CN102368351B - Method for eliminating traffic conflict of two vehicles at intersection without signal - Google Patents

Abstract

The invention discloses a method for eliminating a traffic conflict of two vehicles at an intersection without a signal. The method comprises the following steps: vehicle information collection and pretreatment; vehicle-to-vehicle conflict danger identification; vehicle-to-vehicle conflict type determination; determination on a conflict vehicle priority; determination on a conflict elimination strategy; and execution of the conflict elimination strategy. According to the method provided in the invention, driving security of vehicles can be improved and a road passing efficiency can also be enhanced.

Description

A kind of method of clearing up unsignalized intersection two car traffic conflicts

Technical field

The present invention relates to a kind of method of clearing up unsignalized intersection two car traffic conflicts.

Background technology

Along with improving constantly of rapid development of economy and living standards of the people, the recoverable amount of motor vehicle increases sharply, and has caused the sharp tax contradiction between transport need and road equipment.This has especially brought a lot of problems to the level-crossing in city road network to urban road, level-crossing is that various flows produces the concentrated area of conflict to vehicle, reducing the traffic conflict of level-crossing, is one of main method improving Traffic Capacity of Urban Road.

Each city adopts the mode of traffic signals control and traffic channelling to reduce traffic conflict conventionally at present, but for the relatively little crossing of the magnitude of traffic flow, these modes will certainly cause the waste in resource.Development along with intelligent transportation system, intelligent vehicle is the focus of current research, intelligent vehicle can obtain by the information interaction between car and car the driving environment of perfect information, and the control algolithm of clearing up conflict in the control system of vehicle by embedding just can reach the object of automatically clearing up conflict.

Retrieve existing patent, existing patented claim is mainly that the rear-end impact problem for vehicle follow gallop movement proposes corresponding solution.Chinese Patent Application No. 200910155059.7, in vehicle active collision avoidance system > > under patent name < < supports based on VII, vehicle receives after danger warning information, central controller safe condition determination module analyze vehicle under current motion state for fear of the critical following distance required with abnormal driving vehicle generation rear-end impact.Chinese Patent Application No. 200880008694.6, patent name < < is for calculating the method > > of the driving strategy of vehicle collision avoidance track used, and the longitudinal acceleration that the transverse acceleration of vehicle is independent of to vehicle plans that driving trace is to reach the object of collision avoidance.

Retrieve existing paper, existing paper provides some to clear up the algorithm of crossing conflict.Hu Jia is at < < Hunan University journal (natural science edition) (supplementary issue) > > 2004, " crossing vehicle intelligent collision mode efficiency analysis " on 31 (6) enters by two car headstocks relatively time magnitude relationship that battleground and the tailstock leave battleground and derives and draw collision judgment criterion, but the method adopting not only needs to gather the status information from car and his car, also need to gather the geographical location information of crossing, judgement and to clear up needed data message too much conflicts.Xiao Yongjian is at < < Communication and Transportation Engineering journal > > 2009, in " driver based on degree of taking the lead conflict Decision of Collision Avoidance model " on 9 (5), from the angle of conflict avoiding, the crossing behavior of automobile driver in urban intersection is analyzed, application field pattern instrument has been studied driver and has been carried out the decision process of wagon flow while passing through, driver based on degree of the taking the lead Decision of Collision Avoidance model that conflicts has been proposed, the impact of the width that this model has been ignored vehicle on the calculating of degree of taking the lead.Guo Weiwei is at < < Jilin University journal (engineering version) > > 2011, in " traffic conflict discrimination model " on 41 (1), take kinematical theory as basis, first the movement locus of conflict object is described, then analyze the characteristics of motion between conflict object, finally set up the model of describing critical conflict area, there is the standard of differentiating in the conflict of determining, but this model does not provide the algorithm of clearing up vehicle conflict.

Owing to clearing up real-time and the accuracy requirement of conflict, study the conflict resolution method that a kind of information processing capacity is little, reliability is high and have important practical significance for improving travel safety and improving crossing traffic efficiency.

