CN103164579A - Method for achieving interactive integration experimental platform of microscopic traffic simulator and driving simulator - Google Patents
Method for achieving interactive integration experimental platform of microscopic traffic simulator and driving simulator Download PDFInfo
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Abstract
The invention relates to a method for achieving an interactive integration experimental platform of a microscopic traffic simulator and a driving simulator. Data of the driving simulator are imported into the microscopic traffic simulator to control an automobile in the microscopic traffic simulator, and the integration of the microscopic traffic simulator and the driving simulator is achieved. The method comprises the following steps: (1) building a traffic environment required by an experiment in the microscopic traffic simulator; (2) extracting driver operation data in the driving simulator; (3) enabling the driver operation data to be read and stored by the microscopic traffic simulator, changing operating parameters of a test automobile, enabling the test automobile to travel according to the operation of a driver, and enabling the other automobiles in the simulation environment to travel according to an inherent simulation strategy in the microscopic traffic simulator; and (4) extracting relevant data, and carrying out experimental evaluation. According to the method for achieving the interactive integration experimental platform of the microscopic traffic simulator and the driving simulator, good simulation can be carried out on real road traffic circulation states, a virtual experiment scene which is more real is provided for the drivers, applied range of the driving simulator is outstandingly improved, and reliability and accuracy of the driving simulation experiments are improved.
Description
Technical field
The invention belongs to intelligent transportation system and traffic simulation technical field, in particular, the present invention relates to a kind of method that realizes microscopic traffic simulation device and the interactive integrated experiment porch of driving simulator.
Background technology
Road traffic system is the complication system that is made of people, car, road, traffic environment elemental, and these key elements are independent action but also restriction mutually not only, has jointly determined the operation conditions of this complication system.Traditional utilization mathematical model method carries out theoretical analysis to driving behavior and has very large difficulty, and there are the problems such as the large and security of the condition restriction, the implementation cost that are subjected to actual scene is not high in on-the-spot real example, and therefore experimental study being carried out in driving behavior is a kind of new technological means.The development of virtual reality technology makes the virtual driving experiment more and more become the focus of present academic research and Enterprise product development.
In recent years, along with the progressively enforcement of intelligent transportation system in China, microscopic traffic simulation device (or being referred to as microscopic traffic simulation software) also is widely used in China, as VISSIM, PARAMICS, AIMSUN etc.The microscopic traffic simulation device is to be based upon operation action take each vehicle as elementary cell, describes the key element of traffic system and the traffic system model of behavior details in detail.Each vehicle on road with car, overtake other vehicles and the microscopic behavior such as lane changing can obtain reflecting more really.The microscopic traffic simulation device is to move in individual calculus, and before emulation began, in case the driving behavior setting parameter, emulation will be according to the behavioral parameters operation of setting.It can not reflect the behavior situation of change of different drivers in different traffic scenes in real time; Due to people's behavior (Human factors) diversity, for the mankind's traffic behavior parameter that does not relate in the microscopic simulation device, can not carry out emulation experiment simultaneously.
At present, driving simulator has become road traffic research, management and design department as the simulated reality experiment instrument of a specialty studied the important science tools of traffic problems under the controlled condition of laboratory.It allows the researchist to set up arbitrarily the virtual scene that certain has traffic specific environment and traffic dynamic feature, and realization realizes dynamic information collection, the experiment of parameter analysis and simulation to all kinds of road traffic problems to steering vehicle, traffic current, pedestrian's dynamic parameter and the control with good conditionsi of other environmental factor on driving analog system.The workflow of tradition driving simulator is mainly driver's Control experiment car and travels separately in simple road scene, then exports by data, analyzes driver's driving behavior.Under comparatively complicated traffic flow scene, fixed wagon flow setting is mainly taked in the emulation of traffic flow, be that the characteristics of motion of pre-set surrounding vehicles is by fixing route running, can not embody vehicle that the driver controls and the dynamic interaction behavior between surrounding vehicles, more can not embody the entire system variation characteristic that causes due to the wagon flow reciprocation (as the parking ripple of traffic flow, start ripple etc.).Be that the advantage of driving simulator is the virtual experimental that is to single garage, how study individual driving behavior to the present technology of the impact experiment of traffic flow and method also " helpless ".
