CN103106811A - Recognition method of motor vehicle valid traffic conflict based on crashing time of two vehicles - Google Patents
Recognition method of motor vehicle valid traffic conflict based on crashing time of two vehicles Download PDFInfo
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- CN103106811A CN103106811A CN201310013309XA CN201310013309A CN103106811A CN 103106811 A CN103106811 A CN 103106811A CN 201310013309X A CN201310013309X A CN 201310013309XA CN 201310013309 A CN201310013309 A CN 201310013309A CN 103106811 A CN103106811 A CN 103106811A
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Abstract
本发明公开了一种基于两车碰撞时间的机动车有效交通冲突识别方法，该方法包括选择冲突点、判断两冲突车辆是否采取了避险行为等步骤，通过分别调查两辆冲突车辆采取避险行为时的碰撞距离、行驶速度，求出两辆车辆的碰撞时间，进而判断是否具有发生交通事故的风险，以此作为依据进行有效交通冲突的识别。与传统单纯依靠避险行为进行交通冲突识别方法相比，本发明提出的方法可以排除一些不具有交通事故发生可能的伪冲突，使得交通冲突调查结果与实际交通事故具有更密切的联系，进而提高交通冲突调查的有效性和可靠性，为应用交通冲突技术进行交通安全评价提供良好的冲突数据。
The invention discloses a motor vehicle effective traffic conflict identification method based on the collision time of two vehicles. The method includes the steps of selecting a conflict point and judging whether two conflicting vehicles have taken risk-avoidance behaviors. Based on the collision distance and driving speed at the time of behavior, the collision time of the two vehicles is calculated, and then it is judged whether there is a risk of a traffic accident, and this is used as a basis to identify effective traffic conflicts. Compared with the traditional traffic conflict identification method solely relying on risk-avoidance behavior, the method proposed by the invention can eliminate some pseudo-conflicts that do not have the possibility of traffic accidents, so that the investigation results of traffic conflicts have a closer relationship with actual traffic accidents, thereby improving The validity and reliability of traffic conflict investigation provide good conflict data for the application of traffic conflict technology in traffic safety evaluation.
Description
Technical field
The invention belongs to the Evaluation of Traffic Safety field, be specifically related to the effective traffic conflict recognition methods of a kind of motor vehicle based on two car collision times.
Background technology
The traffic conflict technique is the present domestic and international application method of traffic safety Indirect evaluation the most widely.The traffic conflict technique is come the safety case of evaluation path traffic as the traffic hazard Substitute Indexes with traffic conflict, compare with traditional Traffic safety evaluation method based on the traffic hazard data analysis, the traffic conflict technique does not rely on the accumulation of perfect accident statistics, have the advantages such as data acquisition is rapid, sample size is large, evaluation cycle is short, therefore obtained rapidly concern after 20th century, introduced China the eighties.The core of the traffic conflict technique is to utilize the instead evaluation index of traffic hazard of traffic conflict, therefore, the basis of the traffic conflict technique research is to obtain traffic conflict data reliable, capacity, and the traffic conflict data survey has determined the validity and reliability of the traffic conflict technique research to a great extent.
The generating process of traffic conflict is similar to traffic hazard, to such an extent as to be that two traffic participants spatially approach and might bump to traffic conflict point simultaneously.With regard to definite meaning, traffic hazard belongs to the traffic conflict category, traffic hazard is fully similar to the origin cause of formation and the generating process of traffic conflict, that is to say, traffic conflict is consistent with traffic hazard in itself, and unique difference between the two is in traffic conflict to have avoided the generation of traffic hazard because the driver has in time taked the hedging behavior, and in traffic hazard, the driver is owing in time not taking the hedging behavior finally to cause the generation of accident.That is to say, the hedging behavior is a leading indicator of identification traffic conflict, but due to the erroneous judgement of driver personal, not colliding possible traffic events at some is can take the hedging behavior equally.Effectively in the traffic conflict event, if the driver does not take the hedging measure, will cause the generation of traffic hazard; In invalid traffic conflict event, even the driver does not take any hedging measure, still can accident, this is to distinguish the key that the traffic conflict possibility causes accident to occur.But during present traffic conflict is differentiated, think that the hedging behavior has occured represents that namely conflict produces, this method of discrimination will make the traffic events that does not possess in a large number actual danger be mistaken for traffic conflict.The present invention is namely by to the analysis of traffic conflict essence, utilizes the relations of two conflict vehicle collision times to carry out the identification of effective traffic conflict.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides the effective traffic conflict recognition methods of a kind of motor vehicle based on two car collision times, the method is relatively identified effective traffic conflict by two car collision times in traffic events, can improve the validity and reliability of traffic conflict enquiry data, carrying out Evaluation of Traffic Safety for the application the traffic conflict technique provides good colliding data.
