A pedestrian trajectory simulation method, device, equipment and readable storage medium

Abstract

The present invention provides a pedestrian trajectory simulation method, device, equipment and readable storage medium, which relates to the technical field of pedestrian movement simulation. It includes obtaining first information, where the first information includes crowd simulation parameter information, simulation environment information and simulation duration; performing time discretization calculation according to the simulation duration to obtain time discretization values; performing perceptive calculation one by one according to the crowd simulation parameter information and the simulation environment information to obtain second information; calculating third information according to the second information, the crowd simulation parameter information and the simulation environment information; and recalculating the second information according to the third information until the third information is the positions of all pedestrians corresponding to the simulation termination moment. In the simulation of pedestrians, the present invention obtains the positions, accelerations and speeds of each pedestrian at different moments; compared with the traditional social force model, the use of the improved social force model can be more concise and efficient, so as to conveniently optimize and adjust the system with pedestrians participating by using the simulation results.

Description

Technical Field

[0001] The present invention relates to the technical field of pedestrian movement simulation, and in particular, to a pedestrian trajectory simulation method, device, equipment and readable storage medium. Background Art

[0002] As an important means of studying pedestrian behavior, pedestrian microscopic simulation can reproduce or pre-grasp the existing or future pedestrian walking conditions of the system, so as to explain, analyze, find out the crux of the problem of the complex pedestrian flow, and finally optimize the studied system. However, most of the existing achievements are based on traditional simulation models, and the simulation accuracy of traditional models is low. Summary of the Invention

[0003] The purpose of the present invention is to provide a pedestrian trajectory simulation method, device, equipment and readable storage medium to improve the above problems. To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0004] In a first aspect, the present application provides a pedestrian trajectory simulation method, including: obtaining first information, where the first information includes crowd simulation parameter information, simulation environment information and simulation duration; performing time discretization calculation according to the simulation duration to obtain a time discretization value; calculating and obtaining second information by sensing one by one according to the crowd simulation parameter information and the simulation environment information, where the second information includes a set of neighboring pedestrians and a set of neighboring obstacles corresponding to each pedestrian at the initial simulation moment, the set of neighboring pedestrians is a set composed of other pedestrians affecting the walking of a pedestrian, and the set of neighboring obstacles is a set of obstacles affecting the walking of a pedestrian; calculating and obtaining third information according to the second information, the crowd simulation parameter information and the simulation environment information, where the third information includes the positions corresponding to all pedestrians at a first moment, and the first moment is the moment obtained by adding the time discretization value to the initial simulation moment; recalculating the second information according to the third information until the third information is the positions corresponding to all pedestrians at the simulation termination moment.

[0005] Second aspect, the present application further provides a pedestrian trajectory simulation device, including: an acquisition unit, configured to acquire first information, where the first information includes crowd simulation parameter information, simulation environment information, and simulation duration; a time discretization calculation unit, configured to perform time discretization calculation according to the simulation duration to obtain a time discretization value; a perception calculation unit, configured to perform perceptive calculation one by one according to the crowd simulation parameter information and the simulation environment information to obtain second information, where the second information includes, at the initial simulation moment, a set of neighboring pedestrians and a set of neighboring obstacles corresponding to each pedestrian, the set of neighboring pedestrians being a set composed of other pedestrians affecting the walking of a pedestrian, and the set of neighboring obstacles being a set composed of obstacles affecting the walking of a pedestrian; a driving calculation unit, configured to calculate third information according to the second information, the crowd simulation parameter information, and the simulation environment information, where the third information includes positions corresponding to all pedestrians at a first moment, and the first moment is a moment obtained by adding the time discretization value to the initial simulation moment; and a logic unit, configured to recalculate the second information according to the third information until the third information is the positions corresponding to all pedestrians at the simulation termination moment.

[0006] Third aspect, the present application further provides a pedestrian trajectory simulation device, including:

[0007] a memory, configured to store a computer program;

[0008] a processor, configured to implement the steps of the pedestrian trajectory simulation method when executing the computer program.

[0009] Fourth aspect, the present application further provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned pedestrian trajectory simulation method are implemented.

[0010] The beneficial effects of the present invention are as follows:

[0011] In the simulation of pedestrians, the present invention obtains the positions, accelerations, and speeds of each pedestrian at different moments; compared with the traditional social force model, the improved social force model used is more concise and efficient, so as to conveniently optimize and adjust the system involving pedestrians by using the simulation results.

