CN114239272B - Hybrid bicycle flow microscopic modeling method and device based on retrograde behavior - Google Patents
Hybrid bicycle flow microscopic modeling method and device based on retrograde behavior Download PDFInfo
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Abstract
The invention discloses a hybrid bicycle flow microscopic modeling method and device based on retrograde motion, which comprises the following steps: acquiring the running speed of the hybrid bicycle; and establishing a cellular automaton model of the traffic flow of the hybrid bicycle based on the running rule and the lateral movement rule of the hybrid bicycle according to the running speed of the hybrid bicycle, and describing a lane changing process and a reverse behavior in the hybrid bicycle flow. By adopting the technical scheme of the invention, the problems that the personal safety of a driver is seriously threatened by the retrograde motion of the non-motor vehicle and the road passing efficiency is greatly influenced are solved.
Description
Technical Field
The invention belongs to the technical field of traffic engineering, and particularly relates to a hybrid bicycle flow microscopic modeling method and device based on reverse behavior.
Background
With the popularization of electric bicycles and the rise of shared bicycles, bicycles become important tools for residents to go out and plug into. The proliferation of non-motor vehicles places greater demands on non-motor lane conditions. However, the existing part of non-motor vehicle lanes lack reasonable planning and design, which causes the phenomena of poor bicycle traveling order, reverse riding, running red light and the like. The phenomena not only reduce the traffic capacity of roads, but also cause serious negative effects on the traveling safety of residents, and arouse the attention of traffic boundary on the bicycle traffic flow research. Traffic flow simulation is a basic method for researching traffic flow operation rules. Among them, cellular Automaton (CA) models have the characteristics of simple rules and high operating efficiency, and researchers at home and abroad make extensive and intensive researches on the traffic flow of non-motor vehicles based on the CA models.
Researchers have made abundant results on the research of cellular automata on the traffic characteristics of non-motor vehicles, but some defects exist: (1) Most researchers have studied on electric bicycles or traditional bicycles, and relatively few studies on traffic characteristics of mixed bicycles composed of the electric bicycles and the traditional bicycles are conducted; (2) The research on the influence of the retrograde motion on the mixed bicycle flow is rare; (3) There is a lack of research into traffic facility design that takes into account retrograde behavior of the bicycle. The reverse riding is easy to form various conflicts and interferences, the traveling efficiency is reduced, traffic accidents are easily caused, and the safety of a driver is seriously threatened.
Disclosure of Invention
The invention aims to solve the technical problem of providing a hybrid bicycle flow microscopic modeling method and device based on retrograde motion, and solves the problems that the retrograde motion of a non-motor vehicle seriously threatens the personal safety of a driver and has great influence on the road traffic efficiency by arranging a unilateral bidirectional non-motor vehicle lane.
In order to achieve the purpose, the invention adopts the following technical scheme:
a hybrid bicycle flow microscopic modeling method based on retrograde behavior comprises the following steps:
s1, acquiring the running speed of the hybrid bicycle;
and S2, establishing a cellular automata model of the mixed bicycle traffic flow based on the bicycle running rule and the lateral movement rule according to the running speed of the mixed bicycle, and describing a lane changing process and a reverse behavior in the mixed bicycle flow.
Preferably, the lateral movement rule is: if the speed which can be reached by the driver in the current lane is less than the driving speed of the driver after lane changing and the lane changing safety condition is met, the driver selects lane changing to reach a higher driving speed, otherwise, the driver continues to drive in the current lane; when a reverse behavior exists, the bicycle lane change is realized according to the driving direction of the front vehicle of the target lane, and if the driving direction of the front vehicle of the target lane is the same as that of the current vehicle, the lane change can be realized only by meeting the safety distance; if the driving directions of the front vehicle of the current lane and the current vehicle are opposite, the safe distance and the distance between the two vehicles need to be met to realize lane change; when the distance between the two vehicles reaches a value larger than a first threshold value, the vehicles can not enter the left lane of the vehicles; and when the distance between the two vehicles is smaller than a second threshold value, the vehicles change the lane to the right lane for driving, and if the lane change cannot be completed, the vehicles stop moving to wait for the lane change.
