阅读说明：本技术 一种基于交通冲突的行人与车辆交互仿真方法及系统 (Pedestrian and vehicle interaction simulation method and system based on traffic conflict ) 是由 王昊 李思宇 董长印 陈�全 左泽文 于 2021-06-11 设计创作，主要内容包括：本发明公开了一种基于交通冲突的行人与车辆交互仿真方法及系统,属于交通安全分析技术领域,通过判断交叉口内行人与车辆之间是否存在交通冲突影响,并对交通冲突影响进行分析,计算发生交通冲突时的冲突参数,进一步获得各个交通冲突点对应的冲突参数、以及目标车辆和行人的初始减速度,通过对各个交通冲突点中目标车辆与行人的减速度进行筛选,实时获取并更新车辆和行人的实时行驶速度以及位置。本发明提供的方法将车辆、行人对冲突的考量过程作为决策逻辑,综合考虑范围内车辆对行人的影响、行人对车辆的影响,进而为车辆、行人提供科学合理的速度判断和决策依据,准确、快速仿真多车道情况下的车辆与行人交互。(The invention discloses a pedestrian and vehicle interactive simulation method and system based on traffic conflicts, which belong to the technical field of traffic safety analysis. The method provided by the invention takes the consideration process of the vehicle and the pedestrian on the conflict as decision logic, comprehensively considers the influence of the vehicle on the pedestrian and the influence of the pedestrian on the vehicle in the range, further provides scientific and reasonable speed judgment and decision basis for the vehicle and the pedestrian, and accurately and quickly simulates the interaction of the vehicle and the pedestrian under the condition of multiple lanes.)

1. A pedestrian and vehicle interaction simulation method based on traffic conflicts is used for carrying out prediction analysis on the traffic conflicts at intersections and is characterized by comprising the following steps of:

step S1, reading all pedestrian microscopic data on pedestrian crosswalks and vehicle microscopic data of each lane according to the existing vehicle information database and pedestrian information database, and reading zebra crossing range;

step S2, determining the right of way of the target vehicle and the right of way of the pedestrian based on the pedestrian data and the vehicle data, judging whether the traffic conflict influence exists between the target vehicle and the pedestrian, and ending the current method when the traffic conflict influence does not exist;

when there is a traffic collision influence, determining the real-time position, the real-time driving speed, and the traffic conflict point of the target vehicle and the pedestrian, respectively, and then proceeding to step S3;

step S3, calculating conflict parameters when a traffic conflict occurs according to the real-time driving speed of the target vehicle and the pedestrian and the traffic conflict points of the target vehicle and the pedestrian aiming at each traffic conflict point, and further obtaining the initial deceleration of the target vehicle and the pedestrian when the traffic conflict influences, wherein the conflict parameters comprise a severity coefficient, a risk grade coefficient and a urgency degree coefficient, namely obtaining the conflict parameters corresponding to each traffic conflict point and the initial deceleration of the target vehicle and the pedestrian;

and S4, acquiring the minimum deceleration of the target vehicle and the pedestrian at each traffic conflict point at the intersection, acquiring and updating the real-time driving speed and position of the target vehicle and the pedestrian in real time, and returning to the step S2.

2. The method according to claim 1, wherein in step S2, the right of way for the target vehicle and the pedestrian is determined, the acceleration of the target vehicle is calculated according to the driving model of the target vehicle, the acceleration of the pedestrian is calculated according to the driving model of the pedestrian, and the condition that the traffic collision influence exists between the target vehicle and the pedestrian is as follows:

when the distance between the target vehicle or the pedestrian and the zebra crossing is smaller than a preset threshold value and both the target vehicle and the pedestrian have the right of passage, the traffic conflict influence exists between the target vehicle and the pedestrian;

when the traffic signal lamp of the intersection is a green lamp or the intersection is not provided with the traffic signal lamp, the vehicle and the pedestrian have the right of passage, and when the traffic signal lamp of the intersection is a red lamp, the vehicle and the pedestrian do not have the right of passage;

and keeping the current direction and speed of the target vehicle and the pedestrian unchanged, and continuously moving, wherein the intersection point of the target vehicle track and the pedestrian track is a traffic conflict point.

