CN115578857A - Three-dimensional scene vehicle simulation method and system based on following model and road right - Google Patents
Three-dimensional scene vehicle simulation method and system based on following model and road right Download PDFInfo
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Abstract
The invention discloses a three-dimensional scene vehicle simulation method and a system based on a following model and a right of way, wherein the method comprises the following steps: importing a road network into the selected three-dimensional scene; setting a road speed limit by combining the road speed limit model with a road network, and setting road connection and traffic lights by combining the traffic lights with the intersection analysis model with the road network through point selection; generating a simulated road network based on the road speed limit, the road connection, the traffic lights and the vehicle flow according to the three-dimensional urban road network rule; and simulating the simulated road network through the following model to obtain a vehicle simulation file in a three-dimensional scene. The invention can efficiently realize the vehicle simulation in the three-dimensional scene.
Description
Technical Field
The invention relates to the technical field of road simulation modeling, in particular to a three-dimensional scene vehicle simulation method and system based on a following model and a road right.
Background
With the development of urban traffic management, higher requirements are put forward for urban traffic management and construction work, and the current basic analysis method is to analyze urban traffic data by collecting the urban traffic data and analyze urban road network traffic data by scattered sensors and coil points. The method can acquire real-time data for congestion analysis, but cannot simulate the influence of traffic light time change and traffic flow increase on an urban road network, and meanwhile, the method has low accuracy and no reliability by adopting historical data to directly predict the traffic flow.
The existing physical simulation software has traffic lights or speed limit setting, and due to the complex relation between the speed and the road right, the relation between the traffic lights and the number of roads connected with intersections, and the like, the problem of traffic lights and road speed limit setting becomes a complex and difficult-to-solve professional problem, the traffic simulation can not be realized directly through interface operation, and only a method for realizing program compiling is needed, so that the traffic simulation algorithm can not be directly interacted with a three-dimensional interactive interface in practical application, and higher application difficulty exists in the three-dimensional simulation application.
Disclosure of Invention
In view of this, the present invention provides a three-dimensional scene vehicle simulation method and system based on a following model and a right of way to solve the above technical problems.
The invention discloses a three-dimensional scene vehicle simulation method based on a following model and a right of way, which comprises the following steps:
importing a road network into the selected three-dimensional scene;
setting a road speed limit by combining the road speed limit model with a road network, and setting road connection and traffic lights by combining the traffic lights with the intersection analysis model with the road network through clicking;
generating a simulation road network based on the road speed limit, the road connection, the traffic lights and the vehicle flow according to the three-dimensional urban road network rule;
and simulating the simulated road network through the following model to obtain a vehicle simulation file in a three-dimensional scene.
Further, the setting of the road speed limit by combining the road speed limit model with the road network includes:
the road speed limit model is combined with a road network, a projection intersection is selected in a three-dimensional scene, the intersection is selected, and then traffic lights and time are set.
Further, the influence formula of the road speed limit model on the vehicle speed in the following model is as follows:
v f ＝min[v max ,v(t)+aΔt,v limit ,v safe ]
wherein v is f Maximum rear speed, v, allowable for keeping a safe distance between the current vehicle and the front vehicle max Is the maximum speed that the vehicle can reach, v (t) represents the vehicle speed at time t, a represents the acceleration of the vehicle, Δ t represents the time interval, v limit Indicating road speed limit, v safe Indicating the safe range speed that should be maintained from the leading vehicle.
Further, the setting of road connection and traffic lights by clicking the traffic lights and the intersection analysis model in combination with the road network includes:
analyzing the angle of the access road at the intersection, starting from the direction of a 12-point north to be 0 degree, sequentially numbering lanes of the access road, successively analyzing included angles among different lanes after numbering, defining a steering angle when a vehicle runs, and realizing the switching of the states of red lights and green lights, wherein the traffic rules are also switched simultaneously, and right turns specified by a traffic law are added to allow left turns and left turns to allow straight-going right rights of way; the steering angle comprises straight running, left turning, micro left turning, right turning and micro right turning.
Further, the combination of the traffic light and the intersection analysis model with the road network sets the road connection and the traffic light by clicking, and the method further comprises the following steps:
when a multi-road-section lane line is accessed to the intersection, the traffic rule is directly analyzed through the included angle between the lane and the due north direction, and the steering angle is automatically calculated according to the included angle between other lanes and the lane of the line, so that the steering rule of the lane to the traffic light of the newly added lane is adjusted, and the automatic setting of the simulation setting of the multi-road-section access intersection is realized.