Preferably, the bicycle operating rules are: the bicycle will go through four steps of acceleration, deceleration, random slowing and position updating to complete the updating process.
Preferably, the bicycle acceleration operation rule is as follows: the rider expects to travel at maximum speed during ridingI.e. v n (t+1)＝min{v n (t)+a n ,v n max In which v n (t) speed of bicycle n at time t, v n (t + 1) is the speed of bicycle n, a, at time t +1 n Acceleration of bicycle n, v n max The maximum speed of the bicycle n.
Preferably, the bicycle deceleration operation rule is as follows: firstly, calculating the speed of the bicycle at the current lane and the left and right lanes of the current lane at the next time step under the condition of meeting the safety condition, then comparing the speed of each lane, and selecting the lane with the highest speed as the driving lane.
Preferably, the random slowing-down operation rule is as follows: the random slowing-down probability of the bicycle is P, and when the random slowing-down condition is met, the bicycle is decelerated, namely v n (t+1)＝max{v n (t+1)-1,0}。
Preferably, the location update operation rule is as follows: the bicycle is driven forward at the updated speed, i.e. x n (t+1)＝x n (t)+v n (t + 1) in which x n (t) is the position of bicycle n at time t, x n (t + 1) is the position of bicycle n at time t + 1.
The invention also provides a hybrid bicycle flow microscopic modeling device based on retrograde behavior, which comprises:
the acquisition module is used for acquiring the running speed of the hybrid bicycle;
and the modeling module is used for establishing a cellular automaton model of the mixed bicycle traffic flow based on the bicycle running rule and the lateral movement rule according to the running speed of the mixed bicycle, and describing a lane changing process and a reverse behavior in the mixed bicycle flow.
Preferably, the lateral movement rule is: if the speed which can be reached by the driver in the current lane is less than the driving speed of the driver after lane changing and the lane changing safety condition is met, the driver selects lane changing to reach a higher driving speed, otherwise, the driver continues to drive in the current lane; when a reverse behavior exists, the bicycle lane change is realized according to the driving direction of the front vehicle of the target lane, and if the driving direction of the front vehicle of the target lane is the same as that of the current vehicle, the lane change can be realized only by meeting the safety distance; if the driving directions of the front vehicle of the current lane and the current vehicle are opposite, the safe distance and the distance between the two vehicles are required to be met to realize lane change; when the distance between the two vehicles reaches a value larger than a first threshold value, the vehicles can not enter the left lane of the vehicles; and when the distance between the two vehicles is smaller than a second threshold value, the vehicles change the lane to the right lane for driving, and if the lane change cannot be completed, the vehicles stop moving to wait for the lane change.
Preferably, the bicycle operating rules are: the bicycle will go through four steps of acceleration, deceleration, random slowing and position updating to complete the updating process.
The non-motor vehicles run in the wrong direction seriously threaten the personal safety of drivers and greatly influence the road passing efficiency. In order to solve the influence of the retrograde motion on the traffic characteristics of the mixed bicycle flow, the invention analyzes the influence of the electric bicycle proportion and the retrograde vehicle proportion on the mixed bicycle flow and the setting conditions of the unilateral bidirectional non-motor vehicle lane by establishing a mixed bicycle flow micro model considering the retrograde motion. Adopting the retrograde behavior can reduce the speed and the flow of the mixed bicycle flow; the speed and flow of the mixed bicycle flow is in a nonlinear relationship with the ratio of the retrograde vehicle; when the density of the traffic flow is relatively low, the speed of reducing the average speed of the traffic flow with low converse proportion is higher than that of reducing the average speed of the traffic flow with high converse proportion along with the increase of the density; the maximum flow rate when the retrograde proportion is small is smaller than the maximum flow rate when the retrograde proportion is large; the reasonable arrangement of the unilateral bidirectional non-motor vehicle lane can improve the passing efficiency.