3. The pedestrian and vehicle interaction simulation method based on traffic conflicts according to claim 2, wherein the step S3 comprises the following steps:

step S3-1, determining the severity coefficient S-v of the traffic conflict according to the real-time running speed of the target vehicle_c/v_xIn, v_cFor the real-time running speed, v, of the target vehicle_xPresetting a speed limit value for a road;

step S3-2, judging the risk level of the traffic conflict, wherein the risk level is divided into high risk, low risk and safety, firstly, respectively calculating the distance between the current positions of the vehicles and the pedestrians and the traffic conflict point, respectively calculating the time required for the traffic conflict according to the distance, and according to a formula:

using the coordinates (x) of the current position of the target vehicle_c,y_c) Coordinates (x) of traffic conflict points_d,y_d) Calculating the distance Lc between the current position of the target vehicle and the traffic conflict point, wherein x_dIs the abscissa, x, of the traffic conflict point_cFurther obtaining TCc the time required by the vehicle to have a traffic conflict for the abscissa of the current position of the target vehicle;

according to the formula:

using the current position coordinates (x) of the pedestrian_p,y_p) Coordinates (x) of traffic conflict points_d,y_d) Calculating the distance Lp between the current position of the pedestrian and the traffic conflict point, wherein y_dIs the ordinate, y, of the traffic conflict point_pFurther obtaining the time TCp, v required by the pedestrian for traffic conflict for the ordinate of the current position of the pedestrian_pReal-time speed of the pedestrian;

secondly, obtaining a time difference delta TC | TCc-TCp | needed by a target vehicle and a pedestrian to generate traffic conflict, judging a risk level according to the time difference delta TC, and further obtaining a risk level coefficient, wherein when the value of the delta TC is smaller than or equal to a preset risk interval range, the traffic conflict is high risk, the corresponding risk level coefficient is 1, when the value of the delta TC is within the preset risk interval range, the traffic conflict is low risk, the corresponding risk level coefficient is 0.5, when the value of the delta TC is larger than or equal to the preset risk interval range, the traffic conflict is safe, and the corresponding risk level coefficient is 0;

step S3-3, judging the urgency degree of the target vehicle or pedestrian when the traffic conflict occurs, wherein the urgency degree is divided into urgency and non-urgency, and an urgency degree coefficient is further obtained according to the urgency degree;

when the time required by the target vehicle or the pedestrian for traffic conflict is less than a preset critical value, the urgency degree is urgency, otherwise, the urgency degree is not urgency;

when the urgency degrees of the target vehicle or the pedestrian are both urgent, the corresponding urgency degree coefficients are both 1;

when the urgency degrees of the target vehicle or the pedestrian are both not urgent, the corresponding urgency degree coefficients are both 0;

when the target vehicle urgency degree is urgency and the pedestrian urgency degree is not urgency, the target vehicle urgency degree coefficient is 0.6, and the pedestrian urgency degree coefficient is 0.3;

when the target vehicle is not urgent and the pedestrian is urgent, the target vehicle urgent degree coefficient is 0.3 and the pedestrian urgent degree coefficient is 0.6;

step S3-4, combining the time required for the target vehicle and the pedestrian to have traffic conflict, the real-time driving speed, the severity coefficient, the risk grade coefficient and the urgency coefficient according to the formula:

calculating the initial deceleration a of the target vehicle caused by the traffic conflict point under the influence of the traffic conflict_cInitial deceleration a to pedestrian_pWherein TCc is the time required for the target vehicle to have a traffic conflict, TCp is the time required for the pedestrian to have a traffic conflict, S is the traffic conflict severity coefficient, f_ΔAs a traffic conflict risk level degree coefficient, f_cIs a target vehicle urgency coefficient, f_pIs a pedestrian urgency degree coefficient.

4. The method for pedestrian and vehicle interaction simulation based on traffic conflict of claim 3, wherein in the step S4, the calculation of the speed and the position of the vehicle and the pedestrian at the next moment specifically comprises the following steps:

step S4-1, determining the collision quantity correction coefficients of the vehicle and the pedestrian according to the risk degree coefficient obtained in the step S3-2, respectively, and according to the formula:

f_z＝1+0.1(n_h-1)+0.05(n_l-1)

wherein f is_zCorrection factor for the number of collisions, n, corresponding to vehicles or pedestrians_hNumber of high risk traffic conflict points, n, for vehicles or pedestrians_lThe number of low risk traffic conflict points faced by a vehicle or pedestrian;

step S4-2, combining the collision quantity correction coefficient and the acceleration corresponding to each traffic collision point, obtaining the minimum deceleration as the final deceleration, according to the formula:

a′_c＝f_z·min(a_c)

a′_p＝f_z·min(a_p)

wherein, a'_cIs the final deceleration, a ', assumed by the vehicle'_pThe final deceleration taken for the pedestrian;

step S4-3, calculating the driving speed and position of the vehicle and the pedestrian at the next moment, according to the formula:

v′_c＝v_c+3.6·(a_c+Rt_p·Rt_c·a′_c)·t

x′_c＝x_c+v′_c·t

v′_p＝v_p+3.6·(a_p+Rt_p·Rt_c·a′_p)·t

y′_p＝y_p+v′_p·t

wherein, v'_c、x′_cRespectively the speed and position of the target vehicle at the next moment, Rt_p、Rt_cRespectively the right of passage of the target vehicle and the pedestrian, t is a simulation step length v'_p、y′_pRespectively the running speed and the position of the pedestrian at the next moment.

