平交路口机动车自行车行人及其相互干扰微观行为模型研究
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摘要
摘要：混合交通是我国城市交通的典型特征之一。混合交通环境下,行人、自行车、机动车之间的相互干扰显著影响了交叉口的交通运行状况。因此,深入研究平交路口处机动车、自行车、行人三种出行方式之间的干扰机理,提出一套符合我国交通实际情况的平交路口机动车自行车行人微观仿真模型,在理论上不仅能够进一步丰富和完善国内外在混合交通领域的研究成果,促进交通流理论的完善和发展,并且在实践中能够指导开发符合我国混合交通特征的城市交通仿真系统,为平面交叉口的交通规划、管理和信号控制方案设计提供基本参数和理论依据。
本文通过扩展社会力模型对平交路口处机动车、自行车、行人及其相互干扰行为建模研究。以平交路口处右转机动车流、相同进口相邻直行自行车流、相交进口双向行人流相互干扰为例,研究思路是：首先,分析无其他出行方式干扰下的行人、右转机动车及自行车微观行为及交通特性,在此基础上分别建立基于社会力模型的行人微观仿真模型、右转机动车跟驰模型及自行车微观仿真模型；其次,考虑混合交通环境下其他不同出行方式对当前道路使用者的干扰影响,为前述机动车、自行车及行人的社会力模型构成分别引入不同出行方式对其施加的相互作用力,进而得到平交路口机动车、自行车、行人相互干扰下的行为仿真模型。
本文的主要研究工作如下：
1.建立考虑行人减速避让的改进社会力模型。首先,分析研究平交路口处行人微观行为及行人交通特性。其次,考虑行人的运动需求空间,为社会力模型引入“行人减速避让机制”,改进社会力模型。再次,利用C++语言编程实现模型,模拟现象表明行人能够有效避让其他行人及障碍物并且能够充分的利用步行空间；将仿真实验数据拟合得到的行人流速度-密度图与实际数据比较,结果表明行人密度在[0,3.5]p/m2内变化时,所建模型能够再现行人流基本图。
2.建立基于修正广义力及车辆动力理论的右转机动车仿真模型。首先,分析研究平交路口处右转机动车跟驰行为及机动车交通特性。其次,考虑右转机动车跟驰行为与无弯度路段机动车跟驰行为的差异,修正广义力模型。再次,建立仿真框架,分别利用修正后的广义力模型及阿克曼转向分别计算车辆加速度(速度)及转向角；将车辆转向角及车速作为车辆动力模型输入,得到车辆转弯时的侧滑角、偏航角速度、地面坐标。最后,采集数据并设计仿真实验,将仿真实验数据拟合得到的机动车流量-占有率基本图与实际数据比较进而验证模型的有效性。
3.建立考虑期望路径骑行特点的自行车社会力模型。首先,分析研究平交路口处自行车微观行为及自行车交通特性。其次,分析应用社会力模型仿真自行车微观行为的可行性；在此基础上,构建自行车在自驱动力、环境作用力、考虑几何特征的自行车相互作用力等三种力共同作用下的社会力模型,其中,针对平交路口处自行车依照期望路径骑行通过路口的特点,提出环境作用力,环境作用力包括驱使骑行者沿着期望路径骑行的力及障碍物对自行车施加的作用力；考虑几何特征的自行车相互作用力包括社会心理力及减速力,社会心理力用于反映距离的效应,而减速力能够再现自行车之间在一定距离内的减速行为。再次,采集数据并设计仿真实验,将仿真实验数据拟合得到的自行车速度-密度基本图与实际数据比较进而验证模型的有效性。
4.建立平交路口机动车自行车行人相互干扰模型。首先,考虑机动车自行车行人的速度差异、各向异性及仿真步长等因素,改进社会力模型中“相互作用力”的势函数及力。改进后“相互作用力”的特点是能够同时考虑机动车、自行车、行人在下一个仿真步长下的需求空间、各自运动期望速度之间夹角等因素对“相互作用力”的影响。其次,分析混合交通干扰对机动车、自行车及行人行为的影响,分别为前述所建模型引入不同出行方式施加的相互作用力,进而建立考虑机动车自行车干扰的行人仿真模型、考虑行人自行车干扰的机动车仿真模型及考虑机动车行人干扰的自行车仿真模型。再次,通过比较两两干扰下机动车、自行车及行人的空间移动实测轨迹数据与仿真得到的轨迹数据校准机动车、自行车及行人“相互作用力”的作用强度及作用范围。最后,在既有信号平交路口混合交通微观仿真平台上实现平交路口机动车自行车行人相互干扰模型,并给出平台应用案例。
ABSTRACT:The traffic condition that high volumes of pedestrians and bicycles are mixed up together is one of the most obvious characteristics on the urban road network in China. In this situation, the mutual interference among pedestrians, non-motor vehicles and motor vehicles seriously affects the traffic condition of intersections; therefore, the research on the interference mechanism and providing the suitable mixed traffic microscopic behavior model become imperative, because it could not only further enrich the research in the field of mixed traffic and develop the traffic flow theory, but also guide to develop the urban traffic simulation system suitable for the specific characteristics of China, so as to provide basic parameters and theoretical support for traffic planning and management and signal control scheme.
