CN110119528A - A kind of random traffic flow simulation system of bridge based on intelligent body cellular automata - Google Patents
A kind of random traffic flow simulation system of bridge based on intelligent body cellular automata Download PDFInfo
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Abstract
The invention belongs to traffic and bridge technology field, and in particular to one kind is based on the random traffic flow simulation system of bridge of intelligent body cellular automata (Agent-CA).The system can the bridge traffic to various lanes simulate, firstly, importing actual measurement, historical data or common vehicle parameter, while the traffic environment parameter of specific bridge being inputted.Then, user can carry out selection definition according to the operation rule of a variety of models under specific traffic rules, acceleration and deceleration, random deceleration, lane-change, maximum speed limit including vehicle etc..It is finally based on Agent-CA model, simulation obtains the process that each vehicle travels on bridge.The system can obtain the bridge wagon flow distribution situation at arbitrarily simulate moment, and user can illustrate the real-time dynamic driving process of vehicle on lane or on the part lane of selection.
Description
Technical field
The invention belongs to traffic and bridge technology field, and in particular to one kind is based on intelligent body cellular automata (Agent-
CA the random traffic flow simulation system of bridge).
Background technique
Wagon flow is one by groups such as many elements for connecting each other, interacting, such as people, vehicle, road, environment and rule
At complication system, restriction and influence by many factors.Random motion profile of the wagon flow on bridge is for accurately commenting
Estimate stress characteristic of the bridge under vehicle-mounted, and has important role for the safe early warning of bridge.
The simulation of bridge traffic flow at present mainly uses four kinds of models: White Noise Model, Poisson model, monte-Carlo model
And the cellular Automation Model of microcosmic Simulation.First three model is all based on given random process, cannot consider vehicle and vehicle
Between influence each other and influence of the traffic rules for wagon flow.Each vehicle is considered as homogeneity by traditional cellular Automation Model
, therefore cannot consider the difference in length and driving behavior difference of different vehicle.
Summary of the invention
It cannot consider that behavioral difference is lower so as to cause prediction accuracy between vehicle for existing in the prior art
Problem, the invention proposes a kind of random traffic flow simulation systems of bridge for being based on intelligent body cellular automata (Agent-CA), adopt
It is realized with following technical solution:
Including bridge parameter setting module, vehicle parameter setting module, operation rule setting module, intelligent body generation module
With random traffic flow simulation module；
The bridge parameter setting module is used to set the length and number of track-lines of bridge, access bridge length and number of track-lines, each vehicle
The speed limit of each vehicle in road, bridge and access bridge be capable of normal pass number of track-lines and each lane allow by vehicle；
The vehicle parameter setting module is for setting wagon flow flow, vehicle vehicle, the vehicle of each vehicle ratio and each vehicle
It is long；
For setting the rule of vehicle on bridge when driving, the operation rule includes the operation rule setting module
Bicycle road rule, two-way traffic rule and three lanes rule；
The intelligent body generation module is used to for vehicle being equivalent to intelligent body and is carried out according to the vehicle of vehicle to intelligent body
Classification, the intelligent body using cellular length as unit length, and the cellular that every class intelligent body includes is in varying numbers；
Random traffic flow simulation module is for setting simulated time, by intelligent body and the bridge parameter set, vehicle parameter
It is emulated with operation rule, obtains the bridge wagon flow distribution situation in simulated time.
Further, the length of the cellular is 2.5m.
Further, intelligent body is divided by following a few classes, two axis kart, the medium-sized goods of two axis according to the vehicle of vehicle
Vehicle, the axis large-sized truck of two axis large-sized trucks, three or four and large-scale towed vehicle.
Further, the bridge parameter setting module sets the unidirectional number of track-lines of bridge are as follows: bicycle road, two-way traffic or three
Lane.
