CN101853575A - Road junction traffic conflict detection and safety evaluation method based on two-dimensional laser scanners - Google Patents

Road junction traffic conflict detection and safety evaluation method based on two-dimensional laser scanners Download PDF

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CN101853575A
CN101853575A CN201010195375A CN201010195375A CN101853575A CN 101853575 A CN101853575 A CN 101853575A CN 201010195375 A CN201010195375 A CN 201010195375A CN 201010195375 A CN201010195375 A CN 201010195375A CN 101853575 A CN101853575 A CN 101853575A
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traffic
conflict
moving object
crossing
dimensional laser
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鲁光泉
王云鹏
刘淼淼
余贵珍
田大新
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Beihang University
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Abstract

The invention relates to a road junction traffic conflict detection and safety evaluation method based on two-dimensional laser scanners, which is remarkably characterized by comprising the steps of: acquiring and fusing motion parameters of road junction moving objects by using a plurality of two-dimensional laser scanners; computing conflict parameters and serious degree of traffic conflict occurring among traffic participating units by the motion parameter of each moving object; and constructing an intersection safety state evaluation method based on the traffic conflict on the basis of intersection serious conflict statistic and traffic volume statistic to realize the evaluation and the monitoring of the intersection safety state. The road junction traffic conflict detection and safety evaluation method based on the two-dimensional laser scanners has the characteristics of low cost and accuracy and rapidity, brings convenience to the research of the road junction traffic conflict, is beneficial to implementing the effective improvement on the road junction traffic control, and ensures the traffic safety.

