CN115100904B

CN115100904B - Forward and game-based slow traffic and automobile conflict early warning method and system

Info

Publication number: CN115100904B
Application number: CN202210695130.6A
Authority: CN
Inventors: 尤志栋; 张爱红; 郝会龙; 严锡蕾; 高岩; 王羿童; 鲍翰涛; 王运霞
Original assignee: Traffic Management Research Institute of Ministry of Public Security
Current assignee: Traffic Management Research Institute of Ministry of Public Security
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2023-07-07
Anticipated expiration: 2042-06-20
Also published as: CN115100904A

Abstract

According to the forward and game-based slow traffic and automobile conflict early warning method, a virtual game area is divided in the entering direction of each motor vehicle at an intersection to be early warned, a motor vehicle running data acquisition device and a slow traffic person running data acquisition device are arranged to acquire motor vehicle running data and slow traffic person running data respectively, accident probabilities of the motor vehicle and the slow traffic person in the virtual game area are calculated in a quantification mode, conflict risks are calculated based on the accident probabilities, warning contents are issued to the motor vehicle and the slow traffic person respectively before the motor vehicle enters a disposal area, automatic early warning of the conflict risks of the slow traffic person and the motor vehicle at the intersection is achieved, traffic safety cognition of the slow traffic person and a motor vehicle driver at the intersection is guaranteed, and workload of intersection management and control personnel is greatly reduced. Meanwhile, the invention also discloses a slow traffic and automobile conflict early warning system based on the forward and game.

Description

Forward and game-based slow traffic and automobile conflict early warning method and system

Technical Field

The invention relates to the technical field of road traffic management, in particular to a slow traffic and automobile conflict early warning method and system based on forward and game.

Background

Along with the continuous development of urban trend in China, roads in urban streets extend outwards continuously, intersections in road networks are increased continuously and change continuously, and the intersections as intersections for different road users to pass are also a concentrated point of road traffic conflict and accidents. Traffic collisions or accidents occurring at intersections, which are relatively high in occupancy, are often collisions between motor vehicles and slow traffic people. Slow traffic includes: electric vehicles, bicycles, pedestrians. Common traffic collisions or accidents include: motor vehicles do not stop to let go right at the intersection or turn too fast, so that the motor vehicles collide with chronic traffic on non-motor lanes and crosswalks, and the population of the slow traffic breaks the red light.

The reason for this is that the collision risk awareness level of motor vehicle drivers and slow traffic people for intersections is low. The reasons of real-time traffic information asymmetry, road use right ambiguity, traffic conflict uncertainty, travel environment complexity and the like lead to unreasonable decisions of both crossing traffic game sides, and further lead to the conflict of crossing road right and road right, and cause road traffic conflict and accidents.

In the prior art, the control method for the intersection safety prevention is mainly characterized in that the right of passage and the right of passage of various road users are standardized through road sign marks and traffic lights, electronic police such as red light running illegal systems and on-site policemen and auxiliary policemen are adopted to carry out illegal action investigation and punishment measures, and civilized persuasion activities and persuasion services such as wearing helmets, gifts and the like are carried out on site through civilized volunteers, new-collar drivers and full-charge drivers. Most of the management and control methods are carried out in a mode of assisting manual warning education by tools, subjective judgment and on-site reaction of on-site personnel are needed, and the management of the 24-hour uninterrupted input personnel also consumes a lot of manpower resources.

Disclosure of Invention

In order to solve the problems of the existing intersection safety prevention management and control method, mainly by subjective judgment of field personnel and very consuming human resources, the invention provides a slow traffic and automobile conflict early warning method based on forward and game, which can effectively identify the conflict risks of slow traffic people and automobiles at an intersection, quantitatively acquire the conflict probabilities of both parties, effectively evaluate the game risk degree of a conflict object for research and judgment, finely provide grading warning, not only has objective judgment results, but also can reduce the workload of the intersection management and control personnel and save human resources. Meanwhile, the invention also discloses a slow traffic and automobile conflict early warning system based on the positive game and the game

The technical scheme of the invention is as follows: the slow traffic and automobile conflict early warning method based on the positive and game is characterized by comprising the following steps of:

s1: determining an intersection to be pre-warned, and determining a motor vehicle passing space and a slow pedestrian passing space corresponding to the intersection to be pre-warned;

the motor vehicle passing space is as follows: in the passing direction of each motor vehicle entering the intersection to be pre-warned, extending the running track of the motor vehicle along the running direction of the road at the current position of the motor vehicle at the current moment according to the current running speed until the motor vehicle enters the intersection to be pre-warned;

The slow walker passing space is as follows: each slow traffic person enters the traffic direction of the intersection to be pre-warned, and extends the travel track of the slow traffic person along the travel direction at the current position of the slow traffic person at the current moment according to the current travel speed until entering the intersection to be pre-warned;

a slow-going person traveling data acquisition device is arranged at a position before a slow-going person enters an intersection area of the motor vehicle passing space and the slow-going person passing space; a slow traffic early warning device is arranged before a slow traffic person leaves the position of the intersection area of the motor vehicle passing space and the slow traffic person passing space;

s2: determining a virtual game area according to the motor vehicle passing space and the slow walker passing space;

the virtual game area is arranged in the passing direction of each motor vehicle entering the intersection to be pre-warned, the length of the virtual game area is enough to support the motor vehicle to finish avoiding measures for slow traffic people, and the virtual game area comprises a motor vehicle lane and a non-motor vehicle lane in the same driving direction in the width direction; the virtual gaming region includes: the detection zone, the reaction zone, the disposal zone and the release zone are sequentially arranged in the passing direction of the motor vehicle;

An entrance of the exploration area is provided with a motor vehicle running data acquisition device for acquiring running data of motor vehicles entering the intersection to be pre-warned; the motor vehicle enters the exploration area, namely, the detection period is started;

the length of the reaction zone is the length which ensures that the system can complete calculation based on the motor vehicle running data acquired by the motor vehicle running data acquisition device;

the treatment area is arranged in front of the intersection area of the motor vehicle passing space and the slow walker passing space, and motor vehicle early warning equipment is arranged on the treatment area;

the release area is a crossing area of the motor vehicle passing space and the slow walker passing space, the motor vehicle leaves the virtual game area after leaving the release area, the detection period is finished, and the next detection period is started;

s3: collecting traffic data of a slow walker and traffic data of a motor vehicle;

the motor vehicle passing data is running data of a motor vehicle entering the virtual game area in the vehicle coming direction, and the running data comprises the following steps: the acquisition serial number, the acquisition starting time of the motor vehicle, the existence state of the motor vehicle, the type of the vehicle, the speed of the vehicle and the acquisition ending time of the motor vehicle;

wherein the first motor vehicle entering the virtual gaming area in each detection cycle is noted as: the method comprises the steps that a motor vehicle to be collected is used as motor vehicle traffic data participating in calculation; the time when the motor vehicle to be collected enters the exploration area and leaves the release area is respectively used as the motor vehicle collection starting time and the motor vehicle collection ending time;

