CN104570770A - Traffic flow simulation experiment platform based on micro intelligent vehicles - Google Patents
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Abstract
The invention provides a traffic flow simulation experiment platform based on micro intelligent vehicles. The traffic flow simulation experiment platform comprises a motion capturing system, a central control system, a micro vehicle group and a dynamic display system. The motion capturing system captures the vehicles in a scene to obtain pose data of the micro vehicle group and transmits the pose data to the central control system; the central control system takes the pose data of the micro vehicle group and map data in a database as input, obtains control commands for all the vehicles through calculation of a control algorithm and sends the control commands to the micro vehicle group; the micro vehicle group receives the control commands sent by the central control system, obtains speed and steering control commands corresponding to all the vehicles through protocol analysis and executes the speed and steering control commands; the dynamic display system builds a virtual display interface of the actual scene and dynamically displays the operation condition of the micro vehicle group in the scene. The traffic flow in various traffic scenes can be effectively simulated, and the traffic flow control algorithm can be verified.
Description
Technical field
The present invention relates to the nature imitation experiment device of technical field of control over intelligent traffic, particularly, relate to a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle.
Background technology
Increasing sharply of automobile pollution brings the series of problems such as environmental pollution, traffic congestion, traffic safety reduction for current traffic system, and these problems cause the extensive concern of society.Wherein, traffic jam issue comes from and lacks effective Traffic flux detection.By the traffic flow of science management with control, the operational efficiency of urban highway traffic effectively can not only be improved, and can reasonable distribution urban transportation facility resource, improve city self utilization factor.Therefore, traffic flow research has important theory and practical application meaning.
Existing traffic flow research means mainly comprises software emulation, real vehicle traffic flow experiment and the experiment of miniature Traffic Flow Simulation.Software emulation uses computer technology traffic environment that is virtually reality like reality and traffic flow on computers.Sofeware simulation method is widely used in the assessment and analysis of traffic system.Although software emulation is a kind of important traffic flow research means, the virtual environment of software emulation is ecotopia, and auto model is the model simplified, and cannot simulate the driving behavior of people completely simultaneously.
Real vehicle traffic flow experiment allows real vehicle travel in real scene, and vehicle and scene periphery are equipped with relevant sensor and measuring equipment, the telecommunication flow information in actual measuring system.Small-scale controlled traffic flow experiment was all done by Japan and the U.S..Also there is special traffic system test site in China.Real vehicle traffic flow experiment can farthest simulation of real scenes, but train experiment is with high costs, and experiment difficulty is large, and experimental size is limited, and experiment success rate is low.Meanwhile, real vehicle traffic flow experiment lacks overall situation observation visual angle.
The experiment of miniature Traffic Flow Simulation be by typical traffic environment and vehicle scaled, simcity traffic flow.The experiment of miniature Traffic Flow Simulation can not only make up the deficiency of sofeware simulation method to a certain extent, and can carry out extensive, can repeat, the traffic flow experiment of many scenes.Find through investigation, the domestic miniature traffic scene that had Chongqing academy of sciences, Tsing-Hua University, Wuhan University of Technology, Shanghai Communications University to build, these scenes relate to the complicated elements such as multilane, grade separation, crossroad.But above-mentioned miniature scene lacks global information feedback, and the sensing range of vehicle is limited; Miniature car needs install necessary sensor and carry out perception surrounding enviroment, therefore the performance of vehicle-mounted hardware computing platform must ensure real-time.
Chinese Patent Application No. is: 201310320830.8, publication number is 103345165A, this invention relates to a kind of intelligent transportation Hardware-in-the-loop system of miniature intelligent vehicle group, it is characterized in that: comprise the miniature road environment experiment porch of restructural, multiple stage miniature intelligent vehicle, wireless communication networks, video monitoring system, control and command terminal server and data server, described miniature intelligent vehicle by wireless communication networks respectively with control and command terminal server and data server wireless connections, by electronic tag and wireless communication networks wireless connections between described miniature intelligent vehicle, described restructural miniature road environment experiment porch periphery is provided with video monitoring system, described video monitoring system is connected with control and command terminal server.
