Simulation method of lane selection behavior in toll plazas based on lane accessibility judgment

Abstract

The present invention discloses a toll plaza lane selection behavior simulation method based on lane accessibility judgment. By dividing the toll plaza lanes into a free lane change area, a forced lane change area, and a prohibited lane change area, the corresponding lane change behavior of vehicles in the three lane change areas is standardized. Based on a triangulated visual area analysis method, lane accessibility assessment is achieved, and the continuous lane change behavior of vehicles is standardized, so as to avoid vehicles from making risky continuous lane change behaviors, thereby greatly reducing collisions, lane change failures, or excessive traffic interweaving in the simulation. In addition, the length #imgabs0# of the vehicle's forced lane change area is dynamically adjusted through step S6, so that the position where the vehicle performs a forced lane change is advanced with a certain probability, thereby controlling the vehicle's queue-jumping behavior and avoiding the phenomenon of vehicles abnormally clustering and queue-jumping at the nearest end of the toll station in the toll plaza lane selection behavior simulation. Therefore, the accuracy of the toll plaza lane selection behavior simulation can be effectively improved.

Description

Technical Field

[0001] The present invention relates to a simulation method for road vehicle traffic flow, in particular to a simulation method for lane selection behavior of a toll plaza based on lane accessibility determination. Background Art

[0002] Toll plaza lane selection behavior simulation uses traffic simulation technology to simulate the process of vehicles entering a toll plaza changing lanes or maintaining lanes, ultimately passing through the toll lanes, based on the on-site toll station operations and traffic flow. As of June 2020, the total mileage of expressways nationwide was approximately 150,000 kilometers, with a total of 9,367 toll stations. To alleviate congestion at toll stations, improve user experience, and reduce labor input, the concept of "one station, one policy" and precise congestion control has been widely proposed. Traffic simulation is often used as a rapid, effective, and reliable evaluation method for assessing the current status of specific toll stations and developing renovation and control plans. Toll plaza lane selection behavior simulation is a key component of toll station traffic simulation.

[0003] Toll plaza lane selection is a dynamic, multi-metric, and stochastically complex process. Existing toll plaza lane selection behavior simulation technologies generally include those based on commercial simulation software and those based on proprietary toll lane selection models.

[0004] Among them, many typical commercial simulation software such as VISSIM do not have vehicle behavior models for highway toll station areas, and their application effect is limited when simulating toll station scenarios.

[0005] The self-developed toll lane selection model mostly uses indicators such as toll type, queue length (MTC), busyness (ETC), distance from the preceding vehicle to the toll booth, and target lane spacing as the basis for selecting toll lanes. However, it lacks an estimate of the accessibility of each toll lane, which may result in excessive risky continuous lane changes and distorted traffic flow. In addition, existing technologies often use a method of performing judgment-based lane changes in the early stages for vehicles to change lanes, and only perform forced lane changes when approaching a toll station and not yet in the correct lane. In the case of congestion in the toll plaza, a large number of vehicles that have not successfully achieved judgment-based lane changes may gather at the nearest end of the toll station to cut in line, which is not in line with the actual situation. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a toll plaza lane selection behavior simulation method based on lane accessibility judgment, so as to solve the problems of risky continuous lane changing behavior and abnormal queue cutting at the nearest end of the toll station existing toll plaza lane selection behavior simulation technology using dynamic lane selection.

[0007] To solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0008] A method for simulating lane selection behavior in a toll plaza based on lane accessibility determination, characterized by comprising:

[0009] Step S1, see Figure 2 For a toll station traffic flow simulation scenario containing multiple toll plaza lanes, the toll plaza lanes are divided into free lane change areas, mandatory lane change areas, and prohibited lane change areas from their starting point to the end point, and for each vehicle that has been input into the toll station traffic flow simulation scenario for simulation, v j A set of lane change area length parameters are set, including: free lane change area length Length of mandatory lane change area and the length of the no-lane-change zone And, for each vehicle v j Length of free lane change area Length of mandatory lane change area and the length of the no-lane-change zone The default lengths are preset and recorded as free_l, force_l and forbid_l respectively;

[0010] The end point of the toll plaza lane is the toll station, the length of each toll plaza lane and the length of each vehicle v j Length of the no-lane-change zone are all constants, and the length of the free lane change area According to the length of the mandatory lane change zone Change and change accordingly;

[0011] The set of all lanes in the toll plaza of the toll station traffic flow simulation scene is recorded as LANES; the prohibited lane change area is the area in front of the toll station where lane change is prohibited due to the separation of the toll island, which is usually set from the front end of the toll island to the toll booth; the forced lane change area is used to simulate the vehicles v that are not in the correct toll lane. j In the process of forced lane change, the default length of the forced lane change zone force_l should not be too small to avoid not meeting the vehicle v j The minimum space required to complete a forced lane change is preferably set at more than 20m.

[0012] Step S2: During the simulation of the toll station traffic flow simulation scenario, each time the current simulation step t is entered i When the vehicle v j Execute steps S3 to S7 to generate each vehicle v j At the current simulation step t i Behavioral norms; where i is an integer;

[0013] Step S3: If the vehicle v j Not initialized, that is, the vehicle v j When the vehicle enters the toll plaza, j Perform the following initialization: Set the vehicle v j Length of free lane change area Length of mandatory lane change area and the length of the no-lane-change zone are initialized to the default length, i.e.

