CN115330360B - Pedestrian trajectory calculation method based on multi-agent simulation technology - Google Patents
Pedestrian trajectory calculation method based on multi-agent simulation technology Download PDFInfo
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Abstract
The invention relates to the technical field of track reduction, and discloses a pedestrian track calculation method based on a multi-agent simulation technology, which comprises the following steps: collecting detention information and building information of personnel; generating a sequence of spatiotemporal trajectory points of the person; generating a feasible motion track; and verifying the movement track of the personnel and outputting a complete personnel track. So as to realize the calculation of the pedestrian track in the junction facility. The invention provides a pedestrian trajectory reckoning method based on a multi-agent simulation technology, which can accurately, efficiently and quickly restore the movement trajectory of a person.
Description
Technical Field
The invention relates to the technical field of track reduction, in particular to a pedestrian track calculation method based on a multi-agent simulation technology.
Background
Flow regulation is a very important task in the control of infectious diseases, but it is not easy for parties to remember their journey of the last 14 days. When the dispatching staff needs to collect the patient information, most of the dispatching staff rely on their own memories, but it is difficult for the dispatching staff to remember the whole journey from 14 days before diagnosis to before isolation, namely, the dispatching staff can hardly restore the movement track of the patient completely in a short time.
At present, the movement track of a patient is restored mainly by means of scanning place code records and monitoring camera records by the patient through a mobile phone, the arrival time and the detention point position of the patient can only be determined, the leaving time of the patient and the track of the patient moving in a building cannot be known, and a flow adjustment person cannot directly obtain the movement track of the patient and make effective prevention and control measures.
Disclosure of Invention
The invention aims to overcome the defects of the existing personnel trajectory estimation prediction method and provide a pedestrian trajectory estimation method based on a multi-agent simulation technology, and the method can accurately restore the personnel trajectory.
A pedestrian trajectory reckoning method based on a multi-agent simulation technology comprises the following steps:
collecting detention information and building information of personnel;
generating a sequence of spatiotemporal trajectory points of the person;
generating a feasible motion track;
verifying the movement track of the personnel and outputting a complete personnel track;
the collecting of the retention information of the person specifically includes:
the flow adjustment personnel inquire by telephone, investigate the time-space trajectory of the personnel in the building and restore the time-space section information of the personnel in the building;
the generating of the feasible motion trajectory comprises:
acquiring terrain scene information and generating a feasible track sequence;
supplementing all persons with missing track sequences;
the obtaining of the terrain scene information and the generating of the feasible track sequence specifically include:
generating a set of recording point areas of a person based on the planar terrain information of the system scene
So as to allow for arbitrary personnel approach points
And
is provided with
. For any purpose
And
（
) Generating feasible track sequence set by A-star algorithm
At will
And
to (1) a
The sequence of feasible trajectories is represented as
。
The track sequence for supplementing missing for all people specifically includes:
for any person
N and n +1 time-space information
And
selecting feasible track sequence from feasible track sequence set by heuristic rule
Forming a complete motion trajectory between adjacent spatial and temporal positions
In which
，
，
And Z is the total number of the space-time information. For any person
Forming a complementary complete sequence of traces
For all the persons, a complete supplementary trajectory set is formed
。
After the feasible motion trajectory is generated, the method may further include a second intervention of a flow adjustment person, and the generated possible motion space-time trajectories are verified through monitoring device information, specifically:
verifying possible space-time trajectories among the stagnation points by flow regulators in combination with monitoring equipment information, and if the personnel can be found in peripheral monitoring equipment related to the space-time trajectories, taking the space-time trajectories as actual trajectories of the personnel among the stagnation points;
if no person is found in the monitoring equipment corresponding to the track point of the space-time track or the time is not matched, the motion track is eliminated;
and if the generated plurality of possible motion space-time trajectories are excluded, returning to regenerate new possible motion trajectories until a matched actual motion trajectory is found.
Verifying the trajectory of the person and outputting a complete trajectory of the person comprises:
calculating the degree of deviation of the generated spatio-temporal information of the track by combining the spatio-temporal information determined by the known personnel;
and (4) leading the complete motion track into a pedestrian simulation system, and restoring the spatiotemporal information of the whole track.