Drawings
FIG. 1 is a flow chart of a hybrid bicycle flow micro-modeling method based on retrograde behavior;
FIG. 2 is a schematic view of a bicycle in a direction of travel;
FIG. 3 is a schematic structural diagram of a hybrid bicycle flow micro-modeling apparatus based on retrograde behavior.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Example 1:
the symbols of the formula involved in example 1 are shown in Table 1:
table 1:
as shown in FIG. 1, the invention provides a hybrid bicycle flow microscopic modeling method based on a retrograde motion behavior, which comprises the steps of establishing a cellular automata model of a hybrid bicycle traffic flow considering the retrograde motion behavior, obtaining the change of three parameters of the hybrid bicycle traffic flow under the influence of the retrograde motion behavior, proposing a strategy for setting a unilateral bidirectional non-motor vehicle lane considering the retrograde motion behavior, and giving a setting condition. The method specifically comprises the following steps:
s1, acquiring the running speed of a hybrid bicycle;
and S2, establishing a cellular automata model of the mixed bicycle traffic flow based on the bicycle running rule and the lateral movement rule according to the running speed of the mixed bicycle, and describing a lane changing process and a reverse behavior in the mixed bicycle flow.
As an implementation manner of the embodiment of the present invention, in step S2, in order to ensure that the vehicle runs at the maximum speed, a lateral movement rule is introduced. If the speed which can be reached by the driver in the current lane is less than the speed which can be driven after the lane change and the safety condition of the lane change can be met, the driver selects the lane change to reach a higher driving speed; otherwise, the vehicle will continue to run in the current lane. When a reverse behavior exists, the driving direction of the front vehicle in the target lane needs to be considered when the bicycle changes lanes. If the driving directions of the front vehicle of the target lane are the same as the current vehicle, lane changing can be realized only by meeting the safety distance; if the driving directions of the front vehicle of the current lane and the current vehicle are opposite, the safe distance and the distance between the two vehicles need to be met to realize lane change; when the distance between the two vehicles reaches a value larger than a first threshold value, the vehicles can not enter the left lane of the vehicles; and when the distance between the two vehicles is smaller than a second threshold value, the vehicles change the lane to the right lane for driving, and if the lane change cannot be completed, the vehicles stop moving to wait for the lane change.
As shown in fig. 2, at time t → t +1, the bicycle will go through four steps of acceleration, deceleration, random slowing, and location updating to complete the updating process, and the specific operation rules of the bicycle are as follows:
(1) Accelerating: the rider expects to travel at maximum speed during riding, i.e.:
v n (t+1)＝min{v n (t)+a n ,v n max } (1)
(2) Decelerating: firstly, calculating the speed of the bicycle n at the current lane and the lanes on the left and the right sides of the current lane at the next time step under the condition of meeting the safety condition, then comparing the speed of each lane, and selecting the lane with the highest speed as a running lane. The vehicle speed calculation rules corresponding to different traffic conditions are different, and the vehicle speed calculation rules need to be defined according to different traffic conditions.
When no retrograde motion behavior exists, the speed calculation formula of the bicycle n at the current lane and the lanes on the left side and the right side of the current lane at the next time step is as follows:
when there is a retrograde behavior, the bicycle n may encounter a vehicle running in an opposite direction during riding, and the running direction of the bicycle needs to be considered when calculating the speed of the bicycle n at the current lane and the lanes on the left and right sides of the current lane at the next time step. Two safety distance parameters d are defined in the model 1 、d 2 (d 1 ＞d 2 ) When the bicycle n is in front of the bicycle n cf Is less than d 1 During, for making things convenient for the subtend vehicle to pass through, set for the vehicle and can not get into its left side lane again, promptly:
when the distance between the two vehicles is less than d 2 When, for avoiding the conflict to take place, the vehicle need be to right side lane change the way and travel this moment, if can't accomplish in changing the way, then stop moving waits to change the way, promptly:
The speed calculation formula of the bicycle n at the current lane and the left and right lanes at the next time step is as follows:
in the equations (6) and (7),
bicycle n representing time t and bicycle n behind left thereof lb The driving directions are the same;
Represents the bicycle n at the time t and the bicycle n behind the bicycle n rb The driving directions are the same;
Indicating the bicycle n at time t and the bicycle n ahead of it cf The direction of travel is reversed.
