CN113420415B - Intersection bidirectional pedestrian simulation method based on comfort level of sensing area - Google Patents

Intersection bidirectional pedestrian simulation method based on comfort level of sensing area Download PDF

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CN113420415B
CN113420415B CN202110584535.8A CN202110584535A CN113420415B CN 113420415 B CN113420415 B CN 113420415B CN 202110584535 A CN202110584535 A CN 202110584535A CN 113420415 B CN113420415 B CN 113420415B
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王昊
李思宇
董长印
陈�全
左泽文
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Abstract

The invention discloses a two-way pedestrian simulation method for intersections based on comfort level of a sensing area, which comprises the following steps: reading all pedestrian microscopic data in a target pedestrian sensing area; acquiring the crosswalk size, the corresponding green light duration and the perceived radius of a target pedestrian; the sensing area is rasterized, the sensing area is divided into subareas, and the number of pedestrians in the subareas is obtained; according to the space uncomfortable coefficient of each subarea, calculating the comfort degree of each subarea and the uncomfortable degree of each moving direction, and determining the moving direction of the target pedestrian; and determining the moving speed of the target pedestrian and updating the position of the target pedestrian. According to the invention, on the basis of the rasterization sensing area, the mutual avoidance effect among pedestrians in the range and the effect of obstacles and vehicles on target pedestrians in the environment can be rapidly and comprehensively considered, fewer directions of the pedestrians are searched, and further reasonable judgment and decision basis of moving directions and speeds can be provided for the target pedestrians, so that accurate and rapid simulation is realized.

Description

Intersection bidirectional pedestrian simulation method based on comfort level of sensing area
Technical Field
The invention relates to the field of pedestrian simulation, in particular to a two-way pedestrian simulation method for an intersection based on comfort level of a sensing area.
Background
Walking is used as an original travel mode based on self physical driving, and flexible and motorized pedestrian traffic can effectively and flexibly link various travel modes. As an important part of pedestrian traffic, particularly urban traffic, the pedestrian crossing is ensured to be safe, smooth, comfortable, rapid and efficient, and more attention is paid.
Due to the rapid development of cities and the limited land resources, the rapid growth of population sizes causes the cities to become crowded, the crowded interweaving of the two-way pedestrians is more obvious when the two-way pedestrians cross the street, and the pedestrians are more disordered when the two-way pedestrians interweave. At present, less research is conducted on pedestrian traffic, a mature and perfect theoretical system is lacking, and modeling on pedestrian traffic is lacking; the existing model is not true enough when describing the phenomenon of bidirectional pedestrian stream interweaving; the calculation speed and the simulation speed of the partial model still need to be improved, and the situations of low density and high density of pedestrians cannot be covered.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention aims to provide a two-way pedestrian simulation method for an intersection based on comfort level of a sensing area.
The technical scheme is as follows: the invention discloses a two-way pedestrian simulation method for an intersection based on comfort level of a sensing area, which comprises the following steps:
(1) Reading all pedestrian microscopic data in a target pedestrian sensing area according to a pedestrian information database, wherein the sensing area is an area which can be observed and sensed by a person, the comfort level of the target pedestrian can be influenced by pedestrians and objects in the area, when the sensing area is mostly occupied, the target pedestrian can feel oppression and discomfort, and is desirous of searching for a more comfortable sensing area, and the microscopic data comprises the maximum walking speed, the running speed, the current moving speed and the position of the pedestrian at the current moment;
(2) Acquiring the crosswalk size, the corresponding green light time length and the perceived radius of a target pedestrian, wherein the perceived radius is a circle radius taking the target pedestrian as a circle center;
(3) The sensing area is rasterized, the sensing area is divided into subareas, and the number of pedestrians in the subareas is obtained;
(4) According to the space uncomfortable coefficient of each subarea, calculating the comfort degree of each subarea and the uncomfortable degree of each moving direction, and determining the moving direction of the target pedestrian;
(5) And calculating the pressure of the target pedestrian from the signal lamp, determining the moving speed of the target pedestrian, updating the position of the target pedestrian, and completing the simulation of the pedestrian passing through the crosswalk.
