CN105808315A - High level architecture synergetic traffic safety simulation method and apparatus - Google Patents
High level architecture synergetic traffic safety simulation method and apparatus Download PDFInfo
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- CN105808315A CN105808315A CN201410852612.3A CN201410852612A CN105808315A CN 105808315 A CN105808315 A CN 105808315A CN 201410852612 A CN201410852612 A CN 201410852612A CN 105808315 A CN105808315 A CN 105808315A
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Abstract
The invention provides a high level architecture synergetic traffic safety simulation method and apparatus. The high level architecture synergetic traffic safety simulation method comprises the steps of establishing a simulation road network according to a simulation demand, and receiving configuration parameters of a predetermined dangerous scene input by a user, wherein the configuration parameters include initial driving parameters of a vehicle in the predetermined dangerous scene, and the driving parameters include vehicle position information, vehicle speed information and vehicle acceleration information; according to the configuration parameters, controlling a related vehicle in the simulation road network to execute a corresponding driving behavior to generate a corresponding predetermined dangerous scene, and obtaining vehicle state data of the related vehicle in the predetermined dangerous scene; and based on the vehicle state data of the related vehicle in the predetermined dangerous scene, predicting a driving risk in the predetermined dangerous scene by utilizing a predetermined vehicle behavior model. According to the high level architecture synergetic traffic safety simulation method, the effect of improving traffic efficiency and traffic safety by a V2X technical scheme can be verified or assessed.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly to the collaborative traffic safety emulation mode of a kind of High Level Architecture (HLA, HighLevelArchitecture) and device.
Background technology
The simulation that existing Traffic Flow Simulation software develops for the traffic flow under various traffic scenes or event, simulation scale is comparatively flexible, micro, meso and macro emulation all relates to, and wherein microscopic simulation lays particular emphasis on driving behavior, as described with modellings such as car, lane-change, Path selection.Such simulation software is primarily targeted for various intelligent transportation systems (ITS, IntelligentTransportSystem) simulation and effect assessment thereof, as simulation traffic signal control strategy is satisfied the need the impact of Netcom's line efficiency.
But such emulation platform is limited to its application location, underlying model idealization, such as car-following model idealization, will not spontaneous generation traffic conflict in analogue system, the phenomenon such as example knocks into the back, side impact.Owing to traffic conflict is considered as the abnormal conditions that system is run by such platform, the spontaneous generation introducing traffic conflict at model level is extremely difficult.In addition, the granularity that driving behavior is portrayed by such emulation platform is thicker, such as major part Traffic Flow Simulation software is comparatively stiff to the description of lane-change behavior, assuming that vehicle can change to periphery track from current lane in the short period of time, the middle transition process of lane-change behavior can not be portrayed in detail, thus also be difficult to the traffic conflict based on such platform realizes lane-change behavior is relevant and be simulated, and then the simulating, verifying of information exchange (V2X) technical scheme to external world of the car for such scene can not be realized.
Summary of the invention
The purpose of the embodiment of the present invention is in that to provide the collaborative traffic safety emulation mode of a kind of HLA, V2X technical scheme can be improved traffic traffic efficiency and the effect improving traffic safety is verified or assesses.
In order to achieve the above object, The embodiment provides the collaborative traffic safety emulation mode of a kind of HLA, the collaborative traffic safety emulation mode of this HLA includes:
Emulation road network is set up according to emulation demand, receive the configuration parameter of the predetermined dangerous scene of user's input, configuration parameter includes the traveling initial parameter of the vehicle under predetermined dangerous scene, and driving parameters includes vehicle position information, vehicle speed information and vehicle acceleration information；
According to configuration parameter, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under predetermined dangerous scene；
Based on the vehicle status data of associated vehicle under predetermined dangerous scene, utilize predetermined vehicle behavior model, it was predicted that the driving risk under predetermined dangerous scene.
