CN101826122A - Method for avoiding obstacles based on blocking corners in pedestrian simulation - Google Patents
Method for avoiding obstacles based on blocking corners in pedestrian simulation Download PDFInfo
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- CN101826122A CN101826122A CN201010030828A CN201010030828A CN101826122A CN 101826122 A CN101826122 A CN 101826122A CN 201010030828 A CN201010030828 A CN 201010030828A CN 201010030828 A CN201010030828 A CN 201010030828A CN 101826122 A CN101826122 A CN 101826122A
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Abstract
The invention relates to a method for simulating traffic behaviors of pedestrians in the technical field of traffic simulation, and discloses a method for avoiding obstacles based on blocking corners in the pedestrian simulation. The blocking corners of the obstacles generated on the current pedestrians are established after all static obstacles and other pedestrians are scanned in the collision avoiding range; and if the target direction of the current pedestrian is not comprised by any blocking corner, the pedestrian walks along the direction, otherwise, the pedestrian needs to pass round a blocking area formed by the blocking corners in the target direction. The method provides the concept of the blocking corners; the blocking corners of the obstacles on the current pedestrian are established, and further the blocking area round which the pedestrian needs to move is determined; meanwhile, a path of moving round the static obstacles and the pedestrians in the same direction is selected according to the shortest path principle and the collision with the pedestrians in the opposite directions is avoided by reducing the priority of one side of each blocking corner. No complex parameter calibration is needed in the process; and the collision avoiding range and the moving-round rule can be freely set. Therefore, the needs of different simulation with different purposes are met.
Description
Technical field
The present invention relates to the method for simulation pedestrian traffic behavior in a kind of traffic simulation technical field, specifically is a kind of based on method for avoiding obstacles in the pedestrian simulation of blocking corners.
Background technology
In the field of traffic pedestrian's simulation study normally is included in the simulation study of Passenger Transport Hub system, this class research can be traced back to phase late 1960s, is primarily aimed at the airport hinge at first and studies.Germany has carried out emulation (Baron, 1969) with passenger terminal as system first.In the U.S., Federal Aviation Administration subsidizes has studied three kinds of distinct methods that are used for airport hinge emulation: discrete events simulation (Gorstein and McCabe, 1982), queuing model (Gentry and Doyle, 1978) at random, and regression model (McCullough and Roberts, 1979); University of California Berkeley uses deterministic queuing model to analyze airport land-based area facility (landside components), the layout and the design of each facility in the Simulation evaluation hinge, as door, baggage claim equipment, hold the Room and value rack platform (Mumayiz, 1990) etc.Computer hardware and the software especially continuous leap of software programming and modeling technique have played crucial effects to the development of traffic simulation.There has been the realistic model more than 30 kinds to enter the practical stage in the world wide, pedestrian's system detail described the difference of degree, can be divided into macromodel, mesoscopic model and microvisual model usually according to realistic model.Representational software has Legion, STEPS, BuildingEXDOUS, MYRIAD, PAXPORT, SimPed and SIMULEX etc.
In numerous simulation softwares, the pedestrian depends on pedestrian's modeling pattern of software itself to the collision prevention method of barrier.In the pedestrian simulation model of widespread use at present two classes are arranged, a class is to be the discrete realistic model of representative with the cellular Automation Model, and a class is to be the continuous simulation model of representative with the social force model.Cellular automaton is that twentieth century four the fifties propose on the basis of digital machine, and the 80s and 90s is introduced field of traffic.This class model is divided into small square shaped cells lattice to the plane space of buildings usually.At any time, cell is occupied (barrier or body) one by one or for empty, in the operational process of emulation, time is divided into the isometric time period, in each time period, all are individual selects to stay former lattice or moves to lattice in 8 adjacent cells according to residing environment and factum rule, but discrete realistic model is to still existing shortcoming in the simulation of pedestrian's microscopic behavior.Nineteen ninety-five Helbing uses the conceptual modeling pedestrian's of resistance and gravitation microscopic behavior, and has set up a kind of equation relation of comprehensive complexity, simulates a series of pedestrian behaviors, Here it is social force model that we were familiar with.This model is by the collision prevention problem that is provided with between the pedestrian, repulsion between pedestrian and the barrier solves barrier, but because the complicacy of model itself, there is certain difficulty in the parameter calibration of repulsion, has improved the difficulty of pedestrian simulation.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, provide a kind of based on the barrier-avoiding method in the pedestrian simulation of blocking corners, this method is not subjected to the restriction of realistic model, and can be under the prerequisite that does not need quantity of parameters to demarcate, realize that the pedestrian detours to static-obstacle thing and other pedestrians' the barrier of keeping away, and makes it arrive impact point smoothly.
