CN106875747B - It is a kind of to be conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck - Google Patents
It is a kind of to be conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck Download PDFInfo
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Abstract
The real-time traffic collision algorithm based on high accuracy positioning and collaborative truck that the present invention relates to a kind of, to judge in the straight trip of T-junction crossing main road vehicle while the real-time conflict of branch Ackermann steer angle that lack signal lamp, method includes the following steps: 1) quantifying each stage condition change procedure of turning according to intersection vehicles turning process feature；2) combined high precision positioning and collaborative truck technology obtain real time position and motion state data of the vehicle near intersection and predict three phase duration of turning vehicle；3) collaborative truck technology is combined to define different grades of conflict area；4) real-time traffic collision algorithm is established according to right of way distribution principle, three phase durations of turning and conflict area prediction result.Compared with prior art, the present invention has many advantages, such as high accuracy positioning, accurate in real time, consideration turning microprocess and intersection vehicles is effectively prevent to conflict.
Description
Technical field
The present invention relates to traffic safety technology fields, more particularly, to a kind of reality based on high accuracy positioning and collaborative truck
When traffic conflict algorithm.
Background technique
Road traffic accident is one of world today's most serious " public hazards ".It is extensive universal with vehicle, vehicle it
Between conflict and collision problem it is increasingly serious, and focus mostly in traffic information environment is complicated or the road plane of environmental catastrophe is handed over
Prong, especially no signal T-junction mouth.Near such intersection, due to that can not be obtained in first time in way driver
The traffic of front cross mouth, environment and other lateral vehicles information, so deceleration, evacuation etc. can not be taken to arrange safely in time
One of the main reason for applying, being initiation accident, and it is its main forms that traffic conflict is multiple.Previous conflict model is not examined
The problem of considering turning driving behavior microprocess, cannot achieve the transmitting and processing of real-time vehicle information, does not adapt to true road
The case where high frequency dynamic traffic environmental change of road intersection.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind based on high-precision fixed
The real-time traffic collision algorithm of position and collaborative truck.
The purpose of the present invention can be achieved through the following technical solutions:
It is a kind of to be conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck, for lacking signal lamp
The straight trip of T-junction crossing main road vehicle while the real-time conflict of branch Ackermann steer angle judgement, the method includes following step
It is rapid:
S1, static conflict area is obtained according to historical data, obtains vehicle real time, judgement using collaborative truck method
It is possible with the presence or absence of conflict in static conflict area, step S2 is then carried out if it exists, otherwise indicates traffic safety；
S2, duration first stage is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data
Conflicts mobiles region is calculated with through vehicles coordinate data, is judged with the presence or absence of conflict possibility in conflicts mobiles region, if depositing
Conflict early warning is then being carried out, and is providing suggestion speed respectively for through vehicles and turning vehicle, is otherwise carrying out step S3；
S3, judge that turning vehicle with the presence or absence of second stage, then enters step S4 if it exists, then enters step if it does not exist
S5；
S4, the second stage duration is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data
Conflicts mobiles region is calculated with through vehicles coordinate data, is judged with the presence or absence of conflict possibility in conflicts mobiles region, if depositing
Conflict early warning is then being carried out, and is providing suggestion speed respectively for through vehicles and turning vehicle, is otherwise carrying out step S5；
S5, duration phase III is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data
Conflicts mobiles region is calculated with through vehicles coordinate data, is judged with the presence or absence of conflict possibility in conflicts mobiles region, if depositing
Conflict early warning is then being carried out, and is providing suggestion speed respectively for through vehicles and turning vehicle, is otherwise indicating traffic safety.
The turning vehicle turning process was divided into for three stages: the first stage is to slow down into the curved stage, and second stage is steady
State stage, phase III are to accelerate to leave the stage.
Judge to whether there is in static conflict area and conflicts possible method to judge that vehicle is according to vehicle real time
In the boundary of the static conflict area of no while entrance:
Branch, which turns right to conflict, to be judged:
Straight going on main road vehicle meetsAnd branch right-turning vehicles meet Then there is conflict in static conflict area may；
The branch conflict of turning left judges:
Straight going on main road vehicle meetsAnd branch left turning vehicle meets Then there is conflict in static conflict area may；
Wherein, the T-type if T junction is positive, coordinate origin are crossing central point, and main road center line is X-axis positive direction to the right,
Branch center line is Y-axis positive direction upwards；
A is the left border of static conflict area, the i.e. inside turn of crossing region and straight trip collision accident hotspots on road
Minimum x value in mouth coordinate system；
B is the right side boundary of static conflict area, the i.e. inside turn of crossing region and straight trip collision accident hotspots on road
Maximum x value in mouth coordinate system；
C is the downside boundary of static conflict area, the i.e. inside turn of crossing region and straight trip collision accident hotspots on road
Minimum y value in mouth coordinate system；
D is the boundary of static conflict area, the i.e. inside turn of crossing region and straight trip collision accident hotspots on road
Maximum y value in mouth coordinate system；
XAFor main road vehicles X-coordinate；
YB1For branch left turning vehicle Y-coordinate；
YB2For branch right-turning vehicles Y-coordinate；
B is vehicle mean breadth；
L is average length of car；
θ is the instantaneous corner of turning vehicle.
Judge in conflicts mobiles region be whether lasting in each stage according to vehicle with the presence or absence of the possible method that conflicts
Enter simultaneously in the boundary in conflicts mobiles region in time, specifically:
Conflicts mobiles area conflicts decision rule:
Assuming that: A vehicle is through vehicles on the left of main road, and B1 vehicle is branch left turning vehicle；B2 vehicle is branch right-turning vehicles；
Wherein, the T-type if T junction is positive, coordinate origin are crossing central point, and main road center line is X-axis positive direction to the right,
Branch center line is Y-axis positive direction upwards；
Branch right-turning vehicles and straight going on main road vehicle collision occurrence condition:
Branch left turning vehicle and straight going on main road vehicle collision occurrence condition:
XAFor main road through vehicles X-coordinate；
XB1For branch left turning vehicle X-coordinate；
XB2For branch right-turning vehicles X-coordinate；
YAFor main road through vehicles Y-coordinate；
YB1For branch left turning vehicle Y-coordinate；
YB2For branch right-turning vehicles Y-coordinate；
L is dynamic area boundary length；
θ is the instantaneous corner of turning vehicle；
B is vehicle mean breadth.
The historical data estimation that the boundary of the static state conflict area is obtained according to video monitoring obtains, static conflict area
Include 90% or more historic conflict point position.
