CN110110487B - Pedestrian crosswalk traffic operation analysis method for non-signal control road section - Google Patents
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Abstract
The invention provides a traffic operation analysis method for a pedestrian crosswalk of a no-signal control road section, which is used for establishing a set of simulation analysis method aiming at the pedestrian crosswalk of the no-signal control road section by combining the interaction of the yielding behavior of a motor vehicle and the receiving behavior of a pedestrian clearance. The invention takes road geometric conditions such as road width, number of lanes, presence or absence of central residence areas and traffic conditions such as vehicle and pedestrian arrival distribution, vehicle yielding threshold distribution, pedestrian clearance acceptance threshold distribution and the like into consideration, integrates the road geometric conditions into a simulation analysis model, so that the traffic operation of the pedestrian crosswalk of a non-signal control road section can be described, and the interaction of yielding behavior of a motor vehicle and pedestrian clearance acceptance behavior can be analyzed.
Description
Technical Field
The invention belongs to the technical field of crosswalk traffic operation analysis, and particularly relates to a crosswalk traffic operation analysis method for a non-signal control road section.
Background
The crosswalk of the non-signal control road section is a common facility for communicating with the pedestrian traffic systems at two sides of the road, and then the analysis is mainly carried out independently from the two aspects of the yielding behavior of the motor vehicle and the gap receiving behavior of the pedestrian at present, but the two aspects are actually interacted, no specific analysis method is found, and the invention patent of the method is not searched. According to the document retrieval in the prior art, the method for analyzing the pedestrian crosswalk traffic operation of the non-signal control road section mainly comprises the following steps: 1) And (5) analyzing the yielding behavior of the motor vehicle. The method specifically comprises the research of influence of age, sex, income, educational background and other driver attributes, traffic factors such as running speed, pedestrian number and the like, and road factors such as lane number, monitoring facilities and the like on the motor vehicle behavior. Representative researches comprise 'Guangzhou motor vehicle crosswalk yielding behavior and influence factor analysis', beijing motor vehicle driver's' robbery behavior and influence factor analysis ', vehicle yielding probability estimation model at unsignalized midblock crosswalks in Shanghai, china' and the like. 2) Pedestrian clearance is subject to behavioral analysis. The method specifically comprises the following steps of researching the influence of the attribute of pedestrians such as age, sex and the like, the traffic factors such as gap duration, waiting duration and the like, and the road factors such as the length of a sidewalk, a central residence area and the like on the gap acceptance behavior of the pedestrians. Representative researches comprise 'decision study of pedestrian crossing street in a no-signal control road section', 'acceptance gap and rejection gap distribution characteristics of motor vehicles at a parking yield intersection', 'Behavioural issues in pedestrian speed choice and street crossing behaviour:A review', and the like. 3) And (5) microscopic traffic flow model analysis. The microcosmic traffic flow model is an important method for explaining the action mechanism of influencing factors on microcosmic traffic running states, and aiming at a crosswalk of a no-signal control road section, an analysis model is established based on a following model in the past, and vehicles react to the stimulus of vehicles in front and pedestrians crossing the street according to fixed rules. Representative studies include An extended car-following model with the consideration of the illegal pedestrian crossing.
However, the above-mentioned method 3 has drawbacks, specifically as follows: the method 1 and the method 2 are respectively analysis methods aiming at the motor vehicle yielding behavior and the pedestrian clearance receiving behavior, and at present, more mature technical achievements exist, but the analysis is carried out from one angle only, and the consideration of interaction is lacking; method 3 reacts to the stimulus of the preceding vehicle and the pedestrian crossing by given rules, but generally assumes absolute priority of the pedestrian, again lacking consideration of the interaction of the vehicle with the pedestrian. Because the pedestrian crosswalk is on the signal-free control road section, traffic running is not simply accepted or rejected by a pedestrian with a gap in the traffic flow, and is not allowed or not allowed by a driver under a certain scene, and the traffic running and the pedestrian are interactive processes. Therefore, the prior art lacks an analysis method for the interaction process of the pedestrian crossing behavior of the motor vehicle in the traffic running of the pedestrian crossing of the no-signal control road section.