Wherein, after the driving risk under the predetermined dangerous scene of prediction, the collaborative traffic safety emulation mode of HLA also includes:
Utilize simulation software, associated vehicle driving behavior under predetermined dangerous scene is emulated, and by predetermined safety index, the first safe condition of associated vehicle in the predetermined dangerous scene process of assessment；
First safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, after the driving risk under the predetermined dangerous scene of prediction, the collaborative traffic safety emulation mode of HLA also includes:
When driving risk under predetermined dangerous scene is beyond predetermined threshold, send corresponding early warning information to associated vehicle；
When associated vehicle receives early warning information, by simulation software, associated vehicle is carried out driving behavior control, to perform to drive clearing up of risk, and by predetermined safety index, the second safe condition of associated vehicle in the predetermined dangerous scene process of assessment；
Second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, the mode by comparing with the first safe condition further, the second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, configuration parameter also includes the communication delay △ t of the vehicle under predetermined dangerous scene；
Obtain the vehicle status data of associated vehicle under predetermined dangerous scene to include:
Gather the vehicle status data of associated vehicle under predetermined dangerous scene the vehicle status data of the associated vehicle under predetermined dangerous scene T-△ t gathered, as the vehicle status data of the associated vehicle of current time T.
Wherein, configuration parameter also includes the position error information of the vehicle under predetermined dangerous scene,
According to configuration parameter, the associated vehicle controlling to emulate in road network performs corresponding driving behavior, and to generate the predetermined dangerous scene of correspondence, and under the predetermined dangerous scene of acquisition, the step of the vehicle status data of associated vehicle includes:
By Fold additon location control information and vehicle position information, adjust configuration parameter；
According to the configuration parameter after adjusting, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under predetermined dangerous scene.
Embodiments of the invention additionally provide the collaborative traffic safety simulator of a kind of HLA, and the collaborative traffic safety simulator of this HLA includes:
Emulation module, for setting up emulation road network according to emulation demand, receiving the configuration parameter of the predetermined dangerous scene of user's input, configuration parameter includes the traveling initial parameter of the vehicle under predetermined dangerous scene, and driving parameters includes vehicle position information, vehicle speed information and vehicle acceleration information；
Emulation module, is additionally operable to according to configuration parameter, and the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under predetermined dangerous scene；
Danger early warning module, for based on the vehicle status data of associated vehicle under predetermined dangerous scene, utilizing predetermined vehicle behavior model, it was predicted that the driving risk under predetermined dangerous scene.
Wherein, after the driving risk under the danger early warning module predetermined dangerous scene of prediction, emulation module, it is additionally operable to utilize simulation software, associated vehicle driving behavior under predetermined dangerous scene is emulated；
The collaborative traffic safety simulator of HLA also includes:
Management assessment module, for by predetermined safety index, assessment makes a reservation for the first safe condition of associated vehicle in dangerous scene process；
Visualization model, for the first safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, after the driving risk under the predetermined dangerous scene of danger early warning module prediction,
Danger early warning module, is additionally operable to, when the driving risk under predetermined dangerous scene is beyond predetermined threshold, send corresponding early warning information to associated vehicle；
Emulation module, is additionally operable to, when associated vehicle receives early warning information, by simulation software, associated vehicle be carried out driving behavior control, to perform to drive clearing up of risk；
Management assessment module, is additionally operable to by predetermined safety index, the second safe condition of associated vehicle in the predetermined dangerous scene process of assessment；
Visualization model, is additionally operable to the second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, visualization model, it is additionally operable to when further comparison the second safe condition of management assessment module and the first safe condition, the second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, configuration parameter also includes the communication delay △ t of the vehicle under predetermined dangerous scene；
When emulation module obtains the vehicle status data of associated vehicle under predetermined dangerous scene, the collaborative traffic safety simulator of HLA also includes:
Information interactive module, for gathering the vehicle status data of associated vehicle under predetermined dangerous scene, and the vehicle status data of the associated vehicle under the predetermined dangerous scene that T-△ t is gathered, as the vehicle status data of the associated vehicle of current time T.
Wherein, configuration parameter also includes the position error information of the vehicle under predetermined dangerous scene,
Emulation module, it is additionally operable to by Fold additon location control information and vehicle position information, adjust configuration parameter, and according to the configuration parameter after adjusting, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtain the vehicle status data of associated vehicle under predetermined dangerous scene.
