CN112927509B - Road driving safety risk assessment system based on traffic conflict technology - Google Patents
Road driving safety risk assessment system based on traffic conflict technology Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
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Abstract
The invention discloses a method based on trafficRoad driving safety risk evaluation system of conflict technique relates to traffic safety technical field, including orbit discernment and preprocessing module, risk assessment module and risk early warning module, orbit discernment and preprocessing module include: radar for capturing instantaneous coordinates of the vehicle in a fixed coordinate system
A video camera for capturing license plate information of the vehicle and identifying the length l of the vehicle i (ii) a The system comprises a computer and a storage device, wherein the computer and the storage device are used for recording instantaneous coordinates belonging to each vehicle in an acquisition time period and range as a track sequence (time-coordinate sequence) and calculating motion parameters of the vehicle, the output end of the risk assessment module is connected with a risk early warning module, the risk early warning module sends out corresponding acousto-optic signals to warn a driver through an early warning prompting facility according to a risk severity judgment result, and therefore real-time monitoring, assessment and prevention of workshop collision risks are achieved.
Description
Technical Field
The invention relates to the field of traffic conflict judgment, in particular to a road driving safety risk assessment system based on a traffic conflict technology.
Background
Various collision accidents easily occur between automobiles running at high speed, and personal injury, property loss or environmental damage can be caused. The fundamental reason for these adverse effects is that the automobile running at high speed has large kinetic energy, and the energy is released accidentally when meeting the obstruction, so that the automobile has large destructive power. The automobile running at high speed is a dangerous source, and if the factors of collision in the running process can be evaluated, the possibility of running collision can be effectively reduced;
in the driving risk assessment process, general researches cannot give risk state assessment in real time by dynamically measuring the motion parameters of vehicles, and all of the researches evaluate the risk state based on whether the average or the highest speed of a driver in a certain road section exceeds the limit speed of the road section, and assume that the driver does not have large-amplitude state change in the driving process. The simple assumption is that the risk assessment value in a complex road traffic environment is extremely inaccurate, so that the safety risk cannot be clearly described in real time, and therefore, a road driving safety risk assessment system and method based on a traffic conflict technology are provided to solve the problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a road driving safety risk assessment system based on a traffic conflict technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
a road driving safety risk assessment system based on a traffic conflict technology comprises a track recognition and preprocessing module, a risk assessment module and a risk early warning module;
the track recognition and preprocessing module comprises:
radar for capturing instantaneous coordinates of a vehicle in a fixed coordinate system
A video camera for capturing license plate information of the vehicle and recognizing the length l of the vehicle i ；
The computer and the storage device are used for recording the instantaneous coordinates belonging to each vehicle in the acquisition time period and range as a track sequence (time-coordinate sequence) and calculating the motion parameters of the vehicle;
the track recognition and preprocessing module is used for capturing, processing and storing a motion coordinate sequence of a vehicle in real time, the output end of the track recognition and preprocessing module is connected with a risk evaluation module, the risk evaluation module is used for monitoring whether a vehicle motion parameter reaches a judgment threshold value of potential conflict in real time, judging the type of corresponding conflict between vehicles and measuring the severity of the risk, the output end of the risk evaluation module is connected with a risk early warning module, and the risk early warning module sends out corresponding acousto-optic signals to warn a driver through an early warning prompting facility according to the judgment result of the severity of the risk.
Preferably, the track recognition and preprocessing module is used for recognizing and preprocessing the absolute coordinate sequence of the vehicle
Dynamically calculating the final speed of the vehicle in an absolute coordinate system
Final acceleration
Last direction angle
And last direction angular velocity
Stored as an index with the vehicle license plate as a time series format.
Preferably, in the risk assessment module, the potential conflict state determination threshold includes an acceleration < -4m/s 2 Or the change in the direction angle exceeds 30 °/s; for a vehicle determined to be in a potential accident state, calculating a time-relative distance sequence between the vehicle and surrounding vehicles
And time-direction angle sequence
The computer determines the parameters according to the parametersThe upcoming traffic conflict category includes potential rear-end collisions and potential lane change collisions.
