CN113971339A - Man-vehicle hybrid traffic simulation method and system under parking lot scene - Google Patents
Man-vehicle hybrid traffic simulation method and system under parking lot scene Download PDFInfo
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Abstract
The invention discloses a pedestrian and vehicle mixed traffic simulation method and system in a parking lot scene, which are characterized in that pedestrians and vehicles are simulated respectively, corresponding simulation data of the pedestrians and the vehicles are obtained, the pedestrians and the vehicles are mapped into the same scene according to the obtained simulation data of the pedestrians and the vehicles, the possible conflict situation of the pedestrians and the vehicles is calculated, and finally the pedestrians and the vehicles in the simulation of the vehicles are correspondingly controlled according to the calculation result to simulate the conflict processing of the pedestrians and the vehicles in the same scene, so that the traffic simulation of pedestrian and vehicle mixed flow in large-flow complex pedestrian and vehicle mixed traffic scenes such as a parking lot can be realized, and the problem that the existing traffic simulation technology cannot be applied to the parking lot scene with highly overlapped pedestrian and vehicle movement ranges is effectively solved. The invention can simulate the evacuation scene of a parking lot, improve the evacuation efficiency and provide scientific guidance for the design of the parking lot.
Description
Technical Field
The invention relates to the technical field of traffic simulation, in particular to a method and a system for simulating man-vehicle hybrid traffic in a parking lot scene.
Background
The traffic simulation is one of important means for researching various traffic phenomena, optimizing traffic control measures and providing emergency evacuation plans, and plays an important role in national economic construction. With the continuous and deep research in the traffic field, the traffic simulation technology is mature day by day. A plurality of simulation methods and software appear in the aspects of road traffic simulation including macroscopicity, mesoscopy and microcosmic, and the simulation modes such as social models, cellular automata and the like also exist in the aspect of indoor stream simulation. However, in the widely applied simulation technology at present, people flow and traffic flow always go the way "one by one": the road traffic simulation has lanes and sidewalks, people and vehicles only interact at intersections, and the indoor people flow simulation does not consider traffic flow at all. In general, the neglect of human-vehicle interaction by the current simulation technology is acceptable, however, in the parking lot scene, the human-vehicle activity ranges are highly overlapped, the human-vehicle interaction frequently occurs, the existing simulation technology is deficient, and a new simulation technology needs to be developed on the basis of the existing traffic simulation.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and particularly provides a method and a system for simulating pedestrian and vehicle mixed traffic in a parking lot scene, which can realize traffic simulation of pedestrian and vehicle mixed flow in large-flow complex pedestrian and vehicle mixed traffic scenes such as a parking lot and effectively solve the problem that the existing traffic simulation technology cannot be applied to the parking lot scene with highly overlapped pedestrian and vehicle movement ranges.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a human-vehicle hybrid traffic simulation method in a parking lot scene, comprising the steps of:
establishing a pedestrian simulation model based on the social force model and the flood algorithm to simulate pedestrians in a parking lot scene;
establishing a motor vehicle simulation model based on SUMO simulation software to simulate vehicles in a parking lot scene;
respectively acquiring pedestrian simulation data in a pedestrian simulation process and vehicle simulation data in a vehicle simulation process;
establishing a mapping relation between pedestrians and vehicles in the same parking lot scene at the same time based on the pedestrian simulation data and the vehicle simulation data;
judging the pedestrian-vehicle conflict degree in the parking lot scene by using a TTCP conflict point time analysis method based on the mapping relation, pedestrian simulation data and vehicle simulation data of pedestrians and vehicles in the same time and the same parking lot scene, and performing feedback control on the vehicles according to the judgment result to realize the avoidance of the vehicles to the pedestrians;
and calculating the acting force of the vehicle on the pedestrian based on the mapping relation of the pedestrian and the vehicle in the same time and the same parking lot scene, the pedestrian simulation data and the vehicle simulation data, so as to perform feedback control on the pedestrian according to the acting force of the vehicle on the pedestrian to realize the avoidance of the pedestrian on the vehicle.
Preferably, the pedestrian simulation data includes pedestrian position information and pedestrian speed information, and the vehicle simulation data includes vehicle position information and vehicle speed information.
Preferably, the establishing of the pedestrian simulation model based on the social force model and the flood algorithm for pedestrian simulation in the parking lot scene includes:
constructing a virtual parking lot scene for pedestrian simulation according to the real parking lot scene;
based on a flood range algorithm, a distance map in the parking lot is constructed by using the spatial layout of the parking lot under the scene of the virtual parking lot and the coordinates of the starting point and the end point of the pedestrian so as to plan the path of the pedestrian;
and constructing a pedestrian simulation model of the pedestrian under the virtual parking lot scene based on the social force model and the distance map to simulate the pedestrian under the parking lot scene.
