Vi cand) represent it is expected collision time.
According to another aspect of the present invention, present invention also offers a kind of quick crowd evacuation emulation based on geography information
Computer installation, including display, graphics processor, memory and processor, wherein,
Two-dimensional map based on the human-computer interaction interface selection given scenario on the display；
The processor is used to perform：Receive the two-dimensional map of scene；
Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild；
According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established；
Relative velocity obstruction method and Scene Semantics based on normal distribution carry out crowd movement's calculating, by the crowd movement
Result of calculation and the road, building model are transmitted to graphics processor；
The graphics processor is based on Realistic Rendering technology, by crowd movement's result of calculation and road, building group model
Rendered, obtain crowd evacuation emulation picture transmission to display and shown.
Further, the reconstruction road model and building group model include：
Road skeleton data is extracted based on the two-dimensional map, by adding road width on the basis of the road skeleton
Information, complete the reconstruction of road model；
Using the building group model of the method generation scene based on shape grammar；
Road model and groups of building model combination are obtained into model of place.
Further, the road model is rebuild and included：
Based on road skeleton data and road width, the summit of each composition road is obtained using Vector rotation method；
The coordinate points of obtained road on both sides of the road are saved in data acquisition system left_edge and right_edge respectively, will
Coordinate points in set left_edge and right_edge corresponding to same path combine counterclockwise, are owned
Road polygon, realize road model rebuild.
Further, the path semanteme topological diagram of establishing includes：
Coordinate points in road skeleton data set are subjected to duplicate removal pretreatment, then carry out coordinate transform, and by coordinate
Coordinate points after conversion are as path semanteme topological diagram summit；
For any two summit in the semanteme topological diagram of path, judge whether distance between two points are less than r, and point-to-point transmission
Whether line passes through barrier, and distance that and if only if is less than r and during without barrier, using the line of described two points as road
The side of footpath semanteme topological diagram.
Further, the crowd movement calculates and included：
N velocity amplitude V of normal distribution is met according to formula (1)prefAnd assignment is individual in n respectively；
Wherein, individual i desired speed is Vi pref, μVRepresent the average of desired speed, σVDetermine point of desired speed
Cloth amplitude；
The set V of all candidate's speed of motion unit subsequent time is obtained according to formula (2)cand, individual i maximal rate
Vi maxAnd peak accelerationBy candidate's speed control within the specific limits；
Wherein, ViIndividual i present speed is represented,Individual i j-th candidates speed is represented, t represents time step；
According to path semanteme topological diagram, path planning is carried out using shortest path first, select from individual current location to
Up to a shortest path of final goal point, the shortest path is made up of a series of path semanteme topological diagram summits；
It away from the nearest summit in individual current location is next transient target point to select on shortest path；In each time step
In length, more new individual i desired speed Vi prefDirection is the direction of next transient target point；And made according to formula (3) selection
Obtain penalty factor penalty minimumsAs the new speed of individual i subsequent times,
Wherein, wiRepresent weight, tci′(Vi cand) represent it is expected collision time.
Beneficial effects of the present invention：
1st, the present invention devises a kind of scene modeling method based on geography information, and road can be obtained from two-dimensional map
Geographic coordinate information, and using geometric transformation, dough sheet structure and realistic processing technology quickly obtain model of place；
2nd, invention defines the Scene Semantics based on geography information, and the geography information obtained from two-dimensional map is utilized
Path topology figure is established to extract Scene Semantics, more reasonably path planning and navigation can be provided for crowd's motion calculation；
3rd, the present invention proposes the relative velocity obstruction method based on normal distribution, and normal state is added in relative velocity obstruction method
Distribution speed, algorithm complex is low, can efficiently carry out crowd simulation.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
The flow chart of quick crowd evacuation emulation methods of the Fig. 1 based on geography information；
The flow chart of rapid scene modelings of the Fig. 2 based on geography information；
Rapid modeling process and design sketch of the Fig. 3 based on geography information, wherein, the interactive information of 3 (a) road network skeleton is adopted
Collection；3 (b) road network skeleton drawing；3 (c) road reconstruction；3 (d) road net model；3 (e) builds group model；3 (f) model refines；
Fig. 4 road reconstruction schematic diagrames, wherein, 4 (a) road network skeleton；Fig. 4 (b) road reconstruction process schematics.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies and scientific terminology that the present invention uses have leads to the application person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.In the case where not conflicting, this Shen
Please in embodiment and embodiment in feature can be mutually combined.
