CN102467589A - Interactive traffic simulation system - Google Patents
Interactive traffic simulation system Download PDFInfo
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- CN102467589A CN102467589A CN2010105376516A CN201010537651A CN102467589A CN 102467589 A CN102467589 A CN 102467589A CN 2010105376516 A CN2010105376516 A CN 2010105376516A CN 201010537651 A CN201010537651 A CN 201010537651A CN 102467589 A CN102467589 A CN 102467589A
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Abstract
The invention aims to provide an interactive traffic simulation system with a distributed system structure, which is a novel traffic-driving hybrid simulation system. The core is that: a returning vehicle driving simulator for a person serves as a traffic participation entity and is introduced into the traffic simulation system. The vehicle driving simulator serving as the traffic participation entity controlled by a user driving behavior and a virtual traffic participation entity generated in the traffic simulation system interact and participate traffic simulation calculation together so as to realize cooperative simulation of a plurality of vehicle driving simulators and a plurality of traffic environment simulation servers in the same virtual traffic environment. The invention has the characteristics that: the traffic simulation system has a flexible structure, is convenient to expand, supports man-machine interaction and is high in simulation confidence, and the like; and the system can be used in the fields of traffic simulation and driving simulation and can provide a novel platform for research and application in the fields of driving behaviors, driving psychology, traffic safety, intelligent transportation, road and bridge design and the like.
Description
Technical field
The present invention relates to simulation technical field, particularly: traffic simulation, vehicle drive emulation field.
Background technology
From the eighties in 20th century, many developed countries have been used for computer simulation technique fields such as national defence, Aeronautics and Astronautics.The nineties, begin to be applied to civil areas such as the energy, traffic, electric power.
The research of adopting computer simulation technique to carry out traffic problems has economy, safety, characteristics such as efficient.In the highway communication field, computer simulation technique is mainly used in traffic simulation, two aspects of driving simulation at present.Traffic simulating system passes through the dynamic perfromance of simulation road network and traffic flow, the problem in fields such as transport solution management, roading, traffic impact analysis, and the mode with software realizes usually.According to simulation scale and emulation granularity, traffic simulating system is divided into macroscopic view, middle sight, microcosmic traffic simulation system.The driving simulation system is made up of soft, hardware accordingly, carries out driving efficiency training, vehicle performance simulation study etc. through realizing vehicle performance emulation, driving environment emulation.
Number of research projects has all been done by developed countries such as the U.S., Britain, Germany, France, Japan in these two fields, and has formed many products, and these products comprise all kinds of traffic simulation software, automobile driving simulation device etc.By inquiry, discover that at present traffic simulation, these two association areas of driving simulation are relatively independent, and the sharable achievement in research of both sides of utilizing not yet in effect, like the Traffic Flow Simulation model that in the driving simulation system, does not comprise high fidelity; And individual difference of the emulation of vehicle performance, driving behavior characteristic etc. in the often less consideration traffic flow in the traffic simulating system.Further research on the achievement of these two association areas can make up novel traffic one and drive hybrid simulation system.This system can effectively improve the emulation degree of confidence of traffic simulating system, driving simulation system; And the range of application of computer simulation technique in the highway communication field further enlarged, for driving behavior, research, the application work of driving fields such as psychology, traffic safety, intelligent transportation, bridge design provide a new platform.
[summary of the invention]
The purpose of this invention is to provide a kind of interactive traffic simulating system that adopts distributed architecture, this is a kind of novel traffic one a driving simulation system.Its core is that the people is participated in entity at the vehicle drive emulator in loop as traffic to be introduced in the traffic simulating system.The virtual traffic participation entity that the vehicle drive emulator is participated in entity and traffic simulating system generation as the traffic that receives user's driving behavior control interacts, influences each other, and the fellowship traffic simulation calculates.System provided by the invention adopts distributed architecture; Can realize a plurality of vehicle drive emulators, the collaborative simulation of a plurality of traffic environment emulation server under same virtual traffic environment, have characteristics such as structure is flexible, expansion is convenient, support man-machine interaction, degree of confidence height; For the correlative study of field of traffic and application provide a kind of new platform, new emulation tool, with the development that promotes traffic simulation technology and field of traffic.