Further, when unidirectional number of track-lines is bicycle road, the bicycle road rule includes:
A, accelerate rule
If vehicle i is in the speed value v of t momenti(t) meet:And vi(t)<vmax, then vehicle i is under
The speed value of one time step are as follows: vi(t+dt)=vi(t)+1,
Wherein,It indicates the distance between vehicle i and vehicle i-1 nearest in front of it and unit is 1 cellular, cellular
It is indicated with cell, dt indicates that unit time step-length unit is second, VmaxIndicate the affiliated vehicle of vehicle i in the maximum speed limit in the lane
Value, unit cell/dt；
B, slow down regular
If vehicle i is in the speed value v of t momenti(t) meet:Then vehicle i is in next time step
Speed vi(t+dt) value withIt is equal；
C, random rule of slowing down
If vehicle i is in the speed value v of t momenti(t) meet: vi(t) > 0, then vehicle i can be according to random deceleration Probability Pb
Slow down, speed value of the vehicle i to be slowed down immediately in future time step-length are as follows: vi(t+dt)=vi(t)-1；
D, at the uniform velocity advance regular
When above three acceleration and deceleration rule is not satisfied, vehicle i can keep current vehicle speed constant, vi(t+dt)=vi
(t)。
Further, when unidirectional number of track-lines is two-way traffic, definition left-lane is the lane close from bridge center line, described
Two-way traffic rule includes:
A, right lane rule is changed from left-lane:
If vehicle i meets:OrThen vehicle i becomes from left-lane
To right lane, Δ is control vehicle lane-changing parameter in road；
Wherein,Indicate vehicle i and following distance before right lane,Indicate vehicle i and following distance before left-lane,Indicate vehicle i and following distance after left-lane；
B, left-lane rule is changed from right lane
If vehicle i meets:Then vehicle i from right lane lane change to
Left-lane.
Further, when unidirectional number of track-lines is three lanes, defining from bridge center line is recently lane one, train
Road two, most far lane three, the three lanes traveling rule include:
A, lane two change trains one rule
If vehicle i meets:Then vehicle i is from two lane change of lane to vehicle
Road one；
Wherein, gap2Indicate two vehicular gap of lane,Indicate two vehicle of lane and following distance before lane one,
Indicate two vehicle of lane and following distance behind lane one,Indicate one vehicle of lane and following distance before lane two,Indicate vehicle
Following distance after one vehicle of road and lane two,Indicate two vehicle of lane and following distance before lane three,Indicate lane two
Following distance after vehicle and lane three,Indicate three vehicle of lane and following distance before lane two,Indicate three vehicle of lane
With following distance behind lane two, Δ is control vehicle lane-changing parameter；
B, lane two is changed trains three sigma rule
If vehicle i meets:Then vehicle i is from two lane change of lane to vehicle
Road three；
C, lane one change trains two rule
If vehicle i meets:Or Then vehicle i is from one lane change of lane to lane two；
D, lane three change trains two rule
If vehicle i meets:Then vehicle i is from three lane change of lane to vehicle
Road two.
The present invention include it is following the utility model has the advantages that
(1) present invention is the discrete grid dynamics of a kind of time based on Agent-CA traffic simulation, space, state
Model, the global behavior of complication system is embodied by the interaction of intelligent body, and structure mould mode meets the shape of traffic system very much
At rule and the research method of microscopic traffic simulation, therefore the main feature of the random wagon flow simulated and practical wagon flow being capable of pole
It is big to coincide, can for bridge under vehicle-mounted health monitoring and security evaluation in terms of play an important role.
(2) the present invention is based on the simulation of intelligent body change the random traffic flow model of traditional CA there are the problem of.Traditional CA mould
Type can not real simulation difference vehicle commander vehicle respective ride characteristic in actual traffic stream.In addition, in routine CA model due to
Rule limitation, the operation rule of all vehicles be it is identical, the maximum speed of different automobile types is different in practice, and different automobile types are being transported
Acceleration and deceleration rule and maximum speed when row require to correspond, and conventional CA model fails to embody the individual difference of different automobile types
It is different.The present invention can embody the different vehicle commanders of random wagon flow and the otherness of maximum speed limit.
(3) system can indicate different vehicles by handling obtained data with different symbols, can
The process of wagon flow dynamic traveling is realized in operation interface, which enables people to the travel situations for intuitively observing wagon flow
(lane-change, acceleration and deceleration).For not knowing about the science of bridge building teacher of traffic model, also can easily be operated by the system,
Data needed for obtaining structure safety analytical.
