CN106898143A - A kind of magnitude of traffic flow modeling method of pilotless automobile - Google Patents

A kind of magnitude of traffic flow modeling method of pilotless automobile Download PDF

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Publication number
CN106898143A
CN106898143A CN201710228167.7A CN201710228167A CN106898143A CN 106898143 A CN106898143 A CN 106898143A CN 201710228167 A CN201710228167 A CN 201710228167A CN 106898143 A CN106898143 A CN 106898143A
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traffic
safe
gap
car
traffic flow
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张林松
吴文胜
魏志明
张安国
钱其昌
贾贤飞
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Hefei University
Hefei College
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Hefei College
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing

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  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of magnitude of traffic flow modeling method of pilotless automobile, belong to unmanned field.A kind of magnitude of traffic flow modeling method of pilotless automobile, on the basis of the factor of analyzing influence freeway traffic, set up the classical traffic model based on the differential equation, track quantity to influenceing the per day magnitude of traffic flow has made graph of a relation in Average Life and peak period, introduce the Gipps safe distances rule of pilotless automobile hypothesis and classics, NaSch models are improved, propose the automatic Pilot cellular automaton traffic flow based on safe distance, then by building the cooperation between the new many cars of analysis of the control method based on spring-damper, sensitivity test is carried out finally by by 0.1s are brought up into 1s the reaction time of pilotless automobile.It can realize introducing method improvement traffic safety and congestion that pilotless automobile sets up model.

Description

A kind of magnitude of traffic flow modeling method of pilotless automobile
Technical field
The present invention relates to unmanned field, more specifically to a kind of magnitude of traffic flow modeling of pilotless automobile Method.
Background technology
At present, the research of the mixed traffic flow on unmanned and pilot steering is also less, and Sunan Huang propose one Plant and the technology so that highway automates cost and infrastructure requirements reduction coexist on unmanned and pilot steering, Arnab Bose were travelled to traffic stream characteristics and environment together in 1999 to unmanned and pilot steering in identical track Influence is analyzed, and Arnab Bose propose unmanned model in 2003, and to automatic and pilot steering in proportion The close figure of stream analyzed and researched, while also analyzing shock wave；Consider the individual driving performance difference and ACC cars of driver Operation logic, construct respective operation rule, it is proposed that a new cellular Automation Model, to simulate mixing hand over Through-flow variation characteristic.
The main tool that cellular Automation Model is studied as Microscopic traffic simulation, after being introduced in field of traffic, obtains Rapid development, Nagel and Schrenberg proposes the NaSch models of classics within 1992, although model form is simple, but Analog result that model is obtained and actual traffic phenomenon and traffic behavior are closely similar, and many scholars advise to NaSch models afterwards Then it is improved, successively proposes TT model cruise controls model, FI models, sensitive driving model, safe driving model etc., this A little improvement is greatly enriched Cellular Automata Model of Traffic Flow.
The content of the invention
1. the technical problem to be solved
For there is traffic safety and congestion in the prior art, it is an object of the invention to provide one kind, nobody drives The magnitude of traffic flow modeling method of automobile is sailed, it can realize introducing the method improvement traffic safety that pilotless automobile sets up model And congestion.
2. technical scheme
To solve the above problems, the present invention is adopted the following technical scheme that.
A kind of magnitude of traffic flow modeling method of pilotless automobile, its step is as follows：
(1) data of the binding ground day magnitude of traffic flow, carry out case study it is assumed that analysis hypothesis includes：
First, there is the ratio in peak hourage per daily traffic volume, based on people's daily schedule of one day, it is assumed that peak The time of phase and the time of non-peak period,
2nd, many new hand drivers and some drivers not observed traffic rules and regulations are directed to, are investigated according to correlation, compared Example and the reaction time it is assumed that
3rd, when crossing traffic flow is calculated, the vehicle number in each track of proposition is averaged,
4th, the vehicle considered in the present invention is all kept to the right, and meets the traffic of most of country in the world Rule,
5th, the vehicle chosen is calculated with standard vehicle equivalents；
(2) conventional traffic model is set up,
First, by data acquisition, traffic congestion empirical distribution function is calculated, then draws traffic congestion empirical distribution function Figure,
2nd, the current factor of analyzing influence road traffic,
3rd, by data acquisition and calculating, Average Life traffic flow rate and volume of traffic graph of a relation and peak period track are drawn Number is with average per lane capacity figure；
(3) pilotless automobile intervention traffic model is set up,
First, with reference to classical Gipps model thoughts, introduce safe distance and NaSch models are improved, set up based on peace The automatic Pilot cellular automaton traffic flow of full distance,
2nd, unmanned Cellular Automata is carried out,
3rd, data analysis, the data analysis includes impact analysis and mixing ratio of the drive manner mixed proportion to traffic Impact analysis of the example to traffic congestion；
(4) many car cooperations,
Fleet is decomposed into a series of subsystems being made up of three cars using the method for overlapping structure decomposition, is reused point The optimal solution of system after formula LQ control methods are expanded is dissipated, extension system is finally shunk back into original system, obtain original system Suboptimal control rate；
(5) sensitivity test,
By 0.1s are brought up into 1s the reaction time of pilotless automobile carries out sensitivity test.
