CN116704816B - Road intersection safety early warning method based on conflict domain - Google Patents
Road intersection safety early warning method based on conflict domain Download PDFInfo
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Abstract
The embodiment of the invention discloses a road intersection safety pre-warning method based on a conflict domain, and relates to the technical field of road traffic safety. Calculating time windows of moving targets in different directions passing through the common conflict domain according to common conflict domains formed by different directions of the coming vehicles at the road intersection and combining the correction speed and correction distance of the moving targets, and further judging the possibility of conflict of the moving targets in different directions of the coming vehicles; when collision is possible, a stepless early warning mode is adopted to early warn the moving targets in different directions of coming vehicles. Based on conflict domains corresponding to different directions of coming vehicles, the correcting speed and the correcting distance of the captain target are combined, and the stepless early warning of the intersection is realized; the method can early warn the safety risk possibly generated at the road intersection in time, and simultaneously ensures the road passing efficiency to the greatest extent.
Description
Technical Field
The invention relates to the technical field of road traffic safety, in particular to a road intersection safety early warning method based on a conflict domain.
Background
With the continuous development of social economy, the deep promotion of urban construction and new rural construction, the traffic travel demands of people are also rapidly enhanced, and the traffic travel modes are increasingly diversified. The road intersection is characterized in that no traffic control road intersection exists on part of urban roads, vast urban and rural joints and rural roads, and because no traffic signal lamps exist at the positions, some simple static stop signs and other signs exist at the positions, and some traffic indication signs exist at all, so that pedestrians or vehicles in one coming direction are difficult to predict whether vehicles or pedestrians in other coming directions pass, and a large road safety hidden trouble exists at the road intersection.
At present, some safety early warning schemes and equipment facilities aiming at an uncontrolled road intersection are used for carrying out the most basic safety early warning operation on traffic participants appointed to come along the direction, but the schemes also have some problems, such as: in the existing early warning scheme, related parameters (such as distance and speed) of a main road moving target are mainly considered, and the related parameters of the branch road moving target are not considered enough, so that the early warning scheme is unscientific, the problem of excessive redundancy of an early warning range usually exists, the early warning strength is not matched with the actual road traffic condition, and the intelligent degree of the early warning scheme is low in general, so that the road passing efficiency of an intersection is finally influenced.
Therefore, how to ensure the traffic efficiency of the road as much as possible while improving the intelligent degree of the early warning of the road intersection becomes a problem to be studied.
Disclosure of Invention
The embodiment of the invention provides a road intersection safety early warning method based on conflict domains, which is based on the conflict domains corresponding to different directions of coming vehicles, and realizes the stepless early warning of an intersection by combining the correction speed and the distance of a captain target; the method can early warn the safety risk possibly generated at the road intersection in time, and simultaneously ensures the road passing efficiency to the greatest extent.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:
s1, acquiring a conflict domain set corresponding to a road intersection type, wherein the conflict domain set comprises: the different directions of the coming vehicles have conflict domains at the road intersections. The intersection type at least comprises different types such as an intersection, a T-shaped intersection, a multi-branch intersection, a special-shaped intersection and the like. The direction of the coming vehicle is the direction that the moving target drives to the intersection.
S2, constructing a common conflict domain according to the conflict domain set.
S3, acquiring the original speed and the original distance of the moving target in the direction of the appointed incoming vehicle.
S4, acquiring the correction speed and the correction distance of the moving target by using the original speed and the original distance of the moving target.
And S5, determining the time spent for the moving object to travel to the boundary of the common conflict domain according to the correction speed and the correction distance of the moving object, and taking the moving object with the shortest time spent as the captain object of the appointed incoming direction.
According to the correction speed and correction distance of the moving object, the time for the moving object to travel to the common conflict domain boundary is calculated, and the moving object with the shortest time is selected as the leading object of the coming direction. The leader target is the shortest moving target (the target does not necessarily have to be nearest to the boundary of the common collision domain) when moving to the boundary of the common collision domain along the center line of the lane at the correction speed, and the correction speed and the correction distance of the leader target are the basis for the subsequent judgment of the collision.
S6, acquiring respective conflict windows of the captain targets in two different coming directions, and when the two conflict windows have intersection, performing early warning on the moving target in the designated coming direction.
In this embodiment, the collision domain of the coming vehicle direction at the intersection refers to an intersection of the potential collision domain corresponding to the coming vehicle direction and the potential collision domains corresponding to all other coming vehicle directions. The potential conflict domain refers to an area through which the target line segment passes when moving along all feasible lane centerline directions. The target line segment is a line segment with a specified length close to one side of the intersection of the moving target, the target line segment is always perpendicular to the direction of the lane center line, and the midpoint of the target line segment is positioned on the lane center line.