(4) on the one hand this system, which enables to engineering staff to input by simple parameter, can be obtained by and meet practical friendship
The wagon flow of logical feature, additionally it is possible to quick the detailed data for extracting wagon flow through the invention, further to exist below to bridge
Force model response analysis under vehicle-mounted provides important data basis.
Detailed description of the invention
Fig. 1 is the intelligent transportation analogue system flow chart in conjunction with intelligent body and cellular automata；
Fig. 2 tradition CA model and Agent-CA model schematic；
Fig. 3 bicycle road travels rule schema；
Fig. 4 two-way traffic travels rule schema；
Fig. 5 three lanes travel rule schema；
Fig. 6 is initial selected surface chart；
Fig. 7 is that two lane parameters input and calculate surface chart；
Fig. 8 is that three lanes parameter inputs and calculates surface chart；
Fig. 9 is that data processing and result show surface chart；
Figure 10 is two lane flow display diagrams；
Figure 11 is three lanes wagon flow display diagram；
Figure 12 is segment section wagon flow display diagram.
Below in conjunction with drawings and examples, present invention work is further clearly and completely described.
Specific embodiment
The core of the system is cellular automata (Cellular Automaton, abbreviation based on intelligent body (Agent)
CA) extended model, i.e. intelligent Cellular Automata for Realistic (Agent-CA) model.A variety of models are considered as by Agent-CA model to be had respectively
The intelligent body (Agent) of characteristic, vehicle operation characteristic (such as safe following distance, traveling of a variety of models that actual measurement statistics is obtained
Selection, speed change feature of road etc.) it is dissolved into analogue system.
A kind of random traffic flow simulation system of bridge based on intelligent body cellular automata, including bridge parameter setting module,
Vehicle parameter setting module, operation rule setting module, intelligent body generation module and random traffic flow simulation module；
The bridge parameter setting module is used to set the length and number of track-lines of bridge, access bridge length and number of track-lines, each vehicle
The speed limit of each vehicle in road, bridge and access bridge be capable of normal pass number of track-lines and each lane allow by vehicle；
The vehicle parameter setting module is for setting wagon flow flow, each vehicle vehicle, the vehicle of vehicle ratio and each vehicle
It is long；
For setting the rule of vehicle on bridge when driving, the operation rule includes the operation rule setting module
Bicycle road rule, two-way traffic rule and three lanes rule, the wagon flow in another direction only need to be joined according to the wagon flow of the direction
Numerical value simulate again；
The intelligent body generation module is used to for vehicle being equivalent to intelligent body and is carried out according to the vehicle of vehicle to intelligent body
Classify, length shared by the intelligent body is made of cellular as length unit, and the cellular of every class intelligent body is in varying numbers；
Random traffic flow simulation module is for setting simulated time, by intelligent body and the bridge parameter set, vehicle parameter
It is emulated with operation rule, obtains the bridge wagon flow distribution situation in simulated time.
The present invention is based on the simulation of intelligent body change traditional CA model there are the problem of.Traditional CA model can not embody not
With vehicle commander's vehicle in actual traffic stream respective ride characteristic.In addition, since rule limits in routine CA model, all vehicles
Operation rule be it is identical, the maximum speed of different automobile types is different in practice, therefore the acceleration and deceleration of different automobile types at runtime
Rule and maximum speed require to correspond, and fail the individual difference for embodying different automobile types, and the present invention simulates random
The main feature of wagon flow and practical wagon flow can greatly coincide, and play for security evaluation and safe early warning of the bridge under vehicle-mounted
Important role.
Specifically, the vehicle parameter further includes vehicle acceleration and deceleration probability and lane-change probability.
Preferably, the length of the cellular is 2.5m.The length, which can facilitate, is arranged integer-bit to common vehicle types intelligent body
Cellular number and smaller with physical length error.
Specifically, intelligent body is divided by following a few classes according to the vehicle of vehicle, two axis kart, two axis medium trucks,
The axis large-sized truck of two axis large-sized trucks, three or four and large-scale towed vehicle.User can carry out customized expansion according to demand.