Summary of the invention

The deficiency and the defect that the present invention is directed to existing method existence have proposed a kind of method of clearing up unsignalized intersection two car traffic conflicts, for improving the security of unsignalized intersection, improve the traffic efficiency of road simultaneously.

The method of clearing up unsignalized intersection two car traffic conflicts provided by the invention, the Hazard Recognition that conflicted with pre-service, car car by collecting vehicle information, the judgement of car car conflict type, conflict vehicle priority judge, determine that Strategy of Conflict Resolution, the several steps of execution Strategy of Conflict Resolution form circulation.

The information of vehicles of described collection comprises longitude and latitude position, flight-path angle, speed, angular velocity, the acceleration of two cars.

The information of vehicles of described collection need to pass through necessary pre-service, utilize Gauss projection theory that longitude and latitude position coordinates is converted to Gauss plane coordinate, utilize Kalman filtering to carry out filtering processing to Gauss plane coordinate, flight-path angle, speed, angular velocity, acceleration.

Described conflict Hazard Recognition is to take the status information of current time vehicle to be data basis, utilize the transport condition of vehicle kinematics prediction equation vehicle, and then whether judgement two cars within following a period of time exists traffic conflict.

Described conflict type is, according to the wagon flow feature at crossing, the Fixed traffic point of unsignalized intersection is divided into different classifications, if two cars exist traffic conflict, determines concrete conflict type.

Described vehicle priority is the relevant regulations according to road traffic law, the vehicle that sails unsignalized intersection into is different to the use priority of road, the conflict of every type is carried out to vehicle priority to be determined, set up unsignalized intersection vehicle pass-through rule base, after having determined the conflict type of two cars, can determine according to passing rules storehouse the right-of-way of vehicle.

Described Strategy of Conflict Resolution is under the condition of travelling according to the set plan of travelling at the high vehicle of priority, by regulating the lengthwise movement of the vehicle that priority is low to clear up conflict.

Compared with the conventional method, the present invention is observing on the basis of law on road traffic safety relevant regulations, and the driving strategy by suitable adjustment from car, reaches and clear up traffic conflict, safe and efficient by the object of unsignalized intersection.

Accompanying drawing explanation

Accompanying drawing 1 is unsignalized intersection two car conflicts clears up flow process.

The Fixed traffic point summary view that accompanying drawing 2 is unsignalized intersection.

The track of vehicle figure that accompanying drawing 3 is unsignalized intersection.

Accompanying drawing 4 is interflow conflict resolution diagram.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Accompanying drawing 1 is unsignalized intersection two car conflicts clears up flow process, the Hazard Recognition that conflict, the judgement of car car conflict type, the judgement of conflict vehicle priority, determines that Strategy of Conflict Resolution, the several steps of execution Strategy of Conflict Resolution form circulation by collecting vehicle information with pre-service, car car.

The information that vehicle collects is the latitude and longitude coordinates (B of two cars _i, L _i), flight-path angle ψ _i, speed v _i, angular velocity omega _iwith acceleration a _i, utilize Gauss projection theory that latitude and longitude coordinates is converted to Gauss plane coordinate (X _i, Y _i), then the Gauss plane coordinate of two cars, flight-path angle, speed, angular velocity, acceleration are carried out to Kalman filtering to improve its precision.

Take through pretreated car status information is data basis, utilizes vehicle kinematics equation to predict the following transport condition constantly of vehicle:

$x(i+1)=x\left(i\right)+v\left(i\right)t_s\cos \left(\mathrm{\&psi;}\left(i\right)\right)+\frac{1}{2}{a}_i{t}_s^2\cos \left(\mathrm{\&psi;}\left(i\right)\right)$

$y(i+1)=y\left(i\right)+v\left(i\right)t_s\sin \left(\mathrm{\&psi;}\left(i\right)\right)+\frac{1}{2}{a}_i{t}_s^2\sin \left(\mathrm{\&psi;}\left(i\right)\right)$

v(i+1)＝v(i)+a(i)t _s

ψ(i+1)＝ψ(i)+ω(i)t _s

a(i+1)＝a(i)

ω(i+1)＝ω(i)

