CN105205216A - Cross-domain simulation method and device for large-scale pedestrian motion in hub - Google Patents

Abstract

The invention discloses a cross-domain simulation method and a cross-domain simulation device for large-scale pedestrian motion in a hub. A cross-domain granular discrete element method is introduced into pedestrian simulation, so that the input magnitude and the calculation efficiency are improved on the basis of keeping the simulation precision, and simulation of the large-scale pedestrian motion in the traffic hub is realized. The method comprises the following steps: S1, acquiring physical property data of pedestrians to be simulated, and constructing a pedestrian model of the pedestrians to be simulated based on the granular discrete element method; S2, acquiring geometric property data of a channel to be simulated, and constructing a channel model of the channel to be simulated; S3, constructing a stress model of pedestrian granules based on a social force model and a contact model of the granular discrete element method; and S4, putting the pedestrian model into the channel model, updating motion states of the pedestrian granules of the pedestrian model in real time by adopting the stress model, and performing pedestrian simulation on the pedestrians to be simulated.

Description

The extensive cross-cutting emulation mode of pedestrian movement and device in hinge

Technical field

The present invention relates to pedestrian simulation technical field, be specifically related to the extensive cross-cutting emulation mode of pedestrian movement and device in a kind of hinge.

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 realistic model, usually macromodel, mesoscopic model and microvisual model is divided into, in macromodel, the state characteristic of pedestrian stream is described by flow, average velocity, density relationship, this model mainly pays close attention to trip decision-making and the optimizing paths (The75thTransportationResearchBoard of colony from the angle of entirety, Anevaluationmethodforcomfortrequirementsinoutdoorpedestr ianspaces, 1996.), middle sight pedestrian simulation model is for the key element of pedestrian movement, behavioral trait and interactional description comparatively more detailed than macromodel, the core concept of microvisual model can be retained simultaneously, the queue that model forms with several rows individual human for the description of pedestrian stream is for unit, can the dynamic change at description node place, but can not interaction (FlorianM between lines of description individual human, MMahut, NTramblay.AHybridOptimization-MesoscopicSimulationDynami cTrafficAssignmentModel [C] //Proceedingsofthe2001IEEEIntelligentTransportSystemsConfe rence.USA:IEEE, 2001:120-123.), microvisual model stresses to study the individual character of pedestrian, as the interaction between the speed of individuality, track, direction, destination, interpersonal or barrier.

For large-scale pedestrian simulation, interaction between pedestrian's individuality can simplify by pedestrian's macroscopic view and mesoscopic simulation model even to be ignored to promote operation efficiency, and from flow, speed and density, pedestrian movement can only be described, the data obtained is difficult to describe different scenes and infrastructure to the impact of pedestrian behavior, describe comparatively coarse to the key element of pedestrian movement and the details of characteristic, the complicated traffic behavior of pedestrian's individuality can not be showed; And as microcosmic pedestrian simulation software usually need need be used to motion process refinement emulation between pedestrian, but micro-simulation simulator is low for large-scale data input counting yield, simulation time is long maybe can not be emulated, and therefore traditional realistic model can not pedestrian movement on a large scale in actual response transport hub.

Summary of the invention

The object of the invention is to, the extensive cross-cutting emulation mode of pedestrian movement and device in a kind of hinge are provided, by cross-cutting Discrete Element Methods For Particulate is introduced pedestrian simulation, thus incoming quality level and operation efficiency is improved on the basis keeping simulation accuracy, realize the emulation to pedestrian movement extensive in transport hub.

