重型拖挂车转弯行驶的交通流仿真
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摘要
近年来,随着道路上重型车辆的增加,交通研究领域对大型车辆的运输特性给予了越来越多关注与研究。但是在微观交通流仿真领域还没有对大型车辆的转弯特性以及由此对周边交通流的影响做进一步细分、研究和仿真。
本文首先介绍了国内外对大型车辆的行驶特性的研究,其中包括车辆的跟驰特性、超车特性和驾驶员的心理特性等;其次介绍了近年来研究领域对重型拖挂车转弯特性的分析,包括车辆转弯时可能发生的甩尾、倾翻、侧滑等情况,以及对这些情况的计算机仿真;并系统地介绍了元胞自动机的基本理论,对单细胞、多细胞、多车道及城市交通流的元胞自动机模型进行了综述分析与总结。本文重点分析了重型拖挂车在弯道行驶时的受力情况,推导出在车辆正常行驶和发生甩尾情况下车轮的行驶轨迹。建立了驾驶员决策模型,设计了状态感知向量及分量取值条件,以便驾驶员能够对当前交通状况和外界环境的感知做出相应加速、减速和转向等决策。利用VBOX软件对天津港的大型车辆和普通车辆转弯时的数据进行采集,分析数据结果并对驾驶员的状态感知分量进行标定。在此基础上建立了基于元胞自动机的重型拖挂车弯道转弯模型,能够动态反映车辆的行驶轨迹、驾驶员的驾驶决策,以及进一步采取的决策对车辆行驶轨迹和周边交通流的影响。
最后设计了多组特定环境下转弯路段的交通流仿真实验,输出交通流仿真数据和车辆时空图,仿真结果表明了该模型能够对存在重型拖挂车较多的弯道设计参数进行检验和修正,包括车道宽度、超高和曲线半径等,验证了模型的有效性和可行性。
Nowadays, much research is carried out on the travelling characteristics of heavy vehicles with the increasing numbers of heavy vehicle on the road, but little research is done on the turning features, further traveling influence analyzing and simulation of the heavy vehicles in microscopic traffic flow simulation area.
In the first part of this paper, a research review is introduced, including recent research on car-following characteristics,overtaking and the psychological features of the drivers, and turning feature analysis of the heavy trailer, like drifting, overturning and side-slide behavior analysis and computer simulation research; next, cellular automaton theory is described, and cellular automaton models of single-cell, multiple-cell, multiple-lane and urban traffic flow are summarized and analyzed in this paper.
Next, by analyzing the stressing situation of the heavy trailer turning, the driving track of the heavy trailer in normal and drifting driving conditions is deduced. A driver decision-making model is established, and we design the state awareness vector and component value constraints, which can help the driver to make corresponding action decisions, such as acceleration, deceleration and turning. Next, we use the VBOX to collect and analyze the turning data of the heavy trailer vehicles and ordinary passenger cars in Tianjin Port road, using which to value the state awareness vector. Then, the heavy trailer turning model is established based on cellular automation, in this model, the vehicle driving track and the driving decision can be described dynamically, and we also can get the simulation result of next action to the driving track and the traffic around.
Finally, we design many groups of curve driving simulation experiments under certain circumstance, in which traffic simulation data and space-time diagrams can be got, The simulation results show that the curve design parameters of road with a high proportion of heavy trailer can be tested and corrected in this model, including lane width, ultrahigh and curve radius, by which the effectiveness and feasibility of this model can be verified.