The calculating deviation degree of the generated spatio-temporal information of the trajectory by combining the spatio-temporal information determined by the known personnel is specifically as follows:
calculating deviation degree by taking the track information with the same time in the actual space-time track and the simulated space-time track of the personnel, namely calculating the deviation degree at the same timeThen, the spatial deviation of the actual trajectory and the simulated trajectory, for
Degree of deviation of individual person
The calculation is as follows:
degree of deviation for all persons
The calculation is as follows:
The step of guiding the complete motion trajectory into the pedestrian simulation system and the step of restoring the space-time information of the whole trajectory comprises the following steps:
generating a complete set of supplementary trajectories for all persons
And step s2, importing the plane structure information into a pedestrian simulation system, constraining the pedestrian to move according to a specified track in the pedestrian simulation system, calculating to obtain a complete space-time track, and exporting the pedestrian space-time track information
The simulation space-time trajectory form is
Wherein
The horizontal coordinate of the plane of the simulated trajectory position for the pedestrian,
for pedestrians to imitateThe vertical coordinate of the plane of the true trajectory position,
the simulated position occurrence time.
The invention can conjecture the concrete place of the building where the personnel go by collecting the detention information and the building information of the personnel, and can conjecture the stay time of the personnel in the building, in addition, the place where the personnel stay in the building can be connected in series by generating the space-time track point sequence of the personnel, thereby predicting a plurality of possible action tracks of the personnel, providing a theoretical basis for determining the action track of the personnel, and finally predicting the walking track of the personnel with the maximum probability by verifying the track information of the personnel, thereby determining the place where the personnel pass and the stay time in the process.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a flow chart of a pedestrian trajectory estimation method based on multi-agent simulation technology according to the present invention;
FIG. 2 is a k-th personnel feasible track sequence of the pedestrian track calculation method based on multi-agent simulation technology provided by the invention
A schematic diagram;
FIG. 3 is a schematic diagram of a method for generating simulated spatiotemporal trajectories for a pedestrian trajectory estimation method based on multi-agent simulation technology according to the present invention
；
Fig. 4 is a flow chart of a person trajectory generated by the verification of the pedestrian trajectory estimation method based on the multi-agent simulation technology provided by the invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators in the embodiments of the present invention, such as up, down, left, right, front, and back, 8230, are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
A pedestrian trajectory reckoning method based on a multi-agent simulation technology comprises the following steps:
step 200, generating a spatiotemporal trajectory point sequence of personnel;
step 400, verifying the movement track of the personnel and outputting a complete personnel track;
the invention can conjecture the concrete place of the building that the personnel go through by collecting the detention information and the building information of the personnel, and can conjecture the stay time of the personnel in the building, in addition, the place where the personnel stay in the building can be connected in series by generating the space-time track point sequence of the personnel, thereby a plurality of action tracks which are possibly generated by the personnel can be forecasted, a theoretical basis is provided for judging the action tracks of the personnel, finally, the track of the personnel walking with the maximum probability can be forecasted by verifying the track information of the personnel, thereby the place where the personnel pass through and the stay time in the process can be judged, in the whole process, the personnel do not need to inquire whether the verification personnel pass through the concrete place of a certain building and the stay time one by one, the workload of the personnel is reduced, the personnel configuration can also be reduced, the action tracks of the judgment personnel can be accurately determined by an automatic judgment program and algorithm, errors which can be generated by the personnel analysis can be avoided, thereby the judgment precision of the whereabouts of the personnel is improved, and a scientific guidance method and a theoretical guidance method for the forecast of the restoration of the action tracks of the personnel are provided.
The step 100 of collecting the retention information of the person specifically includes:
the flow adjustment personnel inquire by telephone, investigate the time-space trajectory of the personnel in the building and restore the time-space section information of the personnel in the building;
the caller of the shunting obtains the telephone number of the patient through the telephone directory of the resident collected by the cell committee, and then dials the number to inquire the shunting information of the patient, wherein the shunting information comprises the name, the age, the place to be passed in seven days, the detention time, the vehicle to be taken and the like.
The flow regulating personnel checks the activities of the confirmed patients in the building through telephone inquiry and combining with the activity records available for the confirmed patients to generate the activity retention information of the confirmed patients in the building, and the activity retention information comprises the following items:
TABLE 1 Activity retention information items
Step 101, describing the space-time section information of each person in the system scene as
Wherein
Is as follows
The information of the space-time profile of an individual,
the number of the total people in the system,
is as follows
The sequence of the horizontal coordinates of the plane of the individual,
is a first
The sequence of the longitudinal coordinates of the plane of the individual,
is the coordinate occurrence time sequence.
Step 102, the first
Each space-time profile information of an individual is described as
Wherein
Is as follows
The first of an individual
The information of the space-time section is obtained,
is as follows
The number of spatiotemporal profile information an individual has,
is as follows
The first of an individual
The plane abscissa of the space-time section information,
is as follows
The first of the individual
The plane ordinate of the space-time section information,
is as follows
The first of an individual
The time of occurrence of the space-time profile information.
