Real-time vehicle trajectory prediction method for signalized intersection

A vehicle trajectory and signal control technology, applied in the field of traffic information, can solve the problem of low applicability of signal control intersections

Active Publication Date: 2018-11-20
连云港杰瑞电子有限公司
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, this type of prediction algorithm can only perform single-step prediction on trajectory data, and is mostly suitab...

Method used

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  • Real-time vehicle trajectory prediction method for signalized intersection
  • Real-time vehicle trajectory prediction method for signalized intersection
  • Real-time vehicle trajectory prediction method for signalized intersection

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Experimental program
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Embodiment 1

[0094] Embodiment 1: A real-time vehicle trajectory prediction method suitable for signal-controlled intersections, the specific flow chart is as follows figure 1 shown. It can be roughly divided into four main steps:

[0095] 1) Extract trajectory data and establish a historical trajectory database.

[0096] Aiming at the three main factors that affect the trajectory characteristics of intersection vehicles during signal switching: driving performance, decision-making behavior, and the influence of the leading vehicle in the process of car-following, the vehicle trajectory is based on the type of vehicle (large car and small car), the state of car-following (free driving and following), decision-making behaviors (passing and stopping) are divided into 8 types, including stopped single car, passing single car, stopped single car, passing single car, stopped following car, passing Follower car, stopped follower cart, passing follower cart, such as figure 2 As shown, and est...

Embodiment 2

[0162] Embodiment 2, based on Embodiment 1, verifies the trajectory prediction method.

[0163] Select three intersections along the Cao'an Highway in Shanghai: Cao'an Highway-Jiasong North Road, Cao'an Highway-Xiangjiang Highway, and Cao'an Highway-Caofeng Road as representatives of suburban road signal control intersections; choose Siping Road-Dalian Road as urban roads Representatives of signal-controlled intersections used video recording to collect original video data during the off-peak hours (9:00-16:00) on 16 clear working days from June to October 2013. Use the trajectory extraction software to extract the trajectory of the bicycle and the trajectory of the vehicle following the 2s before the green flash to pass the stop line or stop before the stop line, including large vehicles and small vehicles. The accuracy of the trajectory is 0.12s, and the position error does not exceed 0.05m. For the two types of driving behaviors of single car and following car, the traject...

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Abstract

The invention provides a real-time vehicle trajectory prediction method for a signalized intersection. The method comprises the following steps that trajectory data during phase switching of the signalized intersection is acquired, and historical trajectory libraries are built according to the vehicle stopping and passing decisions and the following vehicle state respectively; the stopping and passing decisions of vehicles are pre-judged on the basis of statistical data of historical trajectory characteristic indexes; the single vehicles and the following vehicles are pre-estimated on the basis of the historical trajectory libraries by means of a K-NN model and an IDM following vehicle model respectively; and trajectory prediction is conducted by means of Kalman filtering. According to thetrajectory prediction method, multiple steps sizes of trajectory prediction can be conducted on the vehicles at the signalized intersection, the dangerous driving behaviors of the vehicles can be recognized in advance, the method can be applied to a real-time signal control strategy or vehicle-mounted early warning system, and the potential accident risk caused by the dangerous driving behaviorsis eliminated actively.

Description

technical field [0001] The invention belongs to the field of traffic information, in particular to a real-time vehicle track prediction method suitable for signal-controlled intersections. Background technique [0002] Accurate prediction of vehicle trajectory is to prepare for the early identification of dangerous driving behavior. If the vehicle movement at the next moment can be accurately predicted in advance, the recognition effect of dangerous driving behavior will be greatly improved, and the driver will be reminded in time to take effective collision prevention measures in time. [0003] At present, there are not many studies on the use of trajectory data. The reason is that the acquisition of trajectory data is difficult, the cost is high, and the technology brought about by the multi-dimensional and dynamic driving characteristics (speed and acceleration of changing speed and acceleration) of various types of vehicles. Complexity. Research in the field of behavio...

Claims

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Application Information

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IPC IPC(8): H04W4/029H04W4/02H04W4/40G08G1/16
CPCG08G1/16H04W4/027H04W4/029H04W4/40
Inventor 沈辉焱唐克双项俊平母万国程添亮王东乐黄瑞
Owner 连云港杰瑞电子有限公司
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