CN115830907A - Method, device, storage medium and terminal for conflict analysis of vehicles turning right at an intersection - Google Patents

Abstract

The invention discloses a conflict analysis method, device, storage medium and terminal for right-turning vehicles at an intersection. The method includes: calculating the passage of each right-turning motor vehicle through the to-be-analyzed intersection according to the traffic trajectory data passing through the right-turning intersection to be analyzed within a preset period of time. The traffic parameters of the right-turn intersection; according to the actual operation parameter analysis of the signal light on the current intersection and the signal phase of the right-turn conflict and the signal phase without right-turn conflict at the right-turn intersection to be analyzed; according to the traffic of each right-turn motor vehicle Parameters, calculate the first average turn time under the signal phase of right-turn conflict and the second average turn time under the signal phase without right-turn conflict; determine the right-turn intersection to be analyzed according to the first average turn time and the second average turn time the severity of the conflict. Through the quantitative analysis of the severity of conflicts between vehicles turning right at intersections, pedestrians, and non-motorized vehicles, the application realizes refined intersection order governance, thereby improving the efficiency and safety of right-turning traffic.

Description

Method, device, storage medium and terminal for conflict analysis of vehicles turning right at an intersection

technical field

The invention relates to the technical field of intelligent transportation, in particular to a conflict analysis method, device, storage medium and terminal for vehicles turning right at an intersection.

Background technique

As an important node of urban traffic, intersection is an area with frequent traffic accidents and a bottleneck area that restricts the efficiency of traffic flow operation. In order to improve the safety and efficiency of intersections, it is necessary to reasonably split the conflicts between various traffic themes at intersections. Most intersections in my country do not implement signal control for right-turning motor vehicles, and allow them to turn right during red lights. For non-motor vehicles and intersections with large pedestrian flow, conflicts with right-turning vehicles are likely to occur.

At present, the common definitions of conflict are divided into two categories, one is to judge whether there is a risk-avoidance behavior, and the other is the degree of proximity in space/time. However, risk avoidance behavior is difficult to be accurately defined and observed quantitatively, and there are many indicators for measuring the degree of proximity, and there is no unified consensus. The methods of studying conflicts based on collision time, such as TTC and PET methods, can judge whether there is conflict between vehicles to a certain extent, and can judge the severity of conflict according to the size of collision time. However, this method also has several disadvantages. First, this method can only judge the severity of a single conflict, but cannot evaluate the severity of the conflict as a whole according to the type of conflict. Second, it is difficult to obtain high-precision trajectory data. , video recognition technology has high accuracy in identifying vehicle trajectories, but the recognition accuracy and accuracy of pedestrian and non-motor vehicle trajectories are very poor, which is difficult to meet practical applications.

Therefore, it is difficult to identify and analyze the conflicts between vehicles, pedestrians and non-motorized vehicles at intersections by using the method of collision time, which reduces the efficiency and safety of right-turn traffic.

Contents of the invention

Embodiments of the present application provide a conflict analysis method, device, storage medium and terminal for vehicles turning right at an intersection. In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is presented below. This summary is not an overview, nor is it intended to identify key/critical elements or delineate the scope of these embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

In the first aspect, the embodiment of the present application provides a conflict analysis method for vehicles turning right at an intersection, the method includes:

Calculate the passing time and target signal phase of each right-turning motor vehicle passing through the right-turning intersection to be analyzed according to the driving trajectory data of the right-turning intersection to be analyzed within the preset time period, and generate the passing parameters of each right-turning motor vehicle;

According to the actual operation parameter analysis of the signal lights on the current crossroads, there is a signal phase of right-turn conflict with the right-turn intersection to be analyzed and a signal phase without right-turn conflict;

According to the traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase of no right-turn conflict;

The severity of the conflict at the right-turn intersection to be analyzed is determined according to the first average turning time and the second average turning time.

Optionally, calculate the transit time and target signal phase of each right-turning motor vehicle passing through the right-turn intersection to be analyzed according to the traffic trajectory data passing through the right-turn intersection to be analyzed within the preset time period, including:

Obtain the traffic trajectory data of the right-turn intersection to be analyzed within the preset time period;

Divide the right-turn trajectory of each right-turn motor vehicle in the driving trajectory data into the identification start area, right-turn conflict area and identification end area according to the position;

Determine the first moment corresponding to the first track point of each right-turning motor vehicle entering the identification starting area;

Determine the second moment corresponding to the first track point of each right-turning motor vehicle entering the identification end zone;

Determine the difference between the second moment and the first moment as the passing time of each right-turning motor vehicle;

According to the driving track data, the signal phase of each right-turning motor vehicle entering the starting area is determined as the target signal phase.

Optionally, according to the actual operating parameters of the signal lights at the current crossroads, the signal phases with right-turn conflicts with the right-turn intersection to be analyzed and the signal phases without right-turn conflicts are analyzed, including:

Analyze the multiple signal phases associated with the right-turn intersection to be analyzed according to the actual operating parameters of the signal lights at the current intersection;

Analyze the conflict objects of each signal phase, and determine the signal phase without right-turn conflict and the number of right-turn exit lanes and left-turn entry lanes on the opposite side of the right-turn direction based on the conflict objects of each signal phase and/or the number of right-turn exit lanes. signal phases with right-turn conflicts;

Obtain the conflict type corresponding to each signal phase with right-turn conflict, and classify the signal phases of the same type to obtain multiple types of conflict signal phases.

