CN108446463A - Merge microscopic traffic flow cooperating simulation platform, emulation mode and the safe evaluation method of dynamics of vehicle - Google Patents
Merge microscopic traffic flow cooperating simulation platform, emulation mode and the safe evaluation method of dynamics of vehicle Download PDFInfo
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Abstract
The present invention proposes a kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle, including Microscopic Traffic Simulation Mathematic Model, vehicle dynamic model and based on the interactive interface of C# language, Microscopic Traffic Simulation Mathematic Model is for planning vehicle running orbit, the maneuver of simulating vehicle and road shape figure generates road shape, the position of vehicle and the speed of vehicle and acceleration of reflection road curvature and gradient；The geometry arrange parameter, path clustering parameter, speed control parameter etc. of Microscopic Traffic Simulation Mathematic Model output are input in vehicle dynamic model by vehicle dynamic model for providing reliable vehicle performance index；Interactive interface based on C# language realizes the interaction between two models for Microscopic Traffic Simulation Mathematic Model to be connect with vehicle dynamic model.The present invention can generate the considerations of vehicle real motion situation that existing Microscopic Traffic Simulation Mathematic Model is short of in road analogy is compensated for closer to actual vehicle running orbit.
Description
Technical field
The present invention relates to vehicles to emulate field, and in particular to a kind of microscopic traffic flow collaborative simulation of fusion dynamics of vehicle
Platform, emulation mode and safe evaluation method.
Background technology
Nearest decades, appraisal of traffic safety are constantly subjected to pay close attention to.In the security evaluation field of track of vehicle, especially city
In terms of traffic, as urban traffic environment becomes increasingly complex, resident's awareness of safety is increasingly promoted, urban traffic safety increasingly by
It is extensive to pay attention to.
In order to accurately to vehicular traffic carry out security evaluation, people be based on Microscopic Traffic Simulation Mathematic Model (such as VISSIM,
AIMSUN and PARAMICS) data extraction function, such as vehicle coordinate (x/y/z) and the speed under different traffic conditions
And acceleration, traffic safety is assessed in conjunction with Evaluation of Traffic Safety model, however existing Microscopic Traffic Simulation Mathematic Model exists
When simulated roadway shape, aspect is limited the considerations of to dynamics of vehicle, and the road shapes such as road curvature and sideways inclined
Factor or vehicles in complex traffic scene can all seriously affect the movenent performances such as engine power and the engine speed of vehicle；Meanwhile
The track of vehicle that Microscopic Traffic Simulation Mathematic Model is generated greatly differs from each other with actual vehicle running orbit, this is resulted in by simulating
To vehicle running orbit have a tremendous difference with real trace.Closer to it is practical in running orbit be to appraisal of traffic safety base
Plinth, so the road model generated by single utilization Microscopic Traffic Simulation Mathematic Model carries out assessment with unreliable to traffic safety
Property.
Invention content
Goal of the invention：In order to cope with above-mentioned limitation and in order to obtain more reliable simulation result, the present invention proposes fusion
The integrated simulation platform and method of Microscopic Traffic Simulation Mathematic Model and vehicle dynamic model, as substitute it is existing be based only on it is microcosmic
Traffic Flow Simulation Models and method of estimation, this method combination Microscopic Traffic Simulation Mathematic Model and vehicle dynamic model are generating practical vehicle
Advantage in terms of track and performance indicator.Although vehicle dynamic model is not designed to simulate the traffic feelings of various vehicles
Condition, but it will produce more reliable vehicle performance index and vehicle running orbit, to realize more accurate emulation.
Technical solution：
A kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle, including Microscopic Traffic Simulation Mathematic Model, vehicle
Kinetic model, the interactive interface based on C# language and Security Evaluation Model；
The Microscopic Traffic Simulation Mathematic Model is for planning vehicle running orbit, the maneuver and road shape of simulating vehicle
Figure generates road shape, the position of vehicle and the speed of vehicle and acceleration of reflection road curvature and gradient；
The vehicle dynamic model is for providing reliable vehicle performance index, by Microscopic Traffic Simulation Mathematic Model output
Geometry arrange parameter, path clustering parameter, speed control parameter etc. are input in vehicle dynamic model, in given traffic shape
True track of vehicle is generated under the conditions of condition and road shape, and the position of vehicle is determined in each step；
The interactive interface based on C# language is real for Microscopic Traffic Simulation Mathematic Model to be connect with vehicle dynamic model
Interaction between existing two models, to realize to vs in Microscopic Traffic Simulation Mathematic Model, vehicle dynamic model solve simulator and
The calling of Security Evaluation Model creates in CARSIM the entitled * .par files of file and by vehicle in Microscopic Traffic Simulation Mathematic Model
And road information is imported into * .par files；
The Security Evaluation Model is used to carry out conflict analysis to the track of vehicle of generation, assesses safety.
