Motor vehicle chain conflict identification method based on rear vehicle avoidance characteristic

Abstract

The invention discloses a motor vehicle chain conflict identification method based on a rear vehicle avoidance characteristic, and the method comprises the steps: 1, collecting the driving track data of motor vehicles on an urban road, calculating the collision time, and identifying a single traffic conflict between the motor vehicles on the same longitudinal lane and between the motor vehicles on adjacent transverse lanes; 2, on the basis of a stimulation-reaction model, determining a vehicle avoidance reaction threshold by combining a signal detection theory, and identifying an avoidance behavior of a vehicle after the conflict; and 3, merging conflicts with continuous avoidance behaviors, dynamically delimiting the influence duration of the conflicts, and constructing a complete chain conflict chain based on causal association between the conflicts. According to the method, the defect that space-time proximity is equivalent to causal relevance in the prior art is overcome, the accuracy of chain conflict recognition is improved, and reliable support is provided for road traffic safety early warning and management and control.

Description

TECHNICAL FIELD

[0001] The application relates to a motor vehicle chain conflict identification method based on rear vehicle avoidance characteristics and belongs to the technical field of urban road traffic safety risk assessment. BACKGROUND

[0002] Reducing the number of accidents and the severity of accidents is the core practical problem that the field of road traffic safety has always focused on. As a key traffic carrier, urban roads bear the task of high-density traffic distribution. In the scenes of main roads and branch roads intersection, commercial district and school surrounding, elevated ramp, etc., due to the dense entrances and exits, the limited flow and split space, the initial traffic conflict is easily caused, and has the high risk characteristics of evolving into chain conflict.

[0003] Traffic conflict is a direct risk precursor before traffic accidents, and compared with traffic accidents, it has higher frequency and shorter observation period, and can be used as a substitute safety index of traffic accidents. In the non-free flow state of urban roads, the initial single conflict is easily spread through the rear vehicle avoidance behavior, forming a chain of chain conflicts involving more vehicles, and then evolving into chain traffic accidents, causing serious personnel casualties and property losses, and leading to regional traffic congestion.

[0004] However, the existing traffic conflict technology research and application has obvious defects: first, most of them only focus on the conflict identification of a single pair of vehicles, ignoring the special risk of chain conflict, and lack of targeted identification method; second, a few studies involving chain conflict only match single conflicts from the perspective of spatial distance and time sequence, equate "spatial and temporal proximity" with "causal correlation", ignore the conflict rear vehicle avoidance behavior which is the core medium of conflict spread, and cannot distinguish the causes at the micro-behavior level, resulting in low accuracy and lack of scientificity of chain conflict identification, which is difficult to meet the actual needs of urban road safety control. SUMMARY

[0005] The application aims to solve the problems of lack of causal correlation in chain conflict identification and inaccurate chain conflict identification in the prior art, and provides a motor vehicle chain conflict identification method based on rear vehicle avoidance characteristics, so as to accurately identify and scientifically quantify the chain conflict by accurately identifying the avoidance behavior, dynamically determining the influence time, and constructing the conflict chain with causal correlation.

