JP3316919B2 - Road traffic control simulation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adaptive road traffic control simulation device for simulating a vehicle running on a road network and a signal control system.

[0002]

2. Description of the Related Art In a road traffic control system, signals are controlled in order to flow traffic efficiently. A group of traffic flows to which a right-of-way is granted or a group of traffic flows to which a right-of-way is granted at the same time is called a present. The following three control variables are mainly used as control variables for controlling signals.

[0003] Cycle (cycle); blue, yellow, red signal or
Time required for a series of alternate signal indications to make a cycle Split;
Allotted timeDistribution  Offset; blue light between adjacent intersections
Issue start time lag

Examples of signal control methods based on such control variables include “traffic signal control technology” (edited by the Traffic Engineering Research Group, 1983), and “overseas“ highway traffic systems ”. Trend ”(traffic control No. 41,
59-69 (1992), etc., have been proposed, but their description is omitted here.

Conventionally, as a traffic control simulation device for simulating such a traffic control system, a flow of an automobile is regarded as one fluid, and how to efficiently flow the fluid is analyzed in terms of signal control at an intersection. Or apply a single differential equation to a vehicle that follows and drives it, and solves it for the entire vehicle that simulates it.Furthermore, vehicle setting, road network setting, environmental operation, and simulation processing related to the vehicle, and vehicle setting data Processing, road setting data processing, signal setting data processing, statistical processing, display parameter change processing, etc. are provided as auxiliary processing. In the environment processing unit, each vehicle is determined as a fuzzy model vehicle and the behavior of its own vehicle is determined by a fuzzy model. And capture the ever-changing individual vehicles By giving the environment surrounding the respective vehicle dynamic include those which simulate actual traffic jam.

As a document describing a technique related to such a conventional road traffic control simulation apparatus, for example, a "road traffic simulation model incorporating a car driving operation by fuzzy control" (7th Fuzzy System Symposium) Lecture Papers No. 593-5
98, 1991), "Street traffic simulation models (MICSTRAN-I and MACSTRAN-
I) "(Report by the Science Police Research Institute, Vol. 16, No. 1, pp. 1-16, 1975).

[0007]

Since the conventional road traffic control simulation apparatus is configured as described above, the model of the signal control system is fixed, and the comparative verification of various signal control methods is facilitated. And a complicated model is used in order to make the simulation close to reality, so that a considerable amount of calculation time is required.

The invention described in claim 1 has been made in order to solve the above-described problems, and it is possible to easily implement various control methods and perform comparative verification. It is an object of the present invention to obtain an adaptive road traffic control simulation device capable of simulating the situation at high speed.

[0009]

[0010]

[0011]

According to a first aspect of the present invention, there is provided a road traffic control simulation apparatus comprising: a road network setting unit for setting a road network; and a road network set by the road network setting unit. Road network model generating means for generating a road network model based thereon, and a signal control model to be evaluated from among a plurality of signal control models in a traffic control system respectively corresponding to various signal control methods executed in the road network A signal control model setting means for setting a signal control model and a model for simulating various actual signal control operations by individual controllers constituting a signal control system based on the signal control model set by the signal control model setting means. A signal control model generating means for generating a traffic pattern; a traffic pattern setting means for setting a traffic pattern in the road network; A vehicle traveling model setting means for the actual traveling operation by the multi several vehicles, sets a plurality of vehicles running model simulating respectively in consideration of the characteristics of the vehicle and the driver you, set by the vehicle running model setting means Vehicle traffic data creating means for creating traffic data of each vehicle by linking each of the vehicle running models thus set and the traffic pattern set by the traffic pattern setting means, and the individual traffic created by the vehicle traffic data creating means. Vehicle running that generates various running models of individual vehicles based on the vehicle traffic data and the vehicle running model set by the vehicle running model setting means so as to adapt to the actual traffic condition of the road network. A model generation unit, a road network model from the road network model generation unit, a model of each controller from the signal control model generation unit, and Serial based on the running model of individual vehicles from the vehicle running model generating means,
Simulate the signal control system in the road network and simulate the driving behavior of the vehicle to be evaluated.
It includes a simulation execution unit for Shon, and output means for outputting the result of simulation by the simulation executing unit, the simulation hand
The steps serve as obstacles ahead of the traffic lane,
Other virtual obstacles, including stop lines and right turn wait points
Obstacles, and set values according to each of the obstacles
More driving behavior, including stopping at stop lines and changing lanes
Acceleration, velocity, and position updates using the same formula
And execute it .

