CN105808314A - Traffic simulation method and device - Google Patents

Abstract

The invention relates to the field of traffic safety simulation, and in particular relates to a traffic simulation method and device which are used for realizing simulation of a traffic safety threat scene. The method comprises the following steps of: establishing a driver behaviour model, a vehicle dynamic model and a traffic environment model based on obtained massive driver behaviour data and surrounding environment data, massive vehicle dynamic data and massive traffic environment data; and according to a set period, generating a specific traffic environment based on simulation of the traffic environment model, generating first vehicle state information based on simulation of the vehicle dynamic model, generating driver decision operation information based on simulation of the driver behaviour model, adjusting the first vehicle state information according to the driver decision operation information, generating second vehicle state information by simulation, and outputting the second vehicle state information as a simulation result. The state information of a vehicle is adjusted by continuously outputting simulation results; and thus, basis is provided for improving verification of related technical schemes of traffic safety.

Description

A kind of method of traffic simulation and device

Technical field

The present invention relates to traffic safety emulation field, particularly relate to method and the device of a kind of traffic simulation.

Background technology

In prior art, the simulation that Traffic Flow Simulation software develops for the traffic flow under various traffic scenes or event, simulation scale is comparatively flexible, and micro, meso and macro emulation all relates to.Such simulation software is primarily targeted for various intelligent transportation systems (IntelligentTransportSystem, ITS) simulation and effect assessment thereof, for instance, simulation traffic signal control strategy is satisfied the need the impact of Netcom's line efficiency.

But, such emulation platform is limited to its application location, and underlying model idealization will not spontaneous generation traffic conflict in analogue system, for instance, car-following model idealization, the phenomenon such as will not spontaneous knock into the back.Additionally, major part Traffic Flow Simulation software is comparatively simple to the description of lane-change behavior, it is assumed that vehicle can change to periphery track from current lane in the short period of time, the middle transition process of lane-change behavior is not portrayed in detail, the phenomenons such as side impact will not occur.

Therefore, traffic conflict is considered as the abnormal conditions that system is run by such platform, driving behavior is portrayed comparatively coarse, do not account for the spontaneous generation of traffic conflict, and then the simulating, verifying of vehicle-to-vehicle information exchange (VehicletoVehicle, the V2X) technical scheme for dangerous scene cannot be realized based on this platform.

Summary of the invention

The embodiment of the present invention provides method and the device of a kind of traffic simulation, in order to solve the spontaneous generation being difficult to introduce traffic conflict at model level existed in prior art, it is impossible to the problem realizing the emulation of V2X technical scheme is verified.

The concrete technical scheme that the embodiment of the present invention provides is as follows:

A kind of method of traffic simulation, including:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model；

According to setting cycle, specific traffic environment is produced based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result.

Therefore, adopt the simulation that The inventive method achieves threatening traffic safety scene, the status information of vehicle is adjusted by continuous Output simulation result, save the cost of actual traffic danger test, and then realize introducing the spontaneous generation of traffic conflict in emulation platform, thus the checking of the related art scheme for improving traffic safety provides the foundation.

It is also preferred that the left based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, specifically include:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, parameter and abnormal operation parameter it is accustomed in conjunction with driving behavior, set up driver behavior model, wherein, driving behavior custom parameter at least includes driver's maximal rate in the process of moving and peak acceleration, and improper behavioral parameters at least includes maximal rate and the peak acceleration of driver's maloperation.

It is also preferred that the left produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, including:

Based on driver behavior model, current environment parameter carried out perception, and adopt the environmental classes error preset that sensing results is modified, wherein, including at least the ambient parameter having the predetermined dangerous scene produced based on traffic environment model in sensing results；

Based on sensing results and the first car status information, generate corresponding decision-making, and adopt the Decision Classes error preset that decision-making is modified, wherein, including at least having the car speed, vehicle acceleration and the vehicle location that produce based on vehicle dynamic model in first car status information, including at least there being the vehicle-state control command produced based on driver behavior model in decision-making；

Based on the operation behavior that decision-making is corresponding, and adopt the operation class error preset that operation behavior is modified, wherein, including at least there being the vehicle operating parameter for implementation decision produced based on driver behavior model in operation behavior；

Using revised decision-making and operation behavior as final driver's decision operation information.

It is also preferred that the left based on sensing results and the first car status information, generate corresponding decision-making, and based on operation behavior corresponding to decision-making, including:

If based on sensing results and the first car status information, it is determined that when the current speed of vehicle is be more than or equal to the first safe speed thresholding preset for special traffic environment, then decision-making is to vehicle deceleration, and generates for characterizing the vehicle operating parameter touched on the brake；

If based on sensing results and the first car status information, it is determined that when the current speed of vehicle is less than the second safe speed thresholding preset for special traffic environment, then vehicle is accelerated by decision-making, and generates for characterizing the vehicle operating parameter stepped on the gas；

If based on sensing results and the first car status information, it is determined that during the safe trajectory that the current movement locus deviation of vehicle is preset for special traffic environment, then decision-making is to Vehicular turn, and generates the vehicle operating parameter for characterizing steering wheel rotation；

If based on sensing results and the first car status information, determine current car speed, vehicle acceleration and vehicle location, when all meeting for the safety criterion that special traffic environment is default, then decision-making is constant to vehicle maintenance current state, and generates for characterizing the vehicle operating parameter maintaining vehicle's current condition.