Optionally, calculating the first average turn time under the signal phase of the right-turn conflict includes:

Determine whether the target signal phase of each right-turning motor vehicle belongs to each type of conflicting signal phase, and determine the right-turning motor vehicle corresponding to the target signal phase belonging to each type of conflicting signal phase, and obtain all right-turning signals of each type of conflicting signal phase motor vehicle;

Count the number of first vehicles of all right-turning motor vehicles in each type of conflicting signal phase;

Sum the passing time of all right-turning motor vehicles of each type of conflicting signal phase to obtain the first total time;

The ratio of the first total duration to the corresponding first vehicle quantity is determined as the first average turn time of each type of conflicting signal phase.

Optionally, the calculation of the second average turn time under the signal phase without right-turn conflicts includes:

When there is a signal phase without right-turn conflict, judge whether the target signal phase of each right-turn motor vehicle belongs to the signal phase without right-turn conflict, and determine the signal phase corresponding to the target signal phase that belongs to the signal phase without right-turn conflict Right-turning motor vehicles, all right-turning motor vehicles without right-turning conflict signal phases are obtained;

Count the second vehicle quantity of all right-turn motor vehicles without right-turn conflict signal phase;

Sum the passing time of all right-turning motor vehicles without right-turn conflicting signal phases to obtain the second total time;

The ratio of the second total duration to the second number of vehicles is determined as the second average turning time.

Optionally, the calculation of the second average turn time under the signal phase without right-turn conflicts includes:

When there is no signal phase without right-turn conflict, calculate the average passing time of right-turning motor vehicles under all signal phases existing at the right-turning intersection to be analyzed, and obtain the passage time series of right-turning motor vehicles under all signal phases;

Select the preset percentile from the time series of right-turning vehicles under all signal phases, and obtain the second average turning time under the non-conflicting signal phases.

Optionally, according to the first average turning time and the second average turning time, the conflict severity of the right-turn intersection to be analyzed is determined, including:

Calculate the ratio of the first average turning time to the second average turning time to obtain the right-turn conflict index;

According to the mapping relationship between the right-turn conflict index and the preset conflict index-conflict severity table, the conflict severity of the right-turn intersection to be analyzed is determined.

In the second aspect, the embodiment of the present application provides a device for analyzing conflicts of vehicles turning right at an intersection, the device comprising:

The passing parameter generation module is used to calculate the transit time and target signal phase of each right-turning motor vehicle passing through the right-turning intersection to be analyzed according to the traffic trajectory data passing through the right-turning intersection to be analyzed within a preset time period, and generate each right-turning vehicle The traffic parameters of the motor vehicle;

The signal phase analysis module is used to analyze the signal phases with right-turn conflicts and the signal phases without right-turn conflicts at the right-turn intersections to be analyzed according to the actual operating parameters of the signal lights at the current intersection;

The turning time calculation module is used to calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase of no right-turn conflict according to the traffic parameters of each right-turning motor vehicle;

The conflict severity determination module is configured to determine the conflict severity of the right-turn intersection to be analyzed according to the first average turning time and the second average turning time.

In a third aspect, an embodiment of the present application provides a computer storage medium, where a plurality of instructions are stored in the computer storage medium, and the instructions are suitable for being loaded by a processor and executing the above method steps.

In a fourth aspect, an embodiment of the present application provides a terminal, which may include: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the above method steps.

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

In the embodiment of the present application, the right-turning vehicle conflict analysis device at the intersection first calculates the travel time and target signal of each right-turning motor vehicle passing the right-turning intersection to be analyzed according to the driving trajectory data of the right-turning intersection to be analyzed within a preset time period Phase, generate the passing parameters of each right-turning motor vehicle, and then analyze the signal phases that have right-turn conflicts with the right-turn intersection to be analyzed and the signal phases that do not have right-turn conflicts according to the actual operating parameters of the signal lights at the current intersection, and then according to The traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase without right-turn conflict, and finally according to the first average turning time and the second The average turn time determines the severity of the conflict at the right-turn intersection to be analyzed. Since the conflict at the intersection is closely related to the signal phase of the signal light, this application analyzes the traffic parameters of each right-turning motor vehicle within a period of time, and combines the first average turning time under the signal phase of the right-turning conflict and no The second average turning time under the signal phase of the right-turn conflict can deduce the severity of the intersection conflict. This application conducts a quantitative analysis of the conflict severity between vehicles turning right at the intersection, pedestrians, and non-motorized vehicles. Refined intersection order management provides a basis, thereby improving the efficiency of right-turn traffic.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a schematic flow diagram of a conflict analysis method for vehicles turning right at an intersection provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a scene division of a right-turn area at an intersection provided by an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a right-turning vehicle conflict analysis device at an intersection provided by an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a terminal provided by an embodiment of the present application.

