CN107305626A - Pedestrian movement's track detection and analysis system violating the regulations - Google Patents
Pedestrian movement's track detection and analysis system violating the regulations Download PDFInfo
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Abstract
A kind of pedestrian movement's track detection and analysis system violating the regulations, are related to track detection and analysis system violating the regulations in pedestrian's street crossing.Pedestrian movement's track detection and analysis system violating the regulations are collectively constituted using video acquisition module, action trail processing module and act of violating regulations analysis module.Wherein video acquisition module includes high-definition camera, tripod and and connecting line.Action trail processing module includes data extraction module, data conversion module and pedestrian behavior characteristic parameter is converted into the track describing module of pedestrian's street crossing trajectory diagram.The data that act of violating regulations analysis module includes the traffic parameter that can be extracted in act of violating regulations are extracted and conversion module, and probabilistic forecasting module violating the regulations and the traffic efficiency analysis module Bu Tong broken rules and regulations under probability.The present invention solves pedestrian's street crossing track detection and street crossing problem analysis violating the regulations, and user by the form tracing detection pedestrian's street crossing track of video acquisition and can carry out behavioural analysis and expression, improve the convenience of pedestrian behavior analysis.
Description
Art
The present invention relates to traffic behavior analysis field, the track detection being more particularly in pedestrian's street crossing and analysis violating the regulations
System.
Background technology
At present, traffic behavior analysis is main utilizes social force model, magnetic force model, queuing theory and microscopic simulation method
Theory analysis is carried out Deng to motor vehicle and pedestrian movement track and act of violating regulations.It is existing but people and Che behavior difference are larger
Have theoretical to often relatively more unified and most based on motor vehicle behavioral study in both research methods.And actual traffic
Middle pedestrian's street crossing track flexibly, only continue to use motor vehicle theory or analog simulation can not real table intelligent Behavioral change rule
Rule, in addition, to people and vehicle street crossing in act of violating regulations the reason for and consequence research it is less.Thus, existing method can not system
, convenient reasonable analysis is carried out to consequences analysis caused by different type traffic behavior and behavior.
The content of the invention
In order to overcome existing method can not truly reflect the traffic environment of pedestrian's street crossing and lack system to difference
The deficiency of consequence analysis, the present invention carries out video acquisition, analysis to pedestrian's street crossing situation using pedestrian track inspection software
And simple process, and the act of violating regulations origin cause of formation therein and consequence are analysed in depth and handled by subsequent algorithm, it is convenient
Detection to true traffic environment and the processing to act of violating regulations.
The technical solution adopted for the present invention to solve the technical problems is using video acquisition module, action trail processing mould
Block and act of violating regulations analysis module collectively constitute pedestrian movement's track detection and analysis system violating the regulations.Wherein video acquisition module
The high-definition camera, tripod and the company carried out data transmission with computer of more than 2 hours can be continuously shot comprising a frame
Wiring.Action trail processing module is included by the coordinate points in image is converted into world coordinates by the data in video acquisition module
The data extraction module of coordinate points under system, the lower coordinate points of world coordinate system, which are converted into, can represent pedestrian behavior characteristic parameter
Data conversion module and pedestrian behavior characteristic parameter is converted into the track describing module of pedestrian's street crossing trajectory diagram.Row violating the regulations
The data for including the traffic parameter that can be extracted in act of violating regulations for analysis module are extracted and conversion module, and will can be broken rules and regulations
The probabilistic forecasting module violating the regulations that behavioral parameters are fitted and the traffic efficiency analysis module Bu Tong broken rules and regulations under probability.
Wherein, track describing module by using the tool box in Matlab by pedestrian behavior characteristic according to the present invention
Algorithm converted, be that can intuitively show the result after conversion, the two dimension of pedestrian's street crossing track can be finally presented in the module
And three-dimensional feature curve map.
Probabilistic forecasting module violating the regulations is by the pedestrian after being handled in data extraction and conversion module and autos only
Traffic parameter is brought into the probabilistic forecasting algorithm violating the regulations in the present invention, obtains the probability violating the regulations under Different Traffic Flows data.