For this purpose, on the one hand, the present invention proposes the extensive cross-cutting emulation mode of pedestrian movement in a kind of hinge, comprising:

S1, obtain and wait to emulate the physical property data of pedestrian, wait to emulate the pedestrian dummy of pedestrian described in building based on Discrete Element Methods For Particulate, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

S2, obtain and treat the geometric attribute data of phantom channel, 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 the extensive cross-cutting simulator of pedestrian movement in a kind of hinge, comprising:

Pedestrian dummy construction unit, for obtaining the physical property data waiting to emulate pedestrian, wait to emulate the pedestrian dummy of pedestrian described in building based on Discrete Element Methods For Particulate, 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, 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 extensive cross-cutting emulation mode of pedestrian movement and device in hinge described in the embodiment of the present invention, provide microcosmic in one to combine, improve pedestrian simulation method and the device of pedestrian's incoming quality level and operation efficiency on this basis, pedestrian is regarded as object particle process, introducing Discrete Element Methods For Particulate sets up the pedestrian dummy based on granular discrete-element, contact model based on social force model and Discrete Element Methods For Particulate builds the stress model of pedestrian's particle, stress model is used to give the process of subjective initiative microcosmic to pedestrian's particle, thus not only realize cross-cutting method (Discrete Element Methods For Particulate) and microcosmic pedestrian simulation true but also combine efficiently.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of extensive pedestrian movement's cross-cutting emulation mode one embodiment in hinge of the present invention;

Fig. 2 utilizes the stress model of pedestrian's particle to upgrade the algorithm design process flow diagram of the motion state of pedestrian's particle in extensive another embodiment of the cross-cutting emulation mode of pedestrian movement in hinge of the present invention;

Fig. 3 is driving force schematic diagram suffered by pedestrian in the another embodiment of the cross-cutting emulation mode of pedestrian movement extensive in hinge of the present invention;

Fig. 4 is the overlapping and tangential displacement schematic diagram of normal direction between pedestrian in the extensive another embodiment of the cross-cutting emulation mode of pedestrian movement in hinge of the present invention;

Fig. 5 is the normal force simplified model schematic diagram of pedestrian contact's model in the extensive another embodiment of the cross-cutting emulation mode of pedestrian movement in hinge of the present invention;

Fig. 6 is the tangential force simplified model schematic diagram of pedestrian contact's model in the extensive another embodiment of the cross-cutting emulation mode of pedestrian movement in hinge of the present invention;

Fig. 7 is the position relationship schematic diagram of pedestrian and pedestrian in the extensive another embodiment of the cross-cutting emulation mode of pedestrian movement in hinge of the present invention;

Fig. 8 is the position relationship schematic diagram of pedestrian and wall in the extensive another embodiment of the cross-cutting emulation mode of pedestrian movement in hinge of the present invention;

Fig. 9 is repulsive force schematic diagram suffered by pedestrian in the another embodiment of the cross-cutting emulation mode of pedestrian movement extensive in hinge of the present invention;

Figure 10 is the frame structure schematic diagram of extensive pedestrian movement's cross-cutting simulator one embodiment in hinge of the present invention.

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 the extensive cross-cutting emulation mode of pedestrian movement in a kind of hinge, comprising:

S1, obtain and wait to emulate the physical property data of pedestrian, wait to emulate the pedestrian dummy of pedestrian described in building based on Discrete Element Methods For Particulate, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

S2, obtain and treat the geometric attribute data of phantom channel, 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.

In the present invention, utilize the motion state of pedestrian's particle of pedestrian dummy described in described stress model real-time update, can comprise:

S40, each pedestrian's particle for described pedestrian dummy, utilize described stress model to calculate making a concerted effort suffered by this pedestrian's particle in real time;

S41, 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 to upgrade according to the position of described displacement to this pedestrian's particle.

Described S4, can also comprise:

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.

The extensive cross-cutting emulation mode of pedestrian movement in hinge described in the embodiment of the present invention, provide microcosmic in one to combine, improve the pedestrian simulation method of pedestrian's incoming quality level and operation efficiency on this basis, pedestrian is regarded as object particle process, introducing Discrete Element Methods For Particulate sets up the pedestrian dummy based on granular discrete-element, contact model based on social force model and Discrete Element Methods For Particulate builds the stress model of pedestrian's particle, stress model is used to give the process of subjective initiative microcosmic to pedestrian's particle, thus not only realize cross-cutting method (Discrete Element Methods For Particulate) and microcosmic pedestrian simulation true but also combine efficiently.