The such scheme of the present invention at least includes following beneficial effect:
In the collaborative traffic safety emulation mode of HLA of embodiments of the invention, by travelling initial parameter to the vehicle configuration in emulation road network, generate dangerous scene, and obtain the status data of associated vehicle under this danger scene, and then predict the driving risk under this danger scene according to these status datas, thus V2X technical scheme is improved traffic traffic efficiency and improves the effect of traffic safety and be verified or assess.
Accompanying drawing explanation
Fig. 1 is the flow chart of steps of the collaborative traffic safety emulation mode of HLA in the embodiment of the present invention；
Fig. 2 is the real-time curve chart of the first safe condition and the second safe condition in the embodiment of the present invention；
Fig. 3 is the relation schematic diagram of communication delay and the shortest following distance of vehicle in the embodiment of the present invention；
Fig. 4 is the structural representation of the collaborative traffic safety simulator of HLA in the embodiment of the present invention.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, it is described in detail below in conjunction with the accompanying drawings and the specific embodiments.
Will not the problem of spontaneous generation traffic conflict as it is shown in figure 1, the present invention is directed to Traffic Flow Simulation software of the prior art, it is provided that the collaborative traffic safety emulation mode of a kind of HLA, the collaborative traffic safety emulation mode of this HLA includes:
Step 11, emulation road network is set up according to emulation demand, receiving the configuration parameter of the predetermined dangerous scene of user's input, configuration parameter includes the traveling initial parameter of the vehicle under predetermined dangerous scene, and driving parameters includes vehicle position information, vehicle speed information and vehicle acceleration information.
In a particular embodiment of the present invention, predetermined dangerous scene can be knock into the back, the traffic conflict such as side impact.Specifically, it is possible to generate predetermined dangerous scene by configuration parameter, for instance front truck speed is set to 60KM/H, rear car speed is set to 120KM/H.And the configuration parameter of these dangerous scenes is except including the traveling initial parameter of the vehicle under predetermined dangerous scene, also including the number n of predetermined dangerous scene, namely in emulation road network, same predetermined dangerous scene has n, is so easy to follow-up analysis and assessment.
Step 12, according to configuration parameter, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under predetermined dangerous scene.
In a particular embodiment of the present invention, be set to 60KM/H for above-mentioned front truck speed, rear car speed is set to 120KM/H and illustrates.With a pair in the following distance conditional lockout road network more than 100m with vehicle of speeding, by the QPS_VHC_SPEED function of Paramics software, front vehicle speed is adjusted to 60KM/H, rear vehicle speed is adjusted to 120KM/H；And in this road network, generate n such scene, if the scene number occurred at present is less than n, then continue to generate multiple scenes until n is individual, simultaneously, it is necessary to ensure that same vehicle is not in different scene according to the identification of vehicle identifiers (such as license plate number).Wherein vehicle headway can be determined according to concrete emulation demand.After dangerous scene generates, require over the application programming interface (API of Paramics software, ApplicationProgrammingInterface) QPO, QPX, QPG, the QPS tetra-provided vehicle status data of vehicle in class function extract real-time road network, this vehicle status data includes the data such as vehicle location, speed, acceleration.
Step 13, based on the vehicle status data of associated vehicle under predetermined dangerous scene, utilizes predetermined vehicle behavior model, it was predicted that the driving risk under predetermined dangerous scene.
In a particular embodiment of the present invention, the vehicle status data can extracted based on existing Paramics software, predetermined vehicle behavior model (such as emergency brake of vehicle model) is utilized to predict the driving risk under predetermined dangerous scene, it is simple to subsequent operation.
In the above embodiment of the present invention, after driving risk under the predetermined dangerous scene of prediction, the collaborative traffic safety emulation mode of HLA also includes: utilize simulation software, associated vehicle driving behavior under predetermined dangerous scene is emulated, and by predetermined safety index, the first safe condition of associated vehicle in the predetermined dangerous scene process of assessment；First safe condition of the visual associated vehicle presented in predetermined dangerous scene process.Wherein predetermined safety index can be the spacing corresponding relation with safe condition of two cars, for instance, if two following distances are in a scope, then it is assumed that be safe.
