pathfinder教程.pdf

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403 Poyntz Avenue, Suite B Manhattan, KS 66502 USA +1.785.770.8511 www.thunderheadeng.com Technical Reference Pathfinder 2017

Disclaimer Thunderhead Engineering makes no warranty, expressed or implied, to users of Pathfinder, and accepts no responsibility for its use. Users of Pathfinder assume sole responsibility under Federal law for determining the appropriateness of its use in any particular application; for any conclusions drawn from the results of its use; and for any actions taken or not taken as a result of analyses performed using these tools. Users are warned that Pathfinder is intended for use only by those competent in the field of egress modeling. Pathfinder is intended only to supplement the informed judgment of the qualified user. The software package is a computer model that may or may not have predictive capability when applied to a specific set of factual circumstances. Lack of accurate predictions by the model could lead to erroneous conclusions. All results should be evaluated by an informed user. ii

Acknowledgements This work was partially funded by a Small Business Innovative Research (SBIR) grant by the United States National Science Foundation. We would like to thank Rolf Jensen and Associates for their assistance with testing and other suggestions that helped guide the development of the simulator. In addition, we would like to thank all of the beta testers who contributed feedback on the web forums and via email. iii

Table of Contents Disclaimer ................................................................................................................... ii Acknowledgements ................................................................................................... iii Table of Contents ....................................................................................................... iv Figures ...................................................................................................................... vii Overview .................................................................................................................... 8 Example Problem IMO Test 10 ....................................................................................... 8 Geometry ................................................................................................................. 11 Geometry Subdivision ................................................................................................... 11 Open Space (Room and Ramps) ............................................................................... 12 Doors (Connecting) ................................................................................................... 12 Stairs .......................................................................................................................... 13 Ramps ........................................................................................................................ 13 Doors (Exit) ................................................................................................................ 13 Behaviors and Goals ................................................................................................. 14 Seek Goals ..................................................................................................................... 14 Idle Goals ....................................................................................................................... 14 Goals ............................................................................................................................. 14 Room-filling ................................................................................................................... 15 Door Distance Map ................................................................................................... 16 Ideal Seek Direction .................................................................................................. 17 Decide Whether to Move ......................................................................................... 17 Paths ........................................................................................................................ 18 Path Planning (Locally Quickest) ................................................................................... 18 Door Choice ............................................................................................................... 19 Backtrack Prevention ................................................................................................ 20 Path Generation ............................................................................................................ 20 Path Following............................................................................................................... 21 Path Following in SFPE Mode .................................................................................... 23 SFPE Mode Parameters ................................................................................................. 23 Velocity ......................................................................................................................... 23 Base Speed, vb ........................................................................................................... 24 Density, D .................................................................................................................. 25 Speed Modifiers and Constants ................................................................................ 26 Movement through Doors ............................................................................................ 26 Collision Handling/Response ........................................................................................ 27 Path Following in Steering Mode ............................................................................... 28 Velocity ......................................................................................................................... 28 Acceleration .................................................................................................................. 28 iv

Estimation of Occupant Density, D ............................................................................... 29 Steering ......................................................................................................................... 30 Seek ........................................................................................................................... 30 Idle Separate ............................................................................................................. 30 Avoid Walls ............................................................................................................... 31 Avoid Occupants ....................................................................................................... 32 Seek Separate ........................................................................................................... 32 Seek Wall Separate ................................................................................................... 33 Lanes ......................................................................................................................... 33 Pass ........................................................................................................................... 33 Cornering .................................................................................................................. 34 Final Direction Cost ................................................................................................... 34 Evaluating Movement ................................................................................................... 35 Occupant States ............................................................................................................ 35 Effect on Steering Behavior ...................................................................................... 36 Effect on Sample Directions ...................................................................................... 36 Priority ........................................................................................................................... 36 Resolving Movement Conflicts ..................................................................................... 37 Free Pass ................................................................................................................... 39 Collision Avoidance/Response ...................................................................................... 39 Movement through Doors ............................................................................................ 40 Vehicle Agents .......................................................................................................... 41 Assisted Evacuation .................................................................................................. 42 Assist Occupants Goal ................................................................................................... 42 Wait for Assistance Goal ............................................................................................... 43 Coalition Formation Algorithm ..................................................................................... 44 Elevators................................................................................................................... 46 Idling .............................................................................................................................. 46 Elevator Calling ......................................................................................................... 46 Pickup ............................................................................................................................ 46 Countdown Timer ..................................................................................................... 47 Loading ...................................................................................................................... 47 Discharge ....................................................................................................................... 47 Solution Procedure ................................................................................................... 48 File Format ............................................................................................................... 49 Results ...................................................................................................................... 68 Occupant Contours ....................................................................................................... 68 Density ...................................................................................................................... 69 Level of Service ......................................................................................................... 70 Speed ........................................................................................................................ 70 Normalized Speed ..................................................................................................... 70 Usage [Instantanteous] ............................................................................................. 70 Usage [Accumulated] ................................................................................................ 71 v