It is also preferred that the left after the second car status information is exported as simulation result, farther include:

In conjunction with specific traffic environment, the second car status information is carried out risk assessment；

If by risk assessment, then retaining the second current status information；

If not passing through risk assessment, then after receiving early warning information, based on driver behavior model, the second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information；Or, if not passing through risk assessment, then according to the optimization policy obtained, second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retain the second up-to-date car status information.

It is also preferred that the left farther include:

According to setting cycle, circulation performs following operation: produce specific traffic environment based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result；

Wherein, often performing once, the second car status information that will finally obtain, as when performing next time, vehicle dynamic model emulates the input data of the first car status information produced.

A kind of device of traffic simulation, including:

Processing unit, for based on the magnanimity driving behavior data obtained and surrounding enviroment data, setting up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model；

Simulation unit, for according to setting cycle, specific traffic environment is produced based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result.

Therefore, adopt the simulation that The inventive method achieves threatening traffic safety scene, the status information of vehicle is adjusted by continuous Output simulation result, save the cost of actual traffic danger test, and then realize introducing the spontaneous generation of traffic conflict in emulation platform, thus the checking of the related art scheme for improving traffic safety provides the foundation.

It is also preferred that the left based on obtain magnanimity driving behavior data and surrounding enviroment data, when setting up driver behavior model, processing unit specifically for:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, parameter and abnormal operation parameter it is accustomed in conjunction with driving behavior, set up driver behavior model, wherein, driving behavior custom parameter at least includes driver's maximal rate in the process of moving and peak acceleration, and improper behavioral parameters at least includes maximal rate and the peak acceleration of driver's maloperation.

It is also preferred that the left when producing under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, simulation unit is used for:

Based on driver behavior model, current environment parameter carried out perception, and adopt the environmental classes error preset that sensing results is modified, wherein, including at least the ambient parameter having the predetermined dangerous scene produced based on traffic environment model in sensing results；

Based on sensing results and the first car status information, generate corresponding decision-making, and adopt the Decision Classes error preset that decision-making is modified, wherein, including at least having the car speed, vehicle acceleration and the vehicle location that produce based on vehicle dynamic model in first car status information, including at least there being the vehicle-state control command produced based on driver behavior model in decision-making；

Based on the operation behavior that decision-making is corresponding, and adopt the operation class error preset that operation behavior is modified, wherein, including at least there being the vehicle operating parameter for implementation decision produced based on driver behavior model in operation behavior；

Using revised decision-making and operation behavior as final driver's decision operation information.

It is also preferred that the left based on sensing results and the first car status information, generate corresponding decision-making, and during based on the operation behavior that decision-making is corresponding, simulation unit be used for:

If based on sensing results and the first car status information, it is determined that when the current speed of vehicle is be more than or equal to the first safe speed thresholding preset for special traffic environment, then decision-making is to vehicle deceleration, and generates for characterizing the vehicle operating parameter touched on the brake；

If based on sensing results and the first car status information, it is determined that when the current speed of vehicle is less than the second safe speed thresholding preset for special traffic environment, then vehicle is accelerated by decision-making, and generates for characterizing the vehicle operating parameter stepped on the gas；

If based on sensing results and the first car status information, it is determined that during the safe trajectory that the current movement locus deviation of vehicle is preset for special traffic environment, then decision-making is to Vehicular turn, and generates the vehicle operating parameter for characterizing steering wheel rotation；

If based on sensing results and the first car status information, determine current car speed, vehicle acceleration and vehicle location, when all meeting for the safety criterion that special traffic environment is default, then decision-making is constant to vehicle maintenance current state, and generates for characterizing the vehicle operating parameter maintaining vehicle's current condition.

It is also preferred that the left after the second car status information is exported as simulation result, farther include:

Risk assessment unit, is used for, in conjunction with specific traffic environment, the second car status information being carried out risk assessment；

And if by risk assessment, then retaining the second current status information；If not passing through risk assessment, then after receiving early warning information, based on driver behavior model, the second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information；Or, if not passing through risk assessment, then according to the optimization policy obtained, second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retain the second up-to-date car status information.

It is also preferred that the left simulation unit is further used for:

According to setting cycle, circulation performs following operation: produce specific traffic environment based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result；

Wherein, often performing once, the second car status information that will finally obtain, as when performing next time, vehicle dynamic model emulates the input data of the first car status information produced.