Meanwhile, the motor vehicle acquisition starting time and the motor vehicle leaving the release zone time are respectively used as the starting time and the ending time of the detection period;

the vehicle presence state includes: with and without vehicles;

the vehicle types include: large-sized motor vehicle and small-sized motor vehicle;

the slow traffic data is the operation data of slow traffic people entering the virtual game area, and comprises the following steps: the method comprises the steps of collecting serial numbers, collecting starting time of slow traffic people, existence state of slow traffic people, travel speed of slow traffic people, collecting ending time of slow traffic people and a counter;

the existence state of the slow traffic person refers to the existence state of the slow traffic person in the game area, and the method comprises the following steps: presence and absence;

in each detection period, the slow pedestrian acquisition starting time and the slow pedestrian acquisition ending time of the slow pedestrian traffic data are respectively the same as the motor vehicle acquisition starting time and the motor vehicle acquisition ending time;

s4: determining a motor vehicle presence status and a slow traffic person presence status in the motor vehicle traffic data;

if any one of the following warning conditions is satisfied, implementing step S6;

and (3) a warning condition:

the existing states of the motor vehicles in the motor vehicle passing data are as follows: the vehicles exist, and meanwhile, the existence state of the slow traffic people is as follows: presence;

And (2) warning conditions:

the existing states of the motor vehicles in the motor vehicle passing data are as follows: the vehicle is on, and the vehicle speed is higher than a warning vehicle speed threshold value;

otherwise, if the detection period is not satisfied, after the detection period of the present round is ended, entering the next detection period, and executing the steps S3 and S4;

s5: calculating accident probability of motor vehicles and slow traffic people in the virtual game area;

the accident probability P is calculated by the following steps:

at the intersection with signal control, the accident probability P is calculated by the following steps:

wherein:

p (v, b, P) is the probability of collision of vehicle v, non-vehicle b, pedestrian P within Δt;

λ _ν for the average drive-off of motor vehicle v during an active green light;

λ _bp an average drive-off rate of the non-motor vehicle b or the pedestrian p during the effective green light;

delta t is the signal period of the intersection, namely the sum of the time required by each phase signal lamp to display once in turn;

k is the number of objects that the slow traffic people collide with the motor vehicle;

when k=0, the accident probability P is calculated, P _bp (k＝0)＝P _bp (k＝1)；

At the intersection without signal control, the accident probability P is calculated by the following steps:

wherein:

p (v, b, P) is the probability of collision of vehicle v, non-vehicle b, pedestrian P in Δt';

λ′ _ν for the average drive-off rate of the motor vehicle flow v in the effective passing rule time when the motor vehicle flow v is in the priority of straight running, avoiding left-side vehicles and right-turning and avoiding slow-running vehicles, lambda' _bp The average driving-off rate of the effective passing rule time of the non-motor vehicle b or the pedestrian p when the motor vehicle passes;

Δt' is the sum of all direction receiving gaps, wherein the receiving gaps are time gaps when a driver seeks to enter an intersection in parking queuing or decelerating traffic flow;

s6: calculating a collision risk based on the accident probability P;

the calculation mode of the conflict risk R is as follows:

R(v,b,p)＝P(v,b,p)/T _tac

wherein R (v, b, p) is the collision or accident injury risk degree of the motor vehicle v, the non-motor vehicle b and the pedestrian p at the current moment;

p (v, b, P)) is the probability of collision among the motor vehicle v, the non-motor vehicle b and the pedestrian P at the current moment is the traffic collision probability;

T _tac the avoidance treatment time required by a motor vehicle driver or a slow traffic person for avoiding traffic collision is taken as the smaller value;

s7: judging a risk level corresponding to the conflict risk R according to a pre-constructed conflict risk judging model, and marking as: the risk level of the round;

the collision risk research and judgment model refers to the collision risk R and the safe driving-out time t _s The comparison relation between the product value range and the avoidance treatment time classifies the conflict risk R, and specifically comprises the following steps:

when the product of the collision risk R and the safe driving-away time is 0-5%, and the avoidance treatment time is more than or equal to 3.0s, the corresponding risk level of R is R0;

When the product of the collision risk R and the safe driving-away time is 6-15%, and the avoidance treatment time is more than or equal to 3.0s, the corresponding risk level of R is R1;

when the product of the collision risk R and the safe driving-away time is 16-30%, and the avoidance treatment time is more than or equal to 3.0s, the risk R corresponds to a risk level R2;

when the product of the collision risk R and the safe driving-away time is 31-50% and the avoidance treatment time is more than or equal to 3.0s, the corresponding risk level of R is R3;

when the value range R of the product of the conflict risk R and the safe driving-away time is more than 50%, the corresponding risk grade of R is R4;

the safe driving-off time is taken as the green light phase time of the running direction of the motor vehicle at the signal control intersection, and is taken as the acceptable critical gap of the running direction of the motor vehicle at the signal-free control intersection;

s8: finding out a warning mode corresponding to the risk level of the vehicle according to a pre-constructed risk warning model, and respectively issuing warning contents to the vehicle and the slow traffic people before the vehicle enters the disposal area through the slow traffic people early warning equipment and the vehicle early warning equipment;

constructing corresponding warning grades, warning contents and warning modes in the risk warning model based on the risk grade corresponding to the conflict risk grade R and traffic participants;

S9: and after the motor vehicle to be collected leaves the release area, entering the next detection period, and executing steps S3-S10.

