CN103164579B - Method for achieving interactive integration experimental platform of microscopic traffic simulator and driving simulator - Google Patents

Abstract

The invention relates to a method for realizing an interactive integrated experiment platform of a microscopic traffic simulator and a driving simulator. The data of the driving simulator is imported into the micro-traffic simulator, and the vehicles in the micro-traffic simulator are controlled to realize the integration of the micro-traffic simulator and the driving simulator. The method includes the following steps: (1) establishing the traffic environment required for the experiment in the micro-traffic simulator; (2) extracting the data of the driver's operation in the driving simulator; (3) making the micro-traffic simulator read and store the driver Operate the data, change the operating parameters of the test vehicle, make the test vehicle drive according to the driver's operation, and at the same time make other vehicles in the simulation environment drive according to the inherent simulation strategy in the microscopic traffic simulator; (4) Extract relevant data and conduct experimental evaluation. The invention can well simulate the actual road traffic operation conditions, provide drivers with a more realistic virtual experiment scene, significantly improve the application range of the driving simulator, and improve the reliability and accuracy of the driving simulation experiment.

Description

A method for realizing the interactive integrated experiment platform of micro-traffic simulator and driving simulator

technical field

The invention belongs to the technical field of intelligent transportation system and traffic simulation, and more specifically, the invention relates to a method for realizing an interactive integrated experiment platform of a microscopic traffic simulator and a driving simulator.

Background technique

The road traffic system is a complex system composed of four elements: people, vehicles, roads, and traffic environment. These elements act independently and restrict each other, and jointly determine the operation status of this complex system. It is very difficult to theoretically analyze driving behavior by using mathematical models in the traditional way, while on-site demonstrations are limited by the conditions of the actual scene, the implementation cost is high, and the safety is not high. Therefore, it is a new method to conduct experimental research on driving behavior. technical means. The development of virtual reality technology has made virtual driving experiments more and more popular in academic research and enterprise product development.

In recent years, with the gradual implementation of intelligent transportation systems in my country, micro-traffic simulators (or micro-traffic simulation software) have also been widely used in my country, such as VISSIM, PARAMICS, AIMSUN, etc. The microscopic traffic simulator is based on the traffic system model that describes the elements and behavior details of the traffic system in detail, taking the operation behavior of each vehicle as the basic unit. The micro-behaviors of each vehicle on the road, such as following, overtaking, and lane changing, can be more realistically reflected. The micro-traffic simulator runs in the personal computer. Before the simulation starts, once the driving behavior parameters are set, the simulation will run according to the set behavior parameters. It cannot reflect the behavior changes of different drivers in different traffic scenarios in real time; at the same time, due to the diversity of human factors, simulation experiments cannot be carried out for human traffic behavior parameters that are not involved in the micro-simulator.

At present, driving simulator, as a professional virtual reality experiment tool, has become an important scientific tool for road traffic research, management and design departments to study traffic problems under laboratory controllable conditions. It allows researchers to arbitrarily establish a virtual scene with specific traffic environment and traffic dynamic characteristics, and realize conditional control of driving vehicles, traffic flow, pedestrian dynamic parameters and other environmental factors. Dynamic information collection, parameter analysis and simulation experiments for similar road traffic problems. The workflow of a traditional driving simulator is mainly for the driver to control the test vehicle to drive alone in a simple road scene, and then analyze the driver's driving behavior through data output. In more complex traffic flow scenarios, the simulation of traffic flow mainly adopts fixed traffic flow settings, that is, the movement rules of surrounding vehicles are set in advance to drive on a fixed route, which cannot reflect the relationship between the vehicle controlled by the driver and the surrounding vehicles. The dynamic interaction behavior of the system cannot reflect the overall change characteristics of the system caused by the interaction of traffic flow (such as traffic flow stop wave, start wave, etc.). That is to say, the advantage of the driving simulator lies in the virtual experiment on the behavior of a single vehicle. How to study the influence of individual driving behavior on traffic flow is still "powerless" by current technologies and methods.

To sum up, the micro-traffic simulator and the driving simulator have their own advantages and disadvantages. If the two are combined, the driving simulator will have both real driving behavior information of the driver and a realistic micro-traffic flow in the virtual scene. , can realize the comprehensive simulation of driving simulation based on microscopic traffic simulator, that is, a kind of interactive integrated experimental platform of microscopic traffic simulator and driving simulator applied for in this patent.

Contents of the invention

The purpose of the present invention is to propose a method for realizing the interactive integration of the micro-traffic simulator and the driving simulator.