Preferably, in the risk assessment module, the computer is used for calculating the estimated time TTC of the vehicle from the current driving state to the collision as the judgment index of the collision severity.
Preferably, the risk early warning module includes:
the processor and the signal conversion equipment are used for converting the risk judgment result obtained by the risk evaluation module into an electric signal and transmitting the electric signal to various warning equipment;
the LED light indicator can display red light and blue light;
the roadside tweeter can play preset sound signals.
Preferably, the risk early warning module warns in different modes according to the risk judgment result, and warns for the traffic risks in different levels by flashing the flash lamp at a high speed and alternatively flashing red and blue and playing warning sounds through the tweeter.
Preferably, the track recognition and preprocessing module, the risk assessment module and the risk early warning module all comprise a processor and a signal conversion device and realize signal connection through a data transmission module, the signal transmission module is used for realizing data transmission of data contents in the sub-computers of the modules, and a wired or wireless data transmission means is adopted in a transmission mode.
According to the invention, by means of the entity module and the technical scheme, the corresponding conflict types and risks among vehicles are judged according to the vehicle motion parameter sequences obtained through real-time capturing, classifying and analyzing, the indexes for measuring the severity of the risks are calculated, and the corresponding signals of the early warning prompt facility are used for warning a driver according to the severity of the risks, so that the real-time monitoring, evaluation and prevention of the workshop conflict risks are realized.
Drawings
FIG. 1 is a flow chart of the system of the present invention.
Fig. 2 is a traffic operation display diagram of the present invention.
Fig. 3 is a graph of the data parameters of fig. 2.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention.
Referring to fig. 1-3, a road driving safety risk assessment system based on traffic conflict technology comprises a track recognition and preprocessing module, wherein the track recognition and preprocessing module comprises:
radar for capturing instantaneous coordinates of a vehicle in a fixed coordinate system
A video camera for capturing license plate information of the vehicle and identifying the length l of the vehicle i ；
The computer and the storage device are used for recording the instantaneous coordinates belonging to each vehicle in the acquisition time period and range as a track sequence (time-coordinate sequence) and calculating the motion parameters of the vehicle;
the track recognition and preprocessing module captures, processes and stores an absolute coordinate sequence of any vehicle (i) in a monitoring area in a fixed coordinate system according to a time sequence through a live image shot in real time
And length of vehicle l i (ii) a According to the absolute coordinate sequence of the vehicle, the final speed of the vehicle under an absolute coordinate system is dynamically calculated
Final acceleration
Last direction angle
And final direction angular velocity
And in addition, recognizing the lane where the vehicle is positioned by video recognition, storing the absolute track of the vehicle and the relative track of the vehicle according to the license plate and the driving lane as indexes, and deleting relevant vehicle data which are not determined to be in conflict after the time lasts until the vehicle is out of the monitoring recognition range.