The boundary calculation method in the conflicts mobiles region are as follows:
Conflicts mobiles regional center point coordinate are as follows:
(Xcp,Ycp)=(XB,YB)
XCP=XB=XB0±∫(VBx0+axt)dt
YCP=YA=YB=YB0±∫(VBy0+ayt)dt
Wherein, the T-type if T junction is positive, coordinate origin are crossing central point, and main road center line is X-axis positive direction to the right,
Branch center line is Y-axis positive direction upwards；
Xcp、YcpRespectively conflicts mobiles regional center point X, Y coordinates；
XB、YBRespectively turning vehicle X, Y coordinates；
XB0、YB0、VBx0、VBy0For the X-coordinate of the updated branch road car B of each data, the Y-coordinate of branch road car B, branch road car
X-velocity component and branch road vehicles Y-direction velocity component initial parameter；
Expected duration of the vehicle that t is recalculated after updating for each data in each stage；
axIt is branch road car along the acceleration of X-axis；
ayIt is branch road car along the acceleration of Y-axis；
XAFor the X-coordinate of main road car A；
XBFor the X-coordinate of branch road car B；
YAFor the Y-coordinate of main road car A；
YBFor the Y-coordinate of branch road car B.
XCP、YCPConflict area center point coordinate；
Conflicts mobiles zone boundary length are as follows:
Δ=V* (tReaction+tProgram+tCommunication)+S
In formula: tReactionFor time of driver's reaction；
tProgramIt is calculated for DSRC program time-consuming
tCommunicationFor DSRC call duration time；
L is conflicts mobiles zone boundary length；
BAFor through vehicles width；
BBFor branch vehicle width；
θAFor the instantaneous corner of main road through vehicles；
θBFor the instantaneous corner of branch road vehicles；
Δ is extended distance；
S-safety net distance, the value are arranged according to drivers preference,OrVehicle commander；
V is turning vehicle amount speed km/h；
LAFor the width on conflicts mobiles boundary；
LBFor the length on conflicts mobiles boundary.
The method for judging whether there is second stage are as follows:
It is modeled using binary logit model,
Branch road vehicles right-hand rotation second stage judgment models expression formula:
V11: turning one last bus of stage speed；
Work as P1When greater than 0.5, it is judged as in the presence of turning second stage, is otherwise judged as and is not present；
Branch road vehicles left-hand rotation second stage judgment models expression formula:
T11: turning one duration of stage；
Work as P2When greater than 0.5, it is judged as in the presence of turning second stage, is otherwise judged as and is not present.
Each phase duration calculation method are as follows:
Branch is turned right duration first stage:
NA main left side: through vehicles number on the left of main road before turning, i.e. turning vehicle start to turn the previous second when main road on the left of through vehicles
Number；
Keep straight on the left of main road before turning speed, i.e., turning vehicle start to turn the previous second when main road on the left of through vehicles
Average speed km/h；
Turning first stage lateral change of acceleration, i.e. the lateral change of acceleration m/ of current time turning vehicle
s3；
V10: turning first stage initial speed, i.e. the speed km/h of turning start time first stage turning vehicle；
tBrake 1: one stage longitudinal acceleration of brake continues transformation period, i.e., turning vehicle steps on brake for the first time in the turning first stage
The duration s of longitudinal acceleration consecutive variations when vehicle；
Branch turns left duration first stage:
NMain right t: straight trip carrys out vehicle number on the right side of main road when turning, i.e., straight trip carrys out vehicle number on the right side of current time main road；
Straight trip speed on the right side of main road before turning, i.e., the average speed km/h of straight traffic on the right side of the preceding main road of turning；
Turning first stage lateral change of acceleration, i.e. the lateral change of acceleration m/ of current time turning vehicle
s3；
V10: turning first stage initial speed, i.e., the speed km/h of turning vehicle when the turning first stage starts；
s10: the turning first stage is initially away from intersection entrance distance, i.e. turning first stage initial time turning vehicle distance
The distance m of intersection entrance；
The branch right-hand rotation second stage duration:
Ln(T12)=1.090+0.299*N+0.195*NA main left side-0.043*sBrake 1
N: all directions carry out vehicle sum when turning, that is, main road left and right side carrys out vehicle sum when turning；
NA main left side: carry out vehicle quantity on the left of main road before turning, i.e. turning starts to carry out vehicle quantity on the left of previous moment main road；
sBrake 1: one stage longitudinal acceleration of brake changes distance, i.e., what the brake for the first time of turning vehicle generated during turning holds
Distance m corresponding to the longitudinal acceleration of continuous variation
The branch left-hand rotation second stage duration:
T21: branch turns left duration first stage
Turning first stage lateral change of acceleration, i.e. turning one end moment, that is, T of stage21The transverse direction of turning vehicle adds
Percentage speed variation m/s3
Branch is turned right duration phase III:
N: all directions carry out vehicle sum when turning, that is, main road left and right side carrys out vehicle sum when turning；
NA main left side: carry out vehicle quantity on the left of main road before turning, i.e., carrys out vehicle quantity on the left of turning previous moment main road；
Carry out vehicle speed on the left of main road before turning, i.e., carrys out vehicle average speed km/h on the left of turning previous moment main road；
T11: turning duration first stage: i.e. T11；
Whether W: having turning second stage, and being is 1, and no is 0；
The transverse direction of turning phase III lateral change of acceleration, i.e. turning current time phase III turning vehicle adds
Percentage speed variation m/s3；
tBrake 1: one stage longitudinal acceleration of brake changes the duration, i.e., turning vehicle brakes longitudinal for the first time during turning
The duration s that acceleration persistently changes；
tPine: the stage longitudinal acceleration that gets off the brakes changes the duration, i.e., turning vehicle gets off the brakes vertical for the first time during turning
The duration s persistently changed to acceleration；
tBrake 2: brake two-stage longitudinal acceleration changes the duration, i.e., turning vehicle brakes longitudinal direction for the second time during turning
The duration s that acceleration persistently changes；
Brake two-stage longitudinal acceleration change rate, i.e., turning vehicle brakes longitudinal acceleration for the second time during turning
Change rate m/s3
Branch turns left duration phase III:
NMain left t: carry out vehicle number when turning on the left of main road, i.e., carrys out vehicle number on the left of current time main road；
NA main left side: carry out vehicle quantity on the left of main road before turning, i.e., carrys out vehicle number on the left of turning previous moment main road；
NThe main right side: carry out vehicle quantity on the right side of main road before turning, i.e., carrys out vehicle number on the right side of turning previous moment main road；
Carry out vehicle speed before turning on the left of main road, i.e., carrys out the average speed km/h of vehicle on the left of turning previous moment main road；
Carry out vehicle speed before turning on the right side of main road, i.e., carrys out the average speed km/h of vehicle on the right side of turning previous moment main road；
V21: turning first stage last bus speed, i.e., turning first stage end is T21The speed km/h of turning vehicle；
s10: the turning first stage is initially away from intersection entrance distance, i.e. turning first stage initial time turning vehicle distance
The distance m of intersection entrance
T22: the turning second stage duration；
V22: turning second stage last bus speed, i.e. the speed km/h of turning second stage end turning vehicle；
The transverse direction of turning phase III lateral change of acceleration, i.e. turning current time phase III turning vehicle adds
Percentage speed variation m/s3；
Brake a stage longitudinal acceleration change rate, i.e., turning vehicle first time brake longitudinal acceleration during turning
Change rate m/s3；
tPine: the stage longitudinal acceleration that gets off the brakes changes the duration, i.e., vehicle pine brake longitudinal acceleration of turning during turning
The duration s persistently changed；
Get off the brakes stage longitudinal acceleration change rate, i.e., the variation for vehicle pine brake longitudinal acceleration of turning during turning
Rate m/s3；
tBrake 2: brake two-stage longitudinal acceleration changes the duration, i.e., turning vehicle brakes longitudinal direction for the second time during turning
The duration s that acceleration persistently changes；
Brake two-stage longitudinal acceleration change rate, i.e., turning vehicle brakes longitudinal acceleration for the second time during turning
Change rate m/s3；
tStop: residence time, that is, the duration s that speed is 0 during turning.
