CN102518054B - Road deceleration marked line setting method based on actual deceleration effect - Google Patents
Road deceleration marked line setting method based on actual deceleration effect Download PDFInfo
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Abstract
The invention relates to a road deceleration marked line setting method based on the actual deceleration effect, which comprises the following steps of: firstly, collecting speeds near the deceleration marked lines set on the road, establishing the actual deceleration effect model of the deceleration marked lines by using Gaussian quadratic curve fitting; finding out the lowest speed position of a vehicle passing through the deceleration marked lines on the basis of the actual deceleration effect model of the deceleration marked lines, and putting forward the setting point of a first group of marked lines when the deceleration marked lines are newly set. The method overcome the defects and deficiencies existing in the previous setting of the deceleration marked lines only on the basis of theoretical analysis and experience and is more scientific than previous setting technologies, and the action of the deceleration marked lines can be exerted more efficiently.
Description
Technical field
The invention belongs to traffic administration and traffic safety technology field, use Gauss's conic model, analyze speed reduction marking actual deceleration effect, propose a kind of new speed reduction marking method to set up based on the actual deceleration effect.
Background technology
Along with China's path link car kilometer number and vehicle guaranteeding organic quantity increase rapidly, Road Safety Status is increasingly serious.In accident main cause statistics, illegal 90% left and right that causes traffic accident to account for total accident number of motor vehicle, wherein drive over the speed limit and cause the traffic accident number to account for illegal 10% of the traffic accident number that causes of motor vehicle, cause toll on traffic to account for illegal 14% of the toll on traffic that causes of motor vehicle, driving over the speed limit is the one of the main reasons that road traffic accident occurs.Road travel speed is managed, reduce the furious driving behavior, Vehicle Speed and road environment are coordinated mutually, to reducing the road accident incidence, promote the traffic safety important in inhibiting.
At present China has extensively adopted the facility prompting driver such as speed reduction marking to reduce travel speed at road hazard point or black spot, drives with caution.But the standard about the speed reduction marking setting position also generally lacks, and generally rule of thumb determines, when arranging, speed reduction marking actual deceleration effect shortcoming is considered.Some are unscientific is arranged so that the speed reduction marking practical effect is not very desirable, even also may produce negative effect.The speed reduction marking that the present invention proposes based on existing speed reduction marking actual deceleration effect arranges new method, and the technology that arranges than in the past is more scientific, can more effectively bring into play the effect of speed reduction marking.
Summary of the invention
The problem to be solved in the present invention is: the setting of road speed graticule in the past has certain randomness, and especially the setting position of speed reduction marking draws according to subjective judgement mostly, lacks the consideration to speed reduction marking actual deceleration effect.The present invention proposes obtaining on traffick speed data basis, a large amount of existing speed reduction marking highway section, utilize Gauss's conic fitting to set up speed reduction marking deceleration effect model, based on existing speed reduction marking deceleration effect, determine on identical speed limit road the position of first group of graticule while newly speed reduction marking being set.Only according to theory analysis and experience, the technological deficiency and deficiency that speed reduction marking exists is set before overcoming.