Detailed ways

The following description and drawings illustrate specific embodiments of the invention sufficiently to enable those skilled in the art to practice them.

It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

In the description of the present invention, it should be understood that the terms "first", "second" and so on are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently. The character "/" generally indicates that the contextual objects are an "or" relationship.

The present application provides a conflict analysis method, device, storage medium and terminal for vehicles turning right at an intersection, so as to solve the problems existing in the above related technical problems. In the technical solution provided by this application, since the conflict at the intersection is closely related to the signal phase of the signal light, this application analyzes the passing parameters of each right-turning motor vehicle within a period of time, and combines the signal phase of the right-turning conflict to solve the problem. The first average turning time of the intersection and the second average turning time under the signal phase without right-turn conflict can deduce the severity of the intersection conflict. Quantitative analysis to provide a basis for realizing more refined intersection order governance, thereby improving the efficiency of right-turn traffic. The following uses an exemplary embodiment to describe in detail.

The conflict analysis method for right-turning vehicles at intersections provided by the embodiment of the present application will be described in detail below with reference to accompanying drawings 1-2. The method can be implemented relying on a computer program, and can run on a right-turning vehicle conflict analysis device at an intersection based on the von Neumann system. The computer program can be integrated in the application, or run as an independent utility application.

Please refer to FIG. 1 , which provides a schematic flowchart of a method for analyzing conflicts of right-turning vehicles at intersections according to an embodiment of the present application. As shown in Figure 1, the method of the embodiment of the present application may include the following steps:

S101. Calculate the passage time and target signal phase of each right-turning motor vehicle passing through the right-turning intersection to be analyzed according to the traffic trajectory data passing through the right-turning intersection to be analyzed within the preset time period, and generate the passing parameters of each right-turning motor vehicle;

Wherein, the preset time period is a period of time set according to the actual application scenario, for example, 07:47:53-09:47:53 in the morning rush hour; it may also be 24 hours a day, or it may be one month. The right-turn intersection to be analyzed is an intersection where motor vehicles need to turn right in a specified intersection to be analyzed. The passing time is the total time it takes for the vehicle to pass through the set right-turn area. The set right-turn area includes the identification start area, right-turn conflict area and identification end area. The target signal phase is the ongoing signal phase of the signal light when the motor vehicle enters the set right-turn area identification starting area.

Usually, for example, when a motor vehicle turns right from south to east, the set right-turn area is shown in Figure 2, and the setting range of each area is as follows: Identify the starting area: the right-turn lane at the south entrance, from the stop line to the south A car length area; right-turn conflict zone: from the stop line of the south entrance road in the south to the central guardrail in the east-west direction; in the west, from the extension line of the left line of the right-turn lane at the south entrance, to the east across the zebra crossing on the east side; identification end area : Turn right from the conflict zone and continue eastward for 20 meters.

In the embodiment of the present application, when calculating the travel time and target signal phase of each right-turning motor vehicle passing through the right-turn intersection to be analyzed according to the driving trajectory data of the right-turn intersection to be analyzed within the preset time period, the preset After the traffic trajectory data of the right-turn intersection to be analyzed within the time period, the right-turn trajectory of each right-turning motor vehicle in the traffic trajectory data is divided into the identification start area, right-turn conflict area and identification end area according to the position, and then determined The first moment corresponding to the first track point of each right-turning motor vehicle entering the identification starting area, and then determine the second moment corresponding to the first track point of each right-turning motor vehicle entering the identification end area, and then determine the second moment corresponding to the first track point of each right-turning motor vehicle entering the identification end area. The difference between the second moment and the first moment is determined as the transit time of each right-turning vehicle, and finally, according to the driving trajectory data, the signal phase of each right-turning vehicle entering the starting area is determined as the target signal phase.

In a possible implementation, when calculating the passage time of each right-turning motor vehicle, the first track point after the vehicle V _i enters the identification starting area is recorded as P _is , and the corresponding time is T _is ; The time corresponding to the first track point P _ie entering the recognition end area is T _ie . That is, the time for the vehicle V _i to turn right and pass the intersection can be obtained as T _i =T _ie -T _is .

S102, according to the actual operating parameters of the signal lights at the current intersection, analyze the signal phases with right-turn conflicts and the signal phases without right-turn conflicts at the right-turn intersections to be analyzed;

In the embodiment of the present application, when analyzing the signal phases that have right-turn conflicts with the right-turn intersections to be analyzed and the signal phases that have no right-turn conflicts based on the actual operating parameters of the signal lights at the current intersection, first of all, based on the actual operating parameters of the signal lights at the current intersection The running parameters analyze multiple signal phases associated with the right-turn intersection to be analyzed, and then analyze the conflict objects of each signal phase, and based on the conflict objects of each signal phase and/or the right-turn entrance lane and the right-turn opposite direction left The number of turn-in entrance lanes determines the signal phase without right-turn conflicts and multiple signal phases with right-turn conflicts, and finally obtains the conflict type corresponding to each signal phase with right-turn conflicts, and returns the same type of signal phases to class, to get multi-class conflicting signal phases. For example, if there is a merging conflict between a right-turning vehicle and a motor vehicle, assuming that the number of exit lanes is greater than the number of entrance lanes, the conflict is ignored, and the vehicles in this phase are classified into a non-conflict set; no conflict is based on the signal phase The conflict objects and the number of entry and exit lanes are determined, and multiple right-turn conflicts are determined according to the conflict objects.