Further, Microscopic Traffic Simulation Mathematic Model imports the CAD modeling datas of map datum or road information, generates anti-
The action of position and vehicle where route characteristic, the vehicle each moment for reflecting road curvature and the road shape of gradient,
Including speed and acceleration.
Further, by the dynamics index of vehicle in vehicle dynamic model, contents are direct including engine characteristics etc.
It is input in vehicle dynamic model CARSIM, since Microscopic Traffic Simulation Mathematic Model only considers the geometry of the vehicles such as length and width
Parameter does not include the performance setting of vehicle, so engine dynamics index is directly input to vehicle dynamic model
In CARSIM.
Further, the interactive interface based on C# language includes that there are four modules, that is, calls Microscopic Traffic Simulation Mathematic Model mould
Block creates CARSIM inputs document module, calls CARSIM modules and call Security Evaluation Model SSAM modules, the calling
Microscopic Traffic Simulation Mathematic Model module is connect with Microscopic Traffic Simulation Mathematic Model, and the vehicle dynamic model is inputted with CARSIM is created
Document module connects, and the calling CARSIM modules are connect with vehicle dynamic model, the calling Security Evaluation Model SSAM
Module is connect with Security Evaluation Model.
Further, Microscopic Traffic Simulation Mathematic Model is called, Microscopic Traffic Simulation Mathematic Model is made to bring into operation；Create CARSIM
Input document module makes to generate the journal file for expanding entitled * .par in CARSIM；CARSIM modules are called to call in CARSIM
Vs solves simulator, i.e. top layer text file, and vehicle dynamic model CARSIM is made to bring into operation.
A kind of microscopic traffic flow cooperating simulation platform emulation mode of fusion dynamics of vehicle, includes the following steps：
Step A1：When expected scene occurs in the process of running in vehicle, as vehicle carries out lane shift, lane-change, stops suddenly
When only and traffic lights send out instruction, Microscopic Traffic Simulation Mathematic Model creates simulation model network, the interaction based on C# language
Interface calls Microscopic Traffic Simulation Mathematic Model to be allowed to run, and acquires the driving information of vehicle, vehicle in Microscopic Traffic Simulation Mathematic Model
Coordinate information and destination path information.
Step A2：Interactive interface based on C# language creates CARSIM and inputs document, i.e. expands entitled * .par in CARSIM
Journal file, including coordinate convert file, destination path file, road type tag file and driver driving performance text
Part；
Step A3：Interactive interface based on C# language calls vs in CARSIM to solve simulator, i.e. top layer text file,
So that vehicle dynamic model CARSIM is brought into operation, generate closer to actual vehicle running path, and with whole path into
Row is integrated；Step A4：Security Evaluation Model SSAM modules are called, safety evaluation is carried out in SSAM conflict analysis softwares.
A kind of microscopic traffic flow cooperating simulation platform safe evaluation method of fusion dynamics of vehicle, includes the following steps：
Step B1：In the case where expected traffic scene is encountered, VISSIM generates the running orbit of vehicle；
Step B2：Encounter special traffic scene when, platform is run vehicle by the interactive interface based on C# language
Information is input to by journal file in CARSIM；Step B3：CARSIM is generated closer to actual vehicle running orbit；
Step B4：By the track of generation be sent back in VISSIM by the interactive interface based on C# language and with original path
It is combined；
Step B5：SSAM is called by the interactive interface based on C# language, SSAM carries out conflict analysis to whole path, right
Safety is assessed.
Advantageous effect：
The present invention existing is based only on being the microscopic traffic flow cooperating simulation platform for merging dynamics of vehicle as substituting
The method of estimation of Microscopic Traffic Simulation Mathematic Model.Invention is generating reality in conjunction with Microscopic Traffic Simulation Mathematic Model and vehicle dynamic model
Advantage in terms of track of vehicle and performance indicator, the final simulation result for obtaining more accurate vehicle.