Description

Crossing traffic collision detection and safe evaluation method based on the two dimensional laser scanning instrument
Technical field
The present invention relates to the method for a kind of crossing traffic collision detection and safety evaluation.Utilize many two dimensional laser scanning instrument to carry out the collection and the fusion of crossing moving object kinematic parameter, calculate traffic by each kinematic parameter and participate in the traffic conflict parameter between the unit and the order of severity of conflicting, on the basis of the statistics and volume of traffic statistics of seriously being conflicted in the intersection, structure is realized evaluation and monitoring to the crossing safe condition based on the crossing safe condition evaluation method of traffic conflict.It is low that the present invention has a cost, accurately, characteristics fast, for the research of carrying out the crossing traffic conflict has brought conveniently, the oral sex siphunculus system that helps satisfying the need is implemented effectively to improve, and guarantees traffic safety.
Background technology
The correlative study of China's The traffic conflict technique and safety evaluation:
China just introduced The traffic conflict technique in 1987, some achievements in research have been obtained through the researchs in 20 years: 1994, Zhang Su translates into Chinese with Sweden Hayden (C.Hyden) doctor's monograph " The traffic conflict technique ", has more systematically touched The traffic conflict technique the domestic first time; 1997, Liu Xiaoming, section Hailin etc. are in conjunction with China's level-crossing mixed traffic characteristic, standardized program based on the safe evaluation method of The traffic conflict technique is studied, and set up crossing traffic conflict probability Distribution Model based on traffic conflict; 1998, Zhang Su delivered " Chinese transportation conflicts technique " book on the basis of its PhD dissertation, and the The traffic conflict technique that meets China's traffic characteristics for foundation has been done further discussion; 2000, application The traffic conflict technique such as Zhou Wei, Luo Shigui were inquired into the discriminating of the multiple point of highway section traffic hazard, and adopted the conflict observation data of the Yellow River, Zhengzhou highway bridge to verify the validity of method, had enriched existing The traffic conflict technique theory; 2005, application TCT (The traffic conflict technique) such as Wang Xueming, Nie Lei carried out analysis and safety evaluation to the bicycle traffic safety case; Cheng Wei has launched detailed research to the theory relation model of Urban Road Traffic Accidents and traffic conflict, and in conjunction with mathematical methods such as cluster analyses the safety case of actual crossing is estimated, for the safety evaluation of usual friendship mouth provides a kind of new research approach.
On the whole, China still is in the starting stage to the research of The traffic conflict technique with application.Society just payes attention in recent years to whole road safety, and TCT is lacked the environment and the platform of research especially, and achievement in research also only rests in theory, practical application is less, research mode is also substantially with reference to the experience of developed country, combines inadequately with China actual traffic characteristics, and operability is not strong.Therefore be necessary to research and develop the workable traffic conflict detection technique under the mixed traffic condition that is fit to the Chinese transportation characteristic.
The present situation of domestic and international traffic conflict detection technique:
The automatic context of detection of traffic conflict, 1977, the Britain road traffic research institute traffic conflict automatic production record that begins one's study, but fail owing to system is too complicated; 1984, carried out in the international style correction work of TCT in the Malmo city of Sweden, the Dutch Institute of Technology has used automatic production record test and appraisal traffic conflict first; 1987, Sweden carried out utilizing the imaging technique that conflicts to study the forming process of record conflict with Holland.
In recent years, Tarek Sayed of Univ British Columbia Canada and Nialas Saunier etc. are devoted to the automatic checkout system research of traffic conflict always, a kind of crossing traffic safety automatic analysis system based on video has been developed in trial, but still under test, also have a segment distance from practical application.This system at first adopts based on the vehicle tracking algorithm of feature and realizes the vehicle tracking in the scope of crossing, vehicle movement track data to collect then, in conjunction with the automatic search of hidden Markov model (HMM) realization to the associated row wheel paths, identify the track that clashes bunch, to reach the purpose that traffic conflict detects automatically.
It is less relatively that traffic conflict detects research at home.Tan Tieniu etc. have proposed a kind of traffic hazard probability forecasting method based on the three-dimensional model vehicle tracking, this method at first adopts the vehicle tracking based on three-dimensional model to obtain vehicle movement track sample data, adopt fuzzy self organizing neural network algorithm then, with the sample data is training objects, study vehicle movement pattern and rule.System after the process training is mated the movement locus that has vehicle now and is predicted, and calculates the probability that traffic hazard takes place.But the domestic traffic conflict of not seeing as yet based on laser scanner detects correlative study.
The retrieval prior art, more existing patented claims provide some solutions.As number of patent application: 200810171317.6, patent name " based on the data fusion method and the system of multi-laser scanner "; Number of patent application: 200810170194.4, patent name " based on the method for tracking moving target and the system of multi-laser scanner ", number of patent application: 200910091650.0, patent name " a kind of pedestrian advancing direction judging method that adopts laser scanning ".These technology have just been carried out the fusion of data, the tracking and the discriminating direction of moving target, do not relate to the automatic detection and the safety evaluation of traffic conflict, and the practicality of technology is weak.Therefore study a kind of efficiently, practicality and strong traffic conflict detection and the safe evaluation method of accuracy have great importance.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, propose a kind of based on the crossing traffic collision detection of two dimensional laser scanning instrument and the method for safety evaluation.