Vehicle real time preparation method are as follows:
The real time status information of main road vehicle is sent on turning vehicle by being installed on DSRC equipment on the vehicle
DSRC equipment, turning vehicle obtain the information of turning vehicle itself with main road vehicle in real time, and the information includes speed, accelerates
Degree, deflection, vehicle coordinate and main road traffic environment information.
Compared with prior art, the invention has the following advantages that
1) consider turning driving behavior microprocess: the present invention according to intersection vehicles turn process actual conditions,
The situation of change of each stage condition during quantization turning, combined high precision positioning and collaborative truck technology obtain vehicle and are intersecting
Real time position and motion state data near mouthful predict three phase duration of turning vehicle；And then combine collaborative truck technology
Define different grades of conflict area；It is predicted later according to right of way distribution principle, three phase durations of turning and conflict area
As a result accurate traffic conflict algorithm in real time is established.
2) high accuracy positioning: acquired vehicle position data is derived from high-precision location technique in the present invention, can reach Asia
Meter level lane location；
3) utilization of collaborative truck technology: pass through collaborative truck technology real-time exchange intersection turning vehicle and straight traffic
The status informations such as dynamic vehicle speed, acceleration, deflection；
4) static to combine with dynamic: in such a way that static and dynamic combines, fusion people, vehicle, road, communication establish vehicle
Real-time traffic collision algorithm at urban road unsignalized intersection, more meets the conflict prediction side in real roads environment
Formula, therefore the present invention has more generality and practical application value.
Detailed description of the invention
Fig. 1 is the specific example flow chart of real-time traffic collision algorithm in the embodiment of the present invention；
Fig. 2 is the logic relation picture of each module of real-time traffic collision algorithm in the embodiment of the present invention；
Fig. 3 is that branch road vehicles right-hand rotation conflict area is classified schematic diagram；
Fig. 4 is that branch road vehicles left-hand rotation conflict area is classified schematic diagram；
Fig. 5 is conflicts mobiles zone boundary schematic diagram one；
Fig. 6 is turning vehicle conflict dangerous point schematic diagram；
Fig. 7 is conflicts mobiles zone boundary schematic diagram two.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
Embodiment
The specific example flow chart of real-time traffic collision algorithm as shown in Figure 1:
S11 is according to each stage condition change procedure of intersection vehicles turning process feature quantization turning.In one process of stage
In, driver constantly changes steering wheel angle, and the angular speed of vehicle is continuously increased, under the action of centripetal force its lateral velocity by
It is cumulative to add, and longitudinal velocity reduces with the increase of brake force, whole process, which is slowed down, enters turning from straight-going state for vehicle into curved
The initial procedure of state.Stage two is the pilot process of turning, and driver no longer changes steering wheel angle and braking strength, can be with
See the driving states in the stage as angular speed is constant, lateral velocity increases, longitudinal velocity remains unchanged circular motion.Rank
The final states stage of Duan Sanwei turning, driver return steering wheel, and the angular speed of vehicle constantly reduces, and lateral velocity reduces, longitudinal
Speed increases, and accelerates to leave, and completes turning process.
S12. combined high precision positioning and collaborative truck technology obtain real time position and movement of the vehicle near intersection
Status data predicts three phase duration of turning vehicle.Based on three stages of turning, assisted using high accuracy positioning and Che Che
The parameter that may influence vehicle turning process is obtained with technology, such as from the speed of vehicle and Ta Che, acceleration, main road traffic environment letter
Breath etc. establishes the Duration Prediction model of turning three phases, realizes the purpose of prediction turning process.
S13. collaborative truck technology is combined to define the conflict area of the three kinds of grades in intersection, including low frequency dynamically low punching
Prominent risk zones (A grades), the dynamic medium collision risk region (B grades) of high frequency, the dynamic high collision risk region (C of high frequency
Grade).
S14. according to right of way distribution principle, under conditions of guaranteeing unaffected main road vehicle, normally travel, to turning vehicle
Each phase duration predicted.The duration obtained in conjunction with prediction and conflict range, it can be determined that in turning
In each stage two vehicles whether have collision may, i.e., enter in conflict area simultaneously, if having collision may if push away to branch road vehicles
Warning information is sent, evacuation of slowing down is allowed to.
In the step S11, the turning process of vehicle was divided into for three stages: slowing down and is left into curved, stable state, acceleration.Vehicle
Turning during parameters changing rule it is as shown in table 1.
Three stage of 1 vehicle turning of table each Parameter Variation
The following contents is specifically included in the step S21:
21) real time status information of main road vehicle is sent on turning vehicle by being installed on DSRC equipment on the vehicle
DSRC equipment is obtained from speed, acceleration, deflection, the main road traffic environment information of vehicle and main road vehicle in real time；
22) using Gauss log-linear model prediction turning duration first stage, i.e. turning behavior starts (i.e. laterally
Acceleration starts to continue to increase or reduced initial time) stablize (i.e. transverse acceleration keeps stablizing) to turn condition and continues
Time, and with AIC minimization principle (akaike information criterion) and degree of fitting maximum principle for main judgment basis, by by
The method that step returns obtains the parameter for having larger impact to turning duration first stage and its corresponding model expression.