[0014] If the vehicle v j If it has been initialized and is still in the toll plaza lane, then directly proceed to step S4;

[0015] Step S4: Check whether the lanes of the toll plaza are closed and the vehicle v j Matching with each toll plaza lane, get the vehicle v j Enter the current simulation step t i All available toll plaza lanes at this time are recorded as the current available toll lane set The lanes in this set are recorded as currently available toll lanes

[0016] Step S5: Evaluate the vehicle v j From the current lane Change lanes to each of the currently available toll lanes accessibility, will have accessibility to currently available toll lanes Marked as accessible toll lane The vehicle v j Enter the current simulation step t i The set of all accessible toll lanes at time is denoted as Among them, the current lane For the vehicle v j Enter the current simulation step t i The toll plaza lane where I was at the time,

[0017] Step S6: Based on the accessibility evaluation result of step S5, the vehicle v j Length of the mandatory lane change zone Perform dynamic adjustments, namely:

[0018] If the vehicle v j There is at least one accessible toll lane Then the vehicle v j Length of the mandatory lane change zone Reset to default length, i.e.

[0019] See also Figure 4 , if the vehicle v j There is no accessible toll lane Then the vehicle v j Length of the mandatory lane change zone Adjust to the length adjustment value of the forced lane change area So that the far toll station end of the forced lane change area after the adjusted length is located between the far toll station end of the forced lane change area with the default length force_l and the vehicle v j Enter the current simulation step t i Between the locations at the time, such as Figure 4 As shown, the vehicle v j The position where the forced lane change occurs is advanced with a certain probability. Its practical significance is that most people find the currently available toll lanes When the queue is full, people will wait to enter the nearest queue. Only a few people may choose to continue driving forward to cut in line closer to the toll booth.

[0020]

[0021] Where, It is generated by the probability density function of the normal distribution with 0 as the mean. Random value within the interval;

[0022] The current lane length, For the vehicle v j The length of the no-lane-change zone, For the current lane The starting point to the vehicle v j Enter the current simulation step t i The driving distance at the location at the time, force_l is the default length of the forced lane change zone;

[0023] Among them, the above-mentioned forced lane change area length adjustment value The calculation formula is used for simulation: When the vehicle v j Discover all currently available toll lanes When the queue is full or unreachable, the probability of waiting to enter the queue at the current location is higher, while the probability of waiting to enter the queue in the forced lane change area with the default length force_l is lower. The probability of a forced lane change at a specific location is a random value generated by the normal distribution probability density function. Decide.

[0024] Step S7: According to the vehicle v j Enter the current simulation step t i The location at the time, and the vehicle v set by steps S3 to S6 j The lane change area length parameter (that is, the adjusted mandatory lane change area length and the corresponding free lane change area length ), determine the vehicle v j In which lane change zone, and generate the vehicle v accordingly j At the current simulation step t i Code of Conduct:

[0025] The vehicle v is preferably determined in the order of the prohibited lane change zone, the mandatory lane change zone, and the free lane change zone. j If the vehicle is in a certain lane changing zone, it will not continue to determine whether it is in the next lane changing zone, thereby improving calculation efficiency.

[0026] When the vehicle v j When in a no lane change zone, the vehicle is prohibited from v j At the current simulation step t i Perform lane change behavior and according to the vehicle v j Vehicle attributes and current lane The charging type is set to the vehicle v j At the current simulation step t i Drive to the toll station to conduct corresponding transactions, including MTC and ETC transactions. Among them, MTC transaction behavior is represented by vehicle v j The parking process at the toll booth lasts for several seconds; the ETC transaction behavior is manifested as the vehicle v j Pass through the toll lane of a toll station at a speed of 20 km / h;

[0027] When the vehicle v j In a forced lane change zone, if the current lane That is, the vehicle v j In a currently available toll lane On, the vehicle v j Maintain your current lane Otherwise, the vehicle v j Distance from current lane Closest currently available toll lane Perform a mandatory lane change for the target to simulate a vehicle v that is not yet in the correct toll lane j The process of performing a mandatory lane change at the nearest location;

[0028] When the vehicle v j When in the free lane change area, the vehicle v j Perform judgmental lane changes according to preset driver lane change judgment rules;

[0029] Step S8: Each vehicle v generated in step S2 j The behavior specification is executed for the current simulation step t i After the simulation is completed, it enters the next simulation step t i+1 .

[0030] Therefore, the present invention regulates the vehicle v by dividing the toll plaza lanes into free lane change area, mandatory lane change area and prohibited lane change area. j When in the three lane change zones, the corresponding lane change behavior is performed, and the vehicle v is j Length of the mandatory lane change zone Make dynamic adjustments to make the vehicle v j The position where the forced lane change occurs is advanced with a certain probability to achieve the vehicle v j The control of queue-jumping behavior can avoid the phenomenon of vehicles abnormally clustering and queue-jumping at the nearest end of the toll station in the toll plaza lane selection behavior simulation. Therefore, it can effectively improve the accuracy of the toll plaza lane selection behavior simulation.

[0031] Preferably: In step S4, determine whether it is the currently available toll lane The principle is to meet the following conditions in sequence:

[0032] Condition 1: If a toll plaza lane is closed, then the toll plaza lane is not included in the currently available toll lane set.

[0033] Condition 2: If the toll station has a weighing requirement and the vehicle v j For trucks, toll plaza lanes that are not equipped with a scale are not included in the currently available toll lane set.