Description of the drawings
Fig. 1 is the program circuit of the microscopic traffic flow cooperating simulation platform for the fusion dynamics of vehicle that the present invention is previously mentioned
Figure；
Fig. 2 is emulation platform path simulation method of the present invention；
Fig. 3 is to change configuration file using the track that Microscopic Traffic Simulation Mathematic Model VISSIM is generated in the present invention；
Fig. 4 is to change configuration file and through more using the track of Microscopic Traffic Simulation Mathematic Model VISSIM generations in the present invention
Change curve in track after item formula fitting；
Fig. 5 is that the track change configuration file that VISSIM is generated in the present invention is multinomial by second order polynomial fit and three ranks
Formula is fitted the comparison of obtained vehicle running orbit；
Fig. 6 be the present invention in VISSIM generate track change configuration file, obtained by fitting of a polynomial and examine
Consider the track of vehicle of higher driver comfort；
Fig. 7 be the present invention in VISSIM generate track change configuration file, obtained by fitting of a polynomial and examine
Consider the higher invasive track of vehicle of driving；
Fig. 8 be the present invention in VISSIM generate track change configuration file, obtained by fitting of a polynomial and by
The vehicle running orbit that dynamics of vehicle module CARSIM is generated；
Fig. 9 is the flow that the present invention carries out microscopic simulation safety evaluation.
Specific implementation mode
Further explanation is done to the present invention below in conjunction with the accompanying drawings.
The present invention is further described below in conjunction with the accompanying drawings.This scene uses representative VISSIM conducts
Microscopic Traffic Simulation Mathematic Model is blended with vehicle dynamic model and is assessed traffic safety.
A kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle, including Microscopic Traffic Simulation Mathematic Model, vehicle
Kinetic model, the interactive interface based on C# language and Security Evaluation Model；
The Microscopic Traffic Simulation Mathematic Model selects VISSIM, for planning that vehicle running orbit, the motor-driven of simulating vehicle move
Make and road shape figure, road shape, the position of vehicle and the speed of vehicle of generation reflection road curvature and gradient
And acceleration；
The vehicle dynamic model selects CARSIM to imitate microcosmic traffic for providing reliable vehicle performance index
Geometry arrange parameter, path clustering parameter, speed control parameter that true mode exports etc. are input in vehicle dynamic model,
True track of vehicle is generated under the conditions of given traffic and road shape, the position of vehicle is determined in each step；By
Above-mentioned parameter obtains output torque, the output speed of transmission system and the vehicle setup parameter of vehicle, including vehicle maximum hair
Motivation power, maximum engine speed, engine idle rotational etc., and further calculate real engine power and reality
Transmitter speed；The vehicle dynamic model simultaneously can be used for generating closer to true track of vehicle.CARSIM has
Extensive dynamics of vehicle modeling ability, and track of vehicle true to nature is generated using multidimensional mathematical formulae.Work as microscopic traffic simulation
When occurring target traffic scene in model, for example vehicle shift, vehicle lane-changing, vehicle stop suddenly, and traffic lights send out finger
Enable etc., track changes what track of vehicle was modified using CARSIM in Microscopic Traffic Simulation Mathematic Model, then simulates CARSIM
Lane changing track of vehicle merge with the track of vehicle that remaining Microscopic Traffic Simulation Mathematic Model is generated, to establish closer to existing
The track of vehicle of truth condition.
The interactive interface based on C# language is real for Microscopic Traffic Simulation Mathematic Model to be connect with vehicle dynamic model
Interaction between existing two models, major function are to realize to solve vs in Microscopic Traffic Simulation Mathematic Model, vehicle dynamic model
The calling of simulator and Security Evaluation Model creates in CARSIM the entitled * .par files of file and by microscopic traffic simulation mould
Vehicle and road information are imported into * .par files in type；
The Security Evaluation Model is used to carry out conflict analysis to the track of vehicle of generation, assesses safety.
Microscopic Traffic Simulation Mathematic Model imports the CAD modeling datas of map datum or road information, and it is bent to generate reflection road
The action of position and vehicle where route characteristic, vehicle each moment of the road shape of rate and gradient, including speed
And acceleration.
By the dynamics index of vehicle in vehicle dynamic model, contents are directly input into vehicle including engine characteristics etc.