But the mutual perception in above-mentioned patent between vehicle depends on the sensor of vehicle self, comprise vision sensor, laser sensor and ultrasonic sensor, add the cost of vehicle.Because rely on vehicle self-sensor device, so vehicle can only perception own circumference vehicle, also namely lack Global localization information.The path planning of the overall situation cannot be carried out like this.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle, effectively can emulate the traffic flow under various traffic scene, feedback global information, carries out Dynamic Announce.
For realizing above object, the invention provides a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle, comprising motion capture system, central control system, miniature car group and dynamic display system, wherein:
Described motion capture system, for catch miniature car group in scene view data and by image data transmission to central control system;
Described central control system, receives the view data of described motion capture system transmission, calculates the posture information of each miniature car in scene, and using this posture information as the input of control algolithm, through calculating the control command of miniature car; Described posture information sends to described dynamic display system, and described control command sends to described miniature car group;
Described miniature car group, receives the control command of described central control system transmission and performs, can form traffic flow under different traffic scenes;
Described dynamic display system receives the posture information of the miniature car that described central control system sends, and supervisory control comuter dynamically shows the ruuning situation of traffic flow in experiment scene, with observation experiment process and record experimental result.
Preferably, described motion capture system comprises camera and data line, wherein: camera initiatively launches infrared ray in place, catch vehicle-mounted reflective light label reflected light through miniature intelligent vehicle to obtain view data, and view data is sent to described central control system through data line.
More preferably, described camera selects the camera can launching certain frequency range infrared light, and by the installation site of multiple camera that reasonably to distribute, makes each region in experiment scene have the visual field of at least three cameras to cover.
More preferably, described camera installation way can experimentally the actual conditions in place be selected to be arranged on body of wall or on fixed support.
Preferably, described central control system comprises scene and map datum library module, pose resolve module, control module, wireless communication module, wherein: scene and map datum library module are for storing the data of various different scene and corresponding map datum, these data are used for the scene modeling of dynamic display system on the one hand, and the control command on the other hand for control module calculates; Pose resolves module for calculating the world coordinates of miniature car in scene and attitude from view data; Control module resolves the output of module for input with pose, calculate the control command that each miniature car needs, comprise and turning to and acceleration and deceleration; Control command converts serial data stream to by serial port protocol, the serial data stream that wireless communication module receiving computer serial ports transmits, and send serial data stream to miniature car via transmitting terminal broadcast type, the in-vehicle wireless communication module on miniature car receives this data stream.
More preferably, the map datum of described scene and map datum library module can be changed easily according to the scene of actual arrangement.
Preferably, described miniature car group receives the serial data stream of central control system transmission by arranging in-vehicle wireless communication module, by arranging vehicle-mounted microprocessor, protocol analysis is carried out to serial data stream, to obtain speed control commands and course changing control order and to perform, run in scene and form traffic flow.
More preferably, described miniature car group hardware comprises miniature intelligent vehicle, reflective light label, control circuit, wherein: reflective light label is installed on the roof of miniature intelligent vehicle, for the infrared light that camera in allocinesis capture system is launched; Control circuit be used for completion timing, interruption, master control circulatory function and asynchronous communication function, miniature intelligent vehicle crosswise joint and motor control drive.
Preferably, described dynamic display system input is that central control system Scene and map datum library module, pose resolve module output, concrete: first dynamic display system uses computer simulation technique, the traffic information of experimental site is carried out three-dimensionalreconstruction on computers, then real-time update vehicle posture information, reaches the function of Dynamic Announce.
More preferably, described dynamic display system uses central control system Scene and map datum library module to carry out modeling to experiment scene.
More preferably, described dynamic display system receives pose in central control system and resolves the state that miniature car group posture information that module sends is used for upgrading vehicle in virtual scene.