Disclosure of Invention
The invention aims to provide a traffic operation analysis method for a pedestrian crossing of a no-signal control road section, which aims at the pedestrian crossing of the no-signal control road section, combines the interaction of the yielding behavior of a motor vehicle and the receiving behavior of a pedestrian clearance, and establishes a set of simulation analysis method so as to finely describe and analyze the traffic operation of the pedestrian crossing of the no-signal control road section. In order to achieve the above purpose, the invention adopts the following technical scheme:
a crosswalk traffic operation analysis method for a signal-free control road section comprises the following steps:
step 1: inputting parameter values of the simulation model; the simulation model comprises a vehicle simulation module and a pedestrian simulation module;
step 2: initializing a vehicle simulation module and a pedestrian simulation module; the initial values of the vehicle simulation module include generating a number of new vehicles and a yield threshold delta for the vehicles n The method comprises the steps of carrying out a first treatment on the surface of the The initial value of the pedestrian simulation module comprises the steps of generating the number of new pedestrians and the gap acceptance threshold eta of the pedestrians i And walking speed v i ；
Step 3: based on the pedestrian simulation module, determining the pedestrian behavior at the simulation moment t; the pedestrian behavior includes having started crossing a street and waiting for crossing a street;
step 4: based on the vehicle simulation module, determining the vehicle behavior at the simulation time t; the vehicle behavior includes a yield behavior and an acceleration;
step 5: updating pedestrian behavior;
step 6: updating vehicle behavior;
step 7: judging whether the simulation analysis is terminated; if yes, outputting a simulation result; otherwise, the analysis time is updated, and the step 2 is executed.
Preferably, in step 1, the parameter value comprises a position x of a crosswalk c Length D of crosswalk, pedestrian arrival distribution A p Pedestrian walking speed profile V p And pedestrian clearance acceptance threshold distribution B p 。
Preferably, in step 2, the parameter value includes a number of lanes N of the road section l Whether or not there is a central partition number M, whether or not there is a monitor E p VehicleArrival distribution A v Threshold distribution B for vehicle yield v Model constants, simulation analysis duration and initialization simulation time.
Preferably, step 2 specifically comprises: through vehicle arrival profile A v Determining whether to generate a new vehicle; threshold distribution B for vehicle yield v Determining a yield threshold delta for a vehicle n The method comprises the steps of carrying out a first treatment on the surface of the Through pedestrian arrival profile A p Determining whether to generate a new pedestrian and accepting threshold distribution B based on pedestrian clearance p And pedestrian walking speed distribution V p Determining a gap acceptance threshold eta for pedestrians i And walking speed v i 。
Preferably, the pedestrian behavior determination model that has started crossing is:
wherein ,Ti (t) =the length of time that pedestrian i has experienced to cross the street at the simulation time t; v i Walking speed of pedestrian i.
Preferably, the pedestrian behavior determination model waiting for the cross street is:
wherein ,
U il (t)＝6.365+2.678G l (t)-2.846D+0.058W i (t)-1.273S i (t)；
wherein ,Wi (t) =the waiting time period of the pedestrian i at the simulation time t; s is S i (t) =waiting position of pedestrian i at simulation time t, S i (t) =1 represents road side, S i (t) =0 tableIn the road.
Preferably, the judgment model of the yield behavior is:
V n (t)＝1.291+2.937G n (t)-8.462N l +0.730N p (t)+3.008S(t)+11.913E p ；
wherein S (t) =simulation time t whether there is a pedestrian waiting in the road; e (E) p =whether monitoring is present; n (N) l Number of lanes; g n (t) =simulation time t the gap size of vehicle n for crosswalk; n (N) p (t) =the number of pedestrians waiting for a street to cross at the simulation time t; delta n Yield threshold of vehicle n.
Preferably, the judgment model of the acceleration is:
V(Δx n (t))＝V 1 +V 2 tanh(C 1 (Δx n (t)-l c )-C 2 )；
wherein V () =optimal speed function; x is x n (t) =the position of the vehicle n at the simulation time t; v n (t) =the speed of the vehicle n at the simulation time t; deltav n (t) =the speed difference between the simulation time t vehicle n and the preceding vehicle n-1; d, d n (t) =simulation time t vehicle n is a crosswalk distance; kappa and lambda are model parameters.
Preferably, the step 5 specifically comprises: updating a set of pedestrians who have started to cross a street, a set of pedestrians who are waiting for a street, a length of time that the pedestrians have undergone to cross a street, a length of time that the pedestrians are waiting for, and a number of pedestrians to wait for.
Preferably, the step 6 specifically comprises: the speed and position of the vehicle are updated.
Compared with the prior art, the invention has the advantages that:
1) The invention provides a crosswalk traffic operation analysis method for a no-signal control road section.