In kinetic model CARSIM, since Microscopic Traffic Simulation Mathematic Model only considers the geometric parameter of the vehicles such as length and width, no
Performance setting including vehicle, so directly engine dynamics index is input in vehicle dynamic model CARSIM.
Interactive interface based on C# language includes that there are four modules, that is, calls Microscopic Traffic Simulation Mathematic Model module, creates
CARSIM inputs document module, calls CARSIM modules and calls Security Evaluation Model SSAM modules, described to call microcosmic friendship
Logical simulation model module is connect with Microscopic Traffic Simulation Mathematic Model, and the vehicle dynamic model inputs document with CARSIM is created
Module connects, and the calling CARSIM modules are connect with vehicle dynamic model, the calling Security Evaluation Model SSAM modules
It is connect with Security Evaluation Model.
Microscopic Traffic Simulation Mathematic Model is called, Microscopic Traffic Simulation Mathematic Model is made to bring into operation；It creates CARSIM and inputs document mould
Block makes to generate the journal file for expanding entitled * .par in CARSIM；Call CARSIM modules that vs in CARSIM is called to solve simulation
Device, i.e. top layer text file, make vehicle dynamic model CARSIM bring into operation.
Platform path emulation mode is as shown in Fig. 2, include the following steps：
Step A1：When expected scene occurs in the process of running in vehicle, as vehicle carries out lane shift, lane-change, stops suddenly
When only and traffic lights send out instruction, Microscopic Traffic Simulation Mathematic Model creates simulation model network, the interaction based on C# language
Interface calls Microscopic Traffic Simulation Mathematic Model to be allowed to run, and acquires the driving information of vehicle, vehicle in Microscopic Traffic Simulation Mathematic Model
Coordinate information and destination path information；Step A2：Interactive interface based on C# language creates CARSIM and inputs document, i.e.,
The journal file that entitled * .par are expanded in CARSIM, including coordinate convert file, destination path file, road type feature text
Part and driver's driving performance file；
Step A3：Interactive interface based on C# language calls vs in CARSIM to solve simulator (i.e. top layer text file),
So that vehicle dynamic model CARSIM is brought into operation, generate closer to actual vehicle running path, and with whole path into
Row is integrated；Step A4：Security Evaluation Model SSAM modules are called, safety evaluation is carried out in SSAM conflict analysis softwares.
When starting lane-change using Microscopic Traffic Simulation Mathematic Model VISSIM, the interactive interface based on C# language can preserve track
Data, including the time cut-off label, vehicle X, Y, Z coordinate, speed and vehicle acceleration or deceleration.Data with
The frequency of 10Hz preserves, this frequency is identical as the simulation frequency in VISSIM.But the lane changing path generated by VISSIM
The track that lane-change action is carried out with vehicle under truth has greater difference, and the track of vehicle route generated is three line segments
Set：Vehicle is in the path of original lane, and vehicle is in the path in final track and the nominal straight line of connection two lines, such as
Shown in Fig. 3.
In order to keep data easy to use, in certain situations it is desirable to be converted to data.First by the starting point of data
It is converted to (0,0)；Later again by rotation, the path integration that vehicle is travelled before lane change be along x-axis, and use least square
Method is fitted data.
For track of vehicle, described with linear equation：
Y=kx+b (1)
Wherein k is the slope of straight line, and b is intercept of the straight line in y-axis.For the point that cluster is discrete, can be indicated with vector
For：
Since in vehicle lane change, estimation is even more important safely for vehicular traffic for the point before and after lane change track, so enabling
N=10.