And the output end of the track identification and preprocessing module is connected with a risk evaluation module. The risk assessment module monitors whether the vehicle motion parameters reach a potential conflict judgment threshold in real time, and when the acceleration (represented by i) of the vehicle is identified<-4m/s 2 Or when the change of the direction angle exceeds 30 degrees/s, judging that the current vehicle is in a potential conflict state; and for the vehicle i marked as a potential conflict state, extracting the coordinates and the motion parameters of the vehicle i, the vehicle adjacent to the lane, and the vehicle coordinates and the motion parameters of the vehicles in front of and behind the same lane together, and analyzing the relative motion relation between the vehicles by using a computer. Calculating the time-relative distance sequence between the vehicle i and any adjacent vehicle j and the surrounding vehicles
And time-direction angle sequence
Wherein:
the risk evaluation module judges whether the conflict type belongs to a rear-end collision type conflict or a lane change type conflict according to the vehicle-pair related sequence: if it is
Judging that potential rear-end collision exists between the vehicle pairs; if it is
And determining that the potential lane change conflict exists between the vehicles. At the next detection instant, at which a potential rear-end collision is determined, the last two sets of time-relative distance coordinates of a vehicle pair (as an example, vehicle pair i, j) formed by the vehicle and other vehicles are read
And
and the intersection point of the straight line of the two points and the horizontal axis (time t) is obtained according to the following formula
And the time TTC from the vehicle pair to the collision after the vehicle pair keeps the current state ij ：
At the next detection instant when a potential lane change conflict is determined, the last two sets of absolute coordinates of a vehicle pair (taking the vehicle pair i and j as an example) formed by the vehicle and other vehicles are read
And
respectively calculating the intersection point of the straight lines obtained by the two coordinate points passing through the last two groups of coordinate points
(since the distance approach condition is screened in advance, the equation must have a solution and is located in front of the two-car driving route):
and respectively calculating that the a and b vehicles drive at a constant speed to reach the potential conflict point along a straight line passing through the last two points
Of (2) is
Meanwhile, the speed of the two vehicles at the last acquisition point is calculated through the two sets of acquired coordinate data and the time interval thereof
Thereby calculating the sum time of the two vehicles running to the conflict point at the constant speed
The calculation of the conflict index TTCij is determined according to the following rules:
if it is
Judgment of
Whether or not:
(1) if so, the user can use the method,
(2) if not, judging that the i and j vehicles do not conflict, stopping conflict analysis and related index calculation, and keeping coordinate acquisition and potential conflict judgment;
if it is
Judgment of
Whether or not:
(1) if so,
(2) if not, judging that the i and j vehicles do not conflict, stopping conflict analysis and related index calculation, and keeping coordinate acquisition and potential conflict judgment.
And for the calculated conflict index TTCij, judging the conflict index TTCij to be serious conflict when the TTCij is less than 2.3s, judging the conflict index to be general conflict when the TTCij is more than or equal to 2.3s and less than or equal to 6s, and judging the conflict index not to occur when the TTCij is more than 6 s.
The output end of the risk assessment module is connected with a risk early warning module. The risk early warning module comprises a processor and signal conversion equipment, can convert the judgment result of the conflict obtained by the risk assessment module into an electric signal to be transmitted to various warning equipment, is used for judging the result according to the severity level of the conflict and issuing early warning information to a driver through roadside light and sound equipment;
the working mode of the risk early warning module is to warn in different modes according to the risk judgment result: when a serious conflict is determined, the conflict vehicle flashes the warning flashlights at high speed and alternately red and blue on the side of the rear vehicle position and the central separation zone 15m ahead and the roadside, and a horn broadcasts a sharp warning sound continuously until the conflict is relieved. If a traffic accident occurs later, the flash lamp continuously flashes until the accident treatment is finished, and the traffic is recovered;
when general conflict is judged, the conflict vehicle alternately flickers red and blue of warning flashlights at the rear vehicle position and the side of the central separation belt 15m ahead and at the roadside, and a horn broadcasts a voice of 'please pay attention to the distance of the vehicle' for continuing to remove the conflict or reduce the TTC to within 2.3 s;
and if the collision is judged not to occur, the warning lamp and the voice warning are not carried out.
The track recognition and preprocessing module, the risk evaluation module and the risk early warning module are in signal connection through the data transmission module, the signal transmission module is used for achieving data transmission of data contents in the sub-computers of the modules, the transmission mode adopts a wired or wireless data transmission means, and the transmission mode adopts a wired or wireless data transmission means.
According to the vehicle motion parameter sequence obtained through real-time capturing, classifying and analyzing, the corresponding conflict type and risk between the vehicles are judged, the index for measuring the risk severity is calculated, and the warning is given to a driver through the corresponding signal of the early warning prompt facility according to the risk severity, so that the real-time monitoring, evaluation and prevention of the workshop conflict risk are realized.
The following is a set of specific operational data scenarios;
when i and j vehicles run on a certain straight line section of the highway, the track recognition and preprocessing module captures the motion tracks of the two vehicles through a radar and recognizes the length l of the two vehicles Shan A-12345 =4.2m、l Shan A-XXXXX And the motion parameters of the vehicle are obtained in real time through a computing device, and the license plate information identified by the camera is saved as an index. The two car related parameters are shown in the following table:
the real-time parameter arrays are then transmitted by the data transmission device to the risk assessment module.