In a particular embodiment of the present invention, associated vehicle driving behavior under predetermined dangerous scene is emulated by available traffic simulation software.Meanwhile, by predetermined safety index, the first safe condition of associated vehicle in the predetermined dangerous scene process of assessment, and this first safe condition is presented to user.
In the above embodiment of the present invention, after the driving risk under the predetermined dangerous scene of prediction, the collaborative traffic safety emulation mode of HLA also includes: when the driving risk under predetermined dangerous scene is beyond predetermined threshold, send corresponding early warning information to associated vehicle；When associated vehicle receives early warning information, by simulation software, associated vehicle is carried out driving behavior control, to perform to drive clearing up of risk, and by predetermined safety index, the second safe condition of associated vehicle in the predetermined dangerous scene process of assessment；Second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
In a particular embodiment of the present invention, in the process of traffic software emulation, Paramics software can be received by UDP (UDP, UserDatagramProtocol) vehicle status data that form sends, thus utilizing these data to judge, whether the driving risk under predetermined dangerous scene is beyond predetermined threshold.Specifically, illustrate for emergency brake of vehicle model, pass through formula Judge whether to drive risk beyond predetermined threshold, wherein v1、a1Vehicle speed and acceleration, v after respectively2For the speed of front truck, S is the distance of current two cars, generally a1Maximum braking acceleration be 5m/s2, the state of front truck is considered as at the uniform velocity travelling, and 5 is minimum safe distance, is generally a step-length.When above-mentioned formula is set up, illustrate to drive risk beyond predetermined threshold, need to send early warning information to rear car, and the form that this early warning information is shared by internal memory is shared to Paramics software, the vehicle of corresponding identifier is carried out speed controlling to after data parsing by api functions such as QPS by Paramics software, realize the control of crucial vehicle, clear up this driving risk of conflict, simultaneously by predetermined safety index and and real-time vehicle data, assess the second safe condition of associated vehicle in this danger scene, and the second safe condition is presented to user.While clearing up driving risk, carry out the emulation behavior of lower simulation step length, form the simulation cycles of whole one step-length of emulation platform.
In the above embodiment of the present invention, can further the second safe condition and the first safe condition be compared, the second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
In a particular embodiment of the present invention, the first safe condition and the comparison of the second safe condition can be presented by the mode of curve chart, wherein there is no the safe condition of associated vehicle in early warning situation during the first safe condition, the safe condition of associated vehicle in early warning situation is had, specifically as shown in Figure 2 during the second safe condition.It can be seen that associated vehicle when there being early warning than when there is no early warning safety.Wherein Fig. 2 also contemplates the factor of driving behavior, and driving behavior includes time of driver's reaction, namely the brake coordination time step on brake pedal to the time and the deceleration time etc. that start braking.It is understood that in an embodiment of the present invention, however it is not limited in the way of curve chart, present the first safe condition and the second safe condition.
In the above embodiment of the present invention, configuration parameter also includes the communication delay △ t of the vehicle under predetermined dangerous scene；Obtain the vehicle status data of associated vehicle under predetermined dangerous scene to include: gather the vehicle status data of associated vehicle under predetermined dangerous scene, and by the vehicle status data of the associated vehicle under the predetermined dangerous scene of T-△ t collection, as the vehicle status data of the associated vehicle of current time T.
In a particular embodiment of the present invention, owing to the arbitrary vehicle in road network requires over the mode such as inter-vehicle communication or high in the clouds communication, whether the vehicle data obtaining other vehicle judges from car dangerous.But no matter it is inter-vehicle communication or high in the clouds communication, or other communication mode, all can there is communication delay △ t.Verity based on emulation, the vehicle status data of the associated vehicle under the predetermined dangerous scene that T-△ t can be gathered, vehicle status data as the associated vehicle of current time T, namely, emulate in granularity (simstep) individual step-length at △ t/, stopping updating the vehicle status data of vehicle in road network, the span of simstep is 33ms～0.5s.Wherein communication delay △ t can pass through the communication delay identical to the configuration of each vehicle when configuration parameter, it is also possible to the give each vehicle real-time by statistical distribution characteristic distributes different communication delay.
