CN115936213A - Traffic sign point location setting method, device, equipment and storage medium - Google Patents
Traffic sign point location setting method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a traffic sign point location setting method, a device, equipment and a storage medium, wherein the method comprises the steps of obtaining the maximum distance between a vehicle and a traffic sign when a driver can observe the traffic sign, obtaining the driving distance of the vehicle from the time the driver observes the traffic sign to the time the driver completes corresponding action, establishing a probability addressing model of the traffic sign point location, and determining the point location of the traffic sign based on the probability addressing model and a first distance. The invention establishes a probability site selection model of the traffic sign setting point position at the intersection by fully considering the normal traffic order of the traffic flow in the direction of the intersection entrance road and taking the minimum mutual interference of the vehicles guided by the road indicating sign in the driving process as a control target, and determines the traffic sign point by utilizing the probability site selection model, thereby providing a borrowable effective path for determining the minimum distance of the traffic sign in the longitudinal direction of the intersection, the canalization of the urban road intersection, the arrangement and optimization of the traffic sign and the like.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a traffic sign point location setting method, device, equipment and storage medium.
Background
The traffic sign is a road facility for transmitting guidance, limitation, warning or indication information by using characters or symbols, provides accurate and visual guidance service for traffic participants, guides the traffic participants to select correct travel routes or perform proper driving operation, and is a key factor for stably operating a traffic organization scheme at a road intersection and improving the traffic efficiency and traffic safety operation level at the intersection. If the position of the vehicle is not properly set, the traffic organization at the intersection is disordered, the road traffic capacity of the intersection is reduced, and the driving mileage of the vehicle is increased and the probability of traffic accidents is increased. The setting points of the traffic signs at the intersections are researched by taking traffic travelers as using objects, factors such as peripheral road networks, roads, traffic, weather and environmental conditions are comprehensively considered, and the setting points are reasonably set according to the functions of the set traffic signs and the behavior reaction characteristics of road users.
At present, in the existing 'urban road traffic sign and marking setting specification' (GB 51038-2015), only a straight sign and a turning sign are definitely arranged at an intersection or a 30-90 m position in front of a road section, which needs to control the driving direction of a vehicle, and specific points of traffic signs at the intersection under the conditions of different grades, speed limits, traffic and the like are not clearly described.
In view of this, the present application is specifically made.
Disclosure of Invention
The invention aims to solve the technical problem that the standard requirement of the current traffic sign point location setting cannot meet the requirement of improving the road traffic efficiency and the road traffic safety operation level, and aims to provide a traffic sign point location setting method, a device, equipment and a storage medium, which can improve the road traffic efficiency and the road traffic safety operation level by reasonably setting the traffic sign point location.
The invention is realized by the following technical scheme:
a traffic sign point location setting method comprises the following steps:
acquiring a first distance of a driver when the driver observes a traffic sign; the first distance is the maximum distance between the vehicle and the traffic sign when the driver can observe the traffic sign;
acquiring a second distance of the driver after observing the traffic sign; the second distance is the driving distance of the vehicle from the time when the driver observes the traffic sign to the time when the driver completes the corresponding action;
establishing a probability addressing model of the traffic sign set point positions by taking the second distance and the queuing length of the lane as constraint conditions;
and determining the set point position of the traffic sign based on the probability addressing model and the first distance.
Optionally, the expression of the first distance specifically includes:
L a ＝L am +l a
in the formula, L am A maximum forward distance representing the traffic sign as dynamically perceived by the driver; l a Indicates a length beyond the maximum forward recognition distance of the traffic sign, and a ≥0。
optionally, the second distance includes a recognition driving distance L that the driver continues to drive in the lane after observing the traffic sign s And deciding the driving distance L r And performing a driving distance
Wherein:
in the formula, v s j T indicating that the vehicle is recognizing the traffic sign 2 To t 1 Driving speed on the j lane during the time period; v. of r j T representing vehicle lane change at decision 3 To t 2 Driving speed on the j lane during the time period;
the lane changing distance required by the vehicle to enter the lane i; />
Representing the average speed of travel, t, of the vehicle in lane j j a Indicating the adjusted time after the vehicle has merged into lane j.