The method has the advantages that more detailed information can be obtained by directly inquiring personnel than by filling in tables by personnel, different problems can be formulated for each personnel, the problems can be flexibly changed without being fixed, a plurality of invalid problems can be eliminated, the effectiveness of collected data is improved, the redundancy of the data is reduced, the time for recovering feedback data is reduced, the cost for collecting the data is reduced, the detention place, the detention starting time, the detention ending time, the next detention place, the drawing of the internal facility of the building, the layout of the internal plane and other information of the person can be more flexibly, directly and effectively collected, one-person one-file 'fine' modeling is realized, the model is established in a one-person one-file mode, the traceability of a subsequent result is improved, specific and accurate personnel track points can be obtained by combining the detention information of the personnel, powerful data support is provided for the subsequent track reduction, and the efficiency and the accuracy of the track reduction are improved.
The step 300 of generating a feasible motion trajectory comprises:
acquiring terrain scene information and generating a feasible track sequence;
supplementing all persons with missing track sequences;
and obtaining a building internal facility drawing and building internal plane layout information from a building manager to generate building plane information for multi-agent pedestrian simulation. And importing the building plane information and the detention information of the patient in the building into a multi-agent pedestrian simulation system to generate a plurality of possible motion space-time trajectories among the detention points of the diagnosed patient.
The method comprises the steps of obtaining a building internal facility drawing and building internal plane layout information to generate building plane information which can be used for multi-agent pedestrian simulation, avoiding generating motion tracks which do not conform to reality, reducing workload of follow-up track screening, guiding the building plane information and retention information of personnel in a building into a multi-agent pedestrian simulation system, generating a plurality of possible motion space-time track sequences among stagnation points of the personnel, enabling tracks generated by the multi-agent pedestrian simulation system to be matched with the actual motion tracks of the personnel, outputting the tracks in a sequence mode to facilitate follow-up screening processing of the tracks one by one, enabling tracks generated by the simulation system to be faster than tracks of manual analysis personnel, selecting more output feasible tracks, enabling the error rate of a machine to compare the feasible tracks to be low, intelligently supplementing the track sequences missing by the personnel, enabling presumed tracks to be more complete and more comprehensive, enabling tracks generated by the system to be higher in precision than manual analysis due to comprehensive information, reducing a large amount of workload, and saving time.
The obtaining of the terrain scene information and the generating of the feasible track sequence specifically include:
generating a set of recording point areas of a person based on the planar terrain information of the system scene
So that for any
And
is provided with
. For any purpose
And
（
) Generating a feasible track sequence set through A-star algorithm
At will
And
to (1)
The sequence of feasible trajectories is represented as
As in fig. 2.
The personnel record points generated according to the plane terrain of the system scene avoid the situation that the personnel can not reach the record points when the system directly generates the personnel record points, the operation method enables the generated record point area to exclude wrong data, reduces the possibility of errors, reduces the processing amount of subsequent data, and can be more practical.
The algorithm A is the most effective direct search method for solving the shortest path in the static road network, and is also an effective algorithm for solving a plurality of search problems. The method has quick response to the environment, direct search path, and the closer the estimated distance value in the algorithm is to the actual value, the faster the final search speed is, and the A-x algorithm can quickly output comprehensive data information, thereby providing a large amount of data reference and support for subsequent track reduction work.
The track sequences for supplementing all persons with deletions specifically include:
for any person
Adjacent space-time information of
And
selecting feasible track sequence from feasible track sequence set by heuristic rule
Forming a complete motion trajectory between adjacent spatial and temporal positions
In which
，
，
. For any person
To form a complementary complete sequence of tracks
For all the persons, a complete supplementary trajectory set is formed
。
The heuristic rule can select any constraint condition and the condition which must be met to plan the path, has the advantages of low complexity, good application to dynamic real-time scheduling and global sensitivity by shortest input distance, minimum time consumption, minimum stairs and maximum heuristic rule, can generate different path schemes between adjacent position space points according to different constraint conditions, can generate comprehensive and feasible personnel movement tracks, supplements missing movement tracks, ensures that the tracks are comprehensive and complete and is more beneficial to analysis. Compared with the traditional manual analysis for generating the movement track, the heuristic rule for generating the movement track of the person has the advantages of shorter time consumption, higher precision and more comprehensive coverage, supplements the missing movement track, avoids the condition of error and leakage of the generated movement track caused by incomplete analysis, and improves the efficiency and the accuracy of generating the track.
