CN112581756B - Driving risk assessment method based on hybrid traffic - Google Patents
Driving risk assessment method based on hybrid traffic Download PDFInfo
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Abstract
A driving risk assessment method based on hybrid traffic relates to the field of unmanned driving risk assessment. The method specifically comprises the following steps: inputting a comprehensive traffic scene comprising three models of motor vehicles, non-motor vehicles and road traffic environments; representing the individual behavior result of any individual in the comprehensive traffic scene as the combination of different acting forces, and synthesizing the combination into a unified expression, wherein the individual is a motor vehicle or a non-motor vehicle; respectively abstracting the motor vehicle and the non-motor vehicle into a motor vehicle driving risk assessment model and a non-motor vehicle driving risk assessment model according to the unified expression; and carrying out the comprehensive traffic scene risk assessment based on the motor vehicle driving risk assessment model, the non-motor vehicle driving risk assessment model and the risk assessment model interacted among other interference items. The comprehensive risk assessment method can simply and efficiently assess the collision risks of different types of individuals in a mixed traffic scene.
Description
Technical Field
The invention relates to the field of unmanned driving risk assessment, in particular to a driving risk assessment method based on hybrid traffic.
Technical Field
The social force model is an important theoretical basis for simulating the behaviors of people and other simulations based on the behavior, has been successfully applied in various fields such as crowd evacuation, traffic simulation flow and the like, can simulate some common crowd self-organization phenomena, and is also an important method for researching the traffic flow theory. If the social force model is improved, the method can be applied to unmanned road risk assessment, so that the influence rule of each traffic element on the driving safety is revealed, and the dynamic change trend of the driving risk is predicted.
Disclosure of Invention
Aiming at the defects in the field, the invention provides a driving risk assessment method based on mixed traffic, aiming at realizing the collision risk assessment of mixed traffic scenes comprising motor vehicles, non-motor vehicles and road traffic environments, simply and efficiently simulating the traffic behaviors of different individuals in the traffic scenes and providing effective and reliable test data for unmanned driving tests.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a driving risk assessment method based on hybrid traffic comprises the following steps:
(1) inputting a mixed traffic scene comprising three models of motor vehicles, non-motor vehicles and road traffic environment;
(2) the individual behavior results of any individual in the mixed traffic scene are characterized as combinations of different acting forces, the individual comprises a motor vehicle and a non-motor vehicle, and the integrated unified expression is as follows:
in the formula:
representing the self-driving force of the individual i,
representing the current speed, M, of the individual iiRepresenting the equivalent mass of the individual i,
representing the desired rate of the individual i at time t,
speed direction, τ, representing the desired velocity of individual i at time tiWhich represents the relaxation time of the individual i,
indicating that individual i is subjected to a repulsive force from other individuals j;
showing the repulsive force between the individual and the road traffic environment, and xi showing the random fluctuation item of the resultant force;
(3) respectively abstracting the motor vehicle and the non-motor vehicle into a motor vehicle driving risk assessment model and a non-motor vehicle driving risk assessment model according to the unified expression;
(4) calculating the interactive collision risk among different types of individuals;
(5) and evaluating the driving risk of the mixed traffic scene based on the motor vehicle driving risk evaluation model, the non-motor vehicle driving risk evaluation model and the collision risk evaluation model interacted among other interference items.
Preferably, in the step (3), the vehicle driving risk assessment model comprises a vehicle self-driving force, a repulsive force of other vehicles within a predetermined range and a repulsive force of a road traffic environment within a predetermined range; due to self-driving force of motor vehicle
Influenced by disturbance factors during driving, for which purpose the desired speed of the vehicle a is determined
Is modified into
In the formula:
for the corrected desired speed, HsafetyTo a safety factor, LsafetyTo reflect the distance safely, dabIs the distance between motor vehicle a and motor vehicle b, raIs the radius of the motor vehicle a.
It is further preferred that the disturbance factors include speed limit, field of view and vehicle condition of the road environment, for which purpose the actual speed is introduced
And corrected desired speed
The relational expression of (1):
in the formula: the actual speed being limited by the maximum speed of the individual
Wherein the maximum speed is the speed limit value of the current road environment, and when the speed limit value is greater than or equal to the speed limit value
When the individual advancing speed is
When the speed limit value is less than
When the individual is advancing at a speed of
The self-driving force of the motor vehicle
The correction is as follows:
in the formula: t iscIs the reaction time of the motor vehicle.