The interaction model among pedestrians, non-motor vehicles and vehicles at signalized plane intersections is proposed on the basis of extending the social force model in this dissertation, and then is exemplified by the specific study on right-turning vehicles, straight-moving bicycles from the same approach, and bidirectional pedestrians from the intersecting approach. The research process is generally as follows: microscopic behavior and traffic characteristics of right-turning vehicles, straight-moving bicycles and bidirectional pedestrians under the environment without interference from other traffic entity are analyzed, and then on the basis of the social force model, pedestrian microscopic simulation model, right-turning vehicle following model, and bicycles microscopic simulation model are built, respectively. In addition, considering that other different trip modes could influence the present users of the road, the interactive forces from those trip modes are added to the previous social force of vehicle, bicycle, and pedestrian. As a result, the behavior simulation model at the intersection where vehicle, bicycle, and pedestrian interfere with each other is finally obtained.
The endeavors of this dissertation are as follows:
1. Designing the improved social force model considering pedestrian deceleration avoidance. First, the pedestrian microscopic behavior and traffic characteristics are analyzed. Second, in order to introduce the "deceleration avoidance mechanism" for the social force model, the space required by pedestrian is considered, and the model gets improved. Third, the model is realized by C++programming and can simulate the phenomenon which represents that pedestrian can effectively avoid other people and obstacles and fully make use of the walk space. Through comparing the simulation data with the velocity-density diagram of pedestrian flow fitting from the real data, it shows that when the density of pedestrians is at the range of0-3.5p/m2, the proposed model can represent the basic behavior of the pedestrian flow well.
2. Designing the right-turning vehicle simulation model based on the revised generalized force model and vehicle dynamic theory. First, the following behavior and traffic characteristics of right-turning vehicle are analyzed. Second, considering the difference of following behavior of right-turning vehicle and ones running on the straight road, the generalized force model gets revised. Third, a simulation frame is built, and on the basis of the revised generalized force model and Ackermann Steering Geometry, the vehicle's accelerated velocity (velocity) and its steering angle are calculated, correspondingly. As the input of vehicle dynamic model, the steering angle and velocity are used to obtain the sideslip angle, yaw rate, and geographical coordinates when vehicle turning. At last, the data are collected, and a simulation experiment is designed, and then through comparing the flow-occupancy diagram from simulation data with that from field data, the proposed model is well verified.
3. Designing the bicycle social force model considering the riding feature on the expected route. First, the microscopic behavior and traffic characteristics of bicycle are analyzed. Second, the feasibility of applying the social force model to simulate the bicycle microscopic behavior is also analyzed. Based on the above, the bicycle social force modes is constructed under the conditions that the bicycle bears three different forces, including its driving force, the outside force, and the interactive forces among its different parts. Meanwhile, based on the characteristic that bicycle runs its expected route to get through the intersection, the outside force is proposed, which includes the force from rider for driving on the expected route and the force from the barriers acting to bicycle. Due to the geometrical characteristics of bicycle, the inside interactive forces include social psychological force and retarding force. Additionally, the psychological force is used to reflect the effect of distance, and the retarding force could represent the bicycle following behavior when they run within some specific distance. Third, the data are collected, and a simulation experiment is designed, and then through comparing the velocity-density diagram from simulation data with that from field data, the proposed model is well verified.
4. Designing the interactive interference model of vehicle, bicycle, and pedestrian at the signalized plane intersection. First, considering some factors, such as, the difference in velocity of vehicle, bicycle and pedestrian, different directions, and simulation step, the potential function and force of "interactive forces" of social force model are improved. The improved "interactive forces" can simultaneously consider how some factors from vehicle, bicycle and pedestrian influence itself. Those factors include the demand space when they are under next simulation step and the intersection angle among their own expected velocity. Second, through analyzing their microscopic behaviors of vehicle, bicycle and pedestrian under mixed traffic, the interactive forces from different trip modes are introduced for the above models, and then pedestrian simulation model, vehicle simulation model and bicycle simulation model are built when they are interfered by two other modes, correspondingly and respectively. Third, through comparing the tested movement trajectory data and the simulation data of pedestrian, bicycle and vehicle when they disturb anther one individually, the effect degree and scope of interactive forces from pedestrian, bicycle and vehicle are calibrated. At last, the interference model is realized on the existing mixed traffic microscopic simulation platform of signalized plane intersections, and is applied into a real case successfully.
