CN105138773A - Pedestrian simulation method and device based on discrete element simulation platform - Google Patents

Abstract

The invention discloses a pedestrian simulation method and device based on a discrete element simulation platform. Large-scale pedestrian movement can be simulated, and deep research and development on the large-scale pedestrian movement by related personnel are supported. The method comprises the steps that firstly, physical attribute data of pedestrians to be simulated are obtained, and the physical attribute data are input into the discrete element simulation platform to structure a pedestrian model of the pedestrians to be simulated; secondly, geometric attribute data of a channel to be simulated are obtained, and the geometric attribute data are input into the discrete element simulation platform to structure a channel model of the channel to be simulated; thirdly, a pedestrian particle stress model is structured based on a social force model and a contact model of a particle discrete element method; fourthly, the pedestrian model is arranged in the channel model, the stress model is used for updating the movement state of pedestrian particles of the pedestrian model in real time, and thus pedestrian stream simulation is carried out on the pedestrian to be simulated.

Description

Based on pedestrian simulation method and the device of discrete element emulation platform

Technical field

The present invention relates to pedestrian simulation technical field, be specifically related to a kind of pedestrian simulation method based on discrete element emulation platform (EDEM platform) and device.

Background technology

Along with the increase of Large-sized Communication hinge demand, when occurring traffic trip peak period or emergency, passenger flow out of the station on a large scale can get congestion in some bottleneck, so use simulation software to simulate pedestrian stream motion, find pedestrian stream rule, thus to find when the motion of extensive pedestrian stream hazardous location in hinge.

For simulation software, conventional pedestrian simulation software has the Vissim etc. of the Legion of Britain, Germany, and these simulation softwares are all can not the pedestrian simulation platform of secondary development (Legion, Vissim service manual) based on embedded model.And conventional micro-simulation simulator (as Vissim) is low for large-scale data input counting yield, simulation calculating time length maybe can not emulate, and the pedestrian simulation software of the autonomous property right of non-China developed by each company of foreign country, embedded model cannot secondary development, thus model mechanism cannot be probed into, cannot transform model and optimize, therefore traditional simulation software can not emulate large-scale pedestrian movement, does not also support that Chinese scholar carries out profound research and development.

Summary of the invention

The object of the invention is to, a kind of pedestrian simulation method based on EDEM platform and device are provided, large-scale pedestrian movement can be emulated, and support that related personnel carries out profound research and development to it.

For this purpose, on the one hand, the present invention proposes a kind of pedestrian simulation method based on EDEM platform, comprising:

S1, obtain and wait to emulate the physical property data of pedestrian, by by described physical property data input EDEM platform, wait the pedestrian dummy emulating pedestrian described in structure, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

S2, obtain and treat the geometric attribute data of phantom channel, by described geometric attribute data are inputted described EDEM platform, described in structure, treat the channel pattern of phantom channel;

S3, build the stress model of pedestrian's particle based on the contact model of social force model and described Discrete Element Methods For Particulate;

S4, by described pedestrian dummy being placed in described channel pattern, and utilizing the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, treating that emulation pedestrian carries out stream of people's emulation to described.

On the other hand, the present invention proposes a kind of pedestrian simulation device based on EDEM platform, comprising:

Pedestrian dummy construction unit, for obtaining the physical property data waiting to emulate pedestrian, by described physical property data is inputted EDEM platform, wait the pedestrian dummy emulating pedestrian described in structure, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

Channel pattern construction unit, for obtaining the geometric attribute data treating phantom channel, by described geometric attribute data are inputted described EDEM platform, treats the channel pattern of phantom channel described in structure;

Stress model construction unit, for building the stress model of pedestrian's particle based on the contact model of social force model and described Discrete Element Methods For Particulate;

Stream of people's simulation unit, for by described pedestrian dummy being placed in described channel pattern, and utilizes the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, treats that emulation pedestrian carries out stream of people's emulation to described.

The pedestrian simulation method based on EDEM platform described in the embodiment of the present invention and device, secondary development is carried out to granular discrete-element emulation platform EDEM, write stress model to embed wherein, it is the platform of emulation soil particle motion because EDEM is former, so be applicable to the magnitude of hinge from input data bulk and efficiency, pass through pedestrian dummy simultaneously, can be the pedestrian with subjective initiative by the property transition of soil particle, the channel pattern of phantom channel is treated by the formation function that can create geometric space of EDEM platform, on this basis the motion of pedestrian is emulated, thus large-scale pedestrian movement can be emulated, and support that related personnel carries out profound research and development to it.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of pedestrian simulation method one embodiment that the present invention is based on EDEM platform;

Fig. 2 is the algorithm design process flow diagram utilizing the stress model of pedestrian's particle to upgrade the motion state of pedestrian's particle in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform;