In sum, respectively there are relative merits in microscopic traffic simulation device and driving simulator, if both are combined, existing real driver's driving behavior information on driving simulator, microscopic traffic flow true to nature is arranged again in virtual scene, just can realize the drive simulation comprehensive simulating based on the microscopic traffic simulation device, i.e. the interactive integrated experiment porch of a kind of microscopic traffic simulation device of applying for of this patent and driving simulator.
Summary of the invention
The object of the invention is to propose a kind of microscopic traffic simulation device and interactive integrated method of driving simulator of realizing.
The interactive integrated method of microscopic traffic simulation device and driving simulator that realizes that the present invention proposes, specifically implementation step is as follows:
(1) set up the required traffic environment of experiment in the microscopic traffic simulation device, described traffic environment comprises the basic parameter of road network information, traffic management policy information and traffic flow;
(2) choose instruction carriage
The operation traffic simulation, when traffic flow modes was stablized, according to the emulation needs, the vehicle that is chosen in the appearance of a certain suitable time and suitable location was chosen for instruction carriage, records the ID of this vehicle in the simulation run process, and assignment is given corresponding control module;
(3) utilize data to read with conversion module and complete extract real-time to the driving simulator operation signal, the driver's that extracts operation signal is converted into data message, for example acceleration/deceleration signal is converted into pedal dynamics value, signal for turn is converted into bearing circle angle changing etc.Then, utilize data to read the data message that extracts reflection driver's operation in driving simulator with conversion module, and it is stored in data file, file type can be database file or text;
(4) development data reads and conversion module, by the second development interface of microscopic simulation device, it is embedded in the microscopic traffic simulation device.Make the microscopic traffic simulation device synchronously read the data file of storage reaction driver's operation, and make the data file of reaction driver's operation be converted into the data that the microscopic traffic simulation device can be identified by corresponding conversion function, the transmitting data file of reflection driver's operation to the corresponding parameter of instruction carriage, is realized that instruction carriage in the microscopic traffic simulation device is by driver's operational drive.Data read with conversion module the correlation parameter of non-test vehicle in simulated environment are protected simultaneously, and it is travelled according to Simulation Strategy intrinsic in the microscopic traffic simulation device;
(5) utilize data to read the database module of accessing the microscopic traffic simulation device with conversion module, associated vehicle data around the instruction carriage data that produce in real time in simulation process are reached, extract in database module from the microscopic traffic simulation device, be stored in data file, carry out experimental evaluation.
In the present invention, described in step (1), road network information comprises: the layout in highway section, the geometric properties of road, the flow direction of crossing or ring road mouth is controlled, the behavior type on the highway section (urban district, right lateral principle, highway, walkway, cycle track) and the gradient and expense etc.
In the present invention, described in step (1), the traffic management policy information comprises: slow down or stop and control, the signal controlling of crossing is changed controls on the highway section, conflict point, interwoven region and divide the priority pass strategy etc. of junction of two streams.
In the present invention, in step (1), the traffic flow basic parameter comprises: the flow on the road all directions, the type of vehicle and vehicle form structure, and the driving behavior data of vehicle are as with car, lane change, horizontal behavior basic parameter, and to the response situation of traffic signals etc.
In the present invention, the data message that in step (3), driving simulator extracts comprises: the steering wheel angle of driving simulator, the dynamics of throttle and brake pedal etc.
In the present invention, in step (4), microscopic traffic simulation device and driving simulator can influence each other.On the one hand, the data of driving simulator can change the data of instruction carriage in the microscopic traffic simulation device, and then change the traffic circulation state by the analogy model of microscopic traffic simulation device; On the other hand, the microscopic traffic simulation device can the visualization display real-time traffic states, therefore affects judgement, decision-making and the operation of driving simulator steering vehicle.
In the present invention, in step (5), instruction carriage data and associated vehicle data can selectively be extracted, comprise: simulation time, the coordinate of instruction carriage and instruction carriage surrounding vehicles, speed, acceleration, lane changing, vehicle heading and road axis angulation, the headstock Ullage of vehicle and instruction carriage etc.
