CN116362062A - Simulation method for pedestrian traveling avoidance, electronic equipment and storage medium - Google Patents
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Abstract
The invention provides a simulation method for pedestrian traveling avoidance, electronic equipment and a storage medium, and belongs to the technical field of pedestrian traveling avoidance simulation. The method comprises the following steps: s1, setting grid angles, opposite grid offset, surrounding pedestrian detection ranges and constructing virtual wall parameters; s2, constructing a pedestrian grid; s3, storing pedestrian position information into a grid; s4, obtaining opposite-impact grid and pedestrian set; s5, constructing a virtual wall; s6, calculating social force born by the pedestrians, and adjusting the advancing direction according to the social force born by the pedestrians. The method solves the technical problem of poor simulation efficiency caused by poor calculation performance and large calculation amount in the prior art.
Description
Technical Field
The application relates to a simulation method for pedestrian traveling avoidance, in particular to a simulation method for pedestrian traveling avoidance, electronic equipment and a storage medium, and belongs to the technical field of pedestrian traveling avoidance simulation.
Background
There are two kinds of usual pedestrian microscopic travel simulation models, one is a cellular automaton model, and the other is a social force model. When the two models simulate the real pedestrian flows, the most common problem is that the phenomenon of opposite collision occurs between pedestrians, namely, pedestrians running oppositely do not avoid each other during running, and the process of collision occurs. When such a hedging phenomenon gradually expands, a certain degree of congestion is caused, unlike the phenomenon actually observed. Real-world pedestrians can often avoid in advance when encountering opposite impact, and congestion is not caused. In view of the above, the method for constructing a background field in the prior achievements and referring to the social force model is disclosed, the anisotropism of pedestrian speed and conflict induction is considered, and a pedestrian conflict avoidance mechanism is introduced to improve the original model, so that a simulation method for pedestrian traveling avoidance simulation is formed.
Yu L Y Influence of the exits' configuration on evacuation process in a room without obstacle J. Physica, a. Statistical mechanics and its applications, 2015, 420 (Null) states that the improvement in the endo-visual pulling method to calculate the background field treats the pedestrian as a movable obstacle increases the element value occupied by the pedestrian. In the method, pedestrians are regarded as movable barriers in the actual simulation process, and when the front-back movement directions of two pedestrians are close to or consistent with each other. And, regard pedestrian in front as the obstacle, pedestrian in back can appear and bypass the situation; after pedestrians are taken as moving barriers, acting forces among pedestrians are calculated, so that calculation of forces is repeated, and simulation accuracy is affected; meanwhile, the calculation performance of the background field is poor, and the calculation amount is larger as the number of the simulation persons is larger, so that the simulation efficiency is poor.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention. Its purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
In view of the above, the invention provides a simulation method for pedestrian traveling avoidance, electronic equipment and a storage medium for solving the technical problems of poor simulation efficiency caused by poor calculation performance and large calculation amount in the prior art.
The first scheme is a simulation method for pedestrian traveling avoidance, comprising the following steps:
s1, setting grid angles, opposite grid offset, surrounding pedestrian detection ranges and constructing virtual wall parameters;
s2, constructing a pedestrian grid;
s3, storing pedestrian position information into a grid;
s4, obtaining opposite-impact grid and pedestrian set;
s5, constructing a virtual wall;
s6, calculating social force born by the pedestrians, and adjusting the advancing direction according to the social force born by the pedestrians.
Preferably, the mesh angle is set to 45 °; the offset grid offset is set to 1.
Preferably, the surrounding pedestrian detection range is set to 200cm; the distance of pedestrians constructing the virtual wall is set to 60cm.
Preferably, the method for constructing the pedestrian mesh is as follows: calculating the number N of grids according to the set grid Angle, wherein N=360 degrees/Angle; and creating N pedestrian position information storage grids according to the building size.
Preferably, the position information is stored in the grid corresponding to the sequence number according to the current angle of the pedestrian, and the formula is as follows: idx=ca/Angle, when grid angle=0°, grid number is 0; where Idx represents the grid number and CA represents the current angle of the pedestrian.
Preferably, the method for acquiring the hedging grid and the pedestrian set is as follows:
acquiring a hedging grid set:
according to the current angle of the pedestrian, calculating the grid sequence number of the horizontal right opposite surface, wherein the formula is as follows:
Idx= （CA+180°）/ Angle；
according to the offset of the hedging grids, obtaining a hedging grid set;
acquiring a hedging pedestrian set:
and traversing all pedestrians of the hedging grid according to the current positions of the pedestrians, and putting pedestrians with the distance smaller than the searching range of surrounding pedestrians into the hedging pedestrian set.