Preferably, the foundation is based on carrying out specification system during the automatic Pilot cellular automaton traffic flow of safe distance It is fixed：
First, according to safe distance principle, n-th driver of car estimates to the maximum deceleration of its front vehicles Meter, and then determine the safe distance Gap for avoiding ensureing needed for being knocked into the back with its frontsafe,n, and the safe speed for travelling vsafe,n, τnIt is n-th reaction time of car, bnIt is n-th maximum deceleration of car, vnT () is n-th speed of car；
Second, accelerate rule
Vehicle is required when the following distance between n-th car and its front vehicles is travelled more than the car in the middle of traveling Safe spacing when, i.e. Gapn＞ Gapsafe,nWhen, GapnBe the spacing of n-th car and above car, in order to meet driver for The traveling of desired speed higher, the car is then given it the gun according to following rule；
vn(t)→min(vn(t)+an,Vmax,vsafe,n(t),Gapn)
3rd, at the uniform velocity rule
When the following distance between n-th car and its front vehicles is travelled with the car, required safe spacing is equal, That is Gapn=Gapsafe,n, in the case where vehicle safe driving is ensured, then the vehicle will not take any acceleration and deceleration measure, protect Hold former speed traveling；
vn(t)→min(vn(t),Gapn)
4th, rule of slowing down
When the following distance between n-th car and its front vehicles is travelled less than the car during required safe spacing, i.e., Gapn＜ Gapsafe,nWhen, in order to ensure safe driving is then slowed down.If front vehicles are static, i.e. vn(t)=0, based on safety Property consider, then take safety deceleration rule slowed down, that is, ensure that the car and the following distance of front vehicles cannot be less than 0.5m； If front vehicles nonstatic, i.e. vnT () ≠ 0, then take certainty deceleration rule to be slowed down, corresponding specific rules are as follows：
Safety is slowed down
vn(t)→max{min(vsafe,n(t),Gapn-1),0)
Certainty is slowed down
vn(t)→max{min(vsafe,n(t),Gapn),0)
5th, random slowing down probability
The uncertainty of the driving behavior existed in the process of moving in view of driver, introduced in evolution rule with Machine slowing down probability Rp, the vehicle in traveling carries out the slowing down in speed according to random slowing down probability, and velocity variations observe formula, then press More solito deceleration is slowed down；
vn(t)→max(vn(t)-bn,0)
6th, location updating
On the basis of speed develops and updates rule, the renewal of vehicle location is carried out；
xn(t)→xn(t)+vn(t)
In formula：GapnIt is n-th car and the following distance of front truck n+1, i.e. Gapn=xn+1(t)-xn(t)-ln+1。
Preferably, the current factor of influence road traffic includes adverse weather factor, static bottleneck road and dynamic bottle Neck section, the adverse weather factor refers to rain, snow, mist, high wind etc.；The static bottleneck road refers to tunnel, bridge, up to descending Section etc.；The bottleneck section refers to large car, " ghost blocking ", traffic accident and vehicle trouble.
3. beneficial effect
Compared to prior art, the advantage of the invention is that：
(1) this programme is simulated with cellular automata to road traffic, more truly reflects road Actual traffic, and maximal rate, cellular quantity, vehicle fleet size and interval time can change, program It is very flexible, and can clearly find out running each time.
(2) considering reality and has carried out detailed sensitivity analysis, careful accordingly to have modified model.