Specifically, the lane center line refers to a track that a moving target passes through a center point of the moving target when the moving target is driven to, passed through and leaves an intersection in a standard manner. The length of the target line segment is greater than or equal to the actual width of the vehicle, for example: the width of the widest vehicle possible on the road (typically a large truck, width 2.5 m). Alternatively, the length of the target line segment is equal to the actual width of the lane.
In S2, it includes: and superposing conflict domains of two different directions of the coming vehicles at the intersection, and selecting a public part formed by superposition as a common conflict domain of the two directions of the coming vehicles. The common conflict domain has various different shapes according to different directions of coming vehicles and actual conditions of road intersections.
In S3, it includes: and capturing the moving target in the direction of the appointed incoming vehicle by a multi-target tracking radar installed at the intersection of the road, and acquiring speed information and distance information of the captured moving target. Wherein the speed and distance in the straight line direction between the moving target and the multi-target tracking radar mounting point are respectively taken as the original speed and the original distance. Specifically, the multi-target tracking radar can capture a plurality of moving targets (including vehicles, pedestrians and the like) at the same time, and parameters such as speed and distance of the moving targets. The raw speed and the raw distance refer to a speed and a distance in a spatial straight line direction connecting a moving object and a multi-object tracking radar.
In S4, it includes: and calculating a speed projection component and a distance projection component of the moving target on the central line of the lane according to the arrangement position of the multi-target tracking radar relative to the road, the original speed and the original distance acquired in the step S3, wherein the speed projection component is used as the correction speed. And calculating a correction distance according to the distance projection component and the relative positions of the multi-target tracking radar and the common conflict domain. The arrangement position of the radar relative to the road mainly comprises the height of the radar, the projection of the radar on the ground and the vertical distance between the center lines of the lanes. The correction distance refers to the distance that the end point passes when the target line segment moves along the direction of the lane central line to the point that one end point just contacts with the common conflict domain.
In S6, it includes: and selecting the captain targets of two different coming directions, and acquiring the common conflict domains corresponding to the two different coming directions. And determining the corresponding expansion time of the common conflict domain, and then calculating the longest time range of each of the two captain targets passing through the common conflict domain. And calculating respective conflict windows of the two captain targets according to the expansion time and the longest time range of the captain targets passing through the common conflict domain. If the two conflict windows have no intersection, no early warning operation is needed. And if the two conflict windows have intersection, carrying out early warning on the moving target in the direction of the appointed incoming vehicle.
Further, the expansion time corresponding to the common conflict domain is determined, and the expansion time corresponding to the common conflict domain can be obtained by taking a preset fixed value or calculating based on the specific situation of the common conflict domain, so that the expansion time can be changed along with the different common conflict domains. Comprising the following steps: selecting a preset time fixed value as the expansion time corresponding to the common conflict domain; or, obtaining the maximum value of the maximum distance covered distance of the two directions of the vehicles involved in the common conflict domain, adding the maximum value of the maximum distance covered distance and the maximum value of the first-line target length, dividing the added sum by the preset running speed, and obtaining the expansion time corresponding to the common conflict domain.
The conflict window is calculated by subtracting and adding the expansion time respectively from the left and right boundary values of the longest time range of the common conflict domain of the captain target. The longest time range of the captain target passing through the common conflict domain is a time range of the captain target passing through the common conflict domain, which is calculated according to the longest distance, the correction distance, the length of the captain target and the correction speed. The longest distance refers to the distance that the leader target can travel along the direction of the lane center line in which the distance that can travel reaches the longest when the leader target passes through the common collision domain.
Further, the expansion time may take a preset fixed value, such as 2s time. The method can also be calculated based on the specific situation of the common conflict domain, and one feasible way is to select the maximum value of the longest distance travelled by the two directions of the two vehicles related to the common conflict domain, add the maximum value of the length of the captain target (the maximum value can be fixedly selected as the length of a large truck passing through a road, which is generally 18 m), and divide the sum of the added distances of the two distances by the selected running speed (such as 40 km/h) to obtain the expansion time.
The early warning to the moving target in the direction of the appointed incoming vehicle comprises the following steps: and carrying out early warning on the moving target in the direction of the appointed incoming vehicle by adopting a stepless early warning mode. Wherein, in the stepless early warning mode: the flicker frequency of the yellow flashing lamps is positively correlated with the correction speeds of the leading targets of the two coming directions and negatively correlated with the correction distances of the leading targets of the two coming directions.
