CN113152180A - Method for constructing simulated vehicle in-loop path of signal control roundabout - Google Patents
Method for constructing simulated vehicle in-loop path of signal control roundabout Download PDFInfo
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Abstract
The invention discloses a method for constructing a simulated vehicle circular entering path of a signal control circular intersection, and relates to the field of intelligent traffic simulation. The specific implementation scheme is as follows: dividing the signal control roundabout into a ring entering area, a ring entering area and a ring exiting area; determining a target curve corresponding to a simulated vehicle looping path in a looping region, wherein the method comprises the following steps: the method comprises the steps of collecting traffic parameter values of all simulated vehicles on a simulated lane of an roundabout area, taking the simulated vehicles with the traffic parameter values meeting preset roundabout rules as target vehicles, determining the target lane of the target vehicles and constructing a roundabout path coordinate system, determining control point coordinates of the roundabout path of the target vehicles according to preset lane changing rules, and constructing a target curve corresponding to the roundabout path of the simulated vehicles in a roundabout scene based on a curve function. The method is suitable for various entrance-to-loop scenes of the signal-controlled roundabout, can simulate a real vehicle entrance-to-loop driving path, and improves the simulation quality of the signal-controlled roundabout.
Description
Technical Field
The invention relates to the technical field of intelligent traffic simulation, in particular to a method for constructing a simulated vehicle circular path at a signal control circular intersection.
Background
The roundabout is a self-organized road plane crossing form, a central island is generally arranged in the center, and vehicles run around the central island in the same direction by adopting a 'ring entering and giving way' rule. The signal control roundabout is a type of roundabout which is combined with the roundabout to isolate roundabout vehicles in space, and then the signal control is carried out on the roundabout vehicles, so that the organization and optimization of traffic flow of each inlet road or each roundabout are carried out in time. The study on the signal control roundabout by using a computer-based simulation method is an important subject in the field of intelligent traffic simulation. The traffic microscopic simulation can reproduce the actual dynamic behavior of the traffic flow in the intersection range under various traffic conditions, and reflect the random characteristics of a single vehicle in the aspects of car following, lane change and the like.
According to different characteristics of a vehicle in a signal control annular intersection in the running process, the running process of the vehicle is generally divided into three processes of ring-in running, ring running and ring-out running, corresponding simulation modules are established, and microscopic simulation models are respectively described. There are currently two approaches to traffic simulation for vehicle in-loop operation: firstly, the simulated vehicle enters the loop to be taken as an instant finishing action, and once the simulated vehicle meets the loop entering rule, the simulated vehicle enters the target lane in the loop from the entrance lane; and secondly, the simulation vehicle enters the target lane along the determined driving curve under the condition of meeting the loop entering path by considering the insertable gap.
The actual vehicle entering into the roundabout is a process lasting for a certain time, and the vehicle entering into the roundabout in the multi-channel signal control roundabout can mutually influence the vehicle in the roundabout when crossing a plurality of lanes, so that the first simulated vehicle entering into the roundabout method is not in line with the actual traffic behavior. The preset vehicle driving curve in the second simulation method is generally generated by combining a simple circular curve and a straight line segment at present, the vehicle driving track is not smooth enough, and the method is not suitable for a multi-channel signal control roundabout with a complicated geometric linear shape. In conclusion, the two common vehicle ring-entering simulation methods cannot effectively simulate the complexity and diversity of the real traffic scene, so that the simulation quality for the signal control roundabout is not high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for constructing a simulated vehicle loop-entering path of a signal-controlled roundabout, which uses the speed, acceleration, OD information and coordinate data of all simulated vehicles in a range of a loop-entering area as basic information, calculates the distance between the simulated vehicle entering the target lane and a front vehicle and a rear vehicle on the target lane in advance, determines the coordinates of curve control points of the simulated vehicle loop-entering path according to a lane change rule, and constructs a target curve corresponding to the simulated vehicle loop-entering path in the loop-entering area of the signal-controlled roundabout based on a curve function, so that the simulated vehicle can smoothly enter the signal-controlled roundabout with different geometric linear shapes along the target curve, and the simulation quality of a specific traffic scene is improved.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides a method for constructing a simulated vehicle circular entering path of a signal control circular intersection, which comprises the following steps of:
dividing a signal control roundabout into an entering zone, an in-loop zone and an out-loop zone, and collecting shape parameter values of a simulation lane in the entering zone;
step (2), setting a signal lamp control scheme of the signal control roundabout, and collecting traffic parameter values of each simulated vehicle in an entering zone of the signal control roundabout, wherein the traffic parameter values of the simulated vehicles comprise vehicle speed, acceleration, same-lane distance, position data and OD data;
step (3), taking a simulated vehicle with a traffic parameter value meeting a preset ring entering rule as a target vehicle, determining a target lane according to OD data of the target vehicle, and constructing a ring entering path coordinate system by taking the ring entering position of the target vehicle as an origin, the central line direction of the target lane as a horizontal coordinate and the normal line direction of the central line as a vertical coordinate;
and (4) determining five curve control points of the loop-entering path of the target vehicle according to the shape parameter value of the simulated lane in the loop-entering area of the signal control roundabout, the loop-entering path coordinate system and a preset lane change rule, and determining a target curve corresponding to the loop-entering path of the simulated vehicle in the loop-entering area of the signal control roundabout according to the five curve control points.