The method for realizing the interactive integration of the micro-traffic simulator and the driving simulator proposed by the present invention, the specific implementation steps are as follows:

(1) Establish the traffic environment required for the experiment in the micro-traffic simulator, which includes road network information, traffic organization management strategy information, and basic parameters of traffic flow;

(2) Select the test vehicle

Run the traffic simulation, when the traffic flow state is stable, according to the needs of the simulation, select the vehicle that appears at a suitable time and location as the test vehicle, record the ID of the vehicle during the simulation running, and assign it to the corresponding control module ;

(3) Use the data reading and conversion module to complete the real-time extraction of the driving simulator's operating signals, and convert the extracted driver's operating signals into data information, such as converting acceleration and deceleration signals into pedal force values, and converting turning signals into Steering wheel change angle etc. Then, use the data reading and conversion module to extract the data information reflecting the driver's operation in the driving simulator, and store it in the data file, and the file type can be a database file or a text file;

(4) Develop the data reading and conversion module, and embed it into the microscopic traffic simulator through the secondary development interface of the microscopic simulator. Make the micro-traffic simulator synchronously read and store the data files that reflect the driver's operations, and convert the data files that reflect the driver's operations into data that the micro-traffic simulator can recognize through the corresponding conversion function, and transmit the data files that reflect the driver's operations To the corresponding parameters of the test vehicle, it is realized that the test vehicle in the micro-traffic simulator drives according to the driver's operation. At the same time, the data reading and conversion module protects the relevant parameters of non-test vehicles in the simulation environment, so that they can drive according to the inherent simulation strategy in the microscopic traffic simulator;

(5) Use the data reading and conversion module to access the database module of the micro-traffic simulator, and extract the test vehicle data and surrounding related vehicle data generated in real-time during the simulation process from the database module of the micro-traffic simulator and store them in the data file, for experimental evaluation.

In the present invention, the road network information in step (1) includes: the layout of the road section, the geometric characteristics of the road, the flow direction control of the intersection or ramp, the behavior type on the road section (urban area, right-hand rule, expressway, sidewalks, bicycle lanes) and slopes and fees, etc.

In the present invention, the traffic organization management strategy information in step (1) includes: deceleration or parking control, signal control at intersections, lane change control on road sections, priority traffic strategies for conflict points, weaving areas, and merging points, etc. .

In the present invention, the basic parameters of traffic flow in step (1) include: traffic in all directions of the road, vehicle types and vehicle composition structures, driving behavior data of vehicles such as basic parameters of car following, lane changing, and lateral behavior, and traffic signal response, etc.

In the present invention, the data information extracted by the driving simulator in step (3) includes: the steering wheel angle of the driving simulator, the strength of the accelerator and brake pedals, and the like.

In the present invention, the micro-traffic simulator and the driving simulator can interact with each other in step (4). On the one hand, the data of the driving simulator can change the data of the test vehicle in the micro-traffic simulator, and then change the traffic operation status through the simulation model of the micro-traffic simulator; on the other hand, the micro-traffic simulator can visualize the real-time traffic status, so Affect the judgment, decision-making and operation of the driving simulator driving the vehicle.

In the present invention, the test vehicle data and related vehicle data in step (5) can be selectively extracted, including: simulation time, coordinates, speed, acceleration of the test vehicle and vehicles around the test vehicle, lane change, vehicle driving direction and road center The angle formed by the line, the headroom distance between the vehicle and the test vehicle, etc.

The invention utilizes the advantages of the microscopic traffic simulator, and proposes an improvement scheme aiming at the fixed modular elements in the traditional driving simulator. The present invention also improves the simulation calculation model of the micro-traffic simulator so that it includes both traffic environment information and the driver's operation information, so that the traffic flow model in the micro-traffic flow simulator can be used to greatly improve the experimental performance. The experimental accuracy of the platform for traffic flow behavior, and the real-time transmission of driver operation signals through the data acquisition module of the driving simulator and the corresponding sensor system, enhance the analysis ability of the experimental platform for individual traffic behavior. In addition, the present invention provides a method for realizing the interaction between the micro-traffic simulator and the driving simulator. Specifically, on the one hand, the operating signal of the driving simulator can be converted into a data signal that the microscopic traffic simulator can recognize through a series of data reading and writing and conversion modules, and the relevant parameters of the test vehicle in the microscopic traffic simulator can be changed, and then passed The simulation calculation model of the micro-traffic simulator changes the traffic operation state; on the other hand, the micro-traffic simulator can visualize the real-time traffic state, thus affecting the driver's judgment, decision-making and operation. This method has the characteristics of easy implementation, strong experimental interaction, high experimental accuracy and low application cost.

