CN112434371B - Combined simulation method and system supporting large-scale vehicles - Google Patents
Combined simulation method and system supporting large-scale vehicles Download PDFInfo
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Abstract
The invention discloses a joint simulation method and a system for supporting a large-scale vehicle, which are characterized in that a three-dimensional twin scene corresponding to a road network used by a SUMO simulation program is built by using Unity, a three-dimensional twin vehicle is placed in the scene, and three variables are added to the twin three-dimensional vehicle in the Unity project, namely: the vehicle speed, the target position and the target rotation gesture of the vehicle are subjected to state iterative updating on the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired three state information, so that when the Unity requests vehicle data from the SUMO traffic simulation, the data of the target position and the target rotation gesture are read, the speed data of the vehicle are also read, and the vehicle moves to the target position at a constant speed and rotates to the target gesture by utilizing the acquired speed when the vehicle updates the position and the gesture twice, thereby reducing the request frequency of a Socket and solving the problem of discontinuous vehicle movement.
Description
Technical Field
The invention relates to the technical field of traffic simulation, in particular to a joint simulation method and a joint simulation system supporting large-scale vehicles.
Background
SUMO is an open source microscopic traffic simulation software. Using this software for simulation requires writing three files: (1) Road network file-the file can be generated by using a software self road network editor, and can also be converted by using other maps such as OSM; (2) Traffic flow information file in which departure time of the vehicle needs to be defined and travel route of the vehicle in the road network file; (3) Simulation configuration file-the road network file and traffic flow information file used for simulation need to be specified in the file. After the three files are provided, traffic simulation can be performed, so that traffic states such as the congestion condition of the road network under the current traffic flow can be checked.
TraCI is a library of functions of SUMO simulation programs that provide some functions to obtain information on traffic light phase and vehicle position in the road network.
Unity is a three-dimensional game engine that provides powerful three-dimensional real-time rendering class libraries with which a three-dimensional game can be easily developed.
Although the SUMO simulation program can simulate microscopic traffic easily, the SUMO simulation program does not have a three-dimensional real-time rendering function, the industry commonly uses Unity to manufacture a three-dimensional twin scene of a SUMO simulation program road network, and then calls the SUMO simulation program to provide APIs to obtain data such as the position, the gesture and the like of a vehicle, and update the vehicle in the three-dimensional twin scene.
The API provided by the SUMO simulation program for acquiring the data such as the position, the attitude and the like of the vehicle is TraCI.NET, and can be used as a library to be embedded into other projects. When in joint simulation, the SUMO simulation program is a server, traCI.NET is used as a client, and data such as vehicle position, attitude and traffic light phase are requested from the SUMO simulation program through a Socket. This process is quite time consuming, so when there are large-scale vehicles in the SUMO simulation program road network, the program will not Chang Kadu, if only the Socket request frequency is reduced, the vehicle movement in Unity will be disconnected.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a joint simulation method and a system for supporting a large-scale vehicle, and solves the problem that when the large-scale vehicle exists in a SUMO simulation program road network, the program is very stuck or the movement of the vehicle is discontinuous.
In order to achieve the above technical objective, a first aspect of the present invention provides a joint simulation method for supporting a large-scale vehicle, which includes the following steps:
respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and using the road network model, the traffic light model and the vehicle model to manufacture a three-dimensional twin scene;
establishing connection between a Unity item and a SUMO simulation program, and periodically acquiring various state information of a traffic light model and a vehicle model in the SUMO simulation program, wherein the state information comprises vehicle speed, a target position and a target rotation gesture of the vehicle;
and carrying out state iterative updating on the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired state information, so that the vehicle in each frame cycle moves to a target position at the acquired vehicle speed and rotates to a target posture.
A second aspect of the present invention provides a joint simulation system supporting a large-scale vehicle, comprising the following functional modules:
the model building module is used for respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
the three-dimensional scene building module is used for creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and manufacturing a three-dimensional twin scene by using the road network model, the traffic light model and the vehicle model;
the system comprises a state acquisition module, a state generation module and a state generation module, wherein the state acquisition module is used for establishing connection between a Unity item and a SUMO simulation program and periodically acquiring various state information of a traffic light model and a vehicle model in the SUMO simulation program, wherein the state information comprises vehicle speed, a target position and a target rotation gesture of a vehicle;
and the state updating module is used for carrying out state iterative updating on the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired state information, so that the vehicle in each frame cycle moves to the target position at the acquired vehicle speed and rotates to the target gesture.