Fig. 3 is the overlapping and tangential displacement schematic diagram of normal direction between pedestrian in the another embodiment of pedestrian simulation method that the present invention is based on EDEM platform;

Fig. 4 is the normal force simplified model schematic diagram of pedestrian contact's model in the another embodiment of pedestrian simulation method that the present invention is based on EDEM platform;

Fig. 5 is the tangential force simplified model schematic diagram of pedestrian contact's model in the another embodiment of pedestrian simulation method that the present invention is based on EDEM platform;

Fig. 6 is the position relationship schematic diagram of pedestrian and pedestrian in the another embodiment of pedestrian simulation method that the present invention is based on EDEM platform;

Fig. 7 is the position relationship schematic diagram of pedestrian and wall in the another embodiment of pedestrian simulation method that the present invention is based on EDEM platform;

Fig. 8 for the present invention is based on EDEM platform the another embodiment of pedestrian simulation method in repulsive force schematic diagram suffered by pedestrian;

Fig. 9 for the present invention is based on EDEM platform the another embodiment of pedestrian simulation method in driving force schematic diagram suffered by pedestrian;

Figure 10 is the frame structure schematic diagram of pedestrian simulation device one embodiment that the present invention is based on EDEM platform.

Embodiment

For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

As shown in Figure 1, the present embodiment discloses a kind of pedestrian simulation method based on EDEM platform, comprising:

S1, obtain and wait to emulate the physical property data of pedestrian, by by described physical property data input EDEM platform, wait the pedestrian dummy emulating pedestrian described in structure, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

S2, obtain and treat the geometric attribute data of phantom channel, by described geometric attribute data are inputted described EDEM platform, described in structure, treat the channel pattern of phantom channel;

S3, build the stress model of pedestrian's particle based on the contact model of social force model and described Discrete Element Methods For Particulate;

S4, by described pedestrian dummy being placed in described channel pattern, and utilizing the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, treating that emulation pedestrian carries out stream of people's emulation to described.

The pedestrian simulation method based on EDEM platform described in the embodiment of the present invention, secondary development is carried out to granular discrete-element emulation platform EDEM, write stress model to embed wherein, it is the platform of emulation soil particle motion because EDEM is former, so be applicable to the magnitude of hinge from input data bulk and efficiency, pass through pedestrian dummy simultaneously, can be the pedestrian with subjective initiative by the property transition of soil particle, the channel pattern of phantom channel is treated by the formation function that can create geometric space of EDEM platform, on this basis the motion of pedestrian is emulated, thus large-scale pedestrian movement can be emulated, and support that related personnel carries out profound research and development to it.

Alternatively, referring to Fig. 2, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, described S3, comprising:

S31, for each pedestrian's particle, detect this pedestrian's particle and other pedestrian's particle, whether barrier with existing between the walls contacts, if there is contact, then calculate this driving force suffered by pedestrian's particle and the pedestrian's particle contacted with its existence suffered by this pedestrian's particle, the contact force of barrier and wall, if or there is not contact, then judge whether this pedestrian's particle is subject to other pedestrian's particle, the repulsive force of barrier and wall, if this pedestrian's particle is subject to the repulsive force of other pedestrian's particle or barrier or wall, calculate this driving force suffered by pedestrian's particle and repulsive force, if this pedestrian's particle is not subject to other pedestrian's particle, the repulsive force of barrier and wall, then calculate this driving force suffered by pedestrian's particle,

S32, for each pedestrian's particle, calculate suffered by this pedestrian's particle make a concerted effort.

After the stress model of pedestrian's particle has been write, the present invention can by the embedded model function of compiled model by EDEM platform, the My_Hertz_Mindlin.dll file of model generation is imported in the file path that EDEM can identify, and My_Hertz_Mindlin is set to the stress model of pedestrian's particle by the attribute of " Physics " setting " ParticletoParticle ".

The present invention can adopt C++ to write the stress model of pedestrian's particle, utilizes the motion of stress model to pedestrian to emulate, and concrete simulation process comprises 5 steps (algorithm design process flow diagram is as shown in Figure 2) below:

Step one: algorithm starts, obtains the positional information of pedestrian's particle;

Step 2: detect pedestrian's particle and other pedestrian's particle, whether barrier with existing between the walls contacts, the contact force suffered by pedestrian's particle and driving force is then directly calculated as contacted, if do not contacted, then judge whether pedestrian's particle is subject to other pedestrian's particle further, the repulsive force of barrier and wall, if be subject to other pedestrian's particle, the repulsive force of barrier and wall, then need to calculate driving force and repulsive force suffered by pedestrian's particle, if be not subject to other pedestrian's particle, the repulsive force of barrier and wall, then only need to calculate the driving force suffered by pedestrian's particle,

Step 3: by obtaining each component suffered by pedestrian's particle after exposure test, thus it is with joint efforts suffered to calculate pedestrian's particle, and the parameter such as acceleration, speed of pedestrian's movement of particles is obtained according to Newton second law, and pedestrian position information is upgraded;

Step 4: judge whether emulation terminates, as not yet terminated, it is stressed and upgrade pedestrian position that real-time circulation calculates pedestrian, thus show the motion state of overall pedestrian stream, until emulation terminates, preserves all data results;

Step 5: emulation terminates, model terminates to run.