Accompanying drawing explanation

Fig. 1 is the general introduction flow chart of traffic simulation in the embodiment of the present invention；

Fig. 2 is the structure flow chart of traffic simulation in the embodiment of the present invention；

Fig. 3 is the graph of a relation of the operation behavior of driving behavior decision-making and correspondence in the embodiment of the present invention；

Fig. 4 A and 4B is the car-following model in the embodiment of the present invention；

Fig. 5 A and 5B is the steering model in the embodiment of the present invention；

Fig. 6 is the structural representation of traffic simulation device in the embodiment of the present invention.

Detailed description of the invention

In order to solve the spontaneous generation being difficult to introduce traffic conflict at model level existed in prior art, the problem that cannot realize the emulation of V2X technical scheme is verified, the invention provides a kind of method of traffic simulation and device, based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model；According to setting cycle, specific traffic environment is produced based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result.

Below in conjunction with accompanying drawing, the preferred embodiment of the present invention is described in detail.

Consult shown in Fig. 1 and Fig. 2, in the embodiment of the present invention, the process of traffic simulation is specific as follows:

Step 100: based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model.

Concrete, based on the magnanimity driving behavior data obtained and surrounding enviroment data, when setting up driver behavior model, also need to be accustomed to parameter and abnormal operation parameter in conjunction with driving behavior, wherein, driving behavior custom parameter at least includes driver's maximal rate in the process of moving and peak acceleration, and improper behavioral parameters at least includes maximal rate and the peak acceleration of driver's maloperation.Due to driving behavior is carried out modelling describe be because driver to the error of environment sensing, reaction not in time or the mistake of decision-making may result in danger generation, so needing based on the model that the description of driving behavior is set up fine granularity, consider behavioural habits parameter and the abnormal operation behavior of driver, realize portraying hazardous act with this more truly, and then realize the generation of dangerous scene.

Step 110: according to setting cycle, specific traffic environment is produced based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result.

Concrete, when producing under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, in driver behavior model, it is likely to generation error in three, it is thus desirable to the error correction of the three of correspondence aspects, and using revised decision-making and operation behavior as final driver's decision operation information.

One, perception identification error correction: current environment parameter is carried out perception based on driver behavior model, and adopt the environmental classes error preset that sensing results is modified, wherein, including at least the ambient parameter having the predetermined dangerous scene produced based on traffic environment model in sensing results.

Such as, the ambient parameters such as surrounding vehicles position, road surface slippery situation situation are carried out perception by driver behavior model, adopt the environmental classes error preset that sensing results is modified for issuable environmental parametric deviation.

They are two years old, decision-making error correction: based on sensing results and the first car status information, generate corresponding decision-making, and adopt the Decision Classes error preset that decision-making is modified, wherein, including at least having the car speed, vehicle acceleration and the vehicle location that produce based on vehicle dynamic model in first car status information, including at least there being the vehicle-state control command produced based on driver behavior model in decision-making.

Such as, driver behavior model presets Decision Classes error correction accordingly for the issuable judgement decision error of driver.

They are three years old, error correction is implemented in operation: based on the operation behavior that decision-making is corresponding, and adopt the operation class error preset that operation behavior is modified, wherein, including at least there being the vehicle operating parameter for implementation decision produced based on driver behavior model in operation behavior.

Such as, driver behavior model is considered for the error that driver's maloperation produces, and adopts the operation class error preset that operation behavior is modified.

Consult shown in Fig. 3, based on sensing results and the first car status information, generate corresponding decision-making, and based on operation behavior corresponding to decision-making, at least include but not limited to following four situation:

If 1 based on sensing results and the first car status information, it is determined that when the current speed of vehicle is be more than or equal to the first safe speed thresholding preset for special traffic environment, then decision-making is to vehicle deceleration, and generates for characterizing the vehicle operating parameter touched on the brake；

If 2 based on sensing results and the first car status information, it is determined that when the current speed of vehicle is less than the second safe speed thresholding preset for special traffic environment, then vehicle is accelerated by decision-making, and generates for characterizing the vehicle operating parameter stepped on the gas；

If 3 based on sensing results and the first car status information, it is determined that during the safe trajectory that the current movement locus deviation of vehicle is preset for special traffic environment, then decision-making is to Vehicular turn, and generates the vehicle operating parameter for characterizing steering wheel rotation；

If 4 based on sensing results and the first car status information, determine current car speed, vehicle acceleration and vehicle location, when all meeting for the safety criterion that special traffic environment is default, then decision-making is constant to vehicle maintenance current state, and generates for characterizing the vehicle operating parameter maintaining vehicle's current condition.

Additionally, after the second car status information exports as simulation result, also need, in conjunction with specific traffic environment, the second car status information to be carried out risk assessment:

If by risk assessment, then retaining the second current status information；

If not passing through risk assessment, then after receiving early warning information, based on driver behavior model, the second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information；

Or, if not passing through risk assessment, then according to the optimization policy obtained, second car status information is adjusted, is the direct control to driver vehicle here, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information.

It can thus be appreciated that, according to setting cycle, circulation performs following operation: produce specific traffic environment based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result；

Wherein, often performing once, the second car status information that will finally obtain, as when performing next time, vehicle dynamic model emulates the input data of the first car status information produced.