[0012] Other features and advantages of the present invention will be described in the subsequent specification, and part of them will become obvious from the specification, or be understood by implementing the embodiments of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0014] Figure 1 Schematic flowchart of the pedestrian trajectory simulation method described in the embodiments of the present invention;

[0015] Figure 2 Schematic structural diagram of the pedestrian trajectory simulation device described in the embodiments of the present invention;

[0016] Figure 3 Schematic structural diagram of the pedestrian trajectory simulation device described in the embodiments of the present invention.

[0017] Reference numerals in the figure: 1, acquisition unit; 2, time discretization calculation unit; 3, perception calculation unit; 31, first distance calculation unit; 32, first angle calculation unit; 321, first calculation unit; 322, second calculation unit; 323, first comparison unit; 33, second distance calculation unit; 34, second angle calculation unit; 341, fourth calculation unit; 342, fifth calculation unit; 343, second comparison unit; 4, driving calculation unit; 41, pedestrian force calculation unit; 42, obstacle force calculation unit; 43, self-driving force calculation unit; 44, resultant force calculation unit; 45, acceleration calculation unit; 46, speed calculation unit; 47, position calculation unit; 5, logic unit; 801, processor; 802, memory; 803, multimedia component; 804, I / O interface; 805, communication component. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0019] It should be noted that similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it is not necessary to further define and explain it in subsequent figures. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0020] Embodiment 1:

[0021] This embodiment provides a pedestrian trajectory simulation method.

[0022] Refer to Figure 1 , which shows that this method includes steps S100, S200, S300, S400, and S500.

[0023] S100. Obtain first information, where the first information includes crowd simulation parameter information, simulation environment information, and simulation duration.

[0024] It should be noted that the crowd simulation parameter information mentioned in this step includes the number of pedestrians P, reaction time τ i , weight m i , radius m i , desired speed and the interaction intensity A with pedestrians i , the repulsive distance B from people i , the interaction intensity A with obstacles i , the repulsive distance B from obstacles i , the human body elastic coefficient K, and the human body sliding friction elastic coefficient k. Where the i subscript indicates the pedestrian number. At the same time, in the embodiment, for the three parameters of weight, radius, and desired speed, range values can be used and randomly selected in actual simulations to achieve the purpose of different human body composition crowds. At the same time, in this application, the simulation environment information includes the number of obstacles O, the position of each obstacle, and the scene where the crowd walks, such as a simple scene long corridor type. And the simulation duration is T.

[0025] S200. Perform time discretization calculation according to the simulation duration to obtain a time discretization value.

[0026] It should be noted that the calculation method of the time discretization value mentioned in this step can be calculated according to the following formula:

[0027]

[0028] where △t is the time discretization value, J is the number of pedestrians, is the desired speed of the pedestrian numbered i, and Δn is usually taken as 1, where the i subscript indicates the pedestrian number.

[0029] S300. Calculate the second information one by one based on the crowd simulation parameter information and the simulation environment information. The second information includes the set of neighboring pedestrians and the set of neighboring obstacles corresponding to each pedestrian at the initial simulation moment. The set of neighboring pedestrians is a set composed of other pedestrians that affect the walking of a pedestrian, and the set of neighboring obstacles is a set composed of obstacles that affect the walking of a pedestrian.

[0030] At the same time, in this application, it is considered that a pedestrian has different sensitivities to obstacles and other pedestrians during the walking process; at the same time, the perspective of a pedestrian during the walking process itself has a certain range and has the characteristics of dynamic change facing different subjects. Therefore, in this method, when simulating the first target pedestrian, it is also necessary to screen other pedestrians and obstacles respectively to obtain the set of neighboring pedestrians and the set of neighboring obstacles that can effectively affect the target pedestrian. It should be noted that the first target pedestrian mentioned above is a pedestrian in the simulation crowd.

[0031] S400. Calculate the third information based on the second information, the crowd simulation parameter information, and the simulation environment information. The third information includes the positions corresponding to all pedestrians at the first moment, and the first moment is the moment obtained by adding the time discrete value to the initial simulation moment.

[0032] S500. Recalculate the second information based on the third information until the third information is the positions corresponding to all pedestrians at the simulation termination moment.