The present invention realizes by following technology:
1. utilize the fusion method of two-dimensional laser data, determine the kinematic parameter of crossing moving object; Coordinate and grey forecasting model by uniformly-spaced moving object are constantly predicted the movement locus of object, thereby are determined conflict point and conflict distance; On basis, utilize grey clustering analysis that the safe condition of crossing is made evaluation to intersection conflict statistics and volume of traffic statistics.
If the horizontal ordinate of moving object is x (0)Original data sequence
x (0)={x (0)(1),x (0)(2),...,x (0)(n)}(1)
Generate the single order formation sequence that adds up with 1-AGO (Accumulating Generation Operator)
x (1)={x (1)(1),x (1)(2),...,x (1)(n)}(2)
Wherein, x ( 1 ) ( k ) = Σ i = 1 k x ( 0 ) ( i ) - - - ( 3 )
Utilize the definition of the differential equation and derivative, can in the hope of:
x ^ ( 0 ) ( k + 1 ) = x ^ ( 1 ) ( k + 1 ) - x ^ ( 1 ) ( k ) = ( 1 - e a ^ ) ( x ( 0 ) ( 1 ) - u ^ a ^ ) e - ak ^ , ( k = 1,2 , . . . ) - - - ( 4 )
Wherein, ( B T B ) - 1 B T Y n = a ^ u ^ ; B = - 1 2 [ x ( 1 ) ( 1 ) + x ( 1 ) ( 2 ) ] 1 - 1 2 [ x ( 1 ) ( 2 ) + x ( 1 ) ( 3 ) ] 1 . . . . . . - 1 2 [ x ( 1 ) ( n - 1 ) + x ( 1 ) ( n ) ] 1 ; Y n = x ( 0 ) ( 2 ) x ( 0 ) ( 3 ) . . . x ( 0 ) ( n ) ;
(k+1) individual predicted value for the moving object horizontal ordinate;
Figure BSA00000147815900027
Be respectively individual and k the single order of moving object (k+1) predicted value that adds up; Equally can be in the hope of the predicted value of moving object ordinate.
According to said method, utilize the laser fused data to learn the horizontal ordinate and the ordinate of moving object, can try to achieve the horizontal ordinate predicted value of object in conjunction with grey forecasting model, and then dope the movement locus of object.
2. performing step:
(1) utilizes many two dimensional laser scanning instrument to form sensor network, the crossing traffic status is carried out horizontal scanning from diverse location, angle;
(2) according to the laser data characteristic of being obtained, data are merged, finish the detection and the tracking of moving object;
(3) utilize the moving object testing result, determine the kinematic parameter of road Traffic Volume and moving object, comprise position, speed, direction, type;
(4) in conjunction with existing moving object coordinate and grey forecasting model, determine crossing traffic conflict correlation parameter, comprise the position and the conflict distance of conflict point;
(5) according to crossing traffic flow and collisions parameter, utilize the grey cluster model, determine the conflict order of severity, carry out the intersection safety evaluation.
The present invention has following characteristics: by collection and the fusion to many two dimensional laser scanning instrument data, can determine the kinematic parameter of moving object fast and accurately; Utilize known parameters and mathematical model that traffic conflict and conflict point are judged, know the conflict distance simultaneously, avoided that the artificial observation method of at present main usefulness brings than mistake, also improved efficient; In conjunction with grey clustering analysis crossing safety is estimated, had stronger persuasion.It is low to have a cost based on the method for the crossing traffic collision detection of laser scanner and safety evaluation, accurately, characteristics fast, for the research of carrying out the crossing traffic conflict brought convenient, help the road relevant departments oral sex siphunculus system of satisfying the need and implement effectively to improve, guarantee traffic safety.
Description of drawings
Fig. 1 laser scanner arrangenent diagram
Fig. 2 sets up the actual field coordinate system
Fig. 3 movement path of movable objective synoptic diagram
Fig. 4 traffic conflict detects synoptic diagram
Embodiment
Embodiment to this aspect elaborates below in conjunction with accompanying drawing: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with our surface technology scheme.
(1) (no isolation strip) each corner is put a laser scanner (Fig. 1 wherein 1,2,3,4 represents the scanner placement location respectively 1,2,3, No. 4) respectively in the intersection.According to on-the-spot graticule setting state coordinate system, measure the position and the angle of each scanner, for ease of measuring, the x axle of in-site measurement coordinate system and y axle are positioned on mutual two vertical edges; Video camera is placed on trackside the position higher buildings or street lamp, so as the traffic conditions shooting at crossing is complete, for the collision detection based on scanner provides with reference to (Fig. 2).
(2) according to the laser data characteristic of being obtained, utilize prior art that the laser data that many scanners obtain is carried out cluster, fusion, finish the detection (Fig. 3) of moving object.
(3), determine its position, speed, deflection and moving object type according to the variation of the moving object that is detected in every frame scan data; Real time record enters the moving object quantity of crossing, finishes the traffic quantitative statistics; In conjunction with the moving object type,, calculate the equivalent volume of traffic simultaneously in conjunction with following scaled value table 1;
Table 1 mixes equivalent volume of traffic scaled value
Road user Bulk production, bus or middle visitor Little goods, little visitor or car Motorcycle
Scaled value ??1.5 ??1.0 ??0.3
(4) calculate the identical time interval in conjunction with existing moving object kinematic parameter and go up, if the distance between above-mentioned moving cell constantly reduces until the minimum braking distance sum L that begins to be less than or equal to two articles from the distance between the moving cell of different directions Min, the moment t of this situation appears in record; Utilize grey forecasting model, with t constantly before the position coordinates of moving object be the movement locus of known quantity prediction object, if the movement locus of two articles prediction exists intersect, then the point of crossing is conflict point, and the traffic conflict number is carried out record; The conflict distance is the minor increment (Fig. 4, wherein O is a conflict point) on the two moving object actual motion tracks that have conflict point.
(5) utilize the traffic conflict parameter,, finish the conflict order of severity and judge and the crossing safety evaluation in conjunction with the equivalent volume of traffic and grey cluster evaluation model.When carrying out the grey cluster evaluation, utilization SPSS software as input parameter, is finished the safety case evaluation of different periods of same crossing or same period of different crossings with crossing number of collisions/volume of traffic, conflict distance.