The present invention has utilized the advantage of microscopic traffic simulation device, and the fixed die blocking element in traditional driving simulator has proposed improvement project.The present invention also improves the Simulation Calculation of microcosmic traffic simulator, the operation information that makes it not only comprise traffic environment information but also comprise the driver, so both can be by having utilized the traffic flow model in the microscopic traffic flow simulation device, greatly improve experiment porch to the experimental precision of traffic flow behavior, can by data acquisition module and the corresponding real-time transmission driver's operation signal of sensor-based system of driving simulator, strengthen the analysis ability of experiment porch to the individual character traffic behavior again.In addition, the invention provides a kind of mutual method that realizes microscopic traffic simulation device and driving simulator.Particularly, on the one hand, the operation signal of driving simulator can pass through a series of reading and writing datas and modular converter, be converted into the data-signal that the microscopic traffic simulation device can be identified, change the correlation parameter of instruction carriage in the microscopic traffic simulation device, and then change the traffic circulation state by the Simulation Calculation of microscopic traffic simulation device; On the other hand, the microscopic traffic simulation device can the visualization display real-time traffic states, therefore affects driver's judgement, decision-making and operation.The method has the characteristics easy, that experiment interactive is strong, experimental precision is high and application cost is low of implementing.
Description of drawings
Fig. 1 is the implementing procedure figure of microscopic traffic simulation device of the present invention and the interactive integrated experiment porch of driving simulator;
Fig. 2 is driving simulator decision information extraction module block diagram;
Fig. 3 is the service data that driving simulator is exported in the driver is slowed down the craspedodrome process;
Fig. 4 is driving simulator data and microscopic traffic simulation device correlation parameter conversion module block diagram;
Fig. 5 is instruction carriage and associated vehicle desired data extraction module block diagram on every side thereof.
Embodiment
Further illustrate by reference to the accompanying drawings the present invention below by embodiment.
Embodiment: this research is on the basis of the microscopic traffic simulation device that combines traditional driving simulator and advanced person, the interactive integrated experiment porch of the microscopic traffic simulation device of structure and driving simulator.Elaborate below in conjunction with 1 pair of concrete implementation step of the present invention of accompanying drawing; this embodiment is implemented under take technical solution of the present invention as prerequisite; detailed embodiment and concrete operating process have been provided; but protection scope of the present invention is not limited to following embodiment, need to prove that in addition microscopic traffic simulation device and the driving simulator mentioned in the present invention are not limited to certain specific microscopic traffic simulation device and driving simulator.
This embodiment is take Logitech G27(bearing circle, gear and the large assembly of pedal three) driving simulator and VISSIM 5.40 version microscopic traffic simulation devices are the basis, on overhead certain highway section of ring, ring road as simulated scenario, carries out driver's the experiment of diverting one's attention to drive in the Shanghai City.Concrete steps are as follows:
(1) set up the test scene
By the shooting video, and then obtain the road basic parameters such as number of track-lines, lane width, road section length, ring road position, up and down of simulation through street, highway section, use VISSIM microscopic traffic simulation device and set up experiment scene, comprise according to the experiment demand and set up realistic road network.In addition, also to add the traffic management strategy in reality in road network, change control and interlacing rule etc. as ring road entry signal control parameter, through street.Next, add the realistic typical volume of traffic and vehicle ratio by the VISSIM correlation function, whether the traffic circulation situation of observing in VISSIM is consistent with actual, if undesirable find problem reason, further adjust road network and traffic management strategy, until the simulated effect in VISSIM can the closing to reality situation.
The required transport environmental condition of experiment is set in the test scene that has established, this experiment need to be adjusted the volume of traffic in VISSIM, make the volume of traffic on the through street reach respectively highly dense steady flow, near state of saturation and hypersaturated state, test respectively under three kinds of different volume of traffic conditions.
(2) choose instruction carriage
Operation VISSIM emulation, when traffic flow modes was stablized, choosing west side, viaduct entrance appearance one black vehicle was instruction carriage, record the ID of this vehicle in the simulation run process, and assignment is given corresponding control module.
(3) extract and transform the operation signal of driving simulator
Utilize data to read with conversion module and complete extract real-time to Logitech G27 driving simulator operation signal, driver's operation signal is converted into data message, acceleration/deceleration signal is converted into pedal dynamics value, signal for turn is converted into the bearing circle angle changing.Pedal dynamics value represents with the ratio that actual pedal amplitude accounts for the pedal amplitude peak, and gas pedal represents with 0 to 1 positive number, and brake pedal is with-1 to 0 negative number representation; Bearing circle angle changing data can represent with the ratio that actual rotational angle accounts for hard-over, and turn left to be-1 to 0 negative, right-hand rotation is 0 to 1 positive number.Be stored in data file transforming later driving simulator service data information.Fig. 2 has shown the flow process of program, and Fig. 3 has shown the service data that instruction carriage produces in deceleration craspedodrome process.