After the speeds of the bicycle in the current lane and the left and right lanes are determined, the maximum speeds which can be reached by the lanes are compared, so that the driving lane of the next time step is determined, and the operation rule is as follows:
if it is used
Then
If it is used
Then
If it is used
Then
(3) And (3) random slowing: the bicycle random slowing down probability is P, and when the random slowing down condition is met, the bicycle slows down, namely:
v n (t+1)＝max{v n (t+1)-1,0} (8)
(4) And (3) updating the position: the bicycle is driven forward at the updated speed, i.e.:
x n (t+1)＝x n (t)+v n (t+1) (9)
simulation experiment:
the simulation is carried out on the mixed bicycle flow by using Visual Studio, the simulation time is set to 8000 steps (8000 s), and the simulation data of the last 2000 steps are selected for analysis. The simulation data in the invention is the average value of 20 simulations, so as to reduce the influence of randomness on the result. Other parameters in the model are set as: d 1 ＝30，d 2 ＝10，P＝0.3，a n ＝1。
The method is used for quantitatively analyzing the influence of the travel proportion and the reverse behavior of the electric bicycle in the mixed bicycle flow on the traffic flow characteristics of the bicycle. Defining the proportion of the electric bicycles as alpha, the proportion of the reverse-running bicycles in the mixed bicycle flow as lambda, the number of bicycles passing through the section of a certain non-motor vehicle lane at the time t is N (t), the total number of traditional bicycles in the non-motor vehicle lane is R, the total number of the electric bicycles is E, and the speed of the traditional bicycle i at the time t is v i (t) the speed of the electric bicycle j at time t is v j (t) of (d). Average flow rate Q (bike/(s · m)) and average density K (bike/m) of the non-motor vehicle lane 2 ) Average speed V of traditional bicycle r (m/s) average speed V of electric bicycle e The calculation formula of (m/s) is as follows:
through simulation calculation, the relationship between the average speed and the average density of the bicycle under different retrograde ratios when the speed is α =0, α =0.5 and α =1 can be concluded as follows:
(1) When K is less than or equal to 0.1, under the condition of alpha =0, the average speed of the traditional bicycle is kept unchanged along with the increase of the average density; in the case of α =0.5 and 1, the average speed of the conventional bicycle and the electric bicycle decreases as the average density increases. When 0.1 < K < 0.5, the average speed of the bicycle is reduced along with the increase of the average density under the condition of different electric bicycle proportions. The expected speed of the traditional bicycle is lower than that of the electric bicycle, and in a low-density state, when the electric bicycle is not used, the distance between the heads of the traditional bicycle can ensure that the flow of the traditional bicycle maintains a free flow state, and the average speed keeps unchanged along with the increase of the average density; when the electric bicycle is in use, the distance between the heads of the bicycle cannot ensure that the bicycle flow maintains a free flow state, and the average speed is reduced along with the increase of the average density.
(2) When there is no retrograde behavior, i.e. λ =0, the average speed of the bicycle is greater than the average speed of the bicycle when there is retrograde behavior. This is because the existence of the retrograde vehicles increases the conflict and disturbance of the traffic flow of the bicycles, the vehicles which generate the conflict need to be decelerated, avoided or even parked, avoided, and the expected speed of the retrograde vehicles is lower than that of the forward vehicles, so the average speed of the bicycles is higher when there is no retrograde behavior than when there is retrograde behavior.