Claims (6)

1. one kind based on the crossing traffic collision detection of two dimensional laser scanning instrument and the method for safety evaluation, it is characterized in that: comprise the steps:
(1) utilizes many two dimensional laser scanning instrument to form sensor network, the crossing traffic status is carried out horizontal scanning from diverse location, angle;
(2) according to the laser data characteristic of being obtained, data are merged, finish the detection and the tracking of moving object;
(3) utilize the moving object testing result, determine the kinematic parameter of road Traffic Volume and moving object, comprise position, speed, direction, type;
(4) in conjunction with above-mentioned parameter, determine crossing traffic conflict correlation parameter, comprise the position of conflict point, the conflict distance;
(5) according to crossing traffic flow and collisions parameter, determine the conflict order of severity, carry out the intersection safety evaluation.
2. crossing traffic collision detection and safe evaluation method based on the two dimensional laser scanning instrument according to claim 1, it is characterized in that, described step (1) specifically is meant: (no isolation strip) each corner is arranged a laser scanner respectively in the intersection.According to on-the-spot graticule setting state coordinate system, measure the position and the angle of each scanner.For ease of measuring, the x axle of in-site measurement coordinate system and y axle are positioned on two orthogonal edges.
3. crossing traffic collision detection and safe evaluation method based on the two dimensional laser scanning instrument according to claim 1, it is characterized in that, described step (2), specifically be meant: utilize prior art, the laser spots that many scanners obtain is carried out cluster, finish the detection and tracking of crossing moving object.
4. crossing traffic collision detection and safe evaluation method based on the two dimensional laser scanning instrument according to claim 1, it is characterized in that, described step (3), specifically be meant:, determine its position, speed, deflection and moving object type according to the variation of the moving object that is detected in every frame scan data; Real time record enters the moving object quantity of crossing, finishes the traffic quantitative statistics; In conjunction with the moving object type, calculate the equivalent volume of traffic simultaneously.
5. crossing traffic collision detection and safe evaluation method based on the two dimensional laser scanning instrument according to claim 1, it is characterized in that, described step (4), be implemented as follows: in conjunction with existing moving object kinematic parameter and grey forecasting model, finish demarcation, determine that traffic conflict participates in taking place between the unit conflict distance of traffic conflict conflict point.
6. crossing traffic collision detection and safe evaluation method based on the two dimensional laser scanning instrument according to claim 1, it is characterized in that, described step (5), be implemented as follows: utilize the traffic conflict parameter, in conjunction with the equivalent volume of traffic and grey cluster evaluation model, finish the conflict order of severity and judge and the crossing safety evaluation.
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CN102368354A (en) * 2011-10-19 2012-03-07 北京航空航天大学 Road security evaluation method based on floating vehicle data acquisition
CN102592448A (en) * 2012-01-18 2012-07-18 河海大学 Method for testing safety performance of unsignalized intersection by utilizing equivalent traffic conflict
CN103366582A (en) * 2012-04-06 2013-10-23 同济大学 Traffic safety evaluation method of signal control intersection
CN103914981A (en) * 2014-04-09 2014-07-09 江苏物联网研究发展中心 Method for predicting confliction between pedestrians and left-turn vehicles at plane intersection
CN105336221A (en) * 2014-08-01 2016-02-17 深圳中集天达空港设备有限公司 Real-time docking airplane capturing method and system
CN105761547A (en) * 2016-03-28 2016-07-13 安徽云森物联网科技有限公司 Traffic collision pre-warning technique and system based on images
CN107705635A (en) * 2017-11-24 2018-02-16 吉林大学 The traffic conflict method of discrimination of signalized intersections electric bicycle
CN108922168A (en) * 2018-05-29 2018-11-30 同济大学 A kind of mid-scale view Frequent Accidents road sentences method for distinguishing
CN109087534A (en) * 2018-10-09 2018-12-25 王业宝 A kind of traffic conflict detection method based on vehicle driving trace
WO2020000794A1 (en) * 2018-06-27 2020-01-02 华南理工大学 Method for quickly determining mixed traffic conflict situation
CN112767697A (en) * 2021-01-19 2021-05-07 东南大学 Traffic safety evaluation method, system and device based on traffic conflict prediction
CN113112809A (en) * 2021-04-23 2021-07-13 武汉理工大学 Intersection traffic safety risk evaluation system based on holographic sensing