[0033] It should be noted that since most of the existing technologies are based on traditional simulation models, the simulation accuracy of traditional models is low and the effect is poor, and few researchers optimize the model from the perspective of solution. In view of the above situation, in this application, for pedestrian behavior simulation, it is improved on the basis of the social force model method. In this application, pedestrians in the environment are simulated to obtain the positions, accelerations, and speeds of each pedestrian at different moments; compared with the traditional social force model, using the improved social force model can be more concise and efficient, so as to conveniently optimize and adjust the system with pedestrians participating by using the simulation results.

[0034] In some specific embodiments, in order to achieve the purpose of screening the set of neighboring pedestrians, step S300 in this application includes step S310 and step S320.

[0035] S310. Calculate the first set corresponding to the first target pedestrian one by one according to the crowd simulation parameter information. The first set includes a set composed of other pedestrians whose distances from the first target pedestrian are less than the first preset distance at the initial simulation moment.

[0036] Specifically, in this step, the first set can be expressed by the following set:

[0037]

[0038] Among them, is the first set of pedestrians with the pedestrian number i, t is the time, and dis p is the first preset distance, represents the component value of the position vector of the pedestrian numbered j in the x direction at time t, represents the component value of the position vector of the pedestrian numbered i in the x direction at time t, represents the component value of the position vector of the pedestrian numbered j in the y direction at time t, represents the component value of the position vector of the pedestrian numbered i in the y direction at time t.

[0039] S320. If the first set has elements, perform crowd optimization on the first set to obtain the set of neighboring pedestrians at the initial simulation moment. The set of neighboring pedestrians is a set composed of other pedestrians whose viewing angle with the first target pedestrian is less than the first preset angle at the initial simulation moment.

[0040] It should be noted that in this application, considering that there is a repulsive and alienated phenomenon between pedestrians, in most cases, pedestrians are more willing to walk along the wall rather than crowd with others. Therefore, it is set that the pedestrian neighborhood range is greater than the obstacle neighborhood range, that is, the first preset distance mentioned in step S310 is greater than the second preset distance mentioned in the subsequent step S330. And it should also be noted that the fact that the first set mentioned in the above steps has elements means that the first set is not an empty set.

[0041] And in the above steps, step S320 also includes step S321, step S322, and step S323.

[0042] S321. Calculate the first set of direction unit vectors one by one according to the initial information in the crowd simulation parameter information. The first set of direction unit vectors includes the direction unit vectors of the lines connecting the first target pedestrian and each pedestrian in the first set.

[0043] Specifically, in this step, each element in the first set of direction unit vectors is calculated through the following formula.

[0044]

[0045] Among them, represents the direction unit vector of the line connecting the pedestrian numbered i and the pedestrian numbered j, represents the position vector of the pedestrian numbered i at time t, represents the position vector of the pedestrian numbered j at time t.

[0046] S322. Calculate the angle between the line connecting the first target pedestrian and each pedestrian in the first set one by one according to the first direction unit vector set, the initial velocity of the first target pedestrian, and the initial velocity direction of the first target pedestrian.

[0047] Specifically, in this step, the angle between the line connecting the first target pedestrian and each pedestrian in the first set is calculated through the following formula.

[0048]

[0049] Among them, represents the angle between the pedestrian numbered i and the pedestrian numbered j at time t, is the velocity vector of the pedestrian numbered i at time t.

[0050] S323. Compare the angles between the line connecting the first target pedestrian and each pedestrian in the first set one by one. If the angle between the line connecting the first target pedestrian and a pedestrian is less than the first preset angle, then regard this pedestrian as an element in the neighborhood pedestrian set.

[0051] Specifically, in this step, the neighborhood pedestrian set can be expressed by the following set:

[0052]

[0053] The meanings of the parameters in the above formula are as described in the explanations above.

[0054] In some specific embodiments, in order to achieve the purpose of screening the neighborhood pedestrian set, step S300 in this application includes step S330 and step S340.

[0055] S330. Calculate the second set corresponding to the first target pedestrian one by one according to the crowd simulation parameter information and the simulation environment information. The second set includes a set composed of obstacles whose distance from the first target pedestrian at the initial moment of the simulation is less than the second preset distance. The obstacle is an object in the simulation environment information.

[0056] Specifically, in this step, the first set can be expressed by the following set:

[0057]

[0058] Among them, is the first set of the pedestrian numbered i, t is the time, dis o is the first preset distance, is the component value of the position vector of the obstacle numbered o in the x direction at time t, is the component value of the position vector of the obstacle numbered o in the y direction at time t, and the meanings of the other parameters are as described above.