(3) when the traffic conditions of road are considered, road conditions peak period has been divided into and non-peak period has been modeled, made Result is more effective.
(4) adverse weather factor, static bottleneck road and bottleneck section, the reality with other scientists are also contemplated Test result of study be shown to be it is consistent.
Brief description of the drawings
Fig. 1 is module map of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention；Technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described；Obviously；Described embodiment is only a part of embodiment of the invention；Rather than whole embodiments.It is based on Embodiment in the present invention；It is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment；Belong to the scope of protection of the invention.
Embodiment 1：
Fig. 1 is referred to, a kind of magnitude of traffic flow modeling method of pilotless automobile, its step is as follows：
(1) data of the binding ground State of Washington highway day magnitude of traffic flow, carry out case study it is assumed that analysis is false If including：
First, 8% per daily traffic volume occurred in peak hourage, based on people's daily schedule of one day, by traffic feelings The peak period for being divided into 3 hours for one day for 24 hours of condition and the non-peak period of 21 hours,
2nd, many new hand drivers and some drivers not observed traffic rules and regulations are directed to, are investigated according to correlation, it is assumed that its Account for 12% and 5% respectively, other 83% is belonging to normal driver, reaction time of this three is approximately respectively 2S, 3S, 1S,
3rd, when crossing traffic flow is calculated, the vehicle number in each track of proposition is averaged,
4th, the vehicle considered in the present invention is all kept to the right, and meets the traffic of most of country in the world Rule,
5th, the vehicle chosen is calculated with standard vehicle equivalents,
(2) conventional traffic model is set up,
First, by data acquisition, traffic congestion empirical distribution function is calculated, then draws traffic congestion empirical distribution function Figure,
2nd, the current factor of analyzing influence road traffic, the current factor of influence road traffic includes adverse weather factor, static state Bottleneck road and bottleneck section, adverse weather factor refer to rain, snow, mist, high wind etc.；Static bottleneck road refer to tunnel, bridge, Up to descending section etc.；Bottleneck section refers to large car, " ghost blocking ", traffic accident and vehicle trouble.
3rd, by data acquisition and calculating, Average Life traffic flow rate and volume of traffic graph of a relation and peak period track are drawn Number is with average per lane capacity figure；
(3) pilotless automobile intervention traffic model is set up,
First, with reference to classical Gipps model thoughts, introduce safe distance and NaSch models are improved, set up based on peace The automatic Pilot cellular automaton traffic flow of full distance,
2nd, unmanned Cellular Automata is carried out,
3rd, data analysis, data analysis includes impact analysis and mixed proportion pair of the drive manner mixed proportion to traffic The impact analysis of traffic congestion；
(4) many car cooperations,
Fleet is decomposed into a series of subsystems being made up of three cars using the method for overlapping structure decomposition, is reused point The optimal solution of system after formula LQ control methods are expanded is dissipated, extension system is finally shunk back into original system, obtain original system Suboptimal control rate；
(5) sensitivity test,
By 0.1s are brought up into 1s the reaction time of pilotless automobile carries out sensitivity test.