Furthermore, for each lane, other lanes are classified into opposite straight lanes or left-turn or right-turn lanes, the traffic light state is switched among the three lanes, and traffic light passing signals are unified among different lanes, so that automatic setting of multi-lane access intersections is realized.
Further, the three-dimensional urban road network rule comprises:
and setting a road network map layer based on the road network drawing of the two-dimensional map graph, and converting the road network map layer into a three-dimensional urban road network.
Further, the road network drawing of the two-dimensional map graphic includes:
the method comprises the following steps of (1) realizing connection of the same layer or connection across layers by adopting broken line drawing and a concurrent concept, wherein the layer 0 represents that a road network is positioned on the ground; the sequence number of the layer is positive, which indicates that the road is positioned in the air and higher than the ground; the sequence number of the map layer is a negative number, which indicates that the road network is underground and is lower than the ground depth.
Further, in the following model, the following formula is adopted to calculate the braking distance of the vehicle;
L(v)＝vt-bt 2 /2
wherein L (v) is a braking distance, v is a vehicle speed, t is time, and b is a braking acceleration;
real-time calculating and updating the position of the vehicle in simulation by using Euler numerical integration, and calculating to obtain the maximum rear vehicle speed allowed by the safe distance between the current vehicle and the front vehicle by combining a braking distance and speed analysis formula;
the velocity analysis formula is:
L(v f )+v f τ<L(v l )+g
wherein, L (v) f ) Is the braking distance, v, of the rear vehicle f Maximum rear speed, v, allowable for keeping a safe distance between the current vehicle and the front vehicle l τ is the driver's reaction time, L (v) is the speed of the preceding vehicle l ) The braking distance of the front vehicle and the g is the distance between the vehicles.
The invention discloses a three-dimensional scene vehicle simulation system based on a following model and a road right, which comprises the following components:
the importing module is used for importing the road network into the selected three-dimensional scene;
the setting module is used for setting the road speed limit by combining the road speed limit model with a road network, and setting the road connection and the traffic light by combining the traffic light and the intersection analysis model with the road network through point selection;
the generating module is used for generating a simulation road network based on the road speed limit, the road connection, the traffic lights and the vehicle flow according to the three-dimensional urban road network rule;
and the simulation module simulates the simulated road network through the following model to obtain a vehicle simulation file in a three-dimensional scene.
Due to the adoption of the technical scheme, the invention has the following advantages: the traffic flow of the urban road network can be reproduced by a microscopic traffic simulation technology, and a real simulation effect can be realized by adopting a follow-up model in microscopic traffic and combining a traffic light configuration analysis model and a road speed limit model provided by the invention. The user can obtain a more real traffic flow analysis result through the speed limit and traffic light configuration consistent with the real environment, can know the congestion state and the flow of the urban road network macroscopically and microscopically, and has visual and accurate display effect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings.
Fig. 1 is a schematic flowchart of a three-dimensional scene vehicle simulation method based on a following model and a right of way according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a multi-segment multi-directional lane accessing an intersection according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, it being understood that the examples described are only some of the examples and are not intended to limit the invention to the embodiments described herein. All other embodiments available to those of ordinary skill in the art are intended to be within the scope of the embodiments of the present invention.
The invention innovatively provides a traffic light analysis model and a road speed limit model of a multi-road connection intersection, enables simulation to be capable of simply, conveniently and flexibly setting road connection conditions and traffic light settings of the intersection, realizes road speed limit in a road network, is free from the current method of setting by using complex codes, and greatly simplifies the operation process of a user. The configuration can be directly carried out by applying the clicking operation in the three-dimensional scene on two important technologies of traffic light configuration and road speed limit, the operation method is visual and convenient, and the method is really suitable for three-dimensional scene vehicle simulation. Finally, the invention provides a hierarchical height algorithm model of the three-dimensional urban road network by analyzing the defects of the existing three-dimensional urban road network, the algorithm solves the implementation problem of the three-dimensional urban road network in a three-dimensional scene, and the road network and the vehicle are penetrated through the model by innovatively providing a road network layer concept to level the road network height to multiple levels of the underground, the ground and the ground, so that the method is reliable and efficient.