Embodiment one
Present embodiments provide a kind of quick crowd evacuation emulation method based on geography information, as shown in figure 1, including with
Lower step：
Step 1：Obtain the two-dimensional map of scene.
Step 2：Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild.
Step 2.1：Road skeleton data is extracted based on the two-dimensional map, by being added on the basis of the road skeleton
Road width information, complete the reconstruction of road model；
Specifically, the summit for each forming road polygon is obtained by the way of Vector rotation, such as Fig. 4 (b).First,
Cut-off line p2p3Upper point p, it arrives point p2Distance beWhereinD is the width of this section of road.Secondly,
Point p rotate counterclockwise θ angles are obtained into point p using formula (1)8(will vectorRotate counterclockwise), whereinFor the spin matrix in two-dimensional coordinate system.Then, recycle formula (1) will point p8Rotate counterclockwise
180 degree, obtain point p5Coordinate value.Handle all coordinate points in road skeleton set X successively using the above method, respectively
To the coordinate points of corresponding road after rotation on both sides of the road.The coordinate points of obtained road on both sides of the road are saved in data respectively
In set left_edge and right_edge, wherein left_edge={ p8i| 2≤i≤n }, right_edge={ p5i|2≤i
≤n}.Finally, the coordinate points group counterclockwise of same path will be corresponded in set left_edge and right_edge
Close, form road polygon ri, all r are finally calculatediForm road R.
Step 2.2：Using the building group model of the method generation scene based on shape grammar；
Shape grammar is a kind of computer-implemented method, the design philosophy and requirement that it can be according to people, foundation
Certain rule produces new shape.The shape collection that one shape grammar defines is collectively referred to as language, and this language pack is containing all
By shape grammar generation without symbol shape or tape symbol shape, each shape be all by application regular shape from
Specifically, in this example by analyzing the composition component of building, building is divided by that original shape derives from
Solution, and the method modeled using CSG, the generating process of building is described.According to this generating process, using the form of shape grammar
To define the specific rules of each generating process, by stretching, translating, scaling, the life of the operation building such as intersecting and merging, benefit
Into formalization, materialization and automation, the Mass production of extensive building is realized by Maya mel scripts.
Step 2.3：Road model and groups of building model combination are obtained into model of place.It is by road model in the present embodiment
It is imported into building group model in Maya Same Scene and enters edlin so as to obtain final model of place.
Step 3：According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established.
Specifically, the path semanteme topological diagram (Roadmap figures) is made up of summit and side, is expressed as G=(V, E).
Wherein, V represents the set on summit, is obtained by the coordinate points in road skeleton data set through Coordinate Conversion；Specifically
Ground, the figure summit that the present embodiment uses is by the coordinate points x in the road network skeleton set X of storage road geographic coordinate informationik=
(longitude, latitude) obtains by coordinate transform, and wherein longitude represents longitude coordinate, and latitude represents latitude
Spend coordinate.As shown in table 1, because the geographical coordinate of extraction is latitude and longitude coordinates, the change between its latitude and longitude coordinates in the scene
Since after decimal point the 2nd, inconvenient calculating is varied less, it is therefore desirable to by coordinate points xikCarry out coordinate transform.According to public affairs
Pair warp and weft coordinate carries out coordinate transform to formula (2) (3) respectively, and wherein k represents the constant digit in former coordinate fraction part, and l represents institute
The integer figure for the new coordinate to be obtained.Using the summit as Roadmap figures after coordinate transform, formula (4) is expressed as,
Partial coordinates after conversion are as shown in table 2.