Further preferably, the repulsive force of other vehicles within the predetermined range includes the vehicle b in the adjacent lane1Acting force on motor vehicle a
And motor vehicle b in current lane2Acting force on motor vehicle a
The motor vehicle b in the adjacent lane1Acting force of
The expression of (a) is as follows:
in the formula: u shapecThe scale factor of the magnitude of the repulsive force of other vehicles in the adjacent lane is shown,
showing motor vehicles a and b1The sum of the radii of (a) and (b),
showing motor vehicles a and b1Distance between, RcIndicating the sensitivity of the repulsion forces of other vehicles to distance,
indicating the direction from the centre of the vehicle a to the vehicle b1A unit vector of the center;
the motor vehicle b on the current lane2Acting force of
The expression of (a) is as follows:
in the formula: a ismaxRepresenting the maximum acceleration of the vehicle a, bcIndicating motor vehicle b2Deceleration of vaRepresenting the current speed of the motor vehicle a,
showing motor vehicles a and b2Speed difference of(s)*Representing the distance, s, of the motor vehicle after reaction0Indicating the minimum safe distance between the vehicles,
showing motor vehicles a and b2The distance between the two or more of the two or more,
a unit vector representing the direction of motion of the motor vehicle a; if the motor vehicle changes lane, the force applied to the motor vehicle during lane change is increased
In the formula: u shapel cThe magnitude-proportional coefficient, R, representing the repulsive force of other vehicles during a lane changel cIndicating the sensitivity of the repulsion force of other vehicles to distance during a lane change, dalRepresenting the distance between the vehicle a and the target lane,
a unit vector representing the motor vehicle a pointing to the target lane.
Further preferably, the repulsive force of the road traffic environment within the predetermined range
Is related to road conditions, the worse the road conditions, the greater the likelihood of a collision; the road condition includes a road surface adhesion coefficient muiRoad curvature ρiRoad grade τiAnd road visibility deltaiDefining the road condition influence factor at the preset position of the current individual as RiSaid R isiThe expression of (a) is as follows:
in the formula: gamma ray1、γ2、γ3、γ4Are all undetermined constants, and γ1、γ2Less than 0, gamma3、γ4Greater than 0, mu*Is a standard road surface adhesion coefficient, delta*For standard road visibility, p*For standard road curvature, τ*Is a standard road grade;
repulsive force of the improved road traffic environment
The expression of (a) is as follows:
in the formula: u'cMagnitude proportionality coefficient, d, representing road traffic environment repulsive forceasRepresenting the distance, R ', between the motor vehicle a and the lane boundary'cThe sensitivity coefficient of the road traffic environment repulsive force to the distance is shown,
is a unit vector pointing from the closest position to the vehicle on the lane boundary to the center of the vehicle a.
Preferably, in the step (3), the non-motor vehicle driving risk assessment model
Including direct mutual repulsion forces generated by the front vehicle avoiding collisions with other non-motor vehicles
And the acting force of the non-motor vehicle for realizing the effects of avoiding and exceeding
The expression is as follows:
in the formula: u shapebRepresenting the action strength of the non-motor vehicle repulsion force; b ismRepresenting the acting distance of the non-motor vehicle repulsion force;
a unit vector representing that the non-motor vehicle m points to the non-motor vehicle n; b represents the distance between non-motor vehicle m and non-motor vehicle n, and has:
in the formula: dmnRepresenting the distance of a central point connecting line between the non-motor vehicle m and the non-motor vehicle n; x is the number ofn、ynRespectively showing the short axis length and the long axis length of the obstacle; thetamnRepresenting the angle of the centre line between non-motor vehicle m and non-motor vehicle n.
Further preferably, when the non-motor vehicle encounters an obstacle, the non-motor vehicle surmounts the obstacle by changing the direction, so that a force for realizing the avoidance and surmounting effects is introduced, the magnitude of the force is set to be proportional to the mutual repulsive force, the direction is perpendicular to the direction of the mutual repulsive force, and the expression is as follows:
in the formula: beta is amRepresenting the desired speed factor of the non-motor vehicle, the highest speed of the non-motor vehicle being greater than the desired speed when overriding, and thus betamGreater than 1;
representing a transcendental vector, the expression is as follows:
in the formula: w represents the transverse distance between the center points of the overtaking and overtaken non-motor vehicles at the target point;
representing a unit vector at a distance w from the vehicle m to the overrun side of vehicle n.
