城市快速路微观交通系统仿真建模
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摘要
快速路担负着城市长距离、快速交通的任务,对缓解城市日益增长的交通规模所带来的交通压力起着重要作用。然而,随着社会经济的快速发展,城市交通的规模也在急剧增加。同时,由于最初对交通规模的增加估计不足,快速路的容量已不能适应目前的交通需要,随之而产生了交通拥堵、交通事故频发、环境污染等诸多问题。新建高等级的快速路固然是解决问题的一个方面,然而科学合理地组织和管理快速路交通,有效地利用现有的快速路资源也是解决问题的另一条有效途径。
作为研究交通现象的一种手段,道路交通系统仿真以其经济、安全、灵活的特点而越来越多地被应用于道路设计、交通管理、交通安全分析、智能交通系统等领域中,并取得良好的效果。依据城市快速路的交通特点有针对性地开发交通仿真系统,将有助于人们理解快速路交通现象,进而寻找针对各种交通问题的解决方案。
本文所开展的工作就是针对上海市南北高架约4.5公里的一条路段,开发相应的交通仿真系统。目前的工作目标是建立各种核心的仿真模型并开发基本的仿真系统,努力使仿真的效果能够尽量反映实际的交通状况。首先根据车辆和驾驶员的特性建立车辆和驾驶员模型。然后,针对城市快速路的特点,通过分析和实验比对,选择广义力模型作为车辆的跟驰模型。对于任意性换道行为,根据驾驶员换道的三个阶段分别建立换道需求产生模型、间隙检测模型和执行换道模型。此外,本文的一个研究重点是针对高交通量条件下,驾驶员期望车速的变化规律建立相应的数学模型。最后,仿真实验的结果显示,采用上述模型描述车辆在道路上的运行情况,所得出的实验数据与实际采集到的交通数据比较吻合,从而验证了这些模型应用在城市快速路环境中的有效性。
Urban freeways, undertaking the long-distant and rapid transportation of city, play an important role in relieving the stress of heavy traffic brought about by the rapidly increase in the needs of traveling. However, with quick economic growth, this kind of needs as well as initial underestimation of it make the current freeways have not enough capacities to accommodate more and more vehicles, leading to many serious troubles such as traffic congestion, frequent accidents and environmental pollution, etc. On the one hand, to solve these problems, building more freeways to meet the needs is of course a feasible approach. On the other hand, it is another effective way to make use of the current road resources efficiently with reasonable management.
Nowadays, as a flexible, safe and low-cost means of studying on traffic phenomenon, traffic simulation systems are more often used successfully in some fields of traffic engineering, such as road design, traffic management, analysis of traffic safety etc. Based on the traits of urban freeways, developing traffic simulation software accordingly will contribute to the understanding of the phenomenon of freeway traffic and seeking the approaches to various problems occurring on the freeways.
In this thesis, a traffic simulation system is developed for a road segment of the North-south Viaduct in Shanghai, the length of which is about 4.5 kilometers. At the current stage, our aim is to establish the models for the critical components of freeway environments and develop a basic simulation system to make the results of simulation fit the actual traffic states as well as possible. Firstly, driver-vehicle unit is modeled to describe the characteristics of drivers and vehicles. Secondly, by means of analysis and comparison between several classical car following models, the Generalized Force Model is chosen according to the traits of freeways and used as the car following model in our simulation system to describe the drivers' following behaviors. Three stages of drivers' discretionary lane changing behaviors are modeled to characterize the demand generation, gap acceptance and execution of lane changing, respectively. In addition, in the thesis, we put forward an idea that the drivers' desired speeds are variable and focus more on how to model the variation of derivers' desired speed at high flow. Finally, a simulation experiment has been conducted and the results show that the simulation data fit the field data preferably and then these models are validated.