Specifically, when the moving target in the designated coming vehicle direction needs to be subjected to early warning operation, the moving target in the coming vehicle direction is subjected to early warning by adopting an early warning device such as a stepless early warning mode for controlling a yellow flashing lamp, an explosion flashing lamp, an LED information display screen, a light-emitting diode warning board, a voice playing device and the like. The stepless early warning mode controls the flicker frequency of the yellow flashing lamps to be in positive correlation with the correction speed and the correction distance of the head target in two directions of coming vehicles, and controls the switch of other early warning equipment to realize early warning operation on the moving target in the direction of the appointed coming vehicle.
In practical application, the stepless early warning mode realizes early warning on a moving target in a designated coming vehicle direction by controlling single early warning equipment or a plurality of early warning equipment combinations such as yellow flashing lights, explosion flashing lights, LED information display screens, light-emitting diode warning boards, voice playing equipment and the like. For the explosion flash lamp, the LED information display screen, the LED warning board and the voice playing equipment are controlled in such a way that the switch of the equipment is controlled to emit warning flash, words, sounds and other warning information; the control mode for the yellow flashing lamp is to control the flashing frequency to positively correlate with the correction speeds of the head targets in the two directions of the coming vehicles and to realize stepless change of the flashing frequency by negatively correlating the correction distances. Specifically, the LED information display screen can customize and display early warning characters, such as 'main road coming vehicle', 'someone crossing' and the like, and can also display customized early warning animation; the voice playing device can play the customized early warning voice.
In a preferred embodiment, the method further comprises: setting the flicker frequency of the yellow flashing lamps through a preset frequency calculation model, wherein the frequency calculation model comprises the following components: when x is<When c=10, c= ⌈ × ⌉, ⌈ ⌉ is a rounding-up operation. When x is>At 10, c=10. Wherein c is the number of flashes per second of the yellow flash, x= (v) 1 +v 2 )/(s 1 +s 2 )，v 1 (in km/h), s 1 (unit m) is correction speed and correction distance of the captain target in the direction of the appointed incoming vehicle, v 2 (in km/h), s 2 The (unit m) is the correction speed and correction distance of the captain target in the other coming direction respectively.
According to the road intersection safety pre-warning method based on the conflict domain, the time window that the moving targets in different coming directions pass through the common conflict domain is calculated by combining the correction speed and the correction distance of the moving targets on the basis of the common conflict domain formed by the different coming directions at the road intersection, and then the possibility of conflict of the moving targets in different coming directions is judged; when collision is possible, a stepless early warning mode is adopted to early warn the moving targets in different directions of coming vehicles. The method solves the problems in the prior art, can timely early warn the possible safety risk of the road intersection, can timely adjust the early warning intensity along with the traffic condition of the road intersection, timely and properly feeds back the traffic participants, avoids the problem of excessive early warning, and maximally ensures the traffic efficiency of the road while carrying out the safety early warning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a collision domain construction process of an incoming vehicle direction at an intersection according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a common collision domain construction process of two directions of vehicles coming from an intersection according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a collision domain construction process of a vehicle coming direction 1 at a t-junction according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a collision domain construction process of a vehicle coming direction 2 at a t-junction according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a collision domain construction process of a vehicle coming direction 3 at a t-junction according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a common conflict domain construction process of a vehicle coming direction 1 and a vehicle coming direction 2 at a t-junction according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a common conflict domain construction process of a vehicle coming direction 2 and a vehicle coming direction 3 at a t-junction according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a common conflict domain construction process of a vehicle coming direction 1 and a vehicle coming direction 3 at a t-junction according to an embodiment of the present invention;
fig. 9 is a perspective view showing a collision of a captain target in a vehicle coming direction 1 and a vehicle coming direction 2 at a t-shaped intersection according to an embodiment of the present invention;
fig. 10 is a schematic plan view of a captain target collision between a vehicle coming direction 1 and a vehicle coming direction 2 at a t-junction provided by an embodiment of the present invention;
fig. 11 is a schematic plan view of a captain target collision for an incoming vehicle direction 2 according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of an early warning system device according to an embodiment of the present invention;
fig. 13 is a schematic flow chart of a method according to an embodiment of the present invention.
Description of the embodiments
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of better understanding of the technical solution of the present invention to those skilled in the art. Embodiments of the present invention will hereinafter be described in detail, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The design idea of this embodiment is as follows: the road intersection safety early warning scheme based on the conflict domain is designed, mainly, moving target information of different directions of a coming vehicle is captured through a multi-target tracking radar, and the information is analyzed and processed through an upper computer by combining with actual parameter information (including types, widths and the like) of the road intersection, so that early warning equipment is controlled to generate corresponding early warning information, and stepless early warning of related moving targets is achieved.