[0059] S340. If there are elements in the second set, optimize the obstacles in the second set to obtain the set of neighboring obstacles at the initial simulation moment. The set of neighboring obstacles is a set composed of obstacles with a viewing angle less than the second preset angle from the perspective of the first target pedestrian at the initial simulation moment.

[0060] And in the above steps, step S340 further includes step S341, step S342, and step S343.

[0061] S341. Calculate the second set of direction unit vectors one by one according to the initial information and simulation environment information in the crowd simulation parameter information. The second set of direction unit vectors includes the direction unit vectors of the lines connecting the first target pedestrian to each obstacle in the second set.

[0062] Specifically, in this step, each element in the second set of direction unit vectors is calculated through the following formula.

[0063]

[0064] Where, represents the direction unit vector of the line connecting the obstacle numbered o and the pedestrian numbered i, represents the position vector of the pedestrian numbered i at time t, represents the position vector of the obstacle numbered o at time t.

[0065] S342. Calculate the angles between the lines connecting the first target pedestrian to each obstacle in the second set one by one according to the second set of direction unit vectors, the initial velocity of the first target pedestrian, and the initial velocity direction of the first target pedestrian.

[0066] Specifically, in this step, the angles between the lines connecting the first target pedestrian to each obstacle in the second set are calculated through the following formula.

[0067]

[0068] Where, represents the angle between the obstacle numbered o and the pedestrian numbered j at time t, is the velocity vector of the pedestrian numbered i at time t.

[0069] S343. Compare the angles between the lines connecting the first target pedestrian to each obstacle in the first set one by one. If the angle between the line connecting the first target pedestrian to an obstacle is less than the second preset angle, then the obstacle is taken as an element in the set of neighboring obstacles.

[0070] Specifically, in this step, the set of neighboring obstacles can be expressed by the following set:

[0071]

[0072] For the meanings of the parameters in the above formula, please refer to the explanations above.

[0073] In some specific embodiments, for the purpose of calculating the third information, in step S400 of the present application, steps S410, S420, S430, S440, S450, S460, and S470 are included.

[0074] S410: If there are elements in the neighborhood pedestrian set, calculate the first acting force according to each element in the neighborhood pedestrian set corresponding to the first target pedestrian and a preset first formula. The first acting force is the mutual acting force of the neighborhood pedestrian set on the first target pedestrian.

[0075] That is, in this step, if the neighborhood pedestrian set is not empty, calculate the first kind of acting force through the following formula.

[0076]

[0077] Among them, represents the first acting force, that is, the acting force between pedestrians, r ij , respectively represent the mutual acting force, connection direction, sum of radius distances, center connection distance at time t, velocity difference at time t, and tangent direction of the connection line between the pedestrian numbered i and the pedestrian numbered j. A i , B i , and K respectively represent the acting intensity, repulsive distance, elastic coefficient, and sliding friction elastic coefficient of the pedestrian numbered i.

[0078] S420: If there are elements in the neighborhood obstacle set, calculate the second acting force according to each element in the neighborhood obstacle set corresponding to the first target pedestrian and a preset second formula. The second acting force is the obstacle acting force of the neighborhood obstacle set on the first target pedestrian.

[0079] That is, in this step, if the neighborhood pedestrian set is not empty, calculate the second acting force through the following formula.

[0080]

[0081] Among them, represents the second acting force, that is, the acting force between the pedestrian and the obstacle acting force, respectively represent the mutual acting force, connection direction, center connection distance at time t, and tangent direction of the connection line between the pedestrian numbered i and the obstacle numbered o; A i , B i, K are respectively the acting intensity, repulsive distance, elastic coefficient, and sliding friction elastic coefficient of the pedestrian numbered i.

[0082] S430. Calculate the self-driving force of the first target pedestrian based on the crowd simulation parameter information.

[0083] Specifically, in this step, the self-driving force of the first target pedestrian is calculated through the following formula.

[0084]

[0085] Among them, represents the self-driving force, m i , r i , respectively represent the weight, expected speed, radius, current speed, and direction of the pedestrian numbered i.

[0086] S440. Calculate the resultant force received by the first target pedestrian according to the first acting force, second acting force, self-driving force, and a preset third formula.

[0087] Specifically, in this step, the resultant force received by the first target pedestrian is calculated through the following formula.