The present invention adopts following technical scheme to realize.The present invention includes: traffic environment simulation subsystem, vehicle drive emulator, simulation result output show node, the network equipment.For the traffic environment simulation subsystem, it comprises a traffic environment emulation server at least.Road, transit equipment, motor vehicle, bicycle, pedestrian that the traffic environment emulation server is responsible for accomplishing in the appointed area carry out emulation.At least comprise the vehicle drive emulator of a people in the loop in the system, the user can see the simulation result that the traffic environment emulation server generates in the vehicle drive emulator, and participates in traffic simulation through operation vehicle drive emulator.Simulation result output shows the real-time simulation data that node reception traffic environment emulation server, vehicle drive emulator send, and adopts the real time status of the mode display system institute emulation traffic environment of three-dimensional picture.The network equipment is that each node of system provides communication platform.
Said traffic environment simulation subsystem is become by one group of extendible traffic environment emulation server group, and the quantity of server is one or more among the crowd.The traffic environment emulation server comprises a cover and is equipped with the computer system of network interface and runs on the traffic environment simulation software on this computer system.The traffic environment simulation software is divided into traffic environment simulated program and basic database two parts, and the traffic environment simulated program is participated in entity behavior emulation, vehicle by basic data management, traffic. and environmental activity emulation, traffic environment state publications, simulation clock management, coordinated management, result's demonstration, communications protocol etc. are partly formed.Comprise in the traffic environment database: road data, signal lamp data, traffic sign data, traffic rules data, motor vehicle realistic model, bicycle realistic model, pedestrian simulation model.
Said traffic environment simulated program is accomplished the real-time simulation computing of traffic environment based on the traffic environment database.The content that real-time simulation is calculated comprises: interior all virtual traffics of traffic zone that calculate institute's emulation are participated in the state of entities, and these traffic are participated in entities and comprised motor vehicle, bicycle, pedestrian; According to the timing information calculations should the zone in the state of signal lamp; Calculate road on the way state can change the real-time status of entity, these entities comprise: road isolation facility, signal lamp, electric pole, plant, urban operating mechanism, small building.
The simulation calculation that said virtual traffic is participated in entity state is based upon on the basis of state of traffic management information, other traffic participants of periphery in behavior realistic model, its residing road environment, its highway section of living in of traffic participant.Each traffic participate in entity state will to around other traffic participants impact; And might change road on the way state can change the state of entity, as: vehicle and trees bump, and the state of trees will change.
In said motor vehicle realistic model, the driver is treated as the entity with artificial life characteristic in the virtual traffic environment, come comprehensively through setting up complete driving behavior model, systematically the emulation traffic environment is to the influence of driving behavior.In this model, all kinds of factors that possibly influence driving behavior are regarded as the virtual traffic environment.The driving behavior realistic model possesses independently sensing layer, decision-making level, action layer model.But sensory perceptual system drive simulating person is to the apperceive characteristic of traffic environment; Decision system has determined driver's behavior pattern and driving style; Behavioral system has reflected that the driver carries out the physical attribute of driver behavior.According to statistics or through training the property parameters in each hierarchical model is regulated, this model can adapt to different virtual traffic environment, but and the driving behavior of emulation different-style.Owing to possess environment sensing and independent behavior ability, this model is put into different virtual traffic environment as traffic participant, can realize comprising the microscopic simulation of all kinds of traffic environments of complicated traffic environment.Because virtual individual has different driving styles and different behavioural characteristics, this model also can show complicacy and the diversity of traffic flow in microcosmic point fully in addition.
When said traffic environment emulation server showed the mode of the simulation result that calculates through three-dimensional picture, other traffic environment emulation server, vehicle drive emulator, the simulation result output that in system, possibly exist through communications protocol, network interface showed that node transmits simulation result in real time.The traffic environment emulation server receives the simulation calculation result of other traffic environment emulation server, the transmission of vehicle drive emulator simultaneously.And the simulation result that receives is used for the simulation calculation of one's respective area traffic environment.
When a plurality of traffic environment emulation servers were worked with the pattern of server zone in the said traffic environment simulation subsystem, a plurality of traffic environment emulation servers can be worked in coordination with and accomplished large-scale traffic environment emulation.When a traffic entity was left next zone of region entering, the corresponding traffic environment emulation server in former zone was delivered next regional corresponding traffic environment emulation server with this traffic participation entity corresponding simulation object and is carried out simulation calculation.