Further, the sensing area in the step 1 is a semicircle taking the position of the target pedestrian as the center of a circle, and the symmetry axis of the semicircle is perpendicular to the central line of the road; the current moving speed is a vector and notes the direction and the speed of the pedestrian.
Further, step 3 of rasterizing the sensing region includes: dividing the semicircular sensing area of the target pedestrian into p sub-sector areas with the numbers of i and j=1, 2, and dividing the semicircular sensing area into q annular areas with the same width, wherein the numbers of the rows in the overlapping area of the sector with the number of i and the annular area with the number of j are n i,j.
Further, in step 4, a model of discomfort degree F i,j of each sub-region in the sensing region is constructed, and the expression is:
Fi,j＝fi,jni,j
f i,j is the discomfort factor of the overlapping area of the sector numbered i and the ring numbered j;
constructing a target pedestrian discomfort degree F i model in each direction, wherein the expression is as follows:
σ a,i is the acting factor of the destination attraction f a, σ l,i is the acting factor of the left boundary unsafe factor f b,l, σ r,i is the acting factor of the right boundary unsafe factor f b,r, R is the perceived radius, l l is the distance between the target pedestrian and the left boundary of the crosswalk, and l r is the distance between the target pedestrian and the right boundary of the crosswalk;
And selecting the direction corresponding to the maximum comfort level and the minimum discomfort level as the moving direction of the target pedestrian, wherein the moving direction of the sub-sector where the target pedestrian is located is the center line of the current sub-sector.
Further, determining the moving speed of the target pedestrian according to the discomfort degree F i corresponding to the moving direction, and constructing a speed calculation model as follows:
To avoid meaningless above when the discomfort level F i is zero, let F' =f i +1, update the velocity model as:
The end-of-signal target pedestrian receives pressure from the signal and needs to accelerate or run through the crosswalk, the ratio of the expected passing time to the remaining time is represented by F g, and F g is calculated according to the following model:
Wherein T g is the total green light time, and T is the current green light display time;
when F g >1 indicates that the target pedestrian cannot pass before the green light ends according to the current speed, the moving speed of the target pedestrian is calculated according to the following formula:
Sigma g is the acting factor of the signal lamp pressure, v r is the running speed of the pedestrian;
the updated position coordinate (x ', y') model has the expression:
Beta is the included angle between the moving direction and the central line of the road, (x, y) is the current position coordinate of the target pedestrian, the x-axis is parallel to the central line of the road, the y-axis is parallel to the central line of the crosswalk, delta t is the updating step length, and the step 1 is returned to be circulated after updating until the target pedestrian reaches the other side from one side of the road, and the circulation is ended.
Further, in the step 1, if the sensing area includes an obstacle, the obstacle is equivalently converted into a number of people in a row according to the area occupied by the obstacle, and the conversion expression is as follows:
Wherein n dj is the number of equivalent pedestrians, S w is the occupied area of the obstacle, S 0 is the occupied area of the standard pedestrian, the current speed of the equivalent pedestrian is zero, and the position coordinate is the position coordinate of the obstacle.
