CN113435026A - Traffic control system - Google Patents
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Abstract
The embodiment of the invention discloses a traffic control system, which comprises a road side detection unit, a road side control unit and a server; the road side detection unit is in data connection with the server side and is used for detecting driving data of road vehicles, the road vehicles comprise internet vehicles and non-internet vehicles, and the internet vehicles are integrated with a vehicle simulation environment; the road side control unit is in data connection with the server side and is used for controlling execution signals of road facilities; the server is integrated with a traffic simulation environment, the traffic simulation environment is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle, and the traffic simulation environment is also used for generating a road signal control instruction and generating a vehicle control instruction which is the same as the vehicle simulation environment according to the driving data and the vehicle simulation environment joint simulation of the internet connection vehicle; the server is also used for sending the road signal control instruction to the road side control unit and sending the vehicle control instruction to the corresponding internet vehicle. The simulation decision and the comprehensive influence of real-time association of all traffic elements are realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of public services, in particular to a traffic control system.
Background
The technical development of automatic driving and vehicle-road cooperation in the intelligent internet vehicle has great potential in the aspects of improving the safety, efficiency, accessibility and the like of a traffic control decision system. However, the intelligent internet vehicle brings different technical, political, ethical and other challenges to the traffic control decision system.
From the technical point of view, in the existing mixed traffic flow environment, both an intelligent internet vehicle (hereinafter referred to as internet vehicle) and a non-intelligent internet vehicle (hereinafter referred to as non-internet vehicle) exist, and correspondingly, the problems of partial controllability, partial observability, different automation levels of traffic infrastructure and the like exist, and a traffic control decision system needs to deal with the problem of complexity. On the whole, the existing traffic control system can only realize the simulation decision of each traffic element in isolation, and cannot accurately judge the influence of a plurality of traffic elements on the whole traffic flow in the simulation decision process.
Disclosure of Invention
The invention provides a traffic control system, which aims to solve the technical problem that each traffic element of a road system in the prior art carries out simulation decision on the traffic element in an isolated manner.
An embodiment of the present invention provides a traffic control system, including: the system comprises a road side detection unit, a road side control unit and a server;
the road side detection unit is in data connection with the server side and is used for detecting driving data of road vehicles, the road vehicles comprise an internet connection vehicle and a non-internet connection vehicle, and the internet connection vehicle is integrated with a vehicle simulation environment;
the road side control unit is in data connection with the server side and is used for controlling execution signals of road facilities;
the server is integrated with a traffic simulation environment, the traffic simulation environment is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle, and the traffic simulation environment is also used for performing joint simulation according to the driving data and the vehicle simulation environment of the internet connection vehicle, generating a road signal control instruction and generating a vehicle control instruction which is the same as the vehicle simulation environment;
the server is also used for sending the road signal control instruction to the road side control unit and sending the vehicle control instruction to the corresponding internet vehicle.
On the basis of the above embodiment, the traffic simulation environment includes: the system comprises a traffic control system, an environment module, a data processing module, a traffic simulator and a traffic service database, wherein the environment module comprises: the system comprises a road network builder, an initialization program, a state model, a reward model and an action model;
the road network builder is used for building a road network model according to the road information;
the initialization program is used for configuring initial configuration parameters of the road network model, and the initial configuration parameters comprise parameters of road setting, positions and speeds of road vehicles;
the state model is used for recording the state calculation mode of the road facility;
the reward model is used for recording a reward calculation mode in the simulation process and calculating a reward value in the simulation process in each calculation period;
the action model is used for recording the control actions of the road facilities and the internet vehicles;
the traffic control system is used for recording control rules of the road vehicles and road facilities;
the traffic service database is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle;
the traffic simulation tool is used for carrying out combined simulation on the vehicle simulation environment of the internet vehicle according to the control rule based on the driving data in the road network model;
the data processing module is used for converting the driving data into a data format corresponding to the traffic simulation tool and sending the data format to the traffic simulation tool.
On the basis of the above embodiment, the environment module further includes: at least one of an evaluator and a renderer;
the evaluator is used for evaluating the running states of the traffic control system and the environment module;
the renderer is used for recording and presenting the running state of the intelligent agent, and the intelligent agent comprises a vehicle networking intelligent agent and a road network intelligent agent.
