CN111462491A - Expressway confluence area traffic conflict early warning method based on ramp control - Google Patents

Expressway confluence area traffic conflict early warning method based on ramp control Download PDF

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CN111462491A
CN111462491A CN202010271459.0A CN202010271459A CN111462491A CN 111462491 A CN111462491 A CN 111462491A CN 202010271459 A CN202010271459 A CN 202010271459A CN 111462491 A CN111462491 A CN 111462491A
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ramp
vehicle
traffic
vehicles
warning
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CN111462491B (en
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任毅龙
焦港欣
于海洋
王飞
杨阳
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Beijing University of Aeronautics and Astronautics
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Beijing University of Aeronautics and Astronautics
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously

Abstract

The patent discloses a highway confluence area traffic conflict early warning method based on ramp control, which comprises the following steps: step 1, controlling ramp signal lamps based on the real-time monitoring and comparison result of traffic flow, and turning to step 2 if the control result is displaying red light and turning to step 3 if the control result is displaying green light; step 2, judging whether the ramp vehicle has the red light running condition; step 3, judging the traffic conflict in the confluence area based on PET and preliminarily determining the grade of the severity of the traffic conflict; step 4, carrying out lane change detection to the vehicles on the main road with traffic conflicts so as to determine the final traffic conflict level; and 5, issuing different early warning information on a traffic early warning display screen according to the different traffic conflict severity degrees obtained in the step 4. The method realizes the omnibearing protection, monitoring and early warning information release from the source control to the early warning release of the traffic conflict in the highway confluence area, and is very helpful to greatly improve the safety of the highway confluence area.

Description

Expressway confluence area traffic conflict early warning method based on ramp control
Technical Field
The invention relates to the field of intelligent traffic control and early warning, in particular to a traffic conflict early warning method for a highway confluence area based on ramp control.
Background
With the development of economy in China, the reserved quantity of private cars is continuously increased, highways are continuously built, more and more people choose to drive the private cars to go to destinations through the highways to achieve high speed convenience, but the capacity of the highways is limited after all, and the highways are crowded in holidays. The increase of the highway traffic flow means that the number of vehicles passing through the highway confluence area is continuously increased, and the possibility of traffic conflicts in the highway confluence area is also increased, which puts higher requirements on the control level of the highway confluence area.
The existing confluence area control mainly comprises an early confluence control strategy and a late confluence control strategy, wherein the early confluence control is to place a mark for closing a front lane every kilometer in the front of a confluence area for reminding a driver to change lanes in advance; the idea of late merge control is to encourage the driver to start merging only when the driver reaches the front end of the merging area using an open lane and a closed lane, which is the opposite of the early merge. However, the existing early confluence control strategy or late confluence control strategy is not applicable to the existing expressway in China, because the expressway in China is not allowed to be closed randomly under normal conditions, secondary congestion of a confluence area is possibly caused even if the lane is allowed to be closed, and potential insecurity of the confluence area is increased.
The method is based on the speed and the heading of the vehicle at the current moment and does not consider the acceleration of the vehicle, so that the judgment error is larger, the instantaneous speed of the vehicle in the TTC model when the vehicle collides is difficult to obtain, and the TTC value is smaller, thereby not indicating the occurrence of an accident.
In addition, the existing early warning for the potential traffic conflicts in the highway confluence area does not consider the actual situation that vehicles in the highway confluence area are frequently changed compared with other road sections, and if the actual situation that the vehicles are changed is not considered, the early warning is directly carried out, so that the hysteresis of early warning information is possibly caused, and even errors occur.