It is further characterized by:

in step S6, the avoidance treatment time T _tac The calculation method of (1) is as follows:

T _tac ＝min(t1，t2)

wherein t1 is the vehicle avoidance treatment time, which represents the time required for the vehicle to completely stop from entering the reaction zone to the end point of the treatment zone;

wherein L is _{Reaction zone} L is the length of the reaction zone _{Treatment area} To treat the length of the region, v ₁ An initial speed of the motor vehicle to be collected entering the reaction zone is given;

t2 is the avoidance handling time of the slow traffic, comprising: the slow traffic person reaction time is added with the stop action processing time of the slow traffic person;

the method for calculating the avoidance treatment time t2 of the slow traffic person simultaneously comprises the following steps of: when more than one element of an electric vehicle, a bicycle and a pedestrian is adopted, respectively collecting avoidance treatment time of each element, and taking the smaller element as a value of t 2;

calculating the avoidance treatment time T based on the second warning condition _tac When the method is used, t2 is taken as a value according to the preset default slow walking person avoiding treatment time;

the method for calculating the effective passing rule time comprises the following steps:

For motor vehicles, at λ' _ν In the calculation of (a), the effective passing rule time t is used _ec The calculation method of (2) is as follows:

wherein t is _ec For effective passing regular time, also is critical gap of traffic flow in passing direction, t _agm For the traffic flow in the passing direction to receive the average value of the traffic flow gap in the other intersecting direction, f _v For another intersecting direction t _agm Traffic flow in time period, S _ag Variance of the acceptance gap;

for slow traffic, at λ' _bp In the calculation of (a), the effective traffic rule time t 'used' _bp The calculation method of (2) is as follows:

wherein t' _bp The effective passing rule time corresponding to the slow traffic person is also the workshop time interval required by the safe passing of the slow traffic person;

n _v the number of lanes to be traversed for crossing pedestrians to cross the street; d (D) _v Is the width of the motor vehicle lane; v _p Is the walking speed of pedestrians; r is the number of pedestrian rows crossing the street on one side; t is t _p Is the time interval between continuous pedestrian flows; t is t _R The method comprises the steps of observing road conditions for pedestrians, and judging the time of a safe passing gap; t is t _Y The time for the first row of pedestrians to increase after interfering with the opposite pedestrians in the crossing; t is t _I The time for a single body length to pass through a crosswalk;

in step S2, setting the virtual game area based on the history data of the intersection to be pre-warned;

Comprising the following steps: peak period virtual game area and peaked period virtual game area;

in the steps S5 and S6, for the calculation of the accident probability P and the collision risk R, according to the period in which the acquisition time of the motor vehicle traffic data is located, the calculation is performed based on the data of the peak period virtual game area or the peak period virtual game area respectively;

in the risk alert model, the traffic participant comprises: slow traffic people, small motor vehicles and large motor vehicles;

the warning mode comprises the following steps: visual light signal, visual text information, audible cue.

The utility model provides a slow traffic and car conflict early warning system based on positive and recreation which characterized in that it includes: the system comprises a data acquisition module, a calculation module and an early warning module; the data acquisition module and the early warning module are in data connection with the calculation module; the computing module is in communication connection with a signal controller arranged in the intersection to be pre-warned, and acquires signal period data in real time;

the data acquisition module comprises: the motor vehicle running data acquisition device and the slow-running person running data acquisition device are arranged at the intersection to be pre-warned;

the early warning module comprises a slow pedestrian early warning device and a motor vehicle early warning device which are arranged at the intersection to be early warned;

The computing module includes: the system comprises a basic information module, a conflict risk research and judgment model and a risk warning model;

the basic information module stores the detail data of the intersection to be early-warned in advance, and the detail data of the intersection to be early-warned comprises: gao Fengqi corresponding to the intersection to be pre-warned and the start-stop time of the peak period, and the peak period virtual game area corresponding to the intersection to be pre-warned respectively correspond to the length data and the coordinate data of the corresponding exploration area, the reaction area, the disposal area and the release area, and the historical data of the intersection to be pre-warned;

the data acquisition module sends the acquired passing data of the slow-moving people and the passing data of the motor vehicles into the calculation module, and after the calculation module calculates the accident probability P of the motor vehicles and the slow-moving traffic people in the virtual game area, the calculation module calculates the conflict or accident injury risk degree R based on the passing data of the slow-moving people, the passing data of the motor vehicles and the length data of the virtual game area; the conflict or accident injury risk degree R is sent to a conflict risk research model, and a risk grade corresponding to the conflict or accident injury risk degree R is obtained and is recorded as a current round of risk grade; the risk level of the round is sent to a risk warning model, and a warning mode corresponding to the risk level of the round is determined;

And the calculation module calls the early warning module to send warning information to the motor vehicle and the slow traffic people based on the warning mode corresponding to the risk level of the current wheel.

It is further characterized by:

the early warning module comprises: electronic information screen, lighting device and sound device;

the data acquisition module comprises: road monitoring cameras or radar devices.

According to the forward and game-based slow traffic and automobile conflict early warning method, a virtual game area is divided in the passing direction of each motor vehicle entering an intersection to be early warned, a motor vehicle running data acquisition device and a slow person running data acquisition device are arranged in a motor vehicle passing space and a slow person passing space, motor vehicle running data and slow person running data are acquired respectively, accident probability of the motor vehicle and the slow person in the virtual game area is calculated quantitatively, and then the conflict risk is calculated based on the accident probability, warning contents are issued to the motor vehicle and the slow person before the motor vehicle enters a disposal area respectively, so that automatic early warning of the collision risk between the slow person and the motor vehicle at the intersection is achieved, traffic safety cognition of the slow person and a motor vehicle driver at the intersection is ensured to be improved, and the workload of intersection management and control personnel is greatly reduced; according to the technical scheme, the accident probability and the collision risk are calculated based on the intersection to be pre-warned, the motor vehicle traffic data and the slow pedestrian traffic data, so that the calculation result is objective and reliable, and the method is applicable to various different intersections; during early warning, carrying out early warning on different contents and running according to a pre-constructed conflict risk studying and judging model to carry out refined early warning on conflict risks of different levels; the subjective consciousness judgment of management and control personnel is not needed, the error probability is reduced, and the traffic safety of intersections is ensured.

Drawings

FIG. 1 is a schematic diagram of a motor vehicle passing space and a slow walker passing space corresponding to an intersection to be pre-warned;

FIG. 2 is a schematic diagram of a virtual game area in an intersection to be pre-warned;

FIG. 3 is a schematic diagram of the installation positions of the early warning module and the data acquisition module in the intersection to be early warned;

fig. 4 is a schematic block diagram of a slow traffic and car collision early warning system based on positive and game in the present invention.

