The invention provides a traffic flow simulation method and device, and the method comprises the steps: generating a microscopic traffic simulation road network based on the road information of an electronic map, and converting the original vehicle trajectory data corresponding to the road information into vehicle trajectory data under a simulation road coordinate system corresponding to the microscopic traffic simulation road network; the vehicle speed and the lane where the vehicle is located are determined based on the vehicle trajectory data, and then microscopic traffic simulation of the simulation vehicle is carried out on the microscopic traffic simulation road network based on the vehicle trajectory data, the vehicle speed and the lane where the vehicle is located; and meanwhile, a virtual vehicle is created, and automatic driving simulation of the virtual vehicle is carried out based on the microscopic traffic simulation road network and the real-time state information of the simulation vehicle. According to the invention, joint simulation of microscopic traffic simulation and automatic driving simulation can be carried out based on real trajectory data, so that a traffic flow scene formed by a large number of vehicles can be more accurately restored, and the test requirement of an automatic driving algorithm in the traffic flow scene can be met.
本发明提供了一种交通流仿真方法及装置,先基于电子地图的道路信息生成微观交通仿真路网,再将道路信息对应的原始车辆轨迹数据转换成微观交通仿真路网所对应仿真道路坐标系下的车辆轨迹数据,并基于车辆轨迹数据确定车辆速度和车辆所在车道,之后基于车辆轨迹数据、车辆速度和车辆所在车道对微观交通仿真路网进行仿真车辆的微观交通仿真,同时创建虚拟车辆并基于微观交通仿真路网以及仿真车辆的实时状态信息进行虚拟车辆的自动驾驶仿真。采用本发明可基于真实的轨迹数据进行微观交通仿真和自动驾驶仿真的联合仿真,进而比较精准地还原出大量车辆形成的交通流场景,从而满足交通流场景下自动驾驶算法的测试需求。
Traffic flow simulation method and device
交通流仿真方法及装置
2024-03-26
Patent
Electronic Resource
Chinese
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