Preferably, the establishing of the motor vehicle simulation model based on the SUMO simulation software for vehicle simulation in the parking lot scene includes:
constructing a virtual parking lot scene for vehicle simulation according to the real parking lot scene;
establishing a motor vehicle simulation model under the virtual parking lot scene based on SUMO simulation software;
and inputting the data of the vehicle to be simulated into the motor vehicle simulation model to simulate the vehicle in the parking lot scene.
Preferably, the determining, based on the mapping relationship between the pedestrian and the vehicle in the same time and the same parking lot scene, the pedestrian simulation data and the vehicle simulation data, the degree of pedestrian-vehicle collision in the parking lot scene by using a TTCP conflict point time analysis method, so as to implement feedback control on the vehicle according to the determination result to avoid the pedestrian by the vehicle includes:
obtaining conflict point time information based on a TTCP conflict point time analysis method, a mapping relation between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian position information and pedestrian speed information, and vehicle position information and vehicle speed information;
judging the degree of pedestrian-vehicle conflict between pedestrians and vehicles in the scene of the parking lot based on the conflict point time information;
if the pedestrian conflicts with the vehicle, controlling the behavior of the vehicle through a TracI interface provided by SUMO simulation software so that the vehicle can avoid the pedestrian;
calculating the acting force of the vehicle to the pedestrian based on the mapping relation, the pedestrian simulation data and the vehicle simulation data of the pedestrian and the vehicle under the same time and the same parking lot scene, and realizing the avoidance of the pedestrian to the vehicle by carrying out feedback control on the pedestrian according to the acting force of the vehicle to the pedestrian comprises the following steps:
abstracting the vehicle into an elliptical individual based on the mapping relation between the pedestrian and the vehicle in the same time and the same parking lot scene;
and calculating the acting force of the vehicle on the pedestrian according to the pedestrian position information and the pedestrian speed information and the vehicle position information and the vehicle speed information so that the pedestrian can avoid the vehicle.
In order to achieve the above object, according to a second aspect of the present invention, there is provided a human-vehicle hybrid traffic simulation system in a parking lot scene, comprising:
the pedestrian simulation module is used for establishing a pedestrian simulation model based on the social force model and the flood algorithm to simulate pedestrians in a parking lot scene;
the motor vehicle simulation module is used for establishing a motor vehicle simulation model based on the SUMO simulation software to simulate the vehicle in the parking lot scene;
the simulation data acquisition module is used for acquiring pedestrian simulation data in a pedestrian simulation process and vehicle simulation data in a vehicle simulation process;
the pedestrian-vehicle mapping establishing module is used for establishing a mapping relation between pedestrians and vehicles in the same parking lot scene at the same time based on the pedestrian simulation data and the vehicle simulation data;
the vehicle simulation control module is used for judging the pedestrian and vehicle collision degree in the parking lot scene by using a TTCP conflict point time analysis method based on the mapping relation, the pedestrian simulation data and the vehicle simulation data of pedestrians and vehicles in the same parking lot scene at the same time, so as to realize the avoidance of the vehicles to the pedestrians by carrying out feedback control on the vehicles according to the judgment result;
and the pedestrian simulation control module is used for calculating the acting force of the vehicle on the pedestrian based on the mapping relation of the pedestrian and the vehicle in the same time and the same parking lot scene, the pedestrian simulation data and the vehicle simulation data so as to perform feedback control on the pedestrian according to the acting force of the vehicle on the pedestrian and realize the avoidance of the pedestrian on the vehicle.
Preferably, the pedestrian simulation data includes pedestrian position information and pedestrian speed information, and the vehicle simulation data includes vehicle position information and vehicle speed information.
Preferably, the pedestrian simulation module includes:
the pedestrian simulation scene construction unit is used for constructing a virtual parking lot scene for pedestrian simulation according to the real parking lot scene;
the distance map construction unit is used for constructing a distance map in the parking lot by utilizing the parking lot space layout under the virtual parking lot scene and the start point coordinates and the end point coordinates of the pedestrians based on the flood range algorithm so as to plan the path of the pedestrians;
and the pedestrian simulation unit is used for constructing a pedestrian simulation model of the pedestrian under the virtual parking lot scene based on the social force model and the distance map to simulate the pedestrian under the parking lot scene.
Preferably, the vehicle simulation module comprises:
the vehicle simulation scene construction unit is used for constructing a virtual parking lot scene for vehicle simulation according to the real parking lot scene;
the vehicle simulation model establishing unit is used for establishing a motor vehicle simulation model under the virtual parking lot scene based on SUMO simulation software;
and the vehicle simulation unit is used for inputting vehicle data to be simulated into the motor vehicle simulation model to simulate the vehicle in the parking lot scene.