T wherein _sfor iteration step length.If two vehicle models are at t _p=pt _sthe intersection region that constantly comes into existence, illustrates that two cars exist traffic conflict, by t _pbe decided to be the time that vehicle arrives conflict area, the state parameter of two cars is respectively (x _{i, p}, y _{i, p}), v _{i, p}, ψ _{i, p}, a _{i, p}, ω _{i, p}; If two vehicle models are at t _q=qt _sintersection region starts to disappear constantly, by t _qbe decided to be the time that vehicle leaves conflict area.Wherein, p, q is iterations, at t _qconstantly, the state parameter of two cars is respectively (x _{i, q}, Y _{i, q}), v _{i, q}, ψ _{i, q}, a _{i, q}, ω _{i, q}.

The Fixed traffic point summary view that accompanying drawing 2 is unsignalized intersection, wagon flow feature according to crossing is divided into different classifications by the Fixed traffic point of unsignalized intersection, the comprehensive span of vehicle flight-path angle and the positive and negative value tag of angular velocity analyzed, the rough driving trace of judging vehicle, and then the particular type of judgement two car conflicts.

The judgement of conflict vehicle priority is to take that the existing law on road traffic safety and implementing regulations thereof are foundation, according to the regulation of the law on road traffic safety > > of the < < People's Republic of China (PRC) and the law on road traffic safety implementing regulations > > of the < < People's Republic of China (PRC), the vehicle that sails from different directions unsignalized intersection into is different to the preferential right of road, according to the difference of right of priority, set up unsignalized intersection vehicle pass-through rule base, after having determined the conflict type of two cars, can determine by calling unsignalized intersection vehicle pass-through rule base the right-of-way of conflict vehicle.

Strategy of Conflict Resolution is under the condition of travelling according to the set plan of travelling at the high vehicle of priority, by regulating the lengthwise movement of the vehicle that priority is low to clear up conflict.For intersecting conflict and shunting conflict, vehicle will travel after rolling region, crossing away from different routes, therefore only need make the vehicle that priority is low arrive conflict area after the high vehicle of priority rolls conflict area away from again; For interflow conflict, consider that conflict vehicle still can still exist the possibility clashing to travel with the state of speeding after rolling region, crossing away from, therefore requires the vehicle that priority is low to travel all the time outside the criticality safety region of the high vehicle of priority.

Intersect and conflict and shunting conflict resolution

The track of vehicle figure that accompanying drawing 3 is unsignalized intersection, conflicts with shunting for intersecting conflict, and the high vehicle of priority is at t _qconstantly leave conflict area, in order to take into account traffic safety and efficiency, make vehicle that priority is low at t _qconstantly arrive conflict area, even the low vehicle of priority is at t _qconstantly arriving should be at t _pthe position P point constantly arriving.

The position of supposing the vehicle place that current time priority is low is A point, and position coordinates is (x _{i, 0}, y _{i, 0}), flight-path angle is ψ _{i, 0}, speed is v _{i, 0}, the position coordinates that P is ordered is (x _{i, p}, y _{i, p}), flight-path angle is ψ _{i, P}and vehicle is made centring circular motion.The air line distance that A, P are 2 is $D=\left|\mathrm{AP}\right|=\sqrt{{(x_{i,P}-x_{i,0})}^2+{(y_{i,P}-y_{i,0})}^2},$ The corresponding central angle of track is ψ _{i, P}-ψ _{i, 0}, track radius of a circle is $R=\frac{D}{2\sin \frac{{\mathrm{\&psi;}}_{i,P}-{\mathrm{\&psi;}}_{i,0}}{2}},$ The arc length of A, P point-to-point transmission is l=R (ψ _{i, P}-ψ _{i, 0}).

Getting driver's reaction is t with the summation of brake system coordinated time _csecond, vehicle is actual takes the time of braking for (t _q-t _c) second, the measure of dodging that the vehicle that priority is low is taked should satisfy condition: l=v _{i, 0}t _q+ 0.5a (t _q-t _c) ², the desirable retarded velocity that the vehicle that priority is low should obtain is $a=\frac{2(l-v_{i,0}\&CenterDot;t_q)}{{(t_q-t_C)}^2}.$

Interflow conflict resolution

For interflow conflict, the high vehicle of priority is at t _pconstantly arrive conflict area, consider conflict vehicle after rolling region, crossing away to travel with the state of speeding, still there is possibility clashing, so require the vehicle that priority is low to travel all the time outside the criticality safety region of the high vehicle of priority.