Detailed Description

The invention comprises a forward and game-based slow traffic and automobile conflict early warning system, which comprises: the system comprises a data acquisition module, a calculation module and an early warning module; the data acquisition module and the early warning module are in data connection with the calculation module; the computing module is in communication connection with a signal controller (not marked in the figure) arranged in the intersection 1 to be pre-warned, and collects signal period data in real time, so that the computing module can compute the accident probability P and the conflict or accident injury risk degree R in real time. If the intersection is a signalless control intersection, the calculation module does not need to be connected with a signal controller. In the concrete implementation, the calculation module is realized based on the existing singlechip or server product with calculation capability.

As shown in fig. 1 and 3, the motor vehicle passing space 3 is: in the passing direction of each motor vehicle entering the intersection 1 to be pre-warned, the motor vehicle 4 extends the running track of the motor vehicle along the running direction of the road at the current position at the current moment according to the current running speed until entering the intersection 1 to be pre-warned.

The slow traffic space 2 is: in the passing direction of each slow traffic person 5 entering the intersection 1 to be pre-warned, the road running direction of the current position of the slow traffic person at the current moment extends the running track of the slow traffic person along the running direction according to the current running speed until entering the intersection 1 to be pre-warned.

A slow traffic person traveling data acquisition device 7 is arranged at a position before a slow traffic person enters an intersection area of the motor vehicle passing space 3 and the slow traffic person passing space 2; the slow-moving people early warning device 8 is arranged before the slow-moving people leave the position of the intersection area of the motor vehicle passing space 3 and the slow-moving people passing space 2.

As shown in fig. 2 and 3, the virtual game area 6 is arranged in the passing direction of each vehicle entering the intersection 1 to be pre-warned, the length of the virtual game area 6 is enough to support the vehicles to finish the avoidance measures for the slow traffic, and the virtual game area 6 comprises a vehicle lane and a non-vehicle lane in the same running direction in the width direction; the virtual game zone 6 includes: the detection zone, the reaction zone, the disposal zone and the release zone are sequentially arranged in the passing direction of the motor vehicle.

An automobile running data acquisition device 10 is arranged at the entrance of the exploration area and used for acquiring running data of an automobile entering the intersection 1 to be pre-warned; and the motor vehicle enters a detection area, and the detection period is started.

The length of the reaction zone is a length that ensures that the system is able to perform calculations based on the vehicle operation data collected by the vehicle operation data collection device 10.

The disposal area is arranged in front of the intersection area of the motor vehicle passing space 3 and the slow walker passing space 2, and motor vehicle early warning equipment 9 is arranged on the disposal area.

The release area is the intersection area of the motor vehicle passing space 3 and the slow-moving person passing space 2, the motor vehicle leaves the virtual game area 6 after leaving the release area, the detection period is finished, and the next detection period is started.

The data acquisition module comprises: the motor vehicle running data acquisition device 10 and the slow-running person running data acquisition device 7 are arranged at the intersection 1 to be pre-warned; when the method is specifically implemented, the data acquisition module is implemented based on monitoring equipment in the prior art, for example: road monitoring cameras or radar devices.

The early warning module comprises a slow person early warning device 8 and a motor vehicle early warning device 9 which are arranged at the intersection 1 to be early warned. In specific implementation, the early warning module is based on: the electronic information screen, the lighting equipment and the sound equipment are realized; the warning mode that early warning module provided includes: visual light signal, visual text information, audible cue. The slow traffic warning device 8 is arranged above the slow traffic people before leaving the intersection area of the motor vehicle passing space 3 and the slow traffic people passing space 2, the slow traffic warning device 8 faces to the front of the slow traffic people, wherein visual light signals and visual text information are projected on a road surface or arranged on the road side, and the slow traffic people are warned by combining measures such as flicker frequency change and color change. The motor vehicle early warning device 9 is arranged in the space above the treatment area, faces the running direction of the vehicle, and carries out prompt early warning on the motor vehicle by utilizing luminous characters, contour brightness and frequency through the luminous screen so as to carry out speed control.

The calculation module comprises: basic information module, conflict risk research model and risk warning model.

The basic information module stores the detailed data of the intersection 1 to be early-warned in advance, and the detailed data of the intersection 1 to be early-warned comprises: gao Fengqi corresponding to the intersection 1 to be pre-warned and the start-stop time of the peak period, the peak period virtual game area 6 corresponding to the intersection 1 to be pre-warned and the peak period virtual game area 6 respectively correspond to the length data and the coordinate data of the exploration area, the reaction area, the disposal area and the release area, and the historical data of the intersection 1 to be pre-warned.

The data acquisition module sends the acquired traffic data of the slow-moving people and the traffic data of the motor vehicles into the calculation module, and after the calculation module calculates the accident probability P of the motor vehicles and the slow-moving traffic people in the virtual game area 6, the calculation module calculates the conflict or accident injury risk degree R based on the traffic data of the slow-moving people, the traffic data of the motor vehicles and the length data of the virtual game area 6; the conflict or accident injury risk degree R is sent into a conflict risk studying and judging model, so that a risk grade corresponding to the conflict or accident injury risk degree R is obtained and is recorded as a principal risk grade; and inputting the risk level of the round into a risk warning model, and determining a warning mode corresponding to the risk level of the round.

And finally, the calculation module calls the early warning module to send out warning information to the motor vehicle and the slow traffic people according to the warning mode corresponding to the risk level of the wheel. In the technical scheme of the invention, the slow traffic people consist of pedestrians and non-motor vehicles. The composition thereof may be classified into { pedestrian, bicycle }, { pedestrian, electric bicycle }, { bicycle, bicycle }, { electric bicycle, electric bicycle }, { pedestrian, bicycle and electric bicycle }.

In the implementation, since the motor vehicle passing space 3 and the slow walker passing space 2 exist in each direction of entering the intersection 1 to be pre-warned, a plurality of virtual game areas 6 exist in the intersection 1 to be pre-warned. The data acquisition module and the early warning module are required to be respectively arranged on each virtual game area 6, and data acquisition and risk warning are respectively carried out on each virtual game area 6.

According to the technical scheme, the data required by calculation can be acquired only by arranging the slow-going person early warning device 8, the motor vehicle early warning device 9, the motor vehicle running data acquisition device 10 and the slow-going person running data acquisition device 7 in the intersection 1 to be early warned and connecting the signal controller arranged in the intersection 1 to be early warned in a communication way, so that the overall system cost is low, and the popularization and the use are easy.

The early warning method realized based on the forward and game-based slow traffic and automobile conflict early warning system specifically comprises the following steps.

S1: and determining an intersection 1 to be pre-warned, and determining a motor vehicle passing space 3 and a slow walker passing space 2 corresponding to the intersection 1 to be pre-warned.

