BioTraffic: a bio-inspired behavioral model to vehicle traffic simulation
Resumo
This paper presents a new microscopic model to simulate the behavior of vehicle traffic through a bio-inspired agent-based method. The proposed model reinterprets a biologically-motivated method for generating leaf venation patterns in order to propose terrain reasoning, a technique that has been widely used in simulations and games. The main idea is to represent unoccupied spaces through abstract markers distributed in the environment. These markers identify free regions for the movement of vehicles in the simulated traffic environment. The markers provide space information and report the vehicular flow of the simulated scenario, including flow density and velocity. Typical behaviors observed in real traffic, including inhomogeneous driver models, lane changing and merging trajectories, are emergent properties of the proposed model. We demonstrate the flexibility and robustness of our model on simulation environments, comparing the statistical results with a commercial software used for traffic simulation.
Palavras-chave:
agent-based systems, terrain reasoning, traffic simulation, lane changing, lane merging, behavioral models
Referências
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A. de Lima Bicho, R. A. Rodrigues, S. R. Musse, C. R. Jung, M. Paravisi, and L. P. Magalhaes, “Simulating crowds based on a space colonization algorithm,” Computers & Graphics, vol. 36, no. 2, pp. 70 – 79, 2012.
A. Runions, B. Lane, and P. Prusinkiewicz, “Modeling trees with a space colonization algorithm,” in Proceedings of the Third Eurographics Conference on Natural Phenomena, ser. NPH’07. Aire-la-Ville, Switzerland, Switzerland: Eurographics Association, 2007, pp. 63–70.
K. Nagel and M. Schreckenberg, “A cellular automaton model for freeway traffic,” J. Phys. I France, vol. 2, no. 12, pp. 2221 – 2229, December 1992.
M. Brackstone and M. McDonald, “Car-following: a historical review,” Transp. Research Part F: Traffic Psychology and Behaviour, vol. 2, no. 4, pp. 181 – 196, 1999.
P. A. Lopez, M. Behrisch, L. Bieker-Walz, J. Erdmann, Y.-P. Flötteröd, R. Hilbrich, L. Lücken, J. Rummel, P. Wagner, and E. WieBner, “Microscopic traffic simulation using sumo,” in 2018 21st International Conference on Intelligent Transp. Systems (ITSC). IEEE, 2018, pp. 2575–2582.
D. Krajzewicz, J. Erdmann, M. Behrisch, and L. Bieker, “Recent development and applications of SUMO - Simulation of Urban MObility,” International Journal On Advances in Systems and Measurements, vol. 5, no. 3&4, pp. 128–138, December 2012.
J. A. Barria and S. Thajchayapong, “Detection and classification of traffic anomalies using microscopic traffic variables,” IEEE Transactions on Intelligent Transp. Systems, vol. 12, no. 3, pp. 695–704, Sept 2011.
B. H. F. Macedo, G. F. P. Araujo, G. S. Silva, M. C. Crestani, Y. B. Galli, and G. N. Ramos, “Evolving finite-state machines controllers for the simulated car racing championship,” in 14th Brazilian Symposium on Computer Games and Digital Entertainment, Piaui, Brazil, November 2015, pp. 160–172.
A. Talebpour, H. S. Mahmassani, and F. E. Bustamante, “Modeling driver behavior in a connected environment: Integrated microscopic simulation of traffic and mobile wireless telecommunication systems,” Transp. Research Record, vol. 2560, no. 1, pp. 75–86, 2016.
M. Fountoulakis, N. Bekiaris-Liberis, C. Roncoli, I. Papamichail, and M. Papageorgiou, “Highway traffic state estimation with mixed connected and conventional vehicles: Microscopic simulation-based testing,” Transp. Research Part C: Emerging Technol., vol. 78, pp. 13–33, 2017.
X.-Y. Lu, X. D. Kan, S. E. Shladover, D. Wei, and R. A. Ferlis, “An enhanced microscopic traffic simulation model for application to connected automated vehicles,” in 96th Annual Meeting of the Transp. Research Board, Washington, DC, 2017.