Preferably, the vehicle simulation control module includes:
the conflict point time calculation unit is used for obtaining conflict point time information based on a TTCP conflict point time analysis method, a mapping relation between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian position information and pedestrian speed information, and vehicle position information and vehicle speed information;
the conflict judging unit is used for judging the degree of conflict between pedestrians and vehicles under the scene of the parking lot based on the conflict point time information;
the vehicle simulation control unit is used for controlling the behavior of the vehicle through a TracI interface provided by SUMO simulation software if the pedestrian conflicts with the vehicle so as to enable the vehicle to carry out avoidance on the pedestrian;
the pedestrian simulation control module comprises:
the vehicle abstract simulation unit is used for abstracting the vehicle into an elliptical individual body based on the mapping relation of the pedestrians and the vehicles in the same time and the same parking lot scene;
and the pedestrian simulation control unit is used for calculating the acting force of the vehicle on the pedestrian according to the pedestrian position information and the pedestrian speed information and the vehicle position information and the vehicle speed information so as to enable the pedestrian to carry out avoidance on the vehicle.
According to the technical scheme, the pedestrian and vehicle mixed traffic simulation method and system under the parking lot scene are characterized in that pedestrians and vehicles are simulated respectively, corresponding pedestrian and vehicle simulation data are obtained, then the pedestrians and the vehicles are mapped into the same scene according to the obtained simulation data of the pedestrians and the vehicles, then the possible conflict situation of the pedestrians and the vehicles is calculated, finally the pedestrians and the vehicles in the pedestrian simulation and the vehicles in the vehicle simulation are correspondingly controlled according to the calculation result to simulate the conflict processing of the pedestrians and the vehicles under the same scene, the traffic simulation of the pedestrian and vehicle mixed flow under the large-flow complicated pedestrian and vehicle mixed traffic scene such as the parking lot can be achieved, and the problem that the existing traffic simulation technology cannot be applied to the parking lot scene with the highly overlapped human and vehicle movement ranges is effectively solved. The invention can simulate the evacuation scene of a parking lot, improve the evacuation efficiency and provide scientific guidance for the design of the parking lot.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for simulating a pedestrian-vehicle hybrid traffic in a parking lot scenario according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural diagram of a human-vehicle hybrid traffic simulation system in a parking lot scene according to a preferred embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
English abbreviation noun interpretation:
SUMO: the Simulation software of Urban traffic is traffic Simulation software with open source, microcosmic and multimodality.
TTCP: time To Conflict Point, i.e., the Conflict Point Time.
TracI: traffic Control Interface, which is a Traffic Control Interface, is used for acquiring data in the SUMO Traffic simulation environment, and modifying and controlling the data in real time.
Traffic simulation in a parking lot environment needs to consider three aspects: simulation of pedestrian behaviors, simulation of motor vehicle behaviors, and processing of human-vehicle conflicts. The development of the existing traffic simulation technology in respective fields can well realize the simulation of individual behaviors, and a large number of experiments also prove the accuracy and the effectiveness of the simulation. However, a lot of work is still needed in the aspect of processing human-vehicle conflicts. Therefore, the invention combines the existing simulation technology and the complex interaction environment in the parking lot to develop a new simulation technology suitable for the high coincidence of the human-vehicle activity range and the frequent occurrence of human-vehicle interaction in the parking lot environment to solve the current research vacancy in the field, and the invention is expanded based on the existing technology, has simpler development and ensures the effect.
As shown in fig. 1, the present invention provides a method for simulating pedestrian and vehicle mixed traffic in a parking lot scene, which may include the following steps:
s1, establishing a pedestrian simulation model based on the social force model and the flood algorithm to simulate pedestrians in the parking lot scene;
s2, establishing a motor vehicle simulation model based on the SUMO simulation software to simulate the vehicle in the parking lot scene;
s3, acquiring pedestrian simulation data in a pedestrian simulation process and vehicle simulation data in a vehicle simulation process respectively;
s4, establishing a mapping relation between the pedestrians and the vehicles in the same parking lot scene at the same time based on the pedestrian simulation data and the vehicle simulation data;
s5, judging the pedestrian and vehicle conflict degree in the parking lot scene by using a TTCP conflict point time analysis method based on the mapping relation, pedestrian simulation data and vehicle simulation data of pedestrians and vehicles in the same time and the same parking lot scene, and performing feedback control on the vehicles according to the judgment result to realize the avoidance of the vehicles to the pedestrians;
and S6, calculating the acting force of the vehicle to the pedestrian based on the mapping relation, the pedestrian simulation data and the vehicle simulation data of the pedestrian and the vehicle in the same time and the same parking lot scene, and performing feedback control on the pedestrian according to the acting force of the vehicle to the pedestrian to realize the avoidance of the pedestrian to the vehicle.