2) The invention considers the interaction of the motor vehicle yielding behavior and the pedestrian clearance receiving behavior, thereby being capable of carrying out fine description and analysis on the traffic operation of the crosswalk of the no-signal control road section.
Drawings
FIG. 1 is a flow chart of a crosswalk traffic analysis method for a no-signal control road section according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the geometry of the travelator of FIG. 1;
FIG. 3 is a state diagram of the walker of FIG. 1;
fig. 4 is a state diagram of the behavior of the vehicle in fig. 1.
Detailed Description
The method for analyzing crosswalk traffic in a signal-free road section according to the present invention will be described in more detail with reference to the accompanying drawings, in which preferred embodiments of the present invention are shown, it being understood that the present invention described herein can be modified by those skilled in the art, while still achieving the advantageous effects of the present invention. Accordingly, the following description is to be construed as broadly known to those skilled in the art and not as limiting the invention.
As shown in FIG. 1, the crosswalk traffic operation analysis method for the no-signal control road section comprises the following steps 1-7:
step 1: inputting parameter values of the simulation model; the simulation model comprises a vehicle simulation module and a pedestrian simulation module; the parameter values comprise the parameter values of the pedestrian simulation module and the parameter values of the vehicle simulation module, wherein the parameter values of the pedestrian simulation module comprise the position x of the crosswalk c M, length of crosswalk D, m, pedestrian arrival distribution A p Pedestrian walking speed profile V p And pedestrian clearance acceptance threshold distribution B p The method comprises the steps of carrying out a first treatment on the surface of the The parameter value of the vehicle simulation module comprises the number N of lanes of the road section l M, whether or not there is a central separatorM, presence or absence of monitor E p Vehicle arrival profile A v Threshold distribution B for vehicle yield v . In addition, the parameter values also comprise model constants, simulation analysis duration and initialization simulation time.
Step 2: initializing a vehicle simulation module and a pedestrian simulation module; the initial values of the vehicle simulation module include whether to generate a new vehicle and a yield threshold delta for the vehicle n The method comprises the steps of carrying out a first treatment on the surface of the The initial value of the pedestrian simulation module includes whether to generate a new pedestrian or not, and a gap acceptance threshold eta of the pedestrian i And walking speed v i The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the distribution A is reached by the vehicle v Determining whether to generate a new vehicle; threshold distribution B for vehicle yield v Determining a yield threshold delta for a vehicle n The method comprises the steps of carrying out a first treatment on the surface of the Through pedestrian arrival profile A p Determining whether to generate a new pedestrian and accepting threshold distribution B based on pedestrian clearance p And pedestrian walking speed distribution V p Determining a gap acceptance threshold eta for pedestrians i And walking speed v i 。
Step 3: based on the pedestrian simulation module, determining the pedestrian behavior at the simulation moment t; pedestrian behavior includes having begun to cross a street and being waiting for a street to cross.
1) For any simulation time t, for any pedestrian (i epsilon omega) which starts to cross the street, judging whether the street crossing behavior is finished, namely, the pedestrian behavior judgment model of which the street crossing is started is as follows:
wherein ,Ti (t) =the street crossing time length that pedestrian i has experienced at simulation time t, s; v i Walking speed of pedestrian i, m/s.
in the formula ：ci (t) represents a state of a pedestrian i at the simulation time t, 1 represents that the pedestrian i is crossing a street, and 0 represents that the pedestrian i is not crossing the street; Ω (t) represents a set of pedestrians who have started to cross the street; d represents the length of the crosswalk and m.
2) For any simulation time t, for any pedestrian (i epsilon- ψ) which has started to cross the street, judging whether the current gap is accepted or not as shown in a formula (2), and determining the state of the pedestrian as shown in a formula (5);
wherein ,Uil (t)＝6.365+2.678G l (t)-2.846D+0.058W i (t)-1.273S i (t) (4)
In the formula (2), g i (t) represents a decision of whether the pedestrian i accepts the current gap at the simulation time t, 1 represents acceptance, and 0 represents rejection; η (eta) i A gap acceptance threshold representing pedestrian i;
representing a downward rounding operation; in the formula (3), ->
The clearance acceptance probability of the pedestrian i to the lane l at the simulation moment t is shown; u (U) il (t) represents the clearance acceptance effect of pedestrian i on lane l at simulation time t; in the formula (4), W i (t) represents the waiting time of the pedestrian i at the simulation time t; s is S i (t) represents the waiting position of pedestrian i at the simulation time t, S i (t) =1 represents road side, S i (t) =0 denotes in-way; in formula (5): ψ (t) represents the set of pedestrians waiting to cross the street.