After the step 300 generates the feasible motion trajectory, a flow adjustment person may intervene again, and the generated several possible motion spatiotemporal trajectories are verified through monitoring device information, specifically:
step 301, verifying possible space-time trajectories among the stagnation points by flow regulators in combination with monitoring equipment information, and if the personnel can be found in peripheral monitoring equipment related to the space-time trajectories, taking the space-time trajectories as actual trajectories of the personnel among the stagnation points;
step 302, if no person is found in the monitoring equipment corresponding to the track point of the space-time track or the time is not matched, the motion track is eliminated;
and step 303, if the generated plurality of possible motion space-time trajectories are excluded, returning to regenerate new possible motion trajectories until a matched actual motion trajectory is found.
Screening tracks by means of checking monitoring equipment and the like by flow dispatching personnel, verifying each stagnation point of the generated tracks one by one, manually analyzing possible space-time tracks among the stagnation points, judging the accuracy of the generated tracks more accurately than that of machine verification through an algorithm, if the generated tracks are not matched with the monitoring equipment, removing the tracks and returning to be regenerated, the error rate of the predicted tracks can be reduced through a manual verification method, the reasonability of the generated motion tracks is proved, and the accuracy of software prediction is improved.
The step 400 of verifying the trajectory of the person and outputting the complete trajectory of the person comprises:
step 401, calculating a deviation degree of the generated track spatiotemporal information by combining the spatiotemporal information determined by known personnel;
and step 402, importing the complete motion trajectory into a pedestrian simulation system, and restoring the spatiotemporal information of the whole trajectory.
The deviation of the actual personnel movement track and the generated movement track is calculated, the quality of the model can be evaluated, the model is further optimized after the deviation is reduced, the deviation degree is enabled to be more fit with the actual personnel movement track, the output movement track is more accurate, the accuracy of the reduction track is improved, and the dispatching personnel are helped to improve the tracing ability.
The information of personnel investigation and the space-time information of the generated track are compared, the authenticity of the space-time information can be proved, the specific evaluation standard is measured by adopting the degree of deviation in the scheme, the accuracy of information judgment can be improved, the judgment can be conveniently and rapidly carried out, and the judgment speed is improved.
Through leading-in simulation system with complete movement track, restore the spatiotemporal information of whole orbit, can make the spatiotemporal information vivid image of orbit present in the staff, can look over the pedestrian at any time in the simulation system at any time and appear the information in a certain place, made things convenient for staff's investigation work simultaneously for subsequent orbit analysis, behavioral analysis, provided data support to pedestrian's contact information.
The step 401 of calculating the degree of deviation of the generated spatio-temporal information of the trajectory by combining the spatio-temporal information determined by the known person specifically includes:
calculating the deviation degree of the track information with the same time in the actual space-time track and the simulated space-time track of the personnel, namely calculating the space deviation of the actual track and the simulated track at the same moment, and carrying out the calculation on the first step
Degree of deviation of individual person
The calculation is as follows:
for all persons, all personsDegree of deviation of a member
The calculation is as follows:
The degree of deviation of the generated motion track is calculated by combining the known motion track determined by personnel, the accuracy of the method can be verified more powerfully, the authenticity of the spatio-temporal information can be proved, and the specific evaluation standard is measured by adopting the degree of deviation in the scheme, so that the accuracy of information judgment can be improved, the judgment can be conveniently and rapidly carried out, and the judgment rate is improved.
Step 402, the complete motion trajectory is led into the pedestrian simulation system, and the time-space information of the complete trajectory is restored by the steps of:
generating a complete supplementary trajectory set of all persons
And step s2, importing the plane structure information into a pedestrian simulation system, constraining the pedestrians to move according to a specified track in the pedestrian simulation system, calculating to obtain a complete space-time track, and exporting the pedestrian space-time track information, the first step
The simulation space-time trajectory form is
Wherein
The horizontal coordinate of the plane of the simulated trajectory position for the pedestrian,
is a plane ordinate of the simulated trajectory position of the pedestrian,
the simulated position occurrence time.
The complete motion trajectory is led into the simulation system, the spatiotemporal information of the whole trajectory is restored, the spatiotemporal information of the trajectory can be vividly presented to workers, and the simulation system is convenient for the workers to understand and use, so that the simulation system is easier to master, is suitable for beginners, reduces unnecessary software training, can check the information of pedestrians appearing in a certain place at a certain time in the simulation system at any time, facilitates the dispatching work of the workers, and provides data support for subsequent trajectory analysis and behavior analysis and the contact information of the pedestrians.