This application uses the motor vehicle trajectory data and phase relationship to judge the serious conflict between right-turning vehicles, pedestrians and non-motor vehicles, and avoids the problems of difficult acquisition of pedestrian and non-motor vehicle data and poor data accuracy. Use the vehicle trajectory data and phase relationship to obtain the conflict severity index and severity of motor vehicles turning right at intersections, pedestrians, and non-motor vehicles, and realize quantitative and qualitative conflict evaluation. For example, according to the actual operation situation of the intersection, it is possible to analyze the phases that conflict with motor vehicles turning right and the phases that do not conflict with motor vehicles turning right. The motor vehicle turns right for illustration, and the specific conflict situations in each phase corresponding to the two right turns are shown in Table 1.

Table 1

According to the content divided in Table 1, in the case of a south-to-east motor vehicle turning right as an example, the signal phase at which the vehicle turns right is divided by the first point of the vehicle in the identification starting area, that is, the phase corresponding to T _ie time Signal phases, phases I and IV, although there is a merging conflict between south-to-east right-turning vehicles and north-to-east left-turning vehicles, if the number of right-turning exit lanes (ie, east exit lanes) is greater than the number of right-turning left-turning entrance lanes ( That is, the number of left-turn lanes at the north entrance), the north-to-east merge conflict can be ignored, and it can be regarded as no conflict. Therefore, _phases Ⅰ, Ⅳ, and Ⅵ are the non-conflict phase set S ₀ of right-turning motor vehicles; Ⅹ is classified as the conflict phase set S ₂ between right-turning motor vehicles, non-motor vehicles and pedestrians in the crossing direction.

S103, according to the traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase of no right-turn conflict;

In the embodiment of the present application, when calculating the first average turning time under the signal phase of right-turn conflict, it is first judged whether the target signal phase of each right-turn motor vehicle belongs to each type of conflict signal phase, and it is determined whether the target signal phase belongs to each type. The right-turning motor vehicle corresponding to the target signal phase of the conflicting signal phase, obtain all right-turning motor vehicles of each type of conflicting signal phase, and then count the first vehicle quantity of all right-turning motor vehicles of each type of conflicting signal phase, and then divide each The sum of the passing time of all right-turning motor vehicles in the conflicting signal phase, to obtain the first total time, and finally determine the ratio of the first total time to the corresponding first vehicle number as the first average turning of each conflicting signal phase time.

In the embodiment of the present application, when calculating the second average turning time under the signal phase without right-turn conflict, first, when there is a signal phase without right-turn conflict, it is judged whether the target signal phase of each right-turn motor vehicle belongs to Signal phases without right-turn conflicts, and determine the right-turn motor vehicles corresponding to the target signal phases belonging to the signal phases without right-turn conflicts, and obtain all right-turn motor vehicles without right-turn conflict signal phases, and then count the no-right-turn vehicles The second vehicle quantity of all right-turning motor vehicles with conflicting signal phases, and secondly, sum the passing time of all right-turning motor vehicles without right-turning conflicting signal phases to obtain the second total time length, and finally combine the second total time length with the second The ratio of the number of vehicles is determined as the second average turn time.

Or, when there is no signal phase without right-turn conflict, first calculate the average passing time of right-turning motor vehicles under all signal phases existing at the right-turning intersection to be analyzed, and obtain the right-turning motor vehicle passing time under all signal phases time series, and then select the preset percentile from the time series of right-turning vehicles under all signal phases to obtain the second average turning time under the non-conflicting signal phases.

集合S₂与交叉方向非机动车、行人冲突相位右转平均转弯时间

所有相位右转平均转弯时间

In a possible implementation, the passing parameters of each right-turning motor vehicle are obtained according to step S101, and the conflict-free phase set S ₀ of right-turning motor vehicles, right-turning motor vehicles and non-motor vehicles in the same direction are obtained according to Table 1 , pedestrian conflict phase set S ₁ , and right-turning motor vehicle and cross direction non-motor vehicle and pedestrian conflict phase set S ₂ , the average right-turning time of set S ₁ and the same direction non-motor vehicle and pedestrian conflict phase can be calculated as

The average turning time of set S ₂ and non-motor vehicles and pedestrians in the cross direction to turn right

Average right turn time for all phases

当该相位不存在则以所有相位下右转车辆通行时间的15％分为无冲突右转时间

Calculate the average turn time without conflicts. If there are phases Ⅰ, Ⅳ, Ⅵ, the average turning time of the set S ₀ under this phase is the conflict-free right-turning time

When the phase does not exist, 15% of the passing time of right-turning vehicles under all phases is divided into conflict-free right-turn time

In a possible implementation, take the right turn at the north entrance of the intersection of Guanghua Road and Jintong East Road as an example, and select the motor vehicle data from 8:30 to 9:30 in the morning rush hour on July 26, 2022. According to the data, each The travel time and target signal phase of a right-turning motor vehicle passing the right-turning intersection to be analyzed, the signal phase is going straight north-south-turning left-north-south-turning east-west straight left, and a signal cycle is 2 minutes and 20 seconds. According to the situation, the north-south straight phase is the conflict phase between north-to-west right-turning vehicles and non-motor vehicles and pedestrians in the same direction; the east-west straight-left phase is the conflict phase between north-to-west right-turning vehicles and cross-direction non-motor vehicles and pedestrians. After numbering based on this, we can get For example, the data in Table 2.