作为研究交通现象的一种手段,道路交通系统仿真以其经济、安全、灵活的特点而越来越多地被应用于道路设计、交通管理、交通安全分析、智能交通系统等领域中,并取得良好的效果。依据城市快速路的交通特点有针对性地开发交通仿真系统,将有助于人们理解快速路交通现象,进而寻找针对各种交通问题的解决方案。
本文所开展的工作就是针对上海市南北高架约4.5公里的一条路段,开发相应的交通仿真系统。目前的工作目标是建立各种核心的仿真模型并开发基本的仿真系统,努力使仿真的效果能够尽量反映实际的交通状况。首先根据车辆和驾驶员的特性建立车辆和驾驶员模型。然后,针对城市快速路的特点,通过分析和实验比对,选择广义力模型作为车辆的跟驰模型。对于任意性换道行为,根据驾驶员换道的三个阶段分别建立换道需求产生模型、间隙检测模型和执行换道模型。此外,本文的一个研究重点是针对高交通量条件下,驾驶员期望车速的变化规律建立相应的数学模型。最后,仿真实验的结果显示,采用上述模型描述车辆在道路上的运行情况,所得出的实验数据与实际采集到的交通数据比较吻合,从而验证了这些模型应用在城市快速路环境中的有效性。
Urban freeways, undertaking the long-distant and rapid transportation of city, play an important role in relieving the stress of heavy traffic brought about by the rapidly increase in the needs of traveling. However, with quick economic growth, this kind of needs as well as initial underestimation of it make the current freeways have not enough capacities to accommodate more and more vehicles, leading to many serious troubles such as traffic congestion, frequent accidents and environmental pollution, etc. On the one hand, to solve these problems, building more freeways to meet the needs is of course a feasible approach. On the other hand, it is another effective way to make use of the current road resources efficiently with reasonable management.
Nowadays, as a flexible, safe and low-cost means of studying on traffic phenomenon, traffic simulation systems are more often used successfully in some fields of traffic engineering, such as road design, traffic management, analysis of traffic safety etc. Based on the traits of urban freeways, developing traffic simulation software accordingly will contribute to the understanding of the phenomenon of freeway traffic and seeking the approaches to various problems occurring on the freeways.
In this thesis, a traffic simulation system is developed for a road segment of the North-south Viaduct in Shanghai, the length of which is about 4.5 kilometers. At the current stage, our aim is to establish the models for the critical components of freeway environments and develop a basic simulation system to make the results of simulation fit the actual traffic states as well as possible. Firstly, driver-vehicle unit is modeled to describe the characteristics of drivers and vehicles. Secondly, by means of analysis and comparison between several classical car following models, the Generalized Force Model is chosen according to the traits of freeways and used as the car following model in our simulation system to describe the drivers' following behaviors. Three stages of drivers' discretionary lane changing behaviors are modeled to characterize the demand generation, gap acceptance and execution of lane changing, respectively. In addition, in the thesis, we put forward an idea that the drivers' desired speeds are variable and focus more on how to model the variation of derivers' desired speed at high flow. Finally, a simulation experiment has been conducted and the results show that the simulation data fit the field data preferably and then these models are validated.
