CN113096385B - Agent-based traffic flow simulation method under roundabout scene - Google Patents

Agent-based traffic flow simulation method under roundabout scene Download PDF

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CN113096385B
CN113096385B CN202110281094.4A CN202110281094A CN113096385B CN 113096385 B CN113096385 B CN 113096385B CN 202110281094 A CN202110281094 A CN 202110281094A CN 113096385 B CN113096385 B CN 113096385B
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王昊
张倩
董长印
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

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Abstract

The invention discloses an Agent-based traffic flow simulation method under a roundabout scene, which comprises the following steps: the method comprises the steps of establishing a traffic scene Agent module, a vehicle Agent information module and a vehicle Agent operation module, wherein the operation module comprises a parking module, a starting module, a front vehicle updating module, a following module and a lane changing module. The vehicle information module and the vehicle operation module established by the invention are relatively close to the actual conditions, and the vehicle agents can effectively interact to obtain information and accurately simulate the traffic flow operation condition in the circular intersection scene.

Description

Agent-based traffic flow simulation method under roundabout scene
Technical Field
The invention relates to the technical field of simulation, in particular to a traffic flow simulation method under a roundabout scene based on Agent.
Background
From the 19 th century and the 50 th century, roundabouts are gradually used for practice, roundabouts are road intersections in a special form, all vehicles can continuously drive around a central island in the same direction, the number of conflict points is reduced, and the roundabouts play an important role in urban road networks.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a traffic flow simulation method under a roundabout scene based on Agent.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides an Agent-based traffic flow simulation method under a roundabout scene, which comprises the following steps:
step (1), establishing a traffic scene Agent module: determining the intersection point position of an inlet road and a roundabout in the circular non-signal control intersection scene according to the intersection geometric data, so as to build the circular non-signal control intersection scene; the intersection geometric data are determined before the simulation is started, and the traffic scene Agent module belongs to a static Agent model;
step (2), establishing an information module of the vehicle Agent: generating vehicle agents at the entrance road of the intersection randomly or according to a designated OD table, and simultaneously generating initial information of the vehicle agents, wherein the information of the vehicle agents is updated at each time step when the vehicle agents move; an information module of the vehicle Agent belongs to a dynamic Agent model;
step (3), establishing a running module of the vehicle Agent, wherein the running module of the vehicle Agent comprises a parking and starting module, a leading vehicle updating module, a following module and a lane changing module;
the information module of the vehicle Agent inputs the information of the vehicle Agent into the running module of the vehicle Agent, the vehicle Agent runs according to the information of the vehicle Agent in the information module of the vehicle Agent, the following rule in the following module in the running module and the lane changing rule in the lane changing module, and the running state change generated at each time step is transmitted back to the information module of the vehicle Agent to update the information of the vehicle Agent;
and (4) establishing a communication module between the agents, wherein the communication module is used for information interaction between the vehicle agents and the traffic scene agents.
As a further optimization scheme of the traffic flow simulation method under the ring intersection scene based on the Agent, in the step (1), for the intersection scene of the ring non-signal control intersection including the intersection point position of the entrance way and the ring island, the position is obtained by the following method:
according to the radius R of the roundabout, the number n of roundabout, the total number m of lanes of the inlet and outlet roads and the lane width w, in the scene of the annular non-signal control intersection constructed by taking (x, y) ═ 0,0 as a central point, x is a transverse coordinate in a rectangular coordinate system, y is a longitudinal coordinate in the rectangular coordinate system, and the intersection points of the inlet road and the roundabout are obtained and respectively are
Figure BDA0002978431910000021
As a further optimization scheme of the traffic flow simulation method under the roundabout scene based on the Agent, the vehicle Agent and the initial information of the vehicle Agent are generated for the entrance road in the step (2), and the initial information of the vehicle Agent comprises the following steps: the number id of the vehicle Agent, the length of the vehicle Agent, the travel OD of the vehicle Agent, the position coordinates of the vehicle Agent, the running acceleration a of the vehicle Agent, the running speed v of the vehicle Agent, the leading vehicle number of the vehicle Agent, and the running mileage s of the vehicle Agent.