E represents line set, each edge e (v1,v2) ∈ E, wherein vertex v1And v2It is side e two end points.By any two
Distance connects for r summit, and ensures the line without any barrier in connection.E represents line set, each edge e
(v1,v2) ∈ E, wherein vertex v1And v2It is side e two end points.Any two distance is connected for r summit, and connected
When ensure the line without any barrier.
Based on this, the step 3 may particularly include following steps：
Step 3.1：Coordinate points in road skeleton data set are subjected to duplicate removal pretreatment, then carry out coordinate transform,
And using the coordinate points after coordinate transform as path semanteme topological diagram summit；
Step 3.2：For any two summit in the semanteme topological diagram of path, judge whether distance between two points are less than r, with
And whether point-to-point transmission line passes through barrier, distance that and if only if is less than r and during without barrier, by the company of described two points
Side of the line as path semanteme topological diagram.Specifically, for any two points v in Vp, vqPerform following judgement：(a)vp, vqBetween
Distance be less than r；(b)vp, vqBetween line without barrier；If condition (a) (b) all meets, by vp, vqIt is stored as e
(vp,vq) and be stored in E, continue executing with until all summits judge to finish in V.
Step 4：Relative velocity obstruction method (Normal Distribution-based based on normal distribution
Reciprocal Velocity Obstacles, ND-RVO) and Scene Semantics progress crowd movement's calculating.
In actual motion, people can show different movement velocitys because of factors such as age, conditions, and speed is in
Number between 1m/s~1.3m/s is more, and the number distribution of remaining speed is less.It is approximate using normal distribution herein based on this
Ground describes the desired speed V of crowdpref。
Step 4.1：In initialization, n V of normal distribution is met according to formula (5)prefAnd difference assignment is in n
Individual；
Wherein, individual i desired speed is Vi pref, μVRepresent the average of desired speed, σVDetermine point of desired speed
Cloth amplitude.
Step 4.2：The set V of all candidate's speed of motion unit subsequent time is obtained according to formula (6)cand, individual i's
Maximal rate Vi maxAnd peak accelerationBy candidate's speed control within the specific limits；
Wherein, ViIndividual i present speed is represented,Individual i j-th candidates speed is represented, t represents time step；
Step 4.3：According to path semanteme topological diagram, path planning is carried out using shortest path first, selects to work as from individual
Front position reaches a shortest path of final goal point, and the shortest path is made up of a series of path semanteme topological diagram summits.
Shortest path first described in the present embodiment is dijkstra's algorithm.
Step 4.4：It away from the nearest summit in individual current location is next transient target point to select on shortest path, each
In individual time step, more new individual i desired speed Vi prefDirection is towards the direction of next transient target point；And according to public affairs
Formula (7) selects cause penalty factor penalty minimumAs the new speed of individual i subsequent times,
Wherein, wiRepresent weight, tci′(Vi cand) represent it is expected collision time.
Step 5：With reference to Realistic Rendering technology, crowd movement's result of calculation and road, building group model are rendered
Obtain crowd evacuation emulation animation.
Specifically, the crowd movement path of road, building group model and generation is imported in Realistic Rendering platform, it is raw
Into the animation effect of crowd movement.The Realistic Rendering platform is that the support based on the realization of XNA/MonoGame platforms is cross-platform
Real-time crowd movement's analogue system.Using XNA Game Studio2013, using Microsoft Visual Studio2013 as
Platform carries out crowd movement's emulation.Model of place, person model and the path file generated imported into the emulation platform, can
More intuitively to observe crowd's movement effects, the situation of crowd movement is analyzed.
Embodiment two
A kind of computer installation of the quick crowd evacuation emulation based on geography information, including display, graphics processor,
Memory and processor, computer program is stored with the memory, it is characterised in that
Two-dimensional map based on the human-computer interaction interface selection given scenario on the display；
The processor is used to perform the computer program：Receive the two-dimensional map of scene；
Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild；
According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established；
Relative velocity obstruction method and Scene Semantics based on normal distribution carry out crowd movement's calculating, by the crowd movement
Result of calculation and the road, building model are transmitted to graphics processor；
The graphics processor is based on Realistic Rendering technology, by crowd movement's result of calculation and road, building group model
Rendered, obtain crowd evacuation emulation picture transmission to display and shown.
