基于速度障碍的结伴行人运动模型

发布时间：2018-09-11 21:42

【摘要】：在大型交通枢纽、购物中心、道路的设计和规划中,行人的安全以及高效运行越来越得到重视。为了帮助设计师和工程师了解行人流在步行设施中的运动特性,需要有一个合理的行人运动模型体系,并在该体系上建立仿真软件。结伴行人是人流的重要组成部分,但是对结伴效应的研究却十分稀少。在微观上结伴行人是怎样采取避让行为的,在宏观上结伴效用对人流有怎样的影响至今仍然没有定论。正是出于这样的考虑,本文希望建立一种全新的结伴行人模型,其能够直观并且行之有效的表现出结伴行人之间的社会联系,并能够采取合理的避让策略,为建立大型的行人仿真模型提供一些帮助和思路。本文具体研究内容如下:(1)基础理论框架确定。本文分析了现今在独立行人建模中常用模型的优缺点,总结了目前结伴行人的国内外研究现状。由于速度障碍理论在机器人避让运动中的成功运用,因此本文决定采用速度障碍理论作为模型的基础框架,并在这个计算框架下构建结伴行人模型。(2)行人步行特性分析。在微观建模前需要对模型产生的结果有一个基本的认识,这需要足够多的基础数据,并详细的了解行人运动的微观特性以及宏观特性。因此本文从行人速度、空间需求、行人间的交互作用、行人交通流特性、人流的自组织现象,结伴行人空间结构六个方面说明了现在的最新研究情况,提出了建模时需要考虑的因素。(3)模型建立。由于速度障碍理论能够确保单个行人步行时不发生碰撞,因此本文在此基础上构建结伴模型,提出用距离约束线的概念将分散的行人联系起来。先用组内约束线构建双人结伴和三人结伴组,再用组外约束线将独立行人,二人组以及三人组连接起来构成大范围的结伴行人组。随后,本文提出了一种算法,将距离约束转化成速度约束,并确保模型始终有解。(4)模型标定,仿真与验证。首先利用视频数据标定了模型中的系数,其次设计了双人结伴和三人结伴对向实验,分别验证了两种大组组成单元的避让特性。在确保低密度无碰撞后,设计了一种圆形的高密度交互实验,虽然在中心区域难以避免的出现了重叠现象,但是在高密度下的避让特性仍然是可接受的。最后的宏观实验中,模型生成了分层现象,并且有一个合理的基本图结果,因此认为,本文所建立的多人结伴避让模型是有效的。
[Abstract]:In the design and planning of large transportation hubs, shopping centers and roads, pedestrian safety and efficient operation have been paid more and more attention. In order to help designers and engineers understand the movement characteristics of pedestrian flow in walking facilities, a reasonable pedestrian movement model system is needed and a simulation software is established on the system. Pedestrian is an important part of pedestrian flow, but the study of the effect of pedestrian is very rare. At the micro level, how to avoid the behavior of companion pedestrian, and how the effect of partnership effect on the flow of people is still uncertain. It is out of this consideration that this paper hopes to establish a new pedestrian model, which can directly and effectively show the social relationship between pedestrians, and can take reasonable avoidance strategies. It provides some help and train of thought for the establishment of large pedestrian simulation model. The main contents of this paper are as follows: (1) the basic theoretical framework is determined. This paper analyzes the advantages and disadvantages of the models commonly used in independent pedestrian modeling, and summarizes the current research situation of companion pedestrians at home and abroad. Due to the successful application of the velocity obstacle theory in the robot avoiding movement, this paper decides to adopt the velocity obstacle theory as the basic framework of the model, and build a pedestrian model under this framework. (2) pedestrian walking characteristics analysis. Before modeling, we need to have a basic understanding of the results of the model, which requires enough basic data, and detailed understanding of the microscopic and macro characteristics of pedestrian movement. Therefore, this paper explains the latest research situation from six aspects: pedestrian speed, space demand, human interaction, pedestrian traffic flow characteristics, pedestrian flow self-organization phenomenon, pedestrian spatial structure. The factors that need to be considered in modeling are put forward. (3) Modeling. Because the theory of velocity obstacle can ensure that the pedestrian does not collide on foot, this paper constructs a joint model based on this theory, and puts forward the concept of distance constraint line to connect the scattered pedestrians. In this paper, a two-person and three-person group is constructed with the constraint line within the group, and then the independent pedestrian group, the two-person group and the three-person group are connected together to form a large range of pedestrian groups by using the constraint line outside the group. Then, an algorithm is proposed to convert the distance constraint into the velocity constraint, and to ensure that the model always has a solution. (4) Model calibration, simulation and verification. First, the coefficients of the model are calibrated with video data, and then the experiments of double and triple pairs are designed to verify the avoidance characteristics of two large groups of units. A circular high-density interactive experiment is designed to ensure the low density without collision. Although there is an inevitable overlap in the central region, the avoidance property under the high density is still acceptable. Finally, in the macroscopic experiment, the delamination phenomenon is generated and a reasonable basic graph result is obtained. Therefore, it is considered that the model is effective.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.9;U491.226

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