Preferably, the method for constructing the virtual wall is as follows: and traversing the opposite-impact pedestrian set, calculating the distance between every two pedestrians, constructing a virtual wall according to the positions of the two pedestrians when the distance between the pedestrians is smaller than the distance between the pedestrians for constructing the virtual wall, and putting the pedestrians into a list without calculating the acting force of the pedestrians.
Preferably, the method for calculating the social force suffered by the pedestrian is as follows:
resultant force of pedestrians=self-driving of pedestrians+wall force+inter-pedestrian force
Wall force = building wall + virtual wall force
Inter-pedestrian effort = surrounding people-effort for not calculating pedestrian effort list.
The second scheme is an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the step of the simulation method for pedestrian traveling avoidance in the first scheme when executing the computer program.
A third aspect is a computer readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements the simulation method for pedestrian travel avoidance of the first aspect.
The beneficial effects of the invention are as follows: according to the invention, the grid angle, the offset of the hedging grid, the detection range of surrounding pedestrians, the construction of virtual wall parameters, the construction of the pedestrians grid and the pedestrian position data are set, and the hedging grid and the pedestrian set are obtained, so that the virtual wall is constructed, the social force born by the pedestrians is finally calculated, and the advancing direction is adjusted according to the social force born by the pedestrians; the method solves the technical problem of poor simulation efficiency caused by poor calculation performance and large calculation amount in the prior art. The method realizes the optimization of the pedestrian travelling path, reduces the probability of pedestrian travelling conflict, and improves the simulation efficiency and the authenticity. The accurate modeling and simulation of pedestrian behaviors can better predict and control the behaviors of pedestrians in crowded scenes, so that the problems in the aspects of personnel evacuation, safety, management and the like are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic flow diagram of a simulation method for pedestrian travel avoidance;
FIG. 2 is a schematic diagram of pedestrian versus pedestrian position;
FIG. 3 is a schematic illustration of pedestrian hedging relationship;
fig. 4 is a schematic diagram of the conversion of a heddle person into an obstacle.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is given with reference to the accompanying drawings, and it is apparent that the described embodiments are only some of the embodiments of the present application and not exhaustive of all the embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
Embodiment 1, referring to fig. 1 to 4, describes a simulation method for pedestrian travel avoidance, which includes the following steps:
s1, setting grid angles, opposite grid offset, surrounding pedestrian detection ranges and constructing virtual wall parameters, wherein the parameters can be calibrated according to the needs of simulation scenes;
the grid angle was set at 45 °.
The offset grid offset is set to 1;
the surrounding pedestrian detection range is set to 200cm;
the distance of pedestrians constructing a virtual wall is set to be 60cm;
see, table 1 for details;
table 1 parameter setting table
S2, constructing a pedestrian grid for storing pedestrian position information of different angles in real time, wherein the relation between the grid serial number and the pedestrian angle is shown as a table 2 grid serial number and pedestrian angle relation table; (mesh size 20cm x 20 cm);
the method for constructing the pedestrian grid comprises the following steps:
calculating the number N of grids according to the set grid Angle, wherein N=360 degrees/Angle;
and creating N pedestrian position information storage grids according to the building size.
TABLE 2 grid sequence number and pedestrian Angle relationship Table
S3, storing pedestrian position information into a grid;
storing the position information into grids with corresponding serial numbers according to the current angle of the pedestrian, wherein the formula is as follows:
idx=ca/Angle, when grid angle=0°, grid number is 0;
wherein Idx represents a grid sequence number, and CA represents a current angle of the pedestrian;
s4, obtaining opposite-impact grid and pedestrian set;
acquiring a hedging grid set:
according to the current angle of the pedestrian, calculating the grid sequence number of the horizontal right opposite surface, wherein the formula is as follows:
Idx= （CA+180°）/ Angle；
according to the offset of the hedging grids, obtaining a hedging grid set;
for example: the current angle ca=50°, aoffset=1, the front hedging number is 4 and the surrounding two grid numbers are the grid numbers where 3 and 5 are located, respectively, i.e. the hedging grid set is {3,4,5}.
Acquiring a hedging pedestrian set:
and traversing all pedestrians of the hedging grid according to the current positions of the pedestrians, and putting pedestrians with the distance smaller than the searching range of surrounding pedestrians into the hedging pedestrian set.
Referring to fig. 2, a schematic diagram of the relationship between pedestrians and positions of pedestrians is shown, and 6 pedestrians within a range of 2 meters around a pedestrian { ped, 60 ° } are respectively: { ped, 30 ° }, { ped, 80 ° }, { ped4,172 ° }, { ped5,262 ° }, { ped6,258 ° }, { ped7,210 ° }, according to the method of obtaining the set of hedging pedestrians, the hedging relationship is obtained by obtaining the hedging conforming to the hedging behavior { ped5,262 ° }, { ped6,258 ° }, { ped7,210 ° }, referring to fig. 3, the pedestrian hedging relationship is schematically shown.