The embodiment of the invention provides a road intersection safety pre-warning method based on a conflict domain, which is shown in fig. 13 and comprises the following steps:
s1, acquiring a conflict domain set corresponding to a road intersection type, wherein the conflict domain set comprises: the different directions of the coming vehicles have conflict domains at the road intersections.
The intersection type at least comprises different types such as an intersection, a T-shaped intersection, a multi-branch intersection, a special-shaped intersection and the like. The direction of the coming vehicle is the direction that the moving target drives to the intersection.
S2, constructing a common conflict domain according to the conflict domain set.
S3, acquiring the original speed and the original distance of the moving target in the direction of the appointed incoming vehicle.
S4, acquiring the correction speed and the correction distance of the moving target by using the original speed and the original distance of the moving target.
And S5, determining the time spent for the moving object to travel to the boundary of the common conflict domain according to the correction speed and the correction distance of the moving object, and taking the moving object with the shortest time spent as the captain object of the appointed incoming direction.
According to the correction speed and correction distance of the moving object, the time for the moving object to travel to the common conflict domain boundary is calculated, and the moving object with the shortest time is selected as the leading object of the coming direction. The leader target is the shortest moving target (the target does not necessarily have to be nearest to the boundary of the common collision domain) when moving to the boundary of the common collision domain along the center line of the lane at the correction speed, and the correction speed and the correction distance of the leader target are the basis for the subsequent judgment of the collision.
S6, acquiring respective conflict windows of the captain targets in two different coming directions, and when the two conflict windows have intersection, performing early warning on the moving target in the designated coming direction.
According to the road intersection safety pre-warning method based on the conflict domain, conflict domains corresponding to the road intersections in different coming directions are definitely defined, the time windows of the moving targets in different coming directions passing through the common conflict domains are calculated by combining correction speeds and correction distances of the moving targets on the basis of common conflict domains formed by the road intersections in different coming directions, and then the possibility of conflict of the moving targets in different coming directions is judged; when collision is possible, a stepless early warning mode is adopted to early warn the moving targets in different directions of coming vehicles. The method solves the problems in the prior art, comprehensively considers parameters such as the speed, the distance and the like of the moving targets in different directions of coming vehicles, ensures the passing efficiency of the road to the greatest extent while carrying out safety early warning, avoids the problem of excessive early warning, and can timely adjust the early warning intensity along with the traffic condition of an intersection while meeting the flexibility required for laying related early warning equipment such as radars, yellow flashing lights, explosion flashing lights and the like, thereby timely and properly feeding back to traffic participants. The method has the characteristics of being accurate, scientific, accurate and efficient, and is suitable for safety pre-warning of the non-signal-control road intersection.
In this embodiment, the intersection types at least include different types such as an intersection, a t-intersection, a multi-branch intersection, and a special-shaped intersection; the direction of the coming vehicle is the direction that the moving target drives to the intersection.
In this embodiment, the collision domain of the coming vehicle direction at the intersection refers to the intersection of the potential collision domain corresponding to the coming vehicle direction and the potential collision domains corresponding to all other coming vehicle directions; the potential conflict domain refers to a region through which a target line segment passes when moving along the centerline direction of all feasible lanes; the target line segment is a line segment with a specified length, which is close to one side of a near intersection of a moving target, the line segment is always perpendicular to the direction of a lane center line, and the midpoint of the line segment is positioned on the lane center line; the lane center line refers to a track through which a moving target passes by a center point of the moving target when the moving target runs to, passes by and leaves an intersection in a standard mode.
In practical applications, the length of the target line segment may be selected from the actual width of the moving target, or the width of the widest vehicle (typically, a large truck, with a width of 2.5 m) that is passed through on the road, or the actual width of the lane in which the vehicle is located.
In this embodiment, the common collision domain is constructed by overlapping the collision domains of two different directions of the coming vehicles at the intersection, and selecting a common part of the two directions as the common collision domain of the two directions of the coming vehicles. The common conflict domain has various different shapes according to different directions of coming vehicles and actual conditions of road intersections.
In this embodiment, the multi-target tracking radar may capture a plurality of moving targets (including vehicles, pedestrians, etc.), and parameters such as speed and distance of the moving targets at the same time; the raw speed and the raw distance refer to a speed and a distance in a spatial straight line direction connecting a moving object and a multi-object tracking radar.