Alternatively, in hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, 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.

In the present invention, detect whether to exist between this pedestrian's particle with other pedestrian's particle and contact, specifically can comprise the steps:

A. for this pedestrian's particle i and other pedestrian's particle j, the radius sum of this pedestrian's particle i and described other pedestrian's particle j is calculated, and distance in the heart in this pedestrian's particle i and described other pedestrian's particle j;

B. 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.

Judge whether this pedestrian's particle is subject to the repulsive force of other pedestrian's particle, specifically can comprise the steps:

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.

Detecting this pedestrian's particle with whether existing between barrier contacts, and comprising:

C. for this pedestrian's particle i and barrier z, the theoretical between this pedestrian's particle i and described barrier z is calculated, and the actual range between this pedestrian's particle i and described barrier z;

D. 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.

Judge whether this pedestrian's particle is subject to the repulsive force of 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.

The present invention 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.

Alternatively, in hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, this driving force suffered by pedestrian's particle of described calculating, comprising:

For pedestrian's particle i of suffered driving force to be calculated, calculate the driving force suffered by this pedestrian's particle i, computing formula is wherein, for the driving force of this pedestrian's particle i suffered by t, m _ifor the quality of this pedestrian's particle i, for the size of the expectation speed of travel of this pedestrian's particle i, for the direction of the expectation speed of travel of this pedestrian's particle i, for this pedestrian's particle i is in the actual speed of travel of t, τ _ifor the relaxation time, represent that this pedestrian's particle i is from speed accelerate to the time expected required for the speed of travel.

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 3, 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:

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

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 hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, the contact force of the pedestrian's particle contacted with its existence suffered by this pedestrian's particle of described calculating, comprising:

For this pedestrian's particle i and pedestrian's particle j of contacting with its existence, calculate normal force and the tangential force of pedestrian's particle j suffered by this pedestrian's particle i;

Calculate the normal force of pedestrian's particle j suffered by this pedestrian's particle i and making a concerted effort of tangential force, and make a concerted effort described as the contact force of the pedestrian's particle j suffered by this pedestrian's particle i.

Alternatively, in hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, the normal force of pedestrian's particle j suffered by this pedestrian's particle of described calculating i, comprising:

Set up the normal force model of this pedestrian's particle i and the contact model corresponding to pedestrian's particle j, wherein, described normal force model comprises for generation of the first spring of normal direction elastic force between this pedestrian's particle i and pedestrian's particle j and the first damper for generation of normal direction damping force between this pedestrian's particle i and pedestrian's particle j, and described first spring and the first damper are arranged in parallel;

Calculate the normal force of pedestrian's particle j suffered by this pedestrian's particle i, if this pedestrian's particle i and pedestrian's particle j is positioned at two-dimensional space, the normal force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be if or this pedestrian's particle i and pedestrian's particle j is positioned at three dimensions, the normal force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be wherein, k _nfor the normal direction elasticity coefficient of this pedestrian's particle i, c _nfor the normal direction ratio of damping of this pedestrian's particle i, a is the normal direction lap between this pedestrian's particle i and pedestrian's particle j, for this pedestrian's particle i is relative to the speed of described pedestrian's particle j, for the unit vector from the center of this pedestrian's particle i to the center of described pedestrian's particle j.

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 4, 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 5 the normal force simplified model of pedestrian contact's model) by spring and damping, tangential displacement is realized (being illustrated in figure 6 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.

Alternatively, in hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, the tangential force of pedestrian's particle j suffered by this pedestrian's particle of described calculating i, comprising:

Set up the tangential force model of this pedestrian's particle i and the contact model corresponding to pedestrian's particle j, wherein, described tangential force model comprises the slider for generation of normal direction friction force between this pedestrian's particle i and pedestrian's particle j, the second spring for generation of elastic force tangential between this pedestrian's particle i and pedestrian's particle j and the second damper for generation of damping force tangential between this pedestrian's particle i and pedestrian's particle j, and described second spring and the second damper are arranged in parallel;