Disclosure of Invention
In order to overcome the defects and combine the actual situation that the traffic flow change of the highway confluence area has dynamics, the method firstly controls traffic lights of ramps based on the real-time monitoring result of the traffic flow of the ramps so as to better relieve or avoid the occurrence of traffic congestion of the confluence area, then judges the traffic conflict of the confluence area based on PET, and finally determines the conflict early warning grade of the confluence area based on the detection result of vehicle lane change. In order to achieve the purpose, the invention adopts the following technical scheme:
a traffic conflict early warning method for a highway confluence area based on ramp control is disclosed, and a flow chart is shown in figure 1, and comprises the following steps:
step 1, controlling a ramp signal lamp based on a real-time traffic flow monitoring comparison result, and turning to step 2 if the control result is that a red light is displayed; if the control result is that a green light is displayed, turning to the step 3;
step 2, judging whether the ramp vehicle runs the red light, if the ramp vehicle runs the red light, turning to step 5, issuing early warning information, otherwise, not performing early warning;
step 3, judging the traffic conflict in the confluence area based on PET and preliminarily determining the grade of the severity of the traffic conflict;
step 4, carrying out lane change detection on the vehicles of the main road with traffic conflicts, and determining the final traffic conflict severity level;
step 5, issuing different early warning information on a traffic early warning display screen according to the different traffic conflict severity degrees obtained in the step 4;
a traffic conflict early warning method for a highway confluence area based on ramp control comprises the following steps that in step 1, traffic light signal control is carried out on a single-lane ramp based on a real-time monitoring and comparison result of traffic flow, a ramp signal light control flow chart is shown in figure 2, and the method is characterized in that the traffic flow needing to be obtained comprises two types: real-time equivalent traffic Q of main trunk road of confluence areamainEquivalent traffic volume Q of merging zone rampramp；
In step 1 of the expressway confluence area traffic conflict early warning method based on ramp control, ramp traffic light signal control is carried out based on a traffic flow real-time monitoring comparison result, the real-time monitoring comparison of the traffic flow is carried out by comparing the traffic flow of a main road and the traffic flow of a ramp in the confluence area, and specifically, a main road equivalent traffic volume warning value Q is set in advancemain.warningTraffic volume warning value Q of equivalent traffic volume of traffic laneramp.warningSetting the warning values of the equivalent traffic volume of the main road and the ramp to be 80% of the designed traffic capacity of the road, and calculating in the following way:
Qmain.warning＝0.8Qmain.set(1)
Qramp.warning＝0.8Qramp.set(2)
then real-time equivalent traffic Q of the main road of the confluence area monitored by a road flow monitor in real timemain.realtimeReal-time equivalent traffic volume Q of merging zone rampramp.realtimeComparing the traffic volume warning value with the equivalent traffic volume warning value of the main road and the equivalent traffic volume warning value of the ramp when Q ismain.realtime≥Qmain.warningWhen the traffic volume of the ramp is larger than the warning value of the traffic volume of the ramp, the ramp signal lamp displays red light;
when Q ismain.realtime＜Qmain.warningTimely and equivalently crossing rampsComparing the flux with the warning value of the equivalent traffic of the ramp if Q is obtainedramp.realtime＜Qramp.warningThe ramp signal lamp displays green light and allows ramp vehicles to enter a confluence area for passing; if it is Qramp.realtime≥Qramp.warningThe ramp signal lamp displays a red light;
a step 2 of the expressway convergence area traffic conflict early warning method based on ramp control judges whether a red light running condition of ramp vehicles occurs, wherein the red light running behavior is defined in that the vehicles cross a stop line to enter a conflict area within the time of phase red light. Fig. 3 shows a flow chart for judging whether a red light running behavior occurs on a ramp vehicle, and the specific sub-steps are as follows:
(1) recording the time when the nth vehicle on the ramp acquired by the monitor steps on the monitor and the occupation time on the monitor, and respectively recording the time as tn-startAnd Δ tn-occupyTurning to the step (2);
(2) identifying whether the vehicle has taken a deceleration brake: the method comprises the steps of presetting a speed warning value v of a ramp vehicle passing through a stop linen-warningIf the vehicle passes the estimated speed v of the stop line on the rampn-plLess than a set speed warning value vn-warningIf the vehicle is determined to adopt deceleration braking and is identified as a parking behavior; otherwise, performing deceleration braking, and turning to the step (3);
the speed alert value is calculated as follows:
Figure BDA0002441977170000031
in the formula, vn-warningIs the speed warning value of the vehicles passing through the stop line on the ramp, DsIs the distance between the ramp radar detector and the ramp stop line;
the speed estimation mode of the ramp vehicle passing through the stop line of the ramp is as follows:
Figure BDA0002441977170000032
in the formula, vn-plIs the estimated speed of the on-ramp vehicle through the stop line,
Figure BDA0002441977170000033
is the average length of the vehicle, which is a constant when calculated; Δ tn-occupyIs the occupancy time of the ramp vehicle on the radar detector;
(3) judging whether the time when the vehicle passes through the stop line is positioned after the red light is turned on: the red light of the ramp signal lamp is turned on at the time tredAnd the time when the ramp vehicle passes through the ramp stop line is tn-plIf the vehicle passes through the stop line of the rampn-plLater than the red light turn-on time tredIf the vehicle is identified to have the behavior of running the red light, the early warning information of 'the vehicle running the red light ahead and please pay attention to the safety' is issued; otherwise, the vehicle does not run the red light and does not issue the early warning;
the estimation mode of the time when the vehicles on the ramp pass through the stop line of the ramp is as follows:
Figure BDA0002441977170000041
in the formula, tn-plIs the estimated time for the on-ramp vehicle to pass the stop line, Lcar.occupyL is the length of the ramp vehicle on the radar detector detected by the radar detectorsettingIs the layout length of the radar detector;