S2: the virtual game area 6 is determined from the motor vehicle passing space 3 and the slow-walker passing space 2.

Setting the virtual game area 6 based on historical data of the intersection 1 to be pre-warned; comprising the following steps: a peak period virtual gaming zone 6 and a peak period virtual gaming zone 6. The lengths of the respective sections in the virtual game section 6 of different time periods are set differently due to the variation in the traffic flow and the vehicle speed.

In the subsequent steps S5 and S6, for the calculation of the accident probability P and the collision risk R, the calculation is performed based on the data of the peak period virtual game area 6 or the peak period virtual game area 6, respectively, according to the period in which the acquisition time of the vehicle traffic data is located.

In the present embodiment, it is assumed that: a virtual game area is marked, wherein the longitudinal distance of the peak period is longer than that of the flat peak period, the obtained road speed limit is assumed to be 40km/h, and the traffic control is carried out at the intersection by adopting signal lamps; the game area transversely spans 3 motor lanes and 1 non-motor lane, is about 14m transversely and about 70m longitudinally; the detection line of the motor vehicle running data acquisition device 10 is a plurality of transverse virtual detection lines with a section of interval on a game area entrance way in the running direction; wherein the probe zone is about 5m in longitudinal direction, the reaction zone is about 10m in longitudinal direction, the disposal zone is about 40m in longitudinal direction, and the release zone is about 15m.

the motor vehicle traffic data is running data of motor vehicles entering the virtual game area 6 in the vehicle coming direction, and comprises the following steps: the acquisition serial number, the acquisition starting time of the motor vehicle, the existence state of the motor vehicle, the type of the vehicle, the speed of the vehicle and the acquisition ending time of the motor vehicle;

wherein the first motor vehicle entering the virtual gaming area 6 in each detection cycle is noted as: the method comprises the steps that a motor vehicle to be collected is used as motor vehicle passing data participating in calculation; the time when the motor vehicle to be collected enters the exploration area and leaves the release area is respectively used as the motor vehicle collection starting time and the motor vehicle collection ending time;

the vehicle presence status includes: with and without vehicles;

the slow traffic data is the operation data of the slow traffic people entering the virtual game area 6, and comprises: the method comprises the steps of collecting serial numbers, collecting starting time of slow traffic people, existence state of slow traffic people, travel speed of slow traffic people, collecting ending time of slow traffic people and a counter;

the existence state of the slow traffic person refers to the existence state of the slow traffic person in the game area, and the existence state comprises the following steps: presence and absence;

In each detection period, the slow pedestrian acquisition starting time and the slow pedestrian acquisition ending time of the slow pedestrian traffic data are respectively the same as the motor vehicle acquisition starting time and the motor vehicle acquisition ending time.

In this embodiment, acquiring vehicle traffic data of a first vehicle (straight traveling+right turn lane traveling, right turn tendency) entering a game area includes: the collection serial number v01, the collection starting time (the time when the headstock enters the starting detection line), the car entering the game area, the car speed v1, the acceleration and the car type are the cars, and the collection ending time (the time when the headstock enters the final detection line);

acquiring specific information related to a motor vehicle and a traffic intersection, wherein the specific information comprises a lane position record 2603 (a right side straight-going and right-turning lane of a bidirectional six-lane), a distance dy1 from a stop line of the intersection (which can be set according to the length of a game area), a transverse distance dx1 from a road side, and a non-motor vehicle lane, wherein the isolation mode is machine non-marking isolation;

acquiring traffic data of a slow traffic person, wherein the traffic data comprise an acquisition serial number b01, an acquisition starting moment (synchronous with or not later than the acquisition starting moment of a motor vehicle), pedestrians and non-motor vehicles exist and are in a game area, the travel speed of the slow traffic person (mainly comprising a bicycle and an electric bicycle), the acquisition ending time is synchronous with the ending time of a motor vehicle exploration area, and a counter records the number of the slow traffic person in the game area, such as: 10 pedestrians, 5 bicycles and 5 electric vehicles.

The specific information related to the intersection of the slow traffic people is acquired, wherein the specific information comprises the components (pedestrians, bicycles and electric bicycles) of the slow traffic people in a game area in a road by default, and the stop line of the intersection of the slow traffic people from the running direction of the motor vehicle, the distance of the non-isolated marked line of the machine and the running route are free from barriers.

S4: determining a motor vehicle presence state and a slow traffic person presence state in the motor vehicle traffic data;

and (3) a warning condition:

and (2) warning conditions:

the existing states of the motor vehicles in the motor vehicle passing data are as follows: the vehicle is on, and the vehicle speed is higher than a warning vehicle speed threshold value; in specific implementation, a warning vehicle speed threshold value is preset according to a time period and the specific condition of the intersection 1 to be pre-warned; such as: at an urban road intersection in a certain peak period, the warning vehicle speed threshold value is set to be 30km/h;

otherwise, if not, the next detection period is entered after the end of the detection period of the present round, and steps S3 and S4 are executed.

The first warning condition indicates that the motor vehicle and the slow traffic people exist at the same time when the detection period starts, and the second warning condition indicates that the slow traffic people do not exist at the beginning of the warning detection period, but when the motor vehicle runs in a game area, that is, before the motor vehicle passes through an intersection, the slow traffic people still have the possibility of occurrence, and the motor vehicle is required to keep the speed below a warning speed threshold value to ensure that the intersection cannot be unexpected, so that the motor vehicle is required to be warned when the warning condition 2 is met.

According to the technical scheme, by setting the two warning conditions, the requirements of the actual vehicle running scene of the intersection are met, and the technical scheme of the invention is more practical.

S5: calculating accident probability of motor vehicles and slow traffic people in the virtual game area 6;

the accident probability P is calculated by the following steps:

wherein:

when k=0, based on the warning condition two, the accident probability P also needs to be calculated, P _bp (k＝0)＝P _bp (k＝1)。

Regarding the average drive-off rate, the average drive-off rate of the motor vehicle is the average number of drive-off queues per unit time; the average driving-off rate of the slow traffic is the average number of pedestrians and non-motor vehicles driving off the queue in unit time.