Said vehicle drive emulator is behaved at the semi-matter simulating system in loop, is made up of hardware device and software systems.The hardware device of said vehicle drive emulator comprises at least: trailer reversing equipment, interfacing equipment, computer system, display device, stereo set and at least one network interface.The software systems of said vehicle drive emulator comprise: emulator primary control program, communications protocol, vision simulation program, three-dimensional scene models database, dynamics of vehicle simulated program, collision detection program, sound generator program, source of sound map, sound source data storehouse.
The control action that said vehicle drive emulator applies on trailer reversing equipment through interfacing equipment acquisition operations person is according to vehicle control realistic model, vehicle dynamic model, road data, tire. and the road surface coupling model calculates the state of this vehicle drive emulator institute replicating machine motor-car object.The motor vehicle simulation object entity of vehicle drive emulator representative is participated in entity as a traffic in the traffic environment of traffic environment simulation subsystem institute emulation and is participated in whole traffic simulation computing; The motor vehicle simulation object of said vehicle drive emulator representative can influence each other with other traffic participant, road, the road entity on the way in the traffic environment; These influences comprise: follow on collision, interference, the face of land, influences the result and on the corresponding traffic environment emulation server in said vehicle drive emulator region, calculate.
Said vehicle drive emulator adopts the mode of three-dimensional picture to realize visual simulation.Vision simulation software is made up of three-dimensional scene models database, Real-Time Scene Simulation program.During operation, the Real-Time Scene Simulation program is carried out real-time rendering according to the state of said replicating machine motor-car object.The vehicle drive emulator receives the emulated data of sending from traffic environment simulation subsystem, other vehicle drive emulator simultaneously, and in the what comes into a driver's picture, shows the traffic environment situation of region; Participate in entity, environmental noise through other traffic of sound simulation system emulation.
Said simulation result output shows node by a computer system, is installed in output software for display formation on the computer system.Said observer's computer system comprises at least one network interface, at least a display device.Simulation result output shows that node can receive the emulated data from traffic environment simulation subsystem and the transmission of vehicle drive emulator, and the mode of employing three-dimensional picture shows the traffic environment situation of position.Position and angle that operator's may command is observed.
Traffic environment simulation subsystem in the said interactive traffic simulating system, vehicle drive emulator, simulation result output show that node carries out exchanges data through the said network equipment and relevant communications protocol.
Description of drawings
Fig. 1 system architecture diagram of the present invention
Fig. 2 Software deployment figure of the present invention
Fig. 3 traffic environment data management module block diagram
Act of perpetrating emulation module block diagram is participated in Fig. 4 traffic
Fig. 5 traffic environment emulation server simulation result data issuing process synchronization scheme
Fig. 6 traffic zone model of place structural drawing
Embodiment
The present invention is a hardware platform with high-performance computer, graphics workstation and vehicle drive emulator, adopts technology such as microscopic traffic simulation, artificial intelligence, dynamics of vehicle, vision simulation, DAB to realize.Main process is following:
1, the traffic zone of required emulation is surveyed and drawn, investigated, obtain corresponding basic data, and these data are deposited in the traffic environment database.These basic datas comprise: the data of aspects such as road, signal lamp, traffic sign, traffic rules.Wherein road data comprise that the geological information, track of road are divided, road surface material and adeditive attribute, road surface elevation, speed-limiting messages etc.; Signal lamp data comprises signal lamp quantity, type, distributing position, signal timing dial etc.; The traffic marking data comprise: indicate type, geological information, position distribution etc.; Traffic rules comprise provisional traffic administration rule in regular and this traffic zone in " Dow process ".
2, investigate, test, analyze, study, to set up motor line true to nature be realistic model to means such as checking.Wherein the realistic model of performances of motor vehicles is based upon on the basis of vehicle performance parameters such as vehicle, engine, kinematic train characteristic.The driving behavior realistic model then possesses independently sensing layer, decision-making level, action layer model.To the influential essential environmental factors of driving behavior, study expression-form and the implementation method of these factors under the virtual traffic environment through investigation, grasp.On this basis, set up driver's sensory perceptual system model in conjunction with human sensorium's characteristics.Sensor model comprises parts such as virtual vision, the virtual sense of hearing, visual occlusion judgement, perception information fusion, focus-of-attention selection.Set up the model of driving behavior decision system.Through statistics, study and training, make this model grasp more than one driving style.The behaviour decision making model comprises motivation, memory, decision-making three parts.Through investigation, inspection information, collect the characteristic that dissimilar crowds carry out driver behavior, set up driver's action execution realistic model.On the basis of above-mentioned work, set up driving behavior realistic model, and in traffic simulating system, carry out modelling verification applicable to complicated traffic environment.