[0006] The application adopts the following technical solutions to solve the technical problems: The motor vehicle chain conflict identification method based on rear vehicle avoidance characteristics is characterized in that the following steps are performed: Step one, taking a straight road with one-way N-lane as the research area, taking the entering position of the outermost vehicle of the road of the research area as the origin, setting the direction parallel to the lane as the X-axis direction, and taking the direction of the traffic flow as the positive direction of the X-axis; taking the direction perpendicular to the lane as the Y-axis direction, and taking the left side of the direction of the traffic flow as the positive direction of the Y-axis; thereby establishing a two-dimensional rectangular coordinate system; N≥3; Any vehicle in any lane in the research area is recorded as A, the front vehicle adjacent to vehicle A in the same lane is recorded as AF, the front vehicle adjacent to vehicle A in the left lane is recorded as AL, and the front vehicle adjacent to vehicle A in the right lane is recorded as AR; Obtain the kinematic state data of vehicle A, front vehicle AF, front vehicle AL and front vehicle AR at any time t within the sampling time, including: the position of the vehicle at time t, the transverse and longitudinal speed at time t, the transverse and longitudinal acceleration at time t; Step two, when the longitudinal speed of vehicle A along the X-axis at time t is greater than the longitudinal speed of the front vehicle AF along the X-axis at time t , based on the position and longitudinal speed of vehicle A and front vehicle AF at time t, calculate the longitudinal collision time of vehicle A with the front vehicle AF in the same lane at time t TTC Ax ( t ), for identifying whether there is a longitudinal conflict between vehicle A and front vehicle AF; thereby recording the longitudinal conflicts of all vehicles in the research area within the sampling time; Step three, based on the position and transverse and longitudinal speed of vehicle A and its left lane front vehicle AL and right lane front vehicle AR at any time t within the sampling time, calculate the collision time of vehicle A with the left lane front vehicle AL and the right lane front vehicle AR at time t, for obtaining the transverse collision time of vehicle A with the front vehicle of the adjacent lane at time t , and identifying whether there is a transverse conflict between vehicle A and the front vehicle of the adjacent lane; thereby recording the transverse conflicts of all vehicles in the research area; Step four, all longitudinal conflicts and all transverse conflicts identified within the sampling time form a conflict set CON, let any jth conflict in the conflict set CON be recorded as C j = { t j , TTC j ， F j ， B j , type j} wherein, t j indicates the occurrence time of the jth conflict,TTC j Indicates the collision time of the j-th conflict. F j Indicates the vehicle preceding the j-th conflict. B j Indicates the following vehicle after the j-th collision. type j Indicate the type of the j-th conflict, where, type j =1 means C j For vertical conflict, type j =2 means C j For horizontal conflict; Step 5: Statistically analyze the magnitude of the stimulus and acceleration received by the following vehicle from the preceding vehicle in each conflict in CON, obtain the stimulus threshold for the following vehicle to take an evasive action, and use it to identify whether the following vehicle takes evasive action at the moment the conflict occurs, thereby recording all conflicts in the study area that take evasive action within the sampling time. Step Six: Based on the discrimination results of the rear vehicle avoidance behavior in Step Five, obtain all conflicts in which the front and rear vehicles in a single conflict are the same as those in other conflicts. Then, according to the temporal proximity of the conflicts in which the avoidance response occurs, merge the conflicts in which consecutive avoidance behaviors occur to determine the duration of the impact of the merged conflicts; thereby obtaining a set of conflicts without redundancy within the sampling time in the study area. Step 7: Based on each conflict and its duration of influence in the non-redundant conflict set, select any m-th non-redundant conflict from the non-redundant conflict set. C’’ m As the root conflict in a chain of conflicts, and based on the root conflict, we search for all other unmarked, non-redundant conflicts that satisfy the chain relationship in the set of non-redundant conflicts as the root conflict. C’’ m The first-level sub-conflicts in the chain of conflicts leading to the root conflict are identified, and all sub-conflicts in the first-level sub-conflicts are marked, wherein the chain relationship is such that the preceding conflict is... C’’ m The car behind B’’ m And the time of occurrence is [ t’’ m ， t’’ m + T’’ m Conflict within; Taking each sub-conflict in the first layer of sub-conflicts as the current conflict, and based on the current sub-conflict, searching in the set of non-redundant conflicts for all other unmarked non-redundant conflicts that satisfy the chain relation as the current conflict. C’’m This is the second-level sub-conflict in the chain of conflicts that forms the root conflict; and all sub-conflicts in the second-level sub-conflict are marked, thus continuously adding to the chain. C’’ m The chain of conflicts, starting with the root conflict, continues until no more sub-conflicts satisfying the chain relationship can be found; and this process is repeated until a chain of conflicts is reached. C’’ m As a complete chain of conflicts rooted in conflict; The remaining unmarked conflicts in the non-redundant conflict set are taken as new root conflicts and sub-conflicts are added sequentially at each level to form a complete chain of conflicts until all unmarked conflicts in the non-redundant conflict set have been traversed.

[0007] The method for identifying chain collisions of motor vehicles based on the avoidance characteristics of following vehicles, as described in this invention, is characterized in that step two is performed as follows: Step 2.1: Calculate the longitudinal collision time of vehicle A with its preceding vehicle AF in the same lane at time t using equation (1). : (1) In equation (1), It is the X-axis coordinate of the center of the front of vehicle A at time t; It is the X-axis coordinate of the center of the front of the vehicle AF at time t; It is the length of the vehicle in front (AF). Step 2.2, if Less than the longitudinal conflict threshold TTC xThres If the condition is met, it means that there is a longitudinal conflict between vehicle A and its adjacent vehicle AF in the same lane at time t; otherwise, it means that there is no longitudinal conflict between vehicle A and its preceding vehicle AF at time t.