Optionally, the lane change distance l required for the vehicle to merge into the lane i c i Obtained by a given confidence level; the expression of the confidence level is specifically as follows:
in the formula (I), the compound is shown in the specification,
t j c the relative critical headway time required when the vehicle changes lane from lane j-1 to j; lambda j c For relative headway shorter than >>
Average vehicle arrival rate of (a); when the headway time obeying parameter of the traffic flow running on the j lane is lambda j Has a negative index distribution, the relative headway obedience parameter is->
Negative exponential distribution of (c).
Optionally, the expression of the queuing length of the lane specifically includes:
in the formula, x j i Representing the queuing length of the vehicle in the ith measured peak traffic condition on the jth lane, i =1,2,3. -;
representing the average queuing length of the vehicles in the jth lane in the peak traffic state at the intersection; sigma j Representing the standard deviation of the queuing length of vehicles in each lane in a peak traffic condition.
Optionally, the expression of the probability addressing model specifically includes:
the constraint conditions of the probabilistic addressing model are specifically as follows:
optionally, the determining the expression of the location point of the traffic sign specifically includes:
in the formula (I), the compound is shown in the specification,
representing the sum of the second distance determined by the probability addressing model and the queuing length of the lane; l is a radical of an alcohol d The length from the point position of the traffic sign to the stop line is represented; l is a Representing a first distance.
In addition, in order to achieve the above object, the present invention also provides a traffic sign point location setting device, including:
the first acquisition module is used for acquiring a first distance when the driver observes the traffic sign; wherein the first distance is the spacing distance between the vehicle and the traffic sign;
the second acquisition module is used for acquiring a second distance after the driver observes the traffic sign; wherein the second distance is a driving distance of the vehicle after the driver observes the traffic sign;
the model establishing module is used for establishing a probability addressing model of the traffic sign setting point by taking the second distance and the queuing length of the lane as constraint conditions;
and the point location determining module is used for determining the set point location of the traffic sign based on the probability addressing model and the first distance.
In addition, in order to achieve the above object, the present invention also provides a traffic sign point location setting apparatus, including: the processor is used for executing the traffic sign point setting program to realize the steps of the traffic sign point setting method.
In order to achieve the above object, the present invention further provides a storage medium having a traffic sign point location setting program stored thereon, wherein the traffic sign point location setting program, when executed by a processor, implements the steps of the above-described traffic sign point location setting method.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the traffic sign point location setting method provided by the embodiment of the invention, the visual recognition characteristics of a driver and the lane change requirements of vehicles are fully considered, and the traffic sign point location at the intersection is determined by taking the minimum interference of the vehicles as a control target.
2. The method for setting the traffic sign point location provided by the embodiment of the invention is suitable for traffic flow operation characteristics at the intersection, and the traffic sign point location at the intersection is optimally selected by establishing a probability addressing model.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a traffic sign point location setting device according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a traffic sign point location setting method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the mechanism of the way indication provided by the embodiment of the present invention;
fig. 4 is a schematic diagram of a longitudinally set distance of an intersection road sign provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of relative headway provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a traffic sign point setting positive value according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or examples are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a traffic sign point location setting device according to an embodiment of the present invention.
Generally, the apparatus comprises: at least one processor 301, a memory 302, and a traffic sign point location setting program stored on the memory and executable on the processor, the traffic sign point location setting program being configured to implement the steps of the traffic sign point location setting method as described above.
In some embodiments, the apparatus may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 does not constitute a limitation of the traffic sign point location setting device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
An embodiment of the present invention provides a traffic sign point location setting method, and referring to fig. 2, fig. 2 is a schematic flow diagram of an embodiment of the traffic sign point location setting method according to the present invention.
It is easy to understand that the factors affecting the location of the traffic sign can be generally classified into four categories, i.e., people, vehicles, roads and environments. The key point of the set point selection of the road sign at the intersection is whether the road sign can give the driver sufficient time, so that the driver can change the driving state of the vehicle in time after judging the information transmitted by the traffic sign, namely, the driver has enough chance to change the lane to the target lane.
As shown in fig. 3, from the perspective of the driver, the action mechanism process can be divided into: discovery, decision making and implementation.