At a signal intersection, aiming at a motor vehicle, selecting effective green light time in a signal period which is taken as the passing direction of the motor vehicle in unit time, for example, a signal lamp is a disc lamp, and the driving-off vehicle in the green light time is in a straight running and right turning inlet direction (such as the south-to-north direction and the south-to-east direction); obtaining the number of vehicles driven away in the time according to the observation statistical data of different time periods (peak period, flat peak period) and dates (working days and rest days);

for pedestrians and non-motor vehicles, the unit time is selected as the effective green time in the signal period of the passable direction of the pedestrians and the non-motor vehicles, facing upward in the direction of vehicle traffic in a section where the effective green time is the direction of pedestrian and non-vehicle crossing the road (east to west); the number of driving-off in the time is obtained through the observation statistical data of different time periods (peak period, flat peak period) and dates (working days and rest days).

wherein:

λ′ _ν for the motor vehicle flow v to avoid left-side coming vehicles and right-turn pedestrians and non-motor vehicles in the right-going road priorityAverage drive-off rate of effective passing rule time of vehicle and the like, lambda' _bp The effective traffic rule time average driving-away rate of the non-motor vehicle b or the pedestrian p when the motor vehicle runs.

Δt' is the sum of the acceptance gaps in all directions, the acceptance gaps being the time gaps in which the driver seeks to enter the intersection in parking queuing or slowing down traffic flow; in the embodiment shown in fig. 1, a motor vehicle enters an intersection 1 to be pre-warned from north to south, if the intersection 1 to be pre-warned is a signalized intersection, the motor vehicle needs to consider the traffic flow from east to west, and the corresponding receiving gap of the motor vehicle from south to north is the time when a driver seeks to enter the intersection from decelerating to parking and the traffic flow from east to west, for example: the sum of the time from deceleration to waiting is 3s, and then deltat' is 3s; in the specific calculation, historical data of preset times are collected in Gao Fengqi and peaked periods respectively, and then an average value is calculated and used as a specific value of deltat'.

Since the intersection 1 to be early-warned includes: the intersection with signal control and the intersection without signal control are calculated separately for both intersections in the present invention. In particular, there is a signal controlling lambda at the intersection _ν 、λ _bp And acquiring based on traffic flow statistical data of traffic management departments and intersection signal control phases. Lambda 'of signal-free controlled intersection' _ν And lambda' _ν And acquiring by actually measuring historical data of the crossing.

Wherein lambda' _ν For the average driving-off rate of the effective passing rule time of the motor vehicle flow v in the straight-line right priority, avoiding left-side vehicles, avoiding pedestrians and non-motor vehicles in the right turn, the effective passing rule time is selected as a critical gap, and the critical gap is as follows: the minimum safety opportunity or 'gap' for the driver to wait and seek to enter the intersection in the parking queuing traffic flow, and beyond the time gap, the driver can enter the intersection to pass through, and the time is used for measurement;

firstly, adopting an Ashworth method to calculate,

wherein t is _ec Critical gap, t, for the traffic flow in the direction of motor vehicle traffic _agm For the traffic direction of the motor vehicle (in this embodiment, the north-south direction) to accept the average value of the traffic gap in the other intersecting direction (in this embodiment, the east-west direction), namely: waiting for the passage of another intersecting direction of the vehicle flow, f _v Is another intersecting direction (east to west in this embodiment) t _agm Traffic flow in time period, S _ag To receive the variance of the gap, S _ag The sum of the passing time of the vehicle in the direction corresponding to the peak and the peaked period to the vehicle in the other direction is calculated;

t _agm 、f _v and the receiving gap can be obtained by observing statistical data of different periods (such as peak period and flat peak period) and dates (such as workdays and rest days);

and secondly, historical values are adopted, such as: when a parking yield flag is set, when a parking stand-by is passed, t _ec 7-9s; when the speed reduction yielding flag is set, t is set when the speed reduction standby is passed _ec 6-8s. The number of vehicles driven off in the time is obtained through the observation statistical data of different time periods (peak period, flat peak period) and dates (working days and rest days).

For slow traffic people such as pedestrians, non-motor vehicles and the like, lambda 'is shown' _bp The effective regular time average driving-away rate of the non-motor vehicle b or the pedestrian p when the motor vehicle passes; the effective passing rule time is the workshop time interval required by the safety crossing of pedestrians and non-motor vehicles:

t' _bp the method is characterized in that the time interval between workshops required by the safe crossing of pedestrians and non-motor vehicles is calculated by taking pedestrians as the main point;

n _v for the number of lanes to be traversed by crossing pedestrians, consider here that traffic flow at the crossing is not saturated (e.g. : less than 700/hour), the value is 1;

D _v as the width of the vehicle lane, in this embodiment, it is: 3.5m;

v _p taking a value of a historical average value of the intersection 1 to be pre-warned for the pedestrian pace, wherein the value is 1.4m/s in the embodiment;

r is the number of rows of people crossing the street on one side (the number of rows of people), and a default value is usually set according to historical data, in this embodiment: taking 3 in peak period and 2 in flat period; calculating the effective passing rule time of the slow traffic person based on the second warning condition, wherein the R value is 1 no matter in the peak period or in the flat wind;

t _p for the time interval between the continuous pedestrian flows, the historical average value of the intersection 1 to be pre-warned is taken as a value, and in the embodiment: the people flow interval is 1m, and the time interval is 1/v _p ≈0.7s；

t _R For pedestrians to observe road conditions, judging the time of a safe passing gap, and taking a value through a historical average value of an intersection 1 to be pre-warned, wherein the value is 2s in the embodiment;

t _Y for the time of the first row of pedestrians increasing after the first row of pedestrians interfere with the pedestrians in the crossing process, wherein R is the number of rows of people, and P is the probability of the first row of pedestrians interfering with the last row of pedestrians; in this embodiment: taking 0.2sXR+0.2sXp, wherein the peak period (R is 3, p is 0.1) is 0.62s, and the flat period (R is 2, p is 0.6) is 0.52s;

t _I In order to consider the time of a single vehicle body length passing through a crosswalk, the historical average value of the intersection 1 to be pre-warned is taken as a value of 0.72s in the embodiment.

Likewise, lambda 'for pedestrians and non-motor vehicles' _bp The effective passing rule time used in calculation can also be obtained directly through statistics of historical data of the effective passing rule time corresponding to the road intersections of the same type.

The number of driving-off in the time is obtained through the observation statistical data of different time periods (peak period, flat peak period) and dates (working days and rest days).