It enables：
Wherein, x1…xnRepresent the abscissa of vehicle location during lane change, y1…ynRepresent vehicle location during lane change
Ordinate；
So formula (2) becomes：
Y=XK (4)
In both members with the transposition for multiplying X matrix, then have：
XTY=XTXK (5)
So slope and intercept matrix K can be obtained by (5)：
K=(XTX)-1XTXK=(XTX)-1XTY (6)
And by
By formula (6), (7), (8) simultaneous, slope and intercept matrix K can be obtained：
The determinant of A can be obtained by (7) again：
Therefore straight slope k can be obtained：
If the angle that straight line turns over is θ, then have by rotationally-varying coordinate (x, y) and original coordinate (x1, y1) between
Relationship be：
By above-mentioned transformation, data have been synthesized to straight line, and original path is rotated to along the x-axis direction
Traveling.But as shown in Figure 2, since the tracks generated VISSIM are about 20 in x and x is about not to be continuous one at 50
Order derivative, this is not inconsistent with actual conditions yet, while being also not suitable for using this path as the destination path of CARSIM.So needs pair
The discontinuous first derivative track that VISSIM is generated is fitted with three rank multinomials.Meanwhile the characteristic of our known VISSIM：
VISSIM preserves data with the frequency of 10Hz, and default vehicle completes lane change and needs 2 seconds.So track of vehicle fit procedure
It is as follows：
If the multinomial of matched curve is：
F (x)=a3(x-x1)3+a2(x-x1)2+a1(x-x1)+a0 (13)
Wherein, a0, a1, a2, a3 are respectively 0 item, first order, quadratic term, three times term coefficient in multinomial；Then there is f '
(x)=3a3(x-x1)2+2a2(x-x1)+a1 (14)
Enable x=x1, then have：
f(x1)=a3(x1-x1)3+a2(x1-x1)2+a1(x1-x1)+a0=a0=y1 (15)
f′(x1)=3a3(x1-x1)2+2a2(x1-x1)+a1=a1=k1 (16)
And by our conversions in front, the track before vehicle changing Lane being converted in x-axis, and direction edge
X-axis direction, so we can obtain：
y1=k1=0 (17)
So can obtain：a0=a1=0 (18)
Enable x=x2, then have：
f(x2)=a3(x2-x1)3+a2(x2-x1)2=y2 (19)
f′(x2)=3a3(x2-x1)2+2a2(x2-x1)=k2 (20)
Therefore it is obtained by (19), (20) simultaneous solution：
Therefore as shown in figure 4, we obtain the vehicle lane change track after fitting of a polynomial.
The reason of being fitted to vehicle running orbit using three rank multinomials be：It is because of it to select three rank multinomials
It is simple enough, it not will produce unexpected situation, such as the outside corner caused by higher order polynomial, but have
Sufficiently high exponent number is to meet the matching position at the beginning and end of lane changing and the accuracy in course；It is multinomial according to second order
Formula is fitted, then the matched curve obtained is illustrated in fig. 5 shown below, and can be obtained by the information of Fig. 4, Fig. 5, is fitted by three rank multinomials
The vehicle lane-changing track arrived compared with VISSIM compared to more smooth, the two compare three rank multinomials lane-change track closer to reality
The case where border.
During being fitted vehicle running path, it may be considered that invasion when being driven to the comfort and driver driven
The factors such as property.When considering the comfort driven, the transverse acceleration of vehicle should control in a certain range, vehicle lane-changing process
Track also can be elongated.Likewise, when if driver is with higher aggressiveness change lane, the transverse acceleration of vehicle can be more
Greatly, the lane-change track of vehicle also can accordingly shorten.
In the comfort for considering to drive, the operating range of vehicle along the longitudinal direction is increased into Δ %, can be obtained through three
The track of vehicle that order polynomial is fitted, as shown in Figure 6.
When considering that driver drives vehicle with higher aggressiveness, the operating range of vehicle along the longitudinal direction is shortened
Δ ＇ %, can obtain the track of vehicle being fitted through cubic polynomial, as shown in Figure 7.
After the vehicle running orbit after being fitted, change the top layer that suffix in CARSIM INPUT files is * .par
File.In the case of lane-change, it is necessary to generate Study document by destination path and velocity variations trend.It is as follows
In dynamics of vehicle module CARSIM of the present invention in top document target trajectory configuration file；
In the example of the top document of the configuration file of this target vehicle track, it is named as by CARSIM
The target configuration file of LRARG_TABLE is made of a series of orderly points and offset.These are by multinomial
The point that formula generates, the actually set of vehicle location (x, y).
Equally, in the top document for the configuration file of velocity variations trend, SPEED_ is named as by CARSIM
The target configuration file of TIME_TABLE SPLIN-FLAT consists of two parts, and first part is the time, and second part is vehicle
The speed of service.
It is as follows the configuration text of top document medium velocity variation tendency in dynamics of vehicle module CARSIM of the present invention
Part.
According to the CARSIM input files generated, actual vehicle can be continued using the data of input file
Dynamics simulation.Using CARSIM API, it is suitable for C# language, and ordered using based on calling vs_run in C# language interface
It enables.Call comprising the entitled VS of file path file and VS Solver (CARSIM solver DLL) sim files, it is laggard
Row CARSIM Vehicle Dynamics System Simulations emulate, and generate closer to actual vehicle movement track.