[0034] Condition 3: If the vehicle v j For vehicles equipped with electronic tags, the toll plaza lanes with any of the toll types of MTC, ETC and MIX are the currently available toll lanes.

[0035] If the vehicle v j For vehicles without electronic tags, the toll plaza lane with the toll type of MTC or MIX is the currently available toll lane.

[0036] Among them, MIX represents a charging type that is a mixture of MTC and ETC.

[0037] As a preferred embodiment of the present invention: Figure 3 In step S5, the toll plaza of the toll station traffic flow simulation scene is Figure 2 In the case of the rectangular toll plaza shown in the figure, the vehicle v is evaluated based on the triangulated visual area analysis method. j From the current lane Change lanes to any of the currently available toll lanes accessibility, including:

[0038] Step S5-1: The currently available toll lanes that need to be evaluated for accessibility The target available toll lane is avai_LT, and the set of middle lanes that need to be triangulated visually analyzed for the target available toll lane is determined as follows: The lane in this set is denoted as the middle lane anal_L:

[0039] The middle lane set Contains: the target available toll lane avai_LT, and the current lane Lanes between the target available toll lane, but not including the current lane

[0040] Step S5-2: In the vehicle v j A triangular visual inspection area in the form of an isosceles triangle is provided on each side of the vehicle, and the symmetry axis of the triangular visual inspection area passes through the vehicle v j The center of the toll plaza lane is perpendicular to the toll plaza lane, and the vertex angle of the triangular visual area is recorded as 2θ, and θ=45°;

[0041] Step S5-3: Calculate the triangulated visual coverage rate ρ of each middle lane anal_L of the target available toll lane:

[0042] ρ=∑D / 2gap k ;

[0043] gap k =ΔN×w×tanθ;

[0044] Where, ∑D is the step length of entering the current simulation i The sum of the body lengths of the visually covered vehicles located on the middle lane anal_L is the sum of the body lengths of the visually covered vehicles located on the middle lane anal_L. The visually covered vehicles are vehicles whose positions are within the coverage of the triangular visual area. The vehicle positions are generally expressed as vehicle v j The center point of the vehicle head; ΔN is the number of lanes between, the current lane The ΔNth toll plaza lane on the side is the middle lane for triangulation visual coverage ρ calculation anal L ; w is the lane width of the toll plaza lane;

[0045] Step S5-4: If the triangular visual coverage rate ρ of each middle lane anal_L of the target available toll lane is less than the preset obstruction coefficient threshold, then the target available toll lane has the accessibility, that is, it can be used as the accessible toll lane. The value of the obstruction coefficient threshold is between 0 and 1; the larger the value of the triangle visual coverage rate p, the more likely the vehicle vi is to leave the current lane. The more obstacles there are to changing lanes to the target available toll lane, the more accessible the target available toll lane is. The obstruction coefficient threshold represents the obstacle threshold of the accessible target available toll lane.

[0046] Therefore, the present invention is based on the triangulated visual area analysis method, that is, step S5-1 to step S5-4, to achieve the vehicle v j From the current lane j Change to any currently available toll lane The accessibility evaluation of the vehicle v j Continuous lane change behavior to avoid vehicle v j Making risky continuous lane changes greatly reduces collisions, lane change failures, or excessive traffic interweaving in the simulation, further improving the accuracy of the toll plaza lane selection behavior simulation.

[0047] As a preferred embodiment of the present invention: in step S7, when the vehicle v j When in the free lane change area, the vehicle v j The method for performing a judgment-based lane change is as follows:

[0048] Step S7-1: Calculate each of the reachable toll lanes Comprehensive evaluation indicators

[0049]

[0050]

[0051]

[0052]

[0053] Where a1, a2, a3, and a4 are the weight coefficients for the length of the preceding traffic flow, average speed, lane change distance, and toll type, respectively. a1+a2+a3+a4=1.

[0054] Indicates entering the current simulation step t i When the toll lane is accessible Located in the vehicle v j The length of the traffic ahead; v k The front of the vehicle is located at the vehicle v j The vehicle in front of the front of the car, Indicates all vehicles ahead v k Collection of For the accessible toll lanes The vehicle ahead on v k The length of the body, For the accessible toll lanes All vehicles ahead on v k The sum of the body lengths; and are the vehicle v j All accessible toll lanes Length of traffic ahead The minimum and maximum values in ;

[0055] Indicates entering the current simulation step t i When the toll lane is accessible All vehicles ahead v k average speed; Indicates that the vehicle is located in the accessible toll lane. The vehicle ahead on v k The speed of the car, Indicates that the vehicle is located in the accessible toll lane. All vehicles ahead on v k The sum of the vehicle speeds, Indicates that the vehicle is located in the accessible toll lane. All vehicles ahead on v k the number of and are the vehicle v j All accessible toll lanes Average speed The minimum and maximum values in ;

[0056] Indicates entering the current simulation step t i When the vehicle v j From the current lane Change lane to the accessible toll lane The number of lanes to switch between; and are the vehicle v j Change lanes to all available toll lanes Required number of lanes The minimum and maximum values in ;

[0057] MIX indicates a mixed charging type of MTC and ETC;

[0058] Step S7-2: Based on the calculation result of step S7-1, the comprehensive evaluation index Smallest accessible toll lane Recorded as the target reachable toll lane;