Combining the two situations, the judgment model of the pedestrian behavior at the simulation time t can be expressed as follows:
wherein: c (t) represents a state where there is a pedestrian crossing, 1 represents a state where there is a pedestrian crossing, and 0 represents a state where there is a pedestrian crossing.
Step 4: based on the vehicle simulation module, determining the vehicle behavior at the simulation time t; vehicle behavior includes yield behavior and acceleration. Judging the yielding behavior of any vehicle at any simulation time t as shown in a formula (7); further, the acceleration of the vehicle is calculated as shown in a formula (10);
1) The judgment model of the yield behavior is as follows:
V n (t)＝1.291+2.937G n (t)-8.462N l +0.730N p (t)+3.008S(t)+11.913E p (9)
wherein in formula (7), y n (t) represents a yielding decision of the vehicle n at the simulation time t, 1 represents a yielding, and 0 represents a non-yielding;
representing the yield probability, delta, of the vehicle n at the simulation time t n Yield threshold of vehicle n; n (N) p (t) represents the number of pedestrians waiting for crossing the street at the simulation time t, and the number of people;
in the formula (8), V n (t) represents the yielding utility of vehicle n at simulation time t;
in the formula (9), S (t) =simulation time t whether or not there is a pedestrian waiting in the road; e (E) p Indicating whether monitoring is present, 1 indicating yes, 0 indicating no; n (N) l Number of lanes; g n (t) =simulation time t the gap size of vehicle n to crosswalk, s.
2) The judging model of the acceleration is as follows:
V(Δx n (t))＝V 1 +V 2 tanh(C 1 (Δx n (t)-l c )-C 2 ) (11)
wherein in the formula (10),
representing acceleration, m/s, of the vehicle n at the simulation time t 2 The method comprises the steps of carrying out a first treatment on the surface of the V (-) represents the optimal speed function, m/s, which can be calculated by equation (11); x is x n (t) represents the position of the vehicle n at the simulation time t, m; Δx n (t) represents the distance between the vehicle n and the preceding vehicle n-1 at the simulation time t, and m is represented by the formula (12); v n (t) =speed of vehicle n at simulation time t, m/s; deltav n (t) represents the speed difference between the vehicle n and the preceding vehicle n-1 at the simulation time t, m/s, as shown in the formula (13); d, d n (t) =simulation time t vehicle n is a crosswalk distance, m, as shown in formula (14); kappa and lambda are model parameters.
Δx n (t)＝x n-1 (t)-x n (t) (12)
Δv n (t)＝v n-1 (t)-v n (t) (13)
d n (t)＝x c -x n (t) (14)
In the formula (11): l (L) c Represents the length of the vehicle body, m; v (V) 2 、C 1 and C2 Is a model parameter.
Step 5: updating pedestrian behavior, including updating a set of pedestrians that have begun to cross, a set of pedestrians that are waiting for a cross, a length of time that a pedestrian has experienced a cross, a length of time that a pedestrian is waiting for, and a number of pedestrians to wait. Updating the set of pedestrians who have started to cross the street and the set of pedestrians who are waiting for the street as shown in equations (15) and (16), respectively; updating the street crossing time length which the pedestrian crossing the street has experienced, as shown in a formula (17); updating the waiting time period for waiting for the pedestrian as shown in the formula (18); the number of waiting pedestrians is updated as shown in equation (19).
W i (t+Δt)＝W i (t)+Δt,i∈Ψ(t) (18)
N p (t+Δt)＝card(Ψ(t+Δt)) (19)
Wherein, in the formula (15): Δt represents the simulation analysis step length, s; in formula (19): the card () represents a calculation function of the number of elements of the collection.
