Traffic Conflict Discrimination Method in Merge Area of ​​Expressway Based on Trajectory Prediction

Abstract

The invention discloses a method for judging traffic conflicts in a merge area of ​​an expressway based on vehicle track prediction, the steps of which are as follows: (1) establishing a two-dimensional coordinate system in the merge area; (2) dividing vehicle track data sets according to time The priority of the processing order; (3) Classify the driving track data set of vehicles in the merge area at the initial moment of the same priority, (4) Based on the vehicle driving track data set, use the Kalman filter method to classify the traffic on each lane Each vehicle performs vehicle trajectory point prediction; (5) performs linear fitting on the above-mentioned coordinate points and then draws the vehicle trajectory based on the function expression; (6) performs conflict judgment on the above-mentioned trajectory intersection points; The trajectory angle is used to judge whether there is a traffic conflict in the merge area of ​​the expressway, and a mathematical model is established in combination with the space-time information of the trajectory point for function fitting, which ensures the reliability and feasibility of the method.

Description

technical field [0001] The present invention relates to the field of traffic safety, in particular to a method for discriminating traffic conflict areas in the field of expressway safety, in particular to a method for discriminating traffic conflicts in merge areas of expressways based on vehicle trajectory prediction . Background technique [0002] With the continuous development of expressway construction in our country, the importance of safety management issues in expressways is becoming increasingly prominent, especially when vehicles merge into the main road of expressway through the merge area from the entrance of the expressway, which may cause traffic conflicts. Traffic conflict means that under observable conditions, two or more traffic participants are close to each other in space and time, so that if any of them does not change its driving trajectory, there will be a risk of collision. The merge area is a common area with high incidence of traffic conflict accid...

AI Technical Summary

Problems solved by technology

[0003] At present, the existing technology mainly focuses on the research of traffic conflicts under the control of signal lights, and the research on traffic conflicts in merge areas is relatively less. Most of them focus on the construction of safety evaluation index systems and evaluation methods, and the model methods used are relatively Complex and difficult to use directly in practical applications

Images