In this embodiment, the layout position of the radar relative to the road mainly includes the height of the radar, the projection of the radar on the ground, and the vertical distance between the center line of the lane; the correction distance refers to the distance that the end point passes when the target line segment moves along the direction of the lane central line to the point that one end point just contacts with the common conflict domain.
In this embodiment, the captain target refers to a moving target that is shortest when moving to the common collision domain boundary along the lane center line at the correction speed (the target is not necessarily closest to the common collision domain boundary), and the correction speed and correction distance of the captain target are the basis for subsequent collision judgment.
In this embodiment, the expansion time corresponding to the common conflict domain may take a preset fixed value, or may be calculated based on the specific situation of the common conflict domain, so that the expansion time may be changed according to different common conflict domains. The conflict window is calculated by subtracting and adding the expansion time respectively from the left and right boundary values of the longest time range of the common conflict domain of the captain target; the longest time range of the captain target passing through the common conflict domain is a time range of the captain target passing through the common conflict domain, which is calculated according to the longest distance, the correction distance, the length of the captain target and the correction speed; the longest distance refers to the distance that the leader target can travel along the direction of the lane center line in which the distance that can travel reaches the longest when the leader target passes through the common collision domain.
In practical application, the expansion time can take a preset fixed value, such as 2s time; the method can also be calculated based on the specific situation of the common conflict domain, and one feasible way is to select the maximum value of the longest distance travelled by the two directions of the two vehicles related to the common conflict domain, add the maximum value of the length of the captain target (the maximum value can be fixedly selected as the length of a large truck passing through a road, which is generally 18 m), and divide the sum of the added distances of the two distances by the selected running speed (such as 40 km/h) to obtain the expansion time.
In this embodiment, the stepless early warning mode performs early warning on a moving target in a specified coming direction by controlling single early warning equipment or a combination of multiple early warning equipment such as a yellow flashing light, a bursting flashing light, an LED information display screen, a light emitting diode warning board, a voice playing equipment and the like; for the explosion flash lamp, the LED information display screen, the LED warning board and the voice playing equipment are controlled in such a way that the equipment switches are controlled to emit warning flash, words, sounds and other warning information. The control mode for the yellow flashing lamp is to control the flashing frequency to positively correlate with the correction speeds of the head targets in the two directions of the coming vehicles and to realize stepless change of the flashing frequency by negatively correlating the correction distances.
In practical application, the LED information display screen can customize and display early warning characters, such as 'main road coming vehicle', 'someone crossing' and the like, and can also display customized early warning animation; the voice playing device can play customized early warning voice (such as 'main road coming, slow down and slow down', etc.).
In practical applications, one possible way to calculate the flicker frequency of the yellow flash is to record c as the flicker frequency of the yellow flash per second, and the calculation formula c= ⌈ x ⌉ (when x<=10, ⌈ ⌉ is a rounding up operation), c=10 (when x>10 Calculating its value, where x= (v) 1 +v 2 )/(s 1 +s 2 )，v 1 (in km/h), s 1 (unit m) is correction speed and correction distance of the captain target in the direction of the appointed incoming vehicle, v 2 (in km/h), s 2 The (unit m) is the correction speed and correction distance of the captain target in the other coming direction respectively.
The solution logic of the present embodiment may be designed into multiple extension solutions according to different application scenarios in practical application, for example, the solution of the first embodiment may be designed in combination with the specific application scenario shown in fig. 9-10, including:
the intersection of a certain road is a T-shaped intersection, as shown in fig. 9, the main road and the branch road both comprise two lanes, the width of each lane is 3.5m, the main road is provided with a multi-target tracking radar 1 for monitoring the incoming direction 1, the branch road is provided with a multi-target tracking radar 2 for monitoring the incoming direction 2, the arrangement heights are all 6m, the projection of the radar on the ground falls on the edge of the road, the distance projected to the intersection is 10m, the common conflict domain of the incoming direction 1 and the incoming direction 2 at the intersection is shown in fig. 10, in the common conflict domain, the longest distance of the incoming direction 1 is 4.354m, and the longest distance of the incoming direction 2 is 2.891m.
At a certain moment, the radar 1 and the radar 2 monitor the moving targets at the same time, wherein the radar 1 monitors the two moving targets, the original speed of the moving target 1 is 67km/h, the original distance is 190m, the original speed of the moving target 2 is 70km/h, the original distance is 182m, the moving target 2 can reach a common collision domain firstly according to the current speed and distance calculation, and the moving target 2 is selected as a leading target of the coming vehicle direction 1; the radar 2 monitors a moving target, the original speed is 36km/h, the original distance is 90m, and the target is selected as the leading target of the coming vehicle direction 2.