in step 3 of the expressway confluence area traffic conflict early warning method based on ramp control, the confluence area traffic conflict is judged based on PET, specifically, the severity of the highway confluence area traffic conflict is judged based on PET, a judgment flow chart is shown in figure 4, a parameter used in the judgment process is shown in figure 5, and the method specifically comprises the following sub-steps:
(1) the ramp signal control lamp displays a green lamp, the ramp radar monitor detects whether vehicles arrive, if so, the ramp radar monitor turns to the step (2), otherwise, the warning is not carried out; this step may not be omitted because in the previous step 1, even if only the ramp has no traffic, as long as the main road has traffic and is less than the warning value, the ramp signal control will display green light, and the following steps are sometimes performed on the premise that the ramp has vehicles to pass;
(2) considering the influence of the traffic state of the confluence area on the vehicles on the main road, the vehicles on the main road can be approximately considered to do uniform deceleration motion, and the vehicles on the main road are subjected to lane-dividing acquisition of basic traffic parameters based on a radar detector, wherein the basic traffic parameters comprise the distance between the jth vehicle of the ith lane of the main road and the starting point of the confliction area conflict area
Figure BDA0002441977170000042
Speed of rotation
Figure BDA0002441977170000043
Acceleration of a vehicle
Figure BDA0002441977170000044
Defining the time of the main road vehicle reaching the beginning of the confliction area
Figure BDA0002441977170000045
The vehicles on the ramp can be approximately considered to do uniform deceleration motion firstly, and then the vehicles on the main road can see to do uniform motion;
Figure BDA0002441977170000046
obtaining by solution:
Figure BDA0002441977170000047
acquiring basic traffic parameters in different lanes for nth vehicle on single-lane ramp, including distance x between the ramp vehicle and the starting point of confliction area of confluence zonenVelocity vnAcceleration anDefining the time t for the ramp vehicle to reach the starting point of the confliction arean(ii) a In addition, for safety reasons, a certain safety distance value d is usually added0In order to allow the driver sufficient reaction time.
Figure BDA0002441977170000051
Obtaining by solution:
Figure BDA0002441977170000052
(3) calculating the post-invasion time PET of the main road vehicle and the ramp vehicle:
Figure BDA0002441977170000053
(4) preliminarily judging the severity of the traffic conflict based on the conflict threshold, and simultaneously recording the vehicle pairs with the traffic conflict: the post-intrusion time PET of the main road vehicle and the ramp vehicle can be estimated according to the formulas (6) to (10), 15%, 50% and 85% grading values of the obtained PET are selected as PET thresholds, and the severity of the traffic conflict is divided into 4 grades:
rank.1 is more severe, rank.2 is severe, rank.3 is general, and rank.4 is mild;
meanwhile, main road vehicles and corresponding ramp vehicles of the first three traffic conflict types are recorded, the pair of vehicles is recorded as a vehicle pair with traffic conflict, the number of the vehicle pair is vehicleair
Figure BDA0002441977170000054
The vehicles on the centering ramp are numbered as
Figure BDA0002441977170000055
A expressway confluence area traffic conflict early warning method based on ramp control carries out lane change detection aiming at main road vehicles with traffic conflicts in step 4, and determines the final traffic conflict severity grade; in detail, detecting whether the main road vehicles with the traffic conflict types in the step 3 have the lane changing behaviors; the lane change detection flowchart is shown in fig. 6, the related parameters are marked as shown in fig. 7, and the specific calculation sub-steps are as follows:
(1) the main road vehicle number with traffic conflict can be obtained in step 3
Figure BDA0002441977170000056
The longitudinal coordinate of the initial position of the corresponding main road vehicle detected by the radar detector can be obtained according to the vehicle number information
Figure BDA0002441977170000057
And the corresponding ordinate of the 1.5s rear position
Figure BDA0002441977170000058
(2) Calculating the absolute value delta y of the difference value of the vertical coordinates of the two moments of the main road vehicles with conflict1And the absolute value is compared with half of the width of the lane where the vehicle is located
Figure BDA0002441977170000059
Comparing, if the difference is not less than half of the lane where the vehicle is located, determining that the vehicle has changed lanes, and turning to the step (3), otherwise determining that the vehicle has not changed lanes and the original early warning level is unchanged; the specific calculation is as follows;
for vehicles on the main road:
Figure BDA0002441977170000061
if it is
Figure BDA0002441977170000062
The vehicles on the main road are considered to be changed;
if it is
Figure BDA0002441977170000063
Determining that the vehicles on the main road are not changed;
(3) calculating the difference value of the longitudinal coordinates of the conflicting vehicles to the longitudinal coordinates of the two moments, namely the difference of the longitudinal coordinates of the two moments of the main road vehiclesValue deltay2Comparing the difference with 0, and if the difference is greater than 0, judging that the degree of danger of lane change to the inner side and collision of the vehicle is reduced by one grade; if the difference is less than 0, the vehicle is considered to change lanes outwards and the collision danger degree is increased by one grade; the specific calculation is as follows:
for vehicles on the main road:
Figure BDA0002441977170000064
if it is
Figure BDA0002441977170000065
The vehicles on the main road are considered to change the road outwards and the danger level is reduced by one level;
if it is
Figure BDA0002441977170000066
The vehicles on the main road are considered to change the road inwards and the danger level is increased by one level;
in step 5 of the expressway confluence area traffic conflict early warning method based on ramp control, different early warning information is issued on a traffic early warning display screen according to different traffic conflict severity degrees obtained in step 4; the method comprises the following specific steps:
aiming at serious conflicts, early warning information of 'please slow down and walk immediately' is issued on a traffic early warning display screen;
aiming at serious conflicts, early warning information of 'please slow down as soon as possible' is issued on a traffic early warning display screen;
aiming at general conflicts, early warning information of keeping the distance between vehicles and carefully and slowly driving is issued on a traffic early warning display screen;
and aiming at slight conflict, not issuing early warning information on the traffic early warning display screen.
