微观交通仿真中的驾驶员模型研究
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摘要
驾驶员模型对交通安全、交通管理和通行能力等方面的研究评估都有着重要的意义。本文以构造能准确描述城市交通车辆行驶特性的驾驶员模型为最终目标,对驾驶员驾驶行为展开研究,建立并实现了完整的驾驶员模型。
本文依托成都市科技攻关计划项目“面向交通安全的客运车辆驾驶仿真培训系统的研发”,将人车分离,视驾驶员作为虚拟交通环境中的具有人工生命特征的实体看待,充分考虑驾驶员的个体特性,建立了安全距离跟驰模型、换道模型、交叉口冲突点判断模型和黄灯反应模型。与现有微观交通仿真模型相比,本模型综合了驾驶员反应时间、驾驶技能、性格特性和车辆特性等因素,考虑了车辆在不同路段的不同行驶特征,能更加真实、全面的描述实际交通车辆运行过程。其中,研究了车辆的启动加速跟驰和减速停车过程,使跟驰模型能准确描述车辆行驶的全部过程;采用了速度判断和概率判断相结合的换道意图产生模型,利用曲线拟合确定车辆换道路径;深入分析了交叉口车辆行驶规律建立了可靠的冲突点判断模型;提出了较为实用的黄灯反应模型。本文所建驾驶员模型可仿真不同风格的驾驶行为。由于虚拟个体具有不同驾驶风格和不同行为特征,因此该模型能一定程度上体现出车辆在微观层面上的多样性。
本文采用现有实测数据对跟驰模型三个过程分别进行了验证,验证结果表明所建跟驰模型一定程度上能有效、准确的描述车辆的稳定跟车、启动加速跟车和减速停车跟车过程。本文考虑到了实际交通中的主要因素,利用所建驾驶员模型能比较完整的描述车辆的基本行驶过程和特征。
Driver models play the role of great significance in study of traffic safety, traffic management and capability of transport system. In order to describe the character of driving behavior in city traffic, this thesis studies the behavior of driver, creates and implement an integrated driver model.
This study work is based on the Chengdou Science and Technology Research Subject—"Studying in passenger transport driving simulation system for traffic safety". In the thesis, vehicle model and driver model are separated. Drivers are treated as intellective objects in virtual traffic circumstance. Individual character of drivers is considered adequately. An integrative driver model is created which is composed of car following model, lane changing model, cross conflict judging model and yellow signal lamp reaction model. Compared with modern traffic simulation model, this driver model synthesizes the reaction time, driving skill, impulse of driver and vehicle characters firstly. Considering the different running character of vehicle in different way, this driver model has capability to describe the running process of vehicle more truly and roundly. The accelerating process and decelerating process are studied particularly, so the car following model can be more precise in describing the car following process. The lane changing desire producing model is created by combining speed judgment and probability judgment, and the path of lane changing is produced by curve simulation. The running rule in cross is analyzed to found reliable conflict judge model. A feasible yellow signal lamp reaction model is founded. This driver model can simulate different driving behavior. Because the individual have different driving behavior style, this model can simulate the variety of traffic in microcosmic.
The car following model is validated by data from real traffic, results show car following model founded in this thesis can availably and exactly describe the steady following, startup and shutting down process. The mainly factor of city traffic is considered, so the driver model can roundly describe the characters and running process of vehicle.
本文依托成都市科技攻关计划项目“面向交通安全的客运车辆驾驶仿真培训系统的研发”,将人车分离,视驾驶员作为虚拟交通环境中的具有人工生命特征的实体看待,充分考虑驾驶员的个体特性,建立了安全距离跟驰模型、换道模型、交叉口冲突点判断模型和黄灯反应模型。与现有微观交通仿真模型相比,本模型综合了驾驶员反应时间、驾驶技能、性格特性和车辆特性等因素,考虑了车辆在不同路段的不同行驶特征,能更加真实、全面的描述实际交通车辆运行过程。其中,研究了车辆的启动加速跟驰和减速停车过程,使跟驰模型能准确描述车辆行驶的全部过程;采用了速度判断和概率判断相结合的换道意图产生模型,利用曲线拟合确定车辆换道路径;深入分析了交叉口车辆行驶规律建立了可靠的冲突点判断模型;提出了较为实用的黄灯反应模型。本文所建驾驶员模型可仿真不同风格的驾驶行为。由于虚拟个体具有不同驾驶风格和不同行为特征,因此该模型能一定程度上体现出车辆在微观层面上的多样性。
本文采用现有实测数据对跟驰模型三个过程分别进行了验证,验证结果表明所建跟驰模型一定程度上能有效、准确的描述车辆的稳定跟车、启动加速跟车和减速停车跟车过程。本文考虑到了实际交通中的主要因素,利用所建驾驶员模型能比较完整的描述车辆的基本行驶过程和特征。
Driver models play the role of great significance in study of traffic safety, traffic management and capability of transport system. In order to describe the character of driving behavior in city traffic, this thesis studies the behavior of driver, creates and implement an integrated driver model.