Description of drawings

Fig. 1 is the implementation flow diagram of the interactive integration experiment platform of micro traffic simulator and driving simulator of the present invention;

Fig. 2 is a block diagram of a driving simulator decision information extraction module;

Fig. 3 is the operation data output by the driving simulator in the process of the driver decelerating and going straight;

Fig. 4 is a block diagram of the conversion module of driving simulator data and relevant parameters of the micro-traffic simulator;

Figure 5 is a block diagram of the data extraction module required by the test vehicle and its surrounding related vehicles.

Detailed ways

The present invention is further illustrated below by means of embodiments in conjunction with the accompanying drawings.

Embodiment: This research is based on combining traditional driving simulators and advanced microscopic traffic simulators, and constructs an interactive and integrated experimental platform for microscopic traffic simulators and driving simulators. Below in conjunction with accompanying drawing 1 specific implementation steps of the present invention are described in detail, this implementation example is implemented under the premise of the technical solution of the present invention, has provided detailed implementation and concrete operation process, but the protection of the present invention The scope is not limited to the following implementation examples, and it should be noted that the micro-traffic simulator and driving simulator mentioned in the present invention are not limited to a specific micro-traffic simulator and driving simulator.

This implementation example is based on the Logitech G27 (steering wheel, gear and pedal three major components) driving simulator and the VISSIM 5.40 version of the micro-traffic simulator, taking the on-ramp of a road section of the Shanghai Inner Ring Elevated as the simulation scene, and analyzing the driver Heart driving test. Specific steps are as follows:

(1) Establish a test scene

Through on-site video shooting, the basic road parameters such as the number of lanes, lane width, length of the road section, and the location of the up and down ramps of the simulated section of the expressway are obtained, and the VISSIM microscopic traffic simulator is used to establish the experimental scene, including the establishment of a practical road network according to the experimental requirements. In addition, it is necessary to add realistic traffic organization management strategies to the road network, such as ramp entrance signal control parameters, expressway lane change control, and weaving rules. Next, add the actual typical traffic volume and model ratio through VISSIM related functions, and observe whether the traffic operation status in VISSIM is in line with the actual situation. If not, you need to find out the cause of the problem, and further adjust the road network and traffic organization management strategy until The simulation effect in VISSIM can be close to the actual situation.

Set the traffic environment conditions required for the experiment in the established test scene. This experiment needs to adjust the traffic volume in VISSIM so that the traffic volume on the expressway can reach high-density steady flow, near saturation state and supersaturation state respectively. Experiments were carried out under different traffic conditions.

(2) Select the test vehicle

Run the VISSIM simulation, and when the traffic flow is stable, select a black vehicle that appears at the west entrance of the elevated road as the test vehicle, record the ID of the vehicle during the simulation operation, and assign it to the corresponding control module.

(3) Extract and transform the operating signals of the driving simulator

Use the data reading and conversion module to complete the real-time extraction of the operating signals of the Logitech G27 driving simulator, convert the driver's operating signals into data information, convert the acceleration and deceleration signals into pedal force values, and convert the turning signals into steering wheel change angles. The pedal force value is represented by the ratio of the actual pedal range to the maximum pedal range, the accelerator pedal is represented by a positive number from 0 to 1, and the brake pedal is represented by a negative number from -1 to 0; the steering wheel change angle data can be represented by the ratio of the actual rotation angle to the maximum rotation angle , turn left as a negative number from -1 to 0, and turn right as a positive number from 0 to 1. The converted driving simulator operation data information is stored in a data file. Figure 2 shows the flow of the program, and Figure 3 shows the operating data generated during the deceleration and straight driving of the test vehicle.

(4) The micro-traffic simulator reads the operating data of the driving simulator

Through VISSIM's external driver model, read the file that stores the driving simulator's operating data, and process the data through related modules, and finally transmit the data reflecting the driver's operation to the corresponding parameters of the test vehicle. Specifically, the pedal data of the driving simulator can be used as variables to change the speed and acceleration of the test vehicle, and the steering wheel data of the driving simulator can be used as data to change the steering, corner and lane change of the test vehicle. As shown in Figure 4.