[0008] Furthermore, step three is carried out as follows: Step 3.1, when vehicle A's lateral velocity along the Y-axis When the lateral velocity component along the Y-axis of the vehicle AL in the adjacent left lane is greater than that of the vehicle in front of it. Equation (2) is used to calculate the lateral collision time of vehicle A with the vehicle in front of it in the adjacent left lane at time t. : (2) In equation (2), It is the Y-axis coordinate of the center of the front of the vehicle AL at time t; It is the Y-axis coordinate of the center of the front of vehicle A at time t; It is the width of the vehicle in front, AL. This is the width of vehicle A. Step 3.2, when vehicle A's lateral velocity along the Y-axis When the lateral component of the AR of the vehicle in front in the adjacent right lane along the Y-axis is less than that of the vehicle in front, the vehicle in front of it is less than that of the vehicle in front of it. Equation (3) is used to calculate the lateral collision time of vehicle A with vehicle AR in the adjacent left lane at time t. : (3) In equation (3), It is the Y-axis coordinate of the center of the front of the vehicle AR at time t; It is the width of the vehicle in front (AR). Step 3.3, if ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; like ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; like ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; Step 3.4, when At that time, if TTC yThres If the constraint (4) is satisfied, then it means that there is a lateral conflict between vehicle A and the vehicle AL in the adjacent left lane at time t, where, TTC yThres Indicates the lateral conflict threshold: (4) when At that time, if TTC yThres If the constraint (5) is satisfied, then it means that there is a lateral conflict between vehicle A and vehicle AR in the adjacent right lane at time t: (5).

[0009] Furthermore, step five is performed as follows: Step 5.1, if type j =1, then use equation (6) to calculate the j-th conflict. C j The car behind B j At the moment of occurrence t j forward Time is affected by the car in frontF j longitudinal stimulation ; (6) In equation (6), It is the j-th conflict C j The car behind B j exist The longitudinal velocity component at time t; It is the j-th conflict C j The car in front F j exist The longitudinal velocity component at time t; It is the driver's reaction time; like type j =2, calculate the j-th conflict using equation (7). C j The car behind B j At the moment of occurrence t j forward Time is affected by the conflict F j lateral stimulation : (7) In equation (7), It is the j-th conflict C j The car behind B j exist The lateral velocity component at time; ) is the j-th conflict C j The car in front F j exist The lateral velocity component at time; Step 5.2: Based on signal detection theory, determine the stimulus threshold for the deceleration response of the vehicle after the collision. When the longitudinal stimulus is greater than 0, the frequency of longitudinal avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the longitudinal acceleration is negative, and the frequency of longitudinal non-avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the longitudinal acceleration is non-negative. Therefore, a longitudinal positive stimulus-longitudinal avoidance response frequency curve is plotted with the longitudinal stimulus as the horizontal axis and the longitudinal avoidance response frequency as the vertical axis; a longitudinal positive stimulus-longitudinal non-avoidance response frequency curve is plotted with the longitudinal stimulus as the horizontal axis and the longitudinal non-avoidance response frequency as the vertical axis. The magnitude of the longitudinal stimulus at the intersection of the two frequency curves is taken as the stimulus threshold for the vehicle following the conflict to initiate a longitudinal avoidance response. ; When the lateral stimulus is less than 0, the frequency of the lateral left-side avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the lateral acceleration is positive, and the frequency of the lateral non-left-side avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the lateral acceleration is negative. Therefore, a curve is plotted with the lateral stimulus as the horizontal axis and the lateral left-side avoidance response frequency as the vertical axis, and a similar curve is plotted with the lateral stimulus as the horizontal axis and the lateral non-left-side avoidance response frequency as the vertical axis. The magnitude of the lateral stimulus at the intersection of the two frequency curves is taken as the stimulus threshold for the vehicle following the conflict to exhibit a lateral left-side avoidance response. ; The frequency of lateral right-avoidance response for each vehicle following a conflict at the moment of occurrence was determined when the lateral stimulus was greater than 0, with negative lateral acceleration. The frequency of lateral non-right-avoidance response was determined when the lateral acceleration was non-negative. A curve was plotted with the lateral stimulus as the horizontal axis and the lateral right-avoidance response frequency as the vertical axis. Similarly, a curve was plotted with the lateral stimulus as the horizontal axis and the lateral non-right-avoidance response frequency as the vertical axis. The magnitude of the lateral stimulus at the intersection of these two frequency curves was taken as the stimulus threshold for the vehicle to initiate a lateral right-avoidance response. ; Step 5.3: Determine the j-th conflict. C j The moment of occurrence t j The j-th conflict C j Did the vehicle behind react and avoid it? When the j-th conflict C j The car in front F j With the j-th conflict C j The car behind B j When in the same lane, if equation (8) is satisfied, then it indicates the j-th conflict.C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (8) When the j-th conflict C j The car in front F j In the j-th conflict C j The car behind B j When the right-hand adjacent lane satisfies equation (9), it indicates the j-th conflict. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (9) When the j-th conflict C j The car in front F j In the j-th conflict C j The car behind B j When the left adjacent lane satisfies equation (10), it indicates that the j-th conflict occurs. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (10).