(3) As the ratio of the vehicles in reverse is increased, the relationship between the average speed of the bicycle and the ratio of the vehicles in reverse is non-linear. Wherein, in the process of increasing K from 0.1 to 0.2, the average speed descending speeds of lambda =0.1 and 0.2 are faster than the average speed descending speeds of lambda =0.3, 0.4 and 0.5. When the traffic flow density is low and the number of the retrograde bicycles is small, in order to avoid the retrograde bicycles which exist discontinuously and continuously, the conflicting bicycles can change lanes more frequently, so that disturbance to a certain degree is generated on the whole traffic flow, and the average speed is reduced; when the density of the bicycle flow is not large and the number of the retrograde bicycles is large, the probability that the bicycles enter the left lane is reduced, the bidirectional bicycle flow is in a following running state at the moment, the bicycles do not frequently change lanes, the collision behaviors are reduced, and at the moment, along with the increase of the average density, the average speed reduction speed is slower than that when the proportion of the retrograde bicycles is small.
When λ =0, 0.3, 0.4, and 0.5, the average flow rate versus average density has a similar trend, with the average flow rate increasing to a peak and then decreasing as the average density increases. When λ =0.1 and 0.2, the average flow rate versus average density curve has a similar trend of variation, the average flow rate increasing to a peak value first with increasing average density, then maintaining a flat peak, and then decreasing. The reason why the average flow rate is flat is that when the density of the flow is low and the number of the retrograde bicycles is small (λ =0.1 and 0.2), the bicycles which have collided are subjected to relatively frequent lane change in order to avoid intermittent retrograde bicycles, and when the number of the retrograde bicycles is large (λ =0.3, 0.4 and 0.5), the bidirectional bicycle flow is in a following running state and collision behaviors are reduced. At this time, as the average density increases, the average speed decrease speed is higher when the proportion of the retrograde vehicles is small than when the proportion of the retrograde vehicles is large, so that the average flow rate change is small when the proportion of the retrograde vehicles is small, and a flat peak state occurs.
The maximum flow rate is smaller when λ =0.1 or 0.2 than when λ =0.3, 0.4 or 0.5. From the analysis, when the number of the retrograde bicycles is small, the conflicts generated in the running process of the bicycles are more, and the passing efficiency of the bicycles is reduced; when the number of the retrograde bicycles is large, the bidirectional bicycle flow presents a following running state, the conflict behaviors are reduced, and the bicycle passing efficiency is improved. Further, when λ < 0.5, the maximum flow rate of α =1 is larger than those of the other two cases. This is because the electric bicycle has a higher running speed, and the larger the proportion of the electric bicycle, the larger the maximum flow rate.
Example 2:
as shown in FIG. 3, the present invention also provides a hybrid bicycle flow micro-modeling apparatus based on retrograde behavior, comprising:
the acquisition module is used for acquiring the running speed of the hybrid bicycle;
and the modeling module is used for establishing a cellular automata model of the mixed bicycle traffic flow based on the bicycle running rule and the lateral movement rule according to the running speed of the mixed bicycle, and describing a lane changing process and a reverse behavior in the mixed bicycle flow.
Further, the lateral movement rule is: if the speed which can be reached by the driver in the current lane is less than the driving speed of the driver after lane changing and the lane changing safety condition is met, the driver selects lane changing to reach a higher driving speed, otherwise, the driver continues to drive in the current lane; when a reverse behavior exists, the bicycle lane change is realized according to the driving direction of the front vehicle of the target lane, and if the driving direction of the front vehicle of the target lane is the same as that of the current vehicle, the lane change can be realized only by meeting the safety distance; if the driving directions of the front vehicle of the current lane and the current vehicle are opposite, the safe distance and the distance between the two vehicles are required to be met to realize lane change; when the distance between the two vehicles reaches a value larger than a first threshold value, the vehicles can not enter the left lane of the vehicles; and when the distance between the two vehicles is smaller than a second threshold value, the vehicles change the lane to the right lane for driving, and if the lane change cannot be completed, the vehicles stop moving to wait for the lane change.
Further, the bicycle operation rules are: the bicycle will go through four steps of acceleration, deceleration, random slowing and position updating to complete the updating process.