Below in conjunction with specific embodiment, embodiments of the present invention are described in detail.

Consult shown in Fig. 4 A and Fig. 4 B, based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, be described in detail below in conjunction with car-following model:

Assuming to have on track two cars, the distance between front truck A and rear car B is d, as shown in Figure 4 A.Two cars are in the same direction respectively with v_a0、v_b0Travelling, initial acceleration is a_a0、a_b0, S_AFor the front truck A displacement passed by, S_BFor the rear car B displacement passed by, the maximum braking deceleration of A, B car respectively a_amin, a_bmin(being respectively less than 0).

When calculating the safe distance of front and back car, needing to consider the worst situation, namely front truck braked immediately without the response time, and rear car was just braked through one period of response time, and calculate forward and backward car and be decelerated to 0 displacement passed by, then the displacement passed by by rear car deducts the displacement of front truck and obtains safe distance S₀。

In actual emulation process, it is necessary to produce specific traffic environment in conjunction with traffic environment model emulation and carry out concrete judgement in conjunction with vehicle dynamic model emulation generation the first car status information.

Concrete, according to acceleration in two car driving process Yu time graph of a relation, as shown in Figure 4 B.

Wherein t_b1Being rear car time of driver's reaction, general value is (0.8-1.0) s, K_a、K_bIt is that front and back car touches on the brake the rate of change of brief acceleration respectively,t_a1、t_b2-t_b1It is the time used that touches on the brake respectively.v_a1、v_a2It is that front truck is at 0-t respectively_a1、t_a1-t_a2The speed of time period, v_b1、v_b2、v_b3It is that rear car is at 0-t respectively_b1、t_b1-t_b2、t_b2-t_b3The speed of time period.S_a1、S_a2It is that front truck is at 0-t respectively_a1、t_a1-t_a2The distance that time period passes by, S_b1、S_b2、S_b3It is that rear car is at 0-t respectively_b1、t_b1-t_b2、t_b2-t_b3The distance that time period passes by.

Being computed, front truck is at 0-t_a1Between the acceleration of section, speed, distance as follows over time:

a_a1T=a_a0=K_at

$v_{a1}\left(t\right)=v_{a0}+a_{a0}t-\frac{1}{2}{K}_a{t}^2$

$S_{a1}\left(t\right)=v_{a0}t+\frac{1}{2}{a}_{a0}{t}^2-\frac{1}{6}{K}_{a0}{t}^3$

Front truck is at t_a1-t_a2Time period acceleration is a_amin, speed, distance be over time:

$v_{a2}\left(t\right)=v_{a0}+\frac{a_{a0}^2-a_{a\min }^2}{{2K}_f}+a_{a\min }t$

$S_{a2}\left(t\right)=v_{a1}\left(t_{a1}\right)*(t-t_{a1})+\frac{1}{2}{a}_{a\min }(t^2-t_{a1}^2)$

Rear car is at 0-t_b1Time period acceleration is a_b0, speed, distance be over time:

v_b1(t)=v_b0+a_b0t

$S_{b1}\left(t\right)=v_{b0}t+\frac{1}{2}{a}_{b0}{t}^2$

Rear car is at t_b1-t_b2The acceleration of time period, speed, distance be over time:

a_b2T=a_b0-K_b(t-t_b1)

$v_{b2}\left(t\right)=v_{b0}+(a_{b0}+K_b{t}_{b1})t-\frac{1}{2}{K}_b{t}^2-\frac{1}{2}{K}_b*t_{b1}^2$

$S_{b2}\left(t\right)=(v_{b0}-\frac{1}{2}{K}_b{t}_{b1}^2)(t-t_{b1})-\frac{1}{6}{K}_b*(t^3-t_{b1}^3)+\frac{1}{2}(a_{b0}+K_b{t}_{b1})(t^2-t_{b1}^2)$

Rear car is at t_b2-t_b3Time period acceleration is a_bmin, speed, distance be over time:

$v_{b3}\left(t\right)=v_{b0}+a_{b0}{t}_{b1}+\frac{a_{b0}^2-a_{b\min }^2}{2K_b}+a_{b\min }t$

$S_{b3}\left(t\right)=v_2\left(t_{b2}\right)*(t-t_{b2})+\frac{1}{2}{a}_{n\min }(t^2-t_{b2}^2)$

If it is S that front and back car is decelerated to the distance of 0_a、S_b, first calculate the braking distance S of front truck_a:

(1) if front truck is at 0-t_a1Time period speed has reduced to 0, i.e. v_a1t_a1≤ 0, then first calculate and make v_a1The moment t of t=0, solvesWherein

${\mathrm{\Δ}}_2=a_{a0}^2+2*K_a*v_{a0},$ Then S_a=S_a1t；

(2) if front truck is at t_a1-t_a2Time period speed just reduces to 0, i.e. v_a1t_a1> 0, then $S_a=S_{a1}\left(t_{a1}\right)-\frac{v_{a1}{\left(t_{a1}\right)}^2}{2*a_{a\min }}.$