In a particular embodiment of the present invention, as shown in Figure 3, continue for examples detailed above, in front and back car speed fix, vehicle behavior model identical when, communication delay is the shortest safe between the vehicle of 0s～4s following distance, it can be seen that the shortest following distance of safety is probably different between vehicle corresponding to different communication delay.Certainly this shortest following distance can be the meansigma methods of Multi simulation running result.
In the above embodiment of the present invention, configuration parameter also includes the position error information of the vehicle under predetermined dangerous scene, according to configuration parameter, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and the step of the vehicle status data of associated vehicle includes under the predetermined dangerous scene of acquisition: by Fold additon location control information and vehicle position information, adjust configuration parameter；According to the configuration parameter after adjusting, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under predetermined dangerous scene.
In a particular embodiment of the present invention, the positional information of vehicle there may exist error and position error, therefore based on the verity of emulation, emulates can to when emulation the positional information of each vehicle after being superimposed with position error again.Similar with communication delay, position error can set in configuration parameter, it is also possible to distributes different position errors to each vehicle by statistical distribution characteristic.
In order to better realize above-mentioned purpose, as shown in Figure 4, embodiments of the invention additionally provide the collaborative traffic safety simulator of a kind of HLA, and the collaborative traffic safety simulator of this HLA includes:
Emulation module 41, for setting up emulation road network according to emulation demand, receive the configuration parameter of the predetermined dangerous scene of user's input, configuration parameter includes the traveling initial parameter of the vehicle under predetermined dangerous scene, and driving parameters includes vehicle position information, vehicle speed information and vehicle acceleration information；
Emulation module 41, is additionally operable to according to configuration parameter, and the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under predetermined dangerous scene；
Danger early warning module 42, for based on the vehicle status data of associated vehicle under predetermined dangerous scene, utilizing predetermined vehicle behavior model, it was predicted that the driving risk under predetermined dangerous scene.
In a particular embodiment of the present invention, emulation module 41 includes Paramics software and traffic simulation software.
Wherein, after the driving risk under the danger early warning module 42 predetermined dangerous scene of prediction, emulation module 41, it is additionally operable to utilize simulation software, associated vehicle driving behavior under predetermined dangerous scene is emulated；
The collaborative traffic safety simulator of HLA also includes:
Management assessment module 43, for by predetermined safety index, assessment makes a reservation for the first safe condition of associated vehicle in dangerous scene process；
Visualization model 44, for the first safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, after the driving risk under the predetermined dangerous scene of danger early warning module 42 prediction,
Danger early warning module 42, is additionally operable to, when the driving risk under predetermined dangerous scene is beyond predetermined threshold, send corresponding early warning information to associated vehicle；
Emulation module 41, is additionally operable to, when associated vehicle receives early warning information, by simulation software, associated vehicle be carried out driving behavior control, to perform to drive clearing up of risk；
Management assessment module 43, is additionally operable to by predetermined safety index, the second safe condition of associated vehicle in the predetermined dangerous scene process of assessment；
Visualization model 44, is additionally operable to the second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, visualization model 44, it is additionally operable to when further comparison the second safe condition of management assessment module 43 and the first safe condition, the second safe condition of the visual associated vehicle presented in predetermined dangerous scene process.
Wherein, configuration parameter also includes the communication delay △ t of the vehicle under predetermined dangerous scene；
When emulation module 41 obtains the vehicle status data of associated vehicle under predetermined dangerous scene, the collaborative traffic safety simulator of HLA also includes:
Information interactive module 45, for gathering the vehicle status data of associated vehicle under predetermined dangerous scene, and the vehicle status data of the associated vehicle under the predetermined dangerous scene that T-△ t is gathered, as the vehicle status data of the associated vehicle of current time T.
Wherein, configuration parameter also includes the position error information of the vehicle under predetermined dangerous scene,
Emulation module 41, it is additionally operable to by Fold additon location control information and vehicle position information, adjust configuration parameter, and according to the configuration parameter after adjusting, the associated vehicle controlled in emulation road network performs corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtain the vehicle status data of associated vehicle under predetermined dangerous scene.