A) branch is turned right:
NA main left side: through vehicles number on the left of main road before turning, i.e. turning vehicle start to turn the previous second when main road on the left of through vehicles
Number；
Keep straight on the left of main road before turning speed, i.e., turning vehicle start to turn the previous second when main road on the left of through vehicles
Average speed km/h；
The lateral change of acceleration m/s of one lateral change of acceleration of turning stage, i.e. current time turning vehicle3；
V10: the speed km/h of turning one initial speed of stage, i.e. turning the stage vehicle of moment turning at the beginning；
tBrake 1: one stage longitudinal acceleration of brake continues transformation period, i.e., turning vehicle touches on the brake for the first time in the turning stage one
When longitudinal acceleration consecutive variations duration s
B) branch turns left:
NMain right t: straight trip carrys out vehicle number on the right side of main road when turning, i.e., straight trip carrys out vehicle number on the right side of current time main road；
Straight trip speed on the right side of main road before turning, i.e., the average speed km/h of straight traffic on the right side of the preceding main road of turning；
The lateral change of acceleration m/s of one lateral change of acceleration of turning stage, i.e. current time turning vehicle3；
V10: turning one initial speed of stage, that is, the speed km/h for vehicle of turning when turning the stage at the beginning；
s10: the turning stage one is initially away from intersection entrance distance, i.e. turning one initial time of stage turning spacing ion-exchange fork
The distance m of mouth entrance；
23) judgement that whether there is to turning steady-state process is modeled using binary logit model, and with AIC minimum
Change principle (akaike information criterion) and degree of fitting maximum principle is main judgment basis, passes through the method acquisition pair of successive Regression
Turning second stage presence or absence have larger impact parameter and its corresponding model expression.
A) branch road vehicles right-hand rotation two judgment models expression formula of stage:
V11: turning one last bus of stage speed
Work as P1Greater than 0.5, it is judged as in the presence of turning second stage, is otherwise judged as and is not present.
Turning stage one last bus speed: turning one finish time of stage (i.e. T11Moment) turning vehicle speed (km/h)
B) branch road vehicles left-hand rotation two judgment models expression formula of stage:
T11: turning one duration of stage
Work as P2Greater than 0.5, it is judged as in the presence of turning second stage, is otherwise judged as and is not present.
One duration of turning stage: i.e. T21。
24) it is turned the second stage duration using the prediction of Poisson log-linear model, and (red with AIC minimization principle
Pond information rule) and degree of fitting maximum principle be main judgment basis, obtained by the method for successive Regression to turning second
Phase duration have larger impact parameter and its corresponding model expression.
A) branch is turned right:
Ln(T12)=1.090+0.299*N+0.195*NA main left side-0.043*sBrake 1
N: all directions carry out vehicle sum when turning, that is, main road left and right side carrys out vehicle sum when turning；
NA main left side: carry out vehicle quantity on the left of main road before turning, i.e. turning starts to carry out vehicle quantity on the left of previous moment main road；
sBrake 1: one stage longitudinal acceleration of brake changes distance, i.e., what the brake for the first time of turning vehicle generated during turning holds
Distance m corresponding to the longitudinal acceleration of continuous variation
B) branch turns left:
T21: branch turns left one duration of stage
One lateral change of acceleration of turning stage, i.e. turning one end moment, that is, T of stage21Turning vehicle laterally accelerates
Spend change rate m/s3
25) using Gauss log-linear model prediction turning duration phase III, i.e. turning behavior starts (i.e. laterally
Acceleration starts to continue to increase or reduced initial time) stablize (i.e. transverse acceleration keeps stablizing) to turn condition and continues
Time, and with AIC minimization principle (akaike information criterion) and degree of fitting maximum principle for main judgment basis, by by
The method that step returns obtains the parameter for having larger impact to turning duration phase III and its corresponding model expression.
A) branch is turned right:
N: all directions carry out vehicle sum when turning, that is, main road left and right side carrys out vehicle sum when turning；
NA main left side: carry out vehicle quantity on the left of main road before turning, i.e., carrys out vehicle quantity on the left of turning previous moment main road；
Carry out vehicle speed on the left of main road before turning, i.e., carrys out vehicle average speed km/h on the left of turning previous moment main road；
T11: turning one duration of stage: i.e. T11；
Whether W: having the turning stage two, and being is 1, and no is 0；
Three lateral change of acceleration of turning stage, the i.e. transverse acceleration of turning three current time of stage turning vehicle
Change rate m/s3；
tBrake 1: one stage longitudinal acceleration of brake changes the duration, i.e., turning vehicle brakes longitudinal for the first time during turning
The duration s that acceleration persistently changes；
tPine: the stage longitudinal acceleration that gets off the brakes changes the duration, i.e., turning vehicle gets off the brakes vertical for the first time during turning
The duration s persistently changed to acceleration；
tBrake 2: brake two-stage longitudinal acceleration changes the duration, i.e., turning vehicle brakes longitudinal direction for the second time during turning
The duration s that acceleration persistently changes；
Brake two-stage longitudinal acceleration change rate, i.e., turning vehicle brakes longitudinal acceleration for the second time during turning
Change rate m/s3
B) branch turns left:
NMain left t: carry out vehicle number when turning on the left of main road, i.e., carrys out vehicle number on the left of current time main road；
NA main left side: carry out vehicle quantity on the left of main road before turning, i.e., carrys out vehicle number on the left of turning previous moment main road；
NThe main right side: carry out vehicle quantity on the right side of main road before turning, i.e., carrys out vehicle number on the right side of turning previous moment main road；
Carry out vehicle speed before turning on the left of main road, i.e., carrys out the average speed km/h of vehicle on the left of turning previous moment main road；
Carry out vehicle speed before turning on the right side of main road, i.e., carrys out the average speed km/h of vehicle on the right side of turning previous moment main road；
V21: turning one last bus of stage speed, i.e. one end of turning stage is T21The speed km/h of turning vehicle；
s10: the turning stage one is initially away from intersection entrance distance, i.e. turning one initial time of stage turning spacing ion-exchange fork
The distance m of mouth entrance
T22: turning two duration of stage；
V22: turning two last bus of stage speed, i.e. the speed km/h of two end turning vehicle of turning stage；
Three lateral change of acceleration of turning stage, the i.e. transverse acceleration of turning three current time of stage turning vehicle
Change rate m/s3；
Brake a stage longitudinal acceleration change rate, i.e., turning vehicle first time brake longitudinal acceleration during turning
Change rate m/s3；
tPine: the stage longitudinal acceleration that gets off the brakes changes the duration, i.e., vehicle pine brake longitudinal acceleration of turning during turning
The duration s persistently changed；
Get off the brakes stage longitudinal acceleration change rate, i.e., the variation for vehicle pine brake longitudinal acceleration of turning during turning
Rate m/s3；
tBrake 2: brake two-stage longitudinal acceleration changes the duration, i.e., turning vehicle brakes longitudinal direction for the second time during turning
The duration s that acceleration persistently changes；
Brake two-stage longitudinal acceleration change rate, i.e., turning vehicle brakes longitudinal acceleration for the second time during turning
Change rate m/s3；
tStop: residence time, that is, the duration s that speed is 0 during turning.