Calculate the braking distance S of rear car again_b:

(1) if rear car is at 0-t_b1Time period speed has reduced to 0, i.e. v_b1t_b1≤ 0, then $S_b=-\frac{v_{b0}^2}{2*a_{b\min }};$

(2) if rear car is at t_b1-t_b2Time period just reduces to 0, i.e. v_b1t_b1> 0 and v_b2t_b2≤ 0, calculate and make v_b2The moment t of t=0, solves $t=\frac{a_{b0}+K_b{t}_{b1}+\sqrt{{\mathrm{\Δ}}_1}}{K_b},$ Wherein ${\mathrm{\Δ}}_1=a_{b0}^2+{2a}_{b0}{K}_b{t}_{b1}+{2K}_b{v}_{b0},$ Then S_b=S_b1t_b1+S_b2t；

(3) if rear car is at t_b2-t_b3Time period just reduces to 0, i.e. v_b1t_b1> 0 and v_b2t_b2> 0, then $S_b=S_{b1}\left(t_{b1}\right)+S_{b2}\left(t_{b2}\right)-\frac{v_{b2}{\left(t_{b2}\right)}^2}{2*a_{b\min }}.$

If the minimum range that two adjacent cars keep is l, then before and after, the minimum safe distance of car is S₀=S_b-S_a+l。

Often spending the dt time, more the speed of new car is v=v+a*dt, more the position of new car Show that the latest state information of vehicle can obtain good simulated effect continuously.

Further, the foundation of driver behavior model needs to be accustomed to parameter and abnormal operation parameter in conjunction with driving behavior.

Such as, if the actual range of two cars is less than minimum safe distance, i.e. d < S₀, then rear car should be slowed down with maximum degree of subtracting.It is also conceivable to rear car driving behavior parameter simultaneously, namely driver peak acceleration in the process of moving (have a scope, maximum less than maximum deceleration a_bmin, minimum it is not less than a_bcom), minimum safe distance S₀It is about maximum deceleration a_bminA function, it is only necessary to a in all equatioies_bminChange a into_bcom, at this moment can be obtained by a relatively larger safe distance S₁, in conjunction with minimum safe distance S₀, obtain a scope [S of safe distance₀, S₁].As actual spacing S₀<d<S₁Time, rear car driver can take the custom deceleration of oneself to make vehicle deceleration.If actual spacing d > S₁Time, rear car driver can accelerate or maintain the original state by unrestricted choice.

In actual traffic simulation process, up-to-date front truck car status information is obtained by traffic environment model and vehicle dynamic model, the first car status information with rear car (this car), driver behavior model makes driver's decision operation information according to this first car status information in conjunction with specific traffic environment, concrete, driver behavior model knows that front truck brakes and the car status information of front truck of correspondence immediately, car status information (i.e. the first car status information) according to self, make the decision-making of deceleration, and take the operation behavior of brake, it is adjusted for the first car status information, emulation produces the second car status information, again the second car status information is carried out risk assessment as simulation result output.If assessment is passed through, when arriving the next cycle, by the first car status information input of the second car status information vehicle dynamic model the most, enter next emulation cycle；If not passing through, then driver behavior model is according to early warning information, the state of vehicle is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated passes through risk assessment, when arriving the next cycle, by the first car status information input of the second car status information vehicle dynamic model the most, enter next emulation cycle.Or, according to the optimization policy obtained, directly control vehicle, second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated passes through risk assessment, retain the second up-to-date car status information, when arriving the next cycle, by the first car status information input of up-to-date second car status information vehicle dynamic model the most, enter next emulation cycle.

The car-following model proposed in the present invention, set up by driving behavior being carried out fine granularity ground model, and the driving behavior that considers with car link is accustomed to, behavior custom includes singly being not limited to the crude and rash behavior to driver and maloperation behavior accounts for, realize the simulation being with garage threatening traffic safety, and then realize introducing the spontaneous generation of traffic conflict in emulation platform, thus the checking of the related art scheme for improving traffic safety provides the foundation.

Consult shown in Fig. 5 A and Fig. 5 B, be described in detail for the steering model in vehicle dynamic model below.

Concrete, automobile is regarded as a rectangle, is l if long, wide for d.P point is headstock midpoint, and coordinate isF is front-wheel midpoint, and b is trailing wheel midpoint.If front wheel speed is v, front-wheel velocity attitude is angle.Rectangular coordinate system is set up for initial point with P.

According to Fig. 5 A, f point and the initial coordinate of b point can be obtained.

After elapsed time dt, f, the position of d and p all there occurs change, and the state in vehicle travel process updates as shown in Figure 5 B.

By constantly updating the position of vehicle, it is possible to realization shows the more specific location information of vehicle continuously, obtains good simulated effect.