The traffic data collected in video acquisition module is subjected to finishing analysis, profit first in traffic efficiency analysis module
The efficiency analysis index under act of violating regulations interference is obtained with pedestrian crossing efficiency algorithm and autos only efficiency algorithm.In addition,
Using the conflict order of severity algorithm in the present invention, the safety point for obtaining pedestrian and autos only under different acts of violating regulations is calculated
Index is analysed, finally pedestrian's street crossing overall efficiency indicator under act of violating regulations is obtained using index comprehensive analysis method.
The beneficial effects of the invention are as follows solve pedestrian's street crossing track detection and street crossing problem analysis violating the regulations, user can
Tracing detection pedestrian's street crossing track and behavioural analysis and expression are carried out in the form of by video acquisition, improve pedestrian behavior point
The convenience of analysis, reduces video acquisition to the tedious steps of data analysis so that pedestrian and motor vehicle behavioural analysis be more accurate,
It is practical.
Brief description of the drawings
Fig. 1 block diagrams of the present invention
Fig. 2 mixed traffic tracing of the movement analysis softwares interface；
Fig. 3 pedestrian's street crossing trajectory analysis figures；
Pedestrian's street crossing comprehensive benefit research framework figure under the influence of Fig. 4 acts of violating regulations；
Fig. 5 motor vehicles and pedestrians disobeying traffic rule action process analysis chart；
Efficiency index curve map under Fig. 6 difference motor vehicle violation rates；
Efficiency index curve map under Fig. 7 difference pedestrians disobeying traffic rule rates；
Integrated efficiency index curve map under Fig. 8 difference motor vehicle violation rates；
Integrated efficiency index curve map under Fig. 9 difference pedestrians disobeying traffic rule rates.
Embodiment：
By video acquisition module, the data that camera acquisition is arrived tentatively extract and handle, by initial acquisition
Data carry out the extraction of street pedestrian track, and draw pedestrian space-time trajectory diagram, therefrom carry out pedestrian track analysis of Influential Factors.
Result after analysis is carried out to the processing of related algorithm again, and then pedestrian's basic act model can be obtained.In addition, by violating the regulations
Probabilistic forecasting module enters pedestrian, car probability calculation violating the regulations, and based on this, the algorithm for passing through the present invention carries out pedestrian's street crossing synthesis
The foundation of performance indicator, so as to evaluate pedestrian's street crossing passage situation.Comprise the following steps that.
Step one：Pedestrian's street crossing data acquisition is carried out using high-definition camera.By the video input collected to " pedestrian
In track following analysis software ".The diverse location of pedestrian's street crossing process is tracked and described by clicking on mouse, and then
To the position coordinates of different pedestrians not in the same time, and then obtain pedestrian's street crossing trajectory diagram.
Step 2：By the video data of collection, pedestrian and autos only behavioural analysis are carried out.By the number collected
According to being brought into traffic behavior model of influencing factors.Influence factor is divided into static influence factor and dynamic image factor in the present invention
Two classes.Bring video detection data into model, and utilize the principles such as the synthetic method of power, can obtain the behavior under combined influence factor
Analysis model, it is as follows：
Wherein：fsoFor signal, the virtual resistance produced to pedestrian is set；fsvThe virtual resistance produced for pedestrian by motor vehicle
Power；siFor influence degree of the motor vehicle to pedestrian；BviThe influence distance for being motor vehicle to pedestrian.
Step 3：The traffic data of video surveys is input in the motor vehicle violation Probabilistic Prediction Model in the present invention,
It is as follows：
Wherein：x2To pass through pedestrian gap (s)；x4For preceding headway (s).
The current probability of motor vehicle violation under different situations can be obtained using this model.
Step 4：Using the Probabilistic Prediction Model in step 3, the traffic flow data obtained with reference to video surveys brings this into
In the Delay Model in the case of pedestrian and motor vehicle violation in invention, the traffic efficiency under different acts of violating regulations can be obtained.
Pedestrian delays model is as follows in the case of motor vehicle violation：
Wherein：ddw' it is single autos only time (s) violating the regulations；lvFor the average length of wagon (m) of motor vehicle；wrFor machine
Motor-car passes through crossing width (m)；vvAverage speed (m/s) is passed through for motor vehicle；tsvDuring for motor vehicle shop safety violating the regulations
Away from (s)；N is vehicles number (veh) violating the regulations；qvFor motor vehicle flow (veh/h)；pvwFor motor vehicle violation rate；tdwFor unit
Time.