Compared with the prior art, the invention has the beneficial effects that:
1. the method introduces the ramp control based on flow monitoring into the traffic conflict early warning of the merging area of the expressway for the first time, controls the change of ramp signal lamps by monitoring the flow change of the ramps in real time so as to control the traffic of ramp vehicles, is beneficial to controlling the number of vehicles entering the merging area from the ramps at the source, and relieves or even avoids the potential traffic jam of the merging area.
2. The method and the device provided by the invention have the advantages that the actual condition that the vehicle lane change in the highway confluence area is more frequent than that of other road sections is considered, the detection of the vehicle lane change behavior is introduced into the final determination of the traffic conflict early warning level in the highway confluence area for the first time, and the accuracy of the early warning information is favorably ensured.
3. The traffic conflict in the merging area of the expressway is specially aimed at integrating traffic conflict in the merging area of the expressway, control of ramps based on the flow monitoring processing result, discrimination of red light running behaviors of ramps when ramp signal lamps display red light, identification of severity of traffic conflict based on PET when ramp signal lamps display green light, detection of lane changing behaviors of vehicles and issuing of early warning information into a whole, so that all-round protection, monitoring and issuing of early warning information from source control to early warning issuing of traffic conflict in the merging area of the expressway are realized, and the safety of the merging area of the expressway is greatly improved.
Drawings
FIG. 1 is a general flow diagram of the present invention;
FIG. 2 is a flow chart of ramp signal lamp control of the present invention;
FIG. 3 is a flow chart for judging red light running behavior of ramp vehicles according to the present invention;
FIG. 4 is a flow chart of the traffic conflict resolution of the present invention;
FIG. 5 is a schematic view of traffic conflict resolution parameter designations according to the present invention;
FIG. 6 is a flow chart of vehicle lane change behavior detection of the present invention;
FIG. 7 is a graph illustrating detection parameters for lane change behavior of a vehicle according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, the following detailed description will proceed with reference being made to specific embodiments of the invention.
A traffic conflict early warning method for a highway confluence area based on ramp signal control is disclosed, and a flow chart is shown in figure 1, and comprises the following steps:
step 1, performing ramp traffic light signal control based on a real-time traffic flow monitoring comparison result, and turning to step 2 if the control result is that a red light is displayed; if the control result is that a green light is displayed, turning to the step 3;
step 2, judging whether the ramp vehicle runs the red light, if the ramp vehicle runs the red light, turning to step 5, issuing early warning information, otherwise, not performing early warning;
step 3, judging the traffic conflict in the confluence area based on PET and preliminarily determining the grade of the severity of the traffic conflict;
step 4, carrying out lane change detection on the vehicles of the main road with traffic conflicts, and determining the final traffic conflict severity level;
step 5, issuing different early warning information on a traffic early warning display screen according to the different traffic conflict severity degrees obtained in the step 4;
in step 1 of the expressway confluence area traffic conflict early warning method based on ramp control, traffic light signal control is carried out on the ramps of a single lane based on the real-time monitoring and comparison result of traffic flow, a ramp signal light control flow chart is shown in fig. 2, and the traffic flow needing to be acquired comprises two types: real-time equivalent traffic Q of main trunk road of confluence areamainEquivalent traffic volume Q of merging zone rampramp；
In step 1 of the expressway confluence area traffic conflict early warning method based on ramp control, ramp control is carried out based on the real-time monitoring and comparison result of traffic flow, the real-time monitoring and comparison of the traffic flow is carried out by comparing the traffic flow of a main road and the traffic flow of a ramp in the confluence area, and specifically, a main road equivalent traffic volume warning value Q is set in advancemain.warningTraffic volume warning value Q of equivalent traffic volume of traffic laneramp.warningSetting the warning values of the equivalent traffic volume of the main road and the ramp to be 80% of the designed traffic capacity of the road, and calculating in the following way:
Qmain.warning＝0.8Qmain.set(1)
Qramp.warning＝0.8Qramp.set(2)
then will beReal-time equivalent traffic Q of main road in confluence area monitored by road flow monitor in real timemain.realtimeReal-time equivalent traffic volume Q of merging zone rampramp.realtimeComparing the traffic volume warning value with the equivalent traffic volume warning value of the main road and the equivalent traffic volume warning value of the ramp when Q ismain.realtime≥Qmain.warningWhen the traffic volume of the ramp is larger than the warning value of the traffic volume of the ramp, the ramp signal lamp displays red light;