As a further optimization scheme of the method for constructing the simulated vehicle loop-entering path of the signal-controlled roundabout, in the step (3), the driving direction and the target lane of the target vehicle are determined according to the OD data of the target vehicle, and the loop-entering rule of the loop-entering area of the signal-controlled roundabout is as follows: according to the signal lamp control information, when the mass center of the simulated vehicle crosses a stop line of an entrance lane in an entrance area of the signal control roundabout, the simulated vehicle is determined as a target vehicle; and determining the ring entering position of the target vehicle in the central line direction of the entrance lane, and constructing a ring entering path coordinate system by taking the ring entering position as an origin.
As a further optimization scheme of the method for constructing the simulated vehicle circular entering path of the signal control roundabout, in the step (4), the preset lane change rule is constructed based on a vehicle lane change safe distance model, and the lane change safe distance model is as follows:
Sf＝Sfi+vftc-d；
Sr＝Sri+d-vrtc；
wherein S isfThe distance between the target vehicle and the front vehicle on the target lane after the target vehicle enters the target lane, SfiThe transverse distance v between the target vehicle at the ring-entering position and the front vehicle on the target lanefIs the speed, S, of the preceding vehicle on the target lanerThe distance between the target vehicle and the rear vehicle after the target vehicle enters the target lane, SriThe transverse distance v between the target vehicle at the ring-entering position and the rear vehicle on the target lanerSpeed of the rear vehicle on the target lane, tcAnd d is the transverse distance from the ring entering position to the lane changing position on the target lane.
As a further optimization scheme of the method for constructing the simulated vehicle circular entering path of the signal control circular intersection, the lane change rule constructed based on the lane change safe distance model specifically comprises the following steps:
Sf≥Sminand Sr≥SsafeWhen the target vehicle enters the target lane;
Sf<Sminor Sr<SsafeWhen the vehicle is running, the target vehicle stops waiting in front of the target lane;
wherein S isminFor presetting the minimum lane change distance, SsafeThe safe workshop distance is preset.
As a further optimization scheme of the method for constructing the simulated vehicle circular entering path of the signal control circular intersection, in the step (4), the function of the target curve is as follows:
P(τ)＝P0(1-τ)4+4P1(1-τ)3τ+6P2(1-τ)2τ2+4P3(1-τ)τ3+P4τ4,τ∈[0,1]；
wherein, P (tau) is the coordinate of any point on the target curve, P0、P1、P2、P3、P4τ is a target curve parameter for determining the coordinates of the first, second, third, fourth, and fifth curve control points of the target curve.
As a further optimization scheme of the method for constructing the simulated vehicle entering-loop path of the signal control roundabout, according to a linear algebraic matrix expression of a function of a target curve and coordinates of five curve control points, a parameter equation related to the target curve is obtained as follows:
wherein x (tau) is the abscissa of any point on the target curve, y (tau) is the ordinate of any point on the target curve, xiDetermining the abscissa, y, of the (i +1) th curve control point of the target curve in the loop-in path coordinate systemiAnd determining the ordinate of the (i +1) th curve control point of the target curve in the loop-entering path coordinate system, wherein i is 0,1,2,3 and 4.