Time to Exit ............................................................................................................... 71 Average ..................................................................................................................... 71 Maximum .................................................................................................................. 71 Integrate .................................................................................................................... 71 Calculation of Factional Effective Dose......................................................................... 72 Calculation of Measurement Region Quantities .......................................................... 73 References ................................................................................................................ 74 vi

Figures Figure 1: Cabin area (from IMO, 2002) ............................................................................... 9 Figure 2: Steering mode results for IMO 10 problem showing occupant movement. Note how highlighted occupants move to their assigned exits. ............................................... 10 Figure 3: SFPE mode result for IMO 10 problem. Note that multiple occupants can occupy the same space. .................................................................................................... 10 Figure 4: A simple building model and the corresponding navigation mesh ................... 11 Figure 5: Rooms, doors, exits and the navigable mesh in the IMO Test 10 problem ...... 12 Figure 6: Sub-divided room for door distance map .......................................................... 16 Figure 7: Door distance map ............................................................................................. 17 Figure 8: An occupant's planned path with waypoints shown ......................................... 21 Figure 9: Paths and waypoints for the IMO Test 10 analysis ............................................ 22 Figure 10: k as a function of step slope ............................................................................ 25 Figure 11: Average Longitudinal and Lateral Spacing of Pedestrians in a Traffic System (Figure 3.4 of Fruin's pedestrian planning and design) .................................................... 29 Figure 12: Sample inverse steering directions .................................................................. 30 Figure 13: Potential conflict scenarios .............................................................................. 38 Figure 14: Occupant contours ........................................................................................... 68 Figure 15: Navigation Mesh vs. Occupant Contour Mesh ................................................ 69 Figure 16: Intersection of a measurement region and nearby occupants' Voronoi cells. 73 vii

Pathfinder Technical Reference Overview Overview Pathfinder is an agent-based egress simulator that uses steering behaviors to model occupant motion. It consists of three modules: a graphical user interface, the simulator, and a 3D results viewer. Pathfinder provides two primary options for occupant motion: an SFPE mode and a steering mode. The SFPE mode implements the concepts in the SFPE Handbook of Fire Protection Engineering [Nelson and Mowrer, 2002]. This is a flow model, where walking speeds are determined by occupant density within each room and flow through doors is controlled by door width. The steering mode is based on the idea of inverse steering behaviors. Steering behaviors were first presented in Craig Reynolds' paper "Steering Behaviors For Autonomous Characters" [Reynolds, 1999] and later refined into inverse steering behaviors in a paper by Heni Ben Amor [Amor et. al., 2006]. Pathfinder's steering mode allows more complex behavior to naturally emerge as a byproduct of the movement algorithms - eliminating the need for explicit door queues and density calculations. Example Problem IMO Test 10 In the following discussions, it is often useful to have an example with which to illustrate particular points. One frequently referenced example is Test 10 from the International Maritime Organization (IMO) [IMO, 2002]. This test problem represents a cabin corridor section as shown in Figure 1. The cabins are populated as indicated. The population consists of males 30-50 years old with a minimum walking speed of 0.97 m/s, a mean speed of 1.30 m/s, and a maximum speed of 1.62 m/s. There is no delay in response and the walking speeds are distributed uniformly between the minimum and maximum to the 23 occupants. The passengers in cabins 5 and 6 are assigned the secondary exit; all the remaining passengers use the main exit. The expected result is that the allocated passengers move to the appropriate exits. 8

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