Table 2

S104. Determine the severity of the conflict at the right-turn intersection to be analyzed according to the first average turning time and the second average turning time.

In the embodiment of the present application, when determining the conflict severity of the right-turn intersection to be analyzed according to the first average turning time and the second average turning time, the ratio of the first average turning time to the second average turning time is firstly calculated to obtain the right Turn the conflict index, and then determine the conflict severity at the right-turn intersection to be analyzed according to the mapping relationship between the right-turn conflict index and the preset conflict index-conflict severity table.

冲突指数-冲突严重程度表例如表3所示：Specifically, the formula for calculating the right-turn conflict index is

The conflict index-conflict severity table is shown in Table 3:

table 3

K_i <=1 (1,2] (2,3] >3 severity of conflict no conflict slight Moderate serious

南北直行相位下，北进口右转车与南北向行人、非机动发生冲突，平均通行时间13.14s；东西直左相位下，北进口右转车与东西向行人、非机动发生冲突，平均通行时间16.67s。In a possible implementation, for example, according to the data in Table 2, it can be seen that 26 right-turning vehicles are identified, and the average passing time is 13.42s. Because there are two west exits and one left-turning south entrance, the north-south Under the left-turning phase, right-turning vehicles at the north entrance can be regarded as conflict-free, that is, the average transit time of right-turning vehicles from north to west without conflict

Under the north-south straight phase, the right-turning vehicle at the north entrance conflicts with north-south pedestrians and non-motorized vehicles, and the average passing time is 13.14s; under the east-west straight left phase, the right-turning vehicle at the north entrance conflicts with east-west pedestrians and non-motorized vehicles, and the average passing time 16.67s.

At this time, the right turn conflict index K ₁ : 13.14/8.14=1.614. The severity of the conflict is minor. Right turn conflict index K ₂ : 16.67/8.14=2.048. The severity of the conflict is moderate. The total average time for a right turn from north to west is 13.42s, and the right turn conflict index K: 13.42/8.14=1.65s. The severity of the conflict is minor.

In the embodiment of the present application, the right-turning vehicle conflict analysis device at the intersection first calculates the travel time and target signal of each right-turning motor vehicle passing the right-turning intersection to be analyzed according to the driving trajectory data of the right-turning intersection to be analyzed within a preset time period Phase, generate the passing parameters of each right-turning motor vehicle, and then analyze the signal phases that have right-turn conflicts with the right-turn intersection to be analyzed and the signal phases that do not have right-turn conflicts according to the actual operating parameters of the signal lights at the current intersection, and then according to The traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase without right-turn conflict, and finally according to the first average turning time and the second The average turn time determines the severity of the conflict at the right-turn intersection to be analyzed. Since the conflict at the intersection is closely related to the signal phase of the signal light, this application analyzes the traffic parameters of each right-turning motor vehicle within a period of time, and combines the first average turning time under the signal phase of the right-turning conflict and no The second average turning time under the signal phase of the right-turn conflict can deduce the severity of the intersection conflict. This application conducts a quantitative analysis of the conflict severity between vehicles turning right at the intersection, pedestrians, and non-motorized vehicles. Refined intersection order management provides a basis, thereby improving the efficiency of right-turn traffic.

The following are device embodiments of the present invention, which can be used to implement the method embodiments of the present invention. For the details not disclosed in the device embodiment of the present invention, please refer to the method embodiment of the present invention.

Please refer to FIG. 3 , which shows a schematic structural diagram of a right-turning vehicle conflict analysis device at an intersection provided by an exemplary embodiment of the present invention. The right-turn vehicle conflict analysis device at the intersection can be implemented as all or a part of the terminal through software, hardware or a combination of the two. The device 1 includes a passing parameter generation module 10, a signal phase analysis module 20, a turning time calculation module 30, and a conflict severity determination module 40

The traffic parameter generating module 10 is used to calculate the transit time and the target signal phase of each right-turning motor vehicle passing the right-turning intersection to be analyzed according to the traffic trajectory data passing through the right-turning intersection to be analyzed within a preset time period, and generate each right-turning motor vehicle. Traffic parameters of motor vehicles;

The signal phase analysis module 20 is used to analyze the signal phase of the right-turn conflict with the right-turn intersection to be analyzed and the signal phase of no right-turn conflict according to the actual operating parameters of the signal lights at the current intersection;

The turning time calculation module 30 is used to calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase of no right-turn conflict according to the traffic parameters of each right-turning motor vehicle;

The conflict severity determination module 40 is configured to determine the conflict severity of the right-turn intersection to be analyzed according to the first average turning time and the second average turning time.