During the experiment, all data modules are integrated into VISSIM's external driver model, so that in the experimental simulation process, the driver can control the state of the test vehicle in real time through the driving simulator, and make other vehicles in the simulation scene And the traffic strategy can run normally according to VISSIM's inherent method, and use VISSIM's inherent traffic simulator to reflect the impact of the test vehicle in the road network.

(5) Feature data extraction of the test vehicle and its surrounding vehicles

During the experiment, the driver is made to drive in three driving behaviors of concentrating, making a phone call, and sending a text message, and the experimental data is stored in the data storage module. Through the external driver model of VISSIM, the data required for the next step of research is extracted from the data storage module of VISSIM, which includes the simulation time, the coordinates, speed, acceleration, lane change, and vehicle coordinates of the test vehicle and the vehicles around the test vehicle. The angle formed by the driving direction and the center line of the road, the headroom distance between the vehicle and the test vehicle, etc. As shown in Figure 5.

Claims (7)

1. A method for realizing the interactive integration of micro-traffic simulator and driving simulator, characterized in that the specific steps are as follows: (1) Establish the traffic environment required for the experiment in the micro-traffic simulator, which includes road network information, traffic organization management strategy information, and basic parameters of traffic flow; (2) Select the test vehicle Run the traffic simulation, when the traffic flow is stable, according to the needs of the experiment, select the vehicle that appears at a suitable time and location as the test vehicle, record the ID of the vehicle during the simulation operation, and assign it to the corresponding control module ; (3) Use the data reading and conversion module to complete the real-time extraction of the driving simulator's operating signals, convert the extracted driver's operating signals into data information, and then use the data reading and conversion module to extract the driving signals reflected in the driving simulator. The data information operated by the operator and stored in the data file, the file type can be a database file or a text file; (4) Embed the data reading and conversion module in the micro-traffic simulator, so that the micro-traffic simulator can synchronously read and store the data files that reflect the driver's operation, and convert the data file that reflects the driver's operation into microscopic traffic through the corresponding conversion function. The data that can be recognized by the traffic simulator transmits the data file reflecting the driver's operation to the corresponding parameters of the test vehicle, so that the test vehicle in the micro-traffic simulator drives according to the driver's operation; at the same time, the data reading and conversion module The relevant parameters of non-test vehicles in the environment are protected so that they can drive in accordance with the inherent simulation strategy in the micro-traffic simulator; (5) Use the data reading and conversion module to access the database module of the micro-traffic simulator, and extract the test vehicle data and surrounding related vehicle data generated in real-time during the simulation process from the database module of the micro-traffic simulator and store them in the data file, for experimental evaluation. 2. The method for realizing the interactive integration of micro-traffic simulator and driving simulator according to claim 1, characterized in that the road network information in step (1) includes: layout of road sections, geometric features of roads, intersections Flow direction control at intersections or ramps, behavior types, slopes and fees on road sections. 3. The method for realizing the interactive integration of micro-traffic simulator and driving simulator according to claim 1, characterized in that the traffic organization management policy information in step (1) includes: deceleration or parking control, intersection Signal control, lane change control on road sections, priority traffic strategy at conflict points, weaving areas and diverging and merging points. 4. The method for realizing the interactive integration of micro-traffic simulator and driving simulator according to claim 1, characterized in that the basic parameters of traffic flow in step (1) include: traffic in all directions of the road, types of vehicles and The structure of the vehicle, the driving behavior data of the vehicle include: basic parameters of car following, lane changing, lateral behavior, and response to traffic signals. 5. The method for realizing the interactive integration of the micro-traffic simulator and the driving simulator according to claim 1, characterized in that the data information extracted by the driving simulator in step (3) includes: the steering wheel angle of the driving simulator, the throttle and brake pedal force. 6. The method for realizing the interactive integration of the micro-traffic simulator and the driving simulator according to claim 1, characterized in that the micro-traffic simulator and the driving simulator can interact with each other in step (4); on the one hand, the driving simulation The data of the micro-traffic simulator can change the data of the test vehicle in the micro-traffic simulator, and then change the traffic operation status through the simulation model of the micro-traffic simulator; Judgment, decision-making and operation of the vehicle. 7. The method for realizing the interactive integration of micro-traffic simulator and driving simulator according to claim 1, characterized in that in step (5), the test vehicle data and surrounding related vehicle data can be selectively extracted, including: simulation Time, the coordinates, speed, acceleration of the test vehicle and the vehicles around the test vehicle, lane change, the angle formed by the driving direction of the vehicle and the center line of the road, and the headroom distance between the vehicle and the test vehicle.