Further preferably, the
And
in relation to the angle of view, the viewing angle,thus introducing a direction dependent weight ωmnThe expression is as follows:
in the formula: lambda [ alpha ]bIs a constant number of times, and is,
representing the included angle between the relative position vector of the non-motor vehicle m and the non-motor vehicle n and the advancing direction of the non-motor vehicle m;
improved non-motor vehicle collision risk assessment model
The expression of (a) is as follows:
preferably, in step (4), the collision risk assessment model interacted between the individuals of different types mainly comprises a collision risk assessment model interacted between a motor vehicle and a non-motor vehicle.
Preferably, in the comprehensive collision risk assessment model interacted between the motor vehicle and the non-motor vehicle, if no physical isolation exists between the motor vehicle lane and the non-motor vehicle lane, the single individual model is modified to establish a motor vehicle-non-motor vehicle hybrid traffic driving risk assessment model;
the modification process of the motor vehicle-non-motor vehicle mixed traffic driving risk assessment model is as follows:
for a motor vehicle, if there is a non-motor vehicle in the side view, the motor vehicle will be subjected to a side force:
in the formula:
and
is a constant coefficient, r represents the distance between the vehicle and the non-vehicle, and if there is a non-vehicle in front of the lane,
representing a direction vector of the non-motor vehicle pointing to the motor vehicle;
the vehicle is subjected to a force of deceleration:
sa＝s1+vaΔt
wherein s isaThe distance, s, between the vehicle and the non-vehicle after the vehicle reaction1For minimum safety distance between motor vehicle and non-motor vehicle, vaIs the speed of the motor vehicle, at is the reaction time, d is the distance between the motor vehicle and the non-motor vehicle,
a unit vector of a current individual velocity direction;
for non-motor vehicles, if there is a motor vehicle in the side view, the non-motor vehicle will be subjected to a side force:
wherein the content of the first and second substances,
and
is a constant coefficient of the number of the optical fiber,
the speed of the motor vehicle is the same as the speed of the motor vehicle,
if the motor vehicle exists in front of the non-motor vehicle, the non-motor vehicle is subjected to the action force of deceleration:
sn＝s1+vnΔt
wherein s isnIs the distance between the non-motor vehicle and the motor vehicle after reaction, b'cIndicating deceleration of non-motor vehicles, vnIs the speed of the non-motor vehicle;
when the non-motor vehicle enters the motor vehicle lane, the non-motor vehicle needs to return to the non-motor vehicle lane: the driving force experienced by the non-motor vehicle is expressed as:
in the formula:
and
is a constant coefficient of r3Indicating the lateral distance between the non-motor vehicle and the rear motor vehicle,
a unit vector representing a unit vector pointing from the center of the non-motor vehicle to a nearest position of the non-motor vehicle on the lane of the non-motor vehicle;
in the motor vehicle-non-motor vehicle hybrid traffic risk assessment model, the social force of the motor vehicle a at the moment t is as follows:
the social forces experienced by the non-motor vehicle n at time t are:
advantageous effects
Different from the existing driving risk assessment model, the driving risk assessment method based on mixed traffic provided by the invention can efficiently and reliably assess the dynamic behaviors and collision risks of different individuals in a traffic scene, and has the main advantages that:
(1) model representation of different traffic modes such as motor vehicles, non-motor vehicles and the like in a complex traffic scene is unified through a social force model, and traffic flow problems are converted into force problems;
(2) the collision risk assessment model covers standard behaviors of acceleration/deceleration, lane keeping, lane change and the like.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a diagram of a model framework provided by the present invention;
FIG. 3 is a schematic view of a motor vehicle subjected to road boundary forces provided by the present invention;
FIG. 4 is a reference diagram of the non-motor vehicle stress provided by the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The invention is further described with reference to the following drawings and specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. The experimental procedures, in which specific conditions are not noted in the following examples, are generally carried out under conventional conditions or conditions recommended by the manufacturers.