It should be noted that when the right-turning vehicle conflict analysis device at an intersection provided by the above-mentioned embodiment executes the right-turning vehicle conflict analysis method at an intersection, it only uses the division of the above-mentioned functional modules for illustration. In practical applications, the above-mentioned Function allocation is accomplished by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus for conflict analysis of right-turning vehicles at intersections and the method for analyzing right-turning vehicle conflicts at intersections provided in the above-mentioned embodiments belong to the same concept, and the implementation process thereof is detailed in the method embodiments, and will not be repeated here.

The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.

In the embodiment of the present application, the right-turning vehicle conflict analysis device at the intersection first calculates the travel time and target signal of each right-turning motor vehicle passing the right-turning intersection to be analyzed according to the driving trajectory data of the right-turning intersection to be analyzed within a preset time period Phase, generate the passing parameters of each right-turning motor vehicle, and then analyze the signal phases that have right-turn conflicts with the right-turn intersection to be analyzed and the signal phases that do not have right-turn conflicts according to the actual operating parameters of the signal lights at the current intersection, and then according to The traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase without right-turn conflict, and finally according to the first average turning time and the second The average turn time determines the severity of the conflict at the right-turn intersection to be analyzed. Since the conflict at the intersection is closely related to the signal phase of the signal light, this application analyzes the traffic parameters of each right-turning motor vehicle within a period of time, and combines the first average turning time under the signal phase of the right-turning conflict and no The second average turn time under the signal phase of right-turn conflicts can be used to deduce the severity of intersection conflicts, which provides a basis for more refined intersection order governance, thereby improving the efficiency of right-turn traffic.

The present invention also provides a computer-readable medium, on which program instructions are stored. When the program instructions are executed by a processor, the methods for analyzing right-turn vehicle conflicts at intersections provided by the above method embodiments are implemented.

The present invention also provides a computer program product containing instructions, which, when run on a computer, causes the computer to execute the conflict analysis method for right-turning vehicles at intersections in the foregoing method embodiments.

Referring to FIG. 4 , it provides a schematic structural diagram of a terminal according to an embodiment of the present application. As shown in FIG. 4 , a terminal 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

Wherein, the communication bus 1002 is used to realize connection and communication between these components.

Wherein, the user interface 1003 may include a display screen (Display) and a camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.

Wherein, the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

Wherein, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts of the entire electronic device 1000, and executes or executes by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Various functions of the electronic device 1000 and processing data. Optionally, the processor 1001 may use at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware. The processor 1001 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used to render and draw the content that needs to be displayed on the display screen; the modem is used to handle wireless communication. It can be understood that the above modem may also not be integrated into the processor 1001, but implemented by a single chip.

Wherein, the memory 1005 may include a random access memory (Random Access Memory, RAM), or may include a read-only memory (Read-Only Memory). Optionally, the storage 1005 includes a non-transitory computer-readable storage medium (non-transitory computer-readable storage medium). The memory 1005 may be used to store instructions, programs, codes, sets of codes or sets of instructions. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), Instructions and the like for implementing the above method embodiments; the storage data area can store the data and the like involved in the above method embodiments. Optionally, the memory 1005 may also be at least one storage device located away from the aforementioned processor 1001 . As shown in FIG. 4 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for conflict analysis of vehicles turning right at an intersection.

In the terminal 1000 shown in FIG. 4 , the user interface 1003 is mainly used to provide the user with an input interface and obtain the data input by the user; and the processor 1001 can be used to call the intersection right-turn vehicle conflict analysis application program stored in the memory 1005 , and specifically do the following:

Calculate the passing time and target signal phase of each right-turning motor vehicle passing through the right-turning intersection to be analyzed according to the driving trajectory data of the right-turning intersection to be analyzed within the preset time period, and generate the passing parameters of each right-turning motor vehicle;

According to the actual operation parameter analysis of the signal lights on the current crossroads, there is a signal phase of right-turn conflict with the right-turn intersection to be analyzed and a signal phase without right-turn conflict;

According to the traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase of no right-turn conflict;

The severity of the conflict at the right-turn intersection to be analyzed is determined according to the first average turning time and the second average turning time.

In one embodiment, when the processor 1001 calculates the travel time and target signal phase of each right-turning motor vehicle passing through the right-turn intersection to be analyzed according to the traffic trajectory data passing through the right-turn intersection to be analyzed within a preset time period, the specific Do the following:

Obtain the traffic trajectory data of the right-turn intersection to be analyzed within the preset time period;

Divide the right-turn trajectory of each right-turn motor vehicle in the driving trajectory data into the identification start area, right-turn conflict area and identification end area according to the position;

Determine the first moment corresponding to the first track point of each right-turning motor vehicle entering the identification starting area;

Determine the second moment corresponding to the first track point of each right-turning motor vehicle entering the identification end zone;

Determine the difference between the second moment and the first moment as the passing time of each right-turning motor vehicle;

According to the driving track data, the signal phase of each right-turning motor vehicle entering the starting area is determined as the target signal phase.