The embodiment of the present invention, by the secondary development function of EDEM emulation platform, is used C++ to write stress model and is carried out embedded, and in conjunction with real data structure pedestrian dummy and channel pattern, thus carry out pedestrian stream microscopic simulation by EDEM platform.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, whether this pedestrian's particle of described detection contacts with existing between other pedestrian's particle, comprising:

For this pedestrian's particle i and other pedestrian's particle j, calculate the radius sum of this pedestrian's particle i and described other pedestrian's particle j, and distance in the heart in this pedestrian's particle i and described other pedestrian's particle j;

More described radius sum and in the magnitude relationship of distance in the heart, if described radius sum be less than described in distance in the heart, then determine that this pedestrian's particle i does not exist with described other pedestrian's particle j to contact, otherwise, determine that this pedestrian's particle i exists with described other pedestrian's particle j and contact.

When the continuous increase along with pedestrian density, pedestrian's degree of crowding strengthens, the space simultaneously can freely walked reduces gradually, will inevitably contact with each other between pedestrian, and producing power, being incorporated into by the contact model of Discrete Element Methods For Particulate in pedestrian movement's process is exactly between definition pedestrian or pedestrian and barrier or pedestrian produce and interactional process with contacting between the walls.

In distinct element method, a particle prose style free from parallelism is regarded as the unit set of definite shape and quality, each particle is a unit, similar to movement of particles, pedestrian in passage is individual in the process contacted with each other, separate, interactional particles populations can be regarded as, possess the precondition of following utilization contact theory equally:

(1) pedestrian is rigid body, and the system variant in pedestrian movement's process is the distortion summation that between pedestrian, mutual " embedded squeezing " is formed, and the contact between pedestrian occurs very of short duration and occurs in very little regional extent, belongs to point cantact.

(2) touching act between pedestrian belongs to soft contact, and pedestrian allows certain overlap occurs in contact area, and small-sized compared to self of lap, the distortion occurred by contact is much smaller relative to the motion of pedestrian.

(3) within the scope of arbitrary time step of pedestrian movement, pedestrian is suffered make a concerted effort all can by self between subjective stressed and pedestrian or pedestrian and barrier or pedestrian and between the walls interaction force uniquely determine.

(4) pedestrian's particle possesses the geometric properties such as shape, size and initial position, and the behavior such as contact, extruding, friction between pedestrian's particle can be set flexibly by relevant " material behavior " parameter, and then obtain the not getable valuable information of additive method, the motor behavior of pedestrian is considered from the angle of the mechanics of materials.

Use for reference the soft agarose culture rule in granular discrete-element contact theory, the contact process of pedestrian and pedestrian, pedestrian and barrier, pedestrian and wall can be summarised as that normal direction is moved, tangential motion, and be reduced to the damped motion of spring oscillator.Due to similar with the contact model of pedestrian and barrier and pedestrian and wall between pedestrian, will only analyze with the contact process between pedestrian therefore:

As shown in Figure 3, when pedestrian i is when being subject to contact with pedestrian j at an A under External Force Acting, along with the relative motion in two human world, between pedestrian, producing contact force gradually, just can obtain the contact force suffered by pedestrian by calculating normal direction lap a and tangential displacement δ between two pedestrians.

Normal direction and the tangential relative displacement of pedestrian are realized by setting spring between pedestrian i and pedestrian j, damping and slider, and introduce the parameters such as elasticity coefficient, ratio of damping, friction factor to quantize the effect of spring, damper and slider.