A third aspect of the present invention provides a server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of a joint simulation method supporting a large-scale vehicle as described above when the computer program is executed.
A fourth aspect of the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of a joint simulation method supporting a large-scale vehicle as described above.
Compared with the prior art, the method adds three variables to the twin three-dimensional vehicle in the Unity project, namely: when the vehicle speed, the target position and the target rotation gesture of the vehicle make the Unity request the SUMO traffic simulation, not only the target position and the target rotation gesture data are read, but also the speed data of the vehicle are read, so that the vehicle can move to the target position and rotate to the target gesture at a uniform speed by utilizing the acquired speed when updating the position and the gesture for two times, and the problem of vehicle movement inconsistency in the Unity is solved while the request frequency of the Socket is reduced.
Drawings
FIG. 1 is a flow chart diagram of a joint simulation method supporting a large-scale vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram of a joint simulation system supporting a large-scale vehicle in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a joint simulation method supporting a large-scale vehicle, which includes the following steps:
s1, respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
s2, creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and manufacturing a three-dimensional twin scene by using the road network model, the traffic light model and the vehicle model;
s3, establishing connection between the Unity item and the SUMO simulation program, and periodically acquiring various state information of a traffic light model and a vehicle model in the SUMO simulation program, wherein the state information comprises vehicle speed, a target position and a target rotation posture of the vehicle;
s4, carrying out state iterative updating on the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired state information, so that the vehicle in each frame of cycle moves to a target position at the acquired vehicle speed and rotates to a target posture.
Specifically, firstly, modeling software is used for respectively manufacturing a road network model, a traffic light model and a vehicle model, wherein the modeling software can be maya or other existing modeling software.
Then creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and using the road network model, the traffic light model and the vehicle model to manufacture a three-dimensional twin scene;
and then, establishing connection between the Unity item and the SUMO simulation program by using a function library TraCI.NET, namely connecting the SUMO simulation program by using the function library TraCI.NET, and establishing a dictionary for recording all vehicles, wherein the key of the dictionary is the id of the vehicle in the SUMO, and the value is the reference of the three-dimensional twin vehicle.
Finally, the positions of all vehicles in the SUMO simulation program on a road network are queried at regular time through a position information acquisition function in a function library TraCI.NET, a corresponding three-dimensional twin vehicle is respectively generated in a three-dimensional twin scene after the positions are acquired, and the vehicle is added into a road network model, and is added into a dictionary;
all vehicles which reach the destination and are to be deleted in the SUMO simulation program are queried at regular time through a destination state acquisition function in a function library TraCI.NET, corresponding three-dimensional twin vehicles are destroyed in a road network model, and the vehicles are removed from a dictionary;
traversing a dictionary, and using keys of the dictionary to obtain a function through a motion state in a function library TraCI.NET to query the motion state of a corresponding vehicle id in a SUMO simulation program at regular time, wherein the motion state of the corresponding vehicle id comprises the vehicle speed, the target position of the vehicle and the target rotation gesture; the target rotation gesture is the rotation angle of the wheel, and the rotation angle of the wheel is calculated by utilizing the speed and the radius of the wheel of the three-dimensional twin vehicle; specifically, the distance travelled by the vehicle between two frames is obtained by multiplying the time difference between the two frames by the speed, and the ratio formula of the distance to the rotation angle of the wheel in the time difference is as follows:
V*Δt/x＝2πr/360
where V is the speed of the vehicle, Δt is the time difference between two frames, x is the rotation angle of the wheel within the time difference, and r is the wheel radius. Solving this equation, the rotation angle of the wheel can be obtained.
And updating the motion state of the corresponding vehicle id in the three-dimensional twin scene according to the data obtained by the query. Compared with the existing state updating, the method additionally reads the speed data of the vehicle and attaches the speed data to the vehicle model, so that the vehicle model can move to the target position at a constant speed and rotate to the target posture by using the acquired speed when the vehicle model is between the two updating positions and the postures, and the problem of vehicle movement inconsistency in Unity is solved while the request frequency of Socket is reduced.
And (3) periodically inquiring the phase of each traffic light through a phase acquisition function in a function library TraCI.NET, and updating the color of the traffic light in the three-dimensional twin scene after inquiring.