3, bicycle, pedestrian's behavior realistic model possesses independently sensing layer, decision-making level, action layer model.To bicycle, the influential essential environmental factors of pedestrian behavior, study expression-form and the implementation method of these factors under the virtual traffic environment through investigation, grasp.On this basis, set up Non-Motorist, pedestrian's sensory perceptual system model in conjunction with human sensorium's characteristics.Sensor model comprises parts such as virtual vision, the virtual sense of hearing, visual occlusion judgement, perception information fusion, focus-of-attention selection.Set up the model of Non-Motorist, pedestrian's behaviour decision making system.Through statistics, study and training, make this model grasp more than one behavior style.The behaviour decision making model comprises motivation, memory, decision-making three parts.On the basis of above-mentioned work, set up bicycle, pedestrian behavior realistic model, and in traffic simulating system, carry out modelling verification applicable to complicated traffic environment.
4, obtain the correlation parameter of vehicle control realistic model, vehicle dynamic model and the model of vehicle through means such as theoretical analysis, investigation, tests; Adopt the computer simulation model that imperial lattice. Ku Tafa will be relevant according to these modellings, and carry out verification of model.With the model of the model of verifying as performance simulation part in the vehicle drive emulator.
5, the traffic zone of required emulation is measured, taken, obtain dimension information, the outward appearance textural characteristics of scenery such as corresponding road, surrounding landscape, building.Based on these data, adopt interactive means to utilize D modeling tool software to set up the three-dimensional scene models of institute's simulating area.When carrying out simulation run,, call and this model of place of real-time rendering through the vision simulation program.
6, motor vehicle, bicycle, the pedestrian who needs emulation measured, takes, obtain its dimension information, outward appearance textural characteristics, the characteristics of motion.Based on these data, adopt interactive means to utilize D modeling tool software to set up the three-dimensional model of these objects.When carrying out simulation run, these three-dimensional scene models of vision simulation routine call, and under simulation calculation result's control, play up these objects in real time, generate dynamic scene picture.
7, show in the node in traffic environment simulation subsystem, vehicle drive emulator, simulation result output the vision simulation program all is installed, three-dimensional scene models is used to show simulation result.Dynamic scene picture can adopt multiple mode to show through digital video signal output.These display modes comprise: adopt dissimilar displays such as CRT, LCD, plasma, and dissimilar projection display systems such as CRT, LCD, DLP, projection screen can adopt plane, cylinder, sphere or other curve screens.The quantity of display channel is decided according to the situation of Hardware configuration.
8, generate all kinds of digital audio files relevant with simulation run through the mode of recording, modulating, synthesize, these audio frequency comprise: all kinds of sound that vehicle sends, all kinds of ambient sounds etc.Adopt the mode of on-site inspection to confirm the position of main environment source of sound, characteristic etc., set up the source of sound map.When simulation run, digitized sound signal according to the result of simulation run through processing procedures such as the conversion of overfrequency, amplitude, stacks after high-precision A/D conversion is exported, play through multichannel sterego power amplifier, sound system.
Claims (10)
1. interactive traffic simulating system is characterized in that comprising:
A traffic environment simulation subsystem, said traffic environment simulation subsystem is made up of at least one traffic environment emulation server.Described each traffic environment emulation server comprises the traffic environment simulation software that carries out on a cover computer system, the computer system.The every cover of said computer system has a network interface at least.Said traffic environment simulation software comprises the traffic environment database, comprises in these databases: road data, signal lamp data, traffic sign data, traffic rules data, motor vehicle realistic model, bicycle realistic model, pedestrian simulation model.Based on said traffic environment database; Said traffic environment simulation software can be under operator's control; Realize the real-time simulation of traffic environment, other traffic environment emulation server group that possibly exist in said traffic environment simulation subsystem through network interface simultaneously, the vehicle drive emulator in the said traffic simulating system transmit simulation result in real time.