Normal Displacement between pedestrian realizes (being illustrated in figure 4 the normal force simplified model of pedestrian contact's model) by spring and damping, tangential displacement is realized (being illustrated in figure 5 the tangential force simplified model of pedestrian contact's model) jointly by spring, damping and slider, when tangential force exceedes yield value, pedestrian is in tangential force and friction force effect lower slider, and this process is realized by slider.The normal force of pedestrian contact's model and tangential force simplified model and solution procedure as described below:

(1) normal force solves:

Analyze from two dimensional surface loading angle, normal force it is making a concerted effort, assuming that the normal direction elasticity coefficient of pedestrian i and normal direction ratio of damping are respectively k by elastic force on pedestrian i of spring and damper acting in conjunction and damping force _n, c _n, the normal direction lap between pedestrian is a, and the speed of pedestrian i is the speed of pedestrian j is pedestrian i relative to the speed of pedestrian j is then pedestrian i is subject to being defined as follows from the normal force of pedestrian j:

$\stackrel{\→}{f_{nij}}=(-k_{n}a-c_n\stackrel{\→}{v_{ij}}\·\stackrel{\→}{n})\stackrel{\→}{n},$

In formula:

pedestrian j suffered by pedestrian i normal force,

from pedestrian i center to the unit vector at pedestrian j center.

For three-dimensional pedestrian's granule, the lap between pedestrian becomes spheroid volume from the straight line in plane, and therefore pedestrian i is subject to being defined as follows from the normal force of pedestrian j:

$\stackrel{\→}{f_{nij}}=(-k_n{a}^{\frac{3}{2}}-c_n\stackrel{\→}{v_{ij}}\·\stackrel{\→}{n})\stackrel{\→}{n},$

In formula, alphabetical implication is the same.

(2) tangential force solves:

In like manner, in two dimensional surface, tangential force between pedestrian by spring, the making a concerted effort, assuming that the tangential elasticity coefficient of pedestrian i and tangential ratio of damping are respectively k of damper and the elastic force of slider acting in conjunction on pedestrian i, damping force and friction force _t, c _t, pedestrian in the tangential displacement of contact point is the sliding velocity of contact point is then pedestrian i is subject to being defined as follows from the tangential force of pedestrian j:

$\stackrel{\→}{f_{tij}}=-k_t\stackrel{\→}{\mathrm{\δ}}-c_t\stackrel{\→}{v_{ct}},$

In formula:

pedestrian j suffered by pedestrian i tangential force.

For three-dimensional pedestrian's particle, the tangential sliding velocity of contact point of pedestrian is as follows:

$\stackrel{\→}{v_{ct}}=\stackrel{\→}{v_{ij}}-(\stackrel{\→}{v_{ij}}\·\stackrel{\→}{n})\stackrel{\→}{n}+R_i\stackrel{\→}{{\mathrm{\ω}}_i}\×\stackrel{\→}{n}+R_j\stackrel{\→}{{\mathrm{\ω}}_j}\×\stackrel{\→}{n},$

In formula:

pedestrian i relative to the speed of pedestrian j,

from pedestrian i center to the unit vector at pedestrian j center,

R _i: the radius of pedestrian i, R _j: the radius of pedestrian j,

the angular velocity of pedestrian i, the angular velocity of pedestrian j.

When the tangential elastic force of pedestrian is greater than pedestrian's normal direction elastic force and coefficientoffrictionμ _slong-pending time, according to coulomb-mohr criterion, suffered by pedestrian, tangential force is as follows:

$\stackrel{\→}{f_{tij}}=-{\mathrm{\μ}}_s\left|\stackrel{\→}{f_{nij}}\right|\stackrel{\→}{n_t},$

In formula:

pedestrian j suffered by pedestrian i tangential force,

pedestrian j suffered by pedestrian i normal force,

the vector units of tangential force suffered by pedestrian i,

The contact force of pedestrian j suffered by pedestrian i is the normal force of pedestrian j suffered by pedestrian i and making a concerted effort of tangential force.

In the contact process of simulation pedestrian, need the normal direction lap and the tangential displacement that obtain pedestrian's particle when calculating contact force, when pedestrian's amounts of particles increases gradually, calculating strength can increase thereupon, therefore be necessary to select a kind of method for quickly retrieving, to increase counting yield.

Current employing the most efficient contact detection algorithm decision process is divided into slightly sentencing and carefully sentencing two stages: first shared by system, spatial division is some grids, and the grid length of side is between the maximum gauge and double diameter thereof of pedestrian.Pedestrian is minimum occupies a grid, maximumly can occupy four grids simultaneously, and thick judgement only needs to determine belonging to this pedestrian, whether grid exists other pedestrians, if existed, then needs carefully to sentence to draw whether contact and lap, tangential displacement amount.If grid belonging to pedestrian does not exist other pedestrians, then be directly judged to contact.

As shown in Figure 6, pedestrian A, C lay respectively in No. 2 and No. 8 grids, and pedestrian B occupies 5,6,8, No. 9 grids simultaneously, and now can be judged to be that B, C belong to No. 8 grids together, may there is contact relation, pedestrian A is in separately No. 2 grids, can not come in contact with B, C.Now, only need carry out distance for adjacent pedestrian B, C to retrieve.In like manner, the contact of pedestrian and barrier judges similar, does not repeat at this.