After the traffic light model and the vehicle model in each three-dimensional twin scene are subjected to state iterative updating, the step control function in the function library TraCI.NET is used for controlling the step of the SUMO simulation program, the next iterative updating is started again, and the cycle is performed.
The method adds three variables to the twin three-dimensional vehicle in the Unity project, namely: when the vehicle speed, the target position and the target rotation gesture of the vehicle make the Unity request the SUMO traffic simulation, not only the target position and the target rotation gesture data are read, but also the speed data of the vehicle are read, so that the vehicle can move to the target position and rotate to the target gesture at a uniform speed by utilizing the acquired speed when updating the position and the gesture for two times, and the problem of vehicle movement inconsistency in the Unity is solved while the request frequency of the Socket is reduced.
As shown in fig. 2, the embodiment of the invention also discloses a joint simulation system supporting a large-scale vehicle, which comprises the following functional modules:
the model building module 10 is used for respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
the three-dimensional scene building module 20 is used for creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and manufacturing a three-dimensional twin scene by using the road network model, the traffic light model and the vehicle model;
the state acquisition module 30 is configured to establish a connection between the Unity item and the SUMO simulation program, and periodically acquire various state information of the traffic light model and the vehicle model in the SUMO simulation program, where the state information includes a vehicle speed, a target position of the vehicle, and a target rotation gesture;
the state updating module 40 is configured to iteratively update states of the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired state information, so that the vehicle in each frame cycle moves to the target position at the acquired vehicle speed and rotates to the target pose.
The implementation manner of the joint simulation system supporting the large-scale vehicle in this embodiment is substantially the same as that of the joint simulation method supporting the large-scale vehicle, so detailed description thereof will not be repeated.
The server of the present embodiment is a device for providing a computing service, generally referred to as a computer having a high computing power and provided to a plurality of consumers through a network. The server of this embodiment includes: a memory including an executable program stored thereon, a processor, and a system bus, it will be understood by those skilled in the art that the terminal device structure of the present embodiment is not limited to the terminal device and may include more or less components than illustrated, or may combine certain components, or a different arrangement of components.
The memory may be used to store software programs and modules, and the processor executes various functional applications of the terminal and data processing by running the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
An executable program for supporting a joint simulation method for a large-scale vehicle is contained on a memory, and can be divided into one or more modules/units, wherein the one or more modules/units are stored in the memory and are executed by a processor to complete information acquisition and implementation processes, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program in the server. For example, the computer program may be divided into a model building module, a three-dimensional scene building module, a state acquisition module, and a state update module.
The processor is a control center of the server, and connects various parts of the whole terminal device by various interfaces and lines, and performs various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, thereby performing overall monitoring of the terminal. In the alternative, the processor may include one or more processing units; preferably, the processor may integrate an application processor that primarily handles operating systems, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The system bus is used to connect the functional components in the computer, and can transmit data information, address information, and control information, and the types of the system bus may be, for example, PCI bus, ISA bus, VESA bus, and the like. The instruction of the processor is transmitted to the memory through the bus, the memory feeds back data to the processor, and the system bus is responsible for data and instruction interaction between the processor and the memory. Of course, the system bus may also access other devices, such as a network interface, a display device, etc.
The server should at least include a CPU, a chipset, a memory, a disk system, etc., and other components will not be described herein.