Vehicle delay model is as follows in the case of pedestrians disobeying traffic rule：
Wherein：QijThe pedestrian's number accumulated during for autos only；ppwFor pedestrians disobeying traffic rule rate；gvFor motor vehicle green light duration
(s)。
It can be analyzed according to this step and obtain act of violating regulations servant, car traffic efficiency.
Step 5：The data of video acquisition are brought into pedestrian and autos only safety analysis model in the present invention
In, it is as follows.Pedestrian's street crossing safety analysis model is wherein in the case of motor vehicle violation：
Pedestrian's street crossing safety analysis model is in the case of pedestrians disobeying traffic rule：
Wherein：lwpFor crossing width (m)；qpFor pedestrian's flow；vvCrossing average speed is crossed for motor vehicle
(m/s)。
Gathered data is brought into model above and can obtain the current safety index of different act of violating regulations servants, car.
Step 6：The data of step 4 and step 5 are combined, are using the overall efficiency indicator model in the present invention
The current comprehensive benefit of crossing under different acts of violating regulations can be analyzed, it is as follows.
Comprehensive benefit analysis model in the case of motor vehicle violation：
Comprehensive benefit analysis model in the case of pedestrians disobeying traffic rule：
Claims (7)
1. a kind of pedestrian movement's track detection and analysis system violating the regulations, it is characterised in that：It is to use video acquisition module, behavior
Trajectory processing module and act of violating regulations analysis module collectively constitute pedestrian movement's track detection and analysis system violating the regulations.Wherein regard
Frequency acquisition module can be continuously shot the high-definition camera of more than 2 hours comprising a frame, tripod and enter line number with computer
According to the connecting line of transmission.Action trail processing module, which is included, is converted the data in video acquisition module by the coordinate points in image
For the data extraction module of the coordinate points under world coordinate system, the lower coordinate points of world coordinate system, which are converted into, can represent pedestrian's row
The track for being characterized the data conversion module of parameter and pedestrian behavior characteristic parameter being converted into pedestrian's street crossing trajectory diagram is described
Module.The data that act of violating regulations analysis module includes the traffic parameter that can be extracted in act of violating regulations are extracted and conversion module, with
And the probabilistic forecasting module violating the regulations that act of violating regulations parameter can be fitted and the traffic efficiency analysis Bu Tong broken rules and regulations under probability
Module.
2. pedestrian movement's track detection according to claim 1 and analysis system violating the regulations, it is characterised in that：Described video
Acquisition module is to carry out pedestrian's street crossing data acquisition using high-definition camera.By the video input collected to " pedestrian track
In trace analysis software ".The diverse location of pedestrian's street crossing process is tracked and described by clicking on mouse, and then is obtained not
The position coordinates at different moment with pedestrian, and then obtain pedestrian's street crossing trajectory diagram.
3. pedestrian movement's track detection according to claim 1 and analysis system violating the regulations, it is characterised in that：Described behavior
Trajectory processing module is the video data by collection, carries out pedestrian and autos only behavioural analysis.By the number collected
According to being brought into traffic behavior model of influencing factors.Influence factor is divided into static influence factor and dynamic image factor in the present invention
Two classes.Bring video detection data into model, and utilize the principles such as the synthetic method of power, can obtain the behavior under combined influence factor
Analysis model, it is as follows：
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Wherein：fsoFor signal, the virtual resistance produced to pedestrian is set；fsvThe virtual resistance produced for pedestrian by motor vehicle；si
For influence degree of the motor vehicle to pedestrian；BviThe influence distance for being motor vehicle to pedestrian.
4. pedestrian movement's track detection according to claim 1 and analysis system violating the regulations, it is characterised in that：Described is violating the regulations
Behavioural analysis module is that the traffic data of video surveys is input in the motor vehicle violation Probabilistic Prediction Model in the present invention, such as
Shown in lower：
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5. pedestrian movement's track detection according to claim 1 and analysis system violating the regulations, it is characterised in that：Described is violating the regulations
Behavioural analysis module is to utilize the Probabilistic Prediction Model in step 3, and the traffic flow data obtained with reference to video surveys brings this into
In the Delay Model in the case of pedestrian and motor vehicle violation in invention, the traffic efficiency under different acts of violating regulations can be obtained.