Pedestrian and the contact of wall judge to need to be divided in the horizontal direction in pedestrian movement space between the Ruo Gan Transverse Ge ， Transverse same maximum gauge between pedestrian of compartment size and double diameter.Pedestrian is minimum takies a grid, maximumly can cross over two grids simultaneously.Thick judgement first-selection determines whether pedestrian is in by the most Jin Transverse lattice of wall, if exist, needs to determine whether further to contact with wall.As shown in Figure 7, pedestrian A, C are all arranged in No. 3 Transverse lattice, pedestrian B is arranged in No. 2 Transverse lattice, pedestrian D is arranged in No. 1 Transverse lattice, then can be judged to be that pedestrian A, C, D and wall may exist contact relation, pedestrian B then can not come in contact with wall, and then only needs to carry out distance to three pedestrians that may come in contact further and retrieve.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, describedly judge the repulsive force whether this pedestrian's particle is subject to other pedestrian's particle, comprising:

For this pedestrian's particle i and other pedestrian's particle j, calculate distance in the heart in this pedestrian's particle i and described other pedestrian's particle j, judge described in distance in the heart whether be less than the first numerical value, if be less than, then determine that this pedestrian's particle i is subject to the repulsive force of described other pedestrian's particle j, otherwise, determine that this pedestrian's particle i is not subject to the repulsive force of described other pedestrian's particle j.

In motion process, most important reciprocation is that pedestrian and other pedestrians or barrier maintain a certain distance, repulsive force effectively expressing in social force model has gone out this psychological characteristics, because contact can make human psychological produce discomfort, certain distance can be kept between pedestrian as far as possible, along with distance reduces, this psychological forces retaining certain distance between pedestrian represents by the form of exponential function, and increases gradually.Be illustrated in figure 8 pedestrian by repulsive force schematic diagram, because repulsive force suffered by pedestrian i always points to the direction of pedestrian i or pedestrian i and barrier normal orientation with pedestrian j is consistent, therefore repulsive force can be divided into again damping force and dodge power two component, damping force is contrary with the direction of driving force all the time, embody the idea that pedestrian is running into other pedestrians or barrier and has a mind to slow down, dodge power all the time perpendicular to the direction of driving force, embody the idea that pedestrian is running into other pedestrians or barrier and has a mind to dodge.Described in repulsive force being defined as follows in social force model.

If the radius of pedestrian i is r _i, the radius of pedestrian j is r _j, then r _ij=r _i+ r _jit is the radius sum of two pedestrians.If d _ijbe distance in the heart in two pedestrians, work as d _ij>r _ijtime, there is not contact between two pedestrians, otherwise will extra contact force be produced.

Set direction vector for pedestrian j points to the vector of unit length of pedestrian i, the repulsive force between pedestrian i and pedestrian j is consistent all the time with this direction, then suffered by pedestrian i, repulsive force is defined as follows:

$\stackrel{\→}{f_{ij}}=A_{i1}\exp \[(r_{ij}-d_{ij})/-B_{i1}\]\stackrel{\→}{n_{ij}},$

In formula:

repulsive force between pedestrian,

A _i1, B _i1: be constant, A _i1, B _i1describe pedestrian i with pedestrian j when not contacting, the social force parameter of pedestrian i, A _i1for the repulsion action intensity between pedestrian, this value and acceleration linear, A _i1larger, between pedestrian, suffered repulsion effect is more obvious, otherwise then weakens; B _i1for starting the distance of having an effect between pedestrian, B _i1larger, then there is repulsion effect when pedestrian is distant, otherwise then close together time just there is repulsion effect,

R _ij-d _ij: two pedestrian's radius sums and the OC difference of two pedestrians.

In like manner, the repulsive force between pedestrian and barrier is similar to the repulsive force between pedestrian and pedestrian, if the radius of pedestrian i is r _i, then r _izfor the theoretical (barrier is regarded as regular geometric body, then actual range is the distance at pedestrian center and barrier center) of pedestrian and barrier.If d _izthe actual range of pedestrian and barrier (actual range is the bee-line that pedestrian center and barrier are put), works as d _iz>r _iztime, do not exist between pedestrian with barrier and contact, otherwise will extra contact force be produced.