when Q ismain.realtime＜Qmain.warningComparing the real-time equivalent traffic volume of the ramp with the warning value of the equivalent traffic volume of the ramp if the real-time equivalent traffic volume of the ramp is Qramp.realtime＜Qramp.warningThe ramp signal lamp displays green light and allows ramp vehicles to enter a confluence area for passing; if it is Qramp.realtime≥Qramp.warningThe ramp signal lamp displays a red light;
a step 2 of the expressway convergence area traffic conflict early warning method based on ramp control judges whether a red light running condition of ramp vehicles occurs, wherein the red light running behavior is defined in that the vehicles cross a stop line to enter a conflict area within the time of phase red light. Fig. 3 shows a flow chart for judging whether a red light running behavior occurs on a ramp vehicle, and the specific sub-steps are as follows:
(1) recording the time when the nth vehicle on the ramp acquired by the monitor steps on the monitor and the occupation time on the monitor, and respectively recording the time as tn-startAnd Δ tn-occupyTurning to the step (2);
(2) identifying whether the vehicle has taken a deceleration brake: the method comprises the steps of presetting a speed warning value v of a ramp vehicle passing through a stop linen-warningIf the vehicle passes the estimated speed v of the stop line on the rampn-plLess than a set speed warning value vn-warningIf the vehicle is determined to adopt deceleration braking and is identified as a parking behavior; otherwise, performing deceleration braking, and turning to the step (3);
the speed alert value is calculated as follows:
Figure BDA0002441977170000091
in the formula, vn-warningIs the speed warning value of the vehicles passing through the stop line on the ramp, DsIs the distance between the ramp radar detector and the ramp stop line;
the speed estimation mode of the ramp vehicle passing through the stop line of the ramp is as follows:
Figure BDA0002441977170000092
in the formula, vn-plIs the estimated speed of the on-ramp vehicle through the stop line,
Figure BDA0002441977170000093
is the average length of the vehicle, which is a constant when calculated; Δ tn-occupyIs the occupancy time of the ramp vehicle on the radar detector;
(3) judging whether the time when the vehicle passes through the stop line is positioned after the red light is turned on: the red light of the ramp signal lamp is turned on at the time tredAnd the time when the ramp vehicle passes through the ramp stop line is tn-plIf the vehicle passes through the stop line of the rampn-plLater than the red light turn-on time tredIf the vehicle is identified to have the behavior of running the red light, the early warning information of 'the vehicle running the red light ahead and please pay attention to the safety' is issued; otherwise, the vehicle does not run the red light and does not issue the early warning;
the estimation mode of the time when the vehicles on the ramp pass through the stop line of the ramp is as follows:
Figure BDA0002441977170000094
in the formula, tn-plIs the estimated time for the on-ramp vehicle to pass the stop line, Lcar.occupyL is the length of the ramp vehicle on the radar detector detected by the radar detectorsettingIs the layout length of the radar detector;
in step 3 of the expressway confluence area traffic conflict early warning method based on ramp control, the confluence area traffic conflict is judged based on PET, specifically, the severity of the highway confluence area traffic conflict is judged based on PET, a judgment flow chart is shown in figure 4, a parameter used in the judgment process is shown in figure 5, and the method specifically comprises the following sub-steps:
(1) the ramp signal control lamp displays a green lamp, the ramp radar monitor detects whether vehicles arrive, if so, the ramp radar monitor turns to the step (2), otherwise, the warning is not carried out; this step may not be omitted because in the previous step 1, even if only the ramp has no traffic, as long as the main road has traffic and is less than the warning value, the ramp signal control will display green light, and the following steps are sometimes performed on the premise that the ramp has vehicles to pass;
(2) considering the influence of the traffic state of the confluence area on the vehicles on the main road, the vehicles on the main road can be approximately considered to do uniform deceleration motion, and the vehicles on the main road are subjected to lane-dividing acquisition of basic traffic parameters based on a radar detector, wherein the basic traffic parameters comprise the distance between the jth vehicle of the ith lane of the main road and the starting point of the confliction area conflict area
Figure BDA0002441977170000101
Speed of rotation
Figure BDA0002441977170000102
Acceleration of a vehicle
Figure BDA0002441977170000103
Defining the time of the main road vehicle reaching the beginning of the confliction area
Figure BDA0002441977170000104
The vehicles on the ramp can be approximately considered to do uniform deceleration motion firstly, and then the vehicles on the main road can see to do uniform motion;
Figure BDA0002441977170000105
obtaining by solution:
Figure BDA0002441977170000106
acquiring basic traffic parameters in different lanes for nth vehicle on single-lane ramp, including distance x between the ramp vehicle and the starting point of confliction area of confluence zonenVelocity vnAcceleration anDefining the time t for the ramp vehicle to reach the starting point of the confliction arean(ii) a In addition, for safety reasons, a certain safety distance value d is usually added0In order to allow the driver sufficient reaction time.