Specification institution is carried out when setting up the automatic Pilot cellular automaton traffic flow based on safe distance：
First, according to safe distance principle, n-th driver of car estimates to the maximum deceleration of its front vehicles Meter, and then determine the safe distance Gap for avoiding ensureing needed for being knocked into the back with its frontsafe,n, and the safe speed for travelling vsafe,n；
Second, accelerate rule
Vehicle is required when the following distance between n-th car and its front vehicles is travelled more than the car in the middle of traveling Safe spacing when, i.e. Gapn＞ Gapsafe,nWhen, in order to meet traveling of the driver for desired speed higher, the car is then pressed Given it the gun according to following rule；
vn(t)→min(vn(t)+an,Vmax,vsafe,n(t),Gapn)
3rd, at the uniform velocity rule
When the following distance between n-th car and its front vehicles is travelled with the car, required safe spacing is equal, That is Gapn=Gapsafe,n, in the case where vehicle safe driving is ensured, then the vehicle will not take any acceleration and deceleration measure, protect Hold former speed traveling；
vn(t)→min(vn(t),Gapn)
4th, rule of slowing down
When the following distance between n-th car and its front vehicles is travelled less than the car during required safe spacing, i.e., Gapn＜ Gapsafe,nWhen, in order to ensure safe driving is then slowed down.If front vehicles are static, i.e. vn(t)=0, based on safety Property consider, then take safety deceleration rule slowed down, that is, ensure that the car and the following distance of front vehicles cannot be less than 0.5m； If front vehicles nonstatic, i.e. vnT () ≠ 0, then take certainty deceleration rule to be slowed down, corresponding specific rules are as follows：
Safety is slowed down:
vn(t)→max{min(vsafe,n(t),Gapn-1),0)
Certainty is slowed down:
vn(t)→max{min(vsafe,n(t),Gapn),0)
5th, random slowing down probability
The uncertainty of the driving behavior existed in the process of moving in view of driver, introduced in evolution rule with Machine slowing down probability Rp, the vehicle in traveling carries out the slowing down in speed according to random slowing down probability, and velocity variations observe formula, then press More solito deceleration is slowed down；
vn(t)→max(vn(t)-bn,0)
5th, location updating
On the basis of speed develops and updates rule, the renewal of vehicle location is carried out；
xn(t)→xn(t)+vn(t)
In formula：GapnIt is n-th car and the following distance of front truck n+1, i.e. Gapn=xn+1(t)-xn(t)-ln+1。
The above；Preferably specific embodiment only of the invention；But protection scope of the present invention is not limited thereto； Any one skilled in the art the invention discloses technical scope in；Technology according to the present invention scheme and its Improve design and be subject to equivalent or change；Should all cover within the scope of the present invention.

Claims (3)

1. the magnitude of traffic flow modeling method of a kind of pilotless automobile, it is characterised in that：Its step is as follows：
(1) data of the binding ground day magnitude of traffic flow, carry out case study it is assumed that analysis hypothesis includes：
First, there is the ratio in peak hourage per daily traffic volume, based on people's daily schedule of one day, it is assumed that peak period Time and the time of non-peak period,
2nd, many new hand drivers and some drivers not observed traffic rules and regulations are directed to, according to correlation investigate, carry out ratio and Reaction time it is assumed that
3rd, when crossing traffic flow is calculated, the vehicle number in each track of proposition is averaged,
4th, the vehicle considered in the present invention is all kept to the right, and meets the traffic rules of most of country in the world,
5th, the vehicle chosen is calculated with standard vehicle equivalents；
(2) conventional traffic model is set up,
First, by data acquisition, traffic congestion empirical distribution function is calculated, then draws traffic congestion empirical distribution function figure,
2nd, the current factor of analyzing influence road traffic,
3rd, by data acquisition and calculating, draw Average Life traffic flow rate and volume of traffic graph of a relation and peak period number of track-lines with Average every lane capacity figure；
(3) pilotless automobile intervention traffic model is set up,
First, with reference to classical Gipps model thoughts, introduce safe distance and NaSch models be improved, set up based on safety away from From automatic Pilot cellular automaton traffic flow,
2nd, unmanned Cellular Automata is carried out,
3rd, data analysis, the data analysis includes impact analysis and mixed proportion pair of the drive manner mixed proportion to traffic The impact analysis of traffic congestion；
(4) many car cooperations,
Fleet is decomposed into a series of subsystems being made up of three cars using the method for overlapping structure decomposition, distributing is reused LQ control methods be expanded after system optimal solution, extension system is finally shunk back into original system, obtain the suboptimum of original system Control rate；
(5) sensitivity test,
By 0.1s are brought up into 1s the reaction time of pilotless automobile carries out sensitivity test.