Technical solution of the present invention is:
A kind of road speed graticule method to set up based on the actual deceleration effect comprises step:
1) collection vehicle is in the speed data by existing speed reduction marking upstream and downstream, and step comprises:
101) choose the speed data collection highway section; 102) determine the speed data collection section; 103) gather vehicle speed data;
2) to step 1) effect analysis of being slowed down of the vehicle speed data that gathers, utilize Gauss's conic fitting to set up speed reduction marking deceleration effect model:
The speed data collection section at definition maximum distance place, speed reduction marking upstream is A
1, define successively speed data collection section A
2, A
3..., A
i; Each speed data collection section A
i(i=1,2,3 ..., collecting sample amount n) is M
i, corresponding sample data is (x
i, y
ij);
Wherein, x
isection A
iabscissa,, with the distance at zero point, zero point, negative value was got in upstream, downstream get on the occasion of; y
ijbe the velocity amplitude gathered, the j value is 1 to M
i;
By all section A
1, A
2..., A
ithe speed sample be organized into (x
i, y
ij) form, obtain the data set of speed of a motor vehicle y and position x corresponding relation;
The variation tendency when distribution form of Gauss's conic section function shown in formula (1) meets car speed by speed reduction marking, carry out the matching of Gauss's conic model to data set, obtains each parameter value and functional image in Gaussian function;
Wherein,
A
1, a
2, b
1, b
2, c
1, c
2---parameter to be calibrated;
The truth of a matter of e---natural logrithm, value 2.71828
Show that according to formula (1) vehicle passes through speed reduction marking speed of a motor vehicle y position S hour
0, ask the value of x when the y minimalization; Formula (1) is differentiated, obtains derived function formula (2):
Make y '=0, the value of trying to achieve x is speed minimum point S
0abscissa;
3) analyze the relation of car speed and dangerous spot and speed reduction marking distance, set up the speed reduction marking method to set up based on the actual deceleration effect:
According to step 2) effect model that obtains, search out speed lowest point S
0, and calculate the distance B of itself and first group of speed reduction marking, work as S
0when first group of speed reduction marking downstream D be on the occasion of, when upstream, D is negative value;
On identical speed limit road, think when speed reduction marking is set make vehicle with minimum speed in speed reduction marking deceleration effect model by dangerous spot the most reasonable, when newly speed reduction marking being set, speed reduction marking deceleration effect model medium velocity minimum point is overlapped with the dangerous spot position, judge accordingly the setting position of first group of speed reduction marking;
Step 2) determine first group of speed reduction marking of identical speed limit road and speed minimum point S
0distance is D, and when newly speed reduction marking being set, the distance L value of first group of speed reduction marking and dangerous spot position is D; L get on the occasion of the time, first group of speed reduction marking is arranged at the dangerous spot upstream, when L gets negative value, first group of speed reduction marking is arranged at the dangerous spot downstream, arrange the distance be the order of magnitude of L.
Described step 101) choosing the speed data collection highway section in is to choose the cross walk that straight highway section is provided with speed reduction marking, and other noise spots of upstream and downstream are as intersection or the highway section more than the equidistant speed reduction marking 1km of bend.
Described step 102) in,
At first define dangerous spot, the road particular points such as definition cross walk are dangerous spot, and when speed reduction marking is set, dangerous spot also comprises main road road edge line when crossing inlet road stop line, bend circular curve starting point, top, long descending slope and branch road access main road;
Take dangerous spot as zero point, upstream and downstream extends to 300 meters scopes separately, and choosing respectively 300 meters of zero point, 20 meters of upstream and downstream, 50 meters of upstream and downstream, 80 meters of upstream and downstream, 110 meters of upstream and downstream, 130 meters of upstream and downstream, 180 meters of upstream and downstream, 230 meters of upstream and downstream, 280 meters of upstream and downstream and upstream and downstream, to amount to 19 road sections be the speed data collection section.
Described step 103) in, the speed while utilizing hand-held radar velocity measurement rifle to choose section to vehicle by each is gathered, and each section need gather and surpass 90 sample datas; Only be captured in normal weather, approach the Free-flow transport condition under normal traffic operating condition and be the vehicle of time headway>4 second by the speed of speed reduction marking, be subject to pedestrian's street crossing and drive with speeding the car speed affected not gathered.
The present invention proposes to consider the method to set up of speed reduction marking actual deceleration effect, utilize Gauss's conic fitting to find vehicle to pass through the speed minimum point of speed reduction marking, science is arranged to speed reduction marking significant, overcome speed reduction marking in the past the deficiency that relies on subjective judgement is set.The example demonstration, the method to set up that the present invention proposes has good effect, is better than method to set up in the past.
The accompanying drawing explanation
Fig. 1 is speed reduction marking setting procedure of the present invention.
Fig. 2 is that the typical speed reduction marking that the present invention chooses arranges schematic diagram.
Fig. 3 is speed reduction marking deceleration effect model schematic diagram of the present invention.
Fig. 4 is speed reduction marking actual deceleration effect model in speed limit 60km/h situation.
The specific embodiment
Road speed graticule method to set up based on the actual deceleration effect of the present invention, the speed reduction marking upstream and downstream speed of a motor vehicle that different speed limit road straight lines highway section is arranged is carried out field observation, set up Gauss's conic model, obtain the variation tendency of vehicle speed by speed reduction marking the time.Obtain thus arranging the actual deceleration effect of speed reduction marking, based on the deceleration effect, can propose speed reduction marking in the various special road section situations of different speed limit roads technology is set, mainly determine the setting position of first group of graticule.The setting procedure of speed reduction marking can be with reference to figure 1.