The present invention is applicable to the Simulation Experimental Platform under indoor environment, and concrete size can adjust according to actual place size.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention is a kind of miniature Traffic Flow Simulation experiment porch with global information feedback function, and the miniature car group in scene shares information, for how research controls traffic flow efficiently provides convenience;
2, the present invention proposes the control structure of " central control system---multiple agent ", effectively can control miniature car group, simultaneously because control algolithm is placed in central control system, institute is so that amendment algorithm;
3, the present invention uses map data base, and vehicle can be helped accurately to know environmental information, and the Decision Control for vehicle provides effective auxiliary input information;
4, the scale of the miniature car group of the present invention can adjust easily, only needs design to have the reflective light label of discrimination; Meanwhile, because vehicle obtains global feedback information by wireless communication module, so do not need to install unnecessary sensing equipment onboard, the cost of miniature car is greatly reduced;
5, the situation in experiment scene can show by dynamic display of functional of the present invention in real time on another computing machine, is convenient to not at personal observations's experimental phenomena of experimental field, record experimental data.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the platform block diagram of one embodiment of the present invention;
Fig. 2 is the structural representation of one embodiment of the present invention,
In figure: 1 is camera, 2 is data line, and 3 is hub, and 4 is miniature intelligent vehicle, and 5 is radio communication transmitting apparatus, and 6 is central control computer, and 7 is Dynamic Announce computing machine;
Fig. 3 is the coverage effect figure of the ken to place of the single camera of one embodiment of the present invention;
Fig. 4 is the miniature intelligent vehicle top reflective light label cases of design of one embodiment of the present invention,
In figure: 8 is car shell, and 9 is reflective light label.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle, comprising: motion capture system, central control system, miniature car group and dynamic display system.
Motion capture system described in the present embodiment is for catching the view data of miniature car group in scene, comprise camera and data line, wherein: camera selects the camera can launching certain frequency range infrared light, and by the installation site of multiple camera that reasonably to distribute, make each region in experiment scene have the visual field of at least three cameras to cover.When motion capture system works, camera initiatively launches infrared ray in place, then catches the reflected light through the vehicle-mounted reflective light label of miniature intelligent vehicle, obtains raw image data, raw image data is sent to central control system through data line.
Central control system described in the present embodiment is for collecting the raw image data of motion capture system transmission, and the posture information of each miniature car in scene is calculated by computer for controlling, in this, as the input of control algolithm, through calculating the control command of miniature car, and sent by wireless communication module; Described posture information sends to described dynamic display system, and described control command sends to described miniature car group.
As a preferred implementation, described central control system comprises scene and map datum library module, pose resolve module, control module, wireless communication module, wherein: scene and map datum library module are for storing the data of various different scene and corresponding map datum, these data are used for the scene modeling of dynamic display system on the one hand, control command on the other hand for control module calculates, and map datum can be changed easily according to the scene of actual arrangement; Pose resolves module for calculating the overall attitude information of miniature car in scene from raw image data, and this posture information is the global feedback of control system; Control module resolves the output of module for input with pose, calculate the control command that each car needs, comprise and turning to and acceleration and deceleration; Control command converts serial data stream to by serial port protocol, the serial data stream that wireless communication module receiving computer serial ports transmits, and send serial data stream to miniature car via transmitting terminal broadcast type, the wireless communication module on miniature car receives this data stream.
Miniature car group described in the present embodiment is the main body of traffic flow research, is the important composition of Simulation Experimental Platform, for receiving the control command of central control system transmission and performing, can form traffic flow under different traffic scenes; Miniature intelligent vehicle hardware comprises 1:10 intelligent vehicle, reflective light label, control circuit, and software comprises Process flowchart and protocol analysis.Miniature car group running software three processes, is respectively host process, Interruption process and protocol analysis process.Wherein: host process is used for initialization microcontroller and other chips, Interruption process is for monitoring miniature vehicle speed and central control system signal, and protocol analysis process is for resolving the packet of central control system transmission.The packet that central control system sends mainly is resolved according to corresponding format by protocol analysis, to obtain corresponding data, and makes corresponding actions according to agreement.Wherein: 1:10 intelligent vehicle turns to flexibly, space can be transformed greatly, be applicable to indoor scene; The effect of reflective light label is the infrared light that in allocinesis capture system, camera is launched, simultaneously for distinguishing different vehicles; Control circuit can comprise main control chip and the wireless receiving chip of the microprocessor of 16 bit.The main control chip of the microprocessor of 16 bit is used for function and the asynchronous communication functions such as completion timing, interruption, master control circulation, and drives for the control of vehicle lateral control, motor.
In the present embodiment, the arrangement design demand fulfillment vehicle of described reflective light label is after doing any rotation and translation, and described motion capture system can correctly distinguish any two cars.