Technical scheme: for achieving the above object, the effective traffic conflict recognition methods of a kind of motor vehicle based on two car collision times of the present invention comprises the following steps:
1) select to carry out the conflict point of traffic conflict investigation, determine to cause two strands of Vehicle flows of this conflict point, comprise the first conflict vehicle and the second conflict vehicle;
2) judgement is when traffic events occurs, whether two conflict vehicles have all taked the hedging behavior: if only have a conflict vehicle to take the hedging behavior, record this hedging behavior generation moment point, the distance of two conflict vehicle distances conflict points, i.e. collision distance and normal vehicle operation speed when investigating punctum at this moment; If two conflict vehicles have all been taked the hedging behavior, be as the criterion with the moment of first taking the hedging behavior, the distance of two conflict vehicle distances conflict points, i.e. collision distance and normal vehicle operation speed when calculating this moment point;
3) according to described step 2) the conflict vehicle collision that obtains distance and travel speed, calculate respectively the collision time TTC of the first conflict vehicle
1And the collision time TTC of the second conflict vehicle
2
4) if TTC
1More than or equal to TTC
2, according to speed before the second conflict automobile body length, hedging moment point, calculate it by conflict point required time t
2, compare TTC
1With TTC
2+ t
2Size, if this moment TTC
1≤ TTC
2+ t
2, determine that this traffic events is effective traffic conflict, otherwise be invalid traffic conflict;
5) if TTC
1Less than TTC
2, according to speed before the first conflict automobile body length, hedging moment point, calculate it by conflict point required time t
1, compare TTC
2With TTC
1+ t
1Size, if this moment TTC
2≤ TTC
1+ t
1, determine that this traffic events is effective traffic conflict, otherwise be invalid traffic conflict.
Beneficial effect: the present invention overcomes simple with the defective of hedging behavior as traffic conflict generation discrimination standard in the past, by analyze the hedging behavior occur constantly whether the collision time relation of two conflict vehicles identify might accident, identify accordingly effective traffic conflict.Advantage of the present invention is to point out to only have the traffic events that really possesses the traffic hazard possibility occurrence to be only effective traffic conflict by the Essential Analysis to traffic conflict and traffic hazard similarity.The hedging behavior is occured the moment two conflict vehicles collision time and vehicle are analyzed by conflict point required time Relations Among, judge that the traffic events when two conflict vehicles may pass through conflict point simultaneously is effective traffic conflict.In itself traffic conflict and traffic hazard are united, the actual traffic security level can be better reacted in assurance traffic conflict.Therefore, the present invention can the application in Evaluation of Traffic Safety provide reliable data basic for the traffic conflict technique.
Description of drawings
Fig. 1 is overview flow chart of the present invention;
Fig. 2 is in the present invention, and traffic conflict point and conflict vehicle collision are apart from schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, the effective traffic conflict recognition methods of a kind of motor vehicle based on two car collision times of the present invention comprises the following steps:
1) select to carry out the conflict point of traffic conflict investigation, determine to cause two strands of Vehicle flows of this conflict point, comprise the first conflict vehicle and the second conflict vehicle;
2) judgement is when traffic events occurs, whether two conflict vehicles have all taked the hedging behavior: if only have a conflict vehicle to take the hedging behavior, record this hedging behavior generation moment point, the distance of two conflict vehicle distances conflict points, i.e. collision distance and normal vehicle operation speed when investigating punctum at this moment; If two conflict vehicles have all been taked the hedging behavior, be as the criterion with the moment of first taking the hedging behavior, the distance of two conflict vehicle distances conflict points, i.e. collision distance and normal vehicle operation speed when calculating this moment point;
3) according to described step 2) the conflict vehicle collision that obtains distance and travel speed, calculate respectively the collision time TTC of the first conflict vehicle
1And the collision time TTC of the second conflict vehicle
2
4) if TTC
1More than or equal to TTC
2, according to speed before the second conflict automobile body length, hedging moment point, calculate it by conflict point required time t
2, compare TTC
1With TTC
2+ t
2Size, if this moment TTC
1≤ TTC
2+ t
2, determine that this traffic events is effective traffic conflict, otherwise be invalid traffic conflict;
5) if TTC
1Less than TTC
2, according to speed before the first conflict automobile body length, hedging moment point, calculate it by conflict point required time t
1, compare TTC
2With TTC
1+ t
1Size, if this moment TTC
2≤ TTC
1+ t
1, determine that this traffic events is effective traffic conflict, otherwise be invalid traffic conflict.
Below adopt specific embodiment to further illustrate the specific implementation process of method of the present invention.