5. A pedestrian and vehicle interaction simulation system based on traffic conflicts is characterized by comprising:

one or more processors;

a memory storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising:

the system comprises a module for acquiring pedestrian data on pedestrian crosswalks, vehicle data on each lane and zebra crossing range data;

a module for judging whether a traffic conflict influence exists between the target vehicle and the pedestrian based on the pedestrian data and the vehicle data, and respectively determining a real-time position, a real-time driving speed and a traffic conflict point of the target vehicle and the pedestrian when the traffic conflict influence exists;

a module, which is used for respectively aiming at each traffic conflict point, calculating conflict parameters when traffic conflicts occur at the intersection according to the real-time driving speed of the target vehicle and the pedestrian and the traffic conflict points of the target vehicle and the pedestrian, and further obtaining the initial deceleration of the target vehicle and the pedestrian when the traffic conflicts affect through calculation, namely obtaining the conflict parameters corresponding to each traffic conflict point and the initial deceleration of the target vehicle and the pedestrian;

and the module is used for obtaining the minimum deceleration of the target vehicle and the pedestrian at each traffic conflict point of the intersection and obtaining and updating the real-time driving speed and position of the target vehicle and the pedestrian in real time.

6. A computer-readable medium storing software, the software comprising instructions executable by one or more computers which, when executed by the one or more computers, perform the operations of the pedestrian and vehicle interaction simulation method according to any one of claims 1 to 4.

Technical Field

The invention relates to the technical field of traffic safety analysis, in particular to a pedestrian and vehicle interaction simulation method and system based on traffic conflicts.

Background

Intersections serve as important nodes in urban road networks and are also bottlenecks in traffic networks, where a large number of vehicles and pedestrians are collected. Because pedestrian traffic is not paid due attention and attention for decades, the phenomenon of difficulty in walking to cross streets generally exists, and the problems of low efficiency, poor safety and poor comfort are faced when pedestrians cross streets. In urban intersections in China, vehicles and pedestrians are frequently interacted, interference is serious, and particularly, conflict between right-turning motor vehicles and pedestrians at signal control intersections is serious. The pedestrian is flexible, the interaction with the vehicle is also servo-actuated, so that the vehicle can interact with different pedestrians for multiple times in the running process, the pedestrian can interact with different vehicles for multiple times, and dynamic decision making is carried out for multiple times according to the change of the state of an interaction object.

Some human-vehicle interaction models are proposed at present, and a representative model comprises a social force model and a gap crossing model. Although the social force model can depict the influence of pedestrians and vehicles, only one party can realize deceleration and avoidance during crossing, and the traffic and pedestrians are not depicted enough in the crossing stage. The clearance crossing model can better simulate the crossing stage of vehicles and pedestrians, but lacks the influence of the vehicles and the pedestrians before crossing.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention is based on the idea of the traffic conflict technology, analyzes the severity, the risk level, the urgency degree and the quantity correction coefficient of the conflict on the basis of the speed, the distance from the conflict point, the time for reaching the conflict point, the number of vehicles and the quantity of pedestrians, determines the avoidance measures, the deceleration, the position updating and the crossing of the vehicles and the pedestrians on the basis of the severity, the risk level, the urgency degree and the quantity correction coefficient, comprehensively considers the influence of the vehicles on the pedestrians and the influence of the pedestrians on the vehicles in the range, further provides scientific and reasonable speed judgment and decision basis for the vehicles and the pedestrians, and accurately and quickly simulates the interaction of the vehicles and the pedestrians under the condition of multiple lanes.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

a pedestrian and vehicle interaction simulation method based on traffic conflicts is used for carrying out prediction analysis on the traffic conflicts at intersections and comprises the following steps:

step S1, acquiring pedestrian data on a pedestrian crosswalk, vehicle data on each lane and zebra crossing range data;

step S2, judging whether a traffic conflict influence exists between the target vehicle and the pedestrian based on the pedestrian data and the vehicle data, and ending the current method when the traffic conflict influence does not exist;

when there is a traffic collision influence, determining the real-time position, the real-time driving speed, and the traffic conflict point of the target vehicle and the pedestrian, respectively, and then proceeding to step S3;

step S3, calculating conflict parameters when a traffic conflict occurs according to the real-time driving speed of the target vehicle and the pedestrian and the traffic conflict points of the target vehicle and the pedestrian aiming at each traffic conflict point, and further obtaining the initial deceleration of the target vehicle and the pedestrian when the traffic conflict influences, wherein the conflict parameters comprise a severity coefficient, a risk grade coefficient and a urgency degree coefficient, namely obtaining the conflict parameters corresponding to each traffic conflict point and the initial deceleration of the target vehicle and the pedestrian;

and S4, acquiring the minimum deceleration of the target vehicle and the pedestrian at each traffic conflict point at the intersection, acquiring and updating the real-time driving speed and position of the target vehicle and the pedestrian in real time, and returning to the step S2.