In the embodiment, the intersection 1 to be early-warned is a signal control intersection, the signal period is 100s,the green light phase time from the south to the north is 20s; the flow rate in the peak period is 150/100s, and the flow rate in the flat period is 60/100s; determining that the vehicle with conflict between the direction and the road side slow traffic is a straight-going and right-turning vehicle, and the average driving-out rate is 0.8; lambda (lambda) _bp For the average drive-off of the non-motor vehicle b or the pedestrian p during the active green light, the average drive-off here is 0.9; the collision probability P is calculated to be 0.00446.

In the method, the accident probability P is calculated according to whether traffic signal lamp control exists at the intersection or not, so that the accident probability P obtained in the technical scheme of the invention is ensured to be suitable for application scenes in real life. Further, the result obtained by the technical scheme of the invention is more practical.

S6: calculating a collision risk based on the accident probability P;

the calculation mode of the conflict risk R is as follows:

R(v,b,p)＝P(v,b,p)/T _tac

p (v, b, P) is the probability that the motor vehicle v, the non-motor vehicle b and the pedestrian P conflict at the current moment is the traffic conflict probability;

T _tac the avoidance treatment time required by the motor vehicle driver or the slow traffic person to avoid traffic collision is taken as the smaller value.

In this embodiment, R (v, b, P) =P (v, b, P)/T _tac The collision risk is represented by considering the probability of accidents of slow traffic people and motor vehicles and the time for avoiding, namely, two aspects of the safety risk avoidance process are considered at the same time: firstly, the accident occurrence probability is very high, but if one of the two conflicting parties has enough safe risk avoiding time, the accident risk can be avoided or the accident loss can be greatly reduced; secondly, the safety risk avoiding time of both collision parties of traffic participants is insufficient, but the accident probability is smaller, so that the collision risk of the slow traffic participants and the motor vehicle at the position can be ensured to be at a minimum level. R (v, b, p) based quantification of collision risk of accidents of slow traffic people and motor vehicles ensures the invention The result of the technical scheme meets the specific application and scene of life display, and has more practicability.

T _tac ＝min(t1，t2)

wherein L is _{Reaction zone} L is the length of the reaction zone _{Treatment area} To treat the length of the region, v ₁ The initial speed of the motor vehicle to be collected entering the reaction zone is obtained;

the method for calculating the avoidance treatment time t2 of the slow traffic person simultaneously comprises the following steps of: when more than one element of electric vehicles, bicycles and pedestrians is adopted, the avoidance treatment time of each element is collected respectively, the smaller value is taken as the value of t2, the obtained avoidance treatment time is ensured to cover all slow traffic people, and further the calculation result is ensured to have higher practicability.

In specific application, the range of the reaction time of the slow traffic person is 0.5s-1.0s; the range of the stop action processing time of the slow person is as follows: 1.5-2.5s; in general, for suburban roads, the slow traffic response time is set to 1.0s, and the slow traffic stop motion processing time is set to 2.0s. Calculating the avoidance treatment time T based on the second warning condition _tac When the method is used, t2 is a value according to the preset default slow person avoiding treatment time, and the default slow person avoiding treatment time in the current example is 3.0s;

in this example, the vehicle speed was 10m/s and the distance from the stop line was 50m (reaction zone+treatment zone), and the probe time T1 was recordedThe vehicle can be decelerated to 0m/s before stopping the line ² The maximum parking distance is 50m, and the time for obtaining the vehicle to start decelerating and driving to a stop line from the end point of the exploration area and just stopping is calculated to be 10.0s.

The avoidance treatment time of the slow traffic is calculated to be about 2.5s according to the reaction time (0.5-1.0 s) of the slow traffic plus the furthest slow traffic in the range of the game area (assuming that pedestrians just enter the game area at the beginning of the reaction period when the exploration period is ended), for example, the time for the pedestrians in the game area to reach the crosswalk line (the width of the non-motor vehicle lane is 3.5 m) is calculated according to the pace speed of 1.4 m/s; for example, the travel time of a non-motor vehicle (bicycle, speed of 4.2 m/s) located at the most distal end of the game zone is about 12s; in this embodiment, the reaction time of the slow traffic person is as follows: 0.5, the pedestrian avoidance treatment time is 3.0s, and the bicycle avoidance treatment time is 12.5s.

T _tac ＝min(10.0s，3.0s，12.5s)＝3.0s

R(v,b,p)＝P(v,b,p)/T _tac The following steps are: r= 0.00149.

the collision risk judging model refers to a comparison relation between a collision risk R and a safe driving-away time product value range and avoidance treatment time, and classifies the collision risk R as shown in the following table 1.

Table 1: conflict risk studying and judging model

Wherein, the safe driving-off time t _s The value of the signal control intersection is the green light phase time of the running direction of the motor vehicle, and the value of the safe driving-off time is the acceptable critical gap of the running direction of the motor vehicle at the non-signal control intersection.

According to the technical scheme, the risk level is judged by using the value range of the product of the collision risk R and the safe driving-away time in the collision risk judging model, so that the accumulated value of the collision risk of the slow traffic and the motor vehicle entering the game area, namely the accumulated value of the collision risk of the slow traffic and the motor vehicle in the safe driving-away time, can be covered, and the integral risk value of the two road sections can be better represented.

During specific calculation, at the intersection without signal control, the safe driving-off time t _s The time interval t between workshops required by pedestrian and non-motor vehicle safety crossing can be adopted _bp ' the same calculation method, namely:

at the intersection without signal control, the safe driving-off time t _s Historical values may also be employed, obtained based on cross-road historical data. Such as: the number of lanes is 9s when the number of lanes is two-way 4 lanes or below, and 12s when the number of lanes exceeds the number of lanes of two-way 4 lanes.

In this example, 0.00149, T _tac 3.0s, referring to table 1, the traffic accident collision or accident injury risk level R at this time is R1; in this embodiment, the green light phase time from the south to the north is 20s, that is, the safe driving-off time is: 20s.

S8: according to a pre-constructed risk warning model, a warning mode corresponding to the risk level of the vehicle is found, and warning contents are issued to the vehicle and the slow traffic person before the vehicle enters the disposal area through the slow traffic person warning equipment 8 and the vehicle warning equipment 9 respectively;

and constructing a corresponding warning level, warning content and warning mode based on the risk level corresponding to the conflict risk level R and the traffic participants in the risk warning model.

In the risk alert model, traffic participants include: slow traffic people, small motor vehicles and large motor vehicles.

The risk alert model in this example is specifically referred to as shown in table 2.

Table 2: risk warning model

The motor vehicle in table 2 includes: small-sized motor vehicles and large-sized motor vehicles.