After the completion of simulation, data are stored with binary system * .bin formats, are converted to * .csv formats.Rail is run in simulating vehicle
When mark, the state variable that can be calculated for CARSIM is needed to carry out selective output, such as：Time；On the direction x, y, z
Position, velocity and acceleration；Pitch angle, side drift angle；Angular speed and angular acceleration etc..These variable descriptions vehicle's center of gravity phase
For the movement locus of CARSIM global coordinate systems.This movement locus is added in the track of VISSIM and fitting of a polynomial.
As shown in Figure 8.
Can be obtained by Fig. 8, CARSIM generate track can closely follow fitting of a polynomial at track of vehicle.It is obtaining
Closer to after actual vehicle running orbit, identical inverse transformation is done in the track that CARSIM is obtained by us, and track is become
It is and combined without VISSIM orbital datas when lane change before applied to the data of VISSIM, obtain complete vehicle operation
Track.This track format can be applied to substitute in Security Evaluation Model (SSAM).
The input data of SSAM models is * .trj files, can directly be created from VISSIM.Use track data, SSAM
Calculate many replacement safety measures, including minimum collision time, initial rate and maximum rate, maximum speed discrepancy etc..These
Safety measure can be used to the actual frequency of the generation of prediction accident in turn.It carries out safety using cooperating simulation platform and comments
The flow of valence is as shown in figure 9, specifically comprise the following steps：
Step B1：In the case where expected traffic scene is encountered, VISSIM generates the running orbit of vehicle；
Step B2：Encounter special traffic scene when, platform is run vehicle by the interactive interface based on C# language
Information is input to by journal file in CARSIM；Step B3：CARSIM is generated closer to actual vehicle running orbit；
Step B4：By the track of generation be sent back in VISSIM by the interactive interface based on C# language and with original path
It is combined；
Step B5：SSAM is called by the interactive interface based on C# language, SSAM carries out conflict analysis to whole path, right
Safety is assessed.
After the * .trj files created by VISSIM are input to SSAM models, SSAM indirect conflict analysis softwares pass through rail
Liquidate the division for advancing by leaps and bounds and going and distinguishing with classification based on mark file.Using conflict time (TTC) and meet with time (PET) conduct
The identification parameter of traffic conflict, identifies traffic conflict from trail file.Wherein, the classification of traffic conflict conflicts a little
Conflict two major classes with line.
Point conflict is mainly intersection conflict, and the meaning at each moment is in defining point conflict situations：
t1- vehicle A leaves conflict range；
t2- assume the condition moment that vehicle B does not take risk avoidance measures to reach conflict point；
t3At the time of-vehicle B reaches conflict point.
In conjunction with the characteristics of conflict point, the expression formula of TTC and PET can be obtained：
TTC=t2-t1 (23)
PET=t3-t1 (24)
For line conflict, the position of line conflict is constantly moved with the variation of car speed, the representation method and Dian Chong of index
It is prominent to have larger difference.Assuming that making vehicle B cause influence to the traveling of vehicle A in lane change conflict.Bonding wire conflict occurrence characteristic,
Discriminant criterion expression way is obtained, wherein：
Conflict the time (TTC)：Since vehicle enters conflict situation, corresponding TTC can be calculated to each simulation step length
Value, the TTC of line conflict are defined as the minimum value in a series of this TTC value, such as following formula：
TTC=min (TTC), (25)
Meet with the time (PET)：It is similar with TTC, since vehicle enters conflict situation, each simulation step length can be counted
A PET value is calculated, the PET of line conflict is defined as the minimum value in this Series P ET values, such as following formula：
PET=min (PET) (26)
Then, safety evaluation is carried out in SSAM conflict analysis softwares, carries out the calibration of index of correlation threshold value.TTC with
PET default values in analogue system are 1.5s and 5.0s.The traffic conflict quantity of simulation analysis generation and practical feelings may be used
The quantity of traffic conflict is compared under condition, adjusts the calibration value of index of correlation threshold value according to comparing result later.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle, it is characterised in that：Including microscopic traffic simulation
Model, vehicle dynamic model, the interactive interface based on C# language and Security Evaluation Model；
The Microscopic Traffic Simulation Mathematic Model is for planning vehicle running orbit, maneuver and the road shape figure of simulating vehicle
Shape generates road shape, the position of vehicle and the speed of vehicle and acceleration of reflection road curvature and gradient；
The vehicle dynamic model is for providing reliable vehicle performance index, by the geometry of Microscopic Traffic Simulation Mathematic Model output
Arrange parameter, path clustering parameter, speed control parameter etc. are input in vehicle dynamic model, in given traffic and
True track of vehicle is generated under the conditions of road shape, and the position of vehicle is determined in each step；
The interactive interface based on C# language realizes two for Microscopic Traffic Simulation Mathematic Model to be connect with vehicle dynamic model
Interaction between model；
The Security Evaluation Model is used to carry out conflict analysis to the track of vehicle of generation, assesses safety.