In the step 3) specifically includes the following steps:
31) intersection conflict area is classified
On the basis of calculating traditional conflict point/range, the initial range of potentially conflicting is determined, in conjunction with collaborative truck technology
It predicts whether two vehicles can enter potentially conflicting region in each turning phase duration, or enters in limit collision range, it will
The judgement of conflict area is divided into three grades, and if Fig. 3 is that branch road vehicles right-hand rotation conflict area is classified schematic diagram, Fig. 4 is branch road car
Left-hand rotation conflict area is classified schematic diagram.
2 are shown in Table for conflict area classification declaration, wherein
It turns right: length=branch width+main road length of wagon, wide=main road width；
Turn left: length=branch width+main road length of wagon+branch turning length of wagon, wide=main road width；
2 conflict area classification declaration table of table
| Diagram | Grade | Explanation | Feature modeling mode | Conflict judgement |
| It is light grey | A | There is collision risk, conflict possibility is small | Intersection maximum magnitude | Low frequency dynamic |
| Dark grey | B | There is conflict possible, needs to avoid | It is static | High frequency dynamic |
| Black | C | Generate conflict, it is necessary to avoid | Dynamically | High frequency dynamic |
32) static conflict range is obtained by video monitoring, which includes 90% or more conflict point position,
The enclosed region that exterior-most limits connect into is static conflict range.
33) conflicts mobiles range includes dynamic trajectory conflict point and conflicts mobiles zone boundary, and calculation is as follows:
A) dynamic trajectory conflict point is the space of two wheel paths, time coincidence point, and turning vehicle and through vehicles state are equal
It is thought of as real-time change, can obtain and update in real time.The track of turning vehicle is divided into three parts: becoming acceleration curve and moves, is even
Fast circular motion becomes acceleration curve movement, calculation formula are as follows:
XCP=XB=XB0±∫(VBx0+axt)dt
YCP=YA=YB=YB0±∫(VBy0+ayt)dt
Wherein, XB0、YB0、VBx0、VBy0The X-coordinate of respectively each updated branch road car B of data, the Y of branch road car B are sat
The initial parameter of mark, branch road vehicles X-velocity component and branch road vehicles Y-direction velocity component；
Expected duration of the vehicle that t is recalculated after updating for each data in each stage；
Crossing as shown in Figure 3, coordinate origin are crossing central point, and main road center line is X-axis positive direction, branch Lu Zhizheng to the right
Line is Y-axis positive direction upwards.
axAcceleration, a for vehicle along X-axisyAcceleration, X for vehicle along Y-axisAX-coordinate, X for main road car (A)BFor
The X-coordinate of branch road car (B), YAY-coordinate, Y for main road car (A)BFor the Y-coordinate of branch road car (B)；Xcp、YcpFor conflicts mobiles area
The X-coordinate and Y-coordinate of domain central point.
B) calculating of conflicts mobiles zone boundary considers two vehicle call duration times, sequential operation time, signal delay, driver
Reaction time and vehicle width.
In Fig. 5, B is vehicle width, BAFor through vehicles width, BBFor branch vehicle width；Δ is extended distance, and L is
State conflict area boundary length, θAFor the instantaneous corner of main road through vehicles, θBFor the instantaneous corner of branch road vehicles.
Δ=V* (time of driver's reaction+DSRC program calculates time-consuming+DSRC call duration time)+S
In formula: S-safety net distance, the value can be arranged according to drivers preference,OrVehicle commander.V is turning vehicle speed (km/
h)、LAWidth, L for conflicts mobiles boundaryBFor the length on conflicts mobiles boundary
The step S14 is the right of way distribution principle based on main road and branch, is guaranteeing that main road vehicle is unaffected, just
Often under conditions of traveling, each phase duration of turning vehicle is predicted.The duration obtained in conjunction with prediction and punching
Prominent range, it can be determined that whether two vehicles have collision possible within each stage of turning, i.e., enter in conflict area simultaneously, if having
Collision then may push warning information to branch road vehicles, be allowed to evacuation of slowing down.Real-time traffic collision algorithm includes: that turning vehicle exists
Each stage coordinate calculation module, the conflict discrimination module in static conflict area, moves turning vehicle conflict dangerous point computing module
Conflict discrimination module in state conflict area.
41) turning vehicle coordinate calculation module in each stage:
A) the speed V in turning stage one, acceleration a, rotational angle theta, angular velocity omega are as follows:
Vt1=V0+∫atdt
Vn1=∫ andt
atIt is vehicle along the real time acceleration (m/s of vehicle y direction2)、anIt is vehicle along the real-time acceleration of vehicle X direction
Spend (m/s2)、Vt1It is one turning vehicle of stage along real-time speed (km/h), the V of vehicle y directionn1For one turning vehicle edge of stage
The real-time speed (km/h) of vehicle X direction；V0Start the tangential speed (km/h) of previous moment in turning for turning vehicle.
Coordinate position of the t seconds rear vehicles in the coordinate system of crossing in the case of branch is turned right, t=(0, T11]:
T11Duration, X for the stage one of turning0It is sat for X of the turning start time turning vehicle in the coordinate system of crossing
Mark, X1For turning vehicle in the stage one X-coordinate of t moment, θ0For deflection (rad), the Y of start time turning vehicle of turning1
For the Y-coordinate parameter interpretation of turning vehicle t moment in the stage one；Y0Start the Y-axis of previous moment in turning for turning vehicle
Coordinate.
Coordinate position of the t seconds rear vehicles in the coordinate system of crossing in the case of branch turns left, t=(0, T21]:
T21For one phase duration of turning of branch left turning vehicle.
B) angular velocity omega in turning stage two, tangential acceleration at, normal acceleration anAre as follows:
at=R* α
α is the angular acceleration (rad/s at turning vehicle current time2), R is the turning radius at turning vehicle current time
(m)、Vt2For the tangential velocity at turning vehicle turning two current time of stage；
Coordinate position of the t seconds rear vehicles in the coordinate system of crossing in the case of branch is turned right, t=(0, T12]:
T12Duration, X for the stage two of turning2For turning vehicle in the stage two X-coordinate of t moment, Y2For turning
Vehicle in the stage two Y-coordinate of t moment,It is turning vehicle at the last moment (T in stage one11) X-coordinate,Turning vehicle
At the last moment (T in stage one11) Y-coordinate, θB1Turning vehicle is at the last moment (T in stage one11) deflection (rad)
Coordinate position of the t seconds rear vehicles in the coordinate system of crossing in the case of branch turns left, t=(0, T22]:
T22For duration turning two-stage of branch left turning vehicle.