The beneficial effects are that: compared with the prior art, the invention has the remarkable advantages that:
1. On the basis of the rasterization sensing area, the mutual avoidance action among pedestrians in the range and the action of obstacles and vehicles on target pedestrians in the environment can be quickly and comprehensively considered, fewer directions of the pedestrians are searched, and further reasonable judgment and decision basis of moving directions and speeds can be provided for the target pedestrians, so that accurate and quick simulation is realized;
2. The sensing area is determined according to the street crossing pedestrian feeling and the considered area, and the sensing area is rasterized into subareas, so that the positions, the distances and the number of nearby pedestrians and objects of the target pedestrians can be rapidly determined by determining the pedestrians and the objects in each subarea, avoiding searching other pedestrian positions in the space, calculating the distances between the target pedestrians and other pedestrians and calculating huge calculation caused by mutually avoiding acting forces;
3. The influence of the green light end stage on the target pedestrians is considered, and the scene depicting capability of the simulation method is improved;
4. The method is suitable for the situations of low-density pedestrians, medium-density pedestrians and high-density pedestrians, can truly describe the phenomenon of bidirectional pedestrian flow interweaving, and avoids the phenomenon that two pedestrians cannot avoid blocking caused to the pedestrians when the two pedestrians meet under the high-density simulation situation.
Drawings
FIG. 1 is a flow chart of the present invention;
Fig. 2 is a schematic diagram of a pedestrian situation in a pedestrian crossing perception area according to an embodiment.
Detailed Description
According to the intersection bidirectional pedestrian simulation method based on the comfort level of the sensing area, a flow chart is shown in fig. 1, the situation that a certain target pedestrian passes through a pedestrian crosswalk with the width of 5m and the length of 30m is simulated by using the method of the embodiment, the sensing radius is 1.5m, the information of the target pedestrian is shown in the following table 1, (x, y) is the current moment position coordinate of the target pedestrian, wherein the established coordinate axis x axis is parallel to the central line of a road, the y axis is parallel to the central line of the pedestrian crosswalk, the direction is shown in fig. 2, the number of the target pedestrian is 0, the numbers 1-5 are other pedestrians in the sensing area of the target pedestrian at the current moment, the two end points of the pedestrian crosswalk are the two end points of the pedestrian crosswalk, a and the road is arranged between C and D, and the central line of the pedestrian crosswalk is perpendicular to the central line of the road.
TABLE 1
Green light time T g =25s, current time t=15s, simulation step Δt=0.1 s, target pedestrian maximum speed v max =2.5 m/s, running speed v r =5.0 m/s, destination attraction f a =2, left and right boundary unsafe factor f l＝fr =6.
The method comprises the following steps:
(1) Reading all pedestrian microscopic data in a target pedestrian perception area according to a pedestrian information database, wherein the microscopic data comprise the maximum walking speed, running speed, current moving speed and position of the pedestrian at the current moment;
the sensing area is shown in fig. 2, and is semicircular with the target pedestrian position as the center, the current moving speed is a vector, and the direction and the speed of the pedestrian are noted.
If the sensing area comprises the obstacle, the obstacle is equivalently converted into the number of people in a row according to the occupied area of the obstacle, and the conversion expression is as follows:
Wherein n dj is the number of equivalent pedestrians, S w is the occupied area of the obstacle, S 0 is the occupied area of the standard pedestrian, the current speed of the equivalent pedestrian is zero, and the position coordinate is the position coordinate of the obstacle.
(2) Acquiring the crosswalk size, the corresponding green light duration and the perceived radius of the target pedestrian, wherein the perceived radius is the circle radius taking the target pedestrian as the circle center;
(3) The sensing area is rasterized, the sensing area is divided into subareas, and the number of pedestrians in the subareas is obtained;
The rasterized perceived region includes: dividing the semicircular sensing area of the target pedestrian into p sub-sector areas with the numbers of i, i=1, 2, & p, dividing the semicircular sensing area into q annular areas with the same width, with the numbers of j, j=1, 2, & q, wherein the number of pedestrians in each sub-area is n i,j, the number of the pedestrians in each sub-area is 3, and the number of the pedestrians in each sub-area is shown in table 2.