Repeating the steps 401 and 402 to construct a track reduction model:
the optimization target is that the deviation degree of all the personnel trajectories is minimum, and the target function is as follows:
constraint conditions are as follows:
decision variables being arbitrary
To (1) a
A feasible track sequence
The constraint is as follows:
the compensation sequence is generated by pedestrian simulation
And solving the constructed track reduction model by using a genetic algorithm to obtain a complete pedestrian space-time track.
Obtaining any person through a track reduction model
Has a track of
As in fig. 3.
The above description is merely illustrative of particular embodiments of the invention that enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A pedestrian trajectory calculation method based on a multi-agent simulation technology is characterized by comprising the following steps:
collecting detention information and building information of personnel;
generating a sequence of spatiotemporal trajectory points of the person;
generating a feasible motion track; verifying the movement track of the personnel and outputting a complete personnel track;
the generating of the feasible motion trajectory comprises:
acquiring terrain scene information and generating a feasible track sequence; supplementing all persons with missing track sequences;
the obtaining of the terrain scene information and the generating of the feasible track sequence specifically include:
generating a set of recording point areas of a person based on the planar terrain information of the system scene
So as to be arbitrary
And
is provided with
To any one in
And
（
) Generating feasible track sequence set by A-star algorithm
At will
And
to (1) a
The sequence of feasible trajectories is represented as
。
2. The pedestrian trajectory estimation method based on multi-agent simulation technology as claimed in claim 1, wherein the collecting of retention information of the person specifically comprises:
the flow adjustment personnel inquire by telephone, investigate the time-space trajectory of the personnel in the building and restore the time-space section information of the personnel in the building.
3. The pedestrian trajectory estimation method based on the multi-agent simulation technology as claimed in claim 1, wherein the supplementing missing trajectory sequences for all the persons specifically comprises:
for any person
N and n +1 adjacent spatio-temporal information
And
selecting feasible track sequence from feasible track sequence set by heuristic rule
Forming a complete motion trajectory between adjacent spatial and temporal positions
Wherein
，
，
Z is the total number of space-time information for any person
To form a complementary complete sequence of tracks
For all persons, forming a complete set of complementary trajectories
。
4. The method for estimating the pedestrian trajectory based on the multi-agent simulation technology as claimed in claim 1, wherein after the feasible motion trajectory is generated, a dispatcher intervenes again, and verifies the generated several possible motion spatiotemporal trajectories by monitoring device information, specifically:
verifying possible space-time trajectories among the stagnation points by flow regulators in combination with monitoring equipment information, and if the personnel can be found in peripheral monitoring equipment related to the space-time trajectories, taking the space-time trajectories as actual trajectories of the personnel among the stagnation points;
if no person is found in the monitoring equipment corresponding to the track point of the space-time track or the time is not matched, the motion track is eliminated;
and if the generated plurality of possible motion space-time trajectories are excluded, returning to regenerate new possible motion trajectories until a matched actual motion trajectory is found.
5. The multi-agent simulation technology-based pedestrian trajectory estimation method according to claim 1, wherein the verifying the trajectory of the person and outputting the complete trajectory of the person comprises:
calculating the degree of deviation of the generated spatio-temporal information of the track by combining the spatio-temporal information determined by the known personnel;
and (4) leading the complete motion track into a pedestrian simulation system, and restoring the spatiotemporal information of the whole track.
6. The multi-agent simulation technology-based pedestrian trajectory estimation method as claimed in claim 5, wherein the calculation deviation degree of the spatiotemporal information of the generated trajectory in combination with the spatiotemporal information determined by the known person is specifically:
calculating the deviation degree of the track information with the same time in the actual space-time track and the simulated space-time track of the personnel, namely calculating the space deviation of the actual track and the simulated track at the same moment, and carrying out the calculation on the first step
Degree of deviation of individual person
The calculation is as follows:
degree of deviation for all persons
The calculation is as follows:
7. The multi-agent simulation technology-based pedestrian trajectory estimation method as claimed in claim 5, wherein the step of guiding the complete motion trajectory into the pedestrian simulation system and recovering the spatiotemporal information of the complete trajectory comprises:
generating a complete set of supplementary trajectories for all persons
And importing the plane structure information into a pedestrian simulation system, constraining the pedestrian to move according to a specified track in the pedestrian simulation system, calculating to obtain a complete space-time track, and exporting the pedestrian time-space track information
The simulation space-time trajectory form is
Wherein
The horizontal coordinate of the plane of the simulated trajectory position for the pedestrian,
a plane ordinate of the position of the simulated trajectory for the pedestrian,
the simulated position occurrence time.
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