This study work is based on the Chengdou Science and Technology Research Subject—"Studying in passenger transport driving simulation system for traffic safety". In the thesis, vehicle model and driver model are separated. Drivers are treated as intellective objects in virtual traffic circumstance. Individual character of drivers is considered adequately. An integrative driver model is created which is composed of car following model, lane changing model, cross conflict judging model and yellow signal lamp reaction model. Compared with modern traffic simulation model, this driver model synthesizes the reaction time, driving skill, impulse of driver and vehicle characters firstly. Considering the different running character of vehicle in different way, this driver model has capability to describe the running process of vehicle more truly and roundly. The accelerating process and decelerating process are studied particularly, so the car following model can be more precise in describing the car following process. The lane changing desire producing model is created by combining speed judgment and probability judgment, and the path of lane changing is produced by curve simulation. The running rule in cross is analyzed to found reliable conflict judge model. A feasible yellow signal lamp reaction model is founded. This driver model can simulate different driving behavior. Because the individual have different driving behavior style, this model can simulate the variety of traffic in microcosmic.
The car following model is validated by data from real traffic, results show car following model founded in this thesis can availably and exactly describe the steady following, startup and shutting down process. The mainly factor of city traffic is considered, so the driver model can roundly describe the characters and running process of vehicle.
引文
[1]杨兆升,刘红红.地理信息系统在交通运输规划与管理中的应用研究[J].公路交通科技,2004.4 17(2):15-16.
[2]潘玲.基与驾驶员认知过程的车辆跟驰模型的建立[D].吉林大学硕士学位论文.2006:1-2.
[3]王彩霞.交通仿真中的换道模型研究[D],吉林大学,2006:2-3.
[4]潘玲.基与驾驶员认知过程的车辆跟驰模型的建立[D].吉林大学硕士学位论文.2006:1-2.
[5]邹智军,杨东援.交通仿真系统中纯微观跟车模型[J].同济大学学报,2001,29(8):898-901.
[6]H.M.Zhang.Analyses of the stability and wave properties of a new continuum traffic theory[J].Transportation Research,1999,33B(6):399-415.
[7]张智勇,荣建,任福田.跟车模型研究综述[J].公路交通科技,200421(8):111-112.
[8]Reuschel.Vehicle movements in a platoon with uniform acceleration or deceleration of lead vehicle.Oesterreichischen,1950.ver 95:59-62.
[9]Pipes.An operational analysis of traffic dynamics.Journal of applied physics,1953.24:274-281.
[10]Edie.Car following and steady state theory for non-congested traffic.Operation Research,1960:66-76.
[11]Chandler,Herman & Montroll..Traffic dynamics:studies in car following.Operations research,1958.6:165-184.
[12]Helly.Simulation of bottlenecks in single lane traffic flow.In symposium on theory of traffic flow.Research Laboratories,General motors,1959.proceedings of the 207-238.
[13]Bekey,Burnham&Seo.Control theoretic models of human drivers in car following.Human factors,1977.19(4):399-413.
[14]Michaels.Perceptual factors in car following.In the proceedings of the second international symposium on the theory of road and traffic flow,1963.OECD:44-59.
[15]Kometani & Sasaki.Dynamic behavior of traffic with a nonlinear spacing-speed relationship.
[16]Gipps.A behavioral car following model for computer simulation.Transportation Research B,1981.15:105-111.