[0059] Step S7-3: Calculate lane change probability

[0060] If the current lane Accessible toll lanes but: Where, Indicates the current lane Comprehensive evaluation indicators Indicates all accessible toll lanes Comprehensive evaluation indicators The minimum value in ;

[0061] If the current lane Not an accessible toll lane but:

[0062] Step S7-4: Lane change probability calculated in step S7-3 Determine the vehicle v j Whether to change lanes, if the judgment result is yes, then the vehicle v j From the current lane j A judgment-based lane change to change to the target accessible toll lane; if the judgment result is no, the vehicle v j Stay in your current lane

[0063] Therefore, the present invention is based on comprehensive evaluation index Through steps S7-1 to S7-4, the vehicle v in the free lane change area is realized. j The judgment-based lane change can adapt to complex toll station traffic flow simulation scenarios with a mix of multiple toll types.

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] First, the present invention regulates the vehicle v by dividing the toll plaza lanes into free lane change area, mandatory lane change area and prohibited lane change area. j When in the three lane change zones, the corresponding lane change behavior is performed, and the vehicle v is j Length of the mandatory lane change zone Make dynamic adjustments to make the vehicle v j The position where the forced lane change occurs is advanced with a certain probability to achieve the vehicle v j The control of queue-jumping behavior can avoid the phenomenon of vehicles abnormally clustering and queue-jumping at the nearest end of the toll station in the toll plaza lane selection behavior simulation. Therefore, it can effectively improve the accuracy of the toll plaza lane selection behavior simulation.

[0066] Second, the present invention is based on the triangulated visual area analysis method, that is, step S5-1 to step S5-4, to achieve the vehicle v j From the current lane j Change to any currently available toll lane The accessibility evaluation of the vehicle v j Continuous lane change behavior to avoid vehicle v j Making risky continuous lane changes greatly reduces collisions, lane change failures, or excessive traffic interweaving in the simulation, further improving the accuracy of the toll plaza lane selection behavior simulation.

[0067] Third, the present invention is based on comprehensive evaluation indicators Through steps S7-1 to S7-4, the vehicle v in the free lane change area is realized. j The judgment-based lane change can adapt to complex toll station traffic flow simulation scenarios with a mix of multiple toll types. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0069] Figure 1 Schematic diagram of the flow of the toll plaza lane selection behavior simulation method of the present invention;

[0070] Figure 2 Schematic diagram of the division of lane change area, mandatory lane change area and prohibited lane change area in the present invention;

[0071] Figure 3 A schematic diagram of the triangulated visual inspection area in the present invention;

[0072] Figure 4Schematic diagram of dynamically adjusting the length of the forced lane change zone in step S6 of the present invention. DETAILED DESCRIPTION

[0073] The present invention is described in detail below in conjunction with the embodiments and the accompanying drawings to help those skilled in the art better understand the inventive concept of the present invention. However, the scope of protection of the claims of the present invention is not limited to the following embodiments. For those skilled in the art, all other embodiments obtained without creative work without departing from the inventive concept of the present invention shall fall within the scope of protection of the present invention.

[0074] Example 1

[0075] like Figures 1 to 4 As shown, the present invention discloses a toll plaza lane selection behavior simulation method based on lane accessibility determination, comprising:

[0076] Step S1, see Figure 2 For a toll station traffic flow simulation scenario containing multiple toll plaza lanes 1, the toll plaza lanes 1 are divided into a free lane change area 1free, a forced lane change area 1force, and a prohibited lane change area 1forbid from their starting point to their end point, and for each vehicle v that has been input into the toll station traffic flow simulation scenario for simulation j A set of lane change area length parameters are set, including: free lane change area length Length of mandatory lane change area and the length of the no-lane-change zone And, for each vehicle v j Length of free lane change area Length of mandatory lane change area and the length of the no-lane-change zone The default lengths are preset and recorded as free_l, force_l and forbid_l respectively;

[0077] The terminus of the toll plaza lane 1 is the toll station 2, and the length of each toll plaza lane 1 and the length of each vehicle v j Length of the no-lane-change zone are all constants, and the length of the free lane change area According to the length of the mandatory lane change zone Change and change accordingly;

[0078] The set of all lanes 1 in the toll plaza traffic flow simulation scene is recorded as LANES; the forbidden lane change area 1forbid is the area in front of the toll station 2 where lane changes are prohibited due to the separation of the toll island, which is usually set from the front end of the toll island to the toll booth; the forced lane change area 1force is used to simulate vehicles v that are not yet in the correct toll lane. jIn the process of forced lane change, the default length of forced lane change zone 1 force_l should not be too small to avoid not meeting the vehicle v j The minimum space required to complete a forced lane change is preferably set at more than 20m.

[0079] Step S2: During the simulation of the toll station traffic flow simulation scenario, each time the current simulation step t is entered i When the vehicle v j Execute steps S3 to S7 to generate each vehicle v j At the current simulation step t i Behavioral norms; where i is an integer;

[0080] Step S3: If the vehicle v j Not initialized, that is, the vehicle v j When the vehicle enters the toll plaza, j Perform the following initialization: Set the vehicle v j Length of free lane change area Length of mandatory lane change area and the length of the no-lane-change zone are initialized to the default length, i.e.