A kind of based on method for avoiding obstacles in the pedestrian simulation of blocking corners, may further comprise the steps:
A), each pedestrian is set up the set of barrier, comprise other pedestrians and the static-obstacle thing in the certain limit around this pedestrian in the set;
B), update time of default set, and in each simulation step length, judge whether to arrive update time;
C), if arrive, upgrade pedestrian's barrier set, and scanning, this pedestrian sets up blocking corners less than collision prevention apart from barrier to its middle distance, puts into the blocking corners data set; If the no show stipulated time does not then need to upgrade set, directly scan and set up blocking corners, put into the blocking corners array;
D), whether the get clogged arbitrary blocking corners initial line in the array of angle, the angle between the whole limit of the target direction of judging the pedestrian comprises;
E), if do not comprise, the pedestrian walks on according to target direction; If comprise, traversal blocking corners array judges wherein whether contain initial line or the whole limit that is not comprised by other blocking corners;
F) if do not comprise, then the pedestrian does not have the angle that can pass through, stops walking in this step-length, waits for; If comprise, then from all satisfy select the initial line of above-mentioned condition, the whole limit pedestrian's current location to this limit navigation spots and this navigation spots to the impact point race from the initial line of sum minimum or whole limit the direction that detours as the pedestrian.
The pedestrian is approximately circular C, when barrier is circular C
iThe time, by making circle C
iWith the internal common tangent of circle C, obtain circle C
iOn two point of contacts, on the outer normal direction at two point of contacts, find respectively apart from the distance at point of contact some D, E for circle C radius, ∠ DCE is pedestrian C
iBlocking corners to current pedestrian C generation.
The pedestrian is approximately circular C, when barrier is polygon, if the summit apart from the nearest limit of pedestrian in the polygon is respectively A, B, be line CA, the CB of the center of circle of round C to 2 of A, B, at 2 vertical lines of locating to do respectively CA, CB of A, B, finding respectively on vertical line apart from the distance of 2 of A, B is some F, the G of circle C radius, and ∠ FCG is the blocking corners that barrier produces current pedestrian C.
Two limits of each blocking corners, what the direction angle was little under the rectangular coordinate system is initial line, another then is whole limit.
When detouring in the same way pedestrian or static-obstacle thing, at first identify the limit that is not comprised by any blocking corners, the distance of calculating the navigation spots of pedestrian's current location to these limits respectively and this navigation spots to impact point apart from sum, one side select the barrier that detours from distance sum minimum.
When detouring the subtend pedestrian, the priority on the whole limit of two pedestrians blocking corners is separately reduced, the pedestrian detours from the initial line direction respectively.
Beneficial effect of the present invention:
The present invention does not rely on complicated mathematical model, algorithm parameter is few, by proposing the notion of blocking corners, set up the blocking corners of barrier to current pedestrian, and then definite pedestrian congested areas that need detour, select static-obstacle thing and pedestrian's the path of detouring in the same way simultaneously according to the shortest principle in path, realize subtend pedestrian collision prevention by certain priority on one side that reduces blocking corners, this process does not need complicated parameter to demarcate, simplified the modeling work in the pedestrian simulation process greatly, and the collision prevention scope and the rule that detours can freely be set, and then satisfy the emulation needs of various objectives.
Description of drawings
Fig. 1 computer program realization flow of the present invention is always schemed;
Blocking corners is set up process flow diagram in Fig. 2 computer realization of the present invention;
The blocking corners that pedestrian or circular barrier produce among Fig. 3 the present invention is set up synoptic diagram;
The blocking corners that the polygon barrier produces among Fig. 4 the present invention is set up synoptic diagram;
No Through Route for Pedestrians method synoptic diagram in the same way among Fig. 5 the present invention;
Two-way No Through Route for Pedestrians method synoptic diagram among Fig. 6 the present invention;
A plurality of in the same way pedestrian's collision prevention synoptic diagram of Fig. 7 present embodiment;
The polygon avoiding obstacles synoptic diagram of Fig. 8 present embodiment;
The collision prevention of the pedestrian in opposite directions synoptic diagram of Fig. 9 present embodiment.