[17]Mark Brackstone,Mike McDonald.Car-following:a historical review [J]Transportation Research,1999,2F:181-196.
[18]陈建阳.交通流微观模型与宏观模型的统一[J],同济大学学报,1997.25(1),46-49.
[19]于增亮.基于仿真环境驾驶员临界反应能力的研究[D].吉林大学硕士学位论文,2005.
[20]胡明伟,史其信.支持ITS影响评价的交通仿真模型研究.公路交通科技,2001.18(06):13-17.
[21]何民.交通流跟驰问题研究[D].北京工业大学,2000.
[22]邹智军,杨东援.微观交通仿真中车道变换模型.中国公路学报,2002.15(2):105-108.
[23]Peter Hidas.modeling lane changing and merging in microscopic traffic simulation.Transportation Research Part C 10(2002)351-371.
[24]Microscopic Traffic Simulator:MITSIM.
[25]杜晓辉.高速公路系统的仿真模型及其应用研究[D].北京工业大学硕士学位论文.2003.05:51-55.
[26]TSIS 5.0用户手册.
[27]王晓原.微观交通流仿真建模理论及一体化仿真环境研究[D].吉林大学博土论文[D].2003.
[28]王家凡,罗大庸.交通流微观仿真中的换道模型[J].系统工程.2004(3):92-95.
[29]李小俊.信号交叉口通行能力及延误仿真系统的开发与研究[D]:长安大学硕士学位论文,1996.
[30]商蕾.城市微观交通流仿真及应用[D].武汉理工大学博士学位论文,2003
[31]周立军.城市微观交通仿真[D].吉林大学硕士学位论文.2005.
[32]贾洪飞,隽志才.基于期望间距的车辆跟驰模型的建立[J].中国公路学报,2000,Vol.13 No.4:86.-87.
[33]Taoka G.Brake Reaction Times of Unalerted Drivers.ITE Journal,1989,(3):19-21.
[34]Louis Erina.Key Human Factors Research Needs in Intelligent Vehicle-Highway System Crash Avoidance,1995.Transportation Research Record 1485.
[35]辛德胜.司机反应时间对行车安全的影响及检测系统.公路交通科技[J],1999,16(1):66-67.
[36]Johansson.G.,and Rumar.H.,Driver's brake reaction times.Human Factor.1971,13(1):23-27.
[37]何民.交通流跟驰问题研究[D].北京工业大学,2000.
[38]张智勇.城市快速道路车辆跟驰模型研究[D].北京:北京土业大学博土论文,2002.
[39]李江.交通工程学[M].北京:人民交通出版社,2002:35-36.
[40]Paker,M.T.The effect of heavy goods vehicles and fo12 lowing behavior on capacity at motorway roadwork sites[J].Traffic Engineering + Control,1996,37(6):524- 531.
[41]刘运通等.交通系统仿真技术[M].人民交通出版社,2004.
[42]Kyte,M.,TIAN,Z.,Mir,Z.,et al.Capacity and Level of Service at Unsignalised Intersection[J].National Cooperative Highway Research Program Project 3-46.Transportation Research Board.National Research Council.Washington.DC.
[43]Douglas W.Harwood,John M.Mason,Robert E.Brydia.Design Policies for Sight Distance at Stop-Controlled Intersections Based on Gap Acceptance[J].Transportation Research PartA,1992.33(1999):16.
[43]Moshe A,Pollatschek,Abishai Polus,Moshe Liveh.A Decision for Gap Acceptance and Capacity at Intersections[J].Transportation Research Part B,36(2002):649-663.
[44]Brian Wolshon,Yilmaz Hatipkarasulu.Results of Car Following Analysis Using Global Positioning System[J],Journal of Transportation Engineering,2000,July.
[45]Mark Brackstone.Beshr Sultan,Mike McDonald.Motorway Driver Behavior:Studies on Car Following[J].Transportation Research Part FS(2002):31-46.
[46]郑祖武,李康等.现代城市交通[M].北京:人民交通出版社,1998:195-215.
[47]张智勇,荣建,任福田.跟车模型研究综述[J].公路交通科技,200421(8):111-112.
[48]于增亮.基于仿真环境驾驶员临界反应能力的研究[D].吉林大学硕士学位论文,2005.