As a further optimization scheme of the method for constructing the simulated vehicle circular entering path of the signal control circular intersection, coordinates of five curve control points are determined according to the properties of a target curve:
determining the ring entering position of the target vehicle as the origin of the ring entering path coordinate system, and determining the origin of the ring entering path coordinate system as a first curve control point of a target curve and a coordinate P of the first curve control point0Comprises the following steps:
P0＝(x0,y0)＝(0,0)；
at the initial stage of the target vehicle driving into the signal control roundabout, the target vehicle continues to drive along the direction of an entrance lane in the ring-entering area of the signal control roundabout, and the coordinate P of a second curve control point of the target curve is determined1Comprises the following steps:
P1＝(x1,y1)＝(0,L)，θ＝90°；
l is the vertical longitudinal distance from the target vehicle entering position to the center line of the outermost lane of the signal control roundabout; and theta is an included angle between an entrance lane in the ring entering area of the signal control roundabout and the abscissa of the coordinate system of the ring entering path.
When the target vehicle meets the lane change rule, the target vehicle drives into the target lane, and the coordinate P of the third curve control point of the target curve is determined according to the geometric line shape of the simulated intersection and the vehicle lane change behavior distribution2Coordinate P of control point of fourth curve3The coordinate P of the fifth curve control point4Comprises the following steps:
P2＝(x2,y2)＝(vrtc/3,L+(n-1)w)，n≥1；
P3＝(x3,y3)＝(d,L+nw)，n≥1；
P4＝(x4,y4)＝(d+Sf,L+nw)，n≥1；
wherein w is the longitudinal distance of the central lines of adjacent loops of the signal control roundabout, and n is the number of loops of the signal control roundabout.
The method for constructing the simulated vehicle entering-loop path of the signal control roundabout is a further optimization scheme, and comprises the following steps of substituting coordinates of five curve control points into a parameter equation of a target curve, and determining the parameter equation of the target curve corresponding to the simulated vehicle entering-loop path in the entering-loop area of the signal control roundabout:
wherein v isrIs the speed, t, of the rear vehicle on the target lanecFor changing the track, the time of entering the ring, SfThe distance between a target vehicle and a front vehicle on the target lane after the target vehicle enters the target lane in a lane changing way, L is the vertical longitudinal distance from the position of the target vehicle entering the ring to the center line of the outermost lane of the signal control roundabout, theta is the included angle between the coordinates of the entrance lane and the ring entering path in the ring entering area of the signal control roundabout, w is the longitudinal distance from the center line of the adjacent ring of the signal control roundabout, n is the number of the rings of the signal control roundabout, and d is the transverse distance from the position of the target vehicle entering the ring to the position of the target lane in a lane changing way.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) the method comprises the steps of determining target vehicles, target lanes and target vehicle ring-entering positions and constructing a ring-entering path coordinate system based on a database of all simulated vehicles in the range of a ring-entering area of a signal-controlled ring intersection, analyzing the influence of in-ring traffic on the ring-entering of the target vehicles and determining control points of a ring-entering curve through a preset lane change rule, and constructing a target curve corresponding to the ring-entering path of the simulated vehicles in the ring-entering area of the signal-controlled ring intersection based on a curve function;
(2) the method provided by the invention solves the technical problems that the smoothness of the simulated vehicle driving route into the loop in the signal-controlled roundabout driving area is not high, and the generated driving route into the loop is not high due to the fact that the method is not flexibly suitable for signal-controlled roundabout with different geometric linear shapes on the basis of considering the influence of the traffic flow into the loop in the signal-controlled roundabout driving area on the traffic flow into the loop, and can more accurately fit the driving route into the loop of the simulated vehicle and improve the simulation quality of a complex traffic scene.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
FIG. 2 is a schematic diagram of a vehicle in-loop path coordinate system in an example of an embodiment of the invention.
FIG. 3 is a schematic diagram of a simulated vehicle in-loop path in an example of an embodiment of the invention.
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.
As shown in fig. 1, the method for constructing the simulated vehicle roundingpath at the signal-controlled roundabout disclosed by the embodiment of the invention comprises the following steps:
and S01, dividing the signal control roundabout into an entering zone, an in-loop zone and an out-loop zone, and collecting shape parameter values of the simulated lane in the entering zone.