V. P. Menezes and C. T. Pozzer, “Development of an autonomous vehicle controller for simulation environments,” in 17th Brazilian Symposium on Computer Games and Digital Entertainment, Foz do Iguaçu, Brazil, October 2018, pp. 75–80.
M. J. Lighthill and G. B. Whitham, “On kinematic waves. ii. a theory of traffic flow on long crowded roads,” Proceedings of the Royal Society of London A: Mathematical, Physical and Engineering Sciences, vol. 229, no. 1178, pp. 317–345, 1955.
A. Kotsialos, M. Papageorgiou, C. Diakaki, Y. Pavlis, and F. Middelham, “Traffic flow modeling of large-scale motorway networks using the macroscopic modeling tool metanet,” IEEE Transactions on Intelligent Transp. Systems, vol. 3, no. 4, pp. 282–292, Dec 2002.
D. Helbing, A. Hennecke, V. Shvetsov, and M. Treiber, “Master: macroscopic traffic simulation based on a gas-kinetic, non-local traffic model,” Transp. Research Part B: Methodological, vol. 35, no. 2, pp. 183–211, 2001.
E. Thonhofer, T. Palau, A. Kuhn, S. Jakubek, and M. Kozek, “Macroscopic traffic model for large scale urban traffic network design,” Simulation Modelling Practice and Theory, vol. 80, pp. 32–49, 2018.
S. Lim, H. Balakrishnan, D. Gifford, S. Madden, and D. Rus, “Stochastic motion planning and applications to traffic,” The International Journal of Robotics Research, vol. 30, no. 6, pp. 699–712, 2011.
M. Vallati, D. Magazzeni, B. De Schutter, L. Chrpa, and T. L. McCluskey, “Efficient macroscopic urban traffic models for reducing congestion: a pddl+ planning approach,” in Thirtieth AAAI Conference on Artificial Intelligence, 2016.
D. Ngoduy and D. Jia, “Multi anticipative bidirectional macroscopic traffic model considering cooperative driving strategy,” Transportmetrica B: Transport Dynamics, vol. 5, no. 1, pp. 96–110, 2017.
A. Spiliopoulou, I. Papamichail, M. Papageorgiou, Y. Tyrinopoulos, and J. Chrysoulakis, “Macroscopic traffic flow model calibration using different optimization algorithms,” Operational Research, vol. 17, no. 1, pp. 145–164, 2017.
D. Helbing, A. Hennecke, V. Shvetsov, and M. Treiber, “Micro- and macro-simulation of freeway traffic,” Mathematical and Computer Modelling, vol. 35, no. 5, pp. 517 – 547, 2002.
J. Sewall, J. van den Berg, M. Lin, and D. Manocha, “Virtualized traffic: Reconstructing traffic flows from discrete spatiotemporal data,” IEEE Transactions on Vis. and Computer Graphics, vol. 17, no. 1, pp. 26–37, Jan 2011.
M. Ben-Akiva, M. Bierlaire, H. Koutsopoulos, and R. Mishalani, “Dynamit: a simulation-based system for traffic prediction,” in DACCORD Short Term Forecasting WS. Delft The Netherlands, 1998, pp. 1–12.
W. Burghout, H. N. Koutsopoulos, and I. Andreasson, “Hybrid mesoscopic–microscopic traffic simulation,” Transp. Research Record, vol. 1934, no. 1, pp. 218–225, 2005.
M. Florian, M. Mahut, and N. Tremblay, “Application of a simulation-based dynamic traffic assignment model,” European Journal of Operational Research, vol. 189, no. 3, pp. 1381 – 1392, 2008.
T. Potuzak, “Comparison of road traffic network division based on microscopic and macroscopic simulation,” in Computer Modelling and Simulation (UKSim), 2011 UkSim 13th International Conference on, March 2011, pp. 409–414.
D. Wilkie, J. Sewall, and M. C. Lin, “Transforming gis data into functional road models for large-scale traffic simulation,” IEEE Transactions on Vis. and Computer Graphics, vol. 18, no. 6, pp. 890–901, June 2012.