The reconstruction road model and building group model include：
Road skeleton data is extracted based on the two-dimensional map, by adding road width on the basis of the road skeleton
Information, complete the reconstruction of road model；
Using the building group model of the method generation scene based on shape grammar；
Road model and groups of building model combination are obtained into model of place.
The road model, which is rebuild, to be included：
Based on road skeleton data and road width, the summit of each composition road is obtained using Vector rotation method；
The coordinate points of obtained road on both sides of the road are saved in data acquisition system left_edge and right_edge respectively, will
Coordinate points in set left_edge and right_edge corresponding to same path combine counterclockwise, are owned
Road polygon, realize road model rebuild.
The path semanteme topological diagram of establishing includes：
Coordinate points in road skeleton data set are subjected to duplicate removal pretreatment, then carry out coordinate transform, and by coordinate
Coordinate points after conversion are as path semanteme topological diagram summit；
For any two summit in the semanteme topological diagram of path, judge whether distance between two points are less than r, and point-to-point transmission
Whether line passes through barrier, and distance that and if only if is less than r and during without barrier, using the line of described two points as road
The side of footpath semanteme topological diagram.
The crowd movement, which calculates, to be included：
N velocity amplitude V of normal distribution is met according to formula (1)prefAnd assignment is individual in n respectively；
Wherein, individual i desired speed is Vi pref, μVRepresent the average of desired speed, σVDetermine point of desired speed
Cloth amplitude；
The set V of all candidate's speed of motion unit subsequent time is obtained according to formula (2)cand, individual i maximal rate
Vi maxAnd peak accelerationBy candidate's speed control within the specific limits；
Wherein, ViIndividual i present speed is represented,Individual i j-th candidates speed is represented, t represents time step；
According to path semanteme topological diagram, path planning is carried out using shortest path first, select from individual current location to
Up to a shortest path of final goal point, the shortest path is made up of a series of path semanteme topological diagram summits；
It away from the nearest summit in individual current location is next transient target point to select on shortest path, in each time step
In length, more new individual i desired speed Vi prefDirection is the direction of next transient target point；And made according to formula (3) selection
Obtain penalty factor penalty minimumsAs the new speed of individual i subsequent times,
Wherein, wiRepresent weight, tci′(Vi cand) represent it is expected collision time.
The present invention devises a kind of scene modeling method based on geography information, and road can be obtained from two-dimensional map
Geographic coordinate information, and quickly obtain model of place using geometric transformation, dough sheet structure and realistic processing technology；And utilize
The geography information obtained from two-dimensional map establishes path topology figure to extract Scene Semantics, can be provided for crowd's motion calculation
More reasonably path planning and navigation；The relative velocity obstruction method based on normal distribution is finally used, in relative velocity obstruction method
Middle addition normal distribution speed, algorithm complex is low, can efficiently carry out crowd evacuation emulation.
It will be understood by those skilled in the art that above-mentioned each module of the invention or each step can use general computer
Device realizes that alternatively, they can be realized with the program code that computing device can perform, it is thus possible to they are deposited
Storage performed in the storage device by computing device, either they are fabricated to respectively each integrated circuit modules or by it
In multiple modules or step be fabricated to single integrated circuit module to realize.The present invention is not restricted to any specific hardware
With the combination of software.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. a kind of quick crowd evacuation emulation method based on geography information, it is characterised in that comprise the following steps：
Step 1：Obtain the two-dimensional map of scene；
Step 2：Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild；
Step 3：According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established；
Step 4：Relative velocity obstruction method and Scene Semantics based on normal distribution carry out crowd movement's calculating；
Step 5：With reference to Realistic Rendering technology, crowd movement's result of calculation and road, building group model are rendered to obtain
Crowd evacuation emulation animation.