In the present embodiment, described dynamic display system receives the miniature car posture information that described central control system sends, and supervisory control comuter dynamically shows the ruuning situation of traffic flow in experiment scene, for observation experiment process and record experimental result.Dynamic display system is used for the process of software reproduction experiment, realizes the observation to experiment and record; Described dynamic display system use scenes and map data base carry out modeling to experiment scene.When whole Simulation Experimental Platform runs, described dynamic display system receives the state that miniature car group posture information that described central control system sends is used for upgrading vehicle in virtual scene.
In the present embodiment, between described dynamic display system and central control system, use local area network communication.First described dynamic display system uses computer simulation technique, and the traffic information of experimental site is carried out three-dimensionalreconstruction on computers, then real-time update vehicle posture information, reaches the function of Dynamic Announce.
As shown in Figure 2, for the application schematic diagram of a preferred embodiment of the present invention, this experiment porch is applicable to indoor, comprises camera 1, data line 2, hub 3, miniature intelligent vehicle 4, radio communication transmitting apparatus 5, central control computer 6, Dynamic Announce computing machine 7, wherein:
As shown in Figure 2,3, described camera 1 is installed on surrounding distance ground, place and is about on the body of wall of 2.5m, and according to the field condition in place, camera 1 also can be arranged on customization support; The concrete number of described camera 1 increases and decreases according to place size and camera 1 size of field of view.In the present embodiment, place size is 6.2m × 6.6m × 2.5m, and camera 1 ken is 42 ° of (V) × 56 ° (H), through calculating, uses 12 cameras, 1 pair of place to carry out all standing.
In the present embodiment, described data line 2 connects camera 1 and hub 3, for the view data that transmission camera 1 is caught.
In the present embodiment, described hub 3 can select riding position according to the field condition in place, body of wall can be fixed on or be fixed on customization support or be placed in ground safety office, its effect is that the data centralization of multiple camera 1 is carried out unifying to transmit, expand transmission range to a certain extent, for the configuration of camera 1 adds dirigibility, its output terminal connects central control computer 6.
In the present embodiment, described miniature intelligent vehicle 4 is the main bodys forming traffic flow, and hardware core is the microprocessor of 16 bit and wireless communication receiver module; When the system is operated, the software systems of miniature intelligent vehicle 4 enter major cycle, once receive control command with regard to respective interrupt, perform concrete turning to and acceleration and deceleration action; In order to distinguish each car, also need for each car designs independent reflective light label, as shown in Figure 4, be the cases of design of reflective light label one by one, it is subject to the restriction of place size and miniature car size.
In the present embodiment, described radio communication transmitting apparatus 5, for sending control command, is that serial ports connects between it and central control computer 6.XBee Pro module is used to carry out radio communication in the present embodiment.
In the present embodiment, described central control computer 6 is placed in position suitable outside place.When experiment porch runs, central control computer 6 receives the data that camera 1 transmits through data line 2 and hub 3, carries out pose and resolves, then with the input for control algolithm, calculate the control command of miniature car group, then sent by radio communication transmitting apparatus 5.
In the present embodiment, described Dynamic Announce computing machine 7 is placed in the place being convenient to monitor, and is connected between it and central control computer 6 by LAN (Local Area Network).Described Dynamic Announce computing machine 7 and central control computer 6 are accessed in same LAN (Local Area Network) by netting twine.Dynamic Announce computing machine 7 needs data and concrete scene first according to the map to carry out scene modeling and vehicle modeling, then during system cloud gray model, Dynamic Announce computing machine 7 receives the current posture information of miniature car group that central control computer 6 sends, and upgrades in real time in scene.
Vehicle in the present invention relies on motion capture system to obtain Global localization information, and vehicle so the posture information of vehicle, is conducive to the formulation of global path planning and control strategy in real time or in scene.Simultaneously because vehicle does not need to carry other sensors, greatly have compressed the cost of vehicle.Be different from video monitoring system, the present invention uses dynamic display system, uses computer software reconstitution experiments place, simultaneous display experimentation.The present invention, in dynamic display system, not only selects arbitrarily observation visual angle, and the problem that the experiment porch cost avoiding other watch-dogs of increase and bring increases.