As shown in fig. 1, the driving risk assessment method based on hybrid traffic of the embodiment includes the following steps:
(1) inputting a mixed traffic scene containing three models of motor vehicles, non-motor vehicles and road traffic environments, as shown in FIG. 2; the road traffic environment comprises highways, urban arterial roads and other roads with good structurization, and the roads have the characteristics of clear road sign lines, single road background environment, obvious road geometric characteristics and the like;
(2) representing the individual behavior result of any individual in the mixed traffic scene as the combination of different acting forces, and synthesizing the combination into a unified expression, wherein the individual is a motor vehicle or a non-motor vehicle;
(3) respectively abstracting the motor vehicle and the non-motor vehicle into a motor vehicle driving risk assessment model and a non-motor vehicle driving risk assessment model according to the unified expression;
(4) calculating the interactive collision risk among different types of individuals;
(5) and performing the risk assessment of the hybrid traffic scene based on the motor vehicle driving risk assessment model, the non-motor vehicle driving test risk assessment model and the collision risk assessment model interacted among other interference items.
In the step (2), the unified expression is:
in the formula:
representing the self-driving force of the individual i,
representing the current speed, M, of the individual iiRepresenting the equivalent mass of the individual i,
representing the desired rate of the individual i at time t,
speed direction, τ, representing the desired velocity of individual i at time tiWhich represents the relaxation time of the individual i,
indicating that individual i is subjected to a repulsive force from the other individual j. Wherein the repulsive force between individuals includes a psychological repulsive force
And physical repulsive force
Repulsion force between individuals in the same race and road traffic environment
Also includes psychological repulsion
And physical repulsive force
Xi is a random fluctuation item of resultant force, is derived from the behavior of an individual accidentally or intentionally deviating from the normal motion rule, is random and non-systematic and represents uncertain individual behaviors;
the current individual being subjected to the repulsive force of a neighboring homogeneous individual
The different behavior characteristics of different classes are divided into two different forms of repulsion between vehicles and repulsion between non-vehicles.
In the step (3), the driving risk assessment model of the motor vehicle comprises the self-driving force of the motor vehicle, the repulsive force of other motor vehicles in a specific range and the self-driving force of the motor vehicle
The desired speed is corrected by a plurality of factors including the allowable speed of the environment within a specific range, the field of view, the vehicle condition, and the like
To correct the later desired speed
The corrected post desired velocity
The expression of (a) is as follows:
wherein
In order to correct the later desired speed,
to the desired speed, HsafetyTo a safety factor, LsafetySafe reflection of distance, dabDistance between motor vehicle a and motor vehicle b, raIs the radius of the motor vehicle a.
As shown in FIG. 3, the repulsive force from the road boundary or sign line is specifically the repulsive force F that the vehicle c receives from the left and right road boundaries on the driving roadrAnd Fl(repulsive force F when the vehicle is on the road center linerAnd FlWill cancel each other); as the motor vehicle gets closer to a boundary, it experiences a larger repulsive force from the boundary.
The repulsive force of other vehicles in the specific range includes the vehicles b in the adjacent lanes1Acting force on motor vehicle a
And motor vehicle b in current lane2Acting force on motor vehicle a
The motor vehicle b in the adjacent lane1Acting force of
The expression of (a) is as follows:
wherein, UcIs the magnitude proportionality coefficient of the repulsive force, rabIs a motor vehicle a and a motor vehicle b1The sum of the radii of (a) and (b),
is a motor vehicle a and a motor vehicle b1Distance between, RcIs the sensitivity coefficient of this repulsive force to distance,
is directed from the center of the motor vehicle a to the motor vehicle b1A unit vector of the center;
the motor vehicle b on the current lane2Acting force of (2) and motor vehicles (c) and (b)2With respect to the distance between vehicles and the speed difference, by means of the brake deceleration semantic in IDM, to approximate the distance between the vehicle c and the vehicle b2Repulsive force
The expression is as follows:
wherein, amaxRepresenting the maximum acceleration of the vehicle a, bcIndicating motor vehicle b2Deceleration of vaRepresenting the current speed of the motor vehicle a,
showing motor vehicles a and b2Speed difference of(s)*Representing the distance, s, of the motor vehicle after reaction0Indicating the minimum safe distance between the vehicles,
showing motor vehicles a and b2The distance between the two or more of the two or more,
a unit vector representing the direction of motion of the vehicle a.
If lane change is considered, the force applied to a lane change is increased
The force applied during lane change
The expression is as follows:
wherein, Ul cIs the magnitude proportionality coefficient of the repulsive force, Rl cIs the sensitivity coefficient of the repulsive force to the distance, dalRepresenting the distance between the vehicle a and the target lane,
a unit vector representing the motor vehicle a pointing to the target lane.