Embodiment 1: known certain no signal is controlled the crossing as shown in Figure 2, the first entrance driveway craspedodrome wagon flow and the second entrance driveway craspedodrome wagon flow have the potential conflict point, find that when carrying out the traffic conflict investigation the first conflict vehicle has been taked the hedging behavior in certain traffic events, the second conflict vehicle is without the hedging behavior, and whether identify this traffic events by the inventive method is that the process of effective traffic conflict is as follows:
1) known the first conflict vehicle conflict with second vehicle potential conflict point position as shown in Figure 2, first vehicle that conflicts has been taked the hedging behavior in driving towards the process of conflict point, second vehicle that conflicts is not taked the hedging behavior in driving towards the process of potential conflict point;
2) observe by video recording and can get the first conflict vehicle and begin to take the hedging behavior at moment T, first conflict vehicle headstock when moment T is put distance L apart from potential conflict
1=7 meters, the normal travel speed of the first conflict vehicle is V before moment T
1=5 meter per seconds; The second conflict vehicle headstock when moment T is put distance L apart from potential conflict
2=6 meters, the normal travel speed of the second conflict vehicle is V before moment T
2=6 meter per seconds;
3) the collision time TTC of the first conflict vehicle
1=L
1/ V
1=7/5=1.4 second; The collision time TTC of the second conflict vehicle
2=L
2/ V
2=6/6=1 second;
4) because TTC
1=1.4〉TTC
2=1, therefore need to continue to analyze the second conflict vehicle fully by the conflict point required time below, and then judge whether the first conflict vehicle vehicle that conflicts with second exists potential risk of collision;
5) observing as can be known by video recording, the length of wagon of the second conflict vehicle is 4.2 meters, therefore if the second conflict vehicle is according to the normal travel speed conflict point that travelled, reaching conflict point to the second conflict vehicle tailstock from the second conflict vehicle headstock needs time t by conflict point
2=4.2/6=0.7 second;
6) by step 3 as can be known second the conflict vehicle TTC
2TTC less than the first conflict vehicle
1If namely two vehicles all drives towards the potential conflict point according to normal travel speed, the second conflict vehicle will first arrive conflict point, if therefore (namely the second conflict vehicle tailstock passes through conflict point) first conflict vehicle also arrives conflict point before the second conflict vehicle is fully by conflict point, at this moment the Traffic Collision accident will occur, this adventurous traffic events is only real effectively traffic conflict.By step 3 and step 5 as can be known, TTC
2=1 second, t
2=0.7 second, TTC
1=1.4 seconds, TTC
2+ t
2=1.7 seconds, this moment first, the conflict vehicle satisfied TTC with the second collision time of conflicting vehicle
2≤ TTC
1≤ TTC
2+ t
2Condition, so this traffic events is effective traffic conflict.
Embodiment 2: known certain no signal is controlled the crossing as shown in Figure 2, the first entrance driveway craspedodrome wagon flow and the second entrance driveway craspedodrome wagon flow have the potential conflict point, whether find that in certain traffic events the first conflict vehicle vehicle that conflicts with second all taked the hedging behavior carrying out traffic conflict when investigation, identifying this traffic events by the inventive method is that the process of effective traffic conflict is as follows:
1) known the first conflict vehicle conflict with second vehicle the conflict point position as shown in Figure 2, the first conflict vehicle vehicle that conflicts with second has all been taked the hedging behavior in driving towards the conflict point process, observation finds that the first conflict vehicle takes the hedging behavior constantly early than the second conflict vehicle, therefore takes the hedging behavior constantly to be as the criterion with the first conflict vehicle and calculates collision distance and the normal travel speed of two conflict vehicles;
2) observe discovery the first conflict vehicle begin to take the hedging behavior at moment T by video recording, the first conflict vehicle headstock when moment T is put distance L apart from potential conflict
1=7 meters, the normal travel speed of the first conflict vehicle is V before moment T
1=10 meter per seconds; The second conflict vehicle headstock when moment T is put distance L apart from potential conflict
2=6 meters, the normal travel speed of the second conflict vehicle is V before moment T
2=5 meter per seconds;
3) the collision time TTC of the first conflict vehicle
1=L
1/ V
1=6/10=0.7 second; The collision time TTC of the second conflict vehicle
2=L
2/ V
2=6/5=1.2 second;
4) because TTC
1=0.7＜TTC
2=1.2, therefore need to continue to analyze the first conflict vehicle fully by the conflict point required time below, and then judge whether the first conflict vehicle vehicle that conflicts with second exists potential risk of collision;
5) observing as can be known by video recording, the length of wagon of the first conflict vehicle is 4 meters, therefore if the first conflict vehicle is according to the normal travel speed conflict point that travelled, reaching conflict point to the first conflict vehicle tailstock from the first conflict vehicle headstock needs time t by conflict point
1=4/10=0.4 second;
6) by step 3 the TTC with the conflict vehicle as can be known
1TTC less than the second conflict vehicle
2If namely two vehicles all drives towards conflict point according to normal travel speed, the first conflict vehicle will first arrive conflict point, if therefore (namely the first conflict vehicle tailstock passes through conflict point) second conflict vehicle also arrives conflict point before the first conflict vehicle is fully by conflict point, at this moment the Traffic Collision accident will occur, this adventurous traffic events is only real effectively traffic conflict.By step 3 and step 5 as can be known, TTC
1=0.7 second, t
1=0.4 second, TTC
2=1.2 seconds, TTC
1+ t
1=1.1 seconds, this moment first, conflict with second collision time of vehicle of conflict vehicle did not satisfy TTC
1＜TTC
2≤ TTC
1+ t
1Condition, so this traffic events is non-effective traffic conflict.
