混合交通流交叉口共享空间交互行为建模及仿真

Modeling and Simulation of Interaction Between Road Users at Mixed-traffic Intersections

为准确刻画交叉口共享空间内交通个体的运动和交互过程,并为智能汽车虚拟测试提供可靠背景交通流仿真环境,本文提出一种混合交通流交叉口共享空间交互行为模型。基于人类认知过程,模型被设计为“感知-决策-执行”的3层通用框架结构,模拟混合交通流中不同类型交通个体从感知、决策直至执行的交互全过程。感知层提出一种二维平面交互对象选择方法,通过个体感知范围和轨迹冲突有序筛选交互对象,表征冲突交互的动态性特征;决策层基于当前时刻的交互对象和实时交通环境状况,使用交互行为决策方法为不同类型的交通个体分别选择适合的行为进行交互;执行层通过计算生成执行当前行为决策所需要的轨迹、加速度等关键参数,共同控制仿真个体按照行为决策结果在二维平面上运动和交互。基于智能汽车Opendrive高精度路网,构建虚拟测试仿真平台,并将所提出的模型注入平台进行测试。仿真结果表明,模型能较好地复现交叉口共享空间中交通个体间的交互。研究结果有助于为智能汽车虚拟测试提供可靠背景交通流环境,并进一步提高虚拟测试工具的测试可信度、测试效率及泛化能力。

To accurately describe the interaction and microscopic motion of road users,and provide traffic flow for the virtual testing of autonomous vehicles,this paper develops an interaction model for representing interactions between road users at mixed-traffic intersections.Based on the human cognitive process,the model is designed as a threelayered“perception-decision-action”framework to capture the whole interaction process of road users in mixed traffic.In the perception layer,an interaction selection model is proposed to dynamically decide the interactive road user based on their trajectories.The Decision layer chooses a suitable behavior decision result for road users according to the traffic context.The action layer calculates the behavior trajectory,acceleration,and steering angle based on the decision result to jointly capture the two-dimensional motion of road users.Then,a virtual testing platform is established to verify the performance of the proposed model using the Opendrive road network.Simulation results show that the proposed model can well represent the interaction between different kinds of road users,including motor vehicles,bicycles,and pedestrians.This study provides a way for exploring how to provide traffic flow and satisfy the high precision simulation requirement for virtual testing tools.