Further, in the foregoing step S2, the condition that the traffic collision influence exists between the target vehicle and the pedestrian is:

when the distance between the target vehicle or the pedestrian and the zebra crossing is smaller than a preset threshold value and both the target vehicle and the pedestrian have the right of passage, the traffic conflict influence exists between the target vehicle and the pedestrian;

when the traffic signal lamp of the intersection is a green lamp or the intersection is not provided with the traffic signal lamp, the vehicle and the pedestrian have the right of passage, and when the traffic signal lamp of the intersection is a red lamp, the vehicle and the pedestrian do not have the right of passage;

and keeping the current direction and speed of the target vehicle and the pedestrian unchanged, and continuously moving, wherein the intersection point of the target vehicle track and the pedestrian track is a traffic conflict point.

Further, the aforementioned step S3 includes the steps of:

step S3-1, determining the severity coefficient S-v of the traffic conflict according to the real-time running speed of the target vehicle_c/v_xIn, v_cFor the real-time running speed, v, of the target vehicle_xPresetting a speed limit value for a road;

step S3-2, judging the risk level of the traffic conflict, wherein the risk level is divided into high risk, low risk and safety, firstly, respectively calculating the distance between the current positions of the vehicles and the pedestrians and the traffic conflict point, respectively calculating the time required for the traffic conflict according to the distance, and according to a formula:

using the coordinates (x) of the current position of the target vehicle_c,y_c) Coordinates (x) of traffic conflict points_d,y_d) Calculating the distance Lc between the current position of the target vehicle and the traffic conflict point, wherein x_dIs the abscissa, x, of the traffic conflict point_cFurther obtaining TCc the time required by the vehicle to have a traffic conflict for the abscissa of the current position of the target vehicle;

according to the formula:

using the current position coordinates (x) of the pedestrian_p,y_p) Coordinates (x) of traffic conflict points_d,y_d) Calculating the distance Lp between the current position of the pedestrian and the traffic conflict point, wherein y_dIs the ordinate, y, of the traffic conflict point_pFurther obtaining the time TCp required by the pedestrian for traffic conflict for the ordinate of the current position of the pedestrian;

secondly, obtaining a time difference delta TC | TCc-TCp | needed by a target vehicle and a pedestrian to generate traffic conflict, judging a risk level according to the time difference delta TC, and further obtaining a risk level coefficient, wherein when the value of the delta TC is smaller than or equal to a preset risk interval range, the traffic conflict is high risk, the corresponding risk level coefficient is 1, when the value of the delta TC is within the preset risk interval range, the traffic conflict is low risk, the corresponding risk level coefficient is 0.5, when the value of the delta TC is larger than or equal to the preset risk interval range, the traffic conflict is safe, and the corresponding risk level coefficient is 0;

step S3-3, judging the urgency degree of the target vehicle or pedestrian when the traffic conflict occurs, wherein the urgency degree is divided into urgency and non-urgency, and an urgency degree coefficient is further obtained according to the urgency degree;

when the time required by the target vehicle or the pedestrian for traffic conflict is less than a preset critical value, the urgency degree is urgency, otherwise, the urgency degree is not urgency;

when the urgency degrees of the target vehicle or the pedestrian are both urgent, the corresponding urgency degree coefficients are both 1;

when the urgency degrees of the target vehicle or the pedestrian are both not urgent, the corresponding urgency degree coefficients are both 0;

when the target vehicle urgency degree is urgency and the pedestrian urgency degree is not urgency, the target vehicle urgency degree coefficient is 0.6, and the pedestrian urgency degree coefficient is 0.3;

when the target vehicle is not urgent and the pedestrian is urgent, the target vehicle urgent degree coefficient is 0.3 and the pedestrian urgent degree coefficient is 0.6;

step S3-4, combining the time required for the target vehicle and the pedestrian to have traffic conflict, the real-time driving speed, the severity coefficient, the risk grade coefficient and the urgency coefficient according to the formula:

calculating traffic conflict impactInitial deceleration a of the target vehicle caused by the bump_cInitial deceleration a to pedestrian_pWherein TCc is the time required for the target vehicle to have a traffic conflict, TCp is the time required for the pedestrian to have a traffic conflict, S is the traffic conflict severity coefficient, f_ΔAs a traffic conflict risk level degree coefficient, f_cIs a target vehicle urgency coefficient, f_pIs a pedestrian urgency degree coefficient.