引文
[1]徐吉谦,陈学武.交通工程总论(第三版).北京：人民交通出版社,2008
[2]裴玉龙,张亚平.道路交通系统仿真.北京：人民交通出版社,2004
[3]刘运通,石建军,熊辉.交通系统仿真技术.北京：人民交通出版社,2002
[4]王殿海.交通流理论.北京：人民交通出版社,2002
[5]Chandler R. E., Herman R., Montroll, E. W. Traffic Dynamics:Studies in Car Following. Operations Research,1958,6(2),165-184
[6]Widedmann R, Reiter U. Microscopic Traffic Simulation:The Simulation System MISSION. Background and Actual State CEC Project ICARUS(V1052) Final Report,1992, 2,1-53
[7]Bando M., Hasebe K., Nakayama A., Shibata A., Sugiyama Y. Dynamical model of traffic congestion and numerical simulation. Physical Review E,1995,51(2),1035-1042
[8]Helbing D., Tilch B. Generalized force model of traffic dynamics. Physical Review E, 1998,58(1),133-138
[9]杨小宝,张宁.任意性换道模型的比较与选择.交通运输系统工程与信息,2006,6(4),53-56
[10]Yang Q. I., Koutsopoulos H. N. A Microscopic Traffic Simulator for evaluation of dynamic traffic management systems. Transportation Research Part C:Emerging Technologies,1996,4(3),113-129
[11]Brackstone M., McDonald M. Car-following:a historical review. Transportation Research Part F,1999,2,181-196
[12]许世燕,贺昱曜.基于最大车速的广义力跟驰模型.长安大学学报(自然科学版),2007,27(1),72-75
[13]李迎峰,史忠科,周致纳.基于时变期望车距与最大车速的跟驰模型.交通与计算机,2008,26(3),1-4
[14]Li Z. P., Gong X. B., Liu Y. C. An Improved Car-Following Model for Multiphase Vehicular Traffic Flow and Numerical Tests. Communications in Theoretical Physics,2006, 46(2),367-373
[15]颜景茂.汽车制动平均减速度的分析与测试.汽车技术,1998,11
[16]侯涛,张泽良,李博修.干线公路期望车速确定方法分析.交通科技与经济,2009, 11(5),53-55,58
[17]郑安文.期望车速的意义及其影响因素分析.武汉科技大学学报(自然科学版)2005,28(2),61-64
[18]曾胜男,白旭,杜豫川,孙立军.基于统计学的上海城市快速路自由流车速确定.中国市政工程,2007,6,3
[19]Hoogendoorn S.P. Unified approach to estimating free speed distributions. Transportation Research Part B:Methodological,2005,39(8),709-727
[20]Free Speed Survey 2008 (Urban and Rural) Irish Road Safety Authority,2008
[21]Mannan M. S., Enberg A. Desired Speed on Finnish Freeways in Different Traffic Circumstances. Finnish National Road Administration,1999
[22]Catbagan J. L., Nakamura H. Desired Speed Distributions on Two-Lane Highways Under Various Conditions. Transportation Research Record:Journal of the Transportation Research Board, National Research Council,2008,2088,218-226
[23]Lipshtat A. Effect of desired speed variability on highway traffic flow. Physical Review E,2009,79(6),066110
[24]刘震,符锌砂.运行车速预测模型中的期望速度推荐值研究.公路工程,2009,34(3),155-157
[25]周杲尧,过秀成.驾驶员行为特性对交通仿真模型的影响及其应用.现代交通技术,2005,2(2),63-66
[26]Lei J., Redmill K., Ozguncr U. VATSIM:A Simulator for Vehicles and Traffic.2001 IEEE Intelligent Transportation Systems Conference Proceedings,2001,25-29
[27]Moen et al. Comparison of the VISSIM Model to Other Widely Used Traffic Simulation and Analysis Programs. the Institute of Transportation Engineers,2000
[28]彭武雄,朱顺应,许源,管菊香,董红利.Vissim仿真软件中期望车速的设定方法研究.交通与计算机,2007,25(4),53-56
[29]王晓原,邢丽,吴芳.基于决策树模型的驾驶员期望车速.计算机应用,2009,29(z2),318-321
[30]陈永海,贺国光.基于OVM模型的交通流混沌研究.长沙交通学院学报,2006,22(1),53-57
[31]丹尼尔L.鸠洛夫,马休J.休伯,蒋璜等译.交通流理论.北京：人民交通出版社,1983