In one embodiment, when the processor 1001 analyzes the signal phases with right-turn conflicts with the right-turn intersection to be analyzed and the signal phases without right-turn conflicts based on the actual operating parameters of the signal lights at the current intersection, specifically perform the following operations :

Analyze the multiple signal phases associated with the right-turn intersection to be analyzed according to the actual operating parameters of the signal lights at the current intersection;

Analyze the conflict objects of each signal phase, and determine the signal phase without right-turn conflict and the number of right-turn exit lanes and left-turn entry lanes on the opposite side of the right-turn direction based on the conflict objects of each signal phase and/or the number of right-turn exit lanes. signal phases with right-turn conflicts;

Obtain the conflict type corresponding to each signal phase with right-turn conflict, and classify the signal phases of the same type to obtain multiple types of conflict signal phases.

In one embodiment, when the processor 1001 calculates the first average turning time under the signal phase of the right-turn conflict, specifically perform the following operations:

Determine whether the target signal phase of each right-turning motor vehicle belongs to each type of conflicting signal phase, and determine the right-turning motor vehicle corresponding to the target signal phase belonging to each type of conflicting signal phase, and obtain all right-turning signals of each type of conflicting signal phase motor vehicle;

Count the number of first vehicles of all right-turning motor vehicles in each type of conflicting signal phase;

Sum the passing time of all right-turning motor vehicles of each type of conflicting signal phase to obtain the first total time;

The ratio of the first total duration to the corresponding first vehicle quantity is determined as the first average turn time of each type of conflicting signal phase.

In one embodiment, when the processor 1001 calculates the second average turning time under the signal phase without right-turn conflict, it specifically performs the following operations:

When there is a signal phase without right-turn conflict, judge whether the target signal phase of each right-turn motor vehicle belongs to the signal phase without right-turn conflict, and determine the signal phase corresponding to the target signal phase that belongs to the signal phase without right-turn conflict Right-turning motor vehicles, all right-turning motor vehicles without right-turning conflict signal phases are obtained;

Count the second vehicle quantity of all right-turn motor vehicles without right-turn conflict signal phase;

Sum the passing time of all right-turning motor vehicles without right-turn conflicting signal phases to obtain the second total time;

The ratio of the second total duration to the second number of vehicles is determined as the second average turning time.

In one embodiment, when the processor 1001 determines the severity of the conflict at the right-turn intersection to be analyzed according to the first average turning time and the second average turning time, the following operations are specifically performed:

Calculate the ratio of the first average turning time to the second average turning time to obtain the right-turn conflict index;

According to the mapping relationship between the right-turn conflict index and the preset conflict index-conflict severity table, the conflict severity of the right-turn intersection to be analyzed is determined.

In one embodiment, when the processor 1001 calculates the second average turning time under the signal phase without right-turn conflict, it specifically performs the following operations:

When there is no signal phase without right-turn conflict, calculate the average passing time of right-turning motor vehicles under all signal phases existing at the right-turning intersection to be analyzed, and obtain the passage time series of right-turning motor vehicles under all signal phases;

Select the preset percentile from the time series of right-turning vehicles under all signal phases, and obtain the second average turning time under the non-conflicting signal phases.

In the embodiment of the present application, the right-turning vehicle conflict analysis device at the intersection first calculates the travel time and target signal of each right-turning motor vehicle passing the right-turning intersection to be analyzed according to the driving trajectory data of the right-turning intersection to be analyzed within a preset time period Phase, generate the passing parameters of each right-turning motor vehicle, and then analyze the signal phases that have right-turn conflicts with the right-turn intersection to be analyzed and the signal phases that do not have right-turn conflicts according to the actual operating parameters of the signal lights at the current intersection, and then according to The traffic parameters of each right-turning motor vehicle, calculate the first average turning time under the signal phase of right-turn conflict and the second average turning time under the signal phase without right-turn conflict, and finally according to the first average turning time and the second The average turn time determines the severity of the conflict at the right-turn intersection to be analyzed. Since the conflict at the intersection is closely related to the signal phase of the signal light, this application analyzes the traffic parameters of each right-turning motor vehicle within a period of time, and combines the first average turning time under the signal phase of the right-turning conflict and no The second average turn time under the signal phase of right-turn conflicts can be used to deduce the severity of intersection conflicts, which provides a basis for more refined intersection order governance, thereby improving the efficiency of right-turn traffic.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be realized through computer programs to instruct related hardware, and the program for conflict analysis of vehicles turning right at intersections can be stored in a computer-readable storage medium. , when the program is executed, it may include the procedures of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory, and the like.

The above disclosures are only preferred embodiments of the present application, which certainly cannot limit the scope of the present application. Therefore, equivalent changes made according to the claims of the present application still fall within the scope of the present application.

Claims (10)

1. An intersection right-turn vehicle conflict analysis method, characterized in that the method comprises:

calculating the passing time of each right-turn motor vehicle passing through the right-turn intersection to be analyzed and a target signal phase according to the driving track data passing through the right-turn intersection to be analyzed in a preset time period, and generating the passing parameters of each right-turn motor vehicle;

analyzing a signal phase with right turn conflict with the right turn intersection to be analyzed and a signal phase without right turn conflict according to the actual operation parameters of the signal lamps at the current intersection;

according to the passing parameters of each right-turn motor vehicle, calculating first average turning time under the signal phase with right-turn conflict and second average turning time under the signal phase without right-turn conflict;

and determining the conflict severity of the right turn intersection to be analyzed according to the first average turning time and the second average turning time.