C) turn the speed V in stage three, and acceleration a, rotational angle theta, angular velocity omega is:
Vt3=Vt2+∫atdt
Vn3=Vn2+∫andt
Vt3It is three turning vehicle of stage along real-time speed (km/h), the V of vehicle y directionn3For three turning vehicle edge of stage
The real-time speed (km/h) of vehicle X direction；Vn2For branch turning vehicle turning two-stage end along vehicle y direction speed
(km/h)、Vt2For the tangential speed (km/h) of the turning two-stage Mo of branch turning vehicle.
Coordinate position of the t seconds rear vehicles in the coordinate system of crossing in the case of branch is turned right, t=(0, T13]:
T13Duration, X for the stage three of turning3For turning vehicle in the stage three X-coordinate of t moment, Y3Turning vehicle
In the stage three Y-coordinate of t moment,It is turning vehicle at the last moment (T in stage two12) X-coordinate,Turning vehicle
At the last moment (T in stage two12) Y-coordinate, θB2Turning vehicle is at the last moment (T in stage two12) deflection (rad).
Coordinate position of the t seconds rear vehicles in the coordinate system of crossing in the case of branch turns left, t=(0, T23]:
T23For three phase duration of turning of branch left turning vehicle.
42) turning vehicle conflict dangerous point computing module:
Vehicle is considered as to the cuboid of l × B, four vertex are respectively A1, A2, A3, A4.Using crossing central point as origin,
This 4 points coordinate is not fixed, and is become with type of vehicle, turn type and place road type:
In Fig. 6, dot is the position that vehicle is most likely to occur collision under three kinds of cornering modes, (XA,YA)(XB1,YB1)(XB2,
YB2) it is coordinate of the center of vehicle in the coordinate system of crossing.
A) through vehicles dangerous point: A1, A2, A3, A4
B) branch left turning vehicle dangerous point: A2, A4
C) branch right-turning vehicles dangerous point: A1, A3
43) the conflict discrimination module in static conflict area:
The static conflict area conflict method of discrimination of table 3
Static conflict area conflict method of discrimination table 3 as above.A, b, c, d value are obtained by field observation；
A is left border, that is, crossing region inside turn of static conflict area and collision accident hotspots of keeping straight at crossing
Minimum x value in coordinate system；
B is right side boundary, that is, crossing region inside turn of static conflict area and collision accident hotspots of keeping straight at crossing
Maximum x value in coordinate system；
C is downside boundary, that is, crossing region inside turn of static conflict area and collision accident hotspots of keeping straight at crossing
Minimum y value in coordinate system；
D is boundary, that is, crossing region inside turn of static conflict area and collision accident hotspots of keeping straight at crossing
Maximum y value in coordinate system.
44) the conflict discrimination module in conflicts mobiles region:
As shown in fig. 7, being conflicts mobiles zone boundary schematic diagram two, conflict area center point coordinate are as follows:
(Xcp,Ycp)=(XB,YB)
Conflicts mobiles region left margin: lleft, right margin: lright, coboundary: lup, lower boundary: ldown。
Conflicts mobiles area conflicts decision rule is as shown in table 4 and table 5:
4 branch right-hand rotation of table-straight going on main road conflict differentiates
5 branch left-hand rotation of table-straight going on main road conflict differentiates
Conflicts mobiles regional center point coordinate are as follows:
(Xcp,Ycp)=(XB,YB)
(Xcp,Ycp) it is conflicts mobiles regional center point coordinate；(XB,YB) it is turning vehicle centre coordinate；
Conflicts mobiles region left margin:
Right margin:
Coboundary:
Lower boundary:
Conflicts mobiles area conflicts decision rule:
Assuming that: A vehicle is through vehicles on the left of main road, and B1 vehicle is branch left turning vehicle；B2 vehicle is branch right-turning vehicles.
Branch right-hand rotation-straight going on main road conflict occurrence condition:
Branch left-hand rotation-straight going on main road conflict occurrence condition:
Xcp, Ycp are respectively conflicts mobiles regional center point X, Y coordinates；
XAFor main road through vehicles X-coordinate；
XB1For branch left turning vehicle X-coordinate；
XB2For branch right-turning vehicles X-coordinate；
L is dynamic area boundary length；
θ is the instantaneous corner of turning vehicle；
B is vehicle mean breadth.
As shown in Fig. 2, be the logic relation picture of each module of real-time traffic collision algorithm, when reality calculates, step are as follows:
I) vehicle real time is obtained using collaborative truck method, static conflict area is calculated, if in static battleground
Step ii may be then carried out in the presence of conflict in domain, otherwise indicates traffic safety；
Ii duration first stage) is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data
Conflicts mobiles region is calculated with through vehicles coordinate data, if possible in the presence of conflict in conflicts mobiles region, is conflicted
Early warning, and suggestion speed is provided respectively for through vehicles and turning vehicle, otherwise carry out step iii；
Iii) judge that turning vehicle with the presence or absence of second stage, then enters step iv if it exists, then enter step if it does not exist
Rapid v；
Iv the second stage duration) is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data
Conflicts mobiles region is calculated with through vehicles coordinate data, if possible in the presence of conflict in conflicts mobiles region, is conflicted
Early warning, and suggestion speed is provided respectively for through vehicles and turning vehicle, otherwise carry out step v；
V) duration phase III is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data
Conflicts mobiles region is calculated with through vehicles coordinate data, if possible in the presence of conflict in conflicts mobiles region, is conflicted
Early warning, and suggestion speed is provided respectively for through vehicles and turning vehicle, otherwise indicate traffic safety.
Below to monitor no signal T-junction mouth, including a two-lane highway, two-way traffic branch lane it is real-time
For traffic conflict, scheme of the present invention is described in detail, it should be appreciated that the example above is not intended to restriction
The present invention.
1) 10 branches are carried out and turn right to turn left with 10 branches, straight going on main road vehicle and branch in each embodiment is recorded and turns
The vehicle-state and road traffic state at each moment of curved vehicle are substituted into three phase duration predictor formulas of turning and are obtained
As a result as shown in table 6 and table 7:
6 branch of table turns right three phase duration prediction results (unit: second)
Wherein, if there is in the stage two " 0 " to represent without the stage two, " 1 ", which represents, the stage two.
7 branch of table turns left three phase duration prediction results (unit: second)
Wherein, if there is in the stage two " 0 " to represent without the stage two, " 1 ", which represents, the stage two.
2) the conflict prediction result in static conflict area is as shown in table 8 and table 9, and accuracy rate is up to 85%.