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

According to the first aspect of the present invention, the simulation executing means includes a signal control model generating means for generating the signal control model based on the signal control model in the traffic control system set by the signal control model setting means. A model simulating various actual signal control operations by each controller, and the traffic data of each vehicle created by connecting the vehicle travel model and the traffic pattern of the vehicle traveling on the road network by the vehicle traffic data creating means and the vehicle travel. Based on the model, various types of traveling models of each vehicle generated by the vehicle traveling model generation means so as to adapt to the actual traffic conditions of the road network, and the road network model generation means based on the set road network. Based on the generated road network model, a signal control system in the road network is simulated and evaluated.
Simulate the driving behavior of a vehicle to be valued. Ma
In addition, when simulating the running behavior of a vehicle,
Stops in addition to physical obstacles as obstacles in front of lane
Virtual obstacles including lines and right turn waiting points are regarded as obstacles.
By setting a value corresponding to each of the obstacles,
In addition to stopping at a stop line and driving behavior including lane change,
Update speed, speed, and position using the same formula
You. As a result, a road traffic control simulation device capable of easily implementing various control methods for comparative study and realizing high-speed simulation of a situation adapted to reality is realized.

[0020]

[0021]

[0022]

[0023]

[0024]

[0025]

[0026]

[0027]

[Embodiment 1] An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an embodiment of an adaptive road traffic control simulation device according to the first to third aspects of the present invention. In the figure, 1 is a signal control model setting means for setting a signal control model in a traffic control system according to various signal control methods, and 2 is a road network setting means for setting an arbitrary road network in a road traffic system. . Reference numeral 3 denotes a traffic pattern setting means for setting a traffic pattern of the road network in the road traffic system.
Is a vehicle traveling model setting means for setting a vehicle traveling model adapted to the reality of vehicles traveling on the road network.

Reference numeral 5 denotes signal control model generation means for generating a model of each signal controller of the signal control system based on the signal control model set by the signal control model setting means 1, and 6 denotes a road network. A road network model generation unit that generates a road network model that generates a road network model based on the road network set by the setting unit 2. Reference numeral 7 denotes a vehicle traffic data creating unit that creates a traffic data of each vehicle by linking the traffic pattern set by the traffic pattern setting unit 3 and the vehicle running model set by the vehicle running model setting unit 4. Reference numeral 8 denotes a vehicle running model generation unit that generates individual vehicle running models from the vehicle traffic data created by the vehicle traffic data creating unit and the vehicle running model set by the vehicle running model setting unit 4.

Reference numeral 9 denotes a signal control system obtained by the signal control model generating means 5 and a vehicle obtained by the vehicle running model generating means 8 traveling on the road network obtained by the road network model generating means 6. This is simulation execution means for performing simulation. Reference numeral 10 denotes an animation display unit as an output unit for displaying a simulation animation obtained by the simulation execution unit 9. Reference numeral 11 denotes a diagram display as an output unit, which displays the trajectory of the vehicle obtained by the simulation execution unit 9 on a diagram. Numeral 12 denotes a statistical processing means for statistically processing the result of the simulation obtained by the simulation executing means 9.

FIG. 2 is a block diagram showing an example of a signal control system generated by the signal control model generating means 5. In the figure, 13 is a system controller for controlling a regional controller in a control area, 14 is a regional controller for controlling a traffic signal at each intersection, 15 is a traffic signal controlled by the regional controller,
Reference numeral 16 denotes a vehicle detector. The signal control model generating means 5 generates a model of the system controller 13 and the area controller 14 according to the signal control method set in the signal control model setting means 1.

The signal control model setting means 1 can set a signal control model from signal control models prepared in advance. For example, when the multi-stage fixed cycle system control is set, the system controller 13 sets the control variables of each regional controller 14 based on the time, and the regional controller 14 controls the traffic light 15 according to the given control variable. Set a suitable model. Also, a new signal control model can be defined and added to a previously prepared signal control model.

FIG. 3 is a block diagram showing an example of the vehicle running model generated by the vehicle running model generating means 8. In the figure, 17 indicates a driver model, and 18 indicates a vehicle model. The driver model 17 operates the vehicle according to the situation around the vehicle. The vehicle model 18 changes the state of the vehicle in accordance with the operation of the driver model 17 and physical rules.