The invention considers the lane changing and retrograde motion behavior characteristics of the traditional bicycle and the electric bicycle, and establishes a hybrid bicycle flow microscopic simulation model based on a NaSch model. The model is utilized to simulate and analyze the influence of the proportion of the electric bicycle and the proportion of the retrograde vehicles on the traffic characteristics of the mixed bicycle flow, the setting conditions of the unilateral bidirectional non-motor vehicle lane are determined, and the following conclusion is obtained:
(1) The average speed and the average flow rate of the mixed bicycle flow are both greater without retrograde behavior than with retrograde behavior.
(2) As the ratio of oncoming vehicles increases, the relationship between the average speed, the average flow rate of the mixed bicycle flow and the ratio of oncoming vehicles is nonlinear. When the traffic density is small, the average speed decrease speed is faster when the number of the retrograde bicycles is small than when the number of the retrograde bicycles is large, as the average density increases. The maximum flow rate when the retrograde ratio is small (λ =0.1 or 0.2) is smaller than the maximum flow rate when the retrograde ratio is large (λ =0.3, 0.4 or 0.5).
(3) Setting conditions of the unilateral two-way non-motor lane in a 4-lane non-motor lane: when no vehicle runs in the wrong direction, no reverse lane is arranged; when the proportion of the vehicles in the reverse driving is smaller (lambda is more than 0 and less than or equal to 0.3), 3 forward lanes and 1 reverse lane can be arranged; when the reverse proportion is larger (lambda is more than or equal to 0.3), 2 reverse lanes can be arranged.
The non-motor vehicles run in the wrong direction seriously threaten the personal safety of drivers and greatly influence the road passing efficiency. In order to solve the influence of the retrograde motion on the traffic characteristics of the mixed bicycle flow, the invention analyzes the influence of the electric bicycle proportion and the retrograde vehicle proportion on the mixed bicycle flow and the setting conditions of a unilateral bidirectional non-motor vehicle lane by establishing a mixed bicycle flow micro model considering the retrograde motion. Adopting the retrograde behavior can reduce the speed and the flow of the mixed bicycle flow; the speed and flow of the mixed bicycle flow is in a nonlinear relationship with the ratio of the retrograde vehicle; when the traffic density is relatively low, the decreasing speed of the average traffic speed with low converse proportion is higher than that with high converse proportion along with the increase of the density; the maximum flow rate when the retrograde proportion is small is smaller than the maximum flow rate when the retrograde proportion is large; the reasonable arrangement of the unilateral bidirectional non-motor vehicle lane can improve the passing efficiency.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A hybrid bicycle flow microscopic modeling method based on retrograde behavior is characterized by comprising the following steps:
s1, acquiring the running speed of the hybrid bicycle;
s2, establishing a cellular automata model of the mixed bicycle traffic flow based on a bicycle running rule and a lateral movement rule according to the running speed of the mixed bicycle, and describing a lane changing process and a reverse behavior in the mixed bicycle flow;
wherein, the lateral movement rule is: if the speed which can be reached by the driver in the current lane is less than the driving speed of the driver after lane changing and the lane changing safety condition is met, the driver selects lane changing to reach a higher driving speed, otherwise, the driver continues to drive in the current lane; when a reverse behavior exists, the bicycle lane change is realized according to the driving direction of the front vehicle of the target lane, and if the driving direction of the front vehicle of the target lane is the same as that of the current vehicle, the lane change can be realized only by meeting the safety distance; if the driving directions of the front vehicle of the current lane and the current vehicle are opposite, the safe distance and the distance between the two vehicles need to be met to realize lane change; when the distance between the two vehicles is smaller than a first threshold value, the vehicles can not enter the left lane of the vehicles again; when the distance between the two vehicles is smaller than a second threshold value, the vehicles change the lane to the right lane for driving, and if the lane change cannot be completed, the vehicles stop moving to wait for the lane change;
