Vehicle lane-changing risk recognition method under expressway vehicle infrastructure cooperative environment

Abstract

The invention discloses a vehicle lane-changing risk recognition method under an expressway vehicle infrastructure cooperative environment. The method comprises the following steps that: 1) selectinga target vehicle to obtain relevant information; 2) taking the target vehicle as an original point to establish a coordinate system, and evenly dividing the coordinate system into m*n pieces of grid units; 3) establishing a target vehicle lane-changing trajectory prediction model, and calculating displacement and a position in a target vehicle lane-changing process; 4) establishing a surrounding vehicle movement trajectory prediction model, and calculating the displacement and the position of the surrounding vehicle during a target vehicle land-changing period; 5) establishing a vehicle lane-changing conflict recognition model, and making the conflict conditions of different lane-changing conflict types clear; 6) carrying out division on the basis of a kinetic energy loss division lane-changing risk level, and showing by different colors; and 7) through computer programming, realizing vehicle lane-changing risk recognition, and outputting a potential lane-changing risk level and a corresponding color. By use of the method, the problem of intelligent vehicle lane-changing risk advanced recognition under the expressway vehicle infrastructure cooperative environment can be solved.

Description

technical field [0001] The invention relates to the technical field of lane-changing safety of expressway vehicles, in particular to a method for identifying instantaneous risks of lane-changing vehicles in an expressway vehicle-road coordination environment. Background technique [0002] The loss and fatality rate caused by expressway traffic accidents are much higher than that of ordinary roads. The reason is mainly due to the high speed of expressway. trauma, and it is easy to cause secondary collisions such as continuous rear-end collisions. Due to the relatively closed nature of expressway driving, lane changing and lane keeping are two typical driving behavior patterns on expressways, which are closely related to driving safety. Therefore, accurately identifying the instantaneous risk when the vehicle performs a lane change in advance will help improve the technical system of the vehicle early warning system, improve the safety of vehicle operation, and provide theore...

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Problems solved by technology

[0003] At present, most studies on vehicle lane change mainly focus on evaluating the safety of vehicle lane change based on the current lane change safety conditions, but little attention is paid to the impact on the future trajectory of surrounding vehicles, ignoring the uncertain factors and vehicle dynamics during the lane change process. The impact of the interaction between vehicles on the safety of lane changing, thereby reducing the recognition rate of lane changing risks

In addition, existing studies have paid more attention to the real-time nature of risk identification, while ignoring the predictability of risk. There is a significant time lag in risk identification, and it is difficult to identify lane-changing risks in advance and give early warning to drivers. There are many problems in

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