(4) the microscopic traffic simulation device reads the driving simulator service data
By the outside pilot model of VISSIM, read the file of memory of driving simulator service data, and carry out the processing of data by correlation module, will reflect that at last the data transmission of driver's operation is to the corresponding parameter of instruction carriage.Particularly, the pedal data of driving simulator can be used as the variable that changes instruction carriage speed and acceleration, the bearing circle data of driving simulator can be used as change that instruction carriage turns to, the data of corner and lane change.As shown in Figure 4.
All data modules are integrated in the outside pilot model of VISSIM in experimentation, like this in the experiment simulation process, can realize that the driver passes through the state of the real-time Control experiment car of driving simulator, other vehicles and Transportation Strategies in simulating scenes can normally be moved according to the intrinsic method of VISSIM, utilize the intrinsic traffic simulator of VISSIM to reflect the impact that instruction carriage causes in road network.
(5) instruction carriage and surrounding vehicles characteristic thereof are extracted
In experimentation, the driver is driven with the three kinds of driving behaviors of concentrating one's energy, make a phone call, send short messages respectively, experimental data is stored in data memory module.Outside pilot model by VISSIM, extract the desired data that carries out next step research from the data memory module of VISSIM, these data comprise simulation time, instruction carriage reaches coordinate, speed, the acceleration in the instruction carriage surrounding vehicles, lane changing, vehicle heading and road axis angulation, the headstock Ullage of vehicle and instruction carriage etc.As shown in Figure 5.
Claims (7)
1. realize microscopic traffic simulation device and the interactive integrated method of driving simulator for one kind, it is characterized in that concrete steps are as follows:
(1) set up the required traffic environment of experiment in the microscopic traffic simulation device, described traffic environment comprises the basic parameter of road network information, traffic management policy information and traffic flow;
(2) choose instruction carriage
The operation traffic simulation, when traffic flow modes was stablized, according to the experiment needs, the vehicle that is chosen in the appearance of a certain suitable time and suitable location was chosen for instruction carriage, records the ID of this vehicle in the simulation run process, and assignment is given corresponding control module;
(3) utilize data to read with conversion module and complete extract real-time to the driving simulator operation signal, the driver's that extracts operation signal is converted into data message, then, utilize data to read the data message that extracts reflection driver's operation in driving simulator with conversion module, and it is stored in data file, and file type can be database file or text;
(4) embedding data reads and conversion module in the microscopic traffic simulation device, make the microscopic traffic simulation device synchronously read the data file of storage reaction driver's operation, and make the data file of reaction driver's operation be converted into the data that the microscopic traffic simulation device can be identified by corresponding conversion function, the transmitting data file of reflection driver's operation to the corresponding parameter of instruction carriage, is realized that instruction carriage in the microscopic traffic simulation device is by driver's operational drive; Data read with conversion module the correlation parameter of non-test vehicle in simulated environment are protected simultaneously, and it is travelled according to Simulation Strategy intrinsic in the microscopic traffic simulation device;
(5) utilize data to read the database module of accessing the microscopic traffic simulation device with conversion module, associated vehicle data around the instruction carriage data that produce in real time in simulation process are reached, extract in database module from the microscopic traffic simulation device, be stored in data file, carry out experimental evaluation.
2. the described interactive integrated method of microscopic traffic simulation device and driving simulator that realizes according to claim 1, it is characterized in that described in step (1), road network information comprises: the layout in highway section, the geometric properties of road, the flow direction of crossing or ring road mouth is controlled, the behavior type on the highway section and the gradient and expense.
3. the described interactive integrated method of microscopic traffic simulation device and driving simulator that realizes according to claim 1, it is characterized in that described in step (1), the traffic management policy information comprises: slow down or stop and control, the signal controlling of crossing, change control, the priority pass strategy of conflict point, interwoven region and minute junction of two streams on the highway section.
4. the described interactive integrated method of microscopic traffic simulation device and driving simulator that realizes according to claim 1, it is characterized in that in step (1), the traffic flow basic parameter comprises: the flow on the road all directions, the type of vehicle and vehicle form structure, the driving behavior data of vehicle are as with car, lane change, horizontal behavior basic parameter, and to the response situation of traffic signals.