本文首先介绍了国内外对大型车辆的行驶特性的研究,其中包括车辆的跟驰特性、超车特性和驾驶员的心理特性等;其次介绍了近年来研究领域对重型拖挂车转弯特性的分析,包括车辆转弯时可能发生的甩尾、倾翻、侧滑等情况,以及对这些情况的计算机仿真;并系统地介绍了元胞自动机的基本理论,对单细胞、多细胞、多车道及城市交通流的元胞自动机模型进行了综述分析与总结。本文重点分析了重型拖挂车在弯道行驶时的受力情况,推导出在车辆正常行驶和发生甩尾情况下车轮的行驶轨迹。建立了驾驶员决策模型,设计了状态感知向量及分量取值条件,以便驾驶员能够对当前交通状况和外界环境的感知做出相应加速、减速和转向等决策。利用VBOX软件对天津港的大型车辆和普通车辆转弯时的数据进行采集,分析数据结果并对驾驶员的状态感知分量进行标定。在此基础上建立了基于元胞自动机的重型拖挂车弯道转弯模型,能够动态反映车辆的行驶轨迹、驾驶员的驾驶决策,以及进一步采取的决策对车辆行驶轨迹和周边交通流的影响。
最后设计了多组特定环境下转弯路段的交通流仿真实验,输出交通流仿真数据和车辆时空图,仿真结果表明了该模型能够对存在重型拖挂车较多的弯道设计参数进行检验和修正,包括车道宽度、超高和曲线半径等,验证了模型的有效性和可行性。
Nowadays, much research is carried out on the travelling characteristics of heavy vehicles with the increasing numbers of heavy vehicle on the road, but little research is done on the turning features, further traveling influence analyzing and simulation of the heavy vehicles in microscopic traffic flow simulation area.
In the first part of this paper, a research review is introduced, including recent research on car-following characteristics,overtaking and the psychological features of the drivers, and turning feature analysis of the heavy trailer, like drifting, overturning and side-slide behavior analysis and computer simulation research; next, cellular automaton theory is described, and cellular automaton models of single-cell, multiple-cell, multiple-lane and urban traffic flow are summarized and analyzed in this paper.
Next, by analyzing the stressing situation of the heavy trailer turning, the driving track of the heavy trailer in normal and drifting driving conditions is deduced. A driver decision-making model is established, and we design the state awareness vector and component value constraints, which can help the driver to make corresponding action decisions, such as acceleration, deceleration and turning. Next, we use the VBOX to collect and analyze the turning data of the heavy trailer vehicles and ordinary passenger cars in Tianjin Port road, using which to value the state awareness vector. Then, the heavy trailer turning model is established based on cellular automation, in this model, the vehicle driving track and the driving decision can be described dynamically, and we also can get the simulation result of next action to the driving track and the traffic around.
Finally, we design many groups of curve driving simulation experiments under certain circumstance, in which traffic simulation data and space-time diagrams can be got, The simulation results show that the curve design parameters of road with a high proportion of heavy trailer can be tested and corrected in this model, including lane width, ultrahigh and curve radius, by which the effectiveness and feasibility of this model can be verified.
引文
[1]蔡世芳,周耕深,苏邑全.结构和使用参数对半挂汽车列车操纵稳定性的影响[J].汽车运输研究,1988(8)
[2]Dai Shiqiang, Feng Suwei,Gu Guoqing. Dynamics of traffic flow:It s content, methology and intent.Ziran Zazhi, 1997,19(4):196-201
[3] Pipes LA.An operational analysis of traffic dynamics. Appl Phy, 1953.24:274-281
[4] Lighthill MJ,W hit ham GB.On kinematic waves.I. Flow movement in long rivers;II.A theory of traffic flow on long crowded road.Proc Roy Soc A,1955,229:281-345
[5] Prigogine I,Herman R.Kinetic Theory of Vehicular Traffic. Amsterdam:Elsevier,1971
[6] Nagel K,Schreckenberg M,A cellular automaton model for free way traffic.J Phys I France,1992,2:2221-2229
[7] Biham O,Middleton A,Levine D.Self - organization& a dynamic transition in traffic flow models.Phys Rev A,1992,46:R6124 -R6127
[8] Mark Brackstone. Car-following: A Historical Review[J].Transportation Research Part F, 2,1999:181-196
[9] Helen J. Michaels, Mark W. Chase, Douglas E. Soltis. Phylogenetics Of Seed Plants: An Analysis of Nucleotide Sequences from The Plastid Gene[J]. Phylogenetics of Seed Plants,1993,80(3):528-579
[10] Gipps. A Behavioral Car Following Model Computer Simulation[J]. Transportation Research B,15, 1981:105-111
[11] Richards P I.Shock waves on the highway.Opus Res,1956(4):42-5l
[12] Lighthill M H. Whitham G B. On kinematics wave: I A theory of traffic flow on long crowed rods.Proc R Soc London,Ser A.1955,22:317-345
[13] Payne HJ . Models of freeway traffic and contro1. In: Bekey GA, ed.Mathematical Methods of Public Systems,1971, Vol 1.No.1:51-61
[14]李进平,张乐文.交通流的流体动力学模型研究[J],武汉理工大学学报,2002.12,26(6):748-751
[15]贾斌,高自友,李克平,李新刚.基于元胞自动机的交通系统建模与模拟[M].北京:科学出版社,2007.
