CN113486478B - Simulation method and system for crossing turning vehicle to merge into straight lane - Google Patents
Simulation method and system for crossing turning vehicle to merge into straight lane Download PDFInfo
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Abstract
The invention discloses a simulation method and a simulation system for merging vehicles into a straight lane at an intersection, which belong to the technical field of intelligent traffic. The invention ensures that the behavior of the target vehicle converging into the target lane is smoother and more reasonable, and transmits the converging information of the turning vehicle as soon as possible, assists the driving behavior adjustment of each vehicle in the target lane, and judges the actual situation of the intersection exit lane when the converging conflict situation of the turning vehicles occurs in real time.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a simulation method and a simulation system for enabling turning vehicles at an intersection to merge into a straight lane.
Background
The computer simulation technology highlights the specific advantages of the technology in many industries, the computer technology is used for simulating the traffic flow, the current actual measurement data can be fully utilized to theoretically present the current traffic environment, relevant practitioners are helped to understand and deeply explore the traffic industry, and even a platform can be set up to play a role in prediction and planning, so that the computer simulation technology has important significance in future development of the traffic industry, the vehicle interaction processes inside intersections are complex and various, theoretical research is difficult to a certain extent, various interaction phenomena of the intersections are modeled by the computer simulation technology, visualization is presented, data statistics is performed, and the difficulty in intersection traffic research can be effectively solved.
In the prior art, simulation research on road sections is relatively mature, the simulation research on the road sections mainly comprises multiple operation aspects such as vehicle following, lane changing and track, in the research on intersections, the application of signal lamps on the intersections effectively relieves the conflict among vehicles, and the most prominent characteristic of the vehicle operation condition in the signal intersections compared with that on common road sections is that a large number of vehicles in different directions are converged in the intersections, the converged currents relate to the mutual game of the vehicles in all directions, and the simulation research on the road sections is converted and applied to the intersection simulation, so that the high-efficiency analysis on the vehicle operation state in the intersections is facilitated.
Disclosure of Invention
The interaction phenomenon of turning merging vehicles at an intersection exit road is more accurately described and simulated, and the interference condition of the merging of the turning vehicles on the driving states of other related vehicles in an influence range is correctly reflected. The virtual target vehicle is added in the target lane, so that the rear vehicle can sense the turning vehicle as soon as possible, and can make speed reduction or lane change reaction as required, and the vehicle running efficiency is increased to the maximum extent.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a simulation method for an intersection turning vehicle to merge into a straight lane, which comprises the following steps:
s1, acquiring data of a target vehicle at an intersection and microscopic traffic parameter values corresponding to each vehicle in a target lane into which the target vehicle is about to converge, including basic attribute data, position information, speed and acceleration of the vehicle, and determining a confluence point of the target vehicle on the target lane;
s2, obtaining the track curve distance between the current position of the target vehicle and the confluence point, fitting the target vehicle to the corresponding position of the target lane at equal distance according to the track curve distance, drawing up a virtual target vehicle at the corresponding position, and synchronizing the data of the target vehicle to the virtual target vehicle;
s3, determining a confluence gap of the target vehicle in the target lane, and judging whether confluence conflict occurs when the target vehicle converges into the target lane at the confluence gap by using the virtual target vehicle;
if the confluence conflict occurs, the target vehicle continues to follow with the confluence point as a target, and deletes the virtual target vehicle on the target lane, and returns to the step S2;
if no confluence conflict occurs, the target vehicle follows at the confluence gap, and then the step S4 is carried out;
s4, aiming at the virtual target vehicle, calculating the following distance of the virtual target vehicle on a target lane, acquiring the coordinate of the virtual target vehicle in real time, and enabling the target vehicle to travel forwards along a curve track for the same distance to reach a new coordinate point;
s5, judging whether the position of the vehicle crosses a confluence point, wherein the confluence point is a forced lane changing point;
when the position of the target vehicle crosses the confluence point, replacing the original target vehicle with the virtual target vehicle to finish confluence;
and when the position of the target vehicle does not cross the confluence point, deleting the virtual target vehicle and returning to the step S2.
Further, in step S1, it is determined that the merging point on the target lane is obtained by fitting a circular curve to the vehicle running track, and the specific method is as follows:
after the target vehicle crosses a stop line, the center line of the target lane is taken as a datum line, a tangent line of the current steering direction of the head of the target vehicle is taken as another datum line, the two datum lines are intersected when the target vehicle does not complete a turning task, the position where the head of the target vehicle is taken as a tangent point, circular curve fitting is used for obtaining a common tangent arc of the two datum lines, the common tangent arc is taken as a predicted track of the target vehicle, and the tangent point of the predicted track and the center line of the target lane is a confluence point on the target lane.