The present invention is a kind of miniature Traffic Flow Simulation experiment porch with global information feedback function, miniature car group in scene shares information, provides convenience, effectively can emulate the traffic flow under various traffic scene for how research controls traffic flow efficiently, feedback global information, carries out Dynamic Announce.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. based on a Traffic Flow Simulation experiment porch for miniature intelligent vehicle, it is characterized in that, comprise motion capture system, central control system, miniature car group and dynamic display system, wherein:
Described motion capture system, for catch miniature car group described in scene view data and by image data transmission give described central control system;
Described central control system, receives the view data of described motion capture system transmission, calculates the posture information of each miniature car in scene, and using this posture information as the input of control algolithm, through calculating the control command of miniature car; Described posture information sends to described dynamic display system, and described control command sends to described miniature car group;
Described miniature car group, receives the control command of described central control system transmission and performs, can form traffic flow under different traffic scenes;
Described dynamic display system receives the posture information of the miniature car that described central control system sends, and supervisory control comuter dynamically shows the ruuning situation of traffic flow in experiment scene, with observation experiment process and record experimental result.
2. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to claim 1, it is characterized in that, described motion capture system comprises camera and data line, wherein: camera initiatively launches infrared ray in place, catch through the vehicle-mounted reflective light label reflected light of miniature intelligent vehicle to obtain view data, and view data is sent to described central control system through data line.
3. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to claim 2, it is characterized in that, described camera selects the camera can launching certain frequency range infrared light, and by the installation site of multiple camera that reasonably to distribute, make each region in experiment scene have the visual field of at least three cameras to cover.
4. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to claim 1, it is characterized in that, described central control system comprises scene and map datum library module, pose resolve module, control module, wireless communication module, wherein: scene and map datum library module are for storing the data of various different scene and corresponding map datum, these data are used for the scene modeling of dynamic display system on the one hand, and the control command on the other hand for control module calculates; Pose resolves module for calculating the world coordinates of miniature car in scene and attitude from view data; Control module resolves the output of module for input with pose, calculate the control command that each miniature car needs, comprise and turning to and acceleration and deceleration; Control command converts serial data stream to by serial port protocol, the serial data stream that wireless communication module receiving computer serial ports transmits, and send serial data stream to miniature car via transmitting terminal broadcast type, the in-vehicle wireless communication module on miniature car receives this data stream.
5. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to claim 4, is characterized in that, the map datum of described scene and map datum library module can be changed easily according to the scene of actual arrangement.
6. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to claim 4, it is characterized in that, described miniature car group receives the serial data stream of central control system transmission by arranging in-vehicle wireless communication module, by arranging vehicle-mounted microprocessor, protocol analysis is carried out to serial data stream, to obtain speed control commands and course changing control order and to perform, run in scene and form traffic flow.
7. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to any one of claim 1-6, it is characterized in that, described miniature car group hardware comprises miniature intelligent vehicle, reflective light label, control circuit, wherein: reflective light label is installed on the roof of miniature intelligent vehicle, for the infrared light of camera transmitting in allocinesis capture system; Control circuit be used for completion timing, interruption, master control circulatory function and asynchronous communication function, miniature intelligent vehicle crosswise joint and motor control drive.
8. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to any one of claim 1-6, it is characterized in that, described miniature car group software comprises Process flowchart and protocol analysis, described miniature car group running software three processes, be respectively host process, Interruption process and protocol analysis process, wherein: host process is used for initialization microcontroller and other chips, Interruption process is for monitoring miniature vehicle speed and central control system signal, and protocol analysis process is for resolving the packet of central control system transmission; The packet that central control system sends is resolved according to corresponding format by protocol analysis, to obtain corresponding data, and makes corresponding actions according to agreement.
9. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to any one of claim 1-6, it is characterized in that, described dynamic display system input is that central control system Scene and map datum library module, pose resolve module output, first tool dynamic display system uses computer simulation technique, the traffic information of experimental site is carried out three-dimensionalreconstruction on computers, then real-time update vehicle posture information, reaches the function of Dynamic Announce.
10. a kind of Traffic Flow Simulation experiment porch based on miniature intelligent vehicle according to claim 9, is characterized in that, described dynamic display system uses central control system Scene and map datum library module to carry out modeling to experiment scene; Described dynamic display system receives pose in central control system and resolves the state that miniature car group posture information that module sends is used for upgrading vehicle in virtual scene.
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| CN116540565A (en) * | 2023-06-07 | 2023-08-04 | 中山大学 | Device for multi-vehicle cooperative control simulation and control method thereof |
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Application publication date: 20150429 |