Step 6: vehicle behavior is updated, including updating the speed and position of the vehicle. Updating the vehicle speed and the position according to the vehicle acceleration obtained in the step 4, wherein the vehicle speed and the position are respectively shown in formulas (20) and (21); step 7 is entered;
step 7: judging whether the simulation analysis is terminated; if yes, outputting a simulation result; otherwise, the analysis time is updated to t+Δt, and step 2 is executed. Specifically, if the simulation analysis duration is reached, outputting the running parameters such as the position, the speed, the acceleration, the yielding state of each vehicle at each moment, the state of each pedestrian (when the vehicle starts to cross the street or is waiting), the gap receiving state, the street crossing duration, the waiting duration and the like, and ending; otherwise, updating the analysis time to be t+delta t, and returning to the step 2;
the invention considers the following two points in the simulation analysis: (1) The pedestrian's street crossing behavior can change along with the change of the vehicle's yielding behavior, if the vehicle has already started yielding, the change of its speed position can make the pedestrian change the clearance acceptance decision in the subsequent judgement; (2) The pedestrian behavior of the vehicle can change along with the variation of the street crossing behavior of the pedestrian, and if the pedestrian starts to cross the street, the driver must take a yielding measure even if the driver does not yield subjectively; therefore, the traffic operation of the pedestrian crossing of the no-signal control road section is described and analyzed in detail by combining the interaction of the motor vehicle yielding behavior and the pedestrian clearance receiving behavior.
In the present embodiment, as shown in FIG. 2, a one-way two-lane road section (N l 2), no signal control road section crosswalk is located at the distance x from the road section start point c At =300m, crosswalk length d=7m, no median separator (m=0), no monitoring (E p =0), the vehicle arrival distribution is a poisson distribution satisfying the average arrival rate of 250veh/h/ln, the pedestrian arrival distribution is a poisson distribution satisfying the average arrival rate of 300ped/h, and the vehicle passing threshold B v Taking 0.5, pedestrian clearance acceptance threshold B p Take 0.5, pedestrian walking speed V p Taking 1m/s, model parameters κ=0.41, λ=0.2, V 1 ＝6.75、V 2 ＝7.91、C 1 ＝0.13、C 2 =1.57, the simulation analysis duration was 300s. By adopting the method, the states of the pedestrian and the vehicle at each moment can be calculated, and the results are shown in fig. 3 and 4. In fig. 4, R1 represents a set of yielding vehicles; r2 represents the set of the unbroken vehicles.
In this analysis period, as in fig. 3, 15 pedestrians arrive in total, 10 of which have not waited (waiting duration=0) to directly complete the crossing of the street, and the remaining 5 have different degrees of waiting, since no conflicting vehicles are encountered when arriving. As can be seen in connection with fig. 3 and 4: for pedestrian 1, the collision vehicle is not allowed to travel because the collision vehicle is very close to the crosswalk when arriving; after waiting for 1.6s, the pedestrian passes through the crosswalk, and the pedestrian starts to cross the street; for pedestrians 2 and 3, two continuous vehicles are not allowed to run, and after the 3 rd vehicle is allowed to run, the pedestrians start to cross the street; the vehicles which arrive later need to be stopped for waiting until the pedestrian crossing is completed. For pedestrian 5, beginning his clearance refusing the conflicting vehicle, but after the vehicle lets the way, he makes a decision of clearance acceptance again, beginning to cross the street; while the conflicting vehicles are parked for clearance. According to the analysis, the invention can realize the simulation analysis of traffic operation of the pedestrian crosswalk of the signal-free control road section, and can embody the interaction of the motor vehicle yielding behavior and the pedestrian clearance receiving behavior.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art will make any equivalent substitution or modification to the technical solution and technical content disclosed in the invention without departing from the scope of the technical solution of the invention, and the technical solution of the invention is not departing from the scope of the invention.