TABLE 2
(4) According to the space uncomfortable coefficient of each subarea, calculating the comfort degree of each subarea and the uncomfortable degree of each moving direction, and determining the moving direction of the target pedestrian;
Constructing a discomfort degree F i,j model of each subarea in the sensing area, wherein the expression is as follows:
Fi,j＝fi,jni,j
And f i,j is an uncomfortable coefficient, the value is inversely proportional to the area of the subarea and the distance from the center of the circle, and the space uncomfortable coefficient is slightly smaller than that of other sectors because the requirement of the target pedestrian on the forward movement is slightly lower than that of the middle subarea sector.
When i=1 or i=3, f i,1＝1,fi,2＝3,fi,3 =8;
When i=2, f i,1＝0.8,fi,2＝2.7,fi,3 =6.4;
constructing a target pedestrian discomfort degree F i model in each direction, wherein the expression is as follows:
σ a,i is the acting factor of the destination attractive force f a, when acting is 1, when not acting is 0, i.e. σ a,i =1 when i=2, otherwise σ a,i =0;
σ l,i is the acting factor of the left boundary unsafe factor f b,l, when acting is 1, when not acting is 0, i.e. i=1 and i l < R, σ l,i =1, otherwise σ l,i =0;
σ r,i is the acting factor of the right boundary unsafe factor f b,r, 1 when acting, 0 when not acting, i=3 and σ r,i =1 when l r < R, otherwise σ r,i =0;
r is a perceived radius, l l is the distance between the target pedestrian and the left boundary of the crosswalk, and l r is the distance between the target pedestrian and the right boundary of the crosswalk;
When i=3, then σ a,i＝0;ll > R, then σ l,i =0; i=3 and l r < R, then σ r,i＝1;fa＝2,fb,l＝6,fb,r =6, r=1.5;
the same procedure was calculated to give F 1＝7,F2 =4.4:
And selecting the direction corresponding to the maximum comfort level and the minimum discomfort level as the moving direction of the target pedestrian, wherein the moving direction of the sub-sector where the target pedestrian is located is the center line of the current sub-sector. Since F 3 is minimum, the moving direction of the target pedestrian is direction 3, and the angle β with the positive x-axis direction is 30 °.
(5) And calculating the pressure of the target pedestrian from the signal lamp, determining the moving speed of the target pedestrian, updating the position of the target pedestrian, and completing the simulation of the pedestrian passing through the crosswalk.
Determining the moving speed of the target pedestrian according to the discomfort degree F i corresponding to the moving direction, and constructing a speed calculation model as follows:
To avoid meaningless above when the discomfort level F i is zero, let F' =f i +1, update the velocity model as:
Wherein F 3＝4.2,vmax =2.5 m/s
F′＝F3+1＝4.2+1＝5.2
The end-of-signal target pedestrian receives pressure from the signal and needs to accelerate or run through the crosswalk, the ratio of the expected passing time to the remaining time is represented by F g, and F g is calculated according to the following model:
Wherein T g is the total green light time, and T is the current green light display time; wherein T g＝25s,t＝15s,lf = 15m; when F g >1 indicates that the target pedestrian cannot pass before the green light ends according to the current speed, the moving speed of the target pedestrian is calculated according to the following formula:
σ g is the acting factor of the signal lamp pressure, when F g >1, i.e. the pedestrian cannot pass before the green light ends at the current speed, then σ g =1, otherwise σ g＝0;vr is the target pedestrian running speed;
the updated position coordinate (x ', y') model has the expression:
beta is the included angle between the moving direction and the central line of the road, beta=30°, (x, y) = (3.7,15), and Δt=0.1 s is the update step length;
(x′,y′)＝(3.7,15)+(1.90,1.10)×0.1＝(3.89,15.11)
the coordinates of other pedestrians at the next moment can be obtained according to the same steps.