2. a kind of quick crowd evacuation emulation method based on geography information as claimed in claim 1, it is characterised in that described
Step 2 specifically includes：
Step 2.1：Road skeleton data is extracted based on the two-dimensional map, by adding road on the basis of the road skeleton
Width information, complete the reconstruction of road model；
Step 2.2：Using the building group model of the method generation scene based on shape grammar；
Step 2.3：Road model and groups of building model combination are obtained into model of place.
3. a kind of quick crowd evacuation emulation method based on geography information as claimed in claim 2, it is characterised in that described
Road model, which is rebuild, to be included：
Based on road skeleton data and road width, the summit of each composition road is obtained using Vector rotation method；
The coordinate points of obtained road on both sides of the road are saved in data acquisition system left_edge and right_edge respectively, will be gathered
Coordinate points in left_edge and right_edge corresponding to same path combine counterclockwise, obtain all roads
Road polygon, realize that road model is rebuild.
4. a kind of quick crowd evacuation emulation method based on geography information as claimed in claim 1, it is characterised in that described
Step 3 specifically includes：
Step 3.1：Coordinate points in road skeleton data set are subjected to duplicate removal pretreatment, then carry out coordinate transform, and will
Coordinate points after coordinate transform are as path semanteme topological diagram summit；
Step 3.2：For any two summit in the semanteme topological diagram of path, judge whether distance between two points are less than r, and two
Whether line passes through barrier between point, and and if only if apart from when being less than r and without barrier, and the line of described two points is made
For the side of path semanteme topological diagram.
5. a kind of quick crowd evacuation emulation method based on geography information as claimed in claim 1, it is characterised in that described
Step 4 specifically includes：
Step 4.1：N velocity amplitude V of normal distribution is met according to formula (1)prefAnd assignment is individual in n respectively；
<mrow>
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<mi>V</mi>
<mi>i</mi>
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<mi>r</mi>
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</mrow>
</msubsup>
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<mi>N</mi>
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<mo>(</mo>
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<mi>&mu;</mi>
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Wherein, individual i desired speed is Vi pref, μVRepresent the average of desired speed, σVDetermine the distribution range of desired speed
Degree；
Step 4.2：The set V of all candidate's speed of motion unit subsequent time is obtained according to formula (2)cand, individual i maximum
Speed Vi maxAnd peak accelerationBy candidate's speed control within the specific limits；
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<mo>}</mo>
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<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, ViIndividual i present speed is represented,Individual i j-th candidates speed is represented, t represents time step；
Step 4.3：According to path semanteme topological diagram, path planning is carried out using shortest path first, is selected from individual present bit
A shortest path for reaching final goal point is put, the shortest path is made up of a series of path semanteme topological diagram summits；
Step 4.4：It away from the nearest summit in individual current location is next transient target point to select on shortest path, at each
Between in step-length, more new individual i desired speed Vi prefDirection is towards the direction of next transient target point；And according to formula
(3) selection causes penalty factor penalty minimumsAs the new speed of individual i subsequent times,
<mrow>
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<mo>(</mo>
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</mrow>
</mrow>
Wherein, wiRepresent weight, tc 'i(Vi cand) represent it is expected collision time.
6. a kind of computer installation of the quick crowd evacuation emulation based on geography information, including display, graphics processor, deposit
Reservoir and processor, computer program is stored with the memory, it is characterised in that
Two-dimensional map based on the human-computer interaction interface selection given scenario on the display；
The processor is used to perform the computer program：Receive the two-dimensional map of scene；
Based on the two-dimensional map extracting geographic information, road model and building group model are rebuild；
According to the topological relation between the road skeleton data and road, path semanteme topological diagram is established；
Relative velocity obstruction method and Scene Semantics based on normal distribution carry out crowd movement's calculating, and the crowd movement is calculated
As a result and the road, building model are transmitted to graphics processor；
The graphics processor is based on Realistic Rendering technology, and crowd movement's result of calculation and road, building group model are carried out
Render, obtain crowd evacuation emulation picture transmission to display and shown.
7. a kind of computer installation of the quick crowd evacuation emulation based on geography information as claimed in claim 6, its feature
It is, the reconstruction road model and building group model include：
Road skeleton data is extracted based on the two-dimensional map, believed by adding road width on the basis of the road skeleton
Breath, completes the reconstruction of road model；
Using the building group model of the method generation scene based on shape grammar；
Road model and groups of building model combination are obtained into model of place.