Set direction vector for barrier points to the vector of unit length of pedestrian i normal direction, then suffered by pedestrian, repulsive force is as follows:

$\stackrel{\→}{f_{iz}}=A_{i2}\exp \[(r_{iz}-d_{iz})/B_{i2}\]\stackrel{\→}{n_{iz}},$

In formula:

repulsive force suffered by pedestrian,

A _i2, B _i2: be constant, A _i2, B _i2describe pedestrian i with barrier z when not contacting, the social force parameter of pedestrian i, A _i2for the repulsion action intensity between pedestrian and barrier, this value and acceleration linear, A _i2larger, between pedestrian, suffered repulsion effect is more obvious, otherwise then weakens; B _i2for pedestrian and barrier start the distance of having an effect, B _i2larger, then there is repulsion effect when pedestrian's distance barrier is far away, otherwise then close together time just generation repulsion effect,

R _iz-d _iz: the theoretical between pedestrian and barrier and the difference of actual range.

In like manner, pedestrian and repulsive force are between the walls similar to pedestrian and pedestrian, repulsive force between pedestrian and barrier, and the present invention repeats no more this.

In addition, if do not have other external force factors to affect, pedestrian can remain that desired speed and desired orientation are passed through in the channel, this power (i.e. driving force) drives pedestrian and completes " displacement activity ", has embodied in the subjective consciousness of pedestrian the motivation (being illustrated in figure 9 pedestrian by driving force schematic diagram) thirsting for arriving destination.

As shown in Figure 9, pedestrian is set along path in the existing model of social force final arrival destination in any t and t+1 moment respectively in position with then pedestrian can be defined as follows at the direction of travel of t:

$\stackrel{\→}{e_{ai}}\left(t\right)=\frac{\stackrel{\→}{r_a}\left(t+1\right)-\stackrel{\→}{r_a}\left(t\right)}{||\stackrel{\→}{r_a}\left(t+1\right)-\stackrel{\→}{r_a}\left(t\right)||},$

In formula:

pedestrian expects direction of travel,

pedestrian in the position of t,

pedestrian is in the position in t+1 moment.

If do not have other extraneous factors to affect, pedestrian can remain desired speed to desired orientation walking, namely driving force can maintain pedestrian and walks to impact point with desired speed and direction.When running into other pedestrians or barrier, pedestrian affects by other external force, desired speed by be decreased to present speed v _it (), desired orientation is changed into now pedestrian starts by driving force effect, until reach pedestrian's desired speed and direction, suffered by t pedestrian, driving force is as follows:

In formula:

M _i: the quality of pedestrian,

pedestrian expects the speed of travel,

pedestrian at the actual speed of travel vector of t,

τ _i: in the relaxation time, represent that pedestrian accelerates to the time required for desired speed from the current speed of travel, relevant to acceleration.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, whether this pedestrian's particle of described detection contacts with existing between barrier, comprising:

For this pedestrian's particle i and barrier z, calculate the theoretical between this pedestrian's particle i and described barrier z, and the actual range between this pedestrian's particle i and described barrier z;

The magnitude relationship of more described theoretical and actual range, if described theoretical is less than described actual range, then determines that this pedestrian's particle i does not exist with described barrier z and contacts, otherwise, determine that this pedestrian's particle i exists with described barrier z and contact.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, describedly judge the repulsive force whether this pedestrian's particle is subject to barrier, comprising:

For this pedestrian's particle i and barrier z, calculate the theoretical between this pedestrian's particle i and described barrier z, judge whether described theoretical is less than second value, if be less than, then determine that this pedestrian's particle i is subject to the repulsive force of described barrier z, otherwise, determine that this pedestrian's particle i is not subject to the repulsive force of described barrier z.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, the described motion state utilizing pedestrian's particle of pedestrian dummy described in described stress model real-time update, comprising:

For each pedestrian's particle of described pedestrian dummy, described stress model is utilized to calculate making a concerted effort suffered by this pedestrian's particle in real time;

According to described acceleration of making a concerted effort to calculate this pedestrian's movement of particles, according to this pedestrian's particle displacement in each time step of described acceleration calculation, and upgrade according to the position of described displacement to this pedestrian's particle.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, described S4, also comprises:

For each pedestrian's particle, judge whether this pedestrian's particle moves end, if terminate, then generate the movement locus of this pedestrian's particle according to the positional information of this pedestrian's movement of particles process.

Alternatively, in another embodiment of pedestrian simulation method that the present invention is based on EDEM platform, described physical property data comprises sex, growth and development stage classification, quality, the size of pedestrian and expects the speed of travel, described geometric attribute data comprise length and width and height, and described channel pattern is rectangular parallelepiped.

The embodiment of the present invention builds pedestrian dummy by EDEM emulation platform and real data, data are according to recovery hingen knob inner passage morning peak pedestrian enquiry data statistics, pedestrian's particle is divided into 8 classes, comprise man teenager, young man, man's middle age, man is old, female is juvenile, young woman, female is middle aged, female is old, different classes of pedestrian's quality and size different, and be input in EDEM as known parameters, thus obtain the pedestrian dummy treating emulation pedestrian.