Additionally, based on the magnanimity traffic environment data obtained, set up traffic environment model.Concrete, according to each vehicle position data, in conjunction with road environment, for instance, sleety weather road surface slippery situation, haze weather visibility is relatively low, and traffic normal behavior, for instance, the crossroad traffic lights waiting time, speed limit situation etc., set up traffic environment model.Traffic environment model is vehicle dynamic model and driver behavior model, and whole simulation process provides specific traffic environment scene.

Consult shown in Fig. 6, the device of traffic simulation, including:

Processing unit 60, for based on the magnanimity driving behavior data obtained and surrounding enviroment data, setting up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model；

Simulation unit 61, for according to setting cycle, specific traffic environment is produced based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result.

Therefore, adopt the simulation that The inventive method achieves threatening traffic safety scene, the status information of vehicle is adjusted by continuous Output simulation result, save the cost of actual traffic danger test, and then realize introducing the spontaneous generation of traffic conflict in emulation platform, thus the checking of the related art scheme for improving traffic safety provides the foundation.

It is also preferred that the left based on obtain magnanimity driving behavior data and surrounding enviroment data, when setting up driver behavior model, processing unit 60 specifically for:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, parameter and abnormal operation parameter it is accustomed in conjunction with driving behavior, set up driver behavior model, wherein, driving behavior custom parameter at least includes driver's maximal rate in the process of moving and peak acceleration, and improper behavioral parameters at least includes maximal rate and the peak acceleration of driver's maloperation.

It is also preferred that the left when producing under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, simulation unit 61 is used for:

Based on driver behavior model, current environment parameter carried out perception, and adopt the environmental classes error preset that sensing results is modified, wherein, including at least the ambient parameter having the predetermined dangerous scene produced based on traffic environment model in sensing results；

Based on sensing results and the first car status information, generate corresponding decision-making, and adopt the Decision Classes error preset that decision-making is modified, wherein, including at least having the car speed, vehicle acceleration and the vehicle location that produce based on vehicle dynamic model in first car status information, including at least there being the vehicle-state control command produced based on driver behavior model in decision-making；

Based on the operation behavior that decision-making is corresponding, and adopt the operation class error preset that operation behavior is modified, wherein, including at least there being the vehicle operating parameter for implementation decision produced based on driver behavior model in operation behavior；

Using revised decision-making and operation behavior as final driver's decision operation information.

It is also preferred that the left based on sensing results and the first car status information, generate corresponding decision-making, and during based on the operation behavior that decision-making is corresponding, simulation unit 61 be used for:

If based on sensing results and the first car status information, it is determined that when the current speed of vehicle is be more than or equal to the first safe speed thresholding preset for special traffic environment, then decision-making is to vehicle deceleration, and generates for characterizing the vehicle operating parameter touched on the brake；

If based on sensing results and the first car status information, it is determined that when the current speed of vehicle is less than the second safe speed thresholding preset for special traffic environment, then vehicle is accelerated by decision-making, and generates for characterizing the vehicle operating parameter stepped on the gas；

If based on sensing results and the first car status information, it is determined that during the safe trajectory that the current movement locus deviation of vehicle is preset for special traffic environment, then decision-making is to Vehicular turn, and generates the vehicle operating parameter for characterizing steering wheel rotation；

If based on sensing results and the first car status information, determine current car speed, vehicle acceleration and vehicle location, when all meeting for the safety criterion that special traffic environment is default, then decision-making is constant to vehicle maintenance current state, and generates for characterizing the vehicle operating parameter maintaining vehicle's current condition.

It is also preferred that the left after the second car status information is exported as simulation result, farther include:

Risk assessment unit 62, is used for, in conjunction with specific traffic environment, the second car status information being carried out risk assessment；

And if by risk assessment, then retaining the second current status information；If not passing through risk assessment, then after receiving early warning information, based on driver behavior model, the second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information；Or, if not passing through risk assessment, then according to the optimization policy obtained, second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retain the second up-to-date car status information.

It is also preferred that the left simulation unit 61 is further used for:

According to setting cycle, circulation performs following operation: produce specific traffic environment based on traffic environment model emulation, the first car status information is produced based on vehicle dynamic model emulation, and produce under special traffic environment for driver's decision operation information of the first car status information based on driver behavior model emulation, and according to driver's decision operation information, the first car status information is adjusted, emulation produces the second car status information, then the second car status information is exported as simulation result；

Wherein, often performing once, the second car status information that will finally obtain, as when performing next time, vehicle dynamic model emulates the input data of the first car status information produced.

To sum up, adopt the simulation that The inventive method achieves threatening traffic safety scene, the status information of vehicle is adjusted by continuous Output simulation result, save the cost of actual traffic danger test, and then realize introducing the spontaneous generation of traffic conflict in emulation platform, thus the checking of the related art scheme for improving traffic safety provides the foundation.

Additionally, adopt the foundation that The inventive method achieves driving behavior finely granular access control, and consider driving behavior custom and the driving behavior error at links, it is possible to effectively realize the emulation to driver's traffic safety scene all sidedly.

Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, complete software implementation or the embodiment in conjunction with software and hardware aspect.And, the present invention can adopt the form at one or more upper computer programs implemented of computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) wherein including computer usable program code.

The present invention is that flow chart and/or block diagram with reference to method according to embodiments of the present invention, equipment (system) and computer program describe.It should be understood that can by the combination of the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can be provided to produce a machine to the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device so that the instruction performed by the processor of computer or other programmable data processing device is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

These computer program instructions may be alternatively stored in and can guide in the computer-readable memory that computer or other programmable data processing device work in a specific way, the instruction making to be stored in this computer-readable memory produces to include the manufacture of command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

These computer program instructions also can be loaded in computer or other programmable data processing device, make on computer or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computer or other programmable devices provides for realizing the step of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.

Although preferred embodiments of the present invention have been described, but those skilled in the art are once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.

Obviously, the embodiment of the present invention can be carried out various change and the modification spirit and scope without deviating from the embodiment of the present invention by those skilled in the art.So, if these amendments of the embodiment of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (12)

1. the method for a traffic simulation, it is characterised in that including:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model；

Specific traffic environment is produced based on described traffic environment model emulation, the first car status information is produced based on the emulation of described vehicle dynamic model, and produce under described special traffic environment for driver's decision operation information of described first car status information based on the emulation of described driver behavior model, and according to described driver's decision operation information, described first car status information is adjusted, emulation produces the second car status information, more described second car status information is exported as simulation result.

2. the method for claim 1, it is characterised in that based on the magnanimity driving behavior data obtained and surrounding enviroment data, set up driver behavior model, specifically include:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, parameter and abnormal operation parameter it is accustomed in conjunction with driving behavior, set up driver behavior model, wherein, described driving behavior custom parameter at least includes driver's maximal rate in the process of moving and peak acceleration, and described improper behavioral parameters at least includes maximal rate and the peak acceleration of driver's maloperation.

3. method as claimed in claim 1 or 2, it is characterised in that produce under described special traffic environment for driver's decision operation information of described first car status information based on the emulation of described driver behavior model, including:

Based on described driver behavior model, current environment parameter is carried out perception, and adopt the environmental classes error preset that sensing results is modified, wherein, including at least the ambient parameter having the predetermined dangerous scene produced based on described traffic environment model in described sensing results；

Based on described sensing results and described first car status information, generate corresponding decision-making, and adopt the Decision Classes error preset that described decision-making is modified, wherein, including at least having the car speed, vehicle acceleration and the vehicle location that produce based on described vehicle dynamic model in described first car status information, including at least there being the vehicle-state control command produced based on described driver behavior model in described decision-making；

Based on the operation behavior that described decision-making is corresponding, and adopt the operation class error preset that described operation behavior is modified, wherein, including at least there being the vehicle operating parameter for implementing described decision-making produced based on described driver behavior model in described operation behavior；

Using revised decision-making and operation behavior as final driver's decision operation information.

4. method as claimed in claim 3, it is characterised in that based on described sensing results and described first car status information, generates corresponding decision-making, and based on operation behavior corresponding to described decision-making, including:

If based on described sensing results and described first car status information, when determining the current speed of vehicle be more than or equal to the first safe speed thresholding preset for described special traffic environment, then decision-making is to vehicle deceleration, and generates for characterizing the vehicle operating parameter touched on the brake；

If based on described sensing results and described first car status information, when determining the current speed of vehicle less than the second safe speed thresholding preset for described special traffic environment, then vehicle is accelerated by decision-making, and generates for characterizing the vehicle operating parameter stepped on the gas；

If based on described sensing results and described first car status information, determine vehicle current movement locus deviation for described special traffic environment preset safe trajectory time, then decision-making is to Vehicular turn, and generates the vehicle operating parameter for characterizing steering wheel rotation；

If based on described sensing results and described first car status information, determine current car speed, vehicle acceleration and vehicle location, when all meeting for the safety criterion that described special traffic environment is default, then decision-making is constant to vehicle maintenance current state, and generates for characterizing the vehicle operating parameter maintaining vehicle's current condition.

5. the method as described in any one of claim 1-4, it is characterised in that after described second car status information is exported as simulation result, farther include:

In conjunction with described specific traffic environment, described second car status information is carried out risk assessment；

If by risk assessment, then retaining the second current status information；

If not passing through risk assessment, then after receiving early warning information, based on described driver behavior model, described second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information；Or, if not passing through risk assessment, then according to the optimization policy obtained, described second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retain the second up-to-date car status information.

6. the method as described in any one of claim 1-5, it is characterised in that farther include:

According to setting cycle, circulation performs following operation: produce specific traffic environment based on described traffic environment model emulation, the first car status information is produced based on the emulation of described vehicle dynamic model, and produce under described special traffic environment for driver's decision operation information of described first car status information based on the emulation of described driver behavior model, and according to described driver's decision operation information, described first car status information is adjusted, emulation produces the second car status information, again described second car status information is exported as simulation result；

Wherein, often performing once, the second car status information that will finally obtain, as when performing next time, described vehicle dynamic model emulates the input data of the first car status information produced.