At least one people who possesses network interface be the vehicle drive emulator in the loop.Said vehicle drive emulator is made up of hardware device and software systems.The hardware device of said vehicle drive emulator comprises at least: trailer reversing equipment, interfacing equipment, computer system, display device, stereo set and at least one network interface.The software systems of said vehicle drive emulator comprise: communications protocol, vision simulation program, three-dimensional scene models database, dynamics of vehicle simulated program, collision detection program, sound generator program, sound source data storehouse.
At least one simulation result output shows node, and said simulation result output shows node by a computer system, is installed in observer's software formation on the computer system.Said observer's computer system comprises at least one network interface, at least a display device.
The one cover network equipment, the said network equipment is supported TCP/] the rP agreement, said computer system, vehicle drive emulator carry out exchanges data through the said network equipment.
2. traffic simulating system as claimed in claim 1 is characterized in that constituting said traffic environment simulation subsystem and is become by one group of extendible traffic environment emulation server group.Can comprise one or more traffic environment emulation servers among the said traffic environment emulation server crowd.Each traffic environment emulation server among the crowd is responsible for the traffic environment of appointed area is carried out simulation calculation; The content of said each traffic environment emulation server simulation calculation comprises: calculate in this zone the state that entities are participated in all traffic, according to the timing information calculations should the zone in signal lamp state, calculate road on the way state can change the real-time status of entity.Said traffic participant comprises: motor vehicle, bicycle, pedestrian.The said road modifiable entity of state on the way comprises: road isolation facility, signal lamp, electric pole, plant, urban operating mechanism, small building.
3. traffic simulating system as claimed in claim 1 is characterized in that said each traffic environment emulation server can receive the simulation calculation result that the vehicle drive emulator in said other traffic environment emulation server, the said traffic simulating system sends through network interface.And the simulation result that receives is used for the simulation calculation of one's respective area traffic environment.
4. traffic simulating system as claimed in claim 1; When it is characterized in that a plurality of traffic environment emulation servers are worked with the pattern of server zone in the said traffic environment simulation subsystem, a plurality of traffic environment emulation servers can be worked in coordination with and accomplished large-scale traffic environment emulation.When a traffic entity was left next zone of region entering, the corresponding traffic environment emulation server in former zone was delivered next regional corresponding traffic environment emulation server with this traffic participation entity corresponding simulation object and is carried out simulation calculation.
5. traffic simulating system as claimed in claim 1 is characterized in that said each traffic environment emulation server shows the mode of the simulation result that calculates through three-dimensional picture.
6. traffic simulating system as claimed in claim 1; It is characterized in that the control action that the emulator of vehicle drive described in the system applies on trailer reversing equipment through interfacing equipment acquisition operations person, according to vehicle control realistic model, vehicle dynamic model, road data, tire. the road surface coupling model calculates the state of this vehicle drive emulator institute replicating machine motor-car object.
7. traffic simulating system as claimed in claim 1; The motor vehicle simulation object entity that it is characterized in that the emulator of vehicle drive described in system representative is participated in whole traffic simulation computing as a traffic participation entity in the traffic environment of traffic environment simulation subsystem institute emulation; The motor vehicle simulation object of said vehicle drive emulator representative can influence each other with other traffic participant, road, the road entity on the way in the traffic environment; These influences comprise: follow on collision, interference, the face of land, influences the result and on the corresponding traffic environment emulation server in said vehicle drive emulator region, calculate.
8. traffic simulating system as claimed in claim 1 is characterized in that the emulator of vehicle drive described in the system adopts the mode of three-dimensional picture to realize visual simulation.Vision simulation software is made up of three-dimensional scene models database, Real-Time Scene Simulation program.During operation, the Real-Time Scene Simulation program is carried out real-time rendering according to the state of said replicating machine motor-car object.
9. traffic simulating system as claimed in claim 1; It is characterized in that the emulator of vehicle drive described in the system receives the emulated data from traffic environment simulation subsystem and the transmission of other vehicle drive emulator; And in the what comes into a driver's picture, show the traffic environment situation of region; Participate in entity, environmental noise through other traffic of sound simulation system emulation.