Further, in the step S3, a vehicle-head distance between the front vehicle and the rear vehicle at the position of the virtual target vehicle is a confluence gap, and in the current unit time step, a driving distance of the virtual target vehicle does not exceed a distance between the virtual target vehicle and the front vehicle, and a driving distance of the rear vehicle does not exceed a distance between the rear vehicle and the virtual target vehicle; otherwise, the vehicles have confluent conflicts.
Further, the calculation of the following distance of the virtual target vehicle on the target lane in the aforementioned step S4 is performed by the steps of:
s4-1, obtaining the distance between a virtual target vehicle and a front vehicle;
step S4-2, calculating the acceleration a of the virtual target vehicle by using the following model x Distance s from the vehicle * According to the formula:
wherein s is 0 Minimum stopping distance at intersection, v x Is the speed, T, of the target vehicle in the last time step S For safe stopping time at the intersection, a max Maximum acceleration of the virtual target vehicle, b desired deceleration of the virtual target vehicle, v 0 Δ s is the actual vehicle-to-vehicle distance between the virtual target vehicle and the preceding vehicle, which is the free-stream vehicle speed.
Further, the virtual target vehicle traveling direction is always kept constant forward along the traveling locus.
A second aspect of the present invention provides an intersection turning vehicle merging straight lane simulation system, including: the simulation method is characterized by comprising an initialization module, a data acquisition module, a target vehicle determination module, a target gap determination module, a virtualization vehicle module and a confluence execution module, wherein when the modules are executed, the simulation method for crossing turning vehicles to merge into a straight lane can be realized.
A third aspect of the invention provides a computer readable medium storing software comprising instructions executable by one or more computers which, when executed by the one or more computers, perform the operations of the aforementioned intersection turning vehicle merging into straight lane simulation method.
Compared with the prior art, the simulation method and system for the intersection turning vehicle to merge into the straight lane have the following technical effects:
the convergence condition of the turning vehicle is influenced by the vehicle state on the target lane, and the virtual target vehicle arranged on the target lane is equivalent to the possibility of pre-setting the intervention possibility of the turning vehicle on the vehicle running condition on the target lane in advance. According to the driving environment of the virtual target vehicle on the target lane and the traffic parameter values of the adjacent vehicles, the calculated target vehicle following parameters can simulate the running state of the target vehicle in a real scene. In addition, the target turning vehicle merging intention in a real environment often affects the vehicle running state on the target lane, such as an intention of a rear vehicle to appropriately decelerate and yield or increase lane change to an adjacent lane. The virtual target vehicle is added on the target lane, so that the running condition of the road vehicle can be reasonably simulated, the distributed condition of the original traffic flow of the target lane can be assisted to be controlled, and the vehicle converging scene of the exit lane of the intersection can be more accurately reflected.
Drawings
FIG. 1 is a block flow diagram of a method for simulating an intersection turning vehicle merging into a straight lane in accordance with an exemplary embodiment of the present invention;
FIG. 2 is a schematic illustration of a target vehicle fitting to a target lane in accordance with an exemplary embodiment of the present invention;
FIG. 3 is a schematic illustration of a virtual target vehicle according to an exemplary embodiment of the present invention;
FIG. 4 is a vehicle merge schematic in an exemplary embodiment of the invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. Additionally, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The implementation process of the present invention is described in more detail with reference to fig. 1 to 4 in order to solve the problem of difficulty in researching the vehicle confluence conflict in the intersection in conjunction with the flow of the turning vehicle confluence conflict processing method according to the exemplary embodiment of the present invention shown in fig. 1.
A simulation method for merging vehicles turning in an intersection into a straight lane, wherein each simulated vehicle is in a following state on the simulated lane, the method comprises the following steps:
acquiring microscopic traffic parameter values corresponding to each vehicle on a lane where a target vehicle is located and each vehicle on the target lane in the simulation intersection, wherein the microscopic traffic parameter values comprise basic attribute data, position information, speed, acceleration and the like of the vehicles;
and (2) determining a corresponding point of the target vehicle position on the target lane, wherein the converging point is taken as a following terminal point of the lane, positioning points of the target vehicle are equidistantly fitted to the corresponding point of the target lane, and the gap is determined as a research gap.