8. a kind of quick crowd evacuation emulation method based on geography information as claimed in claim 7, it is characterised in that described
Road model, which is rebuild, to be included：
Based on road skeleton data and road width, the summit of each composition road is obtained using Vector rotation method；
The coordinate points of obtained road on both sides of the road are saved in data acquisition system left_edge and right_edge respectively, will be gathered
Coordinate points in left_edge and right_edge corresponding to same path combine counterclockwise, obtain all roads
Road polygon, realize that road model is rebuild.
9. a kind of computer installation of the quick crowd evacuation emulation based on geography information as claimed in claim 6, its feature
It is, the path semanteme topological diagram of establishing includes：
Coordinate points in road skeleton data set are subjected to duplicate removal pretreatment, then carry out coordinate transform, and by coordinate transform
Coordinate points afterwards are as path semanteme topological diagram summit；
For any two summit in the semanteme topological diagram of path, judge whether distance between two points are less than r, and point-to-point transmission line
Whether barrier is passed through, distance that and if only if is less than r and during without barrier, using the line of described two points as path language
The side of adopted topological diagram.
10. a kind of computer installation of the quick crowd evacuation emulation based on geography information as claimed in claim 6, its feature
It is, the crowd movement, which calculates, to be included：
N velocity amplitude V of normal distribution is met according to formula (1)prefAnd assignment is individual in n respectively；
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<mi>V</mi>
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<msub>
<mi>&mu;</mi>
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<mn>1</mn>
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</mrow>
Wherein, individual i desired speed is Vi pref, μVRepresent the average of desired speed, σVDetermine the distribution range of desired speed
Degree；
The set V of all candidate's speed of motion unit subsequent time is obtained according to formula (2)cand, individual i maximal rate Vi max
And peak accelerationBy candidate's speed control within the specific limits；
<mrow>
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Wherein, ViIndividual i present speed is represented,Individual i j-th candidates speed is represented, t represents time step；
According to path semanteme topological diagram, path planning is carried out using shortest path first, selects to reach most from individual current location
One shortest path of whole target point, the shortest path are made up of a series of path semanteme topological diagram summits；
It away from the nearest summit in individual current location is next transient target point to select on shortest path, in each time step
It is interior, more new individual i desired speed Vi prefDirection is the direction of next transient target point；And select to cause according to formula (3)
Penalty factor penalty minimumsAs the new speed of individual i subsequent times,
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<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, wiRepresent weight, tc 'i(Vi cand) represent it is expected collision time.
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| CN109859558A (en) * | 2019-01-21 | 2019-06-07 | 北京科技大学 | A kind of building fire of consideration personnel physical influence virtually evacuates training method |
| CN109859558B (en) * | 2019-01-21 | 2020-12-29 | 北京科技大学 | Building fire virtual evacuation training method considering personnel physical influence |
| CN109872392A (en) * | 2019-02-19 | 2019-06-11 | 北京百度网讯科技有限公司 | Man-machine interaction method and device based on high-precision map |
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| CN113587943A (en) * | 2021-07-28 | 2021-11-02 | 广州小鹏自动驾驶科技有限公司 | Map processing method and device |
| CN115474172A (en) * | 2022-11-14 | 2022-12-13 | 成都大学 | Indoor dense people stream group pedestrian population evacuation method combined with UWB acquisition |
| CN115474172B (en) * | 2022-11-14 | 2023-01-24 | 成都大学 | Indoor dense people stream group pedestrian population evacuation method combined with UWB (ultra Wide band) acquisition |
| CN117151343A (en) * | 2023-10-26 | 2023-12-01 | 新黎明科技股份有限公司 | Park geographic information scene construction method, system, electronic equipment and medium |
| CN117151343B (en) * | 2023-10-26 | 2024-02-13 | 新黎明科技股份有限公司 | Park geographic information scene construction method, system, electronic equipment and medium |
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