On the basis of the above embodiment, the road network agent comprises a macroscopic agent, a mesoscopic agent and a microscopic agent;
the macroscopic agent, the mesoscopic agent and the microscopic agent respectively correspond to agents in a road network region from top to bottom in hierarchy;
the simulation process of a subordinate agent is constrained by the corresponding superior agent.
On the basis of the above embodiment, the renderer records the running state through a log or a chart.
On the basis of the embodiment, the traffic simulation tool comprises a road simulation tool and an internet connection simulation tool;
the road simulation tool is used for carrying out traffic flow simulation on the road network model according to the driving data; the Internet vehicle simulation tool is used for carrying out Internet vehicle automatic driving behavior simulation according to the driving data;
in the combined simulation process, the road simulation tool and the internet vehicle simulation tool transmit simulation results to keep the consistency of simulation environments.
On the basis of the embodiment, the traffic control system comprises one or more of an internet vehicle control system, a highway management system and a traffic emergency management system.
On the basis of the embodiment, the vehicle simulation environment of the internet vehicle comprises a vehicle model, a moving traffic model and a communication model;
the vehicle model is used for describing simulation of the internet vehicle;
the motion traffic model is used for describing the motion state of road vehicles or pedestrians in the road network model;
the communication model is used for establishing simulation communication of the internet connection vehicle and the traffic simulation environment so as to simulate and establish a network of the internet connection vehicle and the traffic simulation environment.
On the basis of the above embodiment, the vehicle model includes a dynamics model, a sensor model, a communication component model, and a vehicle controller;
the dynamic model is used for describing driving and braking behaviors of the internet connected vehicle;
the sensor model is used for describing information exchanged between the internet connected vehicle and the outside;
the communication component model is used for describing information transfer between the networked vehicles;
the vehicle controller is used for describing the driving strategy of the internet vehicle.
On the basis of the above embodiment, the road equipment includes signal lights and a guide screen.
The traffic control system comprises a road side detection unit, a road side control unit and a server; the road side detection unit is in data connection with the server side and is used for detecting driving data of road vehicles, the road vehicles comprise an internet connection vehicle and a non-internet connection vehicle, and the internet connection vehicle is integrated with a vehicle simulation environment; the road side control unit is in data connection with the server side and is used for controlling execution signals of road facilities; the server is integrated with a traffic simulation environment, the traffic simulation environment is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle, and the traffic simulation environment is also used for performing joint simulation according to the driving data and the vehicle simulation environment of the internet connection vehicle, generating a road signal control instruction and generating a vehicle control instruction which is the same as the vehicle simulation environment; the server is also used for sending the road signal control instruction to the road side control unit and sending the vehicle control instruction to the corresponding internet vehicle. According to the traffic control system in the scheme, the internet vehicles and the road facilities are subjected to simulation decision under the same system, and the state change of the non-internet vehicles is introduced in the simulation decision process, so that the traffic control system is suitable for roads with the internet vehicles and the non-internet vehicles, realizes the real-time associated simulation decision of each traffic element, and accurately judges the influence of a plurality of traffic elements on the whole traffic flow in the simulation decision process.
Drawings
Fig. 1 is a schematic structural diagram of a traffic control system according to an embodiment of the present invention;
fig. 2 is a schematic architecture diagram of a traffic simulation environment of a traffic control system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an agent architecture of a traffic control system according to an embodiment of the present invention;
fig. 4 is a schematic layout architecture diagram of a traffic control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of a traffic control system according to an embodiment of the present invention. As shown in the figure, the traffic control system includes: the system comprises a road side detection unit, a road side control unit and a server;
the road side detection unit is in data connection with the server side and is used for detecting driving data of road vehicles, the road vehicles comprise an internet connection vehicle and a non-internet connection vehicle, and the internet connection vehicle is integrated with a vehicle simulation environment;
the road side control unit is in data connection with the server side and is used for controlling execution signals of road facilities;
the server is integrated with a traffic simulation environment, the traffic simulation environment is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle, and the traffic simulation environment is also used for performing joint simulation according to the driving data and the vehicle simulation environment of the internet connection vehicle, generating a road signal control instruction and generating a vehicle control instruction which is the same as the vehicle simulation environment;
the server is also used for sending the road signal control instruction to the road side control unit and sending the vehicle control instruction to the corresponding internet vehicle.