On a main road, the distance from a radar projected to the center line of a lane where a leader target in the coming direction 1 is located is 5.75m, and the original distance (182 m) of the leader target in the coming direction 1 can be calculated by combining the radar layout height (6 m), wherein the distance projection component of the leader target on the center line of the lane where the leader target is located is 181.825m, the speed projection component is 69.933km/h, and further the correction distance from the leader target to a common collision domain is 181.823m+10m+2.646m= 194.471m;
on the branch road, the distance of the radar projection to the center line of the lane where the head target in the coming vehicle direction 2 is located is 1.75m, the original distance (90 m) of the head target in the coming vehicle direction 1 is calculated by combining the radar layout height (6 m), the distance projection component of the head target on the center line of the lane where the head target is located is 89.783m, the speed projection component is 35.913km/h, and the correction distance from the head target to the common conflict domain is 89.783m+10m+0.5 m= 100.283m;
the expansion time was chosen to be (18m+4.354 m)/(40 km/h) =2.012 s; according to the length of the captain target, the correction distance and the maximum distance are combined with the correction speed, and the time range of the captain target passing through the conflict domain can be calculated.
For the captain target of the coming vehicle direction 1, the left boundary of the time range is:the right boundary of the time range is: />Further, the conflict window of the captain target is calculated to be [10.011 s-2.0128 s, 11.162s+2.0128 s]I.e. [7.999s,13.174s ]]。
For the captain target of the coming vehicle direction 2, the left side of the time rangeThe boundaries are:the right boundary of the time range is: />Further, the conflict window of the captain target is calculated to be [10.052 s-2.0128 s, 12.147s+2.0128 s]I.e. [8.04s, 14.1599 s ]]；
Because the conflict window corresponding to the captain target in the coming direction 1 and the conflict window corresponding to the captain target in the coming direction 2 are intersected, the possibility of conflict between the captain targets is considered, and early warning is needed; calculating the flicker frequency c= ⌈ (69.933+35.913)/(194.471+100.283) ⌉ = ⌈ 0.359 ⌉ =1 for the yellow flash according to the formula;
the early warning mode includes, for the coming vehicle direction 1: the yellow flashing lamps are controlled to flash for 1 time per second, the LED information display screen displays 'the person crosses', and the LED warning board lights up a 'slow' word prompt; for the coming vehicle direction 2: the explosion flash lamp is turned on, the LED information display screen displays a main road coming vehicle, the LED warning board lights a stop word prompt, the voice playing equipment plays the main road coming vehicle, the safety voice prompt is noted, the voice can adopt mandarin or local dialect, and the LED animation display screen plays warning animation;
and repeating the process after 1 second to check whether the early warning is needed, stopping the early warning if not needed, and if needed, recalculating the flicker frequency of the yellow flashing light, opening the flashing light, an LED information display screen, a light-emitting diode warning board, voice playing equipment and the like to perform the early warning.
In connection with the specific application scenario shown in fig. 9-10, the solution of the second embodiment may be designed, including:
the embodiment adopts similar scene parameters as in the first embodiment, the only difference is that the original speed of the head target in the coming direction 2 is 80km/h, the correction speed is 79.807km/h, and then the time range of the head target passing through the conflict domain can be calculated.
At this time, the left boundary of the time range is:the right boundary of the time range is: />Further calculate the conflict window of the captain target as [4.524 s-2.0128 s, 5.466s+2.0128 s]I.e. [2.512s,7.478s ]]The method comprises the steps of carrying out a first treatment on the surface of the Due to the collision window and the collision window of the captain target of the coming direction 1 [7.999s,13.174s ]]There is no intersection, so no warning is needed.
In connection with the specific application scenario shown in fig. 11, the solution of the third embodiment may be designed, including:
the present embodiment adopts similar scene parameters as those in the first embodiment, except that a multi-target tracking radar 3 for monitoring the moving target of the coming vehicle direction 3 is added, the radar layout height is 6m, the distance from the projection of the radar to the intersection on the ground is 0m, and the common collision domain of the coming vehicle direction 2 and the coming vehicle direction 3 is shown in the figure. In the common collision domain, the longest distance of the coming vehicle direction 2 is 5.084m, the longest distance of the coming vehicle direction 3 is 5.123m, and the expansion time is (18m+5.123 m)/(40 km/h) = 2.081s.
At some point, radar 1, radar 2 and radar 3 have detected moving targets at the same time, wherein the moving targets detected by radar 1 and radar 2 are consistent with those in embodiment one; the radar 3 monitors a moving target, the original speed of which is 45km/h and the original distance of which is 123m, and the moving target is the leading target of the coming vehicle direction 3.