Further, in step S4, the calculating of the speed and the position of the vehicle and the pedestrian at the next time specifically includes the following steps:

step S4-1, determining the collision quantity correction coefficients of the vehicle and the pedestrian according to the risk degree coefficient obtained in the step S3-2, respectively, and according to the formula:

f_z＝1+0.1(n_h-1)+0.05(n_l-1)

wherein f is_zCorrection factor for the number of collisions, n, corresponding to vehicles or pedestrians_hNumber of high risk traffic conflict points, n, for vehicles or pedestrians_lThe number of low risk traffic conflict points faced by a vehicle or pedestrian;

step S4-2, combining the collision quantity correction coefficient and the acceleration corresponding to each traffic collision point, obtaining the minimum deceleration as the final deceleration, according to the formula:

a′_c＝f_z·min(a_c)

a′_p＝f_z·min(a_p)

wherein, a'_cIs the final deceleration, a ', assumed by the vehicle'_pThe final deceleration taken for the pedestrian;

step S4-3, calculating the driving speed and position of the vehicle and the pedestrian at the next moment, according to the formula:

v′_c＝v_c+3.6·(a_c+Rt_p·Rt_c·a′_c)·t

x′_c＝x_c+v′_c·t

v′_p＝v_p+3.6·(a_p+Rt_p·Rt_c·a′_p)·t

y′_p＝y_p+v′_p·t

wherein, v'_c、x′_cRespectively the speed and position of the target vehicle at the next moment, Rt_p、Rt_cRespectively the right of passage of the target vehicle and the pedestrian, t is a simulation step length v'_p、y′_pRespectively the running speed and the position of the pedestrian at the next moment.

The second aspect of the present invention provides a pedestrian and vehicle interactive simulation system based on traffic conflicts, comprising:

one or more processors;

a memory storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising:

the system comprises a module for acquiring pedestrian data on pedestrian crosswalks, vehicle data on each lane and zebra crossing range data;

a module for judging whether a traffic conflict influence exists between the target vehicle and the pedestrian based on the pedestrian data and the vehicle data, and respectively determining a real-time position, a real-time driving speed and a traffic conflict point of the target vehicle and the pedestrian when the traffic conflict influence exists;

a module, which is used for respectively aiming at each traffic conflict point, calculating conflict parameters when traffic conflicts occur at the intersection according to the real-time driving speed of the target vehicle and the pedestrian and the traffic conflict points of the target vehicle and the pedestrian, and further obtaining the initial deceleration of the target vehicle and the pedestrian when the traffic conflicts affect through calculation, namely obtaining the conflict parameters corresponding to each traffic conflict point and the initial deceleration of the target vehicle and the pedestrian;

and the module is used for obtaining the minimum deceleration of the target vehicle and the pedestrian at each traffic conflict point of the intersection and obtaining and updating the real-time driving speed and position of the target vehicle and the pedestrian in real time.

A third aspect of the invention provides a computer-readable medium storing software comprising instructions executable by one or more computers which, when executed by the one or more computers, perform any one of the operations of the pedestrian and vehicle interaction simulation method.

Compared with the prior art, the pedestrian and vehicle interaction simulation method and system based on traffic conflicts have the following technical effects by adopting the technical scheme:

1) compared with other simulation methods and systems for interaction of pedestrians and vehicles crossing the street, the method and the system establish avoidance logic sequence and consideration factors between the pedestrians and the vehicles according to the occurrence and severity of collision avoidance, and therefore real simulation of the scene is achieved.

2) Compared with other simulation methods and systems for interaction of pedestrians and vehicles crossing streets, the method and the system are divided into three categories of high risk, low risk and safety according to the time difference of the vehicles and the pedestrians reaching the conflict point, the urgency degree of avoidance measures is judged according to the time of reaching the conflict point, the urgency degree of the vehicles and the pedestrians corresponds to four situations, and the process of avoidance decision making of the pedestrians and the vehicles is truly depicted.

3) Compared with other simulation methods and systems for interaction of pedestrians and vehicles crossing the street, the simulation method and system consider the interaction condition of the vehicles and the pedestrians in the multiple lanes, are more suitable for the actual human-vehicle interaction, and expand the application scene.