It should be noted that, the collaborative traffic safety simulator of the HLA that the embodiment of the present invention provides is the device applying the collaborative traffic safety emulation mode of above-mentioned HLA, namely all embodiments of the collaborative traffic safety emulation mode of above-mentioned HLA are all suitable in this device, and all can reach same or analogous beneficial effect.
The above is the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from principle of the present invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (12)
1. the collaborative traffic safety emulation mode of tall framed tube, it is characterised in that including:
Emulation road network is set up according to emulation demand, receive the configuration parameter of the predetermined dangerous scene of user's input, described configuration parameter includes the traveling initial parameter of the vehicle under described predetermined dangerous scene, and described driving parameters includes vehicle position information, vehicle speed information and vehicle acceleration information；
According to described configuration parameter, control the associated vehicle in described emulation road network and perform corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtain the vehicle status data of associated vehicle under described predetermined dangerous scene；
Based on the vehicle status data of associated vehicle under described predetermined dangerous scene, utilize predetermined vehicle behavior model, it was predicted that the driving risk under described predetermined dangerous scene.
2. the collaborative traffic safety emulation mode of HLA as claimed in claim 1, it is characterised in that
After driving risk under the described predetermined dangerous scene of described prediction, the collaborative traffic safety emulation mode of described HLA also includes:
Utilize simulation software, associated vehicle driving behavior under described predetermined dangerous scene is emulated, and by predetermined safety index, assesses the first safe condition of associated vehicle in described predetermined dangerous scene process；
First safe condition of the visual associated vehicle presented in described predetermined dangerous scene process.
3. the collaborative traffic safety emulation mode of HLA as claimed in claim 2, it is characterised in that
After driving risk under the described predetermined dangerous scene of described prediction, the collaborative traffic safety emulation mode of described HLA also includes:
When driving risk under described predetermined dangerous scene is beyond predetermined threshold, send corresponding early warning information to associated vehicle；
When associated vehicle receives described early warning information, by simulation software, described associated vehicle is carried out driving behavior control, to perform clearing up of described driving risk, and by predetermined safety index, assess the second safe condition of associated vehicle in described predetermined dangerous scene process；
Second safe condition of the visual associated vehicle presented in described predetermined dangerous scene process.
4. the collaborative traffic safety emulation mode of HLA as claimed in claim 3, it is characterised in that
Mode by comparing with the first safe condition further, the second safe condition of the visual associated vehicle presented in described predetermined dangerous scene process.
5. the collaborative traffic safety emulation mode of HLA as claimed in claim 1, it is characterised in that described configuration parameter also includes the communication delay △ t of the vehicle under described predetermined dangerous scene；
Under the described predetermined dangerous scene of described acquisition, the vehicle status data of associated vehicle includes:
Gather the vehicle status data of associated vehicle under described predetermined dangerous scene the vehicle status data of the associated vehicle under described predetermined dangerous scene T-△ t gathered, as the vehicle status data of the associated vehicle of current time T.
6. the collaborative traffic safety emulation mode of HLA as claimed in claim 1, it is characterised in that described configuration parameter also includes the position error information of the vehicle under described predetermined dangerous scene,
Described according to described configuration parameter, control the associated vehicle in described emulation road network and perform corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtain the step of the vehicle status data of associated vehicle under described predetermined dangerous scene and include:
By Fold additon location control information and described vehicle position information, adjust configuration parameter；
According to the configuration parameter after adjusting, control the associated vehicle in described emulation road network and perform corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtain the vehicle status data of associated vehicle under described predetermined dangerous scene.
7. the collaborative traffic safety simulator of tall framed tube, it is characterised in that including:
Emulation module, for setting up emulation road network according to emulation demand, receive the configuration parameter of the predetermined dangerous scene of user's input, described configuration parameter includes the traveling initial parameter of the vehicle under described predetermined dangerous scene, and described driving parameters includes vehicle position information, vehicle speed information and vehicle acceleration information；
Described emulation module, is additionally operable to, according to described configuration parameter, control the associated vehicle in described emulation road network and perform corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtains the vehicle status data of associated vehicle under described predetermined dangerous scene；
Danger early warning module, for based on the vehicle status data of associated vehicle under described predetermined dangerous scene, utilizing predetermined vehicle behavior model, it was predicted that the driving risk under described predetermined dangerous scene.