[0081] If the vehicle v j If it has been initialized and is still in lane 1 of the toll plaza, then directly proceed to step S4;

[0082] Step S4: Based on whether lane 1 of each toll plaza is closed and the vehicle v j Matching with each toll plaza lane 1, obtain the vehicle v j Enter the current simulation step t i All available toll plaza lanes 1 are recorded as the current available toll lane set The lanes in this set are recorded as currently available toll lanes

[0083] Step S5: Evaluate the vehicle v j From the current lane Change lanes to each of the currently available toll lanes accessibility, will have accessibility to currently available toll lanes Marked as accessible toll lane The vehicle v j Enter the current simulation step t i The set of all accessible toll lanes at time is denoted as Among them, the current lane For the vehicle v j Enter the current simulation step t i At the time, I was in lane 1 of the toll plaza.

[0084] Step S6: Based on the accessibility evaluation result of step S5, the vehicle v j Length of the mandatory lane change zone Perform dynamic adjustments, namely:

[0085] If the vehicle v j There is at least one accessible toll lane Then the vehicle v j Length of the mandatory lane change zone Reset to default length, i.e.

[0086] See also Figure 4 , if the vehicle v j There is no accessible toll lane j Then the vehicle v j Length of the mandatory lane change zone Adjust to the length adjustment value of the forced lane change area So that the far toll station end of the forced lane change area 1force after adjusting the length is located between the far toll station end of the forced lane change area 1force of the default length force_l and the vehicle v j Enter the current simulation step t i Between the locations at the time, such as Figure 4 As shown, the vehicle v j The position where the forced lane change occurs is advanced with a certain probability. Its practical significance is that most people find the currently available toll lanes When the queue is full, people will wait to enter the nearest queue. Only a few people may choose to continue driving forward to cut in line closer to toll booth 2.

[0087]

[0088] Where, It is generated by the probability density function of the normal distribution with 0 as the mean. Random value within the interval;

[0089] The current lane length, For the vehicle v j The length of the no-lane-change zone, For the current lane The starting point to the vehicle v jEnter the current simulation step t i The driving distance at the location at the time, force_l is the default length of the forced lane change zone 1force;

[0090] Among them, the above-mentioned forced lane change area length adjustment value The calculation formula is used for simulation: When the vehicle v j Discover all currently available toll lanes When the queue is full or unreachable, the probability of waiting to enter the queue at the current position is higher, while the probability of waiting to enter the queue in the forced lane change area 1force with the default length force_l is lower. The probability of a forced lane change at a specific position is a random value generated by the normal distribution probability density function. Decide.

[0091] Step S7: According to the vehicle v j Enter the current simulation step t i The location at the time, and the vehicle v set by steps S3 to S6 j The lane change area length parameter (that is, the adjusted mandatory lane change area length and the corresponding free lane change area length ), determine the vehicle v j In which lane change zone, and generate the vehicle v accordingly j At the current simulation step t i Code of Conduct:

[0092] The vehicle v is preferably determined in the order of the no lane change zone 1forbid, the forced lane change zone 1force and the free lane change zone 1free. j If the vehicle is in a certain lane changing zone, it will not continue to determine whether it is in the next lane changing zone, thereby improving calculation efficiency.

[0093] When the vehicle v j When in the no lane change zone 1forbid, the vehicle is prohibited from v j At the current simulation step t i Perform lane change behavior and according to the vehicle v j Vehicle attributes and current lane The charging type is set to the vehicle v j At the current simulation step t i Drive to toll station 2 to conduct corresponding transactions, including MTC and ETC transactions. Among them, MTC transaction behavior is represented by vehicle v j The parking process lasts for several seconds at toll station 2; the ETC transaction behavior is manifested as vehicle v jPass through the toll lane of toll station 2 at a speed of 20 km / h;

[0094] When the vehicle v j In the forced lane change zone 1force, if the current lane That is, the vehicle v j In a currently available toll lane On, the vehicle v j Maintain your current lane Otherwise, the vehicle v j Distance from current lane Closest currently available toll lane Perform a mandatory lane change for the target to simulate a vehicle v that is not yet in the correct toll lane j The process of performing a mandatory lane change at the nearest location;

[0095] When the vehicle v j When in the free lane change zone 1free, the vehicle v j Perform judgmental lane changes according to preset driver lane change judgment rules;

[0096] Step S8: Each vehicle v generated in step S2 j The behavior specification is executed for the current simulation step t i After the simulation is completed, it enters the next simulation step t i+1 .

[0097] Therefore, the present invention regulates the vehicle v by dividing the toll plaza lane 1 into a free lane change area 1free, a forced lane change area 1force and a prohibited lane change area 1forbid. j When in the three lane change zones, the corresponding lane change behavior is performed, and the vehicle v is j Length of the mandatory lane change zone Make dynamic adjustments to make the vehicle v j The position where the forced lane change occurs is advanced with a certain probability to achieve the vehicle v j The control of queue-jumping behavior can avoid the phenomenon of vehicles abnormally clustering and queue-jumping at the nearest end of the toll station in the toll plaza lane selection behavior simulation. Therefore, it can effectively improve the accuracy of the toll plaza lane selection behavior simulation.

[0098] The above is a basic implementation of the first embodiment of the present invention. Further optimization, improvement and limitation can be made based on this basic implementation:

[0099] Preferably: In step S4, determine whether it is the currently available toll lane The principle is to meet the following conditions in sequence:

[0100] Condition 1: If a toll plaza lane 1 is closed, then the toll plaza lane 1 is not included in the currently available toll lane set.