[2]裴玉龙,张亚平.道路交通系统仿真.北京：人民交通出版社,2004
[3]刘运通,石建军,熊辉.交通系统仿真技术.北京：人民交通出版社,2002
[4]王殿海.交通流理论.北京：人民交通出版社,2002
[5]Chandler R. E., Herman R., Montroll, E. W. Traffic Dynamics:Studies in Car Following. Operations Research,1958,6(2),165-184
[6]Widedmann R, Reiter U. Microscopic Traffic Simulation:The Simulation System MISSION. Background and Actual State CEC Project ICARUS(V1052) Final Report,1992, 2,1-53
[7]Bando M., Hasebe K., Nakayama A., Shibata A., Sugiyama Y. Dynamical model of traffic congestion and numerical simulation. Physical Review E,1995,51(2),1035-1042
[8]Helbing D., Tilch B. Generalized force model of traffic dynamics. Physical Review E, 1998,58(1),133-138
[9]杨小宝,张宁.任意性换道模型的比较与选择.交通运输系统工程与信息,2006,6(4),53-56
[10]Yang Q. I., Koutsopoulos H. N. A Microscopic Traffic Simulator for evaluation of dynamic traffic management systems. Transportation Research Part C:Emerging Technologies,1996,4(3),113-129
[11]Brackstone M., McDonald M. Car-following:a historical review. Transportation Research Part F,1999,2,181-196
[12]许世燕,贺昱曜.基于最大车速的广义力跟驰模型.长安大学学报(自然科学版),2007,27(1),72-75
[13]李迎峰,史忠科,周致纳.基于时变期望车距与最大车速的跟驰模型.交通与计算机,2008,26(3),1-4
[14]Li Z. P., Gong X. B., Liu Y. C. An Improved Car-Following Model for Multiphase Vehicular Traffic Flow and Numerical Tests. Communications in Theoretical Physics,2006, 46(2),367-373
[15]颜景茂.汽车制动平均减速度的分析与测试.汽车技术,1998,11
[16]侯涛,张泽良,李博修.干线公路期望车速确定方法分析.交通科技与经济,2009, 11(5),53-55,58
[17]郑安文.期望车速的意义及其影响因素分析.武汉科技大学学报(自然科学版)2005,28(2),61-64
[18]曾胜男,白旭,杜豫川,孙立军.基于统计学的上海城市快速路自由流车速确定.中国市政工程,2007,6,3
[19]Hoogendoorn S.P. Unified approach to estimating free speed distributions. Transportation Research Part B:Methodological,2005,39(8),709-727
[20]Free Speed Survey 2008 (Urban and Rural) Irish Road Safety Authority,2008
[21]Mannan M. S., Enberg A. Desired Speed on Finnish Freeways in Different Traffic Circumstances. Finnish National Road Administration,1999
[22]Catbagan J. L., Nakamura H. Desired Speed Distributions on Two-Lane Highways Under Various Conditions. Transportation Research Record:Journal of the Transportation Research Board, National Research Council,2008,2088,218-226
[23]Lipshtat A. Effect of desired speed variability on highway traffic flow. Physical Review E,2009,79(6),066110
[24]刘震,符锌砂.运行车速预测模型中的期望速度推荐值研究.公路工程,2009,34(3),155-157
[25]周杲尧,过秀成.驾驶员行为特性对交通仿真模型的影响及其应用.现代交通技术,2005,2(2),63-66
[26]Lei J., Redmill K., Ozguncr U. VATSIM:A Simulator for Vehicles and Traffic.2001 IEEE Intelligent Transportation Systems Conference Proceedings,2001,25-29
[27]Moen et al. Comparison of the VISSIM Model to Other Widely Used Traffic Simulation and Analysis Programs. the Institute of Transportation Engineers,2000
[28]彭武雄,朱顺应,许源,管菊香,董红利.Vissim仿真软件中期望车速的设定方法研究.交通与计算机,2007,25(4),53-56
[29]王晓原,邢丽,吴芳.基于决策树模型的驾驶员期望车速.计算机应用,2009,29(z2),318-321
[30]陈永海,贺国光.基于OVM模型的交通流混沌研究.长沙交通学院学报,2006,22(1),53-57
[31]丹尼尔L.鸠洛夫,马休J.休伯,蒋璜等译.交通流理论.北京：人民交通出版社,1983