[0010] Furthermore, step six is ​​performed as follows: Step 6.1: From CON, in chronological order of conflict time, sequentially obtain all conflicts in which the preceding and following vehicles in a single conflict are identical to the preceding and following vehicles in other conflicts, and form a current conflict subset; let the nth conflict in the current conflict subset be denoted as . C’ n = { t’ n , TTC' n ， F’ n ， B’ n , type'n},in, t’ n This indicates the time when the nth conflict occurs. TTC' n This represents the collision time of the nth conflict. F’ n This represents the vehicle preceding the nth conflict. B’ n This represents the car following the nth collision. type' n Indicates the type of the nth conflict, where, type' n =1 means C’ n For vertical conflict, type' n =2 means C’ n For horizontal conflicts; n = 1, 2, ..., N; N represents the total number of conflicts in the current conflict subset; Step 6.2: Initialize n=N; Initialize C’ n Duration of impact T’ n =0; Step 6.3, Judgment C’ n Did the following vehicle swerve to avoid it? If so, order... If so, proceed to step 6.4; otherwise, retain the remaining values ​​in the current conflict subset. C’ n Then proceed to step 6.6; Step 6.4, Judgment C’ n-1 If the following vehicle in the current conflict subset fails to swerve, proceed to step 6.5; otherwise, retain the vehicle in the current conflict subset. C’ n Then proceed to step 6.6; Step 6.5, Judgment C’ n The moment of occurrence t’ n Is it within the time range? t’ n-1 ，t’ n-1 +TTC' n-1 [Inside, among which] t’ n-1 Indicated C’ n-1 At the moment of occurrence, TTC' n-1 express C’ n-1If the collision time is such that the time is equal to the time of collision, then the time of collision is calculated using equation (11). C’ n Duration of impact T’ n-1 And retain in the current subset of conflicts C’ n-1 Delete C’ n Thus C’ n and C’ n-1 Merge; otherwise, retain in the current conflict subset. C’ n ; (11) In equation (11), T’ n-1 yes C’ n-1 Duration of impact; Step 6.6: Determine if n=2 is true. If it is true, the merging of the current conflicting subset is complete, and proceed to step 6.7; otherwise, assign n-1 to n and return to step 6.3 for sequential execution. Step 6.7: Following steps 6.2 to 6.6, obtain all merged conflict subsets and form a non-redundant conflict set. Let any m-th non-redundant conflict in the non-redundant conflict set be denoted as . C’’ m = { t’’ m , TTC' ’ m ， F’’ m ， B’’ m , type'' m},in, t’’ m Indicates the m-th conflict-free element. C’’ m The moment of occurrence, TTC'' m Indicates the m-th conflict-free element. C’’ m Collision time, F’’ m Indicates the m-th conflict-free element. C’’ m The car in front, B’’ m Indicates the m-th conflict-free element. C’’ m The car behind, type'' mIndicates the m-th conflict-free element. C’’ m The type, among which, type'' m =1 means C’’ m For vertical conflict, type'' m =2 means C’’ m For horizontal conflict; T’’ m Indicates the m-th conflict-free element. C’’ m The duration of the impact; m = 1, 2, ..., M; M represents the total number of non-redundant conflicts in the non-redundant conflict set.

[0011] The present invention provides an electronic device, including a memory and a processor, characterized in that the memory is used to store a program supporting the processor in executing the motor vehicle chain collision identification method, and the processor is configured to execute the program stored in the memory.

[0012] The present invention provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, performs the steps of the motor vehicle chain collision identification method.

[0013] Compared with existing technologies, the beneficial effects of this invention are reflected in: 1. Accurate Identification of Avoidance Behavior: Based on the stimulus-response model and signal detection theory, this invention classifies and calculates the stimulus thresholds for longitudinal avoidance response, lateral leftward avoidance response, and lateral rightward avoidance response of a vehicle after a conflict. It also establishes a quantitative judgment formula based on the motion state of the vehicle after the conflict, thus identifying conflicts in which the vehicle after the conflict takes an avoidance response. This solves the problem in existing technologies that ignore the cause of chain conflicts, namely the avoidance behavior of the vehicle after the conflict, and provides a core basis for establishing the causal relationship of conflicts.