Figure BDA0002441977170000107
Obtaining by solution:
Figure BDA0002441977170000108
(3) calculating the post-invasion time PET of the main road vehicle and the ramp vehicle:
Figure BDA0002441977170000109
(4) preliminarily judging the severity of the traffic conflict based on the conflict threshold, and simultaneously recording the vehicle pairs with the traffic conflict: the post-intrusion time PET of the main road vehicle and the ramp vehicle can be estimated according to the formulas (6) to (10), 15%, 50% and 85% grading values of the obtained PET are selected as PET thresholds, and the severity of the traffic conflict is divided into 4 grades:
rank.1 is more severe, rank.2 is severe, rank.3 is general, and rank.4 is mild;
meanwhile, main road vehicles and corresponding ramp vehicles of the first three traffic conflict types are recorded, the pair of vehicles is recorded as a vehicle pair with traffic conflict, the number of the vehicle pair is vehicleair
Figure BDA0002441977170000111
To this vehicle pairThe number of the vehicles on the center ramp is
Figure BDA0002441977170000112
A expressway confluence area traffic conflict early warning method based on ramp control carries out lane change detection aiming at main road vehicles with traffic conflicts in step 4, and determines the final traffic conflict severity grade; in detail, detecting whether the main road vehicles with the traffic conflict types in the step 3 have the lane changing behaviors; it is necessary to detect whether vehicles change lanes or not, because the closer the vehicles on the main road of the highway confluence area are to the ramp, the higher the possibility of traffic collision is, and the higher the risk is; the lane change detection flowchart is shown in fig. 6, the related parameters are marked as shown in fig. 7, and the specific calculation sub-steps are as follows:
(1) the main road vehicle number with traffic conflict can be obtained in step 3
Figure BDA0002441977170000113
The longitudinal coordinate of the initial position of the corresponding main road vehicle detected by the radar detector can be obtained according to the vehicle number information
Figure BDA0002441977170000114
And the corresponding ordinate of the 1.5s rear position
Figure BDA0002441977170000115
(2) Calculating the absolute value delta y of the difference value of the vertical coordinates of the two moments of the main road vehicles with conflict1And the absolute value is compared with half of the width of the lane where the vehicle is located
Figure BDA0002441977170000116
Comparing, if the difference is not less than half of the lane where the vehicle is located, determining that the vehicle has changed lanes, and turning to the step (3), otherwise determining that the vehicle has not changed lanes and the original early warning level is unchanged; the specific calculation is as follows;
for vehicles on the main road:
Figure BDA0002441977170000117
if it is
Figure BDA0002441977170000118
The vehicles on the main road are considered to be changed;
if it is
Figure BDA0002441977170000119
Determining that the vehicles on the main road are not changed;
(3) calculating the difference value of the longitudinal coordinates of the conflicting vehicles to the longitudinal coordinates of the two moments, namely the difference value delta y of the longitudinal coordinates of the two moments of the main road vehicles2Comparing the difference with 0, and if the difference is greater than 0, judging that the degree of danger of lane change to the inner side and collision of the vehicle is reduced by one grade; if the difference is less than 0, the vehicle is considered to change lanes outwards and the collision danger degree is increased by one grade; the specific calculation is as follows:
for vehicles on the main road:
Figure BDA0002441977170000121
if it is
Figure BDA0002441977170000122
The vehicles on the main road are considered to change the road outwards and the danger level is reduced by one level;
if it is
Figure BDA0002441977170000123
The vehicles on the main road are considered to change the road inwards and the danger level is increased by one level;
in step 5 of the expressway confluence area traffic conflict early warning method based on ramp control, different early warning information is issued on a traffic early warning display screen according to different traffic conflict severity degrees obtained in step 4; the method comprises the following specific steps:
aiming at serious conflicts, early warning information of 'please slow down and walk immediately' is issued on a traffic early warning display screen;
aiming at serious conflicts, early warning information of 'please slow down as soon as possible' is issued on a traffic early warning display screen;
aiming at general conflicts, early warning information of keeping the distance between vehicles and carefully and slowly driving is issued on a traffic early warning display screen;
and aiming at slight conflict, not issuing early warning information on the traffic early warning display screen.