8 branch of table turning embodiment static state conflict prediction result
3) the conflict prediction result in conflicts mobiles region is as follows, and accuracy rate is up to 95%.
9 branch of table turning embodiment conflicts mobiles prediction result
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (9)
1. it is a kind of based on high accuracy positioning and the real-time traffic of collaborative truck conflict method for early warning, in the T for lacking signal lamp
The straight trip of type intersection main road vehicle while the real-time conflict of branch Ackermann steer angle judgement, which is characterized in that the method
The following steps are included:
S1, static conflict area is obtained according to historical data, obtains vehicle real time using collaborative truck method, judges vehicle
It is possible with the presence or absence of conflict in static conflict area, step S2 is then carried out if it exists, otherwise indicates traffic safety；
S2, duration first stage is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data and straight
Driving coordinate data calculates a conflicts mobiles region, judge it is possible with the presence or absence of conflict in conflicts mobiles region, if it exists then
Conflict early warning is carried out, and provides suggestion speed respectively for through vehicles and turning vehicle, otherwise carries out step S3；
S3, judge that turning vehicle with the presence or absence of second stage, then enters step S4 if it exists, then enters step S5 if it does not exist；
S4, the second stage duration is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data and straight
Driving coordinate data calculates a conflicts mobiles region, judge it is possible with the presence or absence of conflict in conflicts mobiles region, if it exists then
Conflict early warning is carried out, and provides suggestion speed respectively for through vehicles and turning vehicle, otherwise carries out step S5；
S5, duration phase III is predicted according to turning vehicle real time information, according to turning vehicle speed, coordinate data and straight
Driving coordinate data calculates a conflicts mobiles region, judge it is possible with the presence or absence of conflict in conflicts mobiles region, if it exists then
Conflict early warning is carried out, and provides suggestion speed respectively for through vehicles and turning vehicle, otherwise indicates traffic safety；
Judge in static conflict area with the presence or absence of the possible method that conflicts are as follows:
Branch, which turns right to conflict, to be judged:
Straight going on main road vehicle meetsAnd branch right-turning vehicles meet Then there is conflict in static conflict area may；
The branch conflict of turning left judges:
Straight going on main road vehicle meetsAnd branch left turning vehicle meets Then there is conflict in static conflict area may；
Wherein, the T-type if T junction is positive, coordinate origin are crossing central point, and main road center line is X-axis positive direction, branch to the right
Center line is Y-axis positive direction upwards；
A is the left border of static conflict area, i.e. the inside turn of crossing region and straight trip collision accident hotspots is sat at crossing
Minimum x value in mark system；
B is the right side boundary of static conflict area, i.e. the inside turn of crossing region and straight trip collision accident hotspots is sat at crossing
Maximum x value in mark system；
C is the downside boundary of static conflict area, i.e. the inside turn of crossing region and straight trip collision accident hotspots is sat at crossing
Minimum y value in mark system；
D is the boundary of static conflict area, i.e. the inside turn of crossing region and straight trip collision accident hotspots is sat at crossing
Maximum y value in mark system；
XAFor main road vehicles X-coordinate；
YB1For branch left turning vehicle Y-coordinate；
YB2For branch right-turning vehicles Y-coordinate；
B is vehicle mean breadth；
L is average length of car；
θ is the instantaneous corner of turning vehicle.
2. it is according to claim 1 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, the turning process of the turning vehicle was divided into for three stages: the first stage is to slow down into the curved stage, and second stage is
Steady-state process, phase III are to accelerate to leave the stage.
3. it is according to claim 1 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
Conflict possible method it is characterized in that, judging to whether there is in conflicts mobiles region whether to hold in each stage according to vehicle
Enter simultaneously in the boundary in conflicts mobiles region in the continuous time, specifically:
Conflicts mobiles area conflicts decision rule:
Assuming that: A vehicle is through vehicles on the left of main road, and B1 vehicle is branch left turning vehicle；B2 vehicle is branch right-turning vehicles；
Wherein, the T-type if T junction is positive, coordinate origin are crossing central point, and main road center line is X-axis positive direction, branch to the right
Center line is Y-axis positive direction upwards；
Branch right-turning vehicles and straight going on main road vehicle collision occurrence condition:
Branch left turning vehicle and straight going on main road vehicle collision occurrence condition:
XAFor main road through vehicles X-coordinate；
XB1For branch left turning vehicle X-coordinate；
XB2For branch right-turning vehicles X-coordinate；
YAFor main road through vehicles Y-coordinate；
YB1For branch left turning vehicle Y-coordinate；
YB2For branch right-turning vehicles Y-coordinate；
L is dynamic area boundary length；
θ is the instantaneous corner of turning vehicle；
B is vehicle mean breadth.
4. it is according to claim 1 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, the historical data estimation that each boundary of the static state conflict area is obtained according to video monitoring obtains, static state punching
Prominent region includes 90% or more historic conflict point position.
5. it is according to claim 3 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, the boundary calculation method in the conflicts mobiles region are as follows:
Conflicts mobiles regional center point coordinate are as follows:
(Xcp, Ycp)=(XB, YB)
XCP=XB=XB0±∫(VBx0+axt)dt
YCP=YA=YB=YB0±∫(VBy0+ayt)dt
Wherein, the T-type if T junction is positive, coordinate origin are crossing central point, and main road center line is X-axis positive direction, branch to the right
Center line is Y-axis positive direction upwards；
XB0、YB0、VBx0、VBy0For the X-coordinate, the Y-coordinate of branch road car, branch road vehicles X-direction of the updated branch road car of each data
Velocity component and branch road vehicles Y-direction velocity component initial parameter；
Expected duration of the vehicle that t is recalculated after updating for each data in each stage；
axIt is branch road vehicles along the acceleration of X-axis；
ayIt is branch road vehicles along the acceleration of Y-axis；
XAFor main road through vehicles vehicle X-coordinate；
XBFor branch turning vehicle X-coordinate；
YAFor main road through vehicles Y-coordinate；
YBFor branch turning vehicle Y-coordinate；
Xcp、YcpRespectively conflicts mobiles regional center point X, Y coordinates；
Conflicts mobiles zone boundary length are as follows:
Δ=V* (tReaction+tProgram+tCommunication)+S
In formula: L is conflicts mobiles zone boundary length；
B is vehicle mean breadth；
BAFor through vehicles width；
BBFor branch vehicle width；
θAFor the instantaneous corner of main road through vehicles；
θBFor the instantaneous corner of branch turning vehicle；
Δ is extended distance；
S-safety net distance, is arranged according to drivers preference, isVehicle commander orVehicle commander；
V is turning vehicle amount speed km/h；
LAFor the width on conflicts mobiles boundary；
LBFor the length on conflicts mobiles boundary；
tReactionFor time of driver's reaction；
tProgramIt is calculated for DSRC program time-consuming；
tCommunicationFor DSRC call duration time.