For the traffic control system in the scheme, accurate simulation of the target control area needs to be realized in the traffic simulation environment in the server, and as much vehicle information and road information as possible, that is, as much driving data as possible needs to be obtained. The vehicle information comprises driving data sent by each internet connection vehicle, is used for comprehensively describing individual information of the corresponding vehicle, and specifically comprises speed, destination, remaining driving mileage and the like; the road information includes various information acquired by the roadside detection unit, and may specifically include image data acquired by a roadside camera, speed data detected by a radar, and the like. For the non-networked vehicles, the non-networked vehicles cannot directly send own state information to the server, but the non-networked vehicles can be added into the traffic simulation environment through detection of the road side detection unit, so that the traffic simulation environment can restore the state of the road system as much as possible.
The roadside control unit is mainly used for controlling execution signals of road facilities, such as color signal change of a control signal lamp and guide signal change of a guide screen. Generally, the color signal change of the signal lamp is relatively fixed, for example, the corresponding time duration of the red light, the green light and the yellow light is fixed and switched; or the time duration is divided into two time intervals in one day, the time duration corresponding to the red light, the green light and the yellow light is fixed and switched in the time interval with larger traffic volume, and the time duration corresponding to the yellow light is fixed and switched in the time interval with smaller traffic volume. In the scheme, the road side control unit can also receive a road signal control instruction sent by the server, and then adjusts the switching mode of the signal lamp according to the road signal control instruction.
In the server, a traffic simulation environment is integrated and used for receiving the internet connection vehicle and the driving data sent by the road side unit, and the whole road system and the vehicles in the road system are used as a complete system to carry out simulation, so that specific operation instructions of the road system and the internet connection vehicle are determined, and the road system obtains the optimal passing efficiency. Corresponding to the road system, the specific operation instruction is a road signal control instruction which is used for indicating one or more next actions of the road facility; corresponding to the internet connection vehicle, the specific operation instruction is a vehicle control instruction and is used for indicating one or more next driving actions of the internet connection vehicle. In order to reduce the data processing amount of the server and reduce the data transmission amount, the road signal control instruction and the vehicle control instruction can be a wider instruction, and then the road side control unit and the internet connection vehicle disassemble the instruction. For example, the road signal control command sent to the roadside control unit is a signal lamp change rule (i.e., the time length of each color of lamp), and is specifically completed by the roadside control unit for each switching; for example, the vehicle control command sent to the internet vehicle is to change lane to the left, and the control details such as turning a turn signal to the left, rotating the steering wheel clockwise by a certain amount, aligning the steering wheel and the like to realize the action are completed by a processing unit in the internet vehicle. When the traffic simulation environment integrated in the server simulates the internet connection vehicle, the simulation mode which is the same as the internal simulation mode of the internet connection vehicle is realized, and the integration is carried out in the simulation process, so that the simulation result of the server on a certain internet connection vehicle is the same as the simulation result of the independent simulation of the internet connection vehicle, and the consistency of the traffic simulation environment in the server and the real environment is ensured.
In the traffic simulation environment of the scheme, deep reinforcement learning is applied, the mixed traffic flow characteristics of the internet connected vehicles and the non-internet connected vehicles are decoupled, local optimality is explored, any control target and vehicle dynamics can be specified in the specific operation process, and the influence of the internet connected vehicles on a complex traffic control system is explored. For vehicle dynamics, the traffic simulation environment can realize models of different mathematical or computational frameworks through ADAS test simulation software.