Taking an early warning process of calculating the coming vehicle direction 2 as an example: firstly, calculating whether the head target of the coming vehicle direction 2 and the head target of the coming vehicle direction 1 conflict or not, wherein the calculation mode is shown in the first embodiment; the calculated conflict occurs and the flicker frequency of the yellow flash is c= ⌈ (69.933+35.913)/(194.471+100.283) ⌉ = ⌈ 0.359 ⌉ =1;
then, calculating whether the captain target of the coming vehicle direction 2 and the captain target of the coming vehicle direction 3 conflict or not; according to the common conflict domain of the coming vehicle direction 2 and the coming vehicle direction 3 at the intersection, the correction distance of the captain target of the vehicle direction 2 can be calculated to be 89.783m+10m+2.021m= 101.804m, and the correction speed is 35.913km/h; the correction distance of the captain target in the coming direction 3 is 122.8417 m+1.877m= 124.718m, and the correction speed is 44.942km/h;
according to the length of the captain target, the correction distance and the maximum distance are combined with the correction speed, and the time range of the captain target passing through the conflict domain can be calculated.
For the captain target of the coming vehicle direction 2, the left boundary of the time range is:the right boundary of the time range is: />According to the expansion time 2.081s, the conflict window of the captain target is calculated to be [10.205s-2.081s,12.519s+2.081s]I.e. [8.124s,14.24s ]]；
For the captain target of the coming vehicle direction 3, the left boundary of the time range is:the right boundary of the time range is: />According to the expansion time 2.081s, the conflict window of the captain target is calculated to be [9.99s-2.081s,11.842s+2.081s]I.e. [7.909s,13.923s ]]。
Because the conflict window corresponding to the captain target in the coming direction 2 and the conflict window corresponding to the captain target in the coming direction 3 are intersected, the possibility of conflict between the captain targets is considered, and early warning is needed; calculating the flicker frequency c= ⌈ (35.913+44.942)/(101.804+124.718) ⌉ = ⌈ 0.357 ⌉ =1 of the yellow flash according to the formula;
when the head target of the designated incoming vehicle direction and the head targets of the other multiple incoming vehicle directions are in conflict, a selected direction is selected from the other multiple incoming vehicle directions, and the head target of the selected direction and the related parameters of the head target of the designated incoming vehicle direction can be met so that the flicker frequency c of the yellow flashing lamps can be maximized.
Since the head target of the coming vehicle direction 2 collides with the head targets of the coming vehicle direction 1 and the coming vehicle direction 3, the c value (⌈ 0.359.359 0.359 ⌉ =1) determined by the head target of the coming vehicle direction 2 and the head target of the coming vehicle direction 1 needs to be compared with the c value (⌈ 0.357.357 0.357 ⌉ =1) determined by the head target of the coming vehicle direction 2 and the head target of the coming vehicle direction 3, and since the two c values are the same, the c value when the coming vehicle direction 2 is warned is finally determined to be 1;
further, determining the early warning mode of the coming vehicle direction 2 comprises the following steps: the yellow flashing light is controlled to flash 1 time per second (if the branch is provided with the equipment), the flashing light is turned on, the LED information display screen displays a main road coming vehicle, the LED warning board lights a stop word prompt, the voice playing equipment plays the main road coming vehicle, notices a safety voice prompt, the voice can adopt mandarin or local dialect, and the LED animation display screen plays warning animation;
and repeating the process after 1 second to check whether the early warning is needed, stopping the early warning if not needed, and if needed, recalculating the flicker frequency of the yellow flashing light, opening the flashing light, an LED information display screen, a light-emitting diode warning board, voice playing equipment and the like to perform the early warning.
