基于多智体的双车道公路集成驾驶仿真研究

研究生：唐莹

指导教师：杨轸副研究员

二零一二年六月

论文在目前国内外驾驶行为模型、驾驶员模型研究和道路微观分析的基础上，提出了通过建立双车道公路集成驾驶行为模型进行道路安全微观分析的思路，并对此进行了深入研究。

首先，论文提出将MAS系统设计方法应用于双车道公路集成驾驶仿真建模，建立由控制中心Agent、道路Agent、交通流Agent、驾驶员Agent和车辆Agent组成的系统框架，并确定在VC++.NET中对MAS系统进行实现，由控制中心Agent组织整个仿真过程，驾驶员Agent进行驾驶的感知判断、决策和控制。

接着，论文进一步细化每个Agent之间的协调关系，完善Agent的属性、构造函数、成员函数等，在VC++.NET上建立双车道公路集成驾驶仿真系统。

双车道公路集成驾驶仿真系统以道路安全分析为目的，模型中安全检测机制包括了影响驾驶员行车安全的主要影响因素。驾驶员Agent通过安全检测机制判断可能出现的驾驶行为状态的安全性，选择较安全的驾驶状态，得到驾驶决策。此外，这些安全检测机制可用于其他驾驶仿真软件某些模型参数的标定和验证。

安全侧向加速度用于车辆变道过程中的安全控制，对变道过程的理想的最优预瞄模型进行修正。

最后，论文以交通冲突系数作为道路安全评价指标，根据双车道公路集成驾驶仿真数据，对某些道路进行道路安全微观分析，定量分析各道路安全影响因素的关系，可以为道路设计、交通安全教育提供科学依据。

关键词：多智体，集成驾驶仿真，驾驶员模型，道路安全微观分析

ABSTRACT

Two-lane road  integrated driving behavior model is brought forward to reasearch road safety  microanalysis question based on the study of corresponding achievements home  and aboard, and some further researches are done as following.

Firstly,  two-lane road integrated driving simulation model is set up based on MAS  system design method, which includes control center agent, road agent,  traffic agent, driver agent and car agent, and VC++.NET is chosed as the  mothod to realize the MAS system. In the MAS system, the control center agent  organizes the whole simulation process, while the driver agents make the  perception, decisions and driving control.

Secondly, the  research of the relationship of the agents is studied deeply by describing  the properties, constructs, member functions of the agents. Two-lane road  integrat ed driving model is realizedby VC++.NET.

Two-lane road  integrated driving model is established for the purpose of road safety  analysis, the main influencing factors of the driving safety are considered  in the safety testing mechanism, by which driver agents get the safer choice  and make the driving decisions. In addition, the safety testing mechanism can  be used for the parameters calibration and validation in other driving  simulation softwares.

The safe value  of the lateral acceleration is used to control the driving safety in the  process of changing lanes, which helps to qualify the Optimal Preview Lateral  Acceleration Model proposed by Academician Guo Konghui.

Lastly, the  conflict coefficients are put forward as the road safety evaluating index,  the relationship of the road factors on drivering safety can be analyzed by  using the simulation result of two-lane road integrated driving model system,  which help to provide scientific evidences for road design and traffic safety  education.

Keywords: MAS, Integrated driving simulation, Driver model, Road safety  micro-analysis