In this embodiment, the alert level is L1, and the cognitive measure codes are C11 and C12, respectively; the traffic system is used for warning slow traffic people (pedestrians and non-motor vehicle drivers) and small motor vehicles through lamplight signals (such as yellow flashing lights at the motor vehicle end and red and blue warning lights at the slow traffic people), and corresponding flashing frequencies are set. (other levels, slow traffic people set word prompt 'stop', voice broadcast 'left side has car, stop go', etc., and motor vehicles set speed limit sign patterns, stop giving or speed reduction giving sign patterns).

The prompting time facing the motor vehicle is 5.0s (according to the longitudinal position of the installation point of the lifting device, such as the installation point is installed at the middle point, namely 20m, and the distance from the stop line is 20 m) which is half of the danger avoiding treatment time of the motor vehicle, and the motor vehicle is converted into a default initial state (closed or yellow flashing) after the motor vehicle is ended; the prompting time for the slow traffic people (pedestrians and non-motor vehicle drivers) is 10.0s, and the vehicle is switched to a default initial state (a closed or low-frequency flashing state) after finishing, so that the vehicle leaves the disposal area and enters the release area.

S9: after the motor vehicle to be collected leaves the release area, the next detection period is entered, and steps S3-S10 are executed.

After the technical scheme of the invention is used, the conflict risk of the slow traffic person and the motor vehicle can be effectively identified, the conflict probability of the slow traffic person and the motor vehicle can be quantitatively obtained, the game risk degree of the conflict object can be effectively evaluated and judged, and a grading warning mode and warning content can be provided in a refined manner. The traffic control system provides services for different road users by adopting safe and reasonable traffic decisions and behaviors, is beneficial to improving the active prevention efficiency of traffic conflict at intersections, effectively improves accident prevention capability of different road users and traffic participants, strengthens road traffic travel guarantee services, and reduces the public security traffic management law enforcement resource investment at intersections.

Claims

1. The slow traffic and automobile conflict early warning method based on the positive and game is characterized by comprising the following steps of:

the vehicle presence state includes: with and without vehicles;

and (3) a warning condition:

And (2) warning conditions:

the accident probability P is calculated by the following steps:

wherein:

p (v, b, P) is the probability of collision of motor vehicle v, non-motor vehicle b and pedestrian P in Deltat;

wherein:

p (v, b, P) is the probability of collision of motor vehicle v, non-motor vehicle b and pedestrian P in Deltat';

λ _ν ' is the average driving-out rate of the motor vehicle flow v in the effective passing rule time when the motor vehicle flow v is in the priority of straight running, the left-side coming vehicle is avoided, and the right-turn slow-running traffic is avoided, lambda _b ′ _p The average driving-off rate of the effective passing rule time of the non-motor vehicle b or the pedestrian p when the motor vehicle passes;

Δt' is the sum of all-direction receiving gaps, wherein the receiving gaps are time gaps when a driver seeks to enter an intersection in parking queuing or decelerating traffic flow;

s6: calculating a collision risk based on the accident probability P;

the calculation mode of the conflict risk R is as follows:

R(v,b,p)＝P(v,b,p)/T _tac

2. The forward and game-based slow traffic and car collision early warning method according to claim 1, wherein the method comprises the following steps: in step S6, the avoidance treatment time T _tac The calculation method of (1) is as follows:

T _tac ＝min(t1，t2)

t2 is the avoidance handling time of the slow traffic, comprising: the slow traffic reaction time plus the slow stop action processing time.

3. The forward and game-based slow traffic and car collision early warning method according to claim 2, characterized in that: the method for calculating the avoidance treatment time t2 of the slow traffic person simultaneously comprises the following steps of: when more than one element of an electric vehicle, a bicycle and a pedestrian is adopted, respectively collecting avoidance treatment time of each element, and taking the smaller element as a value of t 2;

Calculating the avoidance treatment time T based on the second warning condition _tac And when the patient is at the time of t2, the patient is at the time of avoiding the treatment according to the preset default slow walking patient.

4. The forward and game-based slow traffic and car collision early warning method according to claim 1, wherein the method comprises the following steps: the method for calculating the effective passing rule time comprises the following steps:

for motor vehicles, at λ _ν In the' calculation, the effective passing rule time t is used _ec The calculation method of (2) is as follows:

for slow traffic, at λ _b ′ _p In the calculation of (a), the effective traffic rule time t 'used' _bp The calculation method of (2) is as follows:

n _v the number of lanes to be traversed for crossing pedestrians to cross the street; d (D) _v Is the width of the motor vehicle lane; v _p Is the walking speed of pedestrians; r is the number of pedestrian rows crossing the street on one side; t is t _p Is the time interval between continuous pedestrian flows; t is t _R The method comprises the steps of observing road conditions for pedestrians, and judging the time of a safe passing gap; t is t _Y The time for the first row of pedestrians to increase after interfering with the opposite pedestrians in the crossing; t is t _I The time for a single body length to pass through a crosswalk.

5. The forward and game-based slow traffic and car collision early warning method according to claim 1, wherein the method comprises the following steps: in step S2, setting the virtual game area based on the history data of the intersection to be pre-warned;

in steps S5 and S6, for the calculation of the accident probability P and the collision risk R, according to the period in which the acquisition time of the motor vehicle traffic data is located, the calculation is performed based on the data of the peak period virtual game area or the peak period virtual game area, respectively.

6. The forward and game-based slow traffic and car collision early warning method according to claim 1, wherein the method comprises the following steps: in the risk alert model, the traffic participant comprises: slow traffic people, small motor vehicles and large motor vehicles;

7. The utility model provides a slow traffic and car conflict early warning system based on positive and recreation which characterized in that it includes: the system comprises a data acquisition module, a calculation module and an early warning module; the data acquisition module and the early warning module are in data connection with the calculation module; the computing module is in communication connection with a signal controller arranged in the intersection to be early-warned, and acquires signal period data in real time;

The calculation module calls the early warning module to send warning information to the motor vehicle and the slow traffic people based on the warning mode corresponding to the risk level of the current wheel;

wherein:

wherein:

the calculation mode of the conflict or accident injury risk degree R is as follows:

R(v,b,p)＝P(v,b,p)/T _tac

8. The forward and game based slow traffic and car collision warning system of claim 7, wherein: the early warning module comprises: electronic information screen, lighting device and sound equipment.

9. The forward and game based slow traffic and car collision warning system of claim 7, wherein: the data acquisition module comprises: road monitoring cameras or radar devices.