Specifically, the research scope of the present embodiment may be specified by a person, and the research area may be defined according to the centralized distribution of the lane change behaviors of the vehicles. For example, the section of the vehicle which intensively implements the lane change behavior in the signal control annular intersection can be firstly analyzed in the acquired video file or text file, and the research area is defined according to the concentration degree of the vehicle lane change:
(1) in the ring entering area, the lane changing behavior of the vehicle mainly occurs in the ring entering process of the vehicle, and the vehicle drives into the interior of the roundabout from the lane of the entrance lane according to the signal lamp control information and the ring entering and giving-off rule and changes lanes by utilizing the clearance on the target lane;
(2) in the ring area, vehicles run around the ring, and the vehicles determine whether lane changing is needed according to the running state of the lane and whether the adjacent lane has better running conditions, but the lane changing behavior is less due to the smaller inter-ring inter-vehicle distance;
(3) in the exit area, the left-turn or straight-going vehicles running inside must be changed into the outside lane in order to exit, so that the lane changing behavior of the vehicles in the exit area frequently occurs.
After a research range is determined according to the geometric alignment of the actual intersection and the distribution of the lane changing behaviors of the vehicles, a computer program is utilized to simulate a traffic scene of a ring entering area of the signal-controlled roundabout, wherein shape parameter values of a simulation lane in the ring entering area can be manually input or analyzed and extracted from a video file or can be obtained from a third-party platform.
And S02, setting a signal lamp control scheme, and collecting traffic parameter values of each simulated vehicle in the ring-entering area of the signal control roundabout.
When a traffic scene of a ring-entering area of the signal control roundabout is simulated, a signal lamp control scheme needs to be preset, and a ring-entering rule of a simulated vehicle is set according to signal lamp control information. The traffic parameter values of each simulated vehicle in the ring-entering area comprise: the vehicle speed, the acceleration, the same-lane distance, the position data and the OD data of each simulated vehicle can acquire the current traffic parameter value corresponding to the time step of each simulated vehicle in a research range in a timing or real-time mode, and the acquired current traffic parameter value of the target vehicle is used as the judgment basis for the subsequent simulated vehicles to enter the loop and change the lane.
In the scheme, the loading mode of the simulated traffic flow is a fixed number of loading modes, namely, when the simulation is started, N simulated vehicles with fixed numbers enter the ring entering area from one end of an entrance way of the signal control roundabout, and each simulated vehicle is in a following state.
The scheme is mainly used for simulating the traffic scene of the ring-entering area of the signal control roundabout based on a Multi-Agent technology and an IDM (Integrated digital message model) following model. The Multi-Agent system is composed of a plurality of agents which are communicated and coordinated with each other, and a large and complex system is researched by mainly using a plurality of agents which are served with each other and easy to manage. In the scheme, a single simulation vehicle can be regarded as one Agent, a plurality of agents run simultaneously to form a Traffic Multi-Agent system, the vehicle Agent enters the roundabout according to the signal lamp control information, is influenced by the vehicle on the target lane when the vehicle enters the roundabout and runs, and automatically adjusts the route of the roundabout according to the information such as the speed, the distance and the like of the front vehicle and the rear vehicle on the target lane.
It should be noted that each simulated vehicle is an agent with a plurality of specific attributes, which are a plurality of traffic parameters. When a vehicle agent in the ring-entering area crosses a stop line of the entrance lane, whether the vehicle agent is the first vehicle agent or the following agent on the entrance lane needs to be judged. In the same green signal phase, only the first vehicle agent generates an in-loop driving path, and the following agent follows the in-loop driving path generated by the first vehicle agent by adopting an IDM following model, wherein the IDM following model is as follows:
vfree＝vmax；
wherein s is*To the desired car-to-car distance, s0For a stationary safety distance, s1Is a coefficient, vfollowFor following the speed v of the vehiclefreeFor free flow velocity, T for safe time interval, A for maximum acceleration, B for comfort deceleration, vleadIs the speed of the car ahead of the following, afollowFor the target acceleration, s, of the following vehicleactIs the actual inter-vehicle distance, vmaxIs the maximum speed in the signal control annular intersection.
After the speed and the acceleration of each time step of the simulated vehicle are determined, the movement displacement of the vehicle in the time step can be calculated according to the Newton motion equation, and the position information of the current vehicle can be obtained according to the original position of the vehicle.
And S03, taking the simulated vehicle with the traffic parameter value meeting the preset ring entering rule as a target vehicle, determining a target lane and constructing a ring entering path coordinate system.
The ring entering rule of the ring entering area of the signal control ring intersection is as follows: according to the signal lamp control information, when the mass center of the simulated vehicle crosses a stop line of an entrance lane in an entrance area of the signal control roundabout, the simulated vehicle is determined as a target vehicle; and determining the ring entering position of the target vehicle in the central line direction of the entrance lane, and constructing a ring entering path coordinate system by taking the ring entering position as an origin.