[16]谢惠民.非线性科学丛书:复杂性与动力系统[M].上海:上海科技教育出版社,1994
[17]李才伟.元胞自动机及复杂系统的时空演化模拟[D].武汉:华中理工大学,1997.
[18] M.CremerJ.Ludwig.A fast simulation model for traffic flow on the basis of Boolean operation[J].Math.ComP.Simul,1986,28:297-303.
[19] K.Nagel, M.Schreckenberg. A cellular automaton mode]for freeway traffic,J·Phys. I.Franee2,1992,2221-2229.
[20] M.Fukui, Y.Ishibashi. Traffic flow in ID cellular automaton model including cars moving with high speed, J.Phys. Soc.JPn[J].1996,65(6):1868-1870.
[21] XiaobaiLi,Qingsong WU, Rui Jiang. Celluar automaton model considering the velocity effect of a car on the sueeessive car[J].Phys.Rev.E,2001,64:066128.
[22] L.YDong, Y.Xue. One一dimensional cellular automation model of traffic flow based on car following idea[J].Appl.Math.Mech.2002,23(4):331-337.
[23] K.P.Li, Z.Y.Gao. Cellular automata model of traffic flow based on car-following model[J].Chin.Phys.Letts,2004,21(11)2120-2123.
[24]薛郁,董力耘,戴世强.一种改进的一维元胞白动机交通流模型及减速概率影响[J].物理学报,2001,50:445-49.
[25] 0.Biham, A.A. Middelton,D.A. Levine. Self-organization and dynamical transition in traffic-flow models[J].Phys. Rev.A,1992,46:R6124一R6127.
[26] J.A.Cuesta,FC.Matinez,J.M.Molera,A.Sanchez. Phase transitions in two一dimensional traffic一flow models[J],Phys,Rev.E,1993,48:4175-4178.
[27] T.Nagatani.Jamming transition in the traffic-flow model with two-level crossings[J]. Phys.Rev.E,1993,48:3290-3294.
[28] K.H.Chung,P.M.Hui,GQ.Gu. Two-dimensional traffic flow Problem s with faulty traffic lights[J]. Phys.Rev.E,1995,51:772-774.
[29] K.Nagel, M.Schreckenberg. A cellular automaton mode]for freeway traffic,J·Phys. I.Franee2,1992,2221-2229.
[30] 0.Biham, A.A. Middelton,D.A. Levine. Self-organization and dynamical transition in traffic-flow models[J].Phys. Rev.A,1992,46:R6124-R6127.
[31]贾斌,高自友,李克平,李新刚.基于元胞自动机的交通系统建模与模拟[M],北京:科学出版社,2007.
[32]贾斌.交通瓶颈处车辆复杂动态特性的元胞自动机模拟[D].合肥:中国科学技术大学2003.
[33] Sven Maerivoet , Bart De Moor. Cellular automata models of road traffic[J].Physics Reports 2005,419:l-64.
[34] Andreas Schadsehneider. Traffic flow: a statistical Physics Point of view[J].Physical A,2002,313:153-187.