Embodiment
Below in conjunction with accompanying drawing embodiments of the present invention are described in detail:
Computer Program Implementation Method of the present invention is as follows:
Fig. 1 is the computer implemented process flow diagram of method of the present invention, at first each pedestrian is set up a barrier set, comprises this pedestrian interior other pedestrians and static-obstacle thing of certain limit on every side in the set.The update time of default set, and in each simulation step length, judge whether to arrive update time, if arrive, then upgrade the set of pedestrian's peripheral obstacle, and the set of scanning peripheral obstacle, this pedestrian sets up blocking corners less than the barrier of collision prevention distance to its middle distance, if do not arrive the stipulated time, then do not need to upgrade set, directly scan and set up blocking corners.The blocking corners of being set up is all put into the blocking corners array, on this basis, whether the target direction of judging the pedestrian gets clogged, and angle comprises between the arbitrary blocking corners initial line in the array of angle, the whole limit, if do not comprise, then the pedestrian is according to the target direction traversal blocking corners array that walks on; If involved, carry out secondary and judge, judge wherein whether contain initial line or the whole limit that is not comprised by other blocking corners, if do not have, then the pedestrian does not have the angle that can pass through, stops walking and wait in this step-length; If not involved limit arranged, then from all satisfy select the initial line of above-mentioned condition, the whole limit pedestrian's current location to this limit navigation spots and this navigation spots to impact point apart from the initial line of sum minimum or whole limit the direction that detours as the pedestrian.
Blocking corners is set up process flow diagram in Fig. 2 computer realization of the present invention, among the embodiment with the abstract circle that to become a radius be r of pedestrian, if the current home position of pedestrian is C, with a plurality of in the same way pedestrians in pedestrian's collision prevention the place ahead, polygon barrier and collision prevention in opposite directions the pedestrian be example, the detailed process that the foundation of blocking corners and the direction that detours are judged is as follows:
The method for building up of blocking corners is as follows:
As shown in Figure 3, set up other pedestrian C
iDuring blocking corners that current pedestrian C is produced, the pedestrian is approximately circular, makes circle C
iWith the internal common tangent of circle C, obtain circle C
iOn two point of contacts, on the outer normal direction at two point of contacts, find respectively apart from the distance at point of contact some D, E for circle C radius, ∠ DCE is pedestrian C
iTo the blocking corners that current pedestrian C produces, the zone that blocking corners comprises does not just allow pedestrian C to pass through, to not influence of other pedestrians.D, E are for blocking the navigation spots on the arm of angle.Mark is carried out on two limits to the blocking corners set up, and what the direction angle was little under the definition rectangular coordinate system is initial line, and another is whole limit, and then the limit CE of ∠ DCE is that initial line, CD are whole limit.
As shown in Figure 4, when setting up the blocking corners that the static-obstacle thing produces current pedestrian C, if barrier is circular, adopt with (1) in identical method set up blocking corners, if barrier is a polygon, at first judge in the polygon apart from the nearest limit of pedestrian, if the summit on this limit is respectively A, B, the center of circle of being round C is to A, the line CA that B is 2, CB, then, at A, 2 of B locate to do respectively CA, the vertical line of CB finds respectively on vertical line apart from A, the distance that B is 2 is the some F of circle C radius, G, ∠ FCG is the blocking corners that barrier produces current pedestrian C, F, G replaces A, B becomes new navigation spots.According to the labeling method on the limit of above-mentioned blocking corners, the limit CG of ∠ FCG is that initial line, CF are whole limit.
No Through Route for Pedestrians is as follows by the method for the congested areas that blocking corners is formed:
When detouring in the same way pedestrian or static-obstacle thing, at first identify outermost two limits of congested areas, the i.e. limit that is not comprised by any blocking corners, the distance of calculating the navigation spots of pedestrian's current location to these two limits respectively and this navigation spots to impact point apart from sum, one side select the barrier that detours (arrow indicated direction Fig. 5) from distance sum minimum.
When detouring the subtend pedestrian, the priority on the whole limit of two pedestrians blocking corners is separately reduced, the pedestrian is respectively from initial line direction detour (the indicated direction of arrow Fig. 6).This meets China's pedestrian right side walking habits.