And S04, calculating the distance between the target vehicle and the front vehicle and the rear vehicle after the target vehicle enters the target lane according to the vehicle lane change safety distance model, and determining the coordinates of the control points of the target curve corresponding to the target vehicle entering the loop path.
Calculating and judging whether a vehicle gap on a target lane allows the target vehicle to enter the target lane or not according to a lane change safe distance model of the vehicle at the position of the entering ring, wherein the lane change safe distance model is as follows:
Sf＝Sfi+vftc-d；
Sr＝Sri+d-vrtc；
wherein S isfThe distance between the target vehicle and the front vehicle on the target lane after the target vehicle enters the target lane, SfiThe transverse distance v between the target vehicle at the ring-entering position and the front vehicle on the target lanefIs the speed, S, of the preceding vehicle on the target lanerThe distance between the target vehicle and the rear vehicle after the target vehicle enters the target lane, SriThe transverse distance v between the target vehicle at the ring-entering position and the rear vehicle on the target lanerSpeed of the rear vehicle on the target lane, tcAnd d is the transverse distance from the ring entering position to the lane changing position on the target lane.
Wherein the lane change and loop entering time t of the target vehiclecThe calculation formula of (2) is as follows:
and d is the transverse distance from the ring entering position to the lane changing position on the target lane, and theta is the included angle between the entrance lane in the ring entering area of the signal control roundabout and the abscissa of the coordinate system of the ring entering path.
Target vehicle at ring-in position according to SfAnd SrJudging whether the vehicle enters a target lane, wherein the lane changing rule is as follows:
Sf≥Sminand Sr≥SsafeWhen the target vehicle enters the target lane;
Sf<Sminor Sr<SsafeWhen the vehicle is running, the target vehicle stops waiting in front of the target lane;
wherein S isminFor presetting the minimum lane change distance, SsafeThe safe workshop distance is preset.
And when the acquired traffic parameter values of the simulated vehicles meet the lane change rule, the target vehicle determines the parameter equation of the target curve by determining the control point coordinates of the five target curves. As shown in fig. 3, the coordinate P of the first curve control point0Is the ring-entering position of the target vehicle, namely the origin of the coordinate system of the ring-entering path; coordinates P of the control points of the second curve1Is the intersection point of the central line of the outermost side loop of the intersection and the line along the lane direction of the entrance way; coordinate P of the third curve control point2Coordinate P of control point of fourth curve3The coordinate P of the fifth curve control point4Determining according to the geometric linear shape of the simulated intersection and the lane changing behavior distribution of the vehicles:
P0＝(x0,y0)＝(0,0)；
P2＝(x2,y2)＝(vrtc/3,L+(n-1)w)，n≥1；
P3＝(x3,y3)＝(d,L+nw)，n≥1；
P4＝(x4,y4)＝(d+Sf,L+nw)，n≥1；
wherein L is the vertical longitudinal distance from the target vehicle to the central line of the outermost lane of the signal control roundabout, theta is the included angle between the inlet lane in the signal control roundabout and the abscissa of the coordinate system of the roundabout entry path, and vrIs the speed, t, of the rear vehicle on the target lanecFor changing the track, the ring-in time, w isThe longitudinal distance of the central lines of adjacent loops of the signal control roundabout, n is the number of loops of the signal control roundabout, d is the transverse distance from the loop entering position to the lane changing position on the target lane, and SfAnd changing the lane of the target vehicle to enter the target lane and the distance between the target vehicle and the front vehicle on the target lane.
And S05, determining a parameter equation of the target curve according to the linear algebraic matrix expression of the function of the target curve and the coordinates of the five curve control points.
Simulating a loop-entering path of a target vehicle in the loop-entering area of the signal control roundabout by using a curve, wherein the function of the target curve is as follows:
P(τ)＝P0(1-τ)4+4P1(1-τ)3τ+6P2(1-τ)2τ2+4P3(1-τ)τ3+P4τ4,τ∈[0,1]；
wherein, P (tau) is the coordinate of any point on the target curve, P0、P1、P2、P3、P4τ is a target curve parameter for determining the coordinates of the first, second, third, fourth, and fifth curve control points of the target curve.