2. The method according to claim 1, wherein the calculating the passing time of each right-turn motor vehicle passing through the right-turn intersection to be analyzed and the target signal phase according to the driving track data of the right-turn intersection to be analyzed in a preset time period comprises:

acquiring the data of the driving track passing through a right-turn road junction to be analyzed within a preset time period;

dividing a right turn track of each right turn motor vehicle in the driving track data into an identification starting area, a right turn conflict area and an identification finishing area according to positions;

determining a first moment corresponding to a first track point when each right-turning motor vehicle enters the identification starting area;

determining a second moment corresponding to the first track point when each right-turning motor vehicle enters the identification ending area;

determining the difference value between the second moment and the first moment as the passing time length of each right-turn motor vehicle;

and determining the signal phase of each right-turn motor vehicle as a target signal phase when the right-turn motor vehicle enters the starting area according to the driving track data.

3. The method of claim 1, wherein analyzing the signal phase with and without right-turn collision with the right-turn intersection to be analyzed according to the actual operation parameters of the signal lamps at the current intersection comprises:

analyzing a plurality of signal phases related to the right turn intersection to be analyzed according to the actual operation parameters of the signal lamps at the current intersection;

analyzing the conflict objects of each signal phase, and determining a signal phase without right-turn conflict and a plurality of signal phases with right-turn conflict based on the number of the conflict objects and/or right-turn exit lanes and right-turn opposite side left-turn entrance lanes of each signal phase;

and acquiring the conflict type corresponding to each signal phase with right-turn conflict, and classifying the signal phases with the same type to obtain multiple types of conflict signal phases.

4. The method of claim 3, wherein said calculating a first average turn time at the signal phase of the right turn collision comprises:

judging whether the target signal phase of each right-turning motor vehicle belongs to each type of conflict signal phase, and determining the right-turning motor vehicle corresponding to the target signal phase belonging to each type of conflict signal phase to obtain all right-turning motor vehicles of each type of conflict signal phase;

counting the first number of all right-turning motor vehicles of each type of collision signal phase;

the passing time lengths of all right-turning motor vehicles of each type of conflict signal phases are summed to obtain a first total time length;

and determining the ratio of the first total time length to the first vehicle number corresponding to the first total time length as a first average turning time of each type of collision signal phase.

5. The method of claim 1, wherein calculating the second average turn time at signal phases without a right turn collision comprises:

when the signal phase without the right-turn conflict exists, judging whether the target signal phase of each right-turn motor vehicle belongs to the signal phase without the right-turn conflict or not, and determining the right-turn motor vehicle corresponding to the target signal phase belonging to the signal phase without the right-turn conflict to obtain all right-turn motor vehicles without the right-turn conflict signal phase;

counting the second vehicle number of all right-turning motor vehicles without the right-turning conflict signal phase;

summing the passing time lengths of all the right-turning motor vehicles without the right-turning conflict signal phase to obtain a second total time length;

determining a ratio of the second total duration to the second number of vehicles as a second average turn time.

6. The method of claim 1, wherein calculating the second average turn time at signal phases without a right turn collision comprises:

when no signal phase without right turn conflict exists, calculating the average passing time length of the right-turn motor vehicles under all the signal phases existing at the right-turn intersection to be analyzed to obtain a passing time sequence of the right-turn motor vehicles under all the signal phases;

and selecting a preset percentile from the right-turn motor vehicle passing time sequence under all the signal phases to obtain second average turning time under the conflict-free signal phases.

7. The method of claim 1, wherein determining the severity of the conflict at the right turn intersection to be analyzed based on the first average turn time and the second average turn time comprises:

calculating the ratio of the first average turning time to the second average turning time to obtain a right-turn conflict index;

and determining the conflict severity of the right turn intersection to be analyzed according to the mapping relation between the right turn conflict index and a preset conflict index-conflict severity table.

8. An intersection right-turn vehicle conflict analysis apparatus, the apparatus comprising:

the traffic parameter generating module is used for calculating the traffic time of each right-turn motor vehicle passing through the right-turn intersection to be analyzed and a target signal phase according to the driving track data passing through the right-turn intersection to be analyzed in a preset time period, and generating the traffic parameter of each right-turn motor vehicle;

the signal phase analysis module is used for analyzing a signal phase with a right turn conflict with the right turn intersection to be analyzed and a signal phase without the right turn conflict according to the actual operation parameters of the signal lamp at the current intersection;

the turning time calculation module is used for calculating first average turning time under the signal phase with right-turn conflict and second average turning time under the signal phase without right-turn conflict according to the passing parameters of each right-turn motor vehicle;

and the collision severity determining module is used for determining the collision severity of the right turn intersection to be analyzed according to the first average turning time and the second average turning time.

9. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to perform the method steps according to any one of claims 1 to 7.

10. A terminal, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1-7.

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