The first step is that collection vehicle is in the speed data by existing speed reduction marking upstream and downstream.The present invention chooses and is arranged on straight highway section, the upstream and downstream noise spot as intersection or the speed reduction marking more than the equidistant speed reduction marking 1km of bend as experimental subjects, before this kind of speed reduction marking is generally positioned at cross walk.The present invention considers that the speed reduction marking kind is the transversal deceleration graticule that national standard " road signs and graticule " is mentioned in (GB5768-2009), is also the most frequently used a kind of speed reduction marking of road, and typical speed reduction marking schematic diagram as shown in Figure 2.Road particular point such as definition cross walk etc. is dangerous spot (when speed reduction marking is set, dangerous spot may be also crossing inlet road stop line, bend circular curve starting point, top, long descending slope, main road road edge line etc. when branch road accesses main road).Take dangerous spot as zero point, upstream and downstream extends to 300 meters scopes separately, chooses respectively zero point, 20 meters of upstream and downstream, 50 meters of upstream and downstream, 80 meters of upstream and downstream, 110 meters of upstream and downstream, 130 meters of upstream and downstream, 180 meters of upstream and downstream, 230 meters of upstream and downstream, 280 meters of upstream and downstream, it is the speed data collection section that 300 meters of upstream and downstream amount to 19 road sections.Each speed data collection section need gather and surpass 90 speed sample datas.In order to obtain the impact of speed reduction marking on traffick speed, the hand-held radar velocity measurement rifle of survey crew measuring vehicle is being passed through the car speed of speed reduction marking upstream and downstream different section.Be subject to pedestrian's street crossing, follow the car speed of the impacts such as driving of speeding not gathered, only be captured in normal weather, approach Free-flow transport condition (time headway>4 second) vehicle under normal traffic operating condition by the car speed of speed reduction marking.
Second step, utilize statistical analysis technique, to the vehicle speed data the gathered effect analysis of being slowed down, utilizes Gauss's conic fitting to set up speed reduction marking deceleration effect model, as Fig. 3.
300 meters of speed reduction marking upstreams of definition speed data collection section is A
1, define successively speed data collection section A
2, A
3..., A
19.Each speed data collection section A
i(i=1,2,3 ..., 19) the collecting sample amount be M
i, corresponding sample data is (x
i, y
ij).Wherein, x
isection A
iabscissa,, with the distance at zero point, zero point, negative value was got in upstream, downstream get on the occasion of.Y
ijbe the velocity amplitude gathered, the j value is 1 to M
i.By all section A
1, A
2..., A
19the speed sample be organized into (x
i, y
ij) form, can obtain the data set of speed of a motor vehicle y and position x corresponding relation.
Gauss's conic section function is as shown in formula (1), variation tendency when its distribution form meets car speed by speed reduction marking, can utilize MATLAB 7.0 softwares to carry out the matching of Gauss's conic model to data set, obtain each parameter value and functional image in Gaussian function.
MATLAB 7.0 softwares are the business mathematics software that U.S. MathWorks company produces, advanced techniques computational language and interactive environment for algorithm development, data visualization, data analysis and numerical computations, mainly comprise MATLAB and Simulink two large divisions.Utilize curve function wherein, can be easily the data set of speed of a motor vehicle y and position x corresponding relation be carried out to Gauss's conic section Function Fitting, obtain each parameter value and functional image in formula (1).
According to formula (1) can calculate vehicle by the speed reduction marking speed of a motor vehicle y position S hour
0.Ask when the y minimalization value of x.Formula (1) is differentiated, obtain derived function formula (2).
Make y '=0, the value of trying to achieve x is speed minimum point S
0abscissa.
The 3rd step, by analyzing the relation of car speed and dangerous spot and speed reduction marking distance, set up the speed reduction marking method to set up based on the actual deceleration effect.According to Gauss's conic section deceleration effect model, search out speed minimum point S
0, and the distance B (m) of calculating itself and first group of speed reduction marking (is worked as S
0when first group of speed reduction marking downstream D be on the occasion of, when upstream, D is negative value).