Since the Shaan A-XXXXX is identified at 13 in the following 35, the acceleration is-4.558 m/s2, and the vehicle is within the risk identification range of < -4m/s2, the vehicle is determined to be a potential collision vehicle, and a risk vehicle pair of the Shaan A-XXXXX and the adjacent lane vehicle, shaan A-12345 is established. The computer unit calculates the parameters of the plant motion of the two vehicles as:
in the period 201125-13. The computer calculates a conflict index TTCXXXXX-12345=1.72s according to the coordinate parameters of the two cars, and the two cars are in a high risk state. At this time, the conflict vehicle flashes the warning flashlights of the rear vehicle position and the front 15m central division belt side and the roadside side alternately in red and blue at high speed to give a warning, and the roadside tweeter broadcasts a sharp warning sound. And the drivers of Shaanxi A-XXXXX hear the warning prompt, lightly hit the steering wheel in the reverse direction and slightly brake, and resume running at normal speed after the vehicle resumes control. After the system maintains the detection state for one second, the computer judges that the distance between vehicles is increased from 52 to 201125-13 in the time period of 201125-35.
According to the invention, through the track identification and preprocessing module, the signal conversion device, the risk evaluation module, the risk early warning module and the parameter contents based on the modules, the corresponding conflict risk can be calculated, and the accurate evaluation of the driving safety risk is realized according to various risk indexes in the evaluation index module;
in the description of the present invention, it is necessary to understandIt is to be understood that the concrete numerical concepts of "two cars", "2.3s", "6s",<-4m/s 2 "," 30 ° "," 180 ° "," 15m "," 5 m/piece "," 50 m/piece ", and the concept of algebraic variables
“《·4m/s 2 ”、
“l i ”、“l j ”、“TTC ij "etc. are only specific values chosen to specifically describe a particular state of an implementation of an algorithm, are merely used to facilitate describing the invention and to simplify the description, and are not intended to state or imply that the steps, systems and devices involved are only designed for these specific parameters and thus are not to be considered as limiting the invention.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (5)
1. A road driving safety risk assessment system based on traffic conflict technology is characterized by comprising a track recognition and preprocessing module, a risk assessment module and a risk early warning module,
the track recognition and preprocessing module comprises:
radar for capturing instantaneous coordinates of a vehicle in a fixed coordinate system
A video camera for capturing license plate information of the vehicle and recognizing the length l of the vehicle i ；
The computer and the storage device are used for recording the instantaneous coordinates belonging to each vehicle in the acquisition time period and the acquisition range as a time-coordinate track sequence and calculating the motion parameters of the vehicle;
the system comprises a track recognition and preprocessing module, a risk assessment module, a risk early warning module and an early warning device, wherein the track recognition and preprocessing module is used for capturing, processing and storing a motion coordinate sequence of a vehicle in real time, the output end of the track recognition and preprocessing module is connected with the risk assessment module, the risk assessment module is used for monitoring whether a motion parameter of the vehicle reaches a judgment threshold value of potential conflict or not in real time, judging the corresponding conflict type between vehicles and measuring the severity of risk, the output end of the risk assessment module is connected with the risk early warning module, and the risk early warning module sends out a corresponding acousto-optic signal to warn a driver through an early warning prompting facility according to a judgment result of the severity of the risk;
the track recognition and preprocessing module is used for recognizing and preprocessing the absolute coordinate sequence of the vehicle
Dynamically calculating the final speed of the vehicle in an absolute coordinate system
Final acceleration
Last direction angle
And final direction angular velocity
The time series format is stored as an index along with the vehicle license plate;
in the risk assessment module, the potential conflict state decision threshold comprises acceleration < -4m/s 2 Or change of direction anglePassing 30 degrees/s; for the vehicle which is judged to be in the potential accident state, calculating the time-relative distance sequence of the vehicle and the surrounding vehicles
And time-direction angle sequence
The computer determines the traffic conflict types to be happened according to the parameters, including potential rear-end collision and potential lane-changing collision;