As a further optimization scheme of the traffic flow simulation method under the roundabout scene based on the Agent, the application scene of the parking and starting module in the operation module in the step (3) is as follows:
before entering the loop, the vehicle agents at the entrance lane stop at the stop line to observe whether the time when the vehicle agents on the loop reach the conflict point is a preset acceptable gap T or not, and the time T when the vehicle agents on the loop reach the conflict point is represented by an equation
Figure BDA0002978431910000022
And (4) obtaining that d is the distance between the vehicle Agent closest to the conflict point on the loop and the conflict point, the vehicle Agent on the entrance road interacts with the vehicle Agent on the loop through the communication module in the step (4) to obtain the time T value of the vehicle Agent on the loop reaching the conflict point and judges the time T value with T, and if T is the time T value, the time T value is the time T value of the vehicle Agent on the loop reaching the conflict point<And T, the parking and starting module in the operation module is always in a parking state, if T is more than or equal to T, the parking and starting module in the operation module starts a starting state, and the vehicle Agent on the entrance road is started to enter the loop road.
In the step (3), a leading vehicle updating module in an operation module is used for updating leading vehicle information of each vehicle Agent on the road, and each vehicle Agent interacts with other vehicle agents on the road through the communication module in the step (4) to obtain position coordinate information of other vehicle agents so as to determine leading vehicles of each vehicle Agent and vehicle information of the vehicle agents.
As a further optimization scheme of the traffic flow simulation method under the roundabout scene based on the Agent, in the step (3), for a following module in an operation module: the method comprises the steps that a leading vehicle updating module inputs determined leading vehicle information into a following module, a vehicle Agent changes a running state according to the vehicle Agent and the running state of a leading vehicle based on a following rule contained in the following module, the vehicle Agent changes the running state according to the vehicle Agent and the running state of the leading vehicle, the running speed v, the acceleration a and the running mileage s of the vehicle Agent all change in the following module, and the application scene of the following module comprises a loop, an inlet channel and an outlet channel, wherein the vehicle Agent running around the loop is a main road traffic flow, the vehicle Agent is not influenced by the vehicle agents of the inlet channel and the outlet channel when the leading vehicle runs in a following mode, and the vehicle Agent without the leading vehicle is a vehicle running track which is made in advance.
As a further optimization scheme of the traffic flow simulation method under the roundabout scene based on the Agent, the application scene of the lane changing module in the running module in the step (3) comprises the following steps:
when the vehicle Agent drives around the ring and approaches the exit, the vehicle of the inner ring lane must change lanes to the right side and then drive out of the roundabout after changing to the outer ring lane, and the lane changing is forced lane changing;
in other processes of circling driving, the vehicle Agent selects to drive in the inner lane change or the outer lane according to different driving directions and road conditions, the vehicle in the inner lane needs to change lanes to the outer lane from the right side, the vehicle in the outer lane needs to change lanes to the inner lane from the left side, and lane change under the condition is free lane change.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
according to the invention, Agent of the intelligent Agent is introduced into the simulation system, including various vehicle agents and traffic scene agents, and interactive organization and cooperative work are carried out through various intelligent agents.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic view of a dual ring intersection;
FIG. 3 is a schematic view of an approach ring of a vehicle in an approach lane;
FIG. 4 is a schematic diagram of an out-loop vehicle;
fig. 5 is a schematic diagram of an inner lane vehicle going out of the loop.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention discloses a traffic flow simulation method and a traffic flow simulation system under a roundabout scene based on agents, which mainly comprise a scene-opening Agent module, a vehicle Agent module and each operation module in the vehicle agents, wherein the traffic flow simulation of the roundabout is carried out under the information interaction of each vehicle Agent and the action of the information module and the operation module in the vehicle Agent, and FIG. 1 is a flow chart from the generation of the vehicle agents to the driving of vehicles out of the roundabout at an entrance road.
Aiming at a traffic scene Agent module, the radius R of a roundabout, the number n of roundabout, the number m of lanes of an inlet lane and an outlet lane and the lane width w need to be input, according to the input data, the intersection point positions of the inlet lane and the roundabout are obtained by taking (x, y) ═ 0,0 as the central point