Deep reinforcement learning is a powerful artificial intelligence framework, and has been successful in complex and data-rich systems. The control strategy based on reinforcement learning does not need to depend on a traffic mechanism model, and the limitation of an intelligent network connection model in a complex environment is overcome. The reinforcement learning framework defines the management tasks that the traffic management system needs to solve as a Partially Observable Markov Decision Process (POMDP), represented by tuples (S, a, P, r, ρ 0, γ), where S is a set of states (which may be infinite), a is a set of actions, P: s × A × S → R ≧ 0 is the probability distribution for state transition, R: s × A → R is the reward function, ρ 0: s → R is more than or equal to 0 as the initial state distribution function, gamma belongs to (0, 1) as the discount factor, and T is the time range.
In particular implementations, as shown in fig. 2, the traffic simulation environment may include: the system comprises a traffic control system, an environment module, a data processing module, a traffic simulator and a traffic service database, wherein the environment module comprises: the system comprises a road network builder, an initialization program, a state model, a reward model and an action model;
the road network builder is used for building a road network model according to the road information;
the initialization program is used for configuring initial configuration parameters of the road network model, and the initial configuration parameters comprise parameters of road setting, positions and speeds of road vehicles;
the state model is used for recording the state calculation mode of the road facility;
the reward model is used for recording a reward calculation mode in the simulation process and calculating a reward value in the simulation process in each calculation period;
the action model is used for recording the control actions of the road facilities and the internet vehicles;
the traffic control system is used for recording control rules of the road vehicles and road facilities;
the traffic service database is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle;
the traffic simulation tool is used for carrying out combined simulation on the vehicle simulation environment of the internet vehicle according to the control rule based on the driving data in the road network model;
the data processing module is used for converting the driving data into a data format corresponding to the traffic simulation tool and sending the data format to the traffic simulation tool.
In addition, the environment module may further include: at least one of an evaluator and a renderer;
the evaluator is used for evaluating the running states of the traffic control system and the environment module;
the renderer is used for recording and presenting the running state of the intelligent agent, and the intelligent agent comprises a vehicle networking intelligent agent and a road network intelligent agent.
The road network intelligent bodies comprise macroscopic intelligent bodies, mesoscopic intelligent bodies and microscopic intelligent bodies;
the macroscopic agent, the mesoscopic agent and the microscopic agent respectively correspond to agents in a road network region from top to bottom in hierarchy;
the simulation process of a subordinate agent is constrained by the corresponding superior agent.
Referring to fig. 3, in the architecture system of the agent shown in fig. 3, different agents sense the state of the environment and the information of other agents and take action to transition themselves to a new state, in the process of which the agent gets feedback, such as rewards. Offline and online learning in a multi-agent model traffic simulation environment interact, maximizing total rewards within a certain time in the interaction process. Reinforcement learning is a typical data-driven sequential decision-making intelligent method, the core of the multi-agent reinforcement learning method is learning what to do (i.e. how to map the current situation into an action) to maximize a numerical benefit signal, an optimal strategy is learned in a trial and error manner, an optimal decision strategy of "raising and suppressing bad" iterative learning to dump a controlled object is adopted, and an agent is not informed of what action to take, but must try to find which action to generate the most abundant benefit.
The intelligent intensive learning of the deep intensive learning agent decomposes the complex traffic control huge system problem into a plurality of sub-problems, and the sub-problems are solved one by a divide-and-conquer method, so that a complex decision problem is finally solved. From the macroscopic perspective, the macroscopic agent and the mesoscopic agent correspond to the agents in the regions and the subareas, and the key elements of the algorithm, such as a decision strategy, a value function, an action space and the like, are designed through a hierarchical reinforcement learning algorithm structure, so that various limits are imposed on the agents in the next level. From a microscopic angle, a microscopic intelligent body is an intelligent body at a microscopic intersection or a road section, distributed decision optimization is realized by applying reinforcement learning, each intelligent body system independently learns in the limitation given by the upper level, and closed-loop feedback and self-adaptive optimization are realized in the whole decision process. And through cooperative learning of each layer, hierarchical multi-agent reinforcement learning continuously optimizes urban traffic control, and an iterative updating traffic control decision system is realized.
And during specific rendering, the renderer records the running state through a log or a chart.