The repulsive force of the road traffic environment within the specific range
Is related to road conditions, the worse the road conditions, the greater the likelihood of a collision; the road conditions comprise road surface adhesion coefficient, road curvature, road gradient, road visibility and the like; defining the influence of road conditions at a specific location of a current individualFactor is Ri；
The road condition influence factor R of the specific position where the current individual is locatediThe expression of (a) is as follows:
wherein, deltaiFor road visibility, muiIs the road adhesion coefficient, piFor road curvature, τiIs the road gradient, gamma1，γ2，γ3，γ4Are all undetermined constants, and γ1，γ2＜0，γ3，γ4＞0，μ*Is a standard road surface adhesion coefficient, delta*For standard road visibility, p*For standard road curvature, τ*Is a standard road grade.
The repulsive force of the road traffic environment improved within the specific range
The expression of (a) is as follows:
the repulsive force of the road traffic environment
Can be expressed as:
wherein, U'cIs the magnitude proportionality coefficient of the repulsive force, dasIs the distance, R ', between the motor vehicle a and the lane boundary'cIs the sensitivity coefficient of this repulsive force to distance,
is a unit vector pointing to the center of the motor vehicle a from the position nearest to the motor vehicle on the lane boundary;
as shown in FIG. 4, in step (3), the non-motor vehicle collision risk assessment model
Direct mutual repulsion forces, mainly due to avoidance of collisions with other non-motor vehicles
And the acting force of the non-motor vehicle for realizing the effects of avoiding and exceeding
The expression is as follows:
the direct mutual repulsive force of the non-motor vehicle for avoiding collision with other non-motor vehicles is generated for meeting the requirement of a safety space, namely a perception domain, and the conscious reaction of the non-motor vehicle for avoiding collision with other individuals can be expressed as follows:
wherein, UbStrength of non-motor vehicle repulsion force; b ismRepresenting the acting distance of the non-motor vehicle repulsion force;
a unit vector representing that the non-motor vehicle m points to the non-motor vehicle n; b represents the distance between non-motor vehicle m and non-motor vehicle n, and has:
wherein d ismnRepresenting the distance of a central point connecting line between the non-motor vehicle m and the non-motor vehicle n; x is the number ofn、ynRespectively showing the short axis length and the long axis length of the obstacle; thetamnRepresenting the angle of the centre line between non-motor vehicle m and non-motor vehicle n.
In order to embody the characteristic, force for realizing avoiding and exceeding effects is introduced, the magnitude of the set force is proportional to mutual repulsive force, the direction is vertical to the direction of the repulsive force, and the expression is as follows:
wherein, betamRepresenting the desired speed factor of the non-motor vehicle, the highest speed of the non-motor vehicle being greater than the desired speed when overriding, and thus betamGreater than 1;
representing a transcendental vector, the expression is as follows:
w is the transverse distance between the center points of the overtaking and overtaken vehicles at the target point;
the unit vector of the distance w from the non-motor vehicle m to the side (the side with larger clearance and smaller density) with better exceeding condition of the non-motor vehicle n points to the left side if the left side is larger, and otherwise points to the right side.
Avoiding direct mutual repulsion force generated by collision with other non-motor vehicles
And the acting force of the non-motor vehicle for realizing the effects of avoiding and exceeding
Depending on the view angle, the influence of an individual located laterally behind a non-motor vehicle is much smaller than that of an individual located forward, introducing a direction-dependent weight ωmnThe expression is as follows:
wherein λ isbIs a constant number of times that the number of the first,
representing the angle between the relative position vector of the non-motor vehicle m and the non-motor vehicle n and the advancing direction of the non-motor vehicle m.
The improved non-motor vehicle collision risk assessment model
The expression of (a) is as follows:
the risk assessment model is mainly applied to data testing of unmanned vehicles, the scene is mainly suitable for roads with good structuralization, such as expressways, urban arterial roads and the like, and the risk assessment model has the characteristics of clear road sign lines, single road background environment, obvious road geometric characteristics and the like, so that the interaction between motor vehicles and non-motor vehicles is mainly considered.
In the step (4), the interactive collision risk assessment model between the different individuals mainly comprises an interactive driving risk assessment model between a motor vehicle and a non-motor vehicle.