[0088]

[0089] Among them, represents the resultant force received by the first target pedestrian, and for the remaining parameters, refer to the above text.

[0090] S450. Calculate the acceleration of the first target pedestrian based on the resultant force received by the first target pedestrian and the weight of the first target pedestrian.

[0091] Specifically, in this step, the acceleration of the first target pedestrian is calculated through the following formula.

[0092]

[0093] Among them, represents the resultant force received by the first target pedestrian, and for the remaining parameters, refer to the above explanations.

[0094] S460. Calculate the speed of the first target pedestrian at the first moment based on the acceleration of the first target pedestrian, the initial speed of the first target pedestrian, and the time discrete value.

[0095]

[0096] Among them, represents the speed of the first target pedestrian at the first moment, and for the remaining parameters, refer to the above explanations.

[0097] Based on the speed of the first target pedestrian at the first moment, the initial speed of the first target pedestrian, and the time discretization value, the position of the first target pedestrian at the first moment is calculated.

[0098]

[0099] Among them, represents the speed of the first target pedestrian at the first moment, and for the remaining parameters, refer to the explanations above.

[0100] It should be noted that this application is obtained by improving on the social force model method. Other calculation contents such as boundary determination conditions, which have been publicly disclosed in the social force model method, are not written in this application and will not be elaborated here. In this application, pedestrians in the environment are simulated to obtain the positions, accelerations, and speeds of each pedestrian at different moments. Compared with the traditional social force model, using the improved social force model can be more concise and efficient, so as to conveniently optimize and adjust the system involving pedestrians using the simulation results.

[0101] Embodiment 2:

[0102] As Figure 2 shown, this embodiment provides a pedestrian trajectory simulation device, which includes:

[0103] An acquisition unit 1, configured to acquire first information, where the first information includes crowd simulation parameter information, simulation environment information, and simulation duration.

[0104] A time discretization calculation unit 2, configured to perform time discretization calculation according to the simulation duration to obtain a time discretization value.

[0105] A perception calculation unit 3, configured to perform individual perception calculation according to the crowd simulation parameter information and the simulation environment information to obtain second information, where the second information includes the set of neighboring pedestrians and the set of neighboring obstacles corresponding to each pedestrian at the initial simulation moment. The set of neighboring pedestrians is a set composed of other pedestrians affecting the walking of a pedestrian, and the set of neighboring obstacles is a set of obstacles affecting the walking of a pedestrian.

[0106] A driving calculation unit 4, configured to calculate third information according to the second information, the crowd simulation parameter information, and the simulation environment information, where the third information includes the positions corresponding to all pedestrians at the first moment, and the first moment is the moment obtained by adding the time discretization value to the initial simulation moment.

[0107] A logic unit 5, configured to recalculate the second information according to the third information until the third information is the positions corresponding to all pedestrians at the simulation termination moment.

[0108] In the embodiment disclosed in this application, the perception calculation unit 3 includes:

[0109] The first distance calculation unit 31 is configured to calculate, one by one according to the crowd simulation parameter information, a first set corresponding to a first target pedestrian, where the first set includes a set composed of other pedestrians whose distances from the first target pedestrian at the initial simulation moment are less than a first preset distance.

[0110] The first angle calculation unit 32 is configured to, if the first set has elements, perform crowd optimization on the first set to obtain a set of neighboring pedestrians at the initial simulation moment, where the set of neighboring pedestrians is a set composed of other pedestrians whose viewing angles with the first target pedestrian at the initial simulation moment are less than a first preset angle.

[0111] In the embodiment disclosed in the present application, the first angle calculation unit 32 includes:

[0112] The first calculation unit 321 is configured to calculate, one by one according to the initial information in the crowd simulation parameter information, a first set of direction unit vectors, where the first set of direction unit vectors includes the direction unit vectors of the lines connecting the first target pedestrian to each pedestrian in the first set.

[0113] The second calculation unit 322 is configured to calculate, one by one according to the first set of direction unit vectors, the initial velocity of the first target pedestrian, and the initial velocity direction of the first target pedestrian, the included angles between the lines connecting the first target pedestrian to each pedestrian in the first set.

[0114] The first comparison unit 323 is configured to compare, one by one, the included angles between the lines connecting the first target pedestrian to each pedestrian in the first set. If the included angle between the line connecting the first target pedestrian to a pedestrian is less than the first preset angle, then the pedestrian is used as an element in the set of neighboring pedestrians.