Preferably, table 1 is each vehicle maximum speed limit Table V max (unit: cell/dt)
Further, the bicycle road rule includes:
A, accelerate rule
If vehicle i is in the speed value v of t momenti(t) meet:And vi(t)<vmax, then vehicle i is under
The speed value of one time step are as follows: vi(t+dt)=vi(t)+1,
Wherein,It indicates the distance between vehicle i and vehicle i-1 nearest in front of it and unit is cell, dt is indicated
Unit time step-length is generally taken as 1s, vmaxThe affiliated vehicle of vehicle i is indicated in the value of the maximum speed limit in the lane, unit is
cell/dt；
B, slow down regular
If vehicle i is in the speed value v of t momenti(t) meet:Then vehicle i is in next time step
Speed vi(t+dt) value withIt is equal；
C, random rule of slowing down
If vehicle i is in the speed value v of t momenti(t) meet: vi(t) > 0, then vehicle i can be according to random deceleration Probability Pb
Slow down, speed value of the vehicle i to be slowed down immediately in future time step-length are as follows: vi(t+dt)=vi(t)-1；
D, at the uniform velocity advance regular
When above three acceleration and deceleration rule is not satisfied, vehicle i can keep current vehicle speed constant, vi(t+dt)=vi
(t)。
Further, the two-way traffic rule includes:
A, right lane rule is changed from left-lane:
Left-lane is defined as the lane close from bridge center line, if vehicle i meets: Then vehicle i is from left-lane lane change to right lane；
Wherein,Indicate vehicle i and following distance before right lane,Indicate vehicle i and following distance before left-lane,Indicate vehicle i and following distance after left-lane；
B, left-lane rule is changed from right lane
If vehicle i meets:Then vehicle i is from right lane lane change to left-lane.
Further, the three lanes traveling rule includes:
A, lane two change trains one rule
If vehicle i meets:Then vehicle i is from two lane change of lane to vehicle
Road one；
Wherein, gap2Indicate two vehicular gap of lane,Indicate two vehicle of lane and following distance before lane one,
Indicate two vehicle of lane and following distance behind lane one,Indicate one vehicle of lane and following distance before lane two,It indicates
Following distance after one vehicle of lane and lane two,Indicate two vehicle of lane and following distance before lane three,Indicate lane
Following distance after two vehicles and lane three,Indicate three vehicle of lane and following distance before lane two,Indicate three vehicle of lane
Following distance after with lane two, Δ is control vehicle lane-changing parameter；
B, lane two is changed trains three sigma rule
If vehicle i meets:Then vehicle i is from two lane change of lane to vehicle
Road three；
C, lane one change trains two rule
If vehicle i meets:Or Then vehicle i is from one lane change of lane to lane two；
D, lane three change trains two rule
If vehicle i meets:Then vehicle i is from three lane change of lane to vehicle
Road two.
Meanwhile the present invention is based on MATLAB GUI interactive operation interfaces to establish the random traffic flow simulation system of bridge, user
It can be defeated by the traffic environment parameter and vehicle parameter of the operation rule of a variety of models and bridge in the interface setting simulated time
Enter the random traffic flow simulation system of bridge to be emulated, obtain the bridge wagon flow distribution in simulated time,
Specific steps are as follows: it is as shown in Figure 6 first to establish choosing lane interface；Then the parameter input of two three lanes is established respectively
Runnable interface is as shown in Figure 7, Figure 8, which is divided into road and bridge environmental parameter, wagon flow parameter, Agent-CA parameter (in GUI
Edit button obtains corresponding parameter input value) and operation part (Background scheduling intelligent body operation rule program code)；
Different type vehicle is indicated with distinct symbols in MATLAB gui interface, is drawn out with MATLAB drawing function
Then lane schematic diagram is shown the real-time dynamic driving process of vehicle by vehicle per moment affiliated lane and its position, used
Person can also set the wagon flow distribution motion process needed in the simulation period to be shown in interface.