Referring to fig. 1, the present invention provides an embodiment of a three-dimensional scene vehicle simulation method based on a following model and a road right, specifically, the method includes the following steps:
importing a road network into the selected three-dimensional scene;
setting a road speed limit by combining the road speed limit model with a road network, and setting road connection and traffic lights by combining the traffic lights with the intersection analysis model with the road network through point selection;
generating a simulated road network based on the road speed limit, the road connection, the traffic light and the vehicle flow according to the three-dimensional urban road network rule;
and simulating a road network through the following model to obtain a vehicle simulation file in a three-dimensional scene.
More specifically, the present invention is directed to a method for producing,
following model:
the following model is a simulation core module of a microscopic traffic simulation model and has an important role in traffic simulation. The following model realizes the movement of traffic flow by simulating the driving state of vehicles driving in a road network system, integrates psychology and dynamics calculation characteristics and is closely related to traffic driving experience.
The following model divides driving situations into two categories accordingly: no lead vehicle (free flow) and with lead vehicle (congested flow). Under the condition of free flow, the vehicle almost has no front vehicle in front, the highest speed of the running vehicle is determined according to the driving level of a vehicle driver, the road speed limit, the road condition and the performance level of the vehicle, and under the condition of congestion flow, the safe distance between the front vehicle and the front vehicle at the moment when the front vehicle is suddenly braked needs to be ensured.
The embodiment proposes an improved car following-Krauss model, which modifies the analysis method of the speed of the following car under the situation of the preceding car, and in the original car following-Krauss model, the average speed of the preceding car and the following car is equal to the average speed of the following car
The taylor expansion of the brake is used for realizing the calculation of the braking distance. The analysis method is easy to calculate out a value deviating from the actual value under the condition that one of the rear vehicle and the front vehicle has large acceleration, so that the collision accident which should not occur in the simulation can be caused to occur, and the simulation accuracy is influenced.
Therefore, a kinetic method is adopted instead of the indispensable solution, and in the embodiment, it is proposed to adopt L (v) = vt-bt 2 The braking distance is calculated by a/2 dynamic algorithm, the position of the vehicle is updated in real time in simulation by using Euler numerical integration, and the braking distance is combined with a speed analysis formula L (v) f )+v f τ<L(v l ) And + g, calculating to obtain the maximum rear vehicle speed based on the front vehicle, and providing a more reliable theoretical basis for microscopic traffic simulation. Wherein L (v) is a braking distance, v is a vehicle speed, t is time, and b is a braking acceleration; l (v) f ) Is the braking distance, v, of the rear vehicle f Maximum rear speed, v, allowable for keeping a safe distance between the current vehicle and the front vehicle l Is the speed of the preceding vehicle,. Tau.is the reaction time of the driver, L (v) l ) The braking distance of the front vehicle and the g is the distance between the vehicles.
Traffic light and intersection analysis model:
in actual traffic, the road direction is observed by naked eyes to determine the connection condition of roads under the state of intersection traffic lights connected with N roads, so that the intersection traffic rules controlled by the traffic lights are judged, but when the intersection connected with more than four roads and each lane of a plurality of lanes have different traffic rules, during simulation design, even if a single intersection sets the traffic rules lane by lane through connecting lines, hundreds of traffic rules under the states of the red lights and the green lights may need to be set, which is not a small workload for microscopic traffic simulation, and when a city is developed, the intersection traffic rules are manually set, so that the current traffic simulation demand is hardly developed.
A new intelligent algorithm is provided on the basis of the existing model, the road right priority calculation among lanes is automatically realized by analyzing the connection relation of intersections, firstly, the angles of the accessed roads are analyzed at the intersections, as shown in figure 2, the directions of 12 points in the due north are 0 degree, the lanes accessed to the intersections are sequentially numbered, the included angles among different lanes are analyzed successively after the lanes are numbered, and the steering angles (straight going, left turning, micro left turning, right turning and micro right turning) when the vehicles run are defined to realize the simultaneous switching of the traffic rules when the red light and green light states are switched, and the right turning and left turning straight road right regulation specified by the traffic laws of China are added. When a multi-path lane line is accessed to the intersection, the passing rule can be directly analyzed through the included angle between the lane and the due north direction, and the steering angle is automatically calculated according to the included angle between other lanes and the lane of the line, so that the traffic light steering rule of the lane to a newly added lane is adjusted, and the simulation setting of the multi-path access intersection is automatically set. For each lane, other lanes are classified into opposite straight lanes or left-turn right-turn lanes, the traffic light state is switched among the three lanes, and traffic light passing signals are unified among different lanes, so that automatic setting of the automatic multi-lane access intersection is realized.