In the traffic simulation environment of the whole server, the traffic simulation tool can comprise a road simulation tool and an internet connection simulation tool;
the road simulation tool is used for carrying out traffic flow simulation on the road network model according to the driving data; the Internet vehicle simulation tool is used for carrying out Internet vehicle automatic driving behavior simulation according to the driving data;
in the combined simulation process, the road simulation tool and the internet vehicle simulation tool transmit simulation results to keep the consistency of simulation environments.
In addition, the traffic control system comprises one or more of an internet vehicle control system, a highway management system and a traffic emergency management system.
The traffic control system realizes the control rule of the control system of various vehicles and infrastructures in the traffic environment, and is a process O → A for mapping the observed value to the control. The control rules may be preset or their commands may be obtained through reinforcement learning training.
In a specific implementation process, the vehicle simulation environment of the internet vehicle comprises a vehicle model, a motion traffic model and a communication model;
the vehicle model is used for describing simulation of the internet vehicle;
the motion traffic model is used for describing the motion state of road vehicles or pedestrians in the road network model;
the communication model is used for establishing simulation communication of the internet connection vehicle and the traffic simulation environment so as to simulate and establish a network of the internet connection vehicle and the traffic simulation environment.
In a further implementation, the vehicle model includes a dynamics model, a sensor model, a communication component model, and a vehicle controller;
the dynamic model is used for describing driving and braking behaviors of the internet connected vehicle;
the sensor model is used for describing information exchanged between the internet connected vehicle and the outside;
the communication component model is used for describing information transfer between the networked vehicles;
the vehicle controller is used for describing the driving strategy of the internet vehicle.
In a specific implementation, the dynamic model is used to describe the behavior of each component of the internet vehicle, in particular the driving and braking behavior, such as stepping on the accelerator, steering, braking, etc.; the sensor model is used for providing information exchanged between the internet vehicles and the outside, such as information with other vehicles and information with road facilities; the communication component model is used for describing information transmission among the networked vehicles and mainly relates to a bidirectional connection relation between the networked vehicles and a front vehicle and a rear vehicle; the vehicle controller is used for describing the driving strategy of the internet vehicle, such as the rule of following the vehicle or changing lanes.
Functionally, the simulation tool involved in the scheme comprises three core components which are respectively used for realizing vehicle simulation, traffic environment simulation and communication simulation. To implement these components, a respective popular open source simulator may be selected: the SUMO and prescan are used as main components of a simulation platform, wherein the prescan is used for constructing a vehicle physical model and a control model of an intelligent internet vehicle, and the SUMO is used for generating a traffic network and real traffic demands.
The layout architecture of the simulation tool is shown in fig. 4. The traffic control system can realize the functions of core components of the internet vehicles, including laser radar, a camera, a power assembly and a common AI algorithm. To extend the simulation with hybrid vehicles from individual vehicle level to network level, SUMO will be integrated with traffic management systems that can flexibly build large-scale traffic networks with different traffic conditions. prescan builds a connectivity environment that supports popular V2X communication protocols, such as ieee802.11p and LTE-V2X. Therefore, by combining SUMO and prescan, the traffic control system implements a vehicle-road coordination model with awareness, communication and control. These three modules are all connected by a TraCI (traffic control API). The entire simulation platform is deployed in a client/server model, where SUMO + and prescan run in a high performance server computer, while the traffic management system runs in a client desktop computer. This architecture allows multiple end users (human drivers) to access and play in the same simulation simultaneously, introducing multiple human driving simulators (consoles) into the simulation platform where traditional vehicles and internet vehicles can interact directly with each other. This type of simulation model provides a realistic mixed traffic scenario for the verification of the internet connected vehicles.
The traffic management system will also be equipped with VR (Virtual Reality) headphones to help drivers experience highly immersive interactions with the Virtual vehicles in the traffic simulation scenario. To establish a 3D traffic environment, altitude information from an external geographic information system is added to the OpenStreetMap data, which is then imported into the SUMO to create a 2D map with altitude information, and a 3D environment OpenStreetMap importer is created by a traffic simulator.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the traffic control system, the units and modules included in the embodiment are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A traffic management and control system, comprising: the system comprises a road side detection unit, a road side control unit and a server;
the road side detection unit is in data connection with the server side and is used for detecting driving data of road vehicles, the road vehicles comprise an internet connection vehicle and a non-internet connection vehicle, and the internet connection vehicle is integrated with a vehicle simulation environment;
the road side control unit is in data connection with the server side and is used for controlling execution signals of road facilities;
the server is integrated with a traffic simulation environment, the traffic simulation environment is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle, and the traffic simulation environment is also used for performing joint simulation according to the driving data and the vehicle simulation environment of the internet connection vehicle, generating a road signal control instruction and generating a vehicle control instruction which is the same as the vehicle simulation environment;
the server is also used for sending the road signal control instruction to the road side control unit and sending the vehicle control instruction to the corresponding internet vehicle.