And (3) drawing up a virtual target vehicle at the corresponding point, and synchronizing the running information of the original target vehicle and the virtual target vehicle. Except that the position attribute is related to the corresponding position, the numerical information of other parameters inherits the information of the original target vehicle, and the direction is tangent to the track and moves forwards.
And (4) confirming the target gap. Judging whether the research gap is a proper convergence gap or not according to the waiting time of the target vehicle, the driving speed, the position relation with the intersection point and the microscopic traffic parameter value of the vehicle on the target lane, if not, repeating the step (2) until the proper convergence gap is screened out, and finally listing the proper convergence gap as the target gap.
And (5) calculating a following result according to a new road environment containing the virtual target vehicle. And judging whether the virtual target vehicle crosses the confluence point. Virtual target vehicles are added on the target lane, so that the running condition of road vehicles can be reasonably simulated, and the gathering and distribution condition of original traffic flow of the target lane can be assisted to be controlled.
And (6) when the virtual target vehicle does not cross the confluence point, synchronizing the running data of the vehicle in unit time step. The data synchronization method corresponds to the step (3): and the data information of the target vehicle positioned on the original track inherits the calculation result of the virtual target vehicle, and the direction of each parameter is tangent to the direction of the running track and forwards. And (4) repeating the step (2).
And (7) when the vehicles cross the confluence point, replacing the original target vehicles with the virtual target vehicles and deleting the information of the original target vehicles so as to complete confluence of the turning vehicles at the exit of the intersection.
The examples are based on the following assumptions:
(1) In the embodiment, the intersection is in an internet of vehicles environment, when a vehicle runs in a certain vehicle detection road section range at the intersection, the information of the state of the vehicle can be transmitted to other vehicles in the intersection through vehicle-to-vehicle communication and vehicle-to-road communication without delay;
(2) No interference of pedestrians and non-motor vehicles exists in the intersection;
(3) All vehicles in the intersection are driven according to the scheme strictly after the passing scheme is determined.
The simulation method for enabling turning vehicles at the intersection to enter the straight lane, which is represented by the exemplary flow shown in fig. 1, specifically comprises the following steps:
and (1) acquiring microscopic traffic parameter values corresponding to the lane in which the target vehicle is located and each vehicle on the target lane in the simulated intersection, wherein the microscopic traffic parameter values comprise basic attribute data, position information, speed, acceleration and the like of the vehicles.
And (2) determining a corresponding point of the position of the target vehicle on the target lane, wherein the converging point is taken as a following terminal point of the lane where the converging point is located, and positioning points of the target vehicle are equidistantly fitted to the corresponding point of the target lane.
As shown in FIG. 2, the localization point n of the target vehicle is first calculated 0 And the distance of the track curve between the distance confluence points is s, the confluence points are taken as relative positions, and the position of the target vehicle equivalently extends to the corresponding position x of the target lane, namely the distance between the position x and the confluence points is s. From this it is clear that the gap to be investigated and the vehicles in front and behind are directly related.
And (3) drawing up a virtual target vehicle at the corresponding point, synchronizing the running information of the original target vehicle and the virtual target vehicle, and enabling each parameter direction to be tangent with the track and move forward. As shown in fig. 3, the virtual target vehicle position information is obtained by calculating the target vehicle track curve distance, the values of other microscopic traffic parameters inherit the traffic parameters corresponding to the target vehicle, and the direction is tangential to the track and moves forward.
And (4) confirming the target gap. And judging whether the research gap is a proper convergence gap or not according to the waiting time of the target vehicle, the driving speed, the position relation with the intersection point and the microscopic traffic parameter value of the vehicle on the target lane. The decision method is not unique, and one of the feasible methods is: as shown in fig. 3, the vehicle n at the present time 0 Velocity v of 0 The product of the unit time step, i.e. distance traveled s 0 Can not exceed x to the front vehicle n x-1 Distance of the vehicle head (the center of the vehicle head is used as a positioning point of the vehicle); and the rear vehicle n x+1 The distance traveled cannot cross location x within a unit time step, based on the current time speed.
If the position-speed relationship at the current moment can not meet the judgment requirement, the research gap is not met with the confluence gap requirement, and the virtual target vehicle set in the research gap before is ignored. The vehicle in the original road environment simulation model is not influenced by other factors, the driving behavior of the next time step is carried out, and the target vehicle continues to follow by taking the junction point as a following terminal point. And (3) repeating the step (2) until a proper remittance gap is screened out, and finally listing the remittance gap as a target gap. In the target gap, the other driving data of the virtual target vehicle is the same as the target vehicle except that the vector direction is the same as the driving direction of the current lane.