8. the collaborative traffic safety simulator of HLA as claimed in claim 7, it is characterised in that
After driving risk under the described predetermined dangerous scene of described danger early warning module prediction, described emulation module, it is additionally operable to utilize simulation software, associated vehicle driving behavior under described predetermined dangerous scene is emulated；
The collaborative traffic safety simulator of described HLA also includes:
Management assessment module, for by predetermined safety index, assessing the first safe condition of associated vehicle in described predetermined dangerous scene process；
Visualization model, for the first safe condition of the visual associated vehicle presented in described predetermined dangerous scene process.
9. the collaborative traffic safety simulator of HLA as claimed in claim 8, it is characterised in that
After driving risk under the described predetermined dangerous scene of described danger early warning module prediction,
Described danger early warning module, is additionally operable to, when the driving risk under described predetermined dangerous scene is beyond predetermined threshold, send corresponding early warning information to associated vehicle；
Described emulation module, is additionally operable to, when associated vehicle receives described early warning information, by simulation software, described associated vehicle be carried out driving behavior control, to perform clearing up of described driving risk；
Described management assessment module, is additionally operable to, by predetermined safety index, assess the second safe condition of associated vehicle in described predetermined dangerous scene process；
Described visualization model, is additionally operable to the second safe condition of the visual associated vehicle presented in described predetermined dangerous scene process.
10. the collaborative traffic safety simulator of HLA as claimed in claim 9, it is characterised in that
Described visualization model, is additionally operable to when further comparison the second safe condition of described management assessment module and the first safe condition, the second safe condition of the visual associated vehicle presented in described predetermined dangerous scene process.
11. the collaborative traffic safety simulator of HLA as claimed in claim 7, it is characterised in that described configuration parameter also includes the communication delay △ t of the vehicle under described predetermined dangerous scene；
When described emulation module obtains the vehicle status data of associated vehicle under described predetermined dangerous scene, the collaborative traffic safety simulator of described HLA also includes:
Information interactive module, for gathering the vehicle status data of associated vehicle under described predetermined dangerous scene, and by the vehicle status data of the associated vehicle under the described predetermined dangerous scene of T-△ t collection, as the vehicle status data of the associated vehicle of current time T.
12. the collaborative traffic safety simulator of HLA as claimed in claim 7, it is characterised in that described configuration parameter also includes the position error information of the vehicle under described predetermined dangerous scene,
Described emulation module, it is additionally operable to by Fold additon location control information and described vehicle position information, adjust configuration parameter, and according to the configuration parameter after adjusting, control the associated vehicle in described emulation road network and perform corresponding driving behavior, to generate the predetermined dangerous scene of correspondence, and obtain the vehicle status data of associated vehicle under described predetermined dangerous scene.
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| CN110177374A (en) * | 2019-06-10 | 2019-08-27 | 公安部交通管理科学研究所 | It is a kind of based on bus or train route collaboration V2X functional application test method, apparatus and system |
| WO2020224462A1 (en) * | 2019-05-09 | 2020-11-12 | 腾讯科技（深圳）有限公司 | Processing method and apparatus for driving simulation scene, and storage medium |
| CN113821900A (en) * | 2020-06-19 | 2021-12-21 | 北京新能源汽车股份有限公司 | Internet of vehicles analog simulation test system and method |
| CN114283579A (en) * | 2021-12-20 | 2022-04-05 | 招商局检测车辆技术研究院有限公司 | C-V2X-based key scene generation method, risk assessment method and system |
| CN115240409A (en) * | 2022-06-17 | 2022-10-25 | 上海智能网联汽车技术中心有限公司 | Method for extracting dangerous scene based on driver model and traffic flow model |
| US11971723B2 (en) | 2019-05-09 | 2024-04-30 | Tencent Technology (Shenzhen) Company Limited | Processing method and apparatus for driving simulation scene, and storage medium |
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