A. Jamshidnejad, I. Papamichail, M. Papageorgiou, and B. De Schutter, “A mesoscopic integrated urban traffic flow-emission model,” Transp. Research Part C: Emerging Technol., vol. 75, pp. 45–83, 2017.
W. Burghout and H. N. Koutsopoulos, Transport Simulation – Beyond Traditional Approaches. CRC Press, 2019, ch. Hybrid Traffic Simulation Models: Vehicle Loading at Meso-Micro Boundaries, pp. 27–41.
T. D. Gillespie, Fundamentals of vehicle dynamics. Society of automotive engineers. Warrendale, PA, 1992, vol. 400.
D. Koladia, “Mathematical model to design rack and pinion ackerman steering geomtery,” International Journal of Scientific & Engineering Research, vol. 5, no. 9, pp. 716–720, September 2014.
J. M. Lucas and M. S. Saccucci, “Exponentially weighted moving average control schemes: properties and enhancements,” Technometrics, vol. 32, no. 1, pp. 1–12, 1990.
V. J. Cassol, F. P. Marson, M. Vendramini, M. Paravisi, A. L. Bicho, C. R. Jung, and S. R. Musse, “Simulation of autonomous agents using terrain reasoning,” in Proc. of the 12th IASTED International Conference on Computer Graphics and Imaging - CGIM. Innsbruck/Austria: ACTA Press, 2011, pp. 101–108.
G. Kotusevski and K. A. Hawick, “A review of traffic simulation software,” Research Letters in the Information and Mathematical Sciences, vol. 13, pp. 35–54, 2009.
U. Wilensky, “Netlogo,” in Center for Connected Learning and Computer-Based Modeling, Evanston, IL, Northwestern University, 1999. [Online]. Available: http://ccl.northwestern.edu/netlogo/
Aimsun, “Aimsun: Dynamic simulators user’s manual,” Accessed in nov. 2021, Barcelona, 2013. [Online]. Available: http://www.aimsun.com/
P. G. GIPPS, “A behavioural car-following model for computer simulation,” Transp. Research Part B: Methodological, vol. 15, no. 2, pp. 105–111, April 1981.
Q. Chao, H. Bi, W. Li, T. Mao, Z. Wang, M. C. Lin, and Z. Deng, “A survey on visual traffic simulation: Models, evaluations, and applications in autonomous driving,” Computer Graphics Forum, vol. 39, no. 1, pp.287–308, 2020.
A. de Lima Bicho, R. A. Rodrigues, S. R. Musse, C. R. Jung, M. Paravisi, and L. P. Magalhaes, “Simulating crowds based on a space colonization algorithm,” Computers & Graphics, vol. 36, no. 2, pp. 70 – 79, 2012.
A. Runions, B. Lane, and P. Prusinkiewicz, “Modeling trees with a space colonization algorithm,” in Proceedings of the Third Eurographics Conference on Natural Phenomena, ser. NPH’07. Aire-la-Ville, Switzerland, Switzerland: Eurographics Association, 2007, pp. 63–70.
K. Nagel and M. Schreckenberg, “A cellular automaton model for freeway traffic,” J. Phys. I France, vol. 2, no. 12, pp. 2221 – 2229, December 1992.
M. Brackstone and M. McDonald, “Car-following: a historical review,” Transp. Research Part F: Traffic Psychology and Behaviour, vol. 2, no. 4, pp. 181 – 196, 1999.
P. A. Lopez, M. Behrisch, L. Bieker-Walz, J. Erdmann, Y.-P. Flötteröd, R. Hilbrich, L. Lücken, J. Rummel, P. Wagner, and E. WieBner, “Microscopic traffic simulation using sumo,” in 2018 21st International Conference on Intelligent Transp. Systems (ITSC). IEEE, 2018, pp. 2575–2582.
D. Krajzewicz, J. Erdmann, M. Behrisch, and L. Bieker, “Recent development and applications of SUMO - Simulation of Urban MObility,” International Journal On Advances in Systems and Measurements, vol. 5, no. 3&4, pp. 128–138, December 2012.