Embodiment
For a plurality of pedestrians' collision prevention in the same way
As shown in Figure 7, C is current pedestrian, D
jBe impact point, C
1, C
2For pedestrian C is that the place ahead hinders the pedestrian that it arrives impact point, by being round C and circle C
1, C
2Internal common tangent obtain point of contact A
1, A
2, A
3, A
4, on the outer normal direction at each point of contact, get apart from the some T of point of contact for circle C radius
1, T
2, T
3, T
4, ∠ T
1CT
2With ∠ T
3CT
4Be blocking corners.The whole limit of blocking corners and initial line are all to having orientation angle and navigation spots, whether the limit of judging blocking corners of direction of passage angle is comprised by other blocking corners, the navigation spots on not involved initial line or whole limit is charged among the set T, calculate pedestrian's current location to the distance of navigation spots and navigation spots to impact point apart from sum
If
Then pedestrian C is with T
DWalk around pedestrian or other barrier in the place ahead for navigation spots.CT in the present embodiment
1And CT
4Be two limits that the angle that do not get clogged comprises, the navigation spots on these two limits is respectively T
1And T
4, by calculating
As the arrow direction among Fig. 3, pedestrian C is with T
1Walk around the place ahead pedestrian for navigation spots, finally arrive impact point D
j
Collision prevention for the polygon barrier
As shown in Figure 8, C is current pedestrian, D
jBe impact point, AB be the polygon barrier apart from a nearest limit of pedestrian C, locate to do the vertical line of CA, CB and obtain a T 2 of A, B respectively to the length that the barrier outside prolongs pedestrian's radius
5, T
6, ∠ T
5CT
6Be exactly the blocking corners of barrier, behind the computed range to pedestrian C
Then pedestrian C is with T
6For navigation spots cut-through thing, finally arrive impact point D
j
For pedestrian's collision prevention in opposite directions
As shown in Figure 9, C is current pedestrian's synoptic diagram, C
3Be pedestrian C dead ahead and its pedestrian who walks in opposite directions, the solid arrow indication is respectively two pedestrians' a working direction among the figure, adopts the method in (1) to set up pedestrian C respectively
3Blocking corners ∠ T to pedestrian C
7CT
8And pedestrian C is to pedestrian C
3Blocking corners ∠ T
9CT
0, according to the custom of China's pedestrian right side walking, with the whole limit CT of two blocking corners
7, CT
9Priority reduce (can when program realizes its state be set to delete), the pedestrian can only select the initial line direction to walk like this, shown in dotted arrow among the figure.
Claims (6)
1. one kind based on method for avoiding obstacles in the pedestrian simulation of blocking corners, it is characterized in that may further comprise the steps:
A), each pedestrian is set up the set of barrier, comprise other pedestrians and the static-obstacle thing in the certain limit around this pedestrian in the set;
B), update time of default set, and in each simulation step length, judge whether to arrive update time;
C), if arrive, upgrade pedestrian's barrier set, and scanning, this pedestrian sets up blocking corners less than collision prevention apart from barrier to its middle distance, puts into the blocking corners data set; If the no show stipulated time does not then need to upgrade set, directly scan and set up blocking corners, put into the blocking corners array;
D), whether the get clogged arbitrary blocking corners initial line in the array of angle, the angle between the whole limit of the target direction of judging the pedestrian comprises;
E), if do not comprise, the pedestrian walks on according to target direction; If comprise, traversal blocking corners array judges wherein whether contain initial line or the whole limit that is not comprised by other blocking corners;
F) if do not comprise, then the pedestrian does not have the angle that can pass through, stops walking in this step-length, waits for; If comprise, then from all satisfy select the initial line of above-mentioned condition, the whole limit pedestrian's current location to this limit navigation spots and this navigation spots to impact point apart from the initial line of sum minimum or whole limit the direction that detours as the pedestrian.
2. according to claim 1 a kind of based on method for avoiding obstacles in the pedestrian simulation of blocking corners, it is characterized in that described blocking corners: the pedestrian is approximately circular C, when barrier is circular C
iThe time, by making circle C
iWith the internal common tangent of circle C, obtain circle C
iOn two point of contacts, on the outer normal direction at two point of contacts, find respectively apart from the distance at point of contact some D, E for circle C radius, ∠ DCE is pedestrian C
iBlocking corners to current pedestrian C generation.