2. a kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle according to claim 1, feature exist
In：Microscopic Traffic Simulation Mathematic Model imports the CAD modeling datas of map datum or road information, generates reflection road curvature and inclines
The action of position and vehicle where route characteristic, vehicle each moment of the road shape of gradient, including speed and acceleration
Degree.
3. a kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle according to claim 1, feature exist
In：By the dynamics index of vehicle in vehicle dynamic model, contents are directly inputted to vehicle power including engine characteristics etc.
It learns in model.
4. a kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle according to claim 1, feature exist
In：Interactive interface based on C# language includes that there are four modules, that is, calls Microscopic Traffic Simulation Mathematic Model module, establishment CARSIM defeated
Enter document module, call CARSIM modules and calls Security Evaluation Model SSAM modules, the calling microscopic traffic simulation mould
Pattern block is connect with Microscopic Traffic Simulation Mathematic Model, and the vehicle dynamic model is connect with CARSIM input document modules are created,
The calling CARSIM modules are connect with vehicle dynamic model, the calling Security Evaluation Model SSAM modules and security evaluation
Model connects.
5. a kind of microscopic traffic flow cooperating simulation platform of fusion dynamics of vehicle according to claim 4, feature exist
In：Microscopic Traffic Simulation Mathematic Model is called, Microscopic Traffic Simulation Mathematic Model is made to bring into operation；Creating CARSIM input document modules makes
The journal file for expanding entitled * .par is generated in CARSIM；Call CARSIM modules that vs in CARSIM is called to solve simulator, i.e.,
Top layer text file makes vehicle dynamic model CARSIM bring into operation.
6. a kind of microscopic traffic flow cooperating simulation platform emulation mode of fusion dynamics of vehicle according to claim 5,
It is characterised in that it includes following steps：
Step A1：When there is expected scene in the process of running in vehicle, such as vehicle carry out lane shift, lane-change, stop suddenly with
And traffic lights, when sending out instruction, Microscopic Traffic Simulation Mathematic Model creates simulation model network, the interactive interface based on C# language
It calls Microscopic Traffic Simulation Mathematic Model to be allowed to run, and acquires the driving information of vehicle, vehicle coordinate in Microscopic Traffic Simulation Mathematic Model
Information and destination path information；
Step A2：Interactive interface based on C# language creates CARSIM and inputs document, i.e. the day of entitled * .par is expanded in CARSIM
Will file, including coordinate convert file, destination path file, road type tag file and driver's driving performance file；
Step A3：Interactive interface based on C# language calls vs in CARSIM to solve simulator, i.e. top layer text file, make vehicle
Kinetic model CARSIM brings into operation, and generates closer to actual vehicle running path, and carries out with whole path whole
It closes；
Step A4：Security Evaluation Model SSAM modules are called, safety evaluation is carried out in SSAM conflict analysis softwares.
7. a kind of microscopic traffic flow cooperating simulation platform safety evaluation side of fusion dynamics of vehicle according to claim 1
Method, which is characterized in that include the following steps：
Step B1：In the case where expected traffic scene is encountered, VISSIM generates the running orbit of vehicle；
Step B2：Encounter special traffic scene when, platform is by the interactive interface based on C# language by vehicle operating information
It is input in CARSIM by journal file；Step B3：CARSIM is generated closer to actual vehicle running orbit；
Step B4：By the track of generation be sent back in VISSIM by the interactive interface based on C# language and with original path phase group
It closes；
Step B5：SSAM is called by the interactive interface based on C# language, SSAM carries out conflict analysis to whole path, to safety
Property is assessed.
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