J. A. Barria and S. Thajchayapong, “Detection and classification of traffic anomalies using microscopic traffic variables,” IEEE Transactions on Intelligent Transp. Systems, vol. 12, no. 3, pp. 695–704, Sept 2011.
B. H. F. Macedo, G. F. P. Araujo, G. S. Silva, M. C. Crestani, Y. B. Galli, and G. N. Ramos, “Evolving finite-state machines controllers for the simulated car racing championship,” in 14th Brazilian Symposium on Computer Games and Digital Entertainment, Piaui, Brazil, November 2015, pp. 160–172.
A. Talebpour, H. S. Mahmassani, and F. E. Bustamante, “Modeling driver behavior in a connected environment: Integrated microscopic simulation of traffic and mobile wireless telecommunication systems,” Transp. Research Record, vol. 2560, no. 1, pp. 75–86, 2016.
M. Fountoulakis, N. Bekiaris-Liberis, C. Roncoli, I. Papamichail, and M. Papageorgiou, “Highway traffic state estimation with mixed connected and conventional vehicles: Microscopic simulation-based testing,” Transp. Research Part C: Emerging Technol., vol. 78, pp. 13–33, 2017.
X.-Y. Lu, X. D. Kan, S. E. Shladover, D. Wei, and R. A. Ferlis, “An enhanced microscopic traffic simulation model for application to connected automated vehicles,” in 96th Annual Meeting of the Transp. Research Board, Washington, DC, 2017.
V. P. Menezes and C. T. Pozzer, “Development of an autonomous vehicle controller for simulation environments,” in 17th Brazilian Symposium on Computer Games and Digital Entertainment, Foz do Iguaçu, Brazil, October 2018, pp. 75–80.
M. J. Lighthill and G. B. Whitham, “On kinematic waves. ii. a theory of traffic flow on long crowded roads,” Proceedings of the Royal Society of London A: Mathematical, Physical and Engineering Sciences, vol. 229, no. 1178, pp. 317–345, 1955.
A. Kotsialos, M. Papageorgiou, C. Diakaki, Y. Pavlis, and F. Middelham, “Traffic flow modeling of large-scale motorway networks using the macroscopic modeling tool metanet,” IEEE Transactions on Intelligent Transp. Systems, vol. 3, no. 4, pp. 282–292, Dec 2002.
D. Helbing, A. Hennecke, V. Shvetsov, and M. Treiber, “Master: macroscopic traffic simulation based on a gas-kinetic, non-local traffic model,” Transp. Research Part B: Methodological, vol. 35, no. 2, pp. 183–211, 2001.
E. Thonhofer, T. Palau, A. Kuhn, S. Jakubek, and M. Kozek, “Macroscopic traffic model for large scale urban traffic network design,” Simulation Modelling Practice and Theory, vol. 80, pp. 32–49, 2018.
S. Lim, H. Balakrishnan, D. Gifford, S. Madden, and D. Rus, “Stochastic motion planning and applications to traffic,” The International Journal of Robotics Research, vol. 30, no. 6, pp. 699–712, 2011.
M. Vallati, D. Magazzeni, B. De Schutter, L. Chrpa, and T. L. McCluskey, “Efficient macroscopic urban traffic models for reducing congestion: a pddl+ planning approach,” in Thirtieth AAAI Conference on Artificial Intelligence, 2016.
D. Ngoduy and D. Jia, “Multi anticipative bidirectional macroscopic traffic model considering cooperative driving strategy,” Transportmetrica B: Transport Dynamics, vol. 5, no. 1, pp. 96–110, 2017.
A. Spiliopoulou, I. Papamichail, M. Papageorgiou, Y. Tyrinopoulos, and J. Chrysoulakis, “Macroscopic traffic flow model calibration using different optimization algorithms,” Operational Research, vol. 17, no. 1, pp. 145–164, 2017.
D. Helbing, A. Hennecke, V. Shvetsov, and M. Treiber, “Micro- and macro-simulation of freeway traffic,” Mathematical and Computer Modelling, vol. 35, no. 5, pp. 517 – 547, 2002.