As shown in fig. 4, the discovery phase refers to the process from the time when the driver discovers the road sign on the visual sense organ to the time when the driver recognizes the information transmitted by the sign, i.e. t in fig. 4 1 To t 2 Time period, during which the vehicle travels a distance L s (ii) a The decision stage is a process from the time when the driver recognizes the information expressed by the road indicating sign to the time when the driver makes a subsequent driving behavior according to the travel purpose, and is a decision stage for determining the subsequent dominant driving behavior under the condition that the driver grasps the existing information, namely t in fig. 4 2 To t 3 Time interval, the vehicle running distance is L r (ii) a The implementation stage is the time period from when the driver makes the subsequent driving behavior to when the driver completes the whole driving behavior, i.e. t in fig. 4 3 To t 4 Time period, vehicle driving distance is
Then the following mathematical relationship exists:
in the formula, L j q Indicating the vehicle queuing length of a j lane at the intersection where the vehicle is located after the driver decision-making stage; l is d Representing the minimum set distance between the road-indicating sign and the stop line of the intersection; l is a Indicating the time when the driver finds the road sign, and the distance between the vehicle and the sign.
In this embodiment, on the basis of fully considering traffic flow operation characteristics at an intersection, a traffic sign point location is determined by taking a given vehicle lane change success probability condition as a control target with a minimum influence on traffic flows passing at the intersection, and the traffic sign point location setting method includes the following steps:
step S100, acquiring a first distance of a driver when the driver observes a traffic sign; wherein the first distance is the maximum separation distance between the vehicle and the traffic sign when the driver can observe the traffic sign.
Specifically, the distance between the vehicle and the traffic sign when the driver observes the traffic sign can be represented by L in the above mathematical relationship a And (4) showing.
In this embodiment, L a ＝L am +l a ，L am Maximum advance distance (influenced by font size of sign content, road speed limit, average condition of driver, etc.) indicating that the road sign is dynamically recognized by the driver,/ a Indicates a length beyond the maximum forward recognition distance of the traffic sign, and a ≥0。
step S200, acquiring a second distance after the driver observes the traffic sign; and the second distance is the driving distance of the vehicle from the time when the driver observes the traffic sign to the time when the driver completes the corresponding action.
Specifically, L in the above mathematical relationship is used for the travel distance of the vehicle after the driver observes the traffic sign after observing the traffic sign s 、L r And
and (4) showing.
In the embodiment, the driver drives the vehicle for a distance L in the time period when the driver finds the traffic sign during the driving process s It can be calculated according to the following formula:
in the formula, v s j Indicates that the vehicle is at (t) 2 -t 1 ) In the time period, it is on the j laneAnd (4) the running speed.
In the embodiment, the driver decides the distance L traveled by the vehicle in the driving process r It can be calculated according to the following formula:
in the formula, v r j Indicates that the vehicle is at (t) 3 -t 2 ) Its travel speed on the j lane during the time period.
In this embodiment, the driver travels the distance the vehicle travels during the course of the trip, within the decision making time period
Can be calculated according to the following formula:
specifically, the key to the driver's judgment of whether to change the driving lane is the headway in the target lane, if there is available headway t 0 (taking the target vehicle as a reference object), normally changing lanes; if not, the vehicle continues to run on the original lane until available headway exists. As shown in fig. 5.
The arrival of the vehicles passing through each entrance way at the intersection is random, and the vehicles can be generally fitted by using the Bonus distribution, so that the distribution of the headway follows the negative exponential distribution, namely:
in the formula of lambda j Average arrival rate of traffic flow of vehicle on lane j；T j The headway on lane j; t represents the count time period. When T is j When the available headway is unavailable, the distributed headway is as follows:
depending on the nature of their probability distribution, their expectation (i.e., average length of unacceptable time intervals) may be obtained
) Comprises the following steps:
in the formula, p j (t) is at (0, t)]Probability of an inside vehicle merging into lane j from lane j-1 (timed from when the vehicle driver makes a lane change decision). At (0,t + Δ t)]The probability that the vehicle can merge into the traffic flow of the target lane j can be divided into: at (0,t)]Converge or lie at (0, t)]Cannot merge but at (t, t + Δ t)]One vehicle arrives in the inner lane j and the head time interval is T j ≥t o In two cases, there may be:
since at (t, t + Δ t)]At the moment of last t, the vehicle can not merge into the lane j, so the headway at the moment is less than t o Define λ o The headway is less than t o The average arrival rate of the vehicles can be
The following can be obtained:
let Δ t → 0 have:
in summary, it can be seen that:
i.e. p j (t) is at (0, t)]The probability of the vehicle merging into lane j over the time period, since t is the travel waiting time of the vehicle before lane change, exists
When +>
Then, the probability that the vehicle merges into lane j within this time is given by:
in the formula, v j ' is the speed at which the vehicle converges into lane j,
the lane change distance required for the vehicle to merge into lane j. Then δ for a given confidence level j ＝p j (0≤δ j 1) to obtain the lane change distance of the vehicle under the given confidence level.