the bicycle operation rule is as follows: the bicycle undergoes four steps of acceleration, deceleration, random slowing and position updating to complete the updating process;
decelerating: firstly, calculating the speed of a bicycle n at the current lane and the lanes on the left side and the right side of the current lane at the next time step under the condition of meeting safety conditions, then comparing the speed of each lane, and selecting the lane with the highest speed as a running lane; the speed calculation rules corresponding to different traffic conditions are different, and the speed calculation rules need to be defined according to different traffic conditions;
when there is no retrograde behavior, the speed calculation formula of the bicycle n at the current lane and the lanes at the left and right sides of the current lane at the next time step is as follows:
wherein v is n (t + 1) is the speed of bicycle n at time t +1,
for a time t bicycle n and a bicycle n ahead cf In a distance of->
The left lane of the bicycle n at the time t;
For the bicycle n at the time t and the bicycle n at the left rear lb Is greater than or equal to>
Bicycle n left rear bicycle n lb Is greater than or equal to>
For the t-time bicycle n and the left front bicycle n lf Is greater than or equal to>
In the right lane of bicycle n at time t>
Time bicycle n and right rear bicycle n rb Is greater than or equal to>
A rear bicycle n at time t +1 rb Is greater than or equal to>
A bicycle n at the moment of t and a bicycle n at the front right rf The distance of (d);
when a retrograde motion behavior exists, the bicycle n may encounter vehicles running in opposite directions in the riding process, and the running direction of the bicycle n needs to be considered when calculating the speed of the bicycle n in the current lane and the lanes on the left side and the right side of the current lane at the next time step; two safety distance parameters d are defined in the model 1 、d 2 Wherein d is 1 >d 2 When the bicycle n is in front of the bicycle n cf Is less than d 1 In time, for making things convenient for the subtend vehicle to pass through, set for the vehicle can not get into its left side lane again, promptly:
when the distance between the two vehicles is less than d 2 When, for avoiding the conflict to take place, the vehicle need be to right side lane change the way and travel this moment, if can't accomplish in changing the way, then stop moving waits to change the way, promptly:
The speed calculation formula of the bicycle n at the current lane and the left and right lanes at the next time step is as follows:
in the formula, the first step is that,
bicycle n showing t time and bicycle n behind left 1b The driving directions are the same;
represents the bicycle n at the time t and the bicycle n behind the bicycle n rb The driving directions are the same;
Indicating the bicycle n at time t and the bicycle n ahead of it cf The driving directions are opposite;
after determining the speeds of the bicycles in the current lane and the left and right lanes, the maximum speed which can be reached by each lane is compared, and the driving lane L of the next time step is determined n (t + 1), the operation rule is as follows:
if it is not
Then
If it is used
Then
If it is not
Then
2. The method of claim 1, wherein the bicycle acceleration rules are as follows: during riding the rider expects to travel at maximum speed, i.e. v n (t+1)＝min{v n (t)+a n ，v nmax In which v n (t) speed of bicycle n at time t, v n (t + 1) is the speed of bicycle n at time t +1, a n Acceleration of bicycle n, v nmax The maximum speed of the bicycle n.
3. The method as claimed in claim 2, wherein the hybrid bicycle flow micro-modeling method based on reverse-running behavior comprises the steps of firstly calculating the speed of the bicycle at the current lane and the left and right lanes of the current lane in the next time step under the condition that the safety condition is met, then comparing the speed of the lanes, and selecting the lane with the highest speed as the driving lane.
4. The method for micro-modeling of a mixed bicycle flow based on retrograde behavior of claim 3, wherein the stochastic slowing down operation rules are: the random slowing-down probability of the bicycle is P, and when the random slowing-down condition is met, the bicycle is decelerated, namely v n (t+1)＝max{v n (t+1)-1，0}。
5. The method for micro-modeling of a hybrid bicycle flow based on retrograde behavior of claim 4, wherein the location update operation rules are: the bicycle is driven forward at the updated speed, i.e. x n (t+1)＝x n (t)+v n (t + 1) in which x n (t) is the position of bicycle n at time t, x n (t + 1) is the position of bicycle n at time t + 1.
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