Claims (3)
1. The crosswalk traffic operation analysis method for the no-signal control road section is characterized by comprising the following steps of:
step 1: inputting parameter values of the simulation model; the simulation model comprises a vehicle simulation module and a pedestrian simulation module;
step 2: initializing a vehicle simulation module and a pedestrian simulation module; the initial values of the vehicle simulation module include generating a number of new vehicles and a yield threshold delta for the vehicles n The method comprises the steps of carrying out a first treatment on the surface of the The initial value of the pedestrian simulation module comprises the steps of generating the number of new pedestrians and the gap acceptance threshold eta of the pedestrians i And walking speed v i ；
Step 3: based on the pedestrian simulation module, determining the pedestrian behavior at the simulation moment t; the pedestrian behavior includes having started crossing a street and waiting for crossing a street;
step 4: based on the vehicle simulation module, determining the vehicle behavior at the simulation time t; the vehicle behavior includes a yield behavior and an acceleration;
step 5: updating pedestrian behavior;
step 6: updating vehicle behavior;
step 7: judging whether the simulation analysis is terminated; if yes, outputting a simulation result; otherwise, the analysis time is updated, and the step 2 is executed;
in step 1, the parameter value includes a crosswalk position x c Length D of crosswalk, pedestrian arrival distribution A p Pedestrian walking speed profile V p And pedestrian clearance acceptance threshold distribution B p ；
In step 1, the parameter value includes a number of lanes N of the link 1 Whether or not there is a central partition number M, whether or not there is a monitor E p Vehicle arrival profile A v Threshold distribution B for vehicle yield v Model constants, simulation analysis duration and initialization simulation time;
the step 2 is specifically as follows: through vehicle arrival profile A v Determining whether to generate a new vehicle; threshold distribution B for vehicle yield v Determining a yield threshold delta for a vehicle n The method comprises the steps of carrying out a first treatment on the surface of the Through pedestrian arrival profile A p Determining whether to generate a new pedestrian and accepting threshold distribution B based on pedestrian clearance p And pedestrian walking speed distribution V p Determining a gap acceptance threshold eta for pedestrians i And walking speed v i ；
The pedestrian behavior judgment model for the street crossing is as follows:
in the formula ,c1i (t) represents the state of the pedestrian i who starts to cross the street at the simulation time t, c 1i (t) =1 indicates that street crossing is occurring, c 1i (t) =0 indicates that there is no street crossing; Ω (t) represents a set of pedestrians who have started to cross the street; t (T) i (t) represents the length of time that pedestrian i has experienced the street crossing at the simulation time t; d represents the length of the crosswalk; v i Representing the walking speed of pedestrian i;
the pedestrian behavior judgment model waiting for the crossing is as follows:
in the formula ,c2i (t) represents the state of the pedestrian waiting for the street crossing i at the simulation time t, c 2i (t) =1 indicates that street crossing is occurring, c 2i (t) =0 indicates that there is no street crossing; g i (t) represents pedestrian i at the simulation timeDecision whether t is acceptable for the current gap, g i (t) =1 indicates acceptance, g i (t) =0 denotes rejection; ψ (t) represents the set of pedestrians waiting to cross the street; wherein,
in the formula ,
the clearance receiving rate of pedestrians to the lane l at the simulation time t is represented by the following formula: η (eta) i A gap acceptance threshold representing pedestrian i;
Representing a downward rounding operation; wherein,
U il (t)＝6.365+2.678G 1 (t)-2.846D+0.058W i (t)-1.273S i (t)
in the formula ,Wi (t) represents the waiting time of the pedestrian i at the simulation time t; s is S i (t) represents the waiting position of pedestrian i at the simulation time t, S i (t) =1 represents road side, S i (t) =0 denotes in-way;
the judgment model of the yield behavior is as follows:
V n (t)＝1.291+2.937G n (t)-8.462N 1 +0.730N p (t)+3.008S(t)+11.913E p
wherein S (t) =simulationWhether a pedestrian waits in the current road at the moment t; e (E) p Indicating presence monitoring; n (N) 1 The number of lanes; g n (t) =simulation time t the gap size of vehicle n for crosswalk; n (N) p (t) =the number of pedestrians waiting for a street to cross at the simulation time t; delta n A vehicle clearance threshold; c (t) represents a state in which there is a pedestrian crossing on the crosswalk, c (t) =1 represents there is a pedestrian crossing, and c (t) =0 represents no pedestrian crossing;
the judging model of the acceleration is as follows:
V(Δx n (t))＝V 1 +V 2 tanh(C 1 (Δx n (t)-l c )-C 2 )
wherein V ()' is an optimal speed function; x is x n (t) =the position of the vehicle n at the simulation time t; v n (t) =the speed of the vehicle n at the simulation time t; deltav n (t) =the speed difference between the simulation time t vehicle n and the preceding vehicle n-1; d, d n (t) =simulation time t vehicle n is a crosswalk distance; kappa and lambda are model parameters; Δx n And (t) represents the distance between the simulation time t and the preceding vehicle n-1.
2. The method for analyzing pedestrian crosswalk traffic operation of a no-signal control road section according to claim 1, wherein the step 5 is specifically: updating a set of pedestrians who have started to cross a street, a set of pedestrians who are waiting for a street, a period of time that the pedestrians who have undergone a street crossing, a waiting period of time for waiting for pedestrians, and the number of pedestrians to wait.
3. The method for analyzing pedestrian crosswalk traffic operation of a no-signal control road section according to claim 2, wherein the step 6 is specifically: the speed and position of the vehicle are updated.
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