Since the lane change of the vehicle is carried out by using the dynamic headway, the concept of the relative headway can be used for the purpose, namely, the target vehicle is assumed to be at the speed v on the j-1 lane j-1 Driving in the j lane at a speed v j Other running vehicles 1,2, and the like (v) j-1 ＜v j ) And then opposite to the headThe time interval is the time difference between vehicles 1 and 2 exceeding the target vehicle, as shown in fig. 4. When the headway time obeying parameter of the traffic flow on the j lane is lambda j When the negative index is distributed, the relative headway obeying parameter is
A negative exponential distribution of (a), i.e.:
probability of target vehicle changing lane from lane j-1 to lane j
Can be expressed as:
in the formula, t j c The relative critical headway lambda required for changing the vehicle from lane j-1 to lane j j c Relative headway is less than
The average vehicle arrival rate of (1) may be:
in summary, for a given confidence level
The distance required for a lane change between the vehicle's travels at a certain confidence level can be determined.
Considering that in actual conditions, the vehicle may have multiple lane-changing driving at the position of changing the lane to the destination lane, in this case (not considering the situation of changing the lane back and forth), the lane-changing distance of the vehicle is changed
/>
In the formula (I), the compound is shown in the specification,
is the average speed of the vehicle traveling in lane j; t is t j a And adjusting the time after the vehicle is converged into the traffic lane j.
And step S300, establishing a probability addressing model of the traffic sign set point by taking the second distance and the queuing length of the lane as constraint conditions.
In this embodiment, in order to optimize the effect of setting the longitudinal road sign at the intersection on the traffic guidance, the guided vehicle must complete the necessary lane change before reaching the maximum queuing length of the target lane, that is, the guided vehicle can only pass according to the predetermined driving direction of the lane when reaching the maximum queuing length of the driving lane.
In practical application, the average value of the vehicle queue length of each lane under the condition of peak traffic can be used
The sum of the standard deviation and the doubled standard deviation replaces the queuing length L of each lane vehicle at the target intersection j q 。
In the formula, x j i The measured queuing length of the vehicle in the ith peak traffic state on the jth lane at the intersection is shown, i =1,2,3.....；X j Representing the average queuing length of the jth lane vehicle in the peak traffic state at the intersection; sigma j Representing the standard deviation of the queuing length of vehicles in each lane in peak traffic conditions.
In summary, the established probabilistic addressing model of the traffic sign setting point location is as follows:
the constraint conditions are as follows:
and step S400, determining the set point position of the traffic sign based on the probability addressing model and the first distance.
Specifically, when determining the set point position of the traffic sign, the distance expression of the driving process of the driver after observing the traffic sign as described above can be used to determine:
in the formula (I), the compound is shown in the specification,
representing the sum of the second distance determined by the probability addressing model and the queuing length of the lane, L d Length of point location from stop line, L, indicating traffic sign setting a Representing a first distance.
It should be noted that the probabilistic addressing model established in this embodiment is an addressing distance model of a traffic sign (taking a road sign as an example) at an intersection under a certain probability condition, and the set distances from the traffic sign to a stop line at the intersection under different confidence levels can be calculated through data such as the number of lanes at an entrance of the intersection, arrival distribution of vehicles in each lane and the like obtained after field investigation at a given confidence level.
In this embodiment, a traffic sign point location setting method is provided, so that the setting of a traffic sign at an intersection has the best effect on the traffic stream passing guidance thereof, and a guided vehicle needs to complete a necessary lane change before reaching the maximum queuing length of a target lane of the guided vehicle, that is, when reaching the maximum queuing length of a driving lane of the guided vehicle, the guided vehicle can only pass according to the driving direction marked by the lane. The key of the set distance of the traffic sign at the intersection is whether the traffic sign can give enough time to the driver, so that the driving state of the vehicle can be changed in time after the driver judges and visually recognizes the information transmitted by the traffic sign, namely, the driver has enough chance to change the lane to a target lane.