Figure BDA0002978431910000041
Figure BDA0002978431910000042
The geometry of the roundabout established in fig. 2 is: r is 25m, n is 2, w is 3.5m, and the coordinate of the junction between the inlet channel and the ring island is
Figure BDA0002978431910000043
Figure BDA0002978431910000044
The four black circles on fig. 2 are the inward-loop conflict points, and the arrows in the figure represent the driving directions on the respective roads.
After the traffic scene Agent module is finished, generating a vehicle Agent at an entrance road, and starting a vehicle information module in the vehicle Agent to enable the vehicle to have initial information: the number id of the vehicle Agent, the length of the vehicle Agent, the travel OD of the vehicle Agent, the position coordinates of the vehicle Agent, the running acceleration a of the vehicle Agent, the running speed v of the vehicle Agent, the leading vehicle number of the vehicle Agent, and the running mileage s of the vehicle Agent. OD refers to the start and end of vehicle travel.
After the vehicle agents are generated, the vehicle agents interact with the existing vehicle agents and traffic scene agents on the road in real time through a communication module to acquire external information, and the vehicle agents make decisions and drive through an internal operation module. Firstly, the vehicle Agent judges whether a leading vehicle exists according to the acquired position information of other vehicle agents and a lane where the other vehicle agents are located, if not, the vehicle Agent runs according to a preset vehicle running track, if so, a following module is started, the vehicle Agent makes a decision and runs at each time step according to the acquired leading vehicle information and the self state, wherein an updating formula s of the driving mileage is as follows: si＝vi(t-1) × dt, the update formula of the acceleration a is:
Figure BDA0002978431910000045
wherein Si *(t) is the desired vehicle distance, and the expression is as follows:
Figure BDA0002978431910000046
Aiis the maximum acceleration, and δ is the acceleration index (δ)>0)，TiFor a safe time interval, biFor comfort deceleration absolute value (b)i>0)，s0For a stationary safety distance, s1For a coefficient (typically 0), the update formula for velocity v is: v. ofi(t)＝vi(t-1)+ai(t-1) × dt, the vehicles on the loop change position coordinates by rotating counterclockwise around the loop by a corresponding angle according to the conversion of the traveled mileage into an angle.
When vehicle AgenAnd after t is driven to the stop line, starting a parking and starting module, stopping the vehicle Agent in front of the stop line, judging whether a preset acceptable gap exists, namely stopping the vehicle Agent1 behind the stop line, judging whether the time of driving the vehicle Agent2 to the conflict point is greater than or equal to the preset acceptable gap, if not, parking and waiting, if so, entering an outer loop, and as shown in fig. 3, driving the vehicle Agent2 to the conflict point by using a time t equation
Figure BDA0002978431910000051
It is found that d is the distance between the vehicle Agent2 and the conflict point.
After entering the outer loop to drive, the vehicle Agent may select to change lanes to the inner loop according to the difference of the driving direction and the road condition, so that a lane changing module needs to be started when driving in the loop, firstly, whether a lane changing intention exists is judged, if not, the vehicle Agent 3 does not continue to drive according to the current state until the vehicle exits from the intersection, as shown in fig. 4, the vehicle Agent 3 does not have a lane changing action in the driving process of the outer loop, and directly exits from the loop and drives out of the roundabout after the vehicle reaches the exit; if yes, freely changing lanes, if lane changing fails, still driving on the outer ring lane, if lane changing succeeds, changing lanes to the inner ring lane, vehicle agents on the inner ring lane also can select to change lanes to the outer ring lane according to the difference of the driving direction and the road conditions, and for the vehicle agents on the inner ring lane, firstly judging whether the vehicle exits from the nearest exit lane, if yes, forcibly changing lanes to the outer ring lane, if not, freely changing lanes, if lane changing fails, continuing driving on the inner ring lane, and if lane changing succeeds, changing lanes to the outer ring lane; therefore, the vehicle agents on the inner ring road need to change the road to the outer ring road to drive in the exit road, as shown in fig. 4, the vehicle agents on the outer ring road can directly drive in the exit road until the simulation scene is driven out, the vehicle agents disappear, as shown in fig. 5,
based on the same inventive concept, the traffic flow simulation method and system under the Agent-based roundabout scene disclosed by the embodiment of the invention comprise at least one computer device, wherein the computer device comprises a memory, a processor and a computer program which is stored on the memory and can be operated on the processor, and the computer program realizes the traffic flow simulation method under the Agent-based roundabout scene when being loaded to the processor.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.