The following provides a specific embodiment of the present invention, it should be noted that the invention is not limited to implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment 1:
1) it is inputted using Hebei actual measurement traffic information as vehicle parameter, 5 kinds of intelligent bodies is defined according to vehicle classification, with one
A length of 300 meters of bridge of two lane continuous rigid frame bridges are background, lead the way and take 500 meters, each cellular length takes 2.5 meters.It initially enters just
Beginning selection interface is as shown in fig. 6, be three lanes or two lanes according to the selection of affiliated carriageway type, and select vehicle quantity and ratio
The parameters such as example.
2) by vehicle, bridge, ca parameter data entry program, flow chart is as shown in Figure 1, generate wagon flow primary data, judgement
Whether meet lane-change condition, label lane-change vehicle, then calculate following distance, car speed is updated according to following distance, finally more
New information stores.Specific input supplemental characteristic interface such as Fig. 7.
3) after wagon flow data have been calculated, into next step, data is handled, the real-time dynamic row in two lanes is drawn out
Figure is sailed, the results are shown in Figure 10.If there is the wagon flow than comparatively dense, display may be unclear on limited interface, here
A part of bridge can be voluntarily selected, the wagon flow above Partial Bridges is drawn.Part train flow diagram is as shown in figure 12.
Embodiment 2:
1) using a length of 908 meters of a bridge of three lanes cable-stayed bridge as background, 5 kinds of intelligent bodies are defined according to vehicle classification,
It leads the way and takes 500 meters, each cellular length takes 2.5 meters.Initial selected interface is initially entered as shown in fig. 6, according to affiliated carriageway type
Selection is three lanes or two lanes, and selects the parameters such as vehicle quantity and ratio.
2) by vehicle, bridge, ca parameter data entry program, flow chart is also as shown in Figure 1, generating wagon flow primary data, sentencing
Break and whether meet lane-change condition, label lane-change vehicle, then calculate following distance, car speed is updated according to following distance, finally handle
The information of update stores.Data interface such as Fig. 8 of specific input parameter.
3) after wagon flow data have been calculated, into next step, data is handled, the real-time dynamic row of three lanes is drawn out
Figure is sailed, as a result as shown in figure 11.If there is the wagon flow than comparatively dense, display may be unclear on limited interface, here
Any length section of bridge can be voluntarily selected, the wagon flow of bridge portion position is drawn.Part train flow diagram is as shown in figure 12.
In conclusion the intelligent transportation analogue system of combination intelligent body and cellular automata of the invention, it can be accurately fast
Traffic flow operating condition on fast simulation bridge road.Overcome traditional CA model can not real simulation difference vehicle commander's vehicle exist
Respective ride characteristic in actual traffic stream.The individual difference for embodying different automobile types, in simulation more relative to traditional CA
Accurately.In addition effectively controlling bridge size, vehicle maximum speed limit, vehicle, ca parameter etc., the vehicle that people want can be quickly generated
Flow data, so that the analogue system is more intelligent.
Claims (7)
1. a kind of random traffic flow simulation system of bridge based on intelligent body cellular automata, which is characterized in that including bridge parameter
Setting module, vehicle parameter setting module, operation rule setting module, intelligent body generation module and random traffic flow simulation module；
The bridge parameter setting module is used to set the length and number of track-lines of bridge, access bridge length and number of track-lines, in each lane
The speed limit of each vehicle, bridge and access bridge be capable of normal pass number of track-lines and each lane allow by vehicle；
The vehicle parameter setting module is for setting wagon flow flow, vehicle vehicle, the vehicle commander of each vehicle ratio and each vehicle；
For the operation rule setting module for setting the rule of vehicle on bridge when driving, the operation rule includes bicycle
Road rule, two-way traffic rule and three lanes rule；
The intelligent body generation module is used to that vehicle to be equivalent to intelligent body and classifies to intelligent body according to the vehicle of vehicle,
The intelligent body using cellular length as unit length, and the cellular that every class intelligent body includes is in varying numbers；
Random traffic flow simulation module is for setting simulated time, by intelligent body and the bridge parameter, vehicle parameter and the fortune that set
Line discipline is emulated, and the bridge wagon flow distribution situation in simulated time is obtained.