[0115] In the embodiment disclosed in the present application, the perception calculation unit 3 includes:

[0116] The second distance calculation unit 33 is configured to calculate, one by one according to the crowd simulation parameter information and the simulation environment information, a second set corresponding to the first target pedestrian, where the second set includes a set composed of obstacles whose distances from the first target pedestrian at the initial simulation moment are less than a second preset distance, and the obstacle is an object in the simulation environment information.

[0117] The second angle calculation unit 34 is configured to, if the second set has elements, perform obstacle optimization on the second set to obtain a set of neighboring obstacles at the initial simulation moment, where the set of neighboring obstacles is a set composed of obstacles whose viewing angles with the first target pedestrian at the initial simulation moment are less than a second preset angle.

[0118] In the embodiment disclosed in the present application, the second angle calculation unit 34 includes:

[0119] The fourth calculation unit 341 is configured to calculate a second set of unit vectors in a second direction one by one according to the initial information and the simulation environment information in the crowd simulation parameter information. The second set of unit vectors in the second direction includes the unit vectors in the directions of the lines connecting the first target pedestrian to each obstacle in the second set.

[0120] The fifth calculation unit 342 is configured to calculate the angles between the lines connecting the first target pedestrian to each obstacle in the second set one by one according to the second set of unit vectors in the second direction, the initial velocity of the first target pedestrian, and the initial velocity direction of the first target pedestrian.

[0121] The second comparison unit 343 is configured to compare the angles between the lines connecting the first target pedestrian to each obstacle in the first set one by one. If the angle between the line connecting the first target pedestrian to an obstacle is less than a second preset angle, the obstacle is taken as an element in the neighborhood obstacle set.

[0122] In the embodiments disclosed in the present application, the driving calculation unit 4 includes:

[0123] The pedestrian force calculation unit 41 is configured to, if there are elements in the neighborhood pedestrian set, calculate a first force according to each element in the neighborhood pedestrian set corresponding to the first target pedestrian and a preset first formula. The first force is the mutual force of the neighborhood pedestrian set on the first target pedestrian.

[0124] The obstacle force calculation unit 42 is configured to, if there are elements in the neighborhood obstacle set, calculate a second force according to each element in the neighborhood obstacle set corresponding to the first target pedestrian and a preset second formula. The second force is the obstacle force of the neighborhood obstacle set on the first target pedestrian.

[0125] The self-driving force calculation unit 43 is configured to calculate the self-driving force of the first target pedestrian according to the crowd simulation parameter information.

[0126] The resultant force calculation unit 44 is configured to calculate the resultant force received by the first target pedestrian according to the first force, the second force, the self-driving force, and a preset third formula.

[0127] The acceleration calculation unit 45 is configured to calculate the acceleration of the first target pedestrian according to the resultant force received by the first target pedestrian and the weight of the first target pedestrian.

[0128] The velocity calculation unit 46 is configured to calculate the velocity of the first target pedestrian at the first moment according to the acceleration of the first target pedestrian, the initial velocity of the first target pedestrian, and the time discrete value.

[0129] The position calculation unit 47 is configured to calculate the position of the first target pedestrian at the first moment according to the velocity of the first target pedestrian at the first moment, the initial velocity of the first target pedestrian, and the time discrete value.

[0130] It should be noted that, regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0131] Embodiment 3:

[0132] Corresponding to the above method embodiment, a pedestrian trajectory simulation device is also provided in this embodiment. A pedestrian trajectory simulation device described below can be correspondingly referred to the pedestrian trajectory simulation method described above.

[0133] Figure 3 is a block diagram of a pedestrian trajectory simulation device 800 shown according to an exemplary embodiment. As Figure 3 shown, the pedestrian trajectory simulation device 800 may include: a processor 801, a memory 802. The pedestrian trajectory simulation device 800 may further include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0134] Among them, the processor 801 is used to control the overall operation of the pedestrian trajectory simulation device 800 to complete all or part of the steps in the above-mentioned pedestrian trajectory simulation method. The memory 802 is used to store various types of data to support the operation of the pedestrian trajectory simulation device 800. These data may include, for example, instructions for any application or method operating on the pedestrian trajectory simulation device 800, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, and so on. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or sent through the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the pedestrian trajectory simulation device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them. Accordingly, the communication component 805 may include: a Wi-Fi module, a Bluetooth module, and an NFC module.