Obtaining a parameter equation related to the target curve according to the linear algebraic matrix expression of the function of the target curve and the coordinates of the five curve control points as follows:
wherein x (tau) is the abscissa of any point on the target curve, y (tau) is the ordinate of any point on the target curve, xiDetermining the abscissa, y, of the (i +1) th curve control point of the target curve in the loop-in path coordinate systemiAnd determining the ordinate of the (i +1) th curve control point of the target curve in the loop-entering path coordinate system, wherein i is 0,1,2,3 and 4.
Substituting the coordinates of the five control points determined by the target vehicle into a parameter equation of a target curve, and determining the parameter equation of the target curve corresponding to the simulated vehicle looping-in path in the looping area of the signal control roundabout:
according to a parameter equation of a target curve, when a vehicle loop-entering path is constructed in a loop-entering area of a signal control roundabout, shape parameter values of the loop-entering area are determined according to an actual traffic scene needing to be simulated: l, theta, d, n and w, collecting traffic parameter values of a target vehicle and a simulated vehicle on a target lane in the ring entering area at the ring entering moment of the vehicle: v. ofr、vt、vf、SfAnd obtaining a target curve corresponding to the target vehicle entering the loop path, and then driving the target vehicle into the in-loop target lane from the entrance lane along the target curve.
Above, vrIs the speed v of the rear vehicle on the target lanefIs the speed v of the front vehicle on the target lanetIs the speed, t, of the target vehicle at the in-loop positioncFor changing the track, the time of entering the ring, SfThe distance between a target vehicle and a front vehicle on the target lane after the target vehicle enters the target lane in a lane changing way, L is the vertical longitudinal distance between the position of the target vehicle entering the loop and the center line of the lane at the outermost side of the signal control roundabout, theta is the included angle between the horizontal coordinates of the coordinate system of the entering loop and the entering loop in the entering area of the signal control roundabout, w is the longitudinal distance between the center lines of adjacent loops of the signal control roundabout, and n is the number of loops of the signal control roundabout.
The invention is further explained below with reference to an example of an entry area of a multi-way signalized roundabout. FIG. 2 is a schematic diagram of a vehicle in-loop path coordinate system in an example of an embodiment of the invention.
Traffic example: four loops are arranged at a certain multi-channel signal control roundabout, wherein the innermost loop is used for turning left, and the middle loop is used for turning leftThe main road is obliquely crossed with the roundabout, and the signal control roundabout enters a roundabout area as shown in figure 3. Wherein, the vertical longitudinal distance from the target vehicle to the central line of the outermost lane of the signal control roundabout is as follows: l is 7 m; and (3) an included angle between an entrance lane in the ring entering area of the signal control roundabout and the abscissa of the coordinate system of the ring entering path is as follows: θ is 60 °; the transverse distance from the ring entering position to the lane changing position on the target lane is as follows: d is 15 m; and the number of the ring roads of the signal control ring intersection is as follows: n is 4; and (3) the longitudinal distance between the central lines of adjacent circular roads of the signal control circular intersection is as follows: w is 3.5 m. Presetting a minimum lane change distance: smin5 m; safe distance between vehicles: ssafe＝2m。
The stop line of a certain left-turn simulated vehicle crossing the approach lane is marked as a target vehicle, the number of the target vehicle after reaching the ring entering position is 0, and the traffic parameter values of the target vehicle and the simulated vehicle on the target lane at the moment are shown in table 1:
TABLE 1 simulated vehicle partial traffic parameter values
(1) The coordinate system in the table is the inbound path coordinate system constructed by the target vehicle at the inbound position, as can be seen:
speed of the target vehicle at the inbound position: v. oft＝4.17m/s；
Speed of the preceding vehicle on the target lane: v. off＝2.22m/s；
Speed of the rear vehicle on the target lane: v. ofr＝3.06m/s；
The transverse distance between the target vehicle at the ring entering position and the front vehicle on the target lane is as follows: sfi＝6.40m；
The transverse distance between the target vehicle at the ring entering position and the rear vehicle on the target lane is as follows: sri＝9.30m。
According to vtCalculating to obtain the lane changing and ring entering time t of the target vehiclec：
(2) According to the lane change safe distance model, the following calculation results are obtained:
the distance between the target vehicle after changing lane and entering the target lane and the front vehicle on the target lane is as follows:
Sf＝Sfi+vftc-d＝7.36m；
the distance between the target vehicle and the rear vehicle after the target vehicle enters the target lane:
Sr＝Sri+d-vrtc＝2.30m。
the lane change rule of the target vehicle is as follows:
Sf≥Sminand Sr≥SsafeWhen the target vehicle enters the target lane;
Sf<Sminor Sr<SsafeWhen the vehicle is running, the target vehicle stops waiting in front of the target lane;
wherein a minimum lane change distance, S, is presetmin5 m; safe distance between cars, Ssafe＝2m。
From the calculation result, Sf＝7.36m＞SminAnd Sr＝2.3m＞SsafeTherefore, the target vehicle determines the target lane capable of entering the ring after being judged at the ring entering position.