Claims (6)

1. A traffic flow simulation method under a roundabout scene based on Agent is characterized by comprising the following steps:
step (1), establishing a traffic scene Agent module: determining the intersection point position of an inlet road and a roundabout in the circular non-signal control intersection scene according to the intersection geometric data, so as to build the circular non-signal control intersection scene; the intersection geometric data are determined before the simulation is started, and the traffic scene Agent module belongs to a static Agent model;
step (2), establishing an information module of the vehicle Agent: generating vehicle agents at the entrance road of the intersection randomly or according to a designated OD table, and simultaneously generating initial information of the vehicle agents, wherein the information of the vehicle agents is updated at each time step when the vehicle agents move; an information module of the vehicle Agent belongs to a dynamic Agent model;
step (3), establishing a running module of the vehicle Agent, wherein the running module of the vehicle Agent comprises a parking and starting module, a leading vehicle updating module, a following module and a lane changing module;
the information module of the vehicle Agent inputs the information of the vehicle Agent into the running module of the vehicle Agent, the vehicle Agent runs according to the information of the vehicle Agent in the information module of the vehicle Agent, the following rule in the following module in the running module and the lane changing rule in the lane changing module, and the running state change generated at each time step is transmitted back to the information module of the vehicle Agent to update the information of the vehicle Agent;
establishing a communication module among the agents, wherein the communication module is used for information interaction among the vehicle agents and information interaction between the vehicle agents and the traffic scene agents;
in the step (1), for the intersection point position of the entrance road and the roundabout included in the circular non-signal control intersection scene, the position is obtained by the following method:
according to the radius R of the roundabout, the number n of roundabout, the total number m of lanes of the inlet and outlet roads and the lane width w, in the scene of the annular non-signal control intersection constructed by taking (x, y) ═ 0,0 as a central point, x is a transverse coordinate in a rectangular coordinate system, y is a longitudinal coordinate in the rectangular coordinate system, and the intersection points of the inlet road and the roundabout are obtained and respectively are
Figure FDA0003393020350000011
2. The traffic flow simulation method based on Agent at the roundabout scene according to claim 1, wherein the vehicle Agent and initial information of the vehicle Agent are generated for the entrance road in the step (2), and the initial information of the vehicle Agent comprises: the number id of the vehicle Agent, the length of the vehicle Agent, the travel OD of the vehicle Agent, the position coordinates of the vehicle Agent, the running acceleration a of the vehicle Agent, the running speed v of the vehicle Agent, the leading vehicle number of the vehicle Agent, and the running mileage s of the vehicle Agent.
3. The Agent-based traffic flow simulation method at the roundabout scene according to claim 2, wherein the application scene of the parking and starting module in the operation module in the step (3) is as follows:
before entering the loop, the vehicle agents at the entrance lane stop at the stop line to observe whether the time when the vehicle agents on the loop reach the conflict point is a preset acceptable gap T or not, and the time T when the vehicle agents on the loop reach the conflict point is represented by an equation
Figure FDA0003393020350000021
And (4) obtaining that d is the distance between the vehicle Agent closest to the conflict point on the circular road and the conflict point, and the vehicle Agent on the entrance road passes through the communication module in the step (4)The block interacts with the vehicle agents on the loop to obtain the time T value of the loop vehicle agents reaching the conflict point and judges the time T value with T if T is the time T<And T, the parking and starting module in the operation module is always in a parking state, if T is more than or equal to T, the parking and starting module in the operation module starts a starting state, and the vehicle Agent on the entrance road is started to enter the loop road.
4. The traffic flow simulation method based on the Agent at the roundabout scene according to claim 1, wherein in the step (3), a leading vehicle updating module in the running module is used for updating leading vehicle information of each vehicle Agent on the road, and each vehicle Agent interacts with other vehicle agents on the road through the communication module in the step (4) to obtain position coordinate information of other vehicle agents so as to determine leading vehicles of each vehicle Agent and vehicle information thereof.
5. The traffic flow simulation method in the Agent-based roundabout scene according to claim 1, wherein in the step (3), for a following module in the running modules: the method comprises the steps that a leading vehicle updating module inputs determined leading vehicle information into a following module, a vehicle Agent changes a running state according to the vehicle Agent and the running state of a leading vehicle based on a following rule contained in the following module, the vehicle Agent changes the running state according to the vehicle Agent and the running state of the leading vehicle, the running speed v, the acceleration a and the running mileage s of the vehicle Agent all change in the following module, and the application scene of the following module comprises a loop, an inlet channel and an outlet channel, wherein the vehicle Agent running around the loop is a main road traffic flow, the vehicle Agent is not influenced by the vehicle agents of the inlet channel and the outlet channel when the leading vehicle runs in a following mode, and the vehicle Agent without the leading vehicle is a vehicle running track which is made in advance.
6. The Agent-based traffic flow simulation method for the roundabout scene of the roundabout according to claim 1, wherein the application scene of the lane change module in the operation module in the step (3) comprises:
when the vehicle Agent drives around the ring and approaches the exit, the vehicle of the inner ring lane must change lanes to the right side and then drive out of the roundabout after changing to the outer ring lane, and the lane changing is forced lane changing;
the following cases pertain to free lane change: in other processes of circling driving, the vehicle Agent selects to drive on the inner ring road or the outer ring road according to different driving directions and road conditions, the vehicles on the inner ring lane need to change lanes to the outer ring lane from the right side, and the vehicles on the outer ring lane need to change lanes to the inner ring lane from the left side.
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