[35]张晋.基于元胞自动机的城域混合交通流建模方法研究[D],杭州:浙江大学,2004
[36] McDonald, M., Wu, J.,Brackstone, M. Development of a fuzzy logic based microscopic motorway simulation model. Proceedings of the Conference on Intelligent Transportation Systems (ITSC), 1997,2:9-12 82-87.
[37] Kim, T. ,Lovell, D. J. Observation of real driving behaviour in car-following: preliminary results. IEEE 61st Vehicular Technology Conference. 2005,6(5):
[38] Cheng, B.,Taniguchi, T., Hatano, T. and Matsushima. K.. Characteristics of driver behavior in car-following. Review of Automotive Engineering,2005,26(2): 191-199.
[39] Broughton, K. L. M., Switzer, F. and Scott, D. Car following decisions under three visibility conditions and two speeds tested with a driving simulator. Accident Analysis and Prevention, 2007,39(5):106-116.
[40] Andersen, G. J., Sauer, C.,Saidpour, A. Visual information for car following by drivers: role of scene information. Transportation research record, 2004,1899:104-108.
[41] NHTSA. Traffic Safety Facts 2000. DOT Report HS809337,Washington, D. C.,US Department of Transportation.
[42] Paul Green,Herbert Yoo. Driver behavior while following cars, trucks, and buses[M]. Transportation Research Institute,1999.
[43] Peeta, S.,Zhang, P. and Zhou,W. Behavior-based analysis of freeway car-truck interactions and related mitigation strategies. Transportation Research Part B, 2005Vo39(5): 417-451.
[44] Peeta, S., Zhang, P. and Zhou, W. (2004). Modeling and mitigation of car-truck interactions on freeways. Transportation Research Record, 2004,1(1899): 117-126.
[45] Evans,L. and Wasielewski, P. Risky driving related to driver and vehicle characteristics. Accident Analysis and Prevention,1983,1(15): 121-136.
[46] Parker, M. T. (1996). The effect of heavy goods vehicles and following behavior on capacity at motorway roadwork sites. Traffic Engineering and Control,1996,37(9): 524-531.
[47]胡淑萍,陈永胜.货运车辆交通事故规律及对策.交通管理[J].汽车与安全,2007, 5:64-68.
[48]郭忠印,方守恩.道路安全工程[M] .北京:人民交通出版社.
[49]叶忠慧.高速公路上超速行驶的不安全因素分析[J].公路与汽运, 2003,18(6):16-17.
[50]谌志强,李硕.高速公路车速与交通安全[J].高速公路车速与交通安全, 6(8):105-109.
[51]高建平,柳本民,郭忠印.货车交通对高速公路安全性的影响[J],同济大学学报,2005,33(6):763-767.
[52] Chen,H , Velinsky S. Designing articulated vehicles for low-speed Maneuverability [J]. Journal of Transportation Engineering. 1992:711-728.
[53]林熊熊.半挂汽车列车弯路运动轨迹计算机仿真[J].汽车工程,1997,19(1):60-65.
[54]黄朝胜,隗海林,吴振昕.牵引车—半挂车列车动力学仿真研究[J].汽车工程,2005,27(6):744-750.
[55]田晟,基于加速度干扰和AHP的车辆行驶安全性评价模型[J].中国安全科学学报,2008,18(9):131-135.