Owing to can directly create fairly simple geometric space in EDEM software, therefore the embodiment of the present invention can revive door subway station transferring passage measured data according to Beijing, builds hinge internal channel model.The channel pattern built in the embodiment of the present invention can be rectangular parallelepiped, and the solid that also can directly can create for EDEM software, the present invention is not construed as limiting this.

Referring to Figure 10, the present embodiment discloses a kind of pedestrian simulation device based on EDEM platform, comprising:

Pedestrian dummy construction unit 1, for obtaining the physical property data waiting to emulate pedestrian, by described physical property data is inputted EDEM platform, wait the pedestrian dummy emulating pedestrian described in structure, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

Channel pattern construction unit 2, for obtaining the geometric attribute data treating phantom channel, by described geometric attribute data are inputted described EDEM platform, treats the channel pattern of phantom channel described in structure;

Stress model construction unit 3, for building the stress model of pedestrian's particle based on the contact model of social force model and described Discrete Element Methods For Particulate;

Stream of people's simulation unit 4, for by described pedestrian dummy being placed in described channel pattern, and utilizes the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, treats that emulation pedestrian carries out stream of people's emulation to described.

The pedestrian simulation device based on EDEM platform described in the embodiment of the present invention, secondary development is carried out to granular discrete-element emulation platform EDEM, write stress model to embed wherein, it is the platform of emulation soil particle motion because EDEM is former, so be applicable to the magnitude of hinge from input data bulk and efficiency, pass through pedestrian dummy simultaneously, can be the pedestrian with subjective initiative by the property transition of soil particle, the channel pattern of phantom channel is treated by the formation function that can create geometric space of EDEM platform, on this basis the motion of pedestrian is emulated, thus large-scale pedestrian movement can be emulated, and support that related personnel carries out profound research and development to it.

The emulation platform EDEM of Discrete Element Methods For Particulate is first common software being used for Simulation and analysis particle disposal and production operation with modernization discrete element analysis tech design in the world, by the behavioural characteristic of granular system in simulation bulk material processing processing procedure, designer is assisted to design all kinds of bulk handling apparatus, test and optimization, often be used to the fit distortion under quasistatic or dynamic condition of analog discrete groups of grains and destructive process, application has: rock, soil mechanics, hard brittle material is processed, powder-compacting, Loose Bodies conveying etc., because soil particle is unconscious form object, and pedestrian is form object consciously, therefore EDEM is not applied in pedestrian simulation, and this programme uses this cross-cutting model (Discrete Element Methods For Particulate) newly to carry out the structure of pedestrian simulation platform, select cross-cutting emulation platform (discrete element emulation platform EDEM), to its secondary development, design is write pedestrian stream C++ statement and is carried out embedded, to pedestrian's microscopic simulation that large-scale hinge carries out rapidly and efficiently, can by under the crowded pedestrian stream state of model analysis of the present invention, the deceleration of pedestrian's individuality, the special changes such as pause are on the impact of overall pedestrian stream, and contrast with actual conditions, find realistic, according to simulation result from the individual motion state with local pedestrian, distribution of force, variable density angularly probes into the resistance to overturning of pedestrian stream under conditions of high density, and then obtain this heterogeneous behavior to the impact of pedestrian stream, reach the requirement of application.

Although describe embodiments of the present invention by reference to the accompanying drawings, but those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, such amendment and modification all fall into by within claims limited range.

Claims (10)

1., based on a pedestrian simulation method for discrete element emulation platform, it is characterized in that, comprising:

S1, obtain and wait to emulate the physical property data of pedestrian, by by described physical property data input discrete element emulation platform, wait the pedestrian dummy emulating pedestrian described in structure, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

S2, obtain and treat the geometric attribute data of phantom channel, by described geometric attribute data are inputted described discrete element emulation platform, described in structure, treat the channel pattern of phantom channel;

S3, build the stress model of pedestrian's particle based on the contact model of social force model and described Discrete Element Methods For Particulate;

S4, by described pedestrian dummy being placed in described channel pattern, and utilizing the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, treating that emulation pedestrian carries out stream of people's emulation to described.

2. the pedestrian simulation method based on discrete element emulation platform according to claim 1, it is characterized in that, described S3, comprising:

S31, for each pedestrian's particle, detect this pedestrian's particle and other pedestrian's particle, whether barrier with existing between the walls contacts, if there is contact, then calculate this driving force suffered by pedestrian's particle and the pedestrian's particle contacted with its existence suffered by this pedestrian's particle, the contact force of barrier and wall, if or there is not contact, then judge whether this pedestrian's particle is subject to other pedestrian's particle, the repulsive force of barrier and wall, if this pedestrian's particle is subject to the repulsive force of other pedestrian's particle or barrier or wall, calculate this driving force suffered by pedestrian's particle and repulsive force, if this pedestrian's particle is not subject to other pedestrian's particle, the repulsive force of barrier and wall, then calculate this driving force suffered by pedestrian's particle,

S32, for each pedestrian's particle, calculate suffered by this pedestrian's particle make a concerted effort.