2. The traffic management system according to claim 1, wherein the traffic simulation environment includes: the system comprises a traffic control system, an environment module, a data processing module, a traffic simulator and a traffic service database, wherein the environment module comprises: the system comprises a road network builder, an initialization program, a state model, a reward model and an action model;
the road network builder is used for building a road network model according to the road information;
the initialization program is used for configuring initial configuration parameters of the road network model, and the initial configuration parameters comprise parameters of road setting, positions and speeds of road vehicles;
the state model is used for recording the state calculation mode of the road facility;
the reward model is used for recording a reward calculation mode in the simulation process and calculating a reward value in the simulation process in each calculation period;
the action model is used for recording the control actions of the road facilities and the internet vehicles;
the traffic control system is used for recording control rules of the road vehicles and road facilities;
the traffic service database is used for receiving the driving data sent by the road side detection unit and the driving data sent by the internet connection vehicle;
the traffic simulation tool is used for carrying out combined simulation on the vehicle simulation environment of the internet vehicle according to the control rule based on the driving data in the road network model;
the data processing module is used for converting the driving data into a data format corresponding to the traffic simulation tool and sending the data format to the traffic simulation tool.
3. The traffic management system of claim 2, wherein the environmental module further comprises: at least one of an evaluator and a renderer;
the evaluator is used for evaluating the running states of the traffic control system and the environment module;
the renderer is used for recording and presenting the running state of the intelligent agent, and the intelligent agent comprises a vehicle networking intelligent agent and a road network intelligent agent.
4. The traffic management and control system according to claim 3, wherein the road network agents include macro agents, mesoscopic agents and micro agents;
the macroscopic agent, the mesoscopic agent and the microscopic agent respectively correspond to agents in a road network region from top to bottom in hierarchy;
the simulation process of a subordinate agent is constrained by the corresponding superior agent.
5. The traffic control system according to claim 3, wherein the renderer records the operation state by a log or a chart.
6. The traffic management and control system according to claim 2, wherein the traffic simulation means includes a road simulation means and an internet vehicle simulation means;
the road simulation tool is used for carrying out traffic flow simulation on the road network model according to the driving data; the Internet vehicle simulation tool is used for carrying out Internet vehicle automatic driving behavior simulation according to the driving data;
in the combined simulation process, the road simulation tool and the internet vehicle simulation tool transmit simulation results to keep the consistency of simulation environments.
7. The traffic management system according to claim 2, wherein the traffic management system includes one or more of an internet vehicle control system, a highway management system, and a traffic emergency management system.
8. The traffic management and control system according to claim 7, wherein the vehicle simulation environment of the internet vehicle includes a vehicle model, a moving traffic model, and a communication model;
the vehicle model is used for describing simulation of the internet vehicle;
the motion traffic model is used for describing the motion state of road vehicles or pedestrians in the road network model;
the communication model is used for establishing simulation communication of the internet connection vehicle and the traffic simulation environment so as to simulate and establish a network of the internet connection vehicle and the traffic simulation environment.
9. The traffic management system according to claim 8, wherein the vehicle model includes a dynamics model, a sensor model, a communication component model, and a vehicle controller;
the dynamic model is used for describing driving and braking behaviors of the internet connected vehicle;
the sensor model is used for describing information exchanged between the internet connected vehicle and the outside;
the communication component model is used for describing information transfer between the networked vehicles;
the vehicle controller is used for describing the driving strategy of the internet vehicle.
10. The traffic management system according to claim 1, wherein the road infrastructure includes signal lights and guide screens.
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