[2]Dai Shiqiang, Feng Suwei,Gu Guoqing. Dynamics of traffic flow:It s content, methology and intent.Ziran Zazhi, 1997,19(4):196-201
[3] Pipes LA.An operational analysis of traffic dynamics. Appl Phy, 1953.24:274-281
[4] Lighthill MJ,W hit ham GB.On kinematic waves.I. Flow movement in long rivers;II.A theory of traffic flow on long crowded road.Proc Roy Soc A,1955,229:281-345
[5] Prigogine I,Herman R.Kinetic Theory of Vehicular Traffic. Amsterdam:Elsevier,1971
[6] Nagel K,Schreckenberg M,A cellular automaton model for free way traffic.J Phys I France,1992,2:2221-2229
[7] Biham O,Middleton A,Levine D.Self - organization& a dynamic transition in traffic flow models.Phys Rev A,1992,46:R6124 -R6127
[8] Mark Brackstone. Car-following: A Historical Review[J].Transportation Research Part F, 2,1999:181-196
[9] Helen J. Michaels, Mark W. Chase, Douglas E. Soltis. Phylogenetics Of Seed Plants: An Analysis of Nucleotide Sequences from The Plastid Gene[J]. Phylogenetics of Seed Plants,1993,80(3):528-579
[10] Gipps. A Behavioral Car Following Model Computer Simulation[J]. Transportation Research B,15, 1981:105-111
[11] Richards P I.Shock waves on the highway.Opus Res,1956(4):42-5l
[12] Lighthill M H. Whitham G B. On kinematics wave: I A theory of traffic flow on long crowed rods.Proc R Soc London,Ser A.1955,22:317-345
[13] Payne HJ . Models of freeway traffic and contro1. In: Bekey GA, ed.Mathematical Methods of Public Systems,1971, Vol 1.No.1:51-61
[14]李进平,张乐文.交通流的流体动力学模型研究[J],武汉理工大学学报,2002.12,26(6):748-751
[15]贾斌,高自友,李克平,李新刚.基于元胞自动机的交通系统建模与模拟[M].北京:科学出版社,2007.
[16]谢惠民.非线性科学丛书:复杂性与动力系统[M].上海:上海科技教育出版社,1994
[17]李才伟.元胞自动机及复杂系统的时空演化模拟[D].武汉:华中理工大学,1997.
[18] M.CremerJ.Ludwig.A fast simulation model for traffic flow on the basis of Boolean operation[J].Math.ComP.Simul,1986,28:297-303.
[19] K.Nagel, M.Schreckenberg. A cellular automaton mode]for freeway traffic,J·Phys. I.Franee2,1992,2221-2229.
[20] M.Fukui, Y.Ishibashi. Traffic flow in ID cellular automaton model including cars moving with high speed, J.Phys. Soc.JPn[J].1996,65(6):1868-1870.
[21] XiaobaiLi,Qingsong WU, Rui Jiang. Celluar automaton model considering the velocity effect of a car on the sueeessive car[J].Phys.Rev.E,2001,64:066128.
[22] L.YDong, Y.Xue. One一dimensional cellular automation model of traffic flow based on car following idea[J].Appl.Math.Mech.2002,23(4):331-337.
[23] K.P.Li, Z.Y.Gao. Cellular automata model of traffic flow based on car-following model[J].Chin.Phys.Letts,2004,21(11)2120-2123.
[24]薛郁,董力耘,戴世强.一种改进的一维元胞白动机交通流模型及减速概率影响[J].物理学报,2001,50:445-49.
[25] 0.Biham, A.A. Middelton,D.A. Levine. Self-organization and dynamical transition in traffic-flow models[J].Phys. Rev.A,1992,46:R6124一R6127.
[26] J.A.Cuesta,FC.Matinez,J.M.Molera,A.Sanchez. Phase transitions in two一dimensional traffic一flow models[J],Phys,Rev.E,1993,48:4175-4178.
[27] T.Nagatani.Jamming transition in the traffic-flow model with two-level crossings[J]. Phys.Rev.E,1993,48:3290-3294.
[28] K.H.Chung,P.M.Hui,GQ.Gu. Two-dimensional traffic flow Problem s with faulty traffic lights[J]. Phys.Rev.E,1995,51:772-774.
[29] K.Nagel, M.Schreckenberg. A cellular automaton mode]for freeway traffic,J·Phys. I.Franee2,1992,2221-2229.
[30] 0.Biham, A.A. Middelton,D.A. Levine. Self-organization and dynamical transition in traffic-flow models[J].Phys. Rev.A,1992,46:R6124-R6127.