The road speed limit model is as follows:
the road speed limit model is closely related to the following model and is a simulation of road speed limit existing under the real traffic condition. The road speed limit is added to ensure that the microscopic traffic simulation is closer to the real situation, the congested flow can be influenced by the speed limit under the condition of low road speed limit under the condition of free flow in the following model,
the road speed limiting model is realized by selecting a projection intersection in a three-dimensional scene in combination with a road network, and setting a traffic light and time at the selected intersection, wherein a specific formula for influencing the vehicle speed in the following model is as follows:
v f ＝min[v max ,v(t)+aΔt,v limit ,v safe ]
in the formula, v f Maximum rear speed, v, allowable for keeping a safe distance between the current vehicle and the front vehicle max Is the maximum speed that the vehicle can reach, v (t) represents the vehicle speed at time t, a represents the acceleration of the vehicle, Δ t represents the time interval, v limit Indicating road speed limit, v safe Indicating the safe range speed that should be maintained from the leading vehicle. The road speed limit model lays a foundation for reasonable simulation by combining the regulations of the national traffic law and a simulation formula.
Three-dimensional city road network:
the situations of three-dimensional crossing of real urban traffic are quite common, for example, three-dimensional crossing road sections under various conditions such as overpasses, underground passages and the like, the condition of vehicle crossing occurs because the conventional simulation technology generally adopts a two-dimensional simulation technology, but when the three-dimensional simulation technology is applied to a three-dimensional scene, the condition of vehicle crossing occurs due to the crossed road sections on a non-three-dimensional urban road network. In order to solve the problem from the perspective of efficient generation of a road network, the embodiment proposes to adopt a road network layer concept, in a two-dimensional map graph, the road network is usually drawn by broken lines, connection of the same layer or connection across layers is realized by a concurrent concept, layer 0 represents that the road network is located on the ground, the layer serial number is positive number and represents that the road is located in the air and higher than the ground, and the serial number is negative number and represents that the road network is located underground and lower than the ground depth, so that various three-dimensional traffic forms such as overpasses, trails and underground passages are simulated, the traditional two-dimensional traffic simulation form is broken through by using a simple method, and the traffic simulation is displayed in a three-dimensional scene.
According to the traffic simulation method, a new following model is provided, an automatic traffic light interaction mode is built, the function of the following model is further improved through a road speed limit model, a brand-new simulation mode is realized, the automation function of a simulation task is realized, and finally, a three-dimensional city road network is built, so that the simulation operation can be perfectly operated in a three-dimensional scene, the three-dimensional visual traffic rule setting of non-programming operation is added, the automatic building of traffic simulation is not realized in the current traffic simulation field, and the traffic simulation presentation in the three-dimensional scene is lacked.
The invention also provides an embodiment of a three-dimensional scene vehicle simulation system based on the following model and the right of way, which comprises the following steps:
the importing module is used for importing the road network into the selected three-dimensional scene;
the setting module is used for setting road speed limit by combining the road speed limit model with a road network, and setting road connection and traffic lights by combining the traffic lights with the intersection analysis model with the road network through point selection;
the generating module is used for generating a simulation road network based on the road speed limit, the road connection, the traffic lights and the vehicle flow according to the three-dimensional urban road network rule;
and the simulation module simulates the simulated road network through the following model to obtain a vehicle simulation file in a three-dimensional scene.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A three-dimensional scene vehicle simulation method based on a following model and a road weight is characterized by comprising the following steps:
importing a road network into the selected three-dimensional scene;
setting a road speed limit by combining the road speed limit model with a road network, and setting road connection and traffic lights by combining the traffic lights with the intersection analysis model with the road network through clicking;
generating a simulation road network based on the road speed limit, the road connection, the traffic lights and the vehicle flow according to the three-dimensional urban road network rule;
and simulating the simulated road network through the following model to obtain a vehicle simulation file in a three-dimensional scene.
2. The method of claim 1, wherein the setting the road speed limit by the road speed limit model in combination with the road network comprises:
the road speed limit model is combined with a road network, a projection intersection is selected in a three-dimensional scene, the intersection is selected, and then traffic lights and time are set.