The scheme of the embodiment not only takes the minimum influence on the traffic flow at the intersection as a control target to determine the layout point position of the traffic sign. Meanwhile, the method takes the minimum interference between the vehicle guided by the traffic sign and other vehicles in the driving process as a control target, converts the possibility of successful lane change of the vehicle into a specific road length in a probability mode, further defines the minimum interval between the traffic sign and a stop line of an intersection, and provides a borrowable effective path for canalization of urban road intersections, arrangement and optimization of the traffic sign and the like.
When the scheme of the embodiment is adopted to execute the setting of the traffic sign point positions, the distance between the traffic sign setting point positions at the intersection and the stop line in the direction corresponding to the entrance way can be effectively clarified under the condition of a certain confidence level, and a borrowable effective way can be provided for determining the minimum distance of the traffic signs longitudinally arranged at the intersection, the canalization of the urban road intersection, the arrangement and optimization of the traffic signs and the like.
For convenience of understanding, a specific example of the traffic sign point location setting method in practical application is provided below.
Taking a certain cross intersection of the adult city as an example, the calculation data of each lane at the entrance of the intersection is as follows: the intersection is equipped with 1 right turn lane, 2 through lanes and 1 left turn lane altogether, and each lane parameter is as shown in table 1:
table 1 basic situation table at intersection
Taking t from the acceptable gap time length given in the traffic engineering handbook and combining the actual investigation data c ＝3s，λ j c ＝15，t j a =1s, target vehicle merging speed v into target lane j ' to take the average driving speed of the destination lane, the confidence level delta can be obtained c Target vehicle lane change distances L of (0.70, 0.75, 0.80, 0.85, 0.90, 0.95), respectively j c As shown in table 2:
TABLE 2 calculation result table of lane change distance of target vehicle
The time lengths of the driver in the discovery stage and the decision period are respectively 0.6s and 1.2s, the vehicle running speed is the average speed of each lane, and the maximum preposed distance L of the road sign dynamically recognized by the driver is taken am Is 110m. In summary, the lowest set distance of the longitudinal direction indicating sign of the intersection entrance lane under different confidence levels can be obtained as shown in table 3:
table 3 set distance of entrance way direction indication sign under different confidence level conditions
Under the conditions when
When, 0 < L d < 110, i.e., a road sign can be set at a stop line (0, 110) from the intersection]Any point within the range; when/is>
Time, route indication mark settingIn front of a stop line at an intersection>
At least one of (1) and (b); when/is>
In the meantime, the road-indicating sign needs to be set repeatedly, and a point one is 110m away from the stop line of the intersection and a point two is located at the position more than the stop line of the intersection>
And so on. />
In this embodiment, a traffic sign point location setting method is provided, which starts with detailed analysis of the road sign mechanism process and the influence factors set in the longitudinal direction of the intersection with the aim of clarifying the location point of the traffic sign at the intersection, and establishes a probabilistic addressing model of the traffic sign location point at the intersection with the aim of minimizing mutual interference of vehicles guided by the road sign during the driving process on the basis of fully considering the normal traffic order of the traffic flow in the direction of the intersection entrance. The method provides a borrowable effective path for determining the minimum distance of the traffic signs longitudinally arranged at the intersection, channelizing the urban road intersection, arranging and optimizing the traffic signs and the like.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of the traffic sign point location setting device of the present invention.
As shown in fig. 6, the traffic sign point location setting device provided by the embodiment of the present invention includes:
the first acquisition module 10 is used for acquiring a first distance when the driver observes the traffic sign; wherein the first distance is the spacing distance between the vehicle and the traffic sign;
a second obtaining module 20, configured to obtain a second distance after the driver observes the traffic sign; wherein the second distance is the driving distance of the vehicle after the driver observes the traffic sign;
the model establishing module 30 is used for establishing a probabilistic addressing model of the traffic sign setting point by taking the second distance and the queuing length of the lane as constraint conditions;
and the point location determining module 40 is configured to determine a point location of the traffic sign based on the probabilistic addressing model and the first distance.