In the embodiment, the pedestrians and the vehicles are simulated respectively, corresponding simulation data of the pedestrians and the vehicles are obtained, the pedestrians and the vehicles are mapped into the same scene according to the obtained simulation data of the pedestrians and the vehicles, the possible conflict situation of the pedestrians and the vehicles is calculated, and finally the pedestrians and the vehicles in the simulation of the vehicles are controlled correspondingly according to the calculation result to simulate the conflict processing of the pedestrians and the vehicles in the same scene, so that the traffic simulation of the pedestrian-vehicle mixed flow in large-flow complex pedestrian-vehicle mixed traffic scenes such as parking lots can be realized, and the problem that the existing traffic simulation technology cannot be applied to the parking lot scene with the highly overlapped pedestrian-vehicle motion ranges is effectively solved. The invention can simulate the evacuation scene of a parking lot, improve the evacuation efficiency and provide scientific guidance for the design of the parking lot.
Specifically, in the present embodiment, vehicle simulation data in the vehicle simulation process can be acquired through a TraCI interface provided in the SUMO simulation software.
In the present embodiment, the pedestrian simulation data includes pedestrian position information and pedestrian speed information, and the vehicle simulation data includes vehicle position information and vehicle speed information.
In this embodiment, establishing a pedestrian simulation model based on a social force model and a flood algorithm to perform pedestrian simulation in a parking lot scene includes:
constructing a virtual parking lot scene for pedestrian simulation according to the real parking lot scene;
based on a flood range algorithm, a distance map in the parking lot is constructed by using the spatial layout of the parking lot under the scene of the virtual parking lot and the coordinates of the starting point and the end point of the pedestrian so as to plan the path of the pedestrian;
and constructing a pedestrian simulation model of the pedestrian under the virtual parking lot scene based on the social force model and the distance map to simulate the pedestrian under the parking lot scene.
In this embodiment, the establishing of the motor vehicle simulation model based on the SUMO simulation software for vehicle simulation in the parking lot scene includes the following steps:
constructing a virtual parking lot scene for vehicle simulation according to the real parking lot scene;
establishing a motor vehicle simulation model under a virtual parking lot scene based on SUMO simulation software;
and inputting the data of the vehicle to be simulated into the motor vehicle simulation model to simulate the vehicle in the parking lot scene.
In this embodiment, step S5 may include the following steps:
obtaining conflict point time information based on a TTCP conflict point time analysis method, a mapping relation between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian position information and pedestrian speed information, and vehicle position information and vehicle speed information;
judging the degree of pedestrian-vehicle conflict between pedestrians and vehicles in the parking lot scene based on the conflict point time information;
if the pedestrian conflicts with the vehicle, the behavior of the vehicle is controlled through a TracI interface provided by SUMO simulation software, so that the vehicle can avoid the pedestrian.
In this embodiment, step S6 may include the following steps:
abstracting the vehicle into an elliptical individual based on the mapping relation between the pedestrian and the vehicle in the same time and the same parking lot scene;
and calculating the acting force of the vehicle on the pedestrian according to the pedestrian position information and the pedestrian speed information and the vehicle position information and the vehicle speed information so that the pedestrian can avoid the vehicle.
In the actual simulation process, the pedestrian simulation step S1 and the vehicle simulation step S2 are executed in parallel, that is, the pedestrian simulation and the vehicle simulation are performed simultaneously, but in the pedestrian simulation step, only the pedestrian is simulated, the pedestrian does not perceive the vehicle, the speed and position information of the pedestrian can be acquired from the pedestrian simulation, and in the vehicle simulation step, only the vehicle is simulated, and the vehicle does not perceive the pedestrian. That is, steps S1 and S2 are simulations of the person and the car, respectively, that are not aware of each other' S existence. However, pedestrian simulation data such as pedestrian position information and pedestrian speed information in a pedestrian simulation process and vehicle simulation data such as vehicle position information and vehicle speed information in a vehicle simulation process may be acquired simultaneously. Moreover, when virtual scenes are built during pedestrian simulation and vehicle simulation, the scenes are consistent, so that the speed and position information of pedestrians and vehicles obtained in the two steps of pedestrian simulation and vehicle simulation can be regarded as being in the same scene. And then, establishing a mapping relation between the pedestrian and the vehicle in the same time and the same parking lot scene through the pedestrian simulation data and the vehicle simulation data, namely putting the speed and position information of the pedestrian and the vehicle together, so that the pedestrian and the vehicle know the existence of the other side mutually. And finally, the TTCP time conflict point can be obtained by using the speed and position information of the pedestrian and the vehicle, so that whether the pedestrian and the vehicle conflict or not can be judged, and the size of the conflict can be known. If serious conflict exists, the vehicle needs to be controlled to avoid pedestrians by using the TracI interface (because the vehicle speed is generally slow in a parking lot scene, the vehicle in the vehicle simulation model can be directly controlled to stop). Meanwhile, the speed and position information of the pedestrians and the vehicles are known, so that the pedestrians can know the positions of the vehicles, and the pedestrians can be controlled to automatically avoid the vehicles based on the social force model.