On identical speed limit road, think when speed reduction marking is set make vehicle with minimum speed in the deceleration model by dangerous spot the most reasonable, when newly speed reduction marking being set, the model medium velocity minimum point that should make to slow down overlaps with the dangerous spot position, judges accordingly the setting position of first group of speed reduction marking.Determine first group of speed reduction marking of identical speed limit road and speed minimum point S by claim 2
0distance is D, and when newly speed reduction marking being set, the distance L value of first group of speed reduction marking and dangerous spot position is D.L get on the occasion of the time, first group of speed reduction marking is arranged at the dangerous spot upstream, when L gets negative value, first group of speed reduction marking is arranged at the dangerous spot downstream, arrange the distance be the order of magnitude of L.
Below in conjunction with accompanying drawing, the method to set up of invention has been carried out to the example demonstration:
The setting procedure of road speed graticule of the present invention can be with reference to figure 1.In example, the highway section attribute is set is the T-junction mouth to target, the common road that speed limit is 60km/h.Therefore, the speed reduction marking highway section of having selected ordinary highway one place that certain road speed limit is 60km/h to be arranged at before the cross walk of straight highway section is the speed data collection highway section, speed reduction marking is provided with 7 groups altogether, adopt hot melt graticule form, vehicle produces certain physical vibration by meeting, and first group of speed reduction marking is at cross walk upstream 16m.Speed data collection is chosen in fine, the non-traffic peak period, and, in strict accordance with institute of the present invention requirement, in artificial collection vehicle speed data process, got rid of other disturbing factors.The picking rate sample data is over 7000.
The definite statistical analysis technique according to the inventive method second step, set up vehicle speed data collection (x
i, y
ij).Utilize MATLAB7.0 software to carry out the matching of Gauss's conic model to data set, obtain value and the functional image of parameters in formula (1) Gaussian function.Shown in Fig. 4, be that MATLAB 7.0 analyzes the Gauss's quadratic function figure obtained.The variation tendency that can intuitively reflect the speed of a motor vehicle.
In example, in formula (1), each parameter value is
a
1＝63.17
b
1＝-241.2
c
1＝341.6
a
2＝56.88
b
2＝277.4
c
2＝258
Therefore, according to Gauss's conic model formula (2), can calculate the S0 position about 1.2m, first group of graticule and S
0the about 17.2m of distance B value.Therefore, according to inventive method, can determine on speed limit 60km/h road first group of speed reduction marking and the about 17.2m of dangerous spot distance L value.L get on the occasion of, first group of speed reduction marking is arranged at the dangerous spot upstream.
After target location is provided with speed reduction marking by the inventive method, has chosen the different speed reduction marking of another place's setting position on the same link simultaneously and compared.Another place's first group of position speed reduction marking has 55m from T-junction mouth stop line, belongs to that subjective determination arranges.To being gathered by the speed of a motor vehicle of two place's T-junction mouths, to analyze and find, the intersection that speed reduction marking is set by method to set up of the present invention is starkly lower than another place's T-junction mouth by the speed of a motor vehicle.Wherein, what by method to set up of the present invention, the speed reduction marking intersection is set is on average 54.2km/h by the speed of a motor vehicle, and the average current speed of a motor vehicle of another place's T-junction mouth is 63.6km/h.The speed reduction marking method to set up of explanation based on the actual deceleration effect can obtain better effect than method in the past.