7. the device of a traffic simulation, it is characterised in that including:

Processing unit, for based on the magnanimity driving behavior data obtained and surrounding enviroment data, setting up driver behavior model, based on the magnanimity vehicle dynamics data obtained, set up vehicle dynamic model, and based on the magnanimity traffic environment data obtained, set up traffic environment model；

Simulation unit, for according to setting cycle, specific traffic environment is produced based on described traffic environment model emulation, the first car status information is produced based on the emulation of described vehicle dynamic model, and produce under described special traffic environment for driver's decision operation information of described first car status information based on the emulation of described driver behavior model, and according to described driver's decision operation information, described first car status information is adjusted, emulation produces the second car status information, more described second car status information is exported as simulation result.

8. device as claimed in claim 7, it is characterised in that based on the magnanimity driving behavior data obtained and surrounding enviroment data, when setting up driver behavior model, described processing unit specifically for:

Based on the magnanimity driving behavior data obtained and surrounding enviroment data, parameter and abnormal operation parameter it is accustomed in conjunction with driving behavior, set up driver behavior model, wherein, described driving behavior custom parameter at least includes driver's maximal rate in the process of moving and peak acceleration, and described improper behavioral parameters at least includes maximal rate and the peak acceleration of driver's maloperation.

9. as claimed in claim 7 or 8 device, it is characterised in that during the driver's decision operation information producing under described special traffic environment for described first car status information based on the emulation of described driver behavior model, described simulation unit is used for:

Based on described driver behavior model, current environment parameter is carried out perception, and adopt the environmental classes error preset that sensing results is modified, wherein, including at least the ambient parameter having the predetermined dangerous scene produced based on described traffic environment model in described sensing results；

Based on described sensing results and described first car status information, generate corresponding decision-making, and adopt the Decision Classes error preset that described decision-making is modified, wherein, including at least having the car speed, vehicle acceleration and the vehicle location that produce based on described vehicle dynamic model in described first car status information, including at least there being the vehicle-state control command produced based on described driver behavior model in described decision-making；

Based on the operation behavior that described decision-making is corresponding, and adopt the operation class error preset that described operation behavior is modified, wherein, including at least there being the vehicle operating parameter for implementing described decision-making produced based on described driver behavior model in described operation behavior；

Using revised decision-making and operation behavior as final driver's decision operation information.

10. device as claimed in claim 9, it is characterised in that based on described sensing results and described first car status information, generate corresponding decision-making, and during based on the operation behavior that described decision-making is corresponding, described simulation unit is used for:

If based on described sensing results and described first car status information, when determining the current speed of vehicle be more than or equal to the first safe speed thresholding preset for described special traffic environment, then decision-making is to vehicle deceleration, and generates for characterizing the vehicle operating parameter touched on the brake；

If based on described sensing results and described first car status information, when determining the current speed of vehicle less than the second safe speed thresholding preset for described special traffic environment, then vehicle is accelerated by decision-making, and generates for characterizing the vehicle operating parameter stepped on the gas；

If based on described sensing results and described first car status information, determine vehicle current movement locus deviation for described special traffic environment preset safe trajectory time, then decision-making is to Vehicular turn, and generates the vehicle operating parameter for characterizing steering wheel rotation；

If based on described sensing results and described first car status information, determine current car speed, vehicle acceleration and vehicle location, when all meeting for the safety criterion that described special traffic environment is default, then decision-making is constant to vehicle maintenance current state, and generates for characterizing the vehicle operating parameter maintaining vehicle's current condition.

11. the device as described in any one of claim 7-10, it is characterised in that after described second car status information is exported as simulation result, farther include:

Risk assessment unit, is used for, in conjunction with described specific traffic environment, described second car status information being carried out risk assessment；

And if by risk assessment, then retaining the second current status information；If not passing through risk assessment, then after receiving early warning information, based on described driver behavior model, described second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retains the second up-to-date car status information；Or, if not passing through risk assessment, then according to the optimization policy obtained, described second car status information is adjusted, result will be adjusted as the second up-to-date car status information, and again carry out risk assessment, circulation operation, until the second up-to-date car status information generated is by risk assessment, retain the second up-to-date car status information.

12. the device as described in any one of claim 7-11, it is characterised in that described simulation unit is further used for:

According to setting cycle, circulation performs following operation: produce specific traffic environment based on described traffic environment model emulation, the first car status information is produced based on the emulation of described vehicle dynamic model, and produce under described special traffic environment for driver's decision operation information of described first car status information based on the emulation of described driver behavior model, and according to described driver's decision operation information, described first car status information is adjusted, emulation produces the second car status information, again described second car status information is exported as simulation result；

Wherein, often performing once, the second car status information that will finally obtain, as when performing next time, described vehicle dynamic model emulates the input data of the first car status information produced.