In the interactive comprehensive collision risk assessment model between the motor vehicle and the non-motor vehicle, if no physical isolation exists between the motor vehicle lane and the non-motor vehicle lane, a motor vehicle-non-motor vehicle hybrid traffic driving risk assessment model is established by modifying the single individual model;
the modification process of the motor vehicle-non-motor vehicle mixed traffic driving risk assessment model is as follows:
for a motor vehicle, if there is a non-motor vehicle in the side view, the motor vehicle will be subjected to a side force:
in the formula:
and
is a constant coefficient, r represents the distance between the vehicle and the non-vehicle, and if there is a non-vehicle in front of the lane,
representing a direction vector of the non-motor vehicle pointing to the motor vehicle;
the vehicle is subjected to a force of deceleration:
sa＝s1+vaΔt
wherein s isaThe distance, s, between the vehicle and the non-vehicle after the vehicle reaction1For minimum safety distance between motor vehicle and non-motor vehicle, vaIs the speed of the motor vehicle, at is the reaction time, d is the distance between the motor vehicle and the non-motor vehicle,
a unit vector of a current individual velocity direction;
for non-motor vehicles, if there is a motor vehicle in the side view, the non-motor vehicle will be subjected to a side force:
wherein the content of the first and second substances,
and
is a constant coefficient of the number of the optical fiber,
the speed of the motor vehicle is the same as the speed of the motor vehicle,
if the motor vehicle exists in front of the non-motor vehicle, the non-motor vehicle is subjected to the action force of deceleration:
sn＝s1+vnΔt
wherein s isnIs the distance between the non-motor vehicle and the motor vehicle after reaction, b'cIndicating deceleration of non-motor vehicles, vnIs the speed of the non-motor vehicle;
because physical isolation does not exist, the acting force of the non-motor vehicle on the boundary adjacent to the motor vehicle lane is far smaller than that of the boundary on the other side, in real life, when the non-motor vehicle entering the motor vehicle lane causes serious interference to the movement of the motor vehicle, the motor vehicle can remind the non-motor vehicle in front through whistle operation, and therefore, the force for driving the non-motor vehicle to return to the non-motor vehicle lane is added in a model to simulate the phenomenon:
wherein the content of the first and second substances,
and
is a constant coefficient of r3Indicating the lateral distance between the non-motor vehicle and the rear motor vehicle,
representing a unit vector pointing from the center of the non-motor vehicle to the nearest location on the lane of the non-motor vehicle.
In the motor vehicle-non-motor vehicle hybrid traffic risk assessment model, the social force of the motor vehicle a at the moment t is as follows:
the social forces experienced by the non-motor vehicle n at time t are:
furthermore, it should be understood that various changes and modifications can be made by one skilled in the art after reading the above description of the present invention, and equivalents also fall within the scope of the invention as defined by the appended claims.
Claims (6)
1. A driving risk assessment method based on hybrid traffic is characterized by comprising the following steps:
(1) inputting a mixed traffic scene comprising three models of motor vehicles, non-motor vehicles and road traffic environment;
(2) the individual behavior results of any individual in the mixed traffic scene are characterized as combinations of different acting forces, the individual comprises a motor vehicle and a non-motor vehicle, and the integrated unified expression is as follows:
in the formula:
representing the self-driving force of the individual i,
representing the current speed, M, of the individual iiRepresenting the equivalent mass of the individual i,
representing the desired rate of the individual i at time t,
speed direction, τ, representing the desired velocity of individual i at time tiWhich represents the relaxation time of the individual i,
indicating that individual i is subjected to a repulsive force from other individuals j;
showing the repulsive force between the individual and the road traffic environment, and xi showing the random fluctuation item of the resultant force;
(3) respectively abstracting the motor vehicle and the non-motor vehicle into a motor vehicle driving risk assessment model and a non-motor vehicle driving risk assessment model according to the unified expression;
(4) calculating the interactive collision risk among different types of individuals;
(5) performing driving risk assessment on the mixed traffic scene based on the motor vehicle driving risk assessment model, the non-motor vehicle driving risk assessment model and a collision risk assessment model interacted among other interference items;
in the step (3), the driving risk assessment model of the motor vehicle comprises maneuveringThe self-driving force of the vehicle, the repulsive force of other motor vehicles in a preset range and the repulsive force of road traffic environment in a preset range; due to self-driving force of motor vehicle
Influenced by disturbance factors during driving, for which purpose the desired speed of the vehicle a is determined
Is modified into
In the formula:
for the corrected desired speed, HsafetyTo a safety factor, LsafetyTo reflect the distance safely, dabIs the distance between motor vehicle a and motor vehicle b, raIs the radius of motor vehicle a;
in the step (3), the non-motor vehicle driving risk assessment model
Including direct mutual repulsion forces generated by the front vehicle avoiding collisions with other non-motor vehicles
And the acting force of the non-motor vehicle for realizing the effects of avoiding and exceeding
The expression is as follows:
in the formula: u shapebRepresenting the action strength of the non-motor vehicle repulsion force; b ismRepresenting the acting distance of the non-motor vehicle repulsion force;
a unit vector representing that the non-motor vehicle m points to the non-motor vehicle n; b represents the distance between non-motor vehicle m and non-motor vehicle n, and has:
in the formula: dmnRepresenting the distance of a central point connecting line between the non-motor vehicle m and the non-motor vehicle n; a isn、bnRespectively showing the short axis length and the long axis length of the obstacle; thetamnRepresenting the included angle of the central line between the non-motor vehicle m and the non-motor vehicle n;
when the non-motor vehicle encounters an obstacle, the non-motor vehicle surmounts the obstacle by changing the direction, so that force for realizing avoiding and surmounting effects is introduced, the force is set to be proportional to the mutual repulsive force, the direction is vertical to the direction of the mutual repulsive force, and the expression is as follows:
in the formula: beta is amRepresenting the desired speed factor of the non-motor vehicle, the highest speed of the non-motor vehicle being greater than the desired speed when overriding, and thus betamGreater than 1;
a transcendental vector is represented that is,the expression is as follows:
in the formula: w represents the transverse distance between the center points of the overtaking and overtaken non-motor vehicles at the target point;
representing a unit vector at a distance w from non-motor vehicle m to the overrun side of non-motor vehicle n;
the above-mentioned
And
dependent on the angle of view, thus introducing a direction-dependent weight ωmnThe expression is as follows:
in the formula: lambda [ alpha ]bIs a constant number of times, and is,
representing the included angle between the relative position vector of the non-motor vehicle m and the non-motor vehicle n and the advancing direction of the non-motor vehicle m;
improved non-motor vehicle collision risk assessment model
The expression of (a) is as follows:
2. the hybrid transportation-based driving risk assessment method according to claim 1, wherein the disturbance factors include speed limit, visual field and vehicle condition of road environment, for which the actual speed is introduced
And corrected desired speed
The relational expression of (1):
in the formula: the actual speed being limited by the maximum speed of the individual
Wherein the maximum speed is the speed limit value of the current road environment, and when the speed limit value is greater than or equal to the speed limit value
When the individual advancing speed is
When the speed limit value is less than
When the individual is advancing at a speed of
The motor vehicle self-driving force
The correction is as follows:
in the formula: t iscIs the reaction time of the motor vehicle.
3. The hybrid transportation-based driving risk assessment method according to claim 2, wherein the repulsive force of other vehicles within the predetermined range comprises the vehicle b in the adjacent lane1Acting force on motor vehicle a
And motor vehicle b in current lane2Acting force on motor vehicle a
The motor vehicle b in the adjacent lane1Acting force on motor vehicle a
The expression of (a) is as follows:
in the formula: u shapecThe scale factor of the magnitude of the repulsive force of other vehicles in the adjacent lane is shown,
showing motor vehicles a and b1The sum of the radii of (a) and (b),
showing motor vehicles a and b1Distance between, RcTo indicate othersThe sensitivity coefficient of the repulsion force of the motor vehicle to the distance,
indicating the direction from the centre of the vehicle a to the vehicle b1A unit vector of the center;
the motor vehicle b on the current lane2Acting force on motor vehicle a
The expression of (a) is as follows:
in the formula: a ismaxRepresenting the maximum acceleration of the vehicle a, bcIndicating motor vehicle b2Deceleration of vaRepresenting the current speed of the motor vehicle a,
showing motor vehicles a and b2Speed difference of(s)*Representing the distance, s, of the motor vehicle after reaction0Indicating the minimum safe distance between the vehicles,
showing motor vehicles a and b2The distance between the two or more of the two or more,
a unit vector representing the direction of motion of the motor vehicle a;
if the motor vehicle changes lane, the force applied to the motor vehicle during lane change is increased
In the formula: u shapel cThe magnitude-proportional coefficient, R, representing the repulsive force of other vehicles during a lane changel cIndicating the sensitivity of the repulsion force of other vehicles to distance during a lane change, dalRepresenting the distance between the vehicle a and the target lane,
a unit vector representing the motor vehicle a pointing to the target lane.