Claims (2)

1. The intersection bidirectional pedestrian simulation method based on the comfort level of the sensing area is characterized by comprising the following steps of:
(1) Reading all pedestrian microscopic data in the target pedestrian perception area according to the pedestrian information database; the microscopic data comprise the maximum walking speed, running speed, current moving speed and position of the pedestrian at the current moment;
(2) Acquiring the crosswalk size, the corresponding green light time length and the perceived radius of a target pedestrian, wherein the perceived radius is a circle radius taking the target pedestrian as a circle center;
(3) The sensing area is rasterized, the sensing area is divided into subareas, and the number of pedestrians in the subareas is obtained;
(4) According to the space uncomfortable coefficient of each subarea, calculating the comfort degree of each subarea and the uncomfortable degree of each moving direction, and determining the moving direction of the target pedestrian;
(5) According to the remaining traffic time of the green light, determining the moving speed of the target pedestrian, updating the position of the target pedestrian, and completing the simulation of the target pedestrian passing through the crosswalk;
The sensing area is semicircular with the position of the target pedestrian as the center of a circle, and the symmetry axis of the semicircle is perpendicular to the central line of the road; the current moving speed is a vector, and the direction and the speed of the pedestrian are noted;
step 3 of rasterizing the sensing region includes: dividing a semicircular sensing area of a target pedestrian into p sub-sector areas, wherein the number is recorded as i, i=1, 2, & gt, p, dividing the semicircular sensing area into q annular areas with the same width, wherein the number is j, j=1, 2, & gt, and the number of rows in an overlapping area of the sector with the number of i and the annular area with the number of j is n i,j;
And 4, constructing a model of discomfort degree F i,j of each subarea in the sensing area, wherein the expression is as follows:
Fi,j＝fi,jni,j
f i,j is the discomfort factor of the overlapping area of the sector numbered i and the ring numbered j;
constructing a fan-shaped discomfort degree F i model of a target pedestrian with the number of i, wherein the expression is as follows:
σ a,i is the acting factor of the destination attraction f a, σ l,i is the acting factor of the left boundary unsafe factor f b,l, σ r,i is the acting factor of the right boundary unsafe factor f b,r, R is the perceived radius, l l is the distance between the target pedestrian and the left boundary of the crosswalk, and l r is the distance between the target pedestrian and the right boundary of the crosswalk;
Selecting a direction corresponding to the least uncomfortable degree as a moving direction of a target pedestrian, wherein the moving direction of a sub-sector where the target pedestrian is located is the center line of the current sub-sector;
the step 5 comprises the following steps:
Determining the moving speed of the target pedestrian according to the discomfort degree F i corresponding to the moving direction, and constructing a speed calculation model as follows:
Wherein v max represents the target pedestrian maximum speed;
To avoid meaningless above when the discomfort level F i is zero, let F' =f i +1, update the velocity model as:
in the remaining time of the green light, the pedestrian crossing needs to be accelerated or run, the ratio of the expected passing time to the remaining time is represented by F g, and F g is calculated according to the following model:
Wherein T g is the total green light time, and T is the current green light display time;
when F g >1 indicates that the target pedestrian cannot pass before the green light ends according to the current speed, the moving speed of the target pedestrian is calculated according to the following formula:
Sigma g is the acting factor of the signal lamp pressure, v r is the running speed of the pedestrian;
the updated position coordinate (x ', y') model has the expression:
beta is an included angle between the moving direction and the central line of the road, (x, y) is the current position coordinate of the target pedestrian, the x-axis is parallel to the central line of the road, the y-axis is parallel to the central line of the crosswalk, delta t is an updating step length, and the step (1) is returned to be circulated after updating until the target pedestrian reaches the other side from one side of the road, and the circulation is ended.
2. The method for simulating a two-way pedestrian at an intersection according to claim 1, wherein if the perceived area includes an obstacle in step 1, the obstacle is equivalently converted into the number of people in a row according to the area occupied by the obstacle, and the conversion expression is as follows:
Wherein n dj is the number of equivalent pedestrians, S w is the occupied area of the obstacle, S 0 is the occupied area of the standard pedestrian, the current speed of the equivalent pedestrian is zero, and the position coordinate is the position coordinate of the obstacle.
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