3. The method according to claim 2, characterized in that the influence formula of the road speed limit model on the vehicle speed in the following model is:
v f ＝min[v max ,v(t)+aΔt,v limit ,v safe ]
wherein v is f Maximum allowable rear vehicle speed v for keeping safe distance between current vehicle and front vehicle max Is the maximum speed that the vehicle can reach, v (t) represents the vehicle speed at time t, a represents the acceleration of the vehicle, Δ t represents the time interval, v limit Indicating road speed limit, v safe Indicating the safe range speed that should be maintained from the leading vehicle.
4. The method of claim 1, wherein the setting the road connection and the traffic light by clicking in combination with the traffic light and intersection analysis model and the road network comprises:
analyzing the angle of the access road at the intersection, starting from the direction of a 12-point north to be 0 degree, sequentially numbering lanes of the access road, successively analyzing included angles among different lanes after numbering, defining a steering angle when a vehicle runs, and realizing the switching of the states of red lights and green lights, wherein the traffic rules are also switched simultaneously, and right turns specified by a traffic law are added to allow left turns and left turns to allow straight-going right rights of way; the steering angle comprises straight movement, left turning, micro left turning, right turning and micro right turning.
5. The method of claim 1, wherein the combining of the traffic light with the intersection analysis model and the road network sets the road connection and the traffic light by clicking, further comprising:
when a multi-road-section lane line is accessed to the intersection, the traffic rule is directly analyzed through the included angle between the lane and the due north direction, and the steering angle is automatically calculated according to the included angle between other lanes and the lane of the line, so that the steering rule of the lane to the traffic light of the newly added lane is adjusted, and the automatic setting of the simulation setting of the multi-road-section access intersection is realized.
6. The method of claim 5, wherein for each lane, the other lanes are classified as either a straight-through lane or a left-turn or right-turn lane, and the traffic light status is switched between the three, and the traffic light passing signals are unified among the different lanes, enabling automatic setup of a multi-lane access intersection.
7. The method of claim 6, wherein said three-dimensional urban road network rules comprise:
and setting a road network map layer based on the road network drawing of the two-dimensional map graph, and converting the road network map layer into a three-dimensional urban road network.
8. The method of claim 7, wherein the road network rendering of the two-dimensional map graphic comprises:
the method comprises the following steps that broken line drawing is adopted, connection of the same layer or connection across layers is achieved through a common point concept, and a layer 0 represents that a road network is located on the ground; the sequence number of the layer is positive, which indicates that the road is positioned in the air and higher than the ground; the sequence number of the map layer is negative, which indicates that the road network is underground and is lower than the ground depth.
9. The method according to claim 1, characterized in that in the following model, a braking distance of a vehicle is calculated using the following formula;
L(v)＝vt-bt 2 /2
wherein L (v) is a braking distance, v is a vehicle speed, t is time, and b is a braking acceleration;
real-time calculating and updating the position of the vehicle in simulation by using Euler numerical integration, and calculating to obtain the allowable maximum rear vehicle speed when the current vehicle keeps the safe distance from the front vehicle by combining a braking distance and speed analysis formula;
the velocity analysis formula is:
L(v f )+v f τ<L(v l )+g
wherein, L (v) f ) Is the braking distance, v, of the rear vehicle f Maximum allowable rear vehicle speed v for keeping safe distance between current vehicle and front vehicle l τ is the driver's reaction time, L (v) is the speed of the preceding vehicle l ) The braking distance of the front vehicle and the g is the distance between the vehicles.
10. A three-dimensional scene vehicle simulation system based on a following model and a road right is characterized by comprising the following components:
the importing module is used for importing the road network into the selected three-dimensional scene;
the setting module is used for setting the road speed limit by combining the road speed limit model with a road network, and setting the road connection and the traffic light by combining the traffic light and the intersection analysis model with the road network through point selection;
the generating module is used for generating a simulation road network based on the road speed limit, the road connection, the traffic lights and the vehicle flow according to the three-dimensional urban road network rule;
and the simulation module simulates the simulated road network through the following model to obtain a vehicle simulation file in a three-dimensional scene.
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| CN117709811B (en) * | 2024-02-05 | 2024-04-19 | 河北省交通规划设计研究院有限公司 | Urban planning system and method based on urban simulation |
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