[0135] In an exemplary embodiment, the pedestrian trajectory simulation device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the above-mentioned pedestrian trajectory simulation method.

[0136] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the above-mentioned pedestrian trajectory simulation method are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 802 including program instructions, and the above-mentioned program instructions may be executed by the processor 801 of the pedestrian trajectory simulation device 800 to complete the above-mentioned pedestrian trajectory simulation method.

[0137] Embodiment 4:

[0138] Corresponding to the above method embodiment, a readable storage medium is further provided in this embodiment. A readable storage medium described below can be correspondingly referred to with a pedestrian trajectory simulation method described above.

[0139] A readable storage medium has a computer program stored thereon. When the computer program is executed by a processor, the steps of the pedestrian trajectory simulation method in the above method embodiment are implemented.

[0140] Specifically, the readable storage medium may be various readable storage media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0141] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0142] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A pedestrian trajectory simulation method, characterized in that, it includes: obtaining first information, where the first information includes crowd simulation parameter information, simulation environment information, and simulation duration, and the crowd simulation parameter information includes a first target pedestrian; performing time discretization calculation according to the simulation duration to obtain a time discretization value; perceptually calculating second information one by one according to the crowd simulation parameter information and the simulation environment information, where the second information includes a neighborhood pedestrian set and a neighborhood obstacle set corresponding to each pedestrian at the initial simulation moment, the neighborhood pedestrian set is a set composed of other pedestrians affecting the walking of a pedestrian, and the neighborhood obstacle set is a set composed of obstacles affecting the walking of a pedestrian; calculating third information according to the second information, the crowd simulation parameter information, and the simulation environment information, where the third information includes the positions corresponding to all pedestrians at a first moment, and the first moment is the moment obtained by adding the time discretization value to the initial simulation moment; recalculating the second information from the third information until the third information is the positions corresponding to all pedestrians at the simulation termination moment; wherein, the step of perceptually calculating the second information one by one according to the crowd simulation parameter information and the simulation environment information includes: calculating a first set corresponding to the first target pedestrian one by one according to the crowd simulation parameter information, where the first set is a set composed of other pedestrians whose distance from the first target pedestrian at the initial simulation moment is less than a first preset distance; if the first set has elements, performing crowd optimization on the first set to obtain the neighborhood pedestrian set at the initial simulation moment, where the neighborhood pedestrian set is a set composed of other pedestrians whose viewing angle with the first target pedestrian at the initial simulation moment is less than a first preset angle; wherein, the crowd simulation parameter information includes a first target pedestrian, and the step of perceptually calculating the second information one by one according to the crowd simulation parameter information and the simulation environment information includes: calculating a second set corresponding to the first target pedestrian one by one according to the crowd simulation parameter information and the simulation environment information, where the second set is a set composed of obstacles whose distance from the first target pedestrian at the initial simulation moment is less than a second preset distance, the obstacle is an object in the simulation environment information, and the first preset distance is greater than the second preset distance; if the second set has elements, performing obstacle optimization on the second set to obtain the neighborhood obstacle set at the initial simulation moment, where the neighborhood obstacle set is a set composed of obstacles whose viewing angle with the first target pedestrian at the initial simulation moment is less than a second preset angle.

2. The pedestrian trajectory simulation method according to claim 1, characterized in that, the crowd simulation parameter information includes a first target pedestrian, and calculating the third information according to the second information, the crowd simulation parameter information, and the simulation environment information includes: If there are elements in the neighborhood pedestrian set, a first acting force is calculated according to each element in the neighborhood pedestrian set corresponding to the first target pedestrian and a preset first formula, and the first acting force is the mutual acting force of the neighborhood pedestrian set on the first target pedestrian; If there are elements in the neighborhood obstacle set, a second acting force is calculated according to each element in the neighborhood obstacle set corresponding to the first target pedestrian and a preset second formula, and the second acting force is the obstacle acting force of the neighborhood obstacle set on the first target pedestrian; Calculate the self-driving force of the first target pedestrian according to the crowd simulation parameter information; Calculate the resultant force received by the first target pedestrian according to the first acting force, the second acting force, the self-driving force and a preset third formula; Calculate the acceleration of the first target pedestrian from the resultant force received by the first target pedestrian and the weight of the first target pedestrian; Calculate the speed of the first target pedestrian at the first moment from the acceleration of the first target pedestrian, the initial speed of the first target pedestrian and the time discretization value; Calculate the position of the first target pedestrian at the first moment from the speed of the first target pedestrian at the first moment, the initial speed of the first target pedestrian and the time discretization value.