In the vehicle running model setting means 4, the characteristics (skill, nature) of the driver model 17 and the vehicle model 18
(Size, type, rated acceleration / deceleration, maximum speed, etc.), and a vehicle running simulation determining unit (obstruction recognition, lane change determination, right turn determination, stop The parameters used for the judgment and the acceleration / deceleration judgment are created. Vehicle running model setting means 4
Prepares characteristic vehicle running models such as general passenger cars and large trucks in advance, and the vehicle running model can be set from these. It is also possible to define a new vehicle running model and add it to the prepared vehicle running model.

Next, the operation will be described. Here, FIG.
5 is a flowchart showing the operation of the adaptive road traffic control simulation apparatus according to this embodiment, and FIG. 5 is a flowchart showing the operation of the vehicle running simulation performed by the simulation executing means 9.

In FIG. 4 , after the system is started in step ST1, first, in step ST2, the signal control model setting means 1, the road network setting means 2, the traffic pattern setting means 3, and the vehicle running model setting means 4 Set the road network, traffic pattern, signal control system, vehicle type and characteristics to be simulated. FIG. 6 shows the configuration of the road network set by the road network setting means 2, and FIG. 7 shows the traffic pattern set by the traffic pattern setting means 3. The examples of FIGS. 6 and 7 indicate that there are 1000 [vehicles / hour] of traffic from each inlet, under a road network in which four intersections exist in a grid pattern. By changing the data shown in FIGS. 6 and 7, the road network and the traffic flow can be changed.

Next, in step ST3, the road network model generating means 6 sets the road network model
The signal control model generating means 5 generates a signal control model based on the information set by the signal control model setting means 1. In step ST4, the vehicle traffic data creating means 7 creates vehicle traffic data based on the data set by the traffic pattern setting means 3 shown in FIG. Diagram display section 1
1) is set in step ST5. Next, step S
At T6, the vehicle travel model is generated one by one by the vehicle travel model generation means 8 at the set occurrence time, and the simulation execution means 9 simulates the travel of the vehicle on the road network and the operation of the signal control system. . This simulation is repeated until the simulation executing means 9 receives a simulation stop command. The state of the simulation is determined by the animation display unit 1 in steps ST7 and ST8.
0 and display output through the diagram display unit 11.
Finally, in step ST9, the statistical processing means 12 statistically processes the simulation result to evaluate the signal control method.

Next, will be described with reference to FIG. 5 the operation of the vehicle running model Simulation clock in the vehicle traveling simulation. First, step ST10
In, the driver model 17 recognizes one obstacle in front of the traveling lane. Obstacles include not only physical obstacles such as the vehicle in front of the vehicle and the end point of the lane, but also virtual obstacles such as a stop line and a right turn waiting point, which are recognized as being impossible to cross. Next, in step ST11, a lane change determination is made based on the surrounding situation and its own motive. Thereafter, in step ST12, the predicted time required for the right-turning vehicle to pass through the intersection is compared with the predicted time required for the oncoming traffic flow to reach the intersection, and it is determined whether or not the oncoming vehicle obstructs and it is determined whether a right-turn is possible. . Next, in step ST13, it is determined whether to stop immediately based on the distance to the obstacle. If it is determined to be "stop", the process proceeds to step ST15.

On the other hand, the judgment in step ST13 is "stop".
If not, the process proceeds to step ST14, and any one of acceleration / deceleration / speed maintenance is selected according to the distance to the obstacle ahead and the relative speed. When the vehicle is slower than the obstacle, the acceleration / deceleration is determined so as to maintain the safe following distance Df. Here, the safe follow-up distance Df and the safe stop distance Ds are represented by V for own speed, β for rated deceleration,
Assuming that the obstacles are V ′ and β ′ and that k1 and k2 are coefficients depending on the properties of the driver model 17, the following equations (1) and (2) are used.

Df = k1 ^* V ‥‥‥‥‥‥‥‥‥‥‥‥‥ (1) Ds = k2 ^* ｛V ^* V / (2 ^* | β |) −V ′ ^* V ′ / (2 | β '|)｝ ‥‥‥‥‥‥‥‥‥‥‥‥‥ (2)

When the obstacle is a virtual one such as a stop line or a right turn standby point, the obstacle speed V 'is set to "0" and the rated deceleration β' is set to "-∞". Step ST1 above
Steps 0 to ST14 are executed in the driver model 17.