If the turning vehicle cannot determine the target gap in time, the visualization simulation is presented in a mode that the vehicle gradually runs and stops behind the confluence point, and the simulation target vehicle decelerates to wait for the scene of the straight-going vehicle.
And (5) adding the virtual target vehicle to change the vehicle running environment on the current target lane. And calculating a driving result in the next time step according to the new road environment containing the virtual target vehicle. And judging whether the position point of the virtual target vehicle at the next time step exceeds the planned confluence point or not.
The virtual target vehicle is added, so that the running condition of the road vehicle can be simulated more reasonably, and the distributed condition of the original traffic flow of the target lane can be assisted to be controlled.
And (6) synchronizing the running data of the vehicle in the unit time step when the virtual target vehicle does not cross the confluence point. The data synchronization method corresponds to the step (3): besides the target vehicle, other vehicles (including the virtual target vehicle) in the environment inherit the calculation result of the step (5), and the target vehicle runs at the current moment in a conceptional synchronization mode such as running data and the like of the virtual target vehicle (contrary to the step (3), target vehicle data information positioned on the original track inherits the calculation result of the virtual target vehicle, and each parameter direction is forward tangent to the running track direction). Repeating the step (2)
And (7) when the vehicle crosses the confluence point, replacing the original target vehicle with the virtual target vehicle and deleting the information of the original target vehicle. Merging of turning vehicles at the exit lane of the intersection is completed as shown in fig. 4.
According to the disclosed embodiment of the invention, the invention also provides an intersection turning vehicle merging straight lane simulation system, which comprises: the device comprises an initialization module, a data acquisition module, a target vehicle determination module, a target gap determination module, a virtualization vehicle module and a confluence execution module. Wherein the module when executed is capable of implementing the aforementioned method of simulating a turn vehicle merging into a straight lane at an intersection.
Preferably, one or more processors are also included;
a memory storing instructions that are operable, which when executed by the one or more processors, cause the one or more processors to perform operations comprising performing the process of the intersection turning vehicle merging into a straight lane simulation method of any of the preceding embodiments.
Particularly preferably, the aforementioned processor is a processor of a computer system, including but not limited to an ARM-based embedded processor, an X86-based microprocessor, or a type-based processor.
The memory is arranged as a carrier that can store data, typically comprising RAM and ROM.
It should be understood that the computer system may communicate with each subsystem through the bus to obtain the corresponding parameters, so as to implement control on the operation of each subsystem.
In alternative embodiments, the invention may also be configured to be implemented as follows:
an intersection turning vehicle merging straight lane simulation device, comprising:
the system comprises a module for acquiring data of a target vehicle at an intersection and data of each vehicle in a target lane into which the target vehicle is about to merge;
a module for obtaining the track curve distance between the current position of the target vehicle and the confluence point, fitting the target vehicle to the corresponding position of the target lane at equal distance according to the track curve distance, drawing up a virtual target vehicle at the corresponding position, and synchronizing the data of the target vehicle to the virtual target vehicle;
the module is used for determining a confluence gap of a target vehicle in a target lane and judging whether confluence conflict occurs when the target vehicle converges in the target lane in the confluence gap by using a virtual target vehicle;
a module for calculating the following distance of the virtual target vehicle on the target lane aiming at the virtual target vehicle, acquiring the coordinate of the virtual target vehicle in real time, and enabling the target vehicle to travel forwards along the curve track by the same distance to reach a new coordinate point;
means for determining whether a position of the vehicle crosses a confluence point.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (7)
1. A simulation method for enabling turning vehicles at an intersection to converge into a straight lane is characterized by comprising the following steps:
s1, acquiring data of a target vehicle at an intersection and microscopic traffic parameter values corresponding to each vehicle in a target lane into which the target vehicle is about to converge, including basic attribute data, position information, speed and acceleration of the vehicle, and determining a confluence point of the target vehicle on the target lane;
s2, obtaining the track curve distance between the current position of the target vehicle and the confluence point, fitting the target vehicle to the corresponding position of the target lane at equal distance according to the track curve distance, drawing up a virtual target vehicle at the corresponding position, and synchronizing the data of the target vehicle to the virtual target vehicle;
s3, determining a confluence gap of the target vehicle in the target lane, and judging whether confluence conflict occurs when the target vehicle converges into the target lane at the confluence gap by using the virtual target vehicle;
if the confluence conflict occurs, the target vehicle continues to follow with the confluence point as a target, and deletes the virtual target vehicle on the target lane, and returns to the step S2;
if no confluence conflict occurs, the target vehicle follows at the confluence gap, and then the step S4 is carried out;
s4, aiming at the virtual target vehicle, calculating the following distance of the virtual target vehicle on a target lane, acquiring the coordinate of the virtual target vehicle in real time, and enabling the target vehicle to travel forwards along a curve track for the same distance to reach a new coordinate point;
s5, judging whether the position of the vehicle crosses a confluence point, wherein the confluence point is a forced lane changing point;
when the position of the target vehicle crosses the confluence point, replacing the original target vehicle with the virtual target vehicle to finish confluence;
and when the position of the target vehicle does not cross the confluence point, deleting the virtual target vehicle and returning to the step S2.