J. Sewall, J. van den Berg, M. Lin, and D. Manocha, “Virtualized traffic: Reconstructing traffic flows from discrete spatiotemporal data,” IEEE Transactions on Vis. and Computer Graphics, vol. 17, no. 1, pp. 26–37, Jan 2011.
M. Ben-Akiva, M. Bierlaire, H. Koutsopoulos, and R. Mishalani, “Dynamit: a simulation-based system for traffic prediction,” in DACCORD Short Term Forecasting WS. Delft The Netherlands, 1998, pp. 1–12.
W. Burghout, H. N. Koutsopoulos, and I. Andreasson, “Hybrid mesoscopic–microscopic traffic simulation,” Transp. Research Record, vol. 1934, no. 1, pp. 218–225, 2005.
M. Florian, M. Mahut, and N. Tremblay, “Application of a simulation-based dynamic traffic assignment model,” European Journal of Operational Research, vol. 189, no. 3, pp. 1381 – 1392, 2008.
T. Potuzak, “Comparison of road traffic network division based on microscopic and macroscopic simulation,” in Computer Modelling and Simulation (UKSim), 2011 UkSim 13th International Conference on, March 2011, pp. 409–414.
D. Wilkie, J. Sewall, and M. C. Lin, “Transforming gis data into functional road models for large-scale traffic simulation,” IEEE Transactions on Vis. and Computer Graphics, vol. 18, no. 6, pp. 890–901, June 2012.
A. Jamshidnejad, I. Papamichail, M. Papageorgiou, and B. De Schutter, “A mesoscopic integrated urban traffic flow-emission model,” Transp. Research Part C: Emerging Technol., vol. 75, pp. 45–83, 2017.
W. Burghout and H. N. Koutsopoulos, Transport Simulation – Beyond Traditional Approaches. CRC Press, 2019, ch. Hybrid Traffic Simulation Models: Vehicle Loading at Meso-Micro Boundaries, pp. 27–41.
T. D. Gillespie, Fundamentals of vehicle dynamics. Society of automotive engineers. Warrendale, PA, 1992, vol. 400.
D. Koladia, “Mathematical model to design rack and pinion ackerman steering geomtery,” International Journal of Scientific & Engineering Research, vol. 5, no. 9, pp. 716–720, September 2014.
J. M. Lucas and M. S. Saccucci, “Exponentially weighted moving average control schemes: properties and enhancements,” Technometrics, vol. 32, no. 1, pp. 1–12, 1990.
V. J. Cassol, F. P. Marson, M. Vendramini, M. Paravisi, A. L. Bicho, C. R. Jung, and S. R. Musse, “Simulation of autonomous agents using terrain reasoning,” in Proc. of the 12th IASTED International Conference on Computer Graphics and Imaging - CGIM. Innsbruck/Austria: ACTA Press, 2011, pp. 101–108.
G. Kotusevski and K. A. Hawick, “A review of traffic simulation software,” Research Letters in the Information and Mathematical Sciences, vol. 13, pp. 35–54, 2009.
U. Wilensky, “Netlogo,” in Center for Connected Learning and Computer-Based Modeling, Evanston, IL, Northwestern University, 1999. [Online]. Available: http://ccl.northwestern.edu/netlogo/
Aimsun, “Aimsun: Dynamic simulators user’s manual,” Accessed in nov. 2021, Barcelona, 2013. [Online]. Available: http://www.aimsun.com/
P. G. GIPPS, “A behavioural car-following model for computer simulation,” Transp. Research Part B: Methodological, vol. 15, no. 2, pp. 105–111, April 1981.
Publicado
18/10/2021
Como Citar
QUADROS, Carlos Eduardo Pereira de; ADAMATTI, Diana Francisca; BICHO, Alessandro de Lima.
BioTraffic: a bio-inspired behavioral model to vehicle traffic simulation. In: SIMPÓSIO BRASILEIRO DE JOGOS E ENTRETENIMENTO DIGITAL (SBGAMES), 20. , 2021, Online.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2021
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p. 29-38.