本文通过扩展社会力模型对平交路口处机动车、自行车、行人及其相互干扰行为建模研究。以平交路口处右转机动车流、相同进口相邻直行自行车流、相交进口双向行人流相互干扰为例,研究思路是：首先,分析无其他出行方式干扰下的行人、右转机动车及自行车微观行为及交通特性,在此基础上分别建立基于社会力模型的行人微观仿真模型、右转机动车跟驰模型及自行车微观仿真模型；其次,考虑混合交通环境下其他不同出行方式对当前道路使用者的干扰影响,为前述机动车、自行车及行人的社会力模型构成分别引入不同出行方式对其施加的相互作用力,进而得到平交路口机动车、自行车、行人相互干扰下的行为仿真模型。
本文的主要研究工作如下：
1.建立考虑行人减速避让的改进社会力模型。首先,分析研究平交路口处行人微观行为及行人交通特性。其次,考虑行人的运动需求空间,为社会力模型引入“行人减速避让机制”,改进社会力模型。再次,利用C++语言编程实现模型,模拟现象表明行人能够有效避让其他行人及障碍物并且能够充分的利用步行空间；将仿真实验数据拟合得到的行人流速度-密度图与实际数据比较,结果表明行人密度在[0,3.5]p/m2内变化时,所建模型能够再现行人流基本图。
2.建立基于修正广义力及车辆动力理论的右转机动车仿真模型。首先,分析研究平交路口处右转机动车跟驰行为及机动车交通特性。其次,考虑右转机动车跟驰行为与无弯度路段机动车跟驰行为的差异,修正广义力模型。再次,建立仿真框架,分别利用修正后的广义力模型及阿克曼转向分别计算车辆加速度(速度)及转向角；将车辆转向角及车速作为车辆动力模型输入,得到车辆转弯时的侧滑角、偏航角速度、地面坐标。最后,采集数据并设计仿真实验,将仿真实验数据拟合得到的机动车流量-占有率基本图与实际数据比较进而验证模型的有效性。
3.建立考虑期望路径骑行特点的自行车社会力模型。首先,分析研究平交路口处自行车微观行为及自行车交通特性。其次,分析应用社会力模型仿真自行车微观行为的可行性；在此基础上,构建自行车在自驱动力、环境作用力、考虑几何特征的自行车相互作用力等三种力共同作用下的社会力模型,其中,针对平交路口处自行车依照期望路径骑行通过路口的特点,提出环境作用力,环境作用力包括驱使骑行者沿着期望路径骑行的力及障碍物对自行车施加的作用力；考虑几何特征的自行车相互作用力包括社会心理力及减速力,社会心理力用于反映距离的效应,而减速力能够再现自行车之间在一定距离内的减速行为。再次,采集数据并设计仿真实验,将仿真实验数据拟合得到的自行车速度-密度基本图与实际数据比较进而验证模型的有效性。
4.建立平交路口机动车自行车行人相互干扰模型。首先,考虑机动车自行车行人的速度差异、各向异性及仿真步长等因素,改进社会力模型中“相互作用力”的势函数及力。改进后“相互作用力”的特点是能够同时考虑机动车、自行车、行人在下一个仿真步长下的需求空间、各自运动期望速度之间夹角等因素对“相互作用力”的影响。其次,分析混合交通干扰对机动车、自行车及行人行为的影响,分别为前述所建模型引入不同出行方式施加的相互作用力,进而建立考虑机动车自行车干扰的行人仿真模型、考虑行人自行车干扰的机动车仿真模型及考虑机动车行人干扰的自行车仿真模型。再次,通过比较两两干扰下机动车、自行车及行人的空间移动实测轨迹数据与仿真得到的轨迹数据校准机动车、自行车及行人“相互作用力”的作用强度及作用范围。最后,在既有信号平交路口混合交通微观仿真平台上实现平交路口机动车自行车行人相互干扰模型,并给出平台应用案例。
ABSTRACT:The traffic condition that high volumes of pedestrians and bicycles are mixed up together is one of the most obvious characteristics on the urban road network in China. In this situation, the mutual interference among pedestrians, non-motor vehicles and motor vehicles seriously affects the traffic condition of intersections; therefore, the research on the interference mechanism and providing the suitable mixed traffic microscopic behavior model become imperative, because it could not only further enrich the research in the field of mixed traffic and develop the traffic flow theory, but also guide to develop the urban traffic simulation system suitable for the specific characteristics of China, so as to provide basic parameters and theoretical support for traffic planning and management and signal control scheme.