Pedestrian delays model is as follows in the case of motor vehicle violation：
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Wherein：ddw' it is single autos only time (s) violating the regulations；lvFor the average length of wagon (m) of motor vehicle；wrWorn for motor vehicle
More crossing width (m)；vvAverage speed (m/s) is passed through for motor vehicle；tsvAway from (s) during for motor vehicle shop safety violating the regulations；n
For vehicles number (veh) of breaking rules and regulations；qvFor motor vehicle flow (veh/h)；pvwFor motor vehicle violation rate；tdwFor the unit time.
Vehicle delay model is as follows in the case of pedestrians disobeying traffic rule：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>D</mi>
<mi>v</mi>
<mo>&prime;</mo>
</msubsup>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mfrac>
<mrow>
<mfrac>
<mn>1</mn>
<msub>
<mi>q</mi>
<mi>v</mi>
</msub>
</mfrac>
<mrow>
<mo>(</mo>
<msup>
<mi>e</mi>
<mrow>
<msub>
<mi>q</mi>
<mi>v</mi>
</msub>
<msub>
<mi>t</mi>
<mrow>
<mi>c</mi>
<mi>p</mi>
</mrow>
</msub>
</mrow>
</msup>
<mo>-</mo>
<msub>
<mi>q</mi>
<mi>v</mi>
</msub>
<msub>
<mi>t</mi>
<mrow>
<mi>c</mi>
<mi>p</mi>
</mrow>
</msub>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<msub>
<mi>q</mi>
<mi>p</mi>
</msub>
<mo>&times;</mo>
<msub>
<mi>p</mi>
<mrow>
<mi>p</mi>
<mi>w</mi>
</mrow>
</msub>
</mrow>
<mrow>
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<mi>S</mi>
<mi>P</mi>
</msub>
<mo>-</mo>
<msub>
<mi>q</mi>
<mi>p</mi>
</msub>
</mrow>
</mfrac>
<msub>
<mi>q</mi>
<mi>A</mi>
</msub>
<mfrac>
<mrow>
<mfrac>
<mn>1</mn>
<msub>
<mi>q</mi>
<mi>v</mi>
</msub>
</mfrac>
<mrow>
<mo>(</mo>
<msup>
<mi>e</mi>
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<msub>
<mi>q</mi>
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</msub>
</mrow>
</msup>
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<mi>q</mi>
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</msub>
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</mrow>
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<mi>q</mi>
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</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mfrac>
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<mi>q</mi>
<mi>A</mi>
</msub>
<mfrac>
<mrow>
<mfrac>
<mn>1</mn>
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<mi>q</mi>
<mi>v</mi>
</msub>
</mfrac>
<mrow>
<mo>(</mo>
<msup>
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<mi>q</mi>
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</mrow>
</msup>
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<mi>q</mi>
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</mfrac>
</mrow>
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</msub>
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</mfrac>
<msub>
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<mn>1</mn>
<msub>
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</msub>
</mfrac>
<mrow>
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</msup>
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<mi>q</mi>
<mi>v</mi>
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</mrow>
<mo>&times;</mo>
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<mi>q</mi>
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<msub>
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<mrow>
<mi>p</mi>
<mi>w</mi>
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</msub>
</mrow>
<mrow>
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<mi>S</mi>
<mi>P</mi>
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<mi>q</mi>
<mi>p</mi>
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</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein：QijThe pedestrian's number accumulated during for autos only；ppwFor pedestrians disobeying traffic rule rate；gvFor motor vehicle green light duration (s).
It can be analyzed according to this step and obtain act of violating regulations servant, car traffic efficiency.