Other embodiments or specific implementation manners of the traffic sign point location setting device of the present invention may refer to the above method embodiments, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where a traffic sign point location setting program is stored on the storage medium, and the steps of the traffic sign point location setting method are implemented when the traffic sign point location setting program is executed by a processor. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in the embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of the embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely illustrative, where the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the software program implementation is a better implementation mode for the present invention in more cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A traffic sign point location setting method is characterized by comprising the following steps:
acquiring a first distance of a driver when the driver observes a traffic sign; the first distance is the maximum distance between the vehicle and the traffic sign when the driver can observe the traffic sign;
acquiring a second distance of the driver after observing the traffic sign; the second distance is the driving distance of the vehicle from the time when the driver observes the traffic sign to the time when the driver completes the corresponding action;
establishing a probability addressing model of the traffic sign set point positions by taking the second distance and the queuing length of the lane as constraint conditions;
and determining the set point position of the traffic sign based on the probability addressing model and the first distance.
2. The method for setting the point location of the traffic sign according to claim 1, wherein the expression of the first distance specifically includes:
L a ＝L am +l a
in the formula, L am Represents a maximum forward distance that the traffic sign is dynamically perceived by the driver; l a Indicates a length beyond the maximum forward recognition distance of the traffic sign, and a ≥0。
3. the traffic sign point location setting method according to claim 2, wherein the second distance is a recognition travel distance L of a driver continuing to travel in a lane after observing the traffic sign s And deciding the driving distance L r And performing a driving distance
Wherein:
in the formula, v s j T indicating that the vehicle is recognizing the traffic sign 2 To t 1 Driving speed on the j lane during the time period; v. of r j T representing vehicle lane change at decision 3 To t 2 Driving speed on the j lane during the time period;
representing the lane change distance required by the vehicle to enter the lane i; />
Representing the average speed of travel, t, of the vehicle in lane j j a Indicating the adjusted time after the vehicle has converged into lane j.
4. The traffic sign point location setting method according to claim 3, wherein a lane change distance required for the vehicle to merge into lane i
Obtained by a given confidence level; the expression of the confidence level is specifically as follows:
in the formula (I), the compound is shown in the specification,
t j c representing the relative critical headway required when the vehicle changes lane from lane j-1 to j; lambda [ alpha ] j c Indicating that the relative headway is less than pick>
Average vehicle arrival rate of (a); when the headway time obeying parameter of the traffic flow on the j lane is lambda j Has a negative index distribution, the relative headway obedience parameter is->
Negative exponential distribution of (c).
5. The traffic sign point location setting method according to claim 4, wherein the expression of the queuing length of the lane specifically is:
in the formula, x j i Representing the queuing length of the vehicle in the ith measured peak traffic condition on the jth lane, i =1,2,3. -;
representing the average queuing length of the vehicles in the jth lane in the peak traffic state at the intersection; sigma j Representing the standard deviation of the queuing length of vehicles in each lane in a peak traffic condition.
6. The method for setting the point location of the traffic sign according to claim 5, wherein the expression of the probabilistic addressing model specifically comprises:
the constraint conditions of the probability addressing model specifically include:
7. the method for setting the point location of the traffic sign according to claim 6, wherein the determining the expression of the point location of the traffic sign specifically includes:
in the formula (I), the compound is shown in the specification,
representing the sum of the second distance determined by the probability addressing model and the queuing length of the lane; l is d The length from the point position of the traffic sign to the stop line is represented; l is a Representing a first distance.
8. A traffic sign point location setting device characterized by comprising:
the first acquisition module is used for acquiring a first distance when the driver observes the traffic sign; wherein the first distance is the spacing distance between the vehicle and the traffic sign;
the second acquisition module is used for acquiring a second distance after the driver observes the traffic sign; wherein the second distance is the driving distance of the vehicle after the driver observes the traffic sign;
the model establishing module is used for establishing a probability addressing model of the traffic sign setting point by taking the second distance and the queuing length of the lane as constraint conditions;
and the point location determining module is used for determining the set point location of the traffic sign based on the probability addressing model and the first distance.
9. A traffic sign point location setting apparatus characterized by comprising: a memory, a processor and a traffic sign point location setting program stored on the memory and executable on the processor, the traffic sign point location setting program when executed by the processor implementing the steps of the traffic sign point location setting method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a traffic sign point location setting program which, when executed by a processor, implements the steps of the traffic sign point location setting method according to any one of claims 1 to 7.
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