3. A pedestrian trajectory simulation device, characterized in that, it includes: An acquisition unit, configured to acquire first information, where the first information includes crowd simulation parameter information, simulation environment information, and simulation duration, and the crowd simulation parameter information includes a first target pedestrian; A time discretization calculation unit, configured to perform time discretization calculation according to the simulation duration to obtain a time discretization value; A perception calculation unit, configured to perform perception calculation one by one according to the crowd simulation parameter information and the simulation environment information to obtain second information, where the second information includes a neighborhood pedestrian set and a neighborhood obstacle set corresponding to each pedestrian at the initial simulation moment, the neighborhood pedestrian set is a set composed of other pedestrians affecting the walking of a pedestrian, and the neighborhood obstacle set is a set composed of obstacles affecting the walking of a pedestrian; A driving calculation unit, configured to calculate third information according to the second information, the crowd simulation parameter information, and the simulation environment information, where the third information includes the positions corresponding to all pedestrians at the first moment, and the first moment is the moment obtained by adding the time discretization value to the initial simulation moment; A logic unit, configured to recalculate the second information according to the third information until the third information is the positions corresponding to all pedestrians at the simulation termination moment; Among them, the perception calculation unit includes: A first distance calculation unit, configured to calculate, one by one according to the crowd simulation parameter information, a first set corresponding to the first target pedestrian, where the first set includes a set composed of other pedestrians whose distance from the first target pedestrian at the initial simulation moment is less than a first preset distance; A first angle calculation unit, configured to, if there are elements in the first set, perform crowd optimization on the first set to obtain the neighborhood pedestrian set at the initial simulation moment, where the neighborhood pedestrian set is a set composed of other pedestrians whose viewing angles with the first target pedestrian are less than a first preset angle at the initial simulation moment; Wherein, the perception calculation unit includes: A second distance calculation unit, configured to calculate, according to the crowd simulation parameter information and the simulation environment information, a second set corresponding to the first target pedestrian one by one, where the second set includes a set of obstacles whose distances from the first target pedestrian are less than a second preset distance at the initial simulation moment, the obstacle is an object in the simulation environment information, and the first preset distance is greater than the second preset distance; A second angle calculation unit, configured to, if there are elements in the second set, perform obstacle optimization on the second set to obtain the neighborhood obstacle set at the initial simulation moment, where the neighborhood obstacle set is a set composed of obstacles whose viewing angles with the first target pedestrian are less than a second preset angle at the initial simulation moment.

4. The pedestrian trajectory simulation device according to claim 3, characterized in that the driving calculation unit includes: A pedestrian force calculation unit, configured to, if there are elements in the neighborhood pedestrian set, calculate a first force according to each element in the neighborhood pedestrian set corresponding to the first target pedestrian and a preset first formula, where the first force is the mutual force of the neighborhood pedestrian set on the first target pedestrian; An obstacle force calculation unit, configured to, if there are elements in the neighborhood obstacle set, calculate a second force according to each element in the neighborhood obstacle set corresponding to the first target pedestrian and a preset second formula, where the second force is the obstacle force of the neighborhood obstacle set on the first target pedestrian; A self-driving force calculation unit, configured to calculate the self-driving force of the first target pedestrian according to the crowd simulation parameter information; A resultant force calculation unit, configured to calculate the resultant force received by the first target pedestrian according to the first force, the second force, the self-driving force and a preset third formula; An acceleration calculation unit, configured to calculate the acceleration of the first target pedestrian according to the resultant force received by the first target pedestrian and the weight of the first target pedestrian; A speed calculation unit, configured to calculate the speed of the first target pedestrian at the first moment according to the acceleration of the first target pedestrian, the initial speed of the first target pedestrian and the time discrete value; A position calculation unit, configured to calculate the position of the first target pedestrian at the first moment according to the speed of the first target pedestrian at the first moment, the initial speed of the first target pedestrian and the time discrete value.

5. A pedestrian trajectory simulation device, characterized in that it includes: A memory, configured to store a computer program; A processor, configured to implement the steps of the pedestrian trajectory simulation method according to any one of claims 1 to 2 when executing the computer program.

6. A readable storage medium, characterized in that: A computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the pedestrian trajectory simulation method according to any one of claims 1 to 2 are implemented.

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