For the present invention is compared with the traffic conflict recognition methods of commonly using now, obtained by inquiry 15 crossings casualty data of nearly 3 years, to the video recording that conflicts of these 15 crossings, then utilize respectively the present invention and traffic conflict recognition methods commonly used now to carry out traffic conflict and differentiate.Calculate the related coefficient of the traffic hazard of two kinds of method conflict recognition results and 15 crossings, result is as shown in table 1.
The related coefficient of conflict and accident under the different conflict of table 1 recognition methods
| Conflict and accident related coefficient during the inventive method | Conflict and accident related coefficient during present common method |
| 0.854 | 0.647 |
Result shows, adopts the inventive method to carry out the related coefficient of the colliding data that obtains after traffic conflict identification and casualty data higher, namely adopts colliding data and the accident that the inventive method obtains that high correlativity is arranged.As seen, the traffic conflict recognition methods of the present invention's proposition can improve the validity of traffic conflict data.
By traffic conflict essence is analyzed discovery, two conflict vehicles with potential conflict point only have when might be put by potential conflict simultaneously, just really has the danger of accident, and only have the possible conflict of accident, just have with real traffic hazard and contact the most closely.Therefore, the present invention proposes in the traffic conflict investigation, collision distance, travel speed when taking the hedging behavior by investigating respectively two conflict vehicles, obtain the TTC of two vehicles, and then judge whether to have the risk of accident, carry out the identification of effective traffic conflict as foundation with this.Relying on merely the hedging behavior to carry out the traffic conflict recognition methods with tradition compares, the method that the present invention proposes can be got rid of some and not have the possible puppet conflict of traffic hazard generation, make traffic conflict investigation result and actual traffic accident have closer the contact, and then improve the validity and reliability of traffic conflict investigation, carrying out Evaluation of Traffic Safety for the application the traffic conflict technique provides good colliding data.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (1)
1. effective traffic conflict recognition methods of the motor vehicle based on two car collision times is characterized in that comprising the following steps:
1) select to carry out the conflict point of traffic conflict investigation, determine to cause two strands of Vehicle flows of this conflict point, comprise the first conflict vehicle and the second conflict vehicle;
2) judgement is when traffic events occurs, whether two conflict vehicles have all taked the hedging behavior: if only have a conflict vehicle to take the hedging behavior, record this hedging behavior generation moment point, the distance of two conflict vehicle distances conflict points, i.e. collision distance and normal vehicle operation speed when investigating punctum at this moment; If two conflict vehicles have all been taked the hedging behavior, be as the criterion with the moment of first taking the hedging behavior, the distance of two conflict vehicle distances conflict points, i.e. collision distance and normal vehicle operation speed when calculating this moment point;
3) according to described step 2) the conflict vehicle collision that obtains distance and travel speed, calculate respectively the collision time TTC of the first conflict vehicle
1And the collision time TTC of the second conflict vehicle
2
4) if TTC
1More than or equal to TTC
2, according to speed before the second conflict automobile body length, hedging moment point, calculate it by conflict point required time t
2, compare TTC
1With TTC
2+ t
2Size, if this moment TTC
1≤ TTC
2+ t
2, determine that this traffic events is effective traffic conflict, otherwise be invalid traffic conflict;
5) if TTC
1Less than TTC
2, according to speed before the first conflict automobile body length, hedging moment point, calculate it by conflict point required time t
1, compare TTC
2With TTC
1+ t
1Size, if this moment TTC
2≤ TTC
1+ t
1, determine that this traffic events is effective traffic conflict, otherwise be invalid traffic conflict.
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| CN115620518A (en) * | 2022-10-11 | 2023-01-17 | 东南大学 | Intersection Traffic Conflict Discrimination Method Based on Deep Learning |
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Application publication date: 20130515 |