6. pedestrian movement's track detection according to claim 1 and analysis system violating the regulations, it is characterised in that：Described is violating the regulations
During behavioural analysis module is the pedestrian and autos only safety analysis model that the data of video acquisition are brought into the present invention,
It is as follows.Pedestrian's street crossing safety analysis model is wherein in the case of motor vehicle violation：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>D</mi>
<mrow>
<mi>v</mi>
<mi>w</mi>
</mrow>
</msub>
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<mi>d</mi>
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</msub>
<mo>&prime;</mo>
</msup>
<mo>&times;</mo>
<msub>
<mi>E</mi>
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<mi>p</mi>
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</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>m</mi>
<mrow>
<mo>{</mo>
<mrow>
<msup>
<mi>v</mi>
<mn>2</mn>
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<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
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<mi>p</mi>
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</mrow>
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<mi>q</mi>
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</mfrac>
</mrow>
<mo>}</mo>
<msub>
<mi>p</mi>
<mrow>
<mi>v</mi>
<mi>w</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>v</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>q</mi>
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<mi>v</mi>
<mn>2</mn>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>q</mi>
<mi>p</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Pedestrian's street crossing safety analysis model is in the case of pedestrians disobeying traffic rule：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>D</mi>
<mrow>
<mi>p</mi>
<mi>w</mi>
</mrow>
</msub>
<mo>=</mo>
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<mi>d</mi>
<mi>v</mi>
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<mo>&times;</mo>
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<mi>E</mi>
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<mi>v</mi>
<mi>v</mi>
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</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>m</mi>
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<msup>
<mi>v</mi>
<mn>2</mn>
</msup>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<msub>
<mi>t</mi>
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<mi>p</mi>
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</msub>
</msubsup>
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<mo>&Integral;</mo>
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<mn>2</mn>
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<mi>d</mi>
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<mo>}</mo>
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<mo>&Integral;</mo>
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<mi>&lambda;</mi>
<mi>t</mi>
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</mfrac>
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</mrow>
<mrow>
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<mn>1</mn>
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<mi>v</mi>
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</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein：lwpFor crossing width (m)；qpFor pedestrian's flow；vvCrossing average speed (m/s) is crossed for motor vehicle.
Gathered data is brought into model above and can obtain the current safety index of different act of violating regulations servants, car.
7. pedestrian movement's track detection according to claim 1 and analysis system violating the regulations, it is characterised in that：Described is violating the regulations
Behavioural analysis module is to be combined the data of step 4 and step 5, utilizes the overall efficiency indicator model in the present invention
The current comprehensive benefit of crossing under different acts of violating regulations is analyzed, it is as follows.
Comprehensive benefit analysis model in the case of motor vehicle violation：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>z</mi>
<mi>v</mi>
</msub>
<mo>=</mo>
<msub>
<mi>p</mi>
<mn>1</mn>
</msub>
<mo>&times;</mo>
<msubsup>
<mi>p</mi>
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<mn>2</mn>
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<mi>mv</mi>
<mn>2</mn>
</msup>
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</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108320513A (en) * | 2018-03-30 | 2018-07-24 | 南京理工大学 | Pedestrian's street crossing behavior analysis method when a kind of green light flash signal |
| CN108909708A (en) * | 2018-08-16 | 2018-11-30 | 大连民族大学 | Judge road pedestrian for the method and system of repulsion relationship |
| CN110519324A (en) * | 2019-06-06 | 2019-11-29 | 特斯联（北京）科技有限公司 | A kind of personage's method for tracing and system based on network path big data |
| CN111985386A (en) * | 2020-08-17 | 2020-11-24 | 清华大学 | Method for identifying pedestrian illegal-passing behavior based on planned behavior theory |
| CN114511999A (en) * | 2020-11-17 | 2022-05-17 | 郑州宇通客车股份有限公司 | Pedestrian behavior prediction method and device |
-
2016
- 2016-04-25 CN CN201610255872.1A patent/CN107305626A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108320513A (en) * | 2018-03-30 | 2018-07-24 | 南京理工大学 | Pedestrian's street crossing behavior analysis method when a kind of green light flash signal |
| CN108909708A (en) * | 2018-08-16 | 2018-11-30 | 大连民族大学 | Judge road pedestrian for the method and system of repulsion relationship |
| CN110519324A (en) * | 2019-06-06 | 2019-11-29 | 特斯联（北京）科技有限公司 | A kind of personage's method for tracing and system based on network path big data |
| CN111985386A (en) * | 2020-08-17 | 2020-11-24 | 清华大学 | Method for identifying pedestrian illegal-passing behavior based on planned behavior theory |
| CN114511999A (en) * | 2020-11-17 | 2022-05-17 | 郑州宇通客车股份有限公司 | Pedestrian behavior prediction method and device |
| CN114511999B (en) * | 2020-11-17 | 2023-09-01 | 宇通客车股份有限公司 | Pedestrian behavior prediction method and device |
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