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CN102368354A (en) * 2011-10-19 2012-03-07 北京航空航天大学 Road security evaluation method based on floating vehicle data acquisition
CN102592448A (en) * 2012-01-18 2012-07-18 河海大学 Method for testing safety performance of unsignalized intersection by utilizing equivalent traffic conflict
CN103366582A (en) * 2012-04-06 2013-10-23 同济大学 Traffic safety evaluation method of signal control intersection
CN103366582B (en) * 2012-04-06 2015-04-29 同济大学 Traffic safety evaluation method of signal control intersection
CN103914981A (en) * 2014-04-09 2014-07-09 江苏物联网研究发展中心 Method for predicting confliction between pedestrians and left-turn vehicles at plane intersection
CN105336221A (en) * 2014-08-01 2016-02-17 深圳中集天达空港设备有限公司 Real-time docking airplane capturing method and system
CN105761547A (en) * 2016-03-28 2016-07-13 安徽云森物联网科技有限公司 Traffic collision pre-warning technique and system based on images
CN107705635B (en) * 2017-11-24 2020-11-10 吉林大学 Method for judging traffic conflict of electric bicycles at signalized intersection
CN107705635A (en) * 2017-11-24 2018-02-16 吉林大学 The traffic conflict method of discrimination of signalized intersections electric bicycle
CN108922168A (en) * 2018-05-29 2018-11-30 同济大学 A kind of mid-scale view Frequent Accidents road sentences method for distinguishing
CN108922168B (en) * 2018-05-29 2019-10-18 同济大学 A kind of mid-scale view Frequent Accidents road sentences method for distinguishing
WO2020000794A1 (en) * 2018-06-27 2020-01-02 华南理工大学 Method for quickly determining mixed traffic conflict situation
US20210174670A1 (en) * 2018-06-27 2021-06-10 South China University Of Technology Method for quickly determining mixed traffic conflict situation
CN109087534A (en) * 2018-10-09 2018-12-25 王业宝 A kind of traffic conflict detection method based on vehicle driving trace
CN112767697A (en) * 2021-01-19 2021-05-07 东南大学 Traffic safety evaluation method, system and device based on traffic conflict prediction
CN113112809A (en) * 2021-04-23 2021-07-13 武汉理工大学 Intersection traffic safety risk evaluation system based on holographic sensing

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