Finally, in step ST15, the vehicle model 18 updates the acceleration, speed, and position.
The acceleration a (t) is updated using the rated acceleration / deceleration α, β as shown in the following equations (3) to (5).

A (t) = α (α> 0 when judging acceleration) (3) a (t) = β (β <0 when judging deceleration) ‥‥‥‥ (4) a (t) = 0 (at the time of speed maintenance judgment) ‥‥‥‥‥‥‥‥‥ (5)

On the other hand, the position x (t) [m] and the speed v (t)
[M / s] is updated by a physical equation such as the following equation (6) and equation (7), assuming that the speed and acceleration are constant between simulation clocks (simulation interval T [s]).

X (t) = x (t−1) + v (t−1) ^* T ‥‥‥‥‥‥‥‥‥ (6) v (t) = v (t−1) + a (t−1) ) ^* T ‥‥‥‥‥‥‥‥‥ (7)

Note that "stop" is performed in step ST13.
If it is determined that both v (t) and a (t) are zero.

The above steps are repeated until a simulation stop command is received. Further, it is also possible to distribute the processing of each vehicle travel to a plurality of processors and operate them in parallel.

As described above, according to the first embodiment, the signal control model setting means 1 sets a signal control model to be evaluated from among the prepared signal control models, and the signal control model generating means 5 In order to generate models of individual signal controllers based on the signal control models set in the control model setting means 1, various signal control methods are evaluated,
Can be verified. Also, a new control model can be handled by defining the new signal control model in the signal control model setting means 1.

Further, the vehicle running model setting means 4 not only obtains from a characteristic vehicle running model prepared in advance but also
A new vehicle traveling model can be defined and additionally set in the prepared vehicle traveling model. The vehicle traveling model generation means 8 can use various types of vehicles based on information from the vehicle traveling model setting means 4. Since a traveling model can be generated, it is possible to actually adapt the vehicle by mixing various types of vehicles and individualized drivers. Further, as described above, the individual vehicle running models are relatively simple, and simulation can be performed at higher speed by distributing them to a plurality of processors and processing them in parallel as described above.

Embodiment 2 FIG. Next, a second embodiment of the present invention will be described with reference to the drawings. FIG.
Is a block diagram showing an embodiment of the present invention. Corresponding portions are denoted by the same reference numerals as in FIG. 1, and description thereof will be omitted. In the figure, reference numeral 19 denotes an event setting means for setting a lane decrease or a traffic stop due to a construction or an accident, and setting a sudden event such as an event. A sudden event is set by the event setting means 19 and the road network setting means 2 is set.
By modifying the road network from and the traffic data from the traffic pattern setting means 3, it is possible to train a traffic controller in response to a sudden event.

Embodiment 3 FIG. Next, a third embodiment of the present invention will be described with reference to the drawings. FIG.
FIG. 1 is a block diagram showing an embodiment of the present invention. Also in this case, corresponding parts are denoted by the same reference numerals as in FIG. 1 and their description is omitted. In the figure, reference numeral 20 denotes a traffic pattern generating means for generating a traffic pattern to the traffic pattern setting means 3 based on measurement data of an actual traffic flow measuring device or a vehicle sensor. By setting the traffic pattern generated by the traffic pattern generation means 20 from the actual traffic flow measurement device and the measurement data of the vehicle detector in the traffic pattern setting means 3, a signal control measure appropriate for an actual situation is examined. can do.

[0051]

As described above, according to the first aspect of the present invention, the signal control model generating means generates the signal control model based on the signal control model in the traffic control system set by the signal control model setting means. A model simulating various actual signal control operations by each controller of the signal control system, and a vehicle traffic data creating unit connects the vehicle running model and the traffic pattern of the vehicle traveling on the road network and generates the traffic of each vehicle. Based on the data and the vehicle running model, a running model that simulates various running operations of each vehicle generated by the vehicle running model generating means so as to adapt to the traffic condition of the actual road network, and a set road network are also included. on the basis of the road network model generated by the road network model generating means bets, the simulation of the signal control system simulation executing means in the road network Performs, the travel of the vehicle to be evaluated
Simulates the behavior of the vehicle,
When simulating the vehicle, use it as an obstacle in front of the traffic lane.
In addition to physical obstacles, stop lines and right turn waiting points
Virtual obstacles, including obstacles,
Stop at a stop line and lane change
Update of acceleration, speed, and position in driving behavior, including updating
Is configured to be executed using the same calculation formula ,
Various control methods can be easily implemented and compared, making it possible to adapt to the actual situation where various vehicles and individual drivers are mixed, and to quickly adapt to the actual situation. There is an effect that a road traffic control simulation device capable of performing simulation can be obtained.