In the present invention, the executable program executed by the processor included in the terminal is specifically: a joint simulation method supporting a large-scale vehicle comprises the following steps:
respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and using the road network model, the traffic light model and the vehicle model to manufacture a three-dimensional twin scene;
establishing connection between a Unity item and a SUMO simulation program, and periodically acquiring various state information of a traffic light model and a vehicle model in the SUMO simulation program, wherein the state information comprises vehicle speed, a target position and a target rotation gesture of the vehicle;
and carrying out state iterative updating on the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired state information, so that the vehicle in each frame cycle moves to a target position at the acquired vehicle speed and rotates to a target posture.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the modules, units, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The joint simulation method supporting the large-scale vehicle is characterized by comprising the following steps of:
respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and using the road network model, the traffic light model and the vehicle model to manufacture a three-dimensional twin scene;
establishing connection between a Unity item and a SUMO simulation program, and periodically acquiring various state information of a traffic light model and a vehicle model in the SUMO simulation program, wherein the state information comprises vehicle speed, a target position and a target rotation gesture of the vehicle;
according to the acquired state information, carrying out state iterative updating on a traffic light model and a vehicle model in the three-dimensional twin scene, so that the vehicle in each frame cycle moves to a target position at the acquired vehicle speed and rotates to a target posture;
the target rotation gesture is the rotation angle of the wheel, and the rotation angle of the wheel is obtained by calculating the vehicle radius of the three-dimensional twin vehicle through speed combination; according to the acquired state information, carrying out state iterative updating on a traffic light model and a vehicle model in the three-dimensional twin scene, wherein the method specifically comprises the following steps:
the method comprises the steps of periodically inquiring the positions of all vehicles in a SUMO simulation program on a road network through a position information acquisition function in a function library TraCI.NET, respectively generating a corresponding three-dimensional twin vehicle in a three-dimensional twin scene after the positions are acquired, adding the corresponding three-dimensional twin vehicle into a road network model, and adding the vehicle into a dictionary;
all vehicles which reach the destination and are to be deleted in the SUMO simulation program are queried at regular time through a destination state acquisition function in a function library TraCI.NET, corresponding three-dimensional twin vehicles are destroyed in a road network model, and the vehicles are removed from a dictionary;
traversing the dictionary, and using keys of the dictionary to obtain a function through a motion state acquisition function in a function library TraCI.NET to query the motion state of a corresponding vehicle id in the SUMO simulation program at regular time, wherein the motion state comprises the vehicle speed, the target position of the vehicle and the target rotation gesture; updating the motion state of the corresponding vehicle id in the three-dimensional twin scene according to the data obtained by inquiry, so that the vehicle in each frame of circulation moves to a target position at the acquired vehicle speed and rotates to a target gesture;
the phase of each traffic light is queried regularly through a phase acquisition function in a function library TraCI.NET, and the color of the traffic light in the three-dimensional twin scene is updated after the phase acquisition function is queried;
the target rotation attitude of the wheel is calculated by combining the vehicle speed with the wheel radius of the three-dimensional twin vehicle.
2. The joint simulation method supporting large-scale vehicles according to claim 1, wherein the establishing a connection between the Unity item and the SUMO simulation program specifically comprises:
and connecting the SUMO simulation program by using a function library TraCI.NET, and establishing a dictionary for recording all vehicles, wherein the keys of the dictionary are ids of the vehicles in the SUMO, and the values are references of the three-dimensional twin vehicles.
3. The joint simulation method supporting large-scale vehicles according to claim 1, wherein after each time of the traffic light model and the vehicle model in the three-dimensional twin scene are iteratively updated, the step control function in the function library traci.net is used for controlling the step of the SUMO simulation program, and the next iteration update is restarted, thus the loop is performed.
4. A co-simulation system supporting a large-scale vehicle, the co-simulation system supporting a large-scale vehicle implementing the steps of the co-simulation method supporting a large-scale vehicle according to any one of claims 1 to 3, characterized by comprising the following functional modules:
the model building module is used for respectively manufacturing a road network model, a traffic light model and a vehicle model by using modeling software;
the three-dimensional scene building module is used for creating a Unity item, importing the road network model, the traffic light model and the vehicle model into the Unity item, and manufacturing a three-dimensional twin scene by using the road network model, the traffic light model and the vehicle model;
the system comprises a state acquisition module, a state generation module and a state generation module, wherein the state acquisition module is used for establishing connection between a Unity item and a SUMO simulation program and periodically acquiring various state information of a traffic light model and a vehicle model in the SUMO simulation program, wherein the state information comprises vehicle speed, a target position and a target rotation gesture of a vehicle;
and the state updating module is used for carrying out state iterative updating on the traffic light model and the vehicle model in the three-dimensional twin scene according to the acquired state information, so that the vehicle in each frame cycle moves to the target position at the acquired vehicle speed and rotates to the target gesture.
5. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the joint simulation method supporting a large-scale vehicle according to any of claims 1 to 3.
6. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the joint simulation method supporting a large-scale vehicle according to any one of claims 1 to 3.
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| CN111859618A (en) * | 2020-06-16 | 2020-10-30 | 长安大学 | Multi-end in-loop virtual-real combined traffic comprehensive scene simulation test system and method |
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