Calculate the tangential force of pedestrian's particle j suffered by this pedestrian's particle i, if this pedestrian's particle i and pedestrian's particle j is positioned at two-dimensional space, the tangential force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be if or this pedestrian's particle i and pedestrian's particle j is positioned at three dimensions, the tangential elastic force of pedestrian's particle j is greater than normal direction elastic force and the coefficientoffrictionμ of pedestrian's particle j suffered by this pedestrian's particle i suffered by this pedestrian's particle i _slong-pending time, the tangential force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be wherein, k _tfor the tangential elasticity coefficient of this pedestrian's particle i, c _tfor the tangential ratio of damping of this pedestrian's particle i, for this pedestrian's particle i is in the tangential displacement of contact point, for this pedestrian's particle i is in the tangential sliding velocity of contact point, for three-dimensional pedestrian's particle, $\stackrel{\→}{v_{ct}}=\stackrel{\→}{v_{ij}}-(\stackrel{\→}{v_{ij}}\·\stackrel{\→}{n})\stackrel{\→}{n}+R_i\stackrel{\→}{{\mathrm{\ω}}_i}\×\stackrel{\→}{n}+R_j\stackrel{\→}{{\mathrm{\ω}}_j}\×\stackrel{\→}{n},$ R _ifor the radius of this pedestrian's particle i, R _jfor the radius of described pedestrian's particle j, for the angular velocity of this pedestrian's particle i, for the angular velocity of described pedestrian's particle j,

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 7, 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 8, 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 hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, this repulsive force suffered by pedestrian's particle of described calculating, comprising:

If this pedestrian's particle i is subject to the repulsive force of other pedestrian's particle j, calculate the repulsive force of pedestrian's particle j suffered by this pedestrian's particle i computing formula is wherein, A _i1for the repulsive force action intensity between this pedestrian's particle i and pedestrian's particle j, B _i1for starting the distance that repulsive force effect occurs between this pedestrian's particle i and pedestrian's particle j, r _ijfor the radius sum of this pedestrian's particle i and pedestrian's particle j, d _ijfor distance in the heart in this pedestrian's particle i and pedestrian's particle j, for pedestrian's particle j points to the vector of unit length of this pedestrian's particle i.

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 9 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.

Alternatively, in hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, this repulsive force suffered by pedestrian's particle of described calculating, comprising:

If this pedestrian's particle i is subject to the repulsive force of barrier z, calculate the repulsive force of described barrier z suffered by this pedestrian's particle i computing formula is wherein, A _i2for the repulsive force action intensity between this pedestrian's particle i and described barrier z, B _i2for starting the distance that repulsive force effect occurs between this pedestrian's particle i and described barrier z, r _izfor the theoretical between this pedestrian's particle i and described barrier z, d _izfor the actual range between this pedestrian's particle i and described barrier z, for barrier z points to the vector of unit length of this pedestrian's particle i normal direction.

Alternatively, in hinge of the present invention the cross-cutting emulation mode of extensive pedestrian movement another embodiment in, described pedestrian's parameter, comprise the sex of pedestrian, growth and development stage classification, quality, size and expect the speed of travel.

As shown in Figure 10, the present embodiment discloses the extensive cross-cutting simulator of pedestrian movement in a kind of hinge, comprising:

Pedestrian dummy construction unit 1, for obtaining the physical property data waiting to emulate pedestrian, wait to emulate the pedestrian dummy of pedestrian described in building based on Discrete Element Methods For Particulate, 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, 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 extensive cross-cutting simulator of pedestrian movement in hinge described in the embodiment of the present invention, provide microcosmic in one to combine, improve the pedestrian simulation device of pedestrian's incoming quality level and operation efficiency on this basis, pedestrian is regarded as object particle process, introducing Discrete Element Methods For Particulate sets up the pedestrian dummy based on granular discrete-element, contact model based on social force model and Discrete Element Methods For Particulate builds the stress model of pedestrian's particle, stress model is used to give the process of subjective initiative microcosmic to pedestrian's particle, thus not only realize cross-cutting method (Discrete Element Methods For Particulate) and microcosmic pedestrian simulation true but also combine efficiently.