10. traffic simulating system as claimed in claim 1; It is characterized in that said simulation result output shows that node can receive the emulated data from traffic environment simulation subsystem and the transmission of vehicle drive emulator, the mode of employing three-dimensional picture shows the traffic environment situation of position.Position and angle that operator's may command is observed.
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| CN102930122A (en) * | 2012-11-23 | 2013-02-13 | 青岛理工大学 | Motor vehicle collision accident simulation method |
| CN103956045A (en) * | 2014-05-13 | 2014-07-30 | 中国人民解放军军事交通学院 | Method for achieving collaborative driving of vehicle fleet by means of semi-physical simulation technology |
| CN103996283A (en) * | 2014-05-08 | 2014-08-20 | 东北大学 | Intelligent multi-vehicle bidirectional-track traffic simulation system and method based on Zigbee network |
| CN104050319A (en) * | 2014-06-13 | 2014-09-17 | 浙江大学 | Method for realtime online verification of complex traffic control algorithm |
| CN106873397A (en) * | 2017-01-23 | 2017-06-20 | 同济大学 | Intelligent network joins automobile " hardware in loop " accelerated loading emulation test system |
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| CN107391929A (en) * | 2017-07-21 | 2017-11-24 | 北京粒创科技有限公司 | A kind of virtual platform system based on user behavior data |
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| CN108919779A (en) * | 2018-07-02 | 2018-11-30 | 北京小马智行科技有限公司 | A kind of interactive mode unmanned vehicle emulation mode and emulation platform |
| CN108959813A (en) * | 2018-07-26 | 2018-12-07 | 北京理工大学 | A kind of emulation modelling method of intelligent vehicle road guide environmental model |
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| CN102930122A (en) * | 2012-11-23 | 2013-02-13 | 青岛理工大学 | Motor vehicle collision accident simulation method |
| CN102930122B (en) * | 2012-11-23 | 2015-01-21 | 青岛理工大学 | Motor vehicle collision accident simulation method |
| CN103996283A (en) * | 2014-05-08 | 2014-08-20 | 东北大学 | Intelligent multi-vehicle bidirectional-track traffic simulation system and method based on Zigbee network |
| CN103996283B (en) * | 2014-05-08 | 2015-12-02 | 东北大学 | Based on many vehicles two-way lane intelligent transportation analogue system and the method for Zigbee network |
| CN103956045B (en) * | 2014-05-13 | 2015-12-02 | 中国人民解放军军事交通学院 | Utilize semi-true object emulation technology means to realize method that fleet works in coordination with driving |
| CN103956045A (en) * | 2014-05-13 | 2014-07-30 | 中国人民解放军军事交通学院 | Method for achieving collaborative driving of vehicle fleet by means of semi-physical simulation technology |
| CN104050319A (en) * | 2014-06-13 | 2014-09-17 | 浙江大学 | Method for realtime online verification of complex traffic control algorithm |
| CN104050319B (en) * | 2014-06-13 | 2017-10-10 | 浙江大学 | A kind of method of the complicated traffic control algorithm of real-time online checking |
| CN106873397A (en) * | 2017-01-23 | 2017-06-20 | 同济大学 | Intelligent network joins automobile " hardware in loop " accelerated loading emulation test system |
| CN106873397B (en) * | 2017-01-23 | 2020-02-14 | 同济大学 | Intelligent networking automobile hardware-in-loop acceleration loading simulation test system |
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| CN107391929A (en) * | 2017-07-21 | 2017-11-24 | 北京粒创科技有限公司 | A kind of virtual platform system based on user behavior data |
| CN107391929B (en) * | 2017-07-21 | 2020-07-28 | 北京粒创科技有限公司 | Virtual platform system based on user behavior data |
| CN108492666A (en) * | 2018-03-31 | 2018-09-04 | 长安大学 | A kind of real-time microcosmic traffic simulation system and method for actual situation mixing |
| CN108595811A (en) * | 2018-04-16 | 2018-09-28 | 东南大学 | A kind of unexpected incidents emulation mode for unmanned vehicle training simulation |
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| CN115238424A (en) * | 2022-06-20 | 2022-10-25 | 深圳大学 | Road traffic illumination evaluation system and method based on vehicle driving simulation |
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Application publication date: 20120523 |