(3) The coordinates of five curve control points are determined according to the properties of the target curve:
coordinate P of the first curve control point0：P0＝(x0,y0)＝(0,0)；
Coordinates P of the control points of the second curve1：
Coordinate P of the third curve control point2：
Coordinate P of the fourth curve control point3：P3＝(x3,y3)＝(d,L+nw)＝(15,21)；
Coordinates P of fifth curve control point4：P4＝(x4,y4)＝(d+Sf,L+nw)＝(22.36,21)；
(4) Substituting the coordinates of the five curve control points into a parameter equation of a target curve, namely determining the parameter equation of the target curve corresponding to the simulated vehicle looping path in the looping area of the signal control roundabout:
the target vehicle drives into the target lane in the ring from the ring-entering position along the target curve.
The device and the method for constructing the simulated vehicle entering-loop path of the signal-controlled roundabout disclosed by the embodiment belong to the same concept, and the specific implementation process is described in the method embodiment in detail and is not described herein again. The device for constructing the simulated vehicle circular entering path of the signal-controlled circular intersection comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is loaded to the processor, the method for simulating the vehicle circular entering path based on the signal-controlled circular intersection is realized.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A method for constructing a simulated vehicle in-loop path of a signal control roundabout is characterized by comprising the following steps:
dividing a signal control roundabout into an entering zone, an in-loop zone and an out-loop zone, and collecting shape parameter values of a simulation lane in the entering zone;
step (2), setting a signal lamp control scheme of the signal control roundabout, and collecting traffic parameter values of each simulated vehicle in an entering zone of the signal control roundabout, wherein the traffic parameter values of the simulated vehicles comprise vehicle speed, acceleration, same-lane distance, position data and OD data;
step (3), taking a simulated vehicle with a traffic parameter value meeting a preset ring entering rule as a target vehicle, determining a target lane according to OD data of the target vehicle, and constructing a ring entering path coordinate system by taking the ring entering position of the target vehicle as an origin, the central line direction of the target lane as a horizontal coordinate and the normal line direction of the central line as a vertical coordinate;
and (4) determining five curve control points of the loop-entering path of the target vehicle according to the shape parameter value of the simulated lane in the loop-entering area of the signal control roundabout, the loop-entering path coordinate system and a preset lane change rule, and determining a target curve corresponding to the loop-entering path of the simulated vehicle in the loop-entering area of the signal control roundabout according to the five curve control points.
2. The method for constructing the simulated vehicle loop-entering path at the signal-controlled roundabout according to claim 1, wherein in the step (3), the driving direction and the target lane of the target vehicle are determined according to the OD data of the target vehicle, and the loop-entering rule of the loop-entering area at the signal-controlled roundabout is as follows: according to the signal lamp control information, when the mass center of the simulated vehicle crosses a stop line of an entrance lane in an entrance area of the signal control roundabout, the simulated vehicle is determined as a target vehicle; and determining the ring entering position of the target vehicle in the central line direction of the entrance lane, and constructing a ring entering path coordinate system by taking the ring entering position as an origin.
3. The method for constructing the simulated vehicle circular entering path at the signal control roundabout according to claim 1, wherein in the step (4), the preset lane change rule is constructed based on a vehicle lane change safe distance model, and the lane change safe distance model is as follows:
Sf＝Sfi+vftc-d；
Sr＝Sri+d-vrtc；
wherein S isfThe distance between the target vehicle and the front vehicle on the target lane after the target vehicle enters the target lane, SfiThe transverse distance v between the target vehicle at the ring-entering position and the front vehicle on the target lanefIs the speed, S, of the preceding vehicle on the target lanerThe distance between the target vehicle and the rear vehicle after the target vehicle enters the target lane, SriThe transverse distance v between the target vehicle at the ring-entering position and the rear vehicle on the target lanerSpeed of the rear vehicle on the target lane, tcAnd d is the transverse distance from the ring entering position to the lane changing position on the target lane.