the risk assessment module monitors whether the vehicle motion parameters reach a judgment threshold value of potential conflict in real time, and when the acceleration of the vehicle is identified<-4m/s 2 Or when the change of the direction angle exceeds 30 degrees/s, judging that the current vehicle is in a potential conflict state; for the vehicle i marked as a potential conflict state, extracting the coordinates and the motion parameters of the vehicle i, the vehicle adjacent to the lane, the vehicle coordinates and the motion parameters of the vehicles in front of and behind the same lane, and analyzing the relative motion relation between the vehicles by a computer;
calculating the time-relative distance sequence between the vehicle i and any adjacent vehicle j and the surrounding vehicles
And time-direction angle sequence
Wherein:
the risk evaluation module judges whether the conflict type belongs to a rear-end collision type conflict or a lane change type conflict according to the vehicle-to-correlation sequence: if theta t ij ∈[0°,30°]Judging that potential rear-end collision exists between the vehicle pairs; if theta t ij ∈[30°,180°]Judging that potential lane change conflicts exist among the vehicles;
at the next detection instant when the potential rear-end collision is judged, the last two groups of time-relative distance coordinates of the vehicle pairs i and j formed by the vehicle and other vehicles are read
And
and the intersection point of the straight line of the two points and the horizontal axis representing the time t is obtained according to the following formula
And the time TTC from the vehicle pair to the collision after the vehicle pair keeps the current state ij ：
At the next detection instant when the potential lane change conflict is judged, the last two groups of absolute coordinates of the vehicle pairs i and j formed by the vehicle and other vehicles are read
And
respectively calculating the intersection point of the straight lines obtained by the two coordinate points passing through the last two groups of coordinate points
And respectively calculate a,b two vehicles drive at a constant speed along a straight line passing through the last two points to reach the potential conflict point
Is a distance of
Meanwhile, the speed of the two vehicles at the last acquisition point is calculated through the two sets of acquired coordinate data and the time interval thereof
Thereby calculating the sum time of the two vehicles running to the conflict point at the constant speed
Conflict indicator TTC ij The calculation of (a) is determined according to the following rules:
if it is
Judgment of
Whether or not:
if so, the user can use the method,
if not, judging that the i and j vehicles do not conflict, stopping conflict analysis and related index calculation, and keeping coordinate acquisition and potential conflict judgment;
if it is
Judgment of
Whether or not:
if so,
if not, judging that the i and j vehicles do not conflict, stopping conflict analysis and related index calculation, and keeping coordinate acquisition and potential conflict judgment;
for the calculated conflict index TTC ij According to TTC ij <2.3s is judged as serious conflict and 2.3s is less than or equal to TTC ij Judging as general conflict and TTC when the time is less than or equal to 6s ij >And 6s, determining that no collision occurs.
2. The system of claim 1, wherein in the risk assessment module, the computer calculates the estimated time TTC from the current driving state to the collision as the judgment index of the collision severity.
3. The system for assessing road driving safety risk based on traffic conflict technology according to claim 2, wherein the risk early warning module comprises:
the processor and the signal conversion equipment are used for converting the risk judgment result obtained by the risk evaluation module into an electric signal and transmitting the electric signal to various warning equipment;
the LED light indicator can display red light and blue light;
the roadside tweeter can play preset sound signals.
4. The system of claim 3, wherein the risk pre-warning module warns in different ways according to the risk judgment result, and warns for different levels of traffic risks by flashing a flash lamp at high speed and flashing red and blue alternately and playing warning tones through a tweeter.
5. The system for assessing the risk of road driving safety based on traffic conflict technology as claimed in claim 4, wherein the track recognition and preprocessing module, the risk assessment module, and the risk pre-warning module are all in signal connection via a data transmission module, the data transmission module is used for realizing data transmission of data contents in the sub-computers of the modules, and the transmission mode adopts a wired or wireless data transmission means.
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