[49]胡明伟,史其信.支持ITS影响评价的交通仿真模型研究[J].公路交通科技,2001.18(06):13-17.
[50]许轮辉,徐建闽,周其节.车辆跟驰问题的建模及其求解[J].华南理工大学学报,1998,1(26),38-43.
[51]何民.交通流跟驰问题研究[D].北京工业大学,2000.
[52]李小俊.信号交叉口通行能力及延误仿真系统的开发与研究[D].长安大学,1996.
[53]商蕾.城市微观交通流仿真及应用[D].武汉理工大学博士学位论文,2003
[54]周立军.城市微观交通仿真[D].吉林大学硕士学位论文.2005..
[55]贾洪飞,隽志才.基于期望间距的车辆跟驰模型的建立[J].中国公路学报,2000,Vol.13 No.4:86-87。
[56]贾洪飞,隽志才.微观交通模拟中常见车辆跟驰模型的比较研究[J].中国交通研究与探索.2001(3):18-20.
[57]周光伟,杨晓光.城市道路交叉口车辆微观行驶模型[J].交通运输土程学报,2001,12(1):67-70.
[58]刘小明,王飞跃.基于Agent的无灯控交叉口插车仿真研究[J].计算机仿真.2004,21(1):105-108.
[59]马建明,容建等.信号交叉口微观仿真模型研究.计算机仿真,2001,18(4):58-60.
[60]贾洪飞.城市道路车辆跟驰行为神经网络模拟模型研究[D].吉林大学博士学位论文,2002.
[2]潘玲.基与驾驶员认知过程的车辆跟驰模型的建立[D].吉林大学硕士学位论文.2006:1-2.
[3]王彩霞.交通仿真中的换道模型研究[D],吉林大学,2006:2-3.
[4]潘玲.基与驾驶员认知过程的车辆跟驰模型的建立[D].吉林大学硕士学位论文.2006:1-2.
[5]邹智军,杨东援.交通仿真系统中纯微观跟车模型[J].同济大学学报,2001,29(8):898-901.
[6]H.M.Zhang.Analyses of the stability and wave properties of a new continuum traffic theory[J].Transportation Research,1999,33B(6):399-415.
[7]张智勇,荣建,任福田.跟车模型研究综述[J].公路交通科技,200421(8):111-112.
[8]Reuschel.Vehicle movements in a platoon with uniform acceleration or deceleration of lead vehicle.Oesterreichischen,1950.ver 95:59-62.
[9]Pipes.An operational analysis of traffic dynamics.Journal of applied physics,1953.24:274-281.
[10]Edie.Car following and steady state theory for non-congested traffic.Operation Research,1960:66-76.
[11]Chandler,Herman & Montroll..Traffic dynamics:studies in car following.Operations research,1958.6:165-184.
[12]Helly.Simulation of bottlenecks in single lane traffic flow.In symposium on theory of traffic flow.Research Laboratories,General motors,1959.proceedings of the 207-238.
[13]Bekey,Burnham&Seo.Control theoretic models of human drivers in car following.Human factors,1977.19(4):399-413.
[14]Michaels.Perceptual factors in car following.In the proceedings of the second international symposium on the theory of road and traffic flow,1963.OECD:44-59.
[15]Kometani & Sasaki.Dynamic behavior of traffic with a nonlinear spacing-speed relationship.
[16]Gipps.A behavioral car following model for computer simulation.Transportation Research B,1981.15:105-111.
[17]Mark Brackstone,Mike McDonald.Car-following:a historical review [J]Transportation Research,1999,2F:181-196.
[18]陈建阳.交通流微观模型与宏观模型的统一[J],同济大学学报,1997.25(1),46-49.
[19]于增亮.基于仿真环境驾驶员临界反应能力的研究[D].吉林大学硕士学位论文,2005.
[20]胡明伟,史其信.支持ITS影响评价的交通仿真模型研究.公路交通科技,2001.18(06):13-17.
[21]何民.交通流跟驰问题研究[D].北京工业大学,2000.
[22]邹智军,杨东援.微观交通仿真中车道变换模型.中国公路学报,2002.15(2):105-108.