In the actual simulation process, the step S5 of performing feedback control on the vehicle and the step S6 of performing advanced simulation control on the pedestrian are also performed in parallel, that is, the feedback control on the vehicle and the feedback control on the pedestrian are performed simultaneously, and are independent and independent of each other.
Specifically, in the present embodiment, the social force model describes the motivation of the pedestrian movement by various different acting forces, and the calculation formulas of the different acting forces are as follows:
expected force:
wherein, FDiRepresents the expected force of an individual i, miRepresenting the mass, v, of an individual idiRepresenting the desired speed (scalar) of the individual i, eiRepresenting the desired direction of an individual i, viRepresenting the current speed, τ, of the individual iiThe reaction time of individual i is indicated.
Elasticity between persons:
wherein, FSiRepresenting the sum of the individual i subjected to the elastic forces of all other individuals, NpDenotes the number of all individuals, A, B is a constant, rijIs the distance, R, between the centroids of individual i and individual ji+RjRepresenting the sum of the shoulder widths of individual i and individual j,
represents the direction (unit vector) of the line connecting the individual i and the individual j, and epsilonijRepresenting an individual iAnd individual j, the distance between them that removes the shoulder width.
Force of extrusion and friction between pedestrians:
wherein, FGiRepresents the sum of the squeezing force and the frictional force of the individual in contact with the individual i, kn、ktIs a constant number of times, and is,
represents a direction (unit vector) perpendicular to the line connecting the individual i and the individual j,
representing individuals i and j in
The relative velocity in the direction, function g (x), is a floor function, whose value takes 1 when x is less than 0 and 0 otherwise.
Specifically, the invention adopts a flooding algorithm to generate the distance map of the parking lot. The flooding algorithm is to divide the simulation space into a plurality of grid points, and gradually fill the grid point values outwards from the end point in a mode of simulating water flow diffusion. The closer the grid point value to the end point is, the smaller the grid point value, the farther the grid point value is, until the grid point at the start position is filled with numbers, and the iteration stops. The flooding algorithm may also bypass the grid point values of the empty space filled by the obstacles in the scene as if the water flow would bypass the continued flow if it encounters an obstacle. The flooding algorithm can thus well direct pedestrians for path planning. The numerical filling of the lattice points is carried out by using a variable 2 iteration method and a specific formula:
wherein D isV2Representing the lattice point value, δ x, of the iteration of the variant 2 methodiRepresents the algorithm iteratesIn the process, the number of iterations in the horizontal axis direction, δ yiRepresents the number of iterations in the longitudinal axis direction in the iterative process of the algorithm, DMLattice point values, D, representing the iteration of the Manhattan matrix iterative computation methodCLattice point values, D, representing the iteration of the chessboard matrix iterative computation methodmAnd representing the lattice point numerical value iterated by the variable 1 matrix iterative computation method.
Specifically, the invention adopts SUMO simulation software to establish a motor vehicle simulation model for vehicle simulation in a parking lot scene, and uses a TracI interface to acquire vehicle data. Unlike pedestrians, the movement of vehicles within a parking lot is in fact very limited, and it can be considered that the vehicles are traveling on a prescribed road, which is consistent with common road traffic simulation. Meanwhile, mature traffic simulation software is more close to the actual situation after a large amount of verification on the realization effect. The method selects an open-source easily-expanded SUMO simulation model to simulate the vehicle, and obtains the vehicle data in real time in the simulation process by using the TracI interface. Since the range of motion of pedestrians and vehicles is highly overlapping and interaction is easy to occur, we need to map SUMO simulated vehicles into a pedestrian simulation model. By using the TracI interface, the information of the position, the speed, the length, the width and the like of the vehicle can be obtained. Since the vehicle is also moving in the model and needs to be treated as an obstacle relative to the pedestrian, in the embodiment of the invention, the vehicle is treated as an elliptical individual and can interact with the pedestrian. I.e. the pedestrian will be subjected to a reaction force from the vehicle. When parameters such as vehicle speed and position are known from equations (1), (2), and (3), it is necessary to obtain the distance between the vehicle and the pedestrian. The vehicle is in an ellipse shape, the radius lengths in different directions are different, the radius lengths of the ellipse in all directions need to be obtained, and the radius r of the ellipse in the direction is set to be theta when the included angle between the central connecting line of the vehicle and the pedestrian and the vehicle direction is set to be thetaθComprises the following steps:
where w represents half the width of the vehicle, l represents half the length of the vehicle, and e is the middle term of the simplified formula.