[0101] Condition 2: If the toll station 2 has a weighing requirement and the vehicle v j For trucks, the toll plaza lane 1 that is not equipped with a scale is not included in the currently available toll lane set.

[0102] Condition 3: If the vehicle v j For vehicles equipped with electronic tags, lane 1 of the toll plaza with a toll type of any one of MTC, ETC and MIX is the currently available toll lane.

[0103] If the vehicle v j For vehicles without electronic tags, lane 1 of the toll plaza with a toll type of MTC or MIX is the currently available toll lane.

[0104] Among them, MIX represents a charging type that is a mixture of MTC and ETC.

[0105] Example 2

[0106] On the basis of the above-mentioned embodiment 1, this embodiment 2 further adopts the following preferred implementation manner:

[0107] See also Figure 3 In step S5, the toll plaza of the toll station traffic flow simulation scene is Figure 2 In the case of the rectangular toll plaza shown in the figure, the vehicle v is evaluated based on the triangulated visual area analysis method. j From the current lane Change lanes to any of the currently available toll lanes accessibility, including:

[0108] Step S5-1: The currently available toll lanes that need to be evaluated for accessibility The target available toll lane is avai_LT, and the set of middle lanes that need to be triangulated visually analyzed for the target available toll lane is determined as follows: The lane in this set is denoted as the middle lane anal_L:

[0109] The middle lane set Contains: the target available toll lane avai_LT, and the current lane Lanes between the target available toll lane, but not including the current lane

[0110] Step S5-2: In the vehicle v j A triangular visual inspection area 3 in the form of an isosceles triangle is provided on each side of the vehicle, and the symmetry axis 3a of the triangular visual inspection area 3 passes through the vehicle v j The center of the toll plaza lane 1 is perpendicular to the toll plaza lane 1, and the vertex angle of the triangular visual area 3 is recorded as 2θ, and θ=45°;

[0111] Step S5-3: Calculate the triangulated visual coverage rate ρ of each middle lane anal_L of the target available toll lane:

[0112] ρ=∑D / 2gap k ;

[0113] gap k =ΔN×w×tanθ;

[0114] Where, ∑D is the step length of entering the current simulation i The sum of the body lengths of the visually covered vehicles located on the middle lane anal_L is the sum of the body lengths of the visually covered vehicles located on the middle lane anal_L. The visually covered vehicles are vehicles whose positions are within the coverage of the triangular visual area 3. The vehicle positions are generally expressed as vehicle v j The center point of the vehicle head; ΔN is the number of lanes between, the current lane Lane 1 of the ΔNth toll plaza on the side is the middle lane for triangulation visual coverage calculation ρ anal L ; w is the lane width of the toll plaza lane 1;

[0115] Step S5-4: If the triangular visual coverage rate ρ of each middle lane anal_L of the target available toll lane is less than the preset obstruction coefficient threshold, then the target available toll lane has the accessibility, that is, it can be used as the accessible toll lane. The value of the obstruction coefficient threshold is between 0 and 1; the larger the value of the triangle visual coverage rate p, the closer the vehicle v j From the current lane The more obstacles there are to changing lanes to the target available toll lane, the more accessible the target available toll lane is. The obstruction coefficient threshold represents the obstacle threshold of the accessible target available toll lane.

[0116] Therefore, the present invention is based on the triangulated visual area analysis method, that is, step S5-1 to step S5-4, to achieve the vehicle v j From the current lane j Change to any currently available toll lane The accessibility evaluation of the vehicle vj Continuous lane change behavior to avoid vehicle v j Making risky continuous lane changes greatly reduces collisions, lane change failures, or excessive traffic interweaving in the simulation, further improving the accuracy of the toll plaza lane selection behavior simulation.

[0117] Example 3

[0118] Based on the above-mentioned embodiment 1 or embodiment 2, this embodiment 3 further adopts the following preferred implementation manner:

[0119] In step S7, when the vehicle v j When in the free lane change zone 1free, the vehicle v j The method for performing a judgment-based lane change is as follows:

[0120] Step S7-1: Calculate each of the reachable toll lanes Comprehensive evaluation indicators

[0121]

[0122]

[0123]

[0124]

[0125] Where a1, a2, a3, and a4 are the weight coefficients for the length of the preceding traffic flow, average speed, lane change distance, and toll type, respectively. a1+a2+a3+a4=1.

[0126] Indicates entering the current simulation step t i When the toll lane is accessible Located in the vehicle v j The length of the traffic ahead; v k The front of the vehicle is located at the vehicle v j The vehicle in front of the front of the car, Indicates all vehicles ahead v k Collection of For the accessible toll lanes The vehicle ahead on v k The length of the body, For the accessible toll lanes All vehicles ahead on v k The sum of the body lengths; and are the vehicle v jAll accessible toll lanes Length of traffic ahead The minimum and maximum values in ;

[0127] Indicates entering the current simulation step t i When the toll lane is accessible All vehicles ahead v k average speed; Indicates that the vehicle is located in the accessible toll lane. The vehicle ahead on v k The speed of the car, Indicates that the vehicle is located in the accessible toll lane. All vehicles ahead on v k The sum of the vehicle speeds, Indicates that the vehicle is located in the accessible toll lane. All vehicles ahead on v k the number of and are the vehicle v j All accessible toll lanes Average speed The minimum and maximum values in ;