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058]

[Brief description of the drawings]

FIG. 1 is a block diagram showing a road traffic control simulation device according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram illustrating a configuration example of a signal control system in the embodiment.

FIG. 3 is a block diagram showing a configuration example of a vehicle running model in the embodiment.

FIG. 4 is a flowchart showing a flow of operation of the embodiment.

FIG. 5 is a flowchart showing a flow of an operation of a vehicle running simulation in the embodiment.

FIG. 6 is an explanatory diagram showing an example of a configuration of a road network in the embodiment.

FIG. 7 is an explanatory diagram showing an example of a traffic pattern in the embodiment.

FIG. 8 is a block diagram showing a road traffic control simulation device according to Embodiment 2 of the present invention.

FIG. 9 is a block diagram showing a road traffic control simulation device according to Embodiment 3 of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Signal control model setting means 2 Road network setting means 3 Traffic pattern setting means 4 Vehicle running model setting means 5 Signal control model generating means 6 Road network model generating means 7 Vehicle traffic data generating means 8 Vehicle running model generating means 9 Simulation executing means 10 Output handStep  11 Output handStep  19 Event setting means 20 Traffic pattern generation means

Continuation of front page (56) References BOILLOT F, et al. , Optimal Signal Control of Urban Traffic Networks, IEEE, Sixth International Conference on ROAD TRAFFIC MONITOR ING AND CONTRON, 1993 Development of the target traffic flow simulation model, Proceedings of the 12th Traffic Engineering Research Conference, Japan, November 1992, 73-76 Masaaki Taniguchi, et al., Application of traffic flow simulation software “NETSIM” Proceedings of the 12th Conference on Traffic Engineering, Japan, December 1992, 77-80 WONG S-Y, TRAF-NET SIM: How It Works, What It Does, I E JO URNAL, Vol. 60, no. 4, 22-27 RATHIAK, et al. , Identical traffic streams in the TRA F-NETSIM simulation program, Traffic Engineering + Control, June 1990, Vol. 31, No. 6,351-355 (58) Fields investigated (Int. Cl. ⁷ , DB name) G06F 19/00 110 G08G 1/00 JICST file (JOIS)

Claims (1)

(57) [Claims] A road network setting means for setting a road network; a road network model generating means for generating a road network model based on the road network set by the road network setting means; Signal control model setting means for setting a signal control model to be evaluated from among a plurality of signal control models in a traffic control system corresponding to various signal control methods to be executed; and Signal control model generating means for generating models that respectively simulate various actual signal control operations by the individual controllers constituting the signal control system based on the signal control model, and traffic for setting a traffic pattern in the road network. a pattern setting means, the actual traveling operation by the multi several vehicle you travel the road network, taking into account the characteristics of the vehicle and the driver A vehicle travel model setting means for setting a plurality of vehicle travel models to be simulated, and a vehicle travel model set by the vehicle travel model setting means and a traffic pattern set by the traffic pattern setting means. Vehicle traffic data creating means for creating traffic data of individual vehicles in association with each other, based on the traffic data of each vehicle created by the vehicle traffic data creating means and the vehicle running model set by the vehicle running model setting means Vehicle running model generating means for generating various running models of individual vehicles so as to adapt to the traffic conditions of the actual road network; output means for outputting a simulation result by the simulation executing means; and A road network model from the network model generating means, an individual controller model from the signal control model generating means, Fine on the basis of the individual vehicles traveling model from the vehicle traveling model generating unit, performs a simulation of the signal control system in the road network, vehicle to be evaluated
Simulation means for simulating the traveling behavior of the road traffic control simulation device , comprising:
As an object, in addition to physical obstacles, stop lines and waiting for right turns
A virtual obstacle including a point is regarded as an obstacle, and each of the obstacles is
By setting the value according to, stop at the stop line and
Acceleration, speed and position in driving behavior including lane change
Update using the same formula.
Road traffic control simulation device .