The interaction model among pedestrians, non-motor vehicles and vehicles at signalized plane intersections is proposed on the basis of extending the social force model in this dissertation, and then is exemplified by the specific study on right-turning vehicles, straight-moving bicycles from the same approach, and bidirectional pedestrians from the intersecting approach. The research process is generally as follows: microscopic behavior and traffic characteristics of right-turning vehicles, straight-moving bicycles and bidirectional pedestrians under the environment without interference from other traffic entity are analyzed, and then on the basis of the social force model, pedestrian microscopic simulation model, right-turning vehicle following model, and bicycles microscopic simulation model are built, respectively. In addition, considering that other different trip modes could influence the present users of the road, the interactive forces from those trip modes are added to the previous social force of vehicle, bicycle, and pedestrian. As a result, the behavior simulation model at the intersection where vehicle, bicycle, and pedestrian interfere with each other is finally obtained.
The endeavors of this dissertation are as follows:
1. Designing the improved social force model considering pedestrian deceleration avoidance. First, the pedestrian microscopic behavior and traffic characteristics are analyzed. Second, in order to introduce the "deceleration avoidance mechanism" for the social force model, the space required by pedestrian is considered, and the model gets improved. Third, the model is realized by C++programming and can simulate the phenomenon which represents that pedestrian can effectively avoid other people and obstacles and fully make use of the walk space. Through comparing the simulation data with the velocity-density diagram of pedestrian flow fitting from the real data, it shows that when the density of pedestrians is at the range of0-3.5p/m2, the proposed model can represent the basic behavior of the pedestrian flow well.
2. Designing the right-turning vehicle simulation model based on the revised generalized force model and vehicle dynamic theory. First, the following behavior and traffic characteristics of right-turning vehicle are analyzed. Second, considering the difference of following behavior of right-turning vehicle and ones running on the straight road, the generalized force model gets revised. Third, a simulation frame is built, and on the basis of the revised generalized force model and Ackermann Steering Geometry, the vehicle's accelerated velocity (velocity) and its steering angle are calculated, correspondingly. As the input of vehicle dynamic model, the steering angle and velocity are used to obtain the sideslip angle, yaw rate, and geographical coordinates when vehicle turning. At last, the data are collected, and a simulation experiment is designed, and then through comparing the flow-occupancy diagram from simulation data with that from field data, the proposed model is well verified.
3. Designing the bicycle social force model considering the riding feature on the expected route. First, the microscopic behavior and traffic characteristics of bicycle are analyzed. Second, the feasibility of applying the social force model to simulate the bicycle microscopic behavior is also analyzed. Based on the above, the bicycle social force modes is constructed under the conditions that the bicycle bears three different forces, including its driving force, the outside force, and the interactive forces among its different parts. Meanwhile, based on the characteristic that bicycle runs its expected route to get through the intersection, the outside force is proposed, which includes the force from rider for driving on the expected route and the force from the barriers acting to bicycle. Due to the geometrical characteristics of bicycle, the inside interactive forces include social psychological force and retarding force. Additionally, the psychological force is used to reflect the effect of distance, and the retarding force could represent the bicycle following behavior when they run within some specific distance. Third, the data are collected, and a simulation experiment is designed, and then through comparing the velocity-density diagram from simulation data with that from field data, the proposed model is well verified.
4. Designing the interactive interference model of vehicle, bicycle, and pedestrian at the signalized plane intersection. First, considering some factors, such as, the difference in velocity of vehicle, bicycle and pedestrian, different directions, and simulation step, the potential function and force of "interactive forces" of social force model are improved. The improved "interactive forces" can simultaneously consider how some factors from vehicle, bicycle and pedestrian influence itself. Those factors include the demand space when they are under next simulation step and the intersection angle among their own expected velocity. Second, through analyzing their microscopic behaviors of vehicle, bicycle and pedestrian under mixed traffic, the interactive forces from different trip modes are introduced for the above models, and then pedestrian simulation model, vehicle simulation model and bicycle simulation model are built when they are interfered by two other modes, correspondingly and respectively. Third, through comparing the tested movement trajectory data and the simulation data of pedestrian, bicycle and vehicle when they disturb anther one individually, the effect degree and scope of interactive forces from pedestrian, bicycle and vehicle are calibrated. At last, the interference model is realized on the existing mixed traffic microscopic simulation platform of signalized plane intersections, and is applied into a real case successfully.
引文
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