3. the pedestrian simulation method based on discrete element emulation platform according to claim 2, is characterized in that, whether this pedestrian's particle of described detection contacts with existing between other pedestrian's particle, comprising:

For this pedestrian's particle i and other pedestrian's particle j, calculate the radius sum of this pedestrian's particle i and described other pedestrian's particle j, and distance in the heart in this pedestrian's particle i and described other pedestrian's particle j;

More described radius sum and in the magnitude relationship of distance in the heart, if described radius sum be less than described in distance in the heart, then determine that this pedestrian's particle i does not exist with described other pedestrian's particle j to contact, otherwise, determine that this pedestrian's particle i exists with described other pedestrian's particle j and contact.

4. the pedestrian simulation method based on discrete element emulation platform according to claim 2, is characterized in that, describedly judges the repulsive force whether this pedestrian's particle is subject to other pedestrian's particle, comprising:

For this pedestrian's particle i and other pedestrian's particle j, calculate distance in the heart in this pedestrian's particle i and described other pedestrian's particle j, judge described in distance in the heart whether be less than the first numerical value, if be less than, then determine that this pedestrian's particle i is subject to the repulsive force of described other pedestrian's particle j, otherwise, determine that this pedestrian's particle i is not subject to the repulsive force of described other pedestrian's particle j.

5. the pedestrian simulation method based on discrete element emulation platform according to claim 2, is characterized in that, whether this pedestrian's particle of described detection contacts with existing between barrier, comprising:

For this pedestrian's particle i and barrier z, calculate the theoretical between this pedestrian's particle i and described barrier z, and the actual range between this pedestrian's particle i and described barrier z;

The magnitude relationship of more described theoretical and actual range, if described theoretical is less than described actual range, then determines that this pedestrian's particle i does not exist with described barrier z and contacts, otherwise, determine that this pedestrian's particle i exists with described barrier z and contact.

6. the pedestrian simulation method based on discrete element emulation platform according to claim 2, is characterized in that, describedly judges the repulsive force whether this pedestrian's particle is subject to barrier, comprising:

For this pedestrian's particle i and barrier z, calculate the theoretical between this pedestrian's particle i and described barrier z, judge whether described theoretical is less than second value, if be less than, then determine that this pedestrian's particle i is subject to the repulsive force of described barrier z, otherwise, determine that this pedestrian's particle i is not subject to the repulsive force of described barrier z.

7. the pedestrian simulation method based on discrete element emulation platform according to claim 1, is characterized in that, the described motion state utilizing pedestrian's particle of pedestrian dummy described in described stress model real-time update, comprising:

For each pedestrian's particle of described pedestrian dummy, described stress model is utilized to calculate making a concerted effort suffered by this pedestrian's particle in real time;

According to described acceleration of making a concerted effort to calculate this pedestrian's movement of particles, according to this pedestrian's particle displacement in each time step of described acceleration calculation, and upgrade according to the position of described displacement to this pedestrian's particle.

8. the pedestrian simulation method based on discrete element emulation platform according to claim 1, it is characterized in that, described S4, also comprises:

For each pedestrian's particle, judge whether this pedestrian's particle moves end, if terminate, then generate the movement locus of this pedestrian's particle according to the positional information of this pedestrian's movement of particles process.

9. the pedestrian simulation method based on discrete element emulation platform according to claim 1, it is characterized in that, described physical property data comprises sex, growth and development stage classification, quality, the size of pedestrian and expects the speed of travel, described geometric attribute data comprise length and width and height, and described channel pattern is rectangular parallelepiped.

10., based on a pedestrian simulation device for discrete element emulation platform, it is characterized in that, comprising:

Pedestrian dummy construction unit, for obtaining the physical property data waiting to emulate pedestrian, by described physical property data is inputted discrete element emulation platform, wait the pedestrian dummy emulating pedestrian described in structure, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

Channel pattern construction unit, for obtaining the geometric attribute data treating phantom channel, by described geometric attribute data are inputted described discrete element emulation platform, treats the channel pattern of phantom channel described in structure;

Stress model construction unit, for building the stress model of pedestrian's particle based on the contact model of social force model and described Discrete Element Methods For Particulate;

Stream of people's simulation unit, for by described pedestrian dummy being placed in described channel pattern, and utilizes the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, treats that emulation pedestrian carries out stream of people's emulation to described.