3. according to claim 1 a kind of based on method for avoiding obstacles in the pedestrian simulation of blocking corners, it is characterized in that described blocking corners: the pedestrian is approximately circular C, when barrier is polygon, if the summit apart from the nearest limit of pedestrian in the polygon is respectively A, B, be line CA, the CB of the center of circle of round C to 2 of A, B, at 2 vertical lines of locating to do respectively CA, CB of A, B, finding respectively on vertical line apart from the distance of 2 of A, B is some F, the G of circle C radius, and ∠ FCG is the blocking corners that barrier produces current pedestrian C.
4. according to claim 2 or 3 described a kind of, it is characterized in that based on method for avoiding obstacles in the pedestrian simulation of blocking corners: two limits of each blocking corners, what the direction angle was little under the rectangular coordinate system is initial line, another then is whole limit.
5. according to claim 4 a kind of based on method for avoiding obstacles in the pedestrian simulation of blocking corners, it is characterized in that: when detouring in the same way pedestrian or static-obstacle thing, at first identify the limit that is not comprised by any blocking corners, the distance of calculating the navigation spots of pedestrian's current location to these limits respectively and this navigation spots to impact point apart from sum, one side select the barrier that detours from distance sum minimum.
6. according to claim 4 a kind of based on method for avoiding obstacles in the pedestrian simulation of blocking corners, it is characterized in that: when detouring the subtend pedestrian, the priority on the whole limit of two pedestrians blocking corners is separately reduced, the pedestrian detours from the initial line direction respectively.
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Cited By (6)
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| CN104504245A (en) * | 2014-12-04 | 2015-04-08 | 吉林大学 | Method of utilizing GPS trip survey data to identify trips and activities |
| CN105550500A (en) * | 2015-12-08 | 2016-05-04 | 吉林大学 | Method for simulating following behavior of pedestrian based on social force |
| CN107977655A (en) * | 2017-12-25 | 2018-05-01 | 中国科学技术大学 | The method and system for realizing Statistics of Density in region are occupied using pedestrian |
| CN108073166A (en) * | 2016-11-16 | 2018-05-25 | 阳光暖果（北京）科技发展有限公司 | A kind of shortest time obstacle-avoiding route planning method |
| CN108759829A (en) * | 2018-03-28 | 2018-11-06 | 华南农业大学 | A kind of local obstacle-avoiding route planning method of intelligent forklift |
| CN113722910A (en) * | 2021-08-31 | 2021-11-30 | 中国电子科技集团公司第二十八研究所 | Macroscopic simulation method for airport terminal area |
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| CN100524363C (en) * | 2007-06-29 | 2009-08-05 | 中国科学院计算技术研究所 | Laminated barrier-avoiding method for dynamic body |
| CN101079127B (en) * | 2007-07-05 | 2012-03-21 | 上海交通大学 | Pedestrian behavior emulation method in micro-traffic simulation |
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- 2010-01-18 CN CN2010100308283A patent/CN101826122B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104504245A (en) * | 2014-12-04 | 2015-04-08 | 吉林大学 | Method of utilizing GPS trip survey data to identify trips and activities |
| CN104504245B (en) * | 2014-12-04 | 2017-03-29 | 吉林大学 | A kind of application GPS trip surveys data identification trip and the method for activity |
| CN105550500A (en) * | 2015-12-08 | 2016-05-04 | 吉林大学 | Method for simulating following behavior of pedestrian based on social force |
| CN105550500B (en) * | 2015-12-08 | 2017-12-15 | 吉林大学 | A kind of pedestrian's following behavior emulation mode based on social force |
| CN108073166A (en) * | 2016-11-16 | 2018-05-25 | 阳光暖果（北京）科技发展有限公司 | A kind of shortest time obstacle-avoiding route planning method |
| CN107977655A (en) * | 2017-12-25 | 2018-05-01 | 中国科学技术大学 | The method and system for realizing Statistics of Density in region are occupied using pedestrian |
| CN108759829A (en) * | 2018-03-28 | 2018-11-06 | 华南农业大学 | A kind of local obstacle-avoiding route planning method of intelligent forklift |
| CN108759829B (en) * | 2018-03-28 | 2021-05-11 | 华南农业大学 | Local obstacle avoidance path planning method for intelligent forklift |
| CN113722910A (en) * | 2021-08-31 | 2021-11-30 | 中国电子科技集团公司第二十八研究所 | Macroscopic simulation method for airport terminal area |
| CN113722910B (en) * | 2021-08-31 | 2024-02-09 | 中国电子科技集团公司第二十八研究所 | Macroscopic simulation method for airport terminal area |
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