4. The hybrid transportation-based driving risk assessment method according to claim 3, wherein the repulsive force of the road traffic environment within the predetermined range
Is related to road conditions, the worse the road conditions, the greater the likelihood of a collision; the road condition includes a road surface adhesion coefficient muiRoad curvature ρiRoad grade τiAnd road visibility deltaiDefining the road condition influence factor of the preset position of the individual i as RiSaid R isiThe expression of (a) is as follows:
in the formula: gamma ray1、γ2、γ3、γ4Are all undetermined constants, and γ1、γ2Less than 0, gamma3、γ4Greater than 0, mu*Is a standard road surface adhesion coefficient, delta*For standard road visibility, p*For standard road curvature, τ*Is a standard road grade;
improved repulsive force of road traffic environment
The expression of (a) is as follows:
in the formula: u'cMagnitude proportionality coefficient, d, representing road traffic environment repulsive forceasRepresenting the distance, R ', between the motor vehicle a and the lane boundary'cThe sensitivity coefficient of the road traffic environment repulsive force to the distance is shown,
is a unit vector pointing from the closest position to the vehicle on the lane boundary to the center of the vehicle a.
5. The driving risk assessment method based on hybrid transportation according to claim 4, wherein in step (4), the collision risk of interaction between different types of individuals is calculated, mainly including the collision risk of interaction between automobiles and non-automobiles.
6. The hybrid transportation-based driving risk assessment method according to claim 5, wherein in the collision risk assessment model of interaction between the motor vehicle and the non-motor vehicle, if there is no physical isolation between the motor vehicle lane and the non-motor vehicle lane, a motor vehicle-non-motor vehicle hybrid transportation driving risk assessment model is established by modifying the single individual model;
the modification process of the motor vehicle-non-motor vehicle mixed traffic driving risk assessment model is as follows:
for a motor vehicle, if there is a non-motor vehicle in the side view, the motor vehicle will be subjected to a side force:
in the formula:
and
is a constant coefficient, r represents the distance between the vehicle and the non-vehicle, and if there is a non-vehicle in front of the lane,
representing a direction vector of the non-motor vehicle pointing to the motor vehicle;
the vehicle is subjected to a force of deceleration:
sa＝s1+vaTc
wherein s isaThe distance, s, between the vehicle and the non-vehicle after the vehicle reaction1For minimum safety distance between motor vehicle and non-motor vehicle, vaAs the speed of the motor vehicle, bcRepresenting the deceleration of the vehicle, d is the distance between the vehicle and the non-vehicle,
a unit vector of a current individual velocity direction;
for non-motor vehicles, if there is a motor vehicle in the side view, the non-motor vehicle will be subjected to a side force:
wherein the content of the first and second substances,
and
is a constant coefficient of the number of the optical fiber,
the speed of the motor vehicle is the same as the speed of the motor vehicle,
if the motor vehicle exists in front of the non-motor vehicle, the non-motor vehicle is subjected to the action force of deceleration:
sn＝s1+vnTc
wherein s isnIs the distance between the non-motor vehicle and the motor vehicle after reaction, b'cIndicating deceleration of non-motor vehicles, vnIs the speed of the non-motor vehicle;
when the non-motor vehicle enters the motor vehicle lane, the non-motor vehicle needs to return to the non-motor vehicle lane: the driving force experienced by the non-motor vehicle is expressed as:
in the formula:
and
is a constant coefficient of r3Indicating the lateral distance between the non-motor vehicle and the rear motor vehicle,
a unit vector representing a unit vector pointing from the center of the non-motor vehicle to a nearest position of the non-motor vehicle on the lane of the non-motor vehicle;
in the motor vehicle-non-motor vehicle hybrid traffic risk assessment model, the social force of the motor vehicle a at the moment t is as follows:
the social forces experienced by the non-motor vehicle n at time t are:
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