[31]贾斌,高自友,李克平,李新刚.基于元胞自动机的交通系统建模与模拟[M],北京:科学出版社,2007.
[32]贾斌.交通瓶颈处车辆复杂动态特性的元胞自动机模拟[D].合肥:中国科学技术大学2003.
[33] Sven Maerivoet , Bart De Moor. Cellular automata models of road traffic[J].Physics Reports 2005,419:l-64.
[34] Andreas Schadsehneider. Traffic flow: a statistical Physics Point of view[J].Physical A,2002,313:153-187.
[35]张晋.基于元胞自动机的城域混合交通流建模方法研究[D],杭州:浙江大学,2004
[36] McDonald, M., Wu, J.,Brackstone, M. Development of a fuzzy logic based microscopic motorway simulation model. Proceedings of the Conference on Intelligent Transportation Systems (ITSC), 1997,2:9-12 82-87.
[37] Kim, T. ,Lovell, D. J. Observation of real driving behaviour in car-following: preliminary results. IEEE 61st Vehicular Technology Conference. 2005,6(5):
[38] Cheng, B.,Taniguchi, T., Hatano, T. and Matsushima. K.. Characteristics of driver behavior in car-following. Review of Automotive Engineering,2005,26(2): 191-199.
[39] Broughton, K. L. M., Switzer, F. and Scott, D. Car following decisions under three visibility conditions and two speeds tested with a driving simulator. Accident Analysis and Prevention, 2007,39(5):106-116.
[40] Andersen, G. J., Sauer, C.,Saidpour, A. Visual information for car following by drivers: role of scene information. Transportation research record, 2004,1899:104-108.
[41] NHTSA. Traffic Safety Facts 2000. DOT Report HS809337,Washington, D. C.,US Department of Transportation.
[42] Paul Green,Herbert Yoo. Driver behavior while following cars, trucks, and buses[M]. Transportation Research Institute,1999.
[43] Peeta, S.,Zhang, P. and Zhou,W. Behavior-based analysis of freeway car-truck interactions and related mitigation strategies. Transportation Research Part B, 2005Vo39(5): 417-451.
[44] Peeta, S., Zhang, P. and Zhou, W. (2004). Modeling and mitigation of car-truck interactions on freeways. Transportation Research Record, 2004,1(1899): 117-126.
[45] Evans,L. and Wasielewski, P. Risky driving related to driver and vehicle characteristics. Accident Analysis and Prevention,1983,1(15): 121-136.
[46] Parker, M. T. (1996). The effect of heavy goods vehicles and following behavior on capacity at motorway roadwork sites. Traffic Engineering and Control,1996,37(9): 524-531.
[47]胡淑萍,陈永胜.货运车辆交通事故规律及对策.交通管理[J].汽车与安全,2007, 5:64-68.
[48]郭忠印,方守恩.道路安全工程[M] .北京:人民交通出版社.
[49]叶忠慧.高速公路上超速行驶的不安全因素分析[J].公路与汽运, 2003,18(6):16-17.
[50]谌志强,李硕.高速公路车速与交通安全[J].高速公路车速与交通安全, 6(8):105-109.
[51]高建平,柳本民,郭忠印.货车交通对高速公路安全性的影响[J],同济大学学报,2005,33(6):763-767.
[52] Chen,H , Velinsky S. Designing articulated vehicles for low-speed Maneuverability [J]. Journal of Transportation Engineering. 1992:711-728.
[53]林熊熊.半挂汽车列车弯路运动轨迹计算机仿真[J].汽车工程,1997,19(1):60-65.
[54]黄朝胜,隗海林,吴振昕.牵引车—半挂车列车动力学仿真研究[J].汽车工程,2005,27(6):744-750.
[55]田晟,基于加速度干扰和AHP的车辆行驶安全性评价模型[J].中国安全科学学报,2008,18(9):131-135.