Through rθThe force between the vehicle and the pedestrian can be calculated according to the equations (1), (2) and (3). Through the acting force of the vehicle to the pedestrian, the pedestrian can be automatically away from the vehicle, so that the pedestrian can avoid the vehicle, and when the vehicle moves, the avoiding measure can be well implemented. Therefore, after the vehicle simulation model is built, the vehicle simulation model can be mapped on the pedestrian simulation model only by ensuring that the simulation time and the space scale of the vehicle and the pedestrian are consistent and acquiring various parameters of the vehicle in real time.
With respect to parking of vehicles within a parking lot, SUMO provides a ParkingArea module that can customize parking areas when modeling a parking lot. When the driving path of the vehicle is designed, the parking area of the vehicle can be customized, and the parking time is long.
Specifically, when human-vehicle collision processing simulation is performed, a human-vehicle collision processing model is constructed for a vehicle by combining TraCI and TTCP (Zeng et al, 2014), which specifically comprises the following steps:
wherein, TTCPαRepresenting the time required for the individual alpha (pedestrian or vehicle) to reach the conflict point,
and
respectively representing the current position and velocity of the individual alpha,
indicating the location of the conflict point.
Then the time difference between the arrival of the two individuals at the conflict point, α and β, can be calculated by equation (7):
according to formula (7), may be TαβA threshold is set and when it is less than the threshold, it is necessary to use the TraCI to control the vehicle to avoid human-vehicle collision. Because the vehicle speed is lower under the parking lot environment, the collision processing module can be directly used to stop the vehicle, and when the subsequent collision disappears, the vehicle is restarted.
As shown in fig. 2, an embodiment of the present invention further provides a human-vehicle hybrid traffic simulation system in a parking lot scene, where the system includes:
the pedestrian simulation module 201 is used for establishing a pedestrian simulation model based on the social force model and the flood model algorithm to simulate pedestrians in a parking lot scene;
the motor vehicle simulation module 202 is used for establishing a motor vehicle simulation model based on SUMO simulation software to simulate vehicles in a parking lot scene;
the simulation data acquisition module 203 is used for acquiring pedestrian simulation data in a pedestrian simulation process and vehicle simulation data in a vehicle simulation process;
the pedestrian-vehicle mapping establishing module 204 is used for establishing a mapping relation between pedestrians and vehicles in the same parking lot scene at the same time based on the pedestrian simulation data and the vehicle simulation data;
the vehicle simulation control module 205 is configured to determine a pedestrian-vehicle collision degree in a parking lot scene by using a TTCP conflict point time analysis method based on a mapping relationship between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian simulation data and vehicle simulation data, so as to implement feedback control on vehicles according to a determination result to avoid pedestrians by vehicles;
and the pedestrian simulation control module 206 is configured to calculate an acting force of the vehicle on the pedestrian based on a mapping relation between the pedestrian and the vehicle in the same time and the same parking lot scene, the pedestrian simulation data and the vehicle simulation data, so as to perform feedback control on the pedestrian according to the acting force of the vehicle on the pedestrian to achieve avoidance of the pedestrian on the vehicle.
In the present embodiment, the pedestrian simulation data includes pedestrian position information and pedestrian speed information, and the vehicle simulation data includes vehicle position information and vehicle speed information.
In the present embodiment, the pedestrian simulation module 201 includes:
the pedestrian simulation scene construction unit is used for constructing a virtual parking lot scene for pedestrian simulation according to the real parking lot scene;
the distance map construction unit is used for constructing a distance map in the parking lot by utilizing the parking lot space layout under the virtual parking lot scene and the start point coordinates and the end point coordinates of the pedestrians based on the flood range algorithm so as to plan the path of the pedestrians;
and the pedestrian simulation unit is used for constructing a pedestrian simulation model of the pedestrian under the virtual parking lot scene based on the social force model and the distance map to simulate the pedestrian under the parking lot scene.
In the present embodiment, the vehicle simulation module 202 includes:
the vehicle simulation scene construction unit is used for constructing a virtual parking lot scene for vehicle simulation according to the real parking lot scene;
the vehicle simulation model establishing unit is used for establishing a motor vehicle simulation model under a virtual parking lot scene based on SUMO simulation software;
and the vehicle simulation unit is used for inputting the data of the vehicle to be simulated into the motor vehicle simulation model to simulate the vehicle in the parking lot scene.
In the present embodiment, the vehicle simulation control module 205 includes:
the conflict point time calculation unit is used for obtaining conflict point time information based on a TTCP conflict point time analysis method, a mapping relation between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian position information and pedestrian speed information, and vehicle position information and vehicle speed information;
the conflict judging unit is used for judging the degree of conflict between pedestrians and vehicles under the scene of the parking lot based on the conflict point time information;
and the vehicle simulation control unit is used for controlling the vehicle behavior through a TracI interface provided by the SUMO simulation software if the pedestrian conflicts with the vehicle so as to enable the vehicle to carry out avoidance on the pedestrian.