Claims (3)

1. A traffic conflict early warning method for a highway confluence area based on ramp control is characterized by comprising the following steps:
step 1, controlling a ramp signal lamp based on a real-time traffic flow monitoring comparison result, and turning to step 2 if the control result is that a red light is displayed; if the control result is that a green light is displayed, turning to the step 3;
step 2, judging whether the ramp vehicle runs the red light, if the ramp vehicle runs the red light, turning to step 5, issuing early warning information, otherwise, not performing early warning;
step 3, if the control result shows that the lamp is green, judging the traffic conflict in the confluence area based on PET and preliminarily determining the grade of the severity of the traffic conflict;
the method comprises the following specific substeps:
(1) the ramp signal control lamp displays a green lamp, the ramp radar monitor detects whether vehicles arrive, if so, the ramp radar monitor turns to the step (2), otherwise, the warning is not carried out;
(2) considering the influence of the traffic state of the confluence area on vehicles on the main road, setting the vehicles on the main road to do uniform deceleration motion, and acquiring basic traffic parameters including the distance between the jth vehicle of the ith lane of the main road and the starting point of the confluent area conflict area by dividing lanes of the vehicles on the main road based on a radar detector
Figure FDA0002441977160000011
Speed of rotation
Figure FDA0002441977160000012
Acceleration of a vehicle
Figure FDA0002441977160000013
Defining the time of the main road vehicle reaching the beginning of the confliction area
Figure FDA0002441977160000014
Setting vehicles on the ramp to do uniform deceleration motion firstly, and then seeing that the vehicles on the main road do uniform motion;
Figure FDA0002441977160000015
obtaining by solution:
Figure FDA0002441977160000016
acquiring basic traffic parameters in different lanes for nth vehicle on single-lane ramp, including distance x between the ramp vehicle and the starting point of confliction area of confluence zonenVelocity vnAcceleration anDefining the time t for the ramp vehicle to reach the starting point of the confliction arean(ii) a In addition, a certain safety distance value d is added for safety0；
Figure FDA0002441977160000017
Obtaining by solution:
Figure FDA0002441977160000018
(3) calculating the post-intrusion time of the main road vehicle and the ramp vehicle
Figure FDA0002441977160000019
(4) Preliminarily judging the severity of the traffic conflict based on the conflict threshold, and simultaneously recording the vehicle pairs with the traffic conflict: calculating the post-intrusion time PET of the main road vehicle and the ramp vehicle, selecting the 15%, 50% and 85% quantile values of the obtained PET as PET threshold values, and dividing the severity of the traffic conflict into 4 grades:
rank.1 is more severe, rank.2 is severe, rank.3 is general, and rank.4 is mild; meanwhile, main road vehicles and corresponding ramp vehicles of the first three traffic conflict types are recorded, the pair of vehicles is recorded as a vehicle pair with traffic conflict, the number of the vehicle pair is vehicleair
Figure FDA0002441977160000021
The vehicles on the centering ramp are numbered as
Figure FDA0002441977160000022
Step 4, carrying out lane change detection on the main road vehicles with traffic conflicts, determining the final traffic conflict severity level and turning to step 5;
in the step, whether the main road vehicles with the traffic conflict types in the step 3 have the lane changing behavior is detected; the specific calculation sub-steps are as follows:
(1) the main road vehicle number with traffic conflict can be obtained in step 3
Figure FDA0002441977160000023
The longitudinal coordinate of the initial position of the corresponding main road vehicle detected by the radar detector can be obtained according to the vehicle number information
Figure FDA0002441977160000024
And the corresponding ordinate of the 1.5s rear position
Figure FDA0002441977160000025
(2) Calculating the absolute value delta y of the difference value of the vertical coordinates of the two moments of the main road vehicles with conflict1And the absolute value is compared with half of the width of the lane where the vehicle is located
Figure FDA0002441977160000026
Comparing, if the difference is not less than half of the lane where the vehicle is located, determining that the vehicle has changed lanes, and turning to the step (3), otherwise determining that the vehicle has not changed lanes and the original early warning level is unchanged; the specific calculation comprises the following steps: for vehicles on the main road:
Figure FDA0002441977160000027
if it is
Figure FDA0002441977160000028
The vehicles on the main road are considered to be changed; if it is
Figure FDA0002441977160000029
Determining that the vehicles on the main road are not changed;
(3) calculating the difference value of the longitudinal coordinates of the conflicting vehicles to the longitudinal coordinates of the two moments, namely the difference value delta y of the longitudinal coordinates of the two moments of the main road vehicles2Comparing the difference with 0, and if the difference is greater than 0, judging that the degree of danger of lane change to the inner side and collision of the vehicle is reduced by one grade; if the difference is less than 0, the vehicle is considered to change lanes outwards and the collision danger degree is increased by one grade; the specific calculation includes for vehicles on the arterial road:
Figure FDA00024419771600000210
if it is
Figure FDA00024419771600000211
The vehicles on the main road are considered to change the road outwards and the danger level is reduced by one level; if it is
Figure FDA00024419771600000212
The vehicles on the main road are considered to change the road inwards and the danger level is increased by one level;
and 5, issuing different early warning information on a traffic early warning display screen according to different traffic conflict severity degrees.