4) Compared with other simulation methods and systems for interaction of pedestrians and vehicles crossing the street, the method and the system have the advantages that the right of way of the vehicles and the pedestrians is set, so that the scene of interaction of the vehicles turning right at the signalized intersection and the pedestrians can be depicted, and the scene of interaction of the vehicles and the pedestrians at the non-signalized intersection can be depicted.

5) Compared with other simulation methods and systems for interaction of pedestrians and vehicles crossing the street, the simulation method and system only can realize crossing or deceleration avoidance, can realize the crossing of pedestrian flow and pedestrian traffic flow by vehicles, can also depict the mutual influence between pedestrians and vehicles, realizes the avoidance of the vehicles and the pedestrians, and simulates the situation that the pedestrians and the vehicles decelerate at the same time.

Drawings

FIG. 1 is a block flow diagram of a method for pedestrian and vehicle interaction simulation in accordance with an exemplary embodiment of the present invention;

fig. 2 is a schematic diagram of a structure of a traffic conflict effect according to an exemplary embodiment of the present invention.

Detailed Description

In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.

In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.

With reference to the flow of the pedestrian-vehicle interaction method in the exemplary embodiment of the present invention shown in fig. 1, based on the concept of traffic conflict technology, the severity, risk level, urgency level and conflict quantity correction coefficient of a conflict are analyzed based on the speed, the distance from the conflict point, the time to reach the conflict point, the number of vehicles and the number of pedestrians, and based on the analysis, the deceleration, the location update and the crossing of the vehicles and the pedestrians are determined, the influence of the vehicles on the pedestrians and the influence of the pedestrians on the vehicles within the range are comprehensively considered, so that scientific and reasonable speed judgment and decision basis are provided for the vehicles and the pedestrians, the vehicle-pedestrian interaction under the multi-lane condition is accurately and rapidly simulated, and the implementation process of the present invention is described in more detail with reference to fig. 1-2.

Examples

Reading all pedestrian microscopic data on pedestrian crosswalks and vehicle microscopic data of each lane according to an existing vehicle information database and a pedestrian information database, and reading zebra crossing ranges;

determining the right of way of the target vehicle, calculating acceleration by using a driving model of the vehicle, and judging whether the target vehicle is influenced by collision;

determining the right of way of the pedestrian, calculating the acceleration by using a driving model of the pedestrian, and judging whether the pedestrian is influenced by the conflict;

respectively determining the conflict point positions of the vehicle and the pedestrian, and respectively calculating the distance between the vehicle and the pedestrian and the conflict point and the time of the distance;

determining the severity coefficient and risk grade coefficient of each group of conflicts and the degree of urgency of vehicles and pedestrians, and calculating the deceleration caused by each group of conflicts according to the severity coefficient and risk grade coefficient;

the number correction factor and deceleration and speed of each vehicle and pedestrian are determined separately, and the position is updated.

The exemplary embodiment of the present invention, as shown in fig. 2, selects the intersection area, the west entrance lane is two lanes, and the zebra crossing is north-south. The y-axis is parallel to the zebra crossing centerline and the x-axis is parallel to the lane centerline. The west boundary coordinate of the zebra crossing is 76m, and the south boundary coordinate is 10 m. In the figure, numbers indicate pedestrians and numbers thereof, a dotted line is a direction extension line of current movement of the vehicles and the pedestrians, an intersection point is a traffic conflict point, and a dotted line square frame circles the traffic conflict point and numbers. The vehicle and pedestrian information is shown in table 1:

TABLE 1

(A) The pedestrian information database is used for storing pedestrian microscopic data of all pedestrians on a pedestrian crossing and vehicle microscopic data of each lane;

(B) the right of way and the acceleration of the vehicle are shown in a table; calculating whether the known vehicle is influenced by the collision or not, and judging by adopting the following formula;

x_i+150＝>x₀and Rt_c*Rt_p＝1

Vehicle 1: x is the number of₁+150＝8+150＝158m>x₀76m and Rt_c*Rt_p1-1, satisfying;

the vehicle 2: x is the number of₂+150＝65+150＝216m>x₀76m and Rt_c*Rt_p1-1, satisfying;

considering the influence caused by the collision of the pedestrian and the vehicle, and turning to the step (C);

(C) the right of passage and the acceleration of the pedestrian are shown in a table; calculating whether the known pedestrian is influenced by the conflict or not, and judging by adopting the following formula;

y_j+10>y₀and Rt_c*Rt_p＝1

Take pedestrian 1 as an example: y is₁+10＝9.5+10>y₀10 and Rt_c*Rt_p1-1, satisfying; the pedestrians 2, 3 and 4 all meet the conditions, so that the influence of the collision attempt of the vehicles and the pedestrians needs to be considered, and the step (D) is carried out;