[0128] Indicates entering the current simulation step t i When the vehicle v j From the current lane Change lane to the accessible toll lane The number of lanes to switch between; and are the vehicle v j Change lanes to all available toll lanes Required number of lanes The minimum and maximum values in ;

[0129] MIX indicates a mixed charging type of MTC and ETC;

[0130] Step S7-2: Based on the calculation result of step S7-1, the comprehensive evaluation index Smallest accessible toll lane Recorded as the target reachable toll lane;

[0131] Step S7-3: Calculate lane change probability

[0132] If the current lane Accessible toll lanes but: Where, Indicates the current lane Comprehensive evaluation indicators Indicates all accessible toll lanes Comprehensive evaluation indicators The minimum value in ;

[0133] If the current lane Not an accessible toll lane but:

[0134] Step S7-4: Lane change probability calculated in step S7-3 Determine the vehicle v j Whether to change lanes, if the judgment result is yes, then the vehicle v j From the current lane j A judgment-based lane change to change to the target accessible toll lane; if the judgment result is no, the vehicle v j Stay in your current lane

[0135] Therefore, the present invention is based on comprehensive evaluation index Through steps S7-1 to S7-4, the vehicle v in the free lane change zone 1free is realized. j The judgment-based lane change can adapt to complex toll station traffic flow simulation scenarios with a mix of multiple toll types.

[0136] The present invention is not limited to the above-mentioned specific implementation methods. According to the above content, in accordance with the common technical knowledge and customary means in this field, without departing from the above-mentioned basic technical ideas of the present invention, the present invention can also make other various forms of equivalent modifications, replacements or changes, all of which fall within the scope of protection of the present invention.

Claims

1. A method for simulating lane selection behavior in a toll plaza based on lane accessibility determination, characterized in that: include: Step S1: for a toll station traffic flow simulation scenario including a plurality of toll plaza lanes (1), the toll plaza lanes (1) are divided into a free lane change area (1free), a forced lane change area (1force) and a prohibited lane change area (1forbid) from their starting point to their end point, and for each vehicle v that has been input into the toll station traffic flow simulation scenario for simulation j A set of lane change area length parameters are set, including: free lane change area length Length of mandatory lane change area and the length of the no-lane-change zone And, for each vehicle v j Length of free lane change area Length of mandatory lane change area and the length of the no-lane-change zone The default lengths are preset and recorded as free_l, force_l and forbid_l respectively; The terminus of the toll plaza lane (1) is the toll station (2), the length of each toll plaza lane (1) and the length of each vehicle v j Length of the no-lane-change zone are all constants, and the length of the free lane change area According to the length of the mandatory lane change area Change and change accordingly; Step S2: During the simulation of the toll station traffic flow simulation scenario, each time the current simulation step t is entered i When the vehicle v j Execute steps S3 to S7 to generate each vehicle v j Behavior specification at the current simulation step ti, where i is an integer; Step S3: If the vehicle v j If it is not initialized, then the vehicle v j Perform the following initialization: Set the vehicle v j Length of free lane change area Length of mandatory lane change area and the length of the no-lane-change zone All are initialized to the default length; If the vehicle v j If it has been initialized and is still in the toll plaza lane (1), then directly execute step S4; Step S4: Based on whether each toll plaza lane (1) is closed and the vehicle v j Matching with each toll plaza lane (1), obtain the vehicle v j Enter the current simulation step t i All available toll plaza lanes (1) are recorded as the current available toll lane set The lanes in this set are recorded as currently available toll lanes Step S5: Evaluate the vehicle v j From the current lane Change lanes to each of the currently available toll lanes accessibility, will have accessibility to currently available toll lanes Marked as accessible toll lane Among them, the current lane For the vehicle v j Enter the current simulation step t i The toll plaza lane (1) you are in at the time; Step S6: Based on the accessibility evaluation result of step S5, the vehicle v j Length of the mandatory lane change zone Perform dynamic adjustments, namely: If the vehicle v j There is at least one accessible toll lane Then the vehicle v j Length of the mandatory lane change zone Reset to default length; If the vehicle v j There is no accessible toll lane Then the vehicle v j Length of the mandatory lane change zone Adjust to the length adjustment value of the forced lane change area Where, It is generated by the probability density function of the normal distribution with 0 as the mean. Random value within the interval; The current lane length, For the vehicle v j The length of the no-lane-change zone, For the current lane The starting point to the vehicle v j Enter the current simulation step t i The driving distance of the location at the time, force_l is the default length of the forced lane change area (1force); Step S7: According to the vehicle v j Enter the current simulation step t i The location at the time, and the vehicle v set by steps S3 to S6 j The lane change area length parameter is used to determine the vehicle v j In which lane change zone, and generate the vehicle v accordingly j At the current simulation step t i Code of Conduct: When the vehicle v j When in a no lane change zone (1forbid), the vehicle is prohibited from v j At the current simulation step t i Perform lane changes; When the vehicle v j In the forced lane change area (1force), if the current lane Then the vehicle v j Maintain your current lane Otherwise, the vehicle v j Distance from current lane Nearest currently available toll lane Perform mandatory lane changes for the target; When the vehicle v j When in the free lane change zone (1free), the vehicle v j Perform judgmental lane changes according to preset driver lane change judgment rules; Step S8: Each vehicle v generated in step S2 j The behavior specification is executed for the current simulation step t i After the simulation is completed, it enters the next simulation step t i+1 .