2. The method for simulating the merging of the turning vehicle into the straight lane at the intersection according to claim 1, wherein in the step S1, the confluence point on the target lane is determined, and the running track of the vehicle is fitted by a circular curve, and the method comprises the following specific steps:
after the target vehicle crosses a stop line, the center line of the target lane is taken as a datum line, a tangent line of the current steering direction of the head of the target vehicle is taken as another datum line, the two datum lines are intersected when the target vehicle does not complete a turning task, the position where the head of the target vehicle is taken as a tangent point, circular curve fitting is used for obtaining a common tangent arc of the two datum lines, the common tangent arc is taken as a predicted track of the target vehicle, and the tangent point of the predicted track and the center line of the target lane is a confluence point on the target lane.
3. The method for simulating the merging of the turning vehicle into the straight lane at the intersection according to claim 2, wherein in the step S3, the distance between the front vehicle and the rear vehicle at the position of the virtual target vehicle is a merging gap, and in the current unit time step, the driving distance of the virtual target vehicle does not exceed the distance between the virtual target vehicle and the front vehicle, and meanwhile, the driving distance of the rear vehicle does not exceed the distance between the rear vehicle and the virtual target vehicle, otherwise, the vehicles have merging conflict.
4. The method for simulating the intersection turning vehicle merging into the straight lane according to claim 3, wherein the step S4 of calculating the following distance of the virtual target vehicle on the target lane is realized through the following steps:
s4-1, obtaining the distance between a virtual target vehicle and a front vehicle;
step S4-2, calculating the acceleration a of the virtual target vehicle by using the following model x Distance s from the vehicle * According to the formula:
wherein s is 0 Minimum stopping distance at intersection, v x Is the speed, T, of the target vehicle in the last time step S For safe stopping time at the intersection, a max Is the virtual target vehicle maximum acceleration, b is the virtual target vehicle desired deceleration, v 0 Δ s is the actual vehicle-to-vehicle distance between the virtual target vehicle and the preceding vehicle, which is the free-stream vehicle speed.
5. The method for simulating the merging of the vehicle turning at the intersection into the straight lane according to any one of claims 1 to 4, wherein the driving direction of the virtual target vehicle is always kept unchanged along the driving track.
6. An intersection turning vehicle merging straight lane simulation system is characterized by comprising: the intersection turning vehicle merging straight lane simulation method comprises an initialization module, a data acquisition module, a target vehicle determination module, a target gap determination module, a virtualization vehicle module and a confluence execution module, and is characterized in that the modules can realize the intersection turning vehicle merging straight lane simulation method according to any one of claims 1 to 5 when being executed.
7. A computer-readable medium storing software comprising instructions executable by one or more computers which, when executed by the one or more computers, perform operations of the intersection turning vehicle merging into a straight lane simulation method as claimed in any one of claims 1 to 5.
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| CN102999646A (en) * | 2011-09-14 | 2013-03-27 | 中国科学技术大学 | Method and system for vehicle following and track change in microscopic traffic simulation |
| CN106652458A (en) * | 2017-02-20 | 2017-05-10 | 东南大学 | Online urban road route travel time estimation method based on virtual vehicle locus reconstruction |
| CN110473404A (en) * | 2019-09-19 | 2019-11-19 | 西南交通大学 | A kind of city decussation mouth mixed traffic flow collaboration optimization bottom control method |
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| CN102999646A (en) * | 2011-09-14 | 2013-03-27 | 中国科学技术大学 | Method and system for vehicle following and track change in microscopic traffic simulation |
| CN106652458A (en) * | 2017-02-20 | 2017-05-10 | 东南大学 | Online urban road route travel time estimation method based on virtual vehicle locus reconstruction |
| CN110473404A (en) * | 2019-09-19 | 2019-11-19 | 西南交通大学 | A kind of city decussation mouth mixed traffic flow collaboration optimization bottom control method |
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