2. the magnitude of traffic flow modeling method of a kind of pilotless automobile according to claim 1, it is characterised in that：It is described to build Be based on safe distance automatic Pilot cellular automaton traffic flow when carry out specification institution：
First, according to safe distance principle, n-th driver of car estimates the maximum deceleration of its front vehicles, enters And determine the safe distance Gap for avoiding ensureing needed for being knocked into the back with its frontsafe,n, and the safe speed v for travellingsafe,n；
v s a f e , n ( t ) = - b n τ n + b n 2 τ n 2 + b n { 2 [ x n + 1 ( t ) - x n ( t ) - S n + 1 ] - τ n v n ( t ) + v n + 1 ( t ) 2 b n }
Second, accelerate rule
Vehicle is central in traveling, the required peace when the following distance between n-th car and its front vehicles is travelled more than the car During full spacing, i.e. Gapn＞ Gapsafe,nWhen, in order to meet traveling of the driver for desired speed higher, the car is then according to such as Lower rule is given it the gun；
vn(t)→min(vn(t)+an,Vmax,vsafe,n(t),Gapn)
3rd, at the uniform velocity rule
When the following distance between n-th car and its front vehicles is travelled with the car, required safe spacing is equal, i.e. Gapn =Gapsafe,n, in the case where vehicle safe driving is ensured, then the vehicle will not take any acceleration and deceleration measure, keep former speed Degree traveling；
vn(t)→min(vn(t),Gapn)
4th, rule of slowing down
When the following distance between n-th car and its front vehicles is travelled less than the car during required safe spacing, i.e. Gapn＜ Gapsafe,nWhen, in order to ensure safe driving is then slowed down.If front vehicles are static, i.e. vnT ()=0, is examined based on security Consider, then take the rule of safety deceleration to be slowed down, that is, ensure that the car and the following distance of front vehicles cannot be less than 0.5m；If preceding Square vehicle nonstatic, i.e. vnT () ≠ 0, then take certainty deceleration rule to be slowed down, corresponding specific rules are as follows：
Safety is slowed down
vn(t)→max{min(vsafe,n(t),Gapn-1),0)
Certainty is slowed down
vn(t)→max{min(vsafe,n(t),Gapn),0)
5th, random slowing down probability
The uncertainty of the driving behavior existed in the process of moving in view of driver, introduces random slow in evolution rule Change probability Rp, the vehicle in traveling carries out the slowing down in speed according to random slowing down probability, and velocity variations observe formula, then according to normal Rule deceleration is slowed down；
vn(t)→max(vn(t)-bn,0)
6th, location updating
On the basis of speed develops and updates rule, the renewal of vehicle location is carried out；
xn(t)→xn(t)+vn(t)
In formula：GapnIt is n-th car and the following distance of front truck n+1, i.e. Gapn=xn+1(t)-xn(t)-ln+1。
3. the magnitude of traffic flow modeling method of a kind of pilotless automobile according to claim 1, it is characterised in that：The shadow Ringing the current factor of road traffic includes adverse weather factor, static bottleneck road and bottleneck section, the adverse weather because Element refers to rain, snow, mist, high wind etc.；The static bottleneck road refers to tunnel, bridge, up to descending section etc.；The bottleneck road Section refers to large car, " ghost blocking ", traffic accident and vehicle trouble.
CN201710228167.7A 2017-04-10 2017-04-10 A kind of magnitude of traffic flow modeling method of pilotless automobile Pending CN106898143A (en)

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CN108417026A (en) * 2017-12-01 2018-08-17 安徽优思天成智能科技有限公司 A kind of intelligent vehicle ratio acquisition methods for keeping road passage capability optimal
CN109711009A (en) * 2018-12-13 2019-05-03 北京掌行通信息技术有限公司 Pilotless automobile method of evaluating performance, device, electronic equipment and medium
CN109711009B (en) * 2018-12-13 2023-06-27 北京掌行通信息技术有限公司 Unmanned automobile performance evaluation method and device, electronic equipment and medium
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CN111243309A (en) * 2020-01-10 2020-06-05 北京航空航天大学 Expressway traffic flow full-sample trajectory reconstruction method based on automatic driving vehicle movement detection
CN112330135A (en) * 2020-11-02 2021-02-05 苏州工业园区测绘地理信息有限公司 Urban traffic jam space evolution method based on improved cellular automaton model
CN112330135B (en) * 2020-11-02 2023-12-26 园测信息科技股份有限公司 Urban traffic jam space evolution method based on improved cellular automaton model
CN112396834B (en) * 2020-11-05 2021-09-07 河北上元智能科技股份有限公司 Foggy-day expressway coordination control method based on cellular automaton model
CN112396834A (en) * 2020-11-05 2021-02-23 河北上元智能科技股份有限公司 Foggy-day expressway coordination control method based on cellular automaton model
CN113158424B (en) * 2021-03-17 2023-09-12 北京易控智驾科技有限公司 Model construction method and device for mine unmanned road network traffic flow optimization
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Application publication date: 20170627