The vehicle that priority is high travels according to the set plan of travelling, and at t _pconstantly arrive conflict area.Suppose and on the prediction locus of the low vehicle of priority, have 1 M, make vehicle that priority is low at t _pconstantly arrive M point, now two cars are in criticality safety state.

Accompanying drawing 4 is interflow conflict resolution diagram, and the arc length of A, P point-to-point transmission is l=R (ψ _{i, P}-ψ _{i, 0}), the arc length of A, M point-to-point transmission is l ₁, M, P point-to-point transmission arc length are l ₂, and l=l ₁+ l ₂, establishing the speed that M orders is v _m.

In A, M section, vehicle deceleration travels, and retarded velocity is a, l ₁=v _{i, 0}t _p+ 0.5a (t _p-t _c) ², v _m=v _{i, 0}+ a (t _p-t _c).

Suppose that vehicle brakes in M, P section, a _maxthe braking deceleration of vehicle,

Arrange $a=\frac{2(l-l_2-v_{i,0}\&CenterDot;t_p)}{{(t_p-t_C)}^2}=\frac{2[l-(v_M\&CenterDot;t_C+\frac{v_M^2}{{2a}_{\max }})-v_{i,0}\&CenterDot;t_p]}{{(t_p-t_C)}^2},$ By v _msubstitution equation, has $\frac{{(t_p-t_C)}^2}{{2a}_{\max }}{a}^2+[\frac{{(t_p-t_C)}^2}{2}+(t_p-t_C)\&CenterDot;t_C+\frac{v_{i,0}\&CenterDot;(t_p-t_C)}{a_{\max }}]a=l-(t_p+t_C)\&CenterDot;v_{i,0}-\frac{v_{i,0}^2}{{2a}_{\max }},$ The a solving is the desirable retarded velocity of the vehicle that priority is low.

Above-mentioned desirable retarded velocity of trying to achieve is the input variable of vehicle topworks, and topworks makes corresponding adjustment according to the control algolithm of oneself to the driving behavior of vehicle.

So circulation is repeatedly to reach the object of clearing up traffic conflict.

Claims (2)

1. clear up a method for unsignalized intersection two car traffic conflicts, it is characterized in that comprising the following steps:

A, collecting vehicle information and pre-service, gather longitude and latitude position, speed, angular velocity, acceleration, the flight-path angle of two cars, utilize Gauss projection theory that longitude and latitude position coordinates is converted to Gauss plane coordinate, utilize Kalman filtering to carry out filtering processing to Gauss plane coordinate, flight-path angle, speed, angular velocity, acceleration;

B, car car conflict Hazard Recognition, take through pretreated information of vehicles is data basis, utilizes the transport condition of vehicle kinematics prediction equation vehicle, whether judgement two cars within following a period of time there is traffic conflict;

C, the judgement of car car conflict type, wagon flow feature according to crossing is divided into different classifications by the Fixed traffic point of unsignalized intersection, the comprehensive span of vehicle flight-path angle and the positive and negative value tag of angular velocity analyzed, the rough driving trace of judging vehicle, and then the particular type of judgement two car conflicts;

D, conflict vehicle priority are judged, according to the relevant regulations of road traffic law, the vehicle that sails unsignalized intersection into is different to the use priority of road, the conflict of every type is carried out to vehicle priority to be determined, set up unsignalized intersection vehicle pass-through rule base, after having determined the conflict type of two cars, can determine according to rule base the right-of-way of vehicle;

E, determine Strategy of Conflict Resolution, under the condition of travelling according to the set plan of travelling at the high vehicle of priority, by regulating the lengthwise movement of the vehicle that priority is low to clear up conflict;

F, execution Strategy of Conflict Resolution.

2. the method for clearing up unsignalized intersection two car traffic conflicts according to claim 1, is characterized in that: described each step forms circulation, and repeated action is until car car conflict elimination.