5. the described interactive integrated method of microscopic traffic simulation device and driving simulator that realizes according to claim 1, it is characterized in that the data message that in step (3), driving simulator extracts comprises: the steering wheel angle of driving simulator, the dynamics of throttle and brake pedal.
6. the described interactive integrated method of microscopic traffic simulation device and driving simulator that realizes according to claim 1 is characterized in that in step (4), microscopic traffic simulation device and driving simulator can influence each other; On the one hand, the data of driving simulator can change the data of instruction carriage in the microscopic traffic simulation device, and then change the traffic circulation state by the analogy model of microscopic traffic simulation device; On the other hand, the microscopic traffic simulation device can the visualization display real-time traffic states, therefore affects judgement, decision-making and the operation of driving simulator steering vehicle.
7. the described interactive integrated method of microscopic traffic simulation device and driving simulator that realizes according to claim 1, it is characterized in that instruction carriage data and associated vehicle data can selectively be extracted in step (5), comprise: simulation time, the coordinate of instruction carriage and instruction carriage surrounding vehicles, speed, acceleration, lane changing, vehicle heading and road axis angulation, the headstock Ullage of vehicle and instruction carriage.
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| CN103345548A (en) * | 2013-06-27 | 2013-10-09 | 同济大学 | Integrated network experiment platform for integrating microcosmic traffic simulator with multiple driving simulators |
| CN103345548B (en) * | 2013-06-27 | 2016-04-20 | 同济大学 | Microscopic traffic simulation device and many driving simulators integrated network experiment porch |
| CN103971517A (en) * | 2014-05-19 | 2014-08-06 | 迈锐数据（北京）有限公司 | Real-time data traffic simulation method and system |
| CN104462716A (en) * | 2014-12-23 | 2015-03-25 | 北京理工大学 | Method for designing brain-computer interface parameters and kinetic parameters of brain controlled vehicle based on human-vehicle-road model |
| CN104462716B (en) * | 2014-12-23 | 2017-10-27 | 北京理工大学 | A kind of the brain-computer interface parameter and kinetic parameter design method of the brain control vehicle based on people's bus or train route model |
| CN105047057A (en) * | 2015-07-09 | 2015-11-11 | 同济大学 | Highway network macroscopic traffic flow simulation method with consideration of multiple driver styles and lane selection preferences |
| CN105047057B (en) * | 2015-07-09 | 2017-07-28 | 同济大学 | A kind of high through street Macro-traffic Flow emulation mode of multi-user's multilane |
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| CN108376061A (en) * | 2016-10-13 | 2018-08-07 | 北京百度网讯科技有限公司 | Method and apparatus for developing automatic driving vehicle application |
| CN108376061B (en) * | 2016-10-13 | 2019-12-10 | 北京百度网讯科技有限公司 | Method and apparatus for developing unmanned vehicle applications |
| CN106781461A (en) * | 2016-12-02 | 2017-05-31 | 交通运输部公路科学研究所 | A kind of freeway net operation situation deduces thermal starting technology online |
| CN109765800A (en) * | 2018-12-28 | 2019-05-17 | 长安大学 | A kind of running simulation computing system based on driver behavior real time data acquisition |
| CN111815940A (en) * | 2019-04-09 | 2020-10-23 | 阿里巴巴集团控股有限公司 | Traffic simulation method and device, electronic equipment and computer readable storage medium |
| CN110887674A (en) * | 2019-12-03 | 2020-03-17 | 吉林大学 | Method for testing hydrogen consumption of fuel cell automobile |
| CN111753425A (en) * | 2020-06-26 | 2020-10-09 | 北京百度网讯科技有限公司 | Simulation method, simulation device, electronic equipment and storage medium |
| CN111753425B (en) * | 2020-06-26 | 2023-07-25 | 北京百度网讯科技有限公司 | Simulation method, simulation device, electronic equipment and storage medium |
| CN112504348A (en) * | 2020-12-11 | 2021-03-16 | 厦门汇利伟业科技有限公司 | Object state display method and system fusing environmental factors |
| CN114067561A (en) * | 2021-10-25 | 2022-02-18 | 东南大学 | Virtual reality testing method for urban expressway vehicle-road cooperative active management and control system |
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