[23]Peter Hidas.modeling lane changing and merging in microscopic traffic simulation.Transportation Research Part C 10(2002)351-371.
[24]Microscopic Traffic Simulator:MITSIM.
[25]杜晓辉.高速公路系统的仿真模型及其应用研究[D].北京工业大学硕士学位论文.2003.05:51-55.
[26]TSIS 5.0用户手册.
[27]王晓原.微观交通流仿真建模理论及一体化仿真环境研究[D].吉林大学博土论文[D].2003.
[28]王家凡,罗大庸.交通流微观仿真中的换道模型[J].系统工程.2004(3):92-95.
[29]李小俊.信号交叉口通行能力及延误仿真系统的开发与研究[D]:长安大学硕士学位论文,1996.
[30]商蕾.城市微观交通流仿真及应用[D].武汉理工大学博士学位论文,2003
[31]周立军.城市微观交通仿真[D].吉林大学硕士学位论文.2005.
[32]贾洪飞,隽志才.基于期望间距的车辆跟驰模型的建立[J].中国公路学报,2000,Vol.13 No.4:86.-87.
[33]Taoka G.Brake Reaction Times of Unalerted Drivers.ITE Journal,1989,(3):19-21.
[34]Louis Erina.Key Human Factors Research Needs in Intelligent Vehicle-Highway System Crash Avoidance,1995.Transportation Research Record 1485.
[35]辛德胜.司机反应时间对行车安全的影响及检测系统.公路交通科技[J],1999,16(1):66-67.
[36]Johansson.G.,and Rumar.H.,Driver's brake reaction times.Human Factor.1971,13(1):23-27.
[37]何民.交通流跟驰问题研究[D].北京工业大学,2000.
[38]张智勇.城市快速道路车辆跟驰模型研究[D].北京:北京土业大学博土论文,2002.
[39]李江.交通工程学[M].北京:人民交通出版社,2002:35-36.
[40]Paker,M.T.The effect of heavy goods vehicles and fo12 lowing behavior on capacity at motorway roadwork sites[J].Traffic Engineering + Control,1996,37(6):524- 531.
[41]刘运通等.交通系统仿真技术[M].人民交通出版社,2004.
[42]Kyte,M.,TIAN,Z.,Mir,Z.,et al.Capacity and Level of Service at Unsignalised Intersection[J].National Cooperative Highway Research Program Project 3-46.Transportation Research Board.National Research Council.Washington.DC.
[43]Douglas W.Harwood,John M.Mason,Robert E.Brydia.Design Policies for Sight Distance at Stop-Controlled Intersections Based on Gap Acceptance[J].Transportation Research PartA,1992.33(1999):16.
[43]Moshe A,Pollatschek,Abishai Polus,Moshe Liveh.A Decision for Gap Acceptance and Capacity at Intersections[J].Transportation Research Part B,36(2002):649-663.
[44]Brian Wolshon,Yilmaz Hatipkarasulu.Results of Car Following Analysis Using Global Positioning System[J],Journal of Transportation Engineering,2000,July.
[45]Mark Brackstone.Beshr Sultan,Mike McDonald.Motorway Driver Behavior:Studies on Car Following[J].Transportation Research Part FS(2002):31-46.
[46]郑祖武,李康等.现代城市交通[M].北京:人民交通出版社,1998:195-215.
[47]张智勇,荣建,任福田.跟车模型研究综述[J].公路交通科技,200421(8):111-112.
[48]于增亮.基于仿真环境驾驶员临界反应能力的研究[D].吉林大学硕士学位论文,2005.
[49]胡明伟,史其信.支持ITS影响评价的交通仿真模型研究[J].公路交通科技,2001.18(06):13-17.
[50]许轮辉,徐建闽,周其节.车辆跟驰问题的建模及其求解[J].华南理工大学学报,1998,1(26),38-43.
[51]何民.交通流跟驰问题研究[D].北京工业大学,2000.
[52]李小俊.信号交叉口通行能力及延误仿真系统的开发与研究[D].长安大学,1996.
[53]商蕾.城市微观交通流仿真及应用[D].武汉理工大学博士学位论文,2003
[54]周立军.城市微观交通仿真[D].吉林大学硕士学位论文.2005..
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