4. The method for constructing the simulated vehicle circular entering path at the signal control roundabout according to claim 3, wherein the lane change rule constructed based on the lane change safe distance model specifically comprises the following steps:
Sf≥Sminand Sr≥SsafeWhen the target vehicle enters the target lane;
Sf＜Sminor Sr＜SsafeWhen the vehicle is running, the target vehicle stops waiting in front of the target lane;
wherein S isminFor presetting the minimum lane change distance, SsafeThe safe workshop distance is preset.
5. The method for constructing the simulated vehicle ring-entering path at the signal control roundabout according to claim 1, wherein in the step (4), the function of the target curve is as follows:
P(τ)＝P0(1-τ)4+4P1(1-τ)3τ+6P2(1-τ)2τ2+4P3(1-τ)τ3+P4τ4，τ∈[0，1]；
wherein, P (tau) is the coordinate of any point on the target curve, P0、P1、P2、P3、P4τ is a target curve parameter for determining the coordinates of the first, second, third, fourth, and fifth curve control points of the target curve.
6. The method for constructing the simulated vehicle ring-entering path at the signal control roundabout according to claim 5, is characterized in that a parameter equation about a target curve is obtained according to a linear algebraic matrix expression of a function of the target curve and coordinates of five curve control points, wherein the parameter equation is as follows:
wherein x (tau) is the abscissa of any point on the target curve, y (tau) is the ordinate of any point on the target curve, xiDetermining the abscissa, y, of the (i +1) th curve control point of the target curve in the loop-in path coordinate systemiAnd determining the ordinate of the (i +1) th curve control point of the target curve in the loop-entering path coordinate system, wherein i is 0,1,2,3 and 4.
7. The method for constructing the simulated vehicle circular entering path at the signal control roundabout according to claim 5, is characterized in that coordinates of five curve control points are determined according to the properties of a target curve:
determining the ring entering position of the target vehicle as the origin of the ring entering path coordinate system, and determining the origin of the ring entering path coordinate system as a first curve control point of a target curve and a coordinate P of the first curve control point0Comprises the following steps:
P0＝(x0，y0)＝(0，0)；
at the initial stage of the target vehicle entering the signal control roundabout, the target vehicle continues to drive along the direction of the entrance lane in the ring entering area of the signal control roundabout, and the second of the target curve is determinedCoordinates P of curve control points1Comprises the following steps:
P1＝(x1，y1)＝(0，L)，θ＝90°；
l is the vertical longitudinal distance from the target vehicle entering position to the center line of the outermost lane of the signal control roundabout; and theta is an included angle between an entrance lane in the ring entering area of the signal control roundabout and the abscissa of the coordinate system of the ring entering path.
When the target vehicle meets the lane change rule, the target vehicle drives into the target lane, and the coordinate P of the third curve control point of the target curve is determined according to the geometric line shape of the simulated intersection and the vehicle lane change behavior distribution2Coordinate P of control point of fourth curve3The coordinate P of the fifth curve control point4Comprises the following steps:
P2＝(x2，y2)＝(vrtc/3，L+(n-1)w)，n≥1；
P3＝(x3，y3)＝(d，L+nw)，n≥1；
P4＝(x4，y4)＝(d+Sf，L+nw)，n≥1；
wherein w is the longitudinal distance of the central lines of adjacent loops of the signal control roundabout, and n is the number of loops of the signal control roundabout.
8. The method for constructing the simulated vehicle looping path of the signal-controlled roundabout according to claim 7, wherein coordinates of five curve control points are substituted into a parameter equation of a target curve, and the parameter equation of the target curve corresponding to the simulated vehicle looping path in the looping area of the signal-controlled roundabout is determined:
wherein v isrIs the speed, t, of the rear vehicle on the target lanecFor changing the track, the time of entering the ring, SfThe distance between a target vehicle and a front vehicle on the target lane after the target vehicle enters the target lane in a lane changing way, L is the vertical longitudinal distance from the position of the target vehicle entering the ring to the center line of the outermost lane of the signal control roundabout, theta is the included angle between the coordinates of the entrance lane and the ring entering path in the ring entering area of the signal control roundabout, w is the longitudinal distance from the center line of the adjacent ring of the signal control roundabout, n is the number of the rings of the signal control roundabout, and d is the transverse distance from the position of the target vehicle entering the ring to the position of the target lane in a lane changing way.
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