In the present embodiment, the pedestrian simulation control module 206 includes:
the vehicle abstract simulation unit is used for abstracting the vehicle into an elliptical individual body based on the mapping relation of the pedestrians and the vehicles in the same time and the same parking lot scene;
and the pedestrian simulation control unit is used for calculating the acting force of the vehicle on the pedestrian according to the pedestrian position information and the pedestrian speed information and the vehicle position information and the vehicle speed information so as to enable the pedestrian to carry out avoidance on the vehicle.
The simulation system of the mixed traffic of the people and the vehicles under the parking lot scene in the embodiment is realized based on the simulation method of the mixed traffic of the people and the vehicles under the parking lot scene in the embodiment of the method, and the working principles of the simulation system and the simulation method are the same, so that the description is omitted.
In this embodiment, if the module/unit integrated with the human-vehicle hybrid traffic simulation system in the parking lot scene is implemented in the form of a software functional unit and sold or used as an independent product, the module/unit may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A man-vehicle hybrid traffic simulation method under a parking lot scene is characterized by comprising the following steps:
establishing a pedestrian simulation model based on the social force model and the flood algorithm to simulate pedestrians in a parking lot scene;
establishing a motor vehicle simulation model based on SUMO simulation software to simulate vehicles in a parking lot scene;
respectively acquiring pedestrian simulation data in a pedestrian simulation process and vehicle simulation data in a vehicle simulation process;
establishing a mapping relation between pedestrians and vehicles in the same parking lot scene at the same time based on the pedestrian simulation data and the vehicle simulation data;
judging the pedestrian-vehicle conflict degree in the parking lot scene by using a TTCP conflict point time analysis method based on the mapping relation, pedestrian simulation data and vehicle simulation data of pedestrians and vehicles in the same time and the same parking lot scene, and performing feedback control on the vehicles according to the judgment result to realize the avoidance of the vehicles to the pedestrians;
and calculating the acting force of the vehicle on the pedestrian based on the mapping relation of the pedestrian and the vehicle in the same time and the same parking lot scene, the pedestrian simulation data and the vehicle simulation data, so as to perform feedback control on the pedestrian according to the acting force of the vehicle on the pedestrian to realize the avoidance of the pedestrian on the vehicle.
2. The method according to claim 1, wherein the pedestrian simulation data comprises pedestrian position information and pedestrian speed information, and the vehicle simulation data comprises vehicle position information and vehicle speed information.
3. The method for simulating the pedestrian-vehicle hybrid traffic in the parking lot scene according to claim 1, wherein the establishing of the pedestrian simulation model based on the social force model and the flood algorithm for the pedestrian simulation in the parking lot scene comprises:
constructing a virtual parking lot scene for pedestrian simulation according to the real parking lot scene;
based on a flood range algorithm, a distance map in the parking lot is constructed by using the spatial layout of the parking lot under the scene of the virtual parking lot and the coordinates of the starting point and the end point of the pedestrian so as to plan the path of the pedestrian;
and constructing a pedestrian simulation model of the pedestrian under the virtual parking lot scene based on the social force model and the distance map to simulate the pedestrian under the parking lot scene.
4. The method for simulating the human-vehicle hybrid traffic in the parking lot scene according to claim 1, wherein the establishing of the motor vehicle simulation model based on the SUMO simulation software for the vehicle simulation in the parking lot scene comprises:
constructing a virtual parking lot scene for vehicle simulation according to the real parking lot scene;
establishing a motor vehicle simulation model under the virtual parking lot scene based on SUMO simulation software;
and inputting the data of the vehicle to be simulated into the motor vehicle simulation model to simulate the vehicle in the parking lot scene.
5. The method for simulating the mixed traffic of people and vehicles under the parking lot scene according to claim 2,
the step of judging the pedestrian-vehicle conflict degree in the parking lot scene by using a TTCP conflict point time analysis method based on the mapping relation, the pedestrian simulation data and the vehicle simulation data of the pedestrians and the vehicles in the same time and the same parking lot scene so as to realize the avoidance of the vehicles to the pedestrians by performing feedback control on the vehicles according to the judgment result comprises the following steps:
obtaining conflict point time information based on a TTCP conflict point time analysis method, a mapping relation between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian position information and pedestrian speed information, and vehicle position information and vehicle speed information;
judging the degree of pedestrian-vehicle conflict between pedestrians and vehicles in the scene of the parking lot based on the conflict point time information;
if the pedestrian conflicts with the vehicle, controlling the behavior of the vehicle through a TracI interface provided by SUMO simulation software so that the vehicle can avoid the pedestrian;
calculating the acting force of the vehicle to the pedestrian based on the mapping relation, the pedestrian simulation data and the vehicle simulation data of the pedestrian and the vehicle under the same time and the same parking lot scene, and realizing the avoidance of the pedestrian to the vehicle by carrying out feedback control on the pedestrian according to the acting force of the vehicle to the pedestrian comprises the following steps:
abstracting the vehicle into an elliptical individual based on the mapping relation between the pedestrian and the vehicle in the same time and the same parking lot scene;
and calculating the acting force of the vehicle on the pedestrian according to the pedestrian position information and the pedestrian speed information and the vehicle position information and the vehicle speed information so that the pedestrian can avoid the vehicle.