6. it is according to claim 1 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, the method for judging whether there is second stage are as follows:
It is modeled using binary logit model,
Branch road vehicles right-hand rotation second stage judgment models expression formula:
V11: turning one last bus of stage speed；
Work as P1When greater than 0.5, it is judged as in the presence of turning second stage, is otherwise judged as and is not present；
Branch road vehicles left-hand rotation second stage judgment models expression formula:
T11: turning one duration of stage；
Work as P2When greater than 0.5, it is judged as in the presence of turning second stage, is otherwise judged as and is not present.
7. it is according to claim 1 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, each phase duration calculation method are as follows:
Branch is turned right duration first stage:
NA main left side: turning vehicle start to turn the previous second when main road on the left of through vehicles number；
Turning vehicle start to turn the previous second when main road on the left of through vehicles average speed km/h；
Turning first stage lateral change of acceleration, i.e. the lateral change of acceleration m/s of current time turning vehicle3；
V10: the speed km/h of turning start time first stage turning vehicle；
tBrake 1: the duration s of longitudinal acceleration consecutive variations when turning vehicle touches on the brake for the first time in the turning first stage；
Branch turns left duration first stage:
NMain right t: straight trip carrys out vehicle number on the right side of current time main road；
The average speed km/h of main road right side straight traffic before turning；
Turning first stage lateral change of acceleration, i.e. the lateral change of acceleration m/s of current time turning vehicle3；
V10: the speed km/h for vehicle of turning when the turning first stage starts；
s10: distance m of the turning first stage initial time turning vehicle apart from intersection entrance；
The branch right-hand rotation second stage duration:
Ln(T12)=1.090+0.299*N+0.195*NA main left side-0.043*sBrake 1
N: main road left and right side carrys out vehicle sum when turning；
NA main left side: turning starts to carry out vehicle quantity on the left of previous moment main road；
SBrake 1: distance m corresponding to the longitudinal acceleration of the turning vehicle lasting variation that brake generates for the first time during turning；
The branch left-hand rotation second stage duration:
T21: branch turns left duration first stage；
Turn moment first stage Mo, that is, T21The lateral change of acceleration m/s of turning vehicle3；
Branch is turned right duration phase III:
N: main road left and right side carrys out vehicle sum when turning；
NA main left side: carry out vehicle quantity on the left of turning previous moment main road；
Carry out vehicle average speed km/h on the left of turning previous moment main road；
T11: turning duration first stage: i.e. T11；
Whether W: having turning second stage, and being is 1, and no is 0；
The lateral change of acceleration m/s of turning current time phase III turning vehicle3；
tBrake 1: the brake one stage longitudinal acceleration variation duration, i.e., the brake for the first time of turning vehicle is longitudinal during turning accelerates
Spend the duration s persistently changed；
tPine: turning vehicle gets off the brakes the duration s that longitudinal acceleration persistently changes for the first time during turning；
tBrake 2: the duration s that second of longitudinal acceleration of braking of turning vehicle persistently changes during turning；
The change rate m/s of second of longitudinal acceleration of braking of turning vehicle during turning3；
Branch turns left duration phase III:
NMain left t: carry out vehicle number on the left of current time main road；
NA main left side: carry out vehicle number on the left of turning previous moment main road；
NThe main right side: carry out vehicle number on the right side of turning previous moment main road；
Carry out the average speed km/h of vehicle on the left of turning previous moment main road；
Carry out the average speed km/h of vehicle on the right side of turning previous moment main road；
V21: turning first stage end is T21The speed km/h of turning vehicle；
s10: distance m of the turning first stage initial time turning vehicle apart from intersection entrance；
T22: the turning second stage duration；
V22: the speed km/h of turning second stage end turning vehicle；
The lateral change of acceleration m/s of turning current time phase III turning vehicle3；
The change rate m/s of turning vehicle first time brake longitudinal acceleration during turning3；
tPine: the duration s that turning vehicle pine brake longitudinal acceleration persistently changes during turning；
The change rate m/s for vehicle pine brake longitudinal acceleration of turning during turning3；
tBrake 2: the duration s that second of longitudinal acceleration of braking of turning vehicle persistently changes during turning；
The change rate m/s of second of longitudinal acceleration of braking of turning vehicle during turning3；
tStop: the duration s that speed is 0 during turning.
8. it is according to claim 1 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, vehicle real time preparation method are as follows:
The real time status information of main road vehicle is set by being installed on the DSRC that DSRC equipment is sent on turning vehicle on the vehicle
Standby, turning vehicle obtains the information of turning vehicle itself with main road vehicle in real time.
9. it is according to claim 8 it is a kind of conflicted method for early warning based on high accuracy positioning and the real-time traffic of collaborative truck,
It is characterized in that, it includes speed, acceleration, direction that turning vehicle obtains turning vehicle itself and the information of main road vehicle in real time
Angle, vehicle coordinate and main road traffic environment information.
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| CN108597251A (en) * | 2018-04-02 | 2018-09-28 | 昆明理工大学 | A kind of traffic intersection distribution vehicle collision prewarning method based on car networking |
| CN108922176B (en) * | 2018-06-27 | 2021-05-14 | 华南理工大学 | Rapid judgment method for mixed traffic conflict situation |
| CN109635516B (en) * | 2019-01-23 | 2023-03-24 | 合肥工业大学 | Method for predicting dangerous area of difference of turning inner wheels of large vehicle |
| CN110379167B (en) * | 2019-07-31 | 2021-07-23 | 中国工商银行股份有限公司 | Method and device for determining running path of vehicle in expressway |
| CN112349086B (en) * | 2019-08-06 | 2022-03-11 | 财团法人车辆研究测试中心 | Crossing vehicle speed decision method and system |
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| CN113306574B (en) * | 2021-06-29 | 2022-11-08 | 中国科学院自动化研究所 | Automatic driving road right ownership decision-making method, system and equipment |
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| US5092705A (en) * | 1990-11-13 | 1992-03-03 | Subhash Raswant | Method of controlling pedestrian and vehicular traffic flow |
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| CN103745603B (en) * | 2014-01-17 | 2016-06-01 | 中国科学技术大学 | A kind of right turn lane vehicle road coordination signal control method and system |
| CN105070080A (en) * | 2015-07-22 | 2015-11-18 | 西安工程大学 | Plane road intersection dispersion system without left turn conflict |
| CN106205172B (en) * | 2016-09-07 | 2018-09-21 | 东南大学 | Unsignalized intersection conflict resolution method and system |
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