The similarities and differences that the present invention is embodied in motion process by analysis pedestrian and particulate matter, give full play to the advantage of particulate matter in motion modeling, set up the pedestrian simulation model based on granular discrete-element, and utilize built-up pattern to study under high-density state individual heterogeneous behavior to the impact of whole pedestrian stream, this invention has very strong method innovation: particulate matter can by arranging elasticity coefficient, ratio of damping, friction factor arranges the contact squeeze relation between particle flexibly, use for reference this method be applied to pedestrian simulation can from the angle of the mechanics of materials to consider the interbehavior between pedestrian, obtain the not getable valuable information of additive method.Under using the crowded pedestrian stream state of model analysis of the present invention, the special change such as deceleration, pause of pedestrian's individuality is on the impact of overall pedestrian stream, and contrast with actual conditions, find realistic, and according to the resistance to overturning of simulation result from pedestrian stream individual motion state with local pedestrian, distribution of force, variable density angularly probe into 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. the extensive cross-cutting emulation mode of pedestrian movement in hinge, is characterized in that, comprising:

S1, obtain and wait to emulate the physical property data of pedestrian, wait to emulate the pedestrian dummy of pedestrian described in building based on Discrete Element Methods For Particulate, wherein, described pedestrian dummy is made up of multiple pedestrian's particle;

S2, obtain and treat the geometric attribute data of phantom channel, 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 extensive cross-cutting emulation mode of pedestrian movement in hinge 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 extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 2, is characterized in that, this driving force suffered by pedestrian's particle of described calculating, comprising:

For pedestrian's particle i of suffered driving force to be calculated, calculate the driving force suffered by this pedestrian's particle i, computing formula is wherein, for the driving force of this pedestrian's particle i suffered by t, m _ifor the quality of this pedestrian's particle i, for the size of the expectation speed of travel of this pedestrian's particle i, for the direction of the expectation speed of travel of this pedestrian's particle i, for this pedestrian's particle i is in the actual speed of travel of t, τ _ifor the relaxation time, represent that this pedestrian's particle i is from speed accelerate to the time expected required for the speed of travel.

4. the extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 2, it is characterized in that, the contact force of the pedestrian's particle contacted with its existence suffered by this pedestrian's particle of described calculating, comprising:

For this pedestrian's particle i and pedestrian's particle j of contacting with its existence, calculate normal force and the tangential force of pedestrian's particle j suffered by this pedestrian's particle i;

Calculate the normal force of pedestrian's particle j suffered by this pedestrian's particle i and making a concerted effort of tangential force, and make a concerted effort described as the contact force of the pedestrian's particle j suffered by this pedestrian's particle i.

5. the extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 4, it is characterized in that, the normal force of pedestrian's particle j suffered by this pedestrian's particle of described calculating i, comprising:

Set up the normal force model of this pedestrian's particle i and the contact model corresponding to pedestrian's particle j, wherein, described normal force model comprises for generation of the first spring of normal direction elastic force between this pedestrian's particle i and pedestrian's particle j and the first damper for generation of normal direction damping force between this pedestrian's particle i and pedestrian's particle j, and described first spring and the first damper are arranged in parallel;

Calculate the normal force of pedestrian's particle j suffered by this pedestrian's particle i, if this pedestrian's particle i and pedestrian's particle j is positioned at two-dimensional space, the normal force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be if or this pedestrian's particle i and pedestrian's particle j is positioned at three dimensions, the normal force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be wherein, k _nfor the normal direction elasticity coefficient of this pedestrian's particle i, c _nfor the normal direction ratio of damping of this pedestrian's particle i, a is the normal direction lap between this pedestrian's particle i and pedestrian's particle j, for this pedestrian's particle i is relative to the speed of described pedestrian's particle j, for the unit vector from the center of this pedestrian's particle i to the center of described pedestrian's particle j.