2. The expressway confluence area traffic conflict early warning method based on ramp control as claimed in claim 1, wherein the traffic light signal control is performed on the single-lane ramp based on the real-time monitoring and comparison result of the traffic flow in step 1, and the ramp signal light control flow chart is shown in fig. 2, wherein the traffic flow to be acquired includes two types: real-time equivalent traffic Q of main trunk road of confluence areamainEquivalent traffic volume Q of merging zone rampramp(ii) a By setting the traffic warning value Q of the main road equivalent in advancemain.warningTraffic volume warning value Q of equivalent traffic volume of traffic laneramp.warningSetting the warning values of the equivalent traffic volume of the main road and the ramp to be 80% of the designed traffic capacity of the road, and calculating in the following way: qmain.warning＝0.8Qmain.set，Qramp.warning＝0.8Qramp.set(ii) a Then real-time equivalent traffic Q of the main road of the confluence area monitored by a road flow monitor in real timemain.realtimeReal-time equivalent traffic volume Q of merging zone rampramp.realtimeComparing the traffic volume warning value with the equivalent traffic volume warning value of the main road and the equivalent traffic volume warning value of the ramp when Q ismain.realtime≥Qmain.warningWhen the traffic volume of the ramp is larger than the warning value of the traffic volume of the ramp, the ramp signal lamp displays red light; when Q ismain.realtime＜Qmain.warningComparing the real-time equivalent traffic volume of the ramp with the warning value of the equivalent traffic volume of the ramp if the real-time equivalent traffic volume of the ramp is Qramp.realtime＜Qramp.warningThe ramp signal lamp displays green light and allows ramp vehicles to enter a confluence area for passing; if it is Qramp.realtime≥Qramp.warningAnd the ramp signal lamp displays a red light.
3. The expressway confluence area traffic conflict warning method based on ramp control as claimed in claim 1,
and 2, judging whether the ramp vehicle has the red light running condition or not, wherein the red light running behavior is defined in that the vehicle crosses a stop line to enter a conflict area within the phase red light time. The substep of judging whether the red light running behavior of the ramp vehicle appears is as follows:
(1) recording the time when the nth vehicle on the ramp acquired by the monitor steps on the monitor and the occupation time on the monitor, and respectively recording the time as tn-startAnd Δ tn-occupyTurning to the step (2);
(2) identifying whether the vehicle has taken a deceleration brake: the method comprises the steps of presetting a speed warning value v of a ramp vehicle passing through a stop linen-warningIf the vehicle passes the estimated speed v of the stop line on the rampn-plLess than a set speed warning value vn-warningIf the vehicle is determined to adopt deceleration braking and is identified as a parking behavior; otherwise, performing deceleration braking, and turning to the step (3);
the speed alert value is calculated as follows:
Figure FDA0002441977160000031
in the formula, vn-warningIs the speed warning value of the vehicles passing through the stop line on the ramp, DsIs the distance between the ramp radar detector and the ramp stop line; the speed estimation mode of the ramp vehicle passing through the stop line of the ramp is as follows:
Figure FDA0002441977160000032
in the formula, vn-plIs the estimated speed of the on-ramp vehicle through the stop line,
Figure FDA0002441977160000041
is the average length of the vehicle, which is a constant when calculated; Δ tn-occupyIs the occupancy time of the ramp vehicle on the radar detector;
(3) judging whether the time when the vehicle passes through the stop line is positioned after the red light is turned on: the red light of the ramp signal lamp is turned on at the time tredAnd the time when the ramp vehicle passes through the ramp stop line is tn-plIf the vehicle passes through the stop line of the rampn-plLater than the red light turn-on time tredThen recognizing that the vehicle has a breakRed light behavior, issuing early warning information of 'a vehicle ahead runs a red light and please pay attention to safety'; otherwise, the vehicle does not run the red light and does not issue the early warning; the estimation mode of the time when the vehicles on the ramp pass through the stop line of the ramp is as follows:
Figure FDA0002441977160000042
in the formula, tn-plIs the estimated time for the on-ramp vehicle to pass the stop line, Lcar.occupyL is the length of the ramp vehicle on the radar detector detected by the radar detectorsettingIs the layout length of the radar detector.
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