6. The utility model provides a people and vehicle hybrid traffic simulation system under parking area scene which characterized in that includes:
the pedestrian simulation module is used for establishing a pedestrian simulation model based on the social force model and the flood algorithm to simulate pedestrians in a parking lot scene;
the motor vehicle simulation module is used for establishing a motor vehicle simulation model based on the SUMO simulation software to simulate the vehicle in the parking lot scene;
the simulation data acquisition module is used for acquiring pedestrian simulation data in a pedestrian simulation process and vehicle simulation data in a vehicle simulation process;
the pedestrian-vehicle mapping establishing module is used for establishing a mapping relation between pedestrians and vehicles in the same parking lot scene at the same time based on the pedestrian simulation data and the vehicle simulation data;
the vehicle simulation control module is used for judging the pedestrian and vehicle collision degree in the parking lot scene by using a TTCP conflict point time analysis method based on the mapping relation, the pedestrian simulation data and the vehicle simulation data of pedestrians and vehicles in the same parking lot scene at the same time, so as to realize the avoidance of the vehicles to the pedestrians by carrying out feedback control on the vehicles according to the judgment result;
and the pedestrian simulation control module is used for calculating the acting force of the vehicle on the pedestrian based on the mapping relation of the pedestrian and the vehicle in the same time and the same parking lot scene, the pedestrian simulation data and the vehicle simulation data so as to perform feedback control on the pedestrian according to the acting force of the vehicle on the pedestrian and realize the avoidance of the pedestrian on the vehicle.
7. The system of claim 6, wherein the pedestrian simulation data includes pedestrian location information and pedestrian speed information, and the vehicle simulation data includes vehicle location information and vehicle speed information.
8. The system for simulating the mixed traffic of the pedestrians and the vehicles under the parking lot scene as claimed in claim 6, wherein the pedestrian simulation module comprises:
the pedestrian simulation scene construction unit is used for constructing a virtual parking lot scene for pedestrian simulation according to the real parking lot scene;
the distance map construction unit is used for constructing a distance map in the parking lot by utilizing the parking lot space layout under the virtual parking lot scene and the start point coordinates and the end point coordinates of the pedestrians based on the flood range algorithm so as to plan the path of the pedestrians;
and the pedestrian simulation unit is used for constructing a pedestrian simulation model of the pedestrian under the virtual parking lot scene based on the social force model and the distance map to simulate the pedestrian under the parking lot scene.
9. The method for simulating the human-vehicle hybrid traffic under the parking lot scene according to claim 6, wherein the motor vehicle simulation module comprises:
the vehicle simulation scene construction unit is used for constructing a virtual parking lot scene for vehicle simulation according to the real parking lot scene;
the vehicle simulation model establishing unit is used for establishing a motor vehicle simulation model under the virtual parking lot scene based on SUMO simulation software;
and the vehicle simulation unit is used for inputting vehicle data to be simulated into the motor vehicle simulation model to simulate the vehicle in the parking lot scene.
10. The method for simulating the mixed traffic of people and vehicles under the parking lot scene according to claim 7,
the vehicle simulation control module includes:
the conflict point time calculation unit is used for obtaining conflict point time information based on a TTCP conflict point time analysis method, a mapping relation between pedestrians and vehicles in the same time and the same parking lot scene, pedestrian position information and pedestrian speed information, and vehicle position information and vehicle speed information;
the conflict judging unit is used for judging the degree of conflict between pedestrians and vehicles under the scene of the parking lot based on the conflict point time information;
the vehicle simulation control unit is used for controlling the behavior of the vehicle through a TracI interface provided by SUMO simulation software if the pedestrian conflicts with the vehicle so as to enable the vehicle to carry out avoidance on the pedestrian;
the pedestrian simulation control module comprises:
the vehicle abstract simulation unit is used for abstracting the vehicle into an elliptical individual body based on the mapping relation of the pedestrians and the vehicles in the same time and the same parking lot scene;
and the pedestrian simulation control unit is used for calculating the acting force of the vehicle on the pedestrian according to the pedestrian position information and the pedestrian speed information and the vehicle position information and the vehicle speed information so as to enable the pedestrian to carry out avoidance on the vehicle.
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