Claims (4)
1. the road speed graticule method to set up based on the actual deceleration effect is characterized in that comprising step:
1) collection vehicle is in the speed data by existing speed reduction marking upstream and downstream, and step comprises:
101) choose the speed data collection highway section; 102) determine the speed data collection section; 103) gather vehicle speed data;
2) to the effect analysis of being slowed down of the vehicle speed data of step 1) collection, utilize Gauss's conic fitting to set up speed reduction marking deceleration effect model:
The speed data collection section at definition maximum distance place, speed reduction marking upstream is A
1, define successively speed data collection section A
2, A
3..., A
i; Each speed data collection section A
i(i=1,2,3 ..., collecting sample amount n) is M
i, corresponding sample data is (x
i, y
ij);
Wherein, x
isection A
iabscissa,, with the distance at zero point, zero point, negative value was got in upstream, downstream get on the occasion of; y
ijbe the velocity amplitude gathered, the j value is 1 to M
i;
By all section A
1, A
2..., A
ithe speed sample be organized into (x
i, y
ij) form, obtain the data set of speed of a motor vehicle y and position x corresponding relation;
The variation tendency when distribution form of Gauss's conic section function shown in formula (1) meets car speed by speed reduction marking, carry out the matching of Gauss's conic model to data set, obtains each parameter value and functional image in Gaussian function;
Wherein,
A
1, a
2, b
1, b
2, c
1, c
2---parameter to be calibrated;
The truth of a matter of e---natural logrithm, value 2.71828
Show that according to formula (1) vehicle passes through speed reduction marking speed of a motor vehicle y position S hour
0, ask the value of x when the y minimalization; Formula (1) is differentiated, obtains derived function formula (2):
Make y '=0, the value of trying to achieve x is speed minimum point S
0abscissa;
3) analyze the relation of car speed and dangerous spot and speed reduction marking distance, set up the speed reduction marking method to set up based on the actual deceleration effect:
According to step 2) effect model that obtains, search out speed lowest point S
0, and calculate the distance B of itself and original first group of speed reduction marking, work as S
0when original first group of speed reduction marking downstream D be on the occasion of, when upstream, D is negative value;
On identical speed limit road, think when speed reduction marking is set make vehicle with minimum speed in speed reduction marking deceleration effect model by dangerous spot the most reasonable, when newly speed reduction marking being set, speed reduction marking deceleration effect model medium velocity minimum point is overlapped with the dangerous spot position, judge accordingly the setting position of newly-installed first group of speed reduction marking;
Step 2) determine the original first group of speed reduction marking of identical speed limit road and speed minimum point S
0distance is D, and, when newly speed reduction marking being set, the distance L value of newly-installed first group of speed reduction marking and dangerous spot position is D; L get on the occasion of the time, newly-installed first group of speed reduction marking is arranged at the dangerous spot upstream, when L gets negative value, newly-installed first group of speed reduction marking is arranged at the dangerous spot downstream, arrange the distance be the order of magnitude of L.
2. the road speed graticule method to set up based on the actual deceleration effect according to claim 1, it is characterized in that described step 101) in to choose the speed data collection highway section be to choose the cross walk that straight highway section is provided with speed reduction marking, and other noise spots of upstream and downstream are as intersection or the highway section more than the equidistant speed reduction marking 1km of bend.
3. the road speed graticule method to set up based on the actual deceleration effect according to claim 1, is characterized in that described step 102) in,
At first define dangerous spot, the road particular points such as definition cross walk are dangerous spot, and when speed reduction marking is set, dangerous spot also comprises main road road edge line when crossing inlet road stop line, bend circular curve starting point, top, long descending slope and branch road access main road;
Take dangerous spot as zero point, upstream and downstream extends to 300 meters scopes separately, and choosing respectively 300 meters of zero point, 20 meters of upstream and downstream, 50 meters of upstream and downstream, 80 meters of upstream and downstream, 110 meters of upstream and downstream, 130 meters of upstream and downstream, 180 meters of upstream and downstream, 230 meters of upstream and downstream, 280 meters of upstream and downstream and upstream and downstream, to amount to 19 road sections be the speed data collection section.
4. the road speed graticule method to set up based on the actual deceleration effect according to claim 1, it is characterized in that described step 103) in, speed while utilizing hand-held radar velocity measurement rifle to choose section to vehicle by each is gathered, and each section need gather and surpass 90 sample datas; Only be captured in normal weather, approaching the Free-flow transport condition under normal traffic operating condition is time headway > vehicle of 4 seconds is by the speed of speed reduction marking, is subject to pedestrian's street crossing and drives with speeding the car speed affected not gathered.
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| CN106571049A (en) * | 2016-11-07 | 2017-04-19 | 宁波大学 | Method for setting comity zebra crossing motor vehicle safe driving prompt marking line |
| CN110867075B (en) * | 2019-10-24 | 2022-01-28 | 东南大学 | Method for evaluating influence of road speed meter on reaction behavior of driver under rainy condition |
| CN113532425B (en) * | 2021-09-16 | 2021-11-30 | 西南交通大学 | Tunnel base station-free vehicle-road cooperative positioning method based on oscillation marked lines and mobile phone sensing |
| CN114530048B (en) * | 2022-04-24 | 2022-07-01 | 湖南车路协同智能科技有限公司 | Vehicle-road cooperative traffic control system and method for intersection |
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