2. The method for simulating lane selection behavior in a toll plaza based on lane accessibility determination according to claim 1 is characterized by: In step S4, it is determined whether the currently available toll lane is The principle is to meet the following conditions in sequence: Condition 1: If a toll plaza lane (1) is closed, then the toll plaza lane (1) is not included in the currently available toll lane set. Condition 2: If the toll station (2) has a weighing requirement and the vehicle v j For trucks, the toll plaza lane (1) that is not equipped with a scale is not included in the currently available toll lane set. Condition 3: If the vehicle v j For vehicles equipped with electronic tags, the toll plaza lane (1) with a toll type of any one of MTC, ETC and MIX is the currently available toll lane. If the vehicle v j For vehicles without electronic tags, the toll plaza lane (1) with a toll type of MTC or MIX is the currently available toll lane. Among them, MIX represents a charging type that is a mixture of MTC and ETC.

3. The method for simulating lane selection behavior in a toll plaza based on lane accessibility determination according to claim 1 or 2, characterized in that: In step S5, the vehicle v is evaluated based on the triangulated visual area analysis method. j From the current lane Change lanes to any of the currently available toll lanes accessibility, including: Step S5-1: The currently available toll lanes that need to be evaluated for accessibility The target available toll lane is avai_LT, and the set of middle lanes that need to be triangulated visually analyzed for the target available toll lane is determined as follows: The lane in this set is denoted as the middle lane anal_L: The middle lane set Contains: the target available toll lane avai_LT, and the current lane the lanes between the target available toll lanes; Step S5-2: In the vehicle v j A triangular visual inspection area (3) in the form of an isosceles triangle is provided on each of the left and right sides of the vehicle, and the symmetry axis (3a) of the triangular visual inspection area (3) passes through the vehicle v j The center of the toll plaza lane (1) is perpendicular to the toll plaza lane, and the vertex angle of the triangular visual area (3) is recorded as 2θ, and θ=45°; Step S5-3: Calculate the triangulated visual coverage rate ρ of each middle lane anal_L of the target available toll lane: ρ=∑D / 2gap k ; gap k =ΔN×w×tanθ; Where, ∑D is the step length t of entering the current simulation i When the vehicle body length of the visually covered vehicles located on the middle lane anal_L is ΔN, the visually covered vehicles are vehicles whose positions are within the coverage of the triangular visual area (3); ΔN is the number of lanes between, and the current lane is The ΔNth toll plaza lane (1) on the side is the middle lane for triangulation visual coverage calculation ρ L ; w is the lane width of the toll plaza lane (1); Step S5-4: If the triangular visual coverage rate ρ of each middle lane anal_L of the target available toll lane is less than a preset obstruction coefficient threshold, then the target available toll lane has the accessibility; wherein the value of the obstruction coefficient threshold is between 0 and 1.

4. The method for simulating lane selection behavior in a toll plaza based on lane accessibility determination according to claim 1 or 2, characterized in that: In step S7, when the vehicle v j When in the free lane change zone (1free), the vehicle v j The method for performing a judgment-based lane change is as follows: Step S7-1: Calculate each of the reachable toll lanes Comprehensive evaluation indicators Where a1, a2, a3, and a4 are the weight coefficients for the length of the preceding traffic flow, average speed, lane change distance, and toll type, respectively. a1+a2+a3+a4=1. Indicates that when entering the current simulation step ti, the toll lane Located in the vehicle v j The length of the traffic ahead; v k The front of the vehicle is located at the vehicle v j The vehicle in front of the front of the car, Indicates all vehicles ahead v k Collection of For the accessible toll lanes The vehicle ahead on v k The length of the body, For the accessible toll lanes All vehicles ahead on v k The sum of the body lengths; and are the vehicle v j All accessible toll lanes Length of traffic ahead The minimum and maximum values in ; Indicates that when entering the current simulation step ti, the toll lane All vehicles ahead v k average speed; Indicates that the vehicle is located in the accessible toll lane The vehicle ahead on v k The speed of the car, Indicates that the vehicle is located in the accessible toll lane All vehicles ahead on v k The sum of the vehicle speeds, Indicates that the vehicle is located in the accessible toll lane. All vehicles ahead on v k the number of and are the vehicle v j All accessible toll lanes Average speed The minimum and maximum values in ; Indicates entering the current simulation step t i When the vehicle v j From the current lane Change lane to the accessible toll lane The number of lanes to switch between; and are the vehicle v j Change lanes to all available toll lanes Required number of lanes The minimum and maximum values in ; MIX indicates a mixed charging type of MTC and ETC; Step S7-2: Based on the calculation result of step S7-1, the comprehensive evaluation index Smallest accessible toll lane Recorded as the target reachable toll lane; Step S7-3: Calculate lane change probability If the current lane Accessible toll lanes but: Where, Indicates the current lane Comprehensive evaluation indicators Indicates all accessible toll lanes Comprehensive evaluation indicators The minimum value in ; If the current lane Not an accessible toll lane but: Step S7-4: Lane change probability calculated in step S7-3 Determine the vehicle v j Whether to change lanes, if the judgment result is yes, then the vehicle v j From the current lane A judgment-based lane change to the target accessible toll lane; If the judgment result is no, then the vehicle v j Stay in your current lane

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