6. the extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 5, it is characterized in that, the tangential force of pedestrian's particle j suffered by this pedestrian's particle of described calculating i, comprising:

Set up the tangential force model of this pedestrian's particle i and the contact model corresponding to pedestrian's particle j, wherein, described tangential force model comprises the slider for generation of normal direction friction force between this pedestrian's particle i and pedestrian's particle j, the second spring for generation of elastic force tangential between this pedestrian's particle i and pedestrian's particle j and the second damper for generation of damping force tangential between this pedestrian's particle i and pedestrian's particle j, and described second spring and the second damper are arranged in parallel;

Calculate the tangential force of pedestrian's particle j suffered by this pedestrian's particle i, if this pedestrian's particle i and pedestrian's particle j is positioned at two-dimensional space, the tangential force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be if or this pedestrian's particle i and pedestrian's particle j is positioned at three dimensions, the tangential elastic force of pedestrian's particle j is greater than normal direction elastic force and the coefficientoffrictionμ of pedestrian's particle j suffered by this pedestrian's particle i suffered by this pedestrian's particle i _slong-pending time, the tangential force of pedestrian's particle j suffered by this pedestrian's particle i computing formula be wherein, k _tfor the tangential elasticity coefficient of this pedestrian's particle i, c _tfor the tangential ratio of damping of this pedestrian's particle i, for this pedestrian's particle i is in the tangential displacement of contact point, for this pedestrian's particle i is in the tangential sliding velocity of contact point, for three-dimensional pedestrian's particle, $\stackrel{\→}{v_{ct}}=\stackrel{\→}{v_{ij}}-(\stackrel{\→}{v_{ij}}\·\stackrel{\→}{n})\stackrel{\→}{n}+R_i\stackrel{\→}{{\mathrm{\ω}}_i}\×\stackrel{\→}{n}+R_j\stackrel{\→}{{\mathrm{\ω}}_j}\×\stackrel{\→}{n},$ R _ifor the radius of this pedestrian's particle i, R _jfor the radius of described pedestrian's particle j, for the angular velocity of this pedestrian's particle i, for the angular velocity of described pedestrian's particle j,

7. the extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 2, is characterized in that, this repulsive force suffered by pedestrian's particle of described calculating, comprising:

If this pedestrian's particle i is subject to the repulsive force of other pedestrian's particle j, calculate the repulsive force of pedestrian's particle j suffered by this pedestrian's particle i computing formula is wherein, A _i1for the repulsive force action intensity between this pedestrian's particle i and pedestrian's particle j, B _i1for starting the distance that repulsive force effect occurs between this pedestrian's particle i and pedestrian's particle j, r _ijfor the radius sum of this pedestrian's particle i and pedestrian's particle j, d _ijfor distance in the heart in this pedestrian's particle i and pedestrian's particle j, for pedestrian's particle j points to the vector of unit length of this pedestrian's particle i.

8. the extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 2, is characterized in that, this repulsive force suffered by pedestrian's particle of described calculating, comprising:

If this pedestrian's particle i is subject to the repulsive force of barrier z, calculate the repulsive force of described barrier z suffered by this pedestrian's particle i computing formula is wherein, A _i2for this pedestrian's particle i and described barrier _zbetween repulsive force action intensity, B _i2for starting the distance that repulsive force effect occurs between this pedestrian's particle i and described barrier z, r _izfor the theoretical between this pedestrian's particle i and described barrier z, d _izfor the actual range between this pedestrian's particle i and described barrier z, for barrier z points to the vector of unit length of this pedestrian's particle i normal direction.

9. the extensive cross-cutting emulation mode of pedestrian movement in hinge according to claim 1, is characterized in that, described pedestrian's parameter, comprises the sex of pedestrian, growth and development stage classification, quality, size and expects the speed of travel.

10. the extensive cross-cutting simulator of pedestrian movement in hinge, is characterized in that, comprising:

Pedestrian dummy construction unit, for obtaining the physical property data waiting to emulate pedestrian, wait to emulate the pedestrian dummy of pedestrian described in building based on Discrete Element Methods For Particulate, 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, 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.