S5, constructing a virtual wall;
traversing the opposite-impact pedestrian set, calculating the distance between every two pedestrians, constructing a virtual wall according to the positions of the two pedestrians when the distance between the pedestrians is smaller than the distance between the pedestrians for constructing the virtual wall, and putting the pedestrians into a list without calculating the acting force of the pedestrians; referring to fig. 4, a hedging pedestrian is converted into an obstacle schematic;
s7, calculating social force born by the pedestrians, and adjusting the advancing direction according to the social force born by the pedestrians.
Resultant force of pedestrians=self-driving of pedestrians+wall force+inter-pedestrian force
Wall force = building wall + virtual wall force
Inter-pedestrian effort = surrounding people-effort for not calculating pedestrian effort list.
In embodiment 2, the computer device of the present invention may be a device including a processor and a memory, for example, a single chip microcomputer including a central processing unit. And the processor is used for executing the computer program stored in the memory to realize the steps of the method for passing the automatic driving vehicle at the no-signal crossing.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Embodiment 3, computer-readable storage Medium embodiment
The computer readable storage medium of the present invention may be any form of storage medium that is readable by a processor of a computer device, including but not limited to, a nonvolatile memory, a volatile memory, a ferroelectric memory, etc., on which a computer program is stored, and when the processor of the computer device reads and executes the computer program stored in the memory, the steps of a method for passing an autonomous vehicle at a no-signal intersection as described above can be implemented.
The computer program comprises computer program code which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is defined by the appended claims.
Claims (10)
1. The simulation method for pedestrian traveling avoidance is characterized by comprising the following steps of:
s1, setting grid angles, opposite grid offset, surrounding pedestrian detection ranges and constructing virtual wall parameters;
s2, constructing a pedestrian grid;
s3, storing pedestrian position information into a grid;
s4, obtaining opposite-impact grid and pedestrian set;
s5, constructing a virtual wall;
s6, calculating social force born by the pedestrians, and adjusting the advancing direction according to the social force born by the pedestrians.
2. The simulation method for pedestrian traveling avoidance according to claim 1, wherein the set grid angle is set to 45 °; the offset grid offset is set to 1.
3. The simulation method for pedestrian travel avoidance according to claim 2, wherein the surrounding pedestrian detection range is set to 200cm; the distance of pedestrians constructing the virtual wall is set to 60cm.
4. A simulation method for pedestrian avoidance according to claim 3, wherein the method for constructing the pedestrian mesh is: calculating the number N of grids according to the set grid Angle, wherein N=360 degrees/Angle; and creating N pedestrian position information storage grids according to the building size.
5. The simulation method for pedestrian avoidance of claim 4, wherein the method for storing the pedestrian position information in the grid is: storing the position information into grids with corresponding serial numbers according to the current angle of the pedestrian, wherein the formula is as follows: idx=ca/Angle, when grid angle=0°, grid number is 0; where Idx represents the grid number and CA represents the current angle of the pedestrian.
6. The simulation method for pedestrian travel avoidance of claim 5, wherein the method for obtaining the hedging grid and the pedestrian set is as follows:
acquiring a hedging grid set:
according to the current angle of the pedestrian, calculating the grid sequence number of the horizontal right opposite surface, wherein the formula is as follows:
Idx= （CA+180°）/ Angle；
according to the offset of the hedging grids, obtaining a hedging grid set;
acquiring a hedging pedestrian set:
and traversing all pedestrians of the hedging grid according to the current positions of the pedestrians, and putting pedestrians with the distance smaller than the searching range of surrounding pedestrians into the hedging pedestrian set.
7. The simulation method for pedestrian travel avoidance of claim 6, wherein the method for constructing the virtual wall is as follows: and traversing the opposite-impact pedestrian set, calculating the distance between every two pedestrians, constructing a virtual wall according to the positions of the two pedestrians when the distance between the pedestrians is smaller than the distance between the pedestrians for constructing the virtual wall, and putting the pedestrians into a list without calculating the acting force of the pedestrians.
8. The simulation method for pedestrian travel avoidance of claim 7, wherein the method for calculating the social force experienced by the pedestrian is:
resultant force of pedestrians=self-driving of pedestrians+wall force+inter-pedestrian force
Wall force = building wall + virtual wall force
Inter-pedestrian effort = surrounding people-effort for not calculating pedestrian effort list.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of a pedestrian crossing simulation method according to any one of claims 1-8 when executing the computer program.
10. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a method of simulating pedestrian traffic avoidance as claimed in any one of claims 1 to 8.
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