(D) taking the vehicle 1 and the pedestrian 1 as an example, the coordinates of the conflict point (1, 1) of the vehicle 1 and the pedestrian 1 are (80, 15). Distance Lc of vehicle i from conflict point (i, j)_i,jAnd time TCc when the distance conflict occurred_i,jCalculating by adopting the following formula;

Lc_i,j＝x_i,j-x_i

TCc_i,j＝Lc_i,j/v_ci

take the conflict point (1, 1) of the vehicle 1 as an example;

Lc_1,1＝x_1,1-x₁＝80-8＝72m

others TCc_i,jAs shown in the following table

(i，j)	1	2	3	4
					1	5.6	5.4	5.8	5.9
2	1.7	1.4	1.9	2.0

Distance Lp of pedestrian i from conflict point (i, j)_i,jAnd the time TCp at which the distance conflict occurs_i,jCalculating by adopting the following formula;

Lp_i,j＝y_i,j-y_j

TCp_i,j＝Lp_i,j/v_pj

take the conflict point (1, 1) of the pedestrian 1 as an example;

Lp_1,1＝y_i,j-y_j＝15-9.5＝5.5m

TCp_1,1＝Lp_1,1/v_p1＝5.5/(5/3.6)＝4s

other TCps_i,jAs shown in the following table

(i，j)	1	2	3	4
					1	1.4	3.1	2.7	2.9
2	0.5	1.8	1.7	2.1

(E) Coefficient of collision severity S_i,jCalculating by adopting the following formula;

S_i,j＝v_ci/30

S_1,j＝v_c1/30＝46/30＝1.53

S_2,j＝v_c2/30＝32/30＝1.07

according to the time TCc when the vehicle distance conflict occurs obtained in (D)_i,jTime to pedestrian distance conflict TCp_i,jDetermining the time difference Δ TC_i,jJudging the risk level of the conflict point (i, j) according to the above, and dividing the model and the standard as follows;

ΔTC_i,j＝|TCc_i,j-TCp_i,j|

take the conflict point (1, 1) as an example;

ΔTC_1,1＝|TCc_1,1-TCp_1,11.6s ≦ 2s for |5.6-4.0|, for low risk, coefficient f_Δ＝0.5；

Other Δ TC_i,jAnd f_ΔThe corresponding coefficients are shown in the following table:

for the conflict point (i, j), time TCc when the vehicle (pedestrian) is away from the conflict occurs_i,j(TCp_i,j) Less than critical value TCc₀(TCp₀) The calculation model of the critical value TC is as follows;

taking the vehicle 1 as an example,

other values are calculated according to a model, TCc₂＝2s，TCp₁＝1.5s，TCp₂＝1.1s，TCp₃＝1.3s，TCp₄＝1.7s；

When the vehicle urgency level and the pedestrian urgency level are both urgency, the corresponding coefficient f_cu＝1，f_pu1 is ═ 1; when the vehicle urgency level and the pedestrian urgency level are both not urgency, the corresponding coefficient f_cu＝0，f_pu0; when the vehicle is urgent and the pedestrian is not, the corresponding coefficient f_cu＝0.6，f_pu0.3; when the vehicle is not in the urgent state and the pedestrian is in the urgent state, the corresponding coefficient f_cu＝0.3，f_pu＝0.6；

For the conflict point (i, j),degree of urgency coefficient f corresponding to degree of urgency of vehicle i_cu；

(i，j)	1	2	3	4
					1	0.3	0	0	0
2	1	0.6	0.6	0.6

For the conflict point (i, j), the urgency coefficient f corresponding to the urgency of the pedestrian j_pu；

(i，j)	1	2	3	4
					1	0.6	0	0	0
2	1	0.3	0.3	0.3

On the basis of this, the deceleration a taken by the driver for the conflict point (i, j) is further determined_ci,jThe calculation model is shown below;

at the deceleration a taken by the vehicle 1 against the collision point (1, 1)_c1,1For the purpose of example only,

other values are calculated according to a model;

(i，j)	1	2	3	4
					1	-0.5	0.0	0.0	0.0
2	-5.6	-2.1	-1.5	0.0

deceleration a of a pedestrian for a conflict point (i, j)_pi,jThe calculation model is as follows;

deceleration a to the collision point (1, 1) by the pedestrian 1_p1,1For the purpose of example only,

other values are calculated according to a model;