Similarly, the calculation method of the early warning process of the coming vehicle direction 1 and the coming vehicle direction 3 can be operated by adopting the same method as the coming vehicle direction 2.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (8)
1. The road intersection safety early warning method based on the conflict domain is characterized by comprising the following steps of:
s1, acquiring a conflict domain set corresponding to a road intersection type, wherein the conflict domain set comprises: conflict domains of different directions of vehicles at the road intersection;
s2, constructing a common conflict domain according to the conflict domain set;
s3, acquiring an original speed and an original distance of a moving target in the direction of the appointed incoming vehicle;
s4, acquiring the correction speed and the correction distance of the moving target by using the original speed and the original distance of the moving target;
s5, determining the time spent for the moving target to travel to the boundary of the common conflict domain according to the correction speed and the correction distance of the moving target, and taking the moving target with the shortest time spent as the captain target of the appointed incoming direction;
s6, acquiring respective conflict windows of the captain targets in two different coming directions, and when the two conflict windows have intersection, carrying out early warning on the moving target in the designated coming direction;
in S6, it includes: selecting the captain targets of two different coming directions, and acquiring common conflict domains corresponding to the two different coming directions; determining the corresponding expansion time of the common conflict domain, and then calculating the longest time range of each of the two captain targets passing through the common conflict domain; according to the expansion time and the longest time range of the captain targets passing through the common conflict domain, calculating respective conflict windows of the captain targets; if the two conflict windows have an intersection, early warning is carried out on a moving target in the direction of the appointed incoming vehicle; the conflict window is calculated by subtracting and adding the expansion time respectively from the left and right boundary values of the longest time range of the common conflict domain of the captain target; the longest time range of the captain target passing through the common conflict domain is a time range of the captain target passing through the common conflict domain, which is calculated according to the longest distance, the correction distance, the length of the captain target and the correction speed; the longest distance is the distance which the leader target can travel along the direction of the lane center line with the longest travel distance when passing through the common conflict domain;
the determining the expansion time corresponding to the common conflict domain comprises the following steps: selecting a preset time fixed value as the expansion time corresponding to the common conflict domain; or, obtaining the maximum value of the maximum distance covered distance of the two directions of the vehicles involved in the common conflict domain, adding the maximum value of the maximum distance covered distance and the maximum value of the first-line target length, dividing the added sum by the preset running speed, and obtaining the expansion time corresponding to the common conflict domain.
2. The method of claim 1, wherein the collision domain comprises: intersection of the potential conflict domain corresponding to the coming vehicle direction and the potential conflict domains corresponding to all other coming vehicle directions;
the potential conflict domain refers to a region through which a target line segment passes when moving along the centerline direction of all feasible lanes;
the target line segment is a line segment with a specified length close to one side of the intersection of the moving target, the target line segment is always perpendicular to the direction of the lane center line, and the midpoint of the target line segment is positioned on the lane center line.
3. The method of claim 2, wherein the length of the target line segment is greater than or equal to the actual width of the vehicle;
alternatively, the length of the target line segment is equal to the actual width of the lane.
4. The method according to claim 1, characterized in that in S2 it comprises:
overlapping conflict domains of two different directions of the coming vehicles at the intersection respectively;
and selecting the common part formed by superposition as a common conflict domain of the two directions of the coming vehicles.
5. The method according to claim 1, characterized in that in S3 it comprises:
capturing a moving target in the direction of the appointed incoming vehicle through a multi-target tracking radar installed at a road intersection, and acquiring speed information and distance information of the captured moving target;
wherein the speed and distance in the straight line direction between the moving target and the multi-target tracking radar mounting point are respectively taken as the original speed and the original distance.
6. The method according to claim 5, characterized in that in S4 it comprises:
calculating a speed projection component and a distance projection component of a moving target on a lane center line according to the layout position of the multi-target tracking radar relative to a road, the original speed and the original distance acquired in the step S3, wherein the speed projection component is used as a correction speed;
and calculating a correction distance according to the distance projection component and the relative positions of the multi-target tracking radar and the common conflict domain.
7. The method of claim 1, wherein the alerting the moving target in the designated incoming vehicle direction comprises:
carrying out early warning on the moving target in the direction of the appointed incoming vehicle by adopting a stepless early warning mode;
the stepless early warning mode realizes early warning on a moving target in a designated incoming vehicle direction by controlling a single early warning device or a combination of a plurality of early warning devices in yellow flashing lamps, explosion flashing lamps, LED information display screens, light-emitting diode warning boards and voice playing devices; the control mode of the explosion flash lamp, the LED information display screen, the light emitting diode warning board and the voice playing equipment is to control the equipment switches to send warning flash, characters or voice early warning information; for the yellow flashing lamp, the flashing frequency is controlled to be positively correlated with the correction speeds of the leading targets of the two coming directions and negatively correlated with the correction distances of the leading targets of the two coming directions.
8. The method as recited in claim 1, further comprising:
setting the flicker frequency of the yellow flashing lamps through a preset frequency calculation model, wherein the frequency calculation model comprises the following components:
when x is<When the number of the samples is =10,is an upward rounding operation;
when x >10, c=10;
wherein c is the number of flashes per second of the yellow flash, x= (v) 1 +v 2 )/(s 1 +s 2 )，v 1 、s 1 Correction speed and correction distance v of the captain target in the direction of the appointed incoming vehicle 2 、s 2 The correction speed and correction distance of the captain target in the other incoming direction are respectively.
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