2. the random traffic flow simulation system of bridge as described in claim 1 based on intelligent body cellular automata, which is characterized in that
The length of the cellular is 2.5m.
3. the random traffic flow simulation system of bridge as claimed in claim 1 or 2 based on intelligent body cellular automata, feature exist
In, intelligent body is divided by following a few classes according to the vehicle of vehicle, two axis kart, two axis medium trucks, two axis large-sized trucks,
Three or four axis large-sized trucks and large-scale towed vehicle.
4. the random traffic flow simulation system of bridge as claimed in claim 3 based on intelligent body cellular automata, which is characterized in that
The bridge parameter setting module sets the unidirectional number of track-lines of bridge are as follows: bicycle road, two-way traffic or three lanes.
5. the random traffic flow simulation system of bridge as claimed in claim 4 based on intelligent body cellular automata, which is characterized in that
When unidirectional number of track-lines is bicycle road, the bicycle road rule includes:
A, accelerate rule
If vehicle i is in the speed value v of t momenti(t) meet:And vi(t)<vmax, then vehicle i is in lower a period of time
Between step-length speed value are as follows: vi(t+dt)=vi(t)+1,
Wherein,It indicates the distance between vehicle i and vehicle i-1 nearest in front of it and unit is 1 cellular, cellular is used
Cell indicates that dt indicates that unit time step-length unit is second, VmaxIndicate vehicle i affiliated vehicle in the maximum speed limit in the lane
Value, unit cell/dt；
B, slow down regular
If vehicle i is in the speed value v of t momenti(t) meet:Then speed of the vehicle i in next time step
Spend vi(t+dt) value withIt is equal；
C, random rule of slowing down
If vehicle i is in the speed value v of t momenti(t) meet: vi(t) > 0, then vehicle i can be according to random deceleration Probability PbIt carries out
Slow down, speed value of the vehicle i to be slowed down immediately in future time step-length are as follows: vi(t+dt)=vi(t)-1；
D, at the uniform velocity advance regular
When above three acceleration and deceleration rule is not satisfied, vehicle i can keep current vehicle speed constant, vi(t+dt)=vi(t)。
6. the random traffic flow simulation system of bridge as claimed in claim 4 based on intelligent body cellular automata, which is characterized in that
When unidirectional number of track-lines is two-way traffic, definition left-lane is the lane close from bridge center line, and the two-way traffic rule includes:
A, right lane rule is changed from left-lane:
If vehicle i meets:OrThen vehicle i from left-lane lane change to
Right lane, Δ are control vehicle lane-changing parameter；
Wherein,Indicate vehicle i and following distance before right lane,Indicate vehicle i and following distance before left-lane,Table
Show vehicle i and following distance after left-lane；
B, left-lane rule is changed from right lane
If vehicle i meets:Then vehicle i is from right lane lane change to left vehicle
Road.
7. the random traffic flow simulation system of bridge as claimed in claim 4 based on intelligent body cellular automata, which is characterized in that
When unidirectional number of track-lines is three lanes, defining from bridge center line is recently lane one, next lane two, most far lane three,
The three lanes travel rule
A, lane two change trains one rule
If vehicle i meets:Then vehicle i is from two lane change of lane to lane one；
Wherein, gap2Indicate two vehicular gap of lane,Indicate two vehicle of lane and following distance before lane one,It indicates
Following distance after two vehicle of lane and lane one,Indicate one vehicle of lane and following distance before lane two,Indicate lane
Following distance after one vehicle and lane two,Indicate two vehicle of lane and following distance before lane three,Indicate two vehicle of lane
Following distance after with lane three,Indicate three vehicle of lane and following distance before lane two,Indicate three vehicle of lane with
Following distance behind lane two, Δ are control vehicle lane-changing parameter；
B, lane two is changed trains three sigma rule
If vehicle i meets:Then vehicle i is from two lane change of lane to lane three；
C, lane one change trains two rule
If vehicle i meets:Or Then vehicle i is from one lane change of lane to lane two；
D, lane three change trains two rule
If vehicle i meets:Then vehicle i is from three lane change of lane to lane
Two.
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