(i，j)	1	2	3	4
					1	-1.3	0.0	0.0	0.0
2	-8.3	-0.2	-0.3	0.0

(F) number correction factor f for each vehicle_niCalculating according to the following model;

f_ni＝1+0.1(n_ih-1)+0.05(n_il-1)

the number of high risks in conflict points faced by vehicle i is n_ihNumber of low risks n_il；

f_n1＝1+0.1(2-1)+0.0.5(1-1)＝1.1

f_n2＝1+0.1(1-1)+0.05(2-1)＝1.05

Pedestrian number correction coefficient f_njThe calculation model is as follows;

f_nj＝1+0.1(n_ih-1)+0.05(n_il-1)

the number of high risks in conflict points faced by pedestrian j is n_jhNumber of low risks n_jl；

f_n1＝1+0.1(1-1)+0.05(1-1)＝1

f_n2＝1，f_n2＝1，f_n2＝0.85

Deceleration a 'ultimately assumed by vehicle i'_ciV 'speed'_ciAnd the position calculation model at the next moment is as follows, wherein t is the simulation step length and is 0.1 s;

a′_ci＝f_ni·min(a_ci,1,a_ci,1,…,a_ci,n)

v′_ci＝v_ci+3.6·(a_ci+Rt_p·Rt_c·a′_ci)·t

x′_i＝x_i+v′_ci·t

take the vehicle 1 as an example;

a′_c1＝f_n1·min(a_c1,1,a_c1,1,…,a_ci,4)＝1.1×(-0.5)＝-0.55m/s²

v′_c1＝v_ci+3.6·(a_c1+Rt_p·Rt_c·a′_c1)·t＝46+3.6×(1-0.55)×0.1＝46.16km/h

a′_c2＝-5.88m/s²，v′_c2＝30.6km/h，x′₂＝65.85m；

deceleration a 'finally assumed by pedestrian j'_ciV 'speed'_pjAnd the position calculation model at the next time is as follows;

a′_pj＝f_ni·min(a_p1,j,a_c2,j,…,a_cm,j)

v′_pi＝v_pi+3.6·(a_pi+Rt_p·Rt_c·a′_pi)·t

y′_j＝y_j+v′_pj·t

take pedestrian 1 as an example;

a′_p1＝f_ni·min(a_p1,1,a_c2,1)＝1×(-8.32)＝8.32m/s²

v′_p1＝v_p1+3.6·(a_p1+Rt_p·Rt_c·a′_p1)·t＝14+3.6×(0.2-8.32)＝11.08km/h

y′₁＝y₁+v′_p1·t＝9.5+11.08×0.1＝10.61m

other values are available with reference to the model;

a′_p2＝-0.25m/s²，v′_p2＝9.98km/h，y′₂＝7.5m；

a′_p3＝-0.31m/s²，v′_p3＝11.99km/h，y′₃＝7.2m

a′_p4＝0m/s²，v′_p4＝16.07km/h，y′₃＝3.6m

returning to the step (A), executing the step again.

According to the disclosed embodiment of the invention, a pedestrian and vehicle interactive simulation system based on traffic conflict is also provided, which comprises:

the system comprises a module for acquiring pedestrian data on pedestrian crosswalks, vehicle data on each lane and zebra crossing range data;

a module for judging whether a traffic conflict influence exists between the target vehicle and the pedestrian based on the pedestrian data and the vehicle data, and respectively determining a real-time position, a real-time driving speed and a traffic conflict point of the target vehicle and the pedestrian when the traffic conflict influence exists;

a module, which is used for respectively aiming at each traffic conflict point, calculating conflict parameters when traffic conflicts occur at the intersection according to the real-time driving speed of the target vehicle and the pedestrian and the traffic conflict points of the target vehicle and the pedestrian, and further obtaining the initial deceleration of the target vehicle and the pedestrian when the traffic conflicts affect through calculation, namely obtaining the conflict parameters corresponding to each traffic conflict point and the initial deceleration of the target vehicle and the pedestrian;

and the module is used for obtaining the minimum deceleration of the target vehicle and the pedestrian at each traffic conflict point at the intersection and obtaining and updating the real-time running speed and position of the target vehicle and the pedestrian in real time.

Preferably, the system further comprises one or more processors;

a memory storing instructions that are operable, which when executed by the one or more processors, cause the one or more processors to perform operations comprising performing the processes of the pedestrian and vehicle interaction simulation method of any of the preceding embodiments.

Particularly preferably, the aforementioned processor is a processor of a computer system, including but not limited to an ARM-based embedded processor, an X86-based microprocessor, or a type-based processor.

The memory is arranged as a carrier that can store data, typically comprising RAM and ROM.

It should be understood that the computer system may communicate with each subsystem through the bus to obtain the corresponding parameters, so as to implement the control of the operation of each subsystem.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.