[0014] 2. Dynamically Determine the Duration of Impact: This invention merges conflicts involving continuous avoidance behaviors between the same vehicle pairs, resulting in a non-redundant conflict set. It dynamically determines the duration of impact for each conflict, avoiding the rigidity of fixed durations and improving the accuracy of establishing causal relationships between conflicts.

[0015] 3. Constructing a causal conflict chain: This invention establishes a causal relationship of conflict based on avoidance behavior by finding that the vehicle preceding the sub-conflict is the same vehicle following the root conflict or the next vehicle of the upper-level sub-conflict, and that the occurrence of the sub-conflict occurs within the influence duration of the root conflict or the upper-level sub-conflict. This solves the cognitive bias of existing technologies that "spatial proximity equals causal correlation" and achieves accurate identification of chain conflict chains. Attached Figure Description

[0016] Figure 1 This is a basic flowchart of a motor vehicle chain conflict identification method based on the rear vehicle avoidance characteristics of the present invention. Figure 2 This is a schematic diagram showing the X and Y axes within the road space of the present invention; Figure 3 This is a schematic diagram illustrating the relationship between front and rear vehicles within the road space according to the present invention. Detailed Implementation

[0017] In this embodiment, a method for identifying chain collisions of motor vehicles based on the rear vehicle avoidance characteristics is described below. Figure 1 The procedure is as follows: Step 1: Using a straight road with N lanes in one direction as the study area, and the entry point of the outermost vehicle in the study area as the origin, define the X-axis as the direction parallel to the lanes, with the traffic flow direction as the positive X-axis; define the Y-axis as the direction perpendicular to the lanes, with the left side pointing in the traffic flow direction as the positive Y-axis; thus establishing a two-dimensional rectangular coordinate system, such as... Figure 2 As shown; N≥3; Let A be any vehicle in any lane within the study area. Let AF be the vehicle in front of vehicle A in the same lane, AL be the vehicle in front of vehicle A in the left lane, and AR be the vehicle in front of vehicle A in the right lane. Figure 3 As shown; Acquire the kinematic state data of vehicle A, preceding vehicle AF, preceding vehicle AL, and preceding vehicle AR at any time t within the sampling time, including: the vehicle's position at time t, the lateral and longitudinal velocities at time t, and the lateral and longitudinal accelerations at time t.

[0018] Step 2: When vehicle A has a longitudinal velocity component along the X-axis at time t... The longitudinal component of the velocity along the X-axis of the vehicle ahead in the same lane at time t is greater than that of the vehicle ahead in the same lane. Based on the positions and longitudinal velocities of vehicle A and the preceding vehicle AF at time t, calculate the longitudinal collision time of vehicle A with the preceding vehicle AF in the same lane at time t. TTC Ax ( t This is used to identify whether there is a longitudinal conflict between vehicle A and the preceding vehicle AF; thus recording the longitudinal conflicts of all vehicles in the study area during the sampling period.

[0019] Step 2.1: Calculate the longitudinal collision time of vehicle A with its preceding vehicle AF in the same lane at time t using equation (1). : (1) In equation (1), It is the X-axis coordinate of the center of the front of vehicle A at time t; It is the X-axis coordinate of the center of the front of the vehicle AF at time t; It is the body length of the vehicle in front (AF).

[0020] Step 2.2, if Less than the longitudinal conflict threshold TTC xThres If the condition is met, it means that there is a longitudinal conflict between vehicle A and its adjacent vehicle AF in the same lane at time t; otherwise, it means that there is no longitudinal conflict between vehicle A and its preceding vehicle AF at time t.

[0021] Step 3: Based on the positions and lateral and longitudinal velocities of vehicle A and its preceding vehicles AL in the left and AR in the right lanes at any time t within the sampling time, calculate the collision times of vehicle A with AL in the left lane and AR in the right lane at time t. This time is used to obtain the lateral collision time of vehicle A with the preceding vehicle in its adjacent lane at time t. It also identifies whether vehicle A has a lateral conflict with the vehicle in front in the adjacent lane, thereby recording the lateral conflicts of all vehicles in the study area.

[0022] Step 3.1, when vehicle A's lateral velocity along the Y-axis When the lateral velocity component along the Y-axis of the vehicle AL in the adjacent left lane is greater than that of the vehicle in front of it. Equation (2) is used to calculate the lateral collision time of vehicle A with the vehicle in front of it in the adjacent left lane at time t. : (2) In equation (2), It is the Y-axis coordinate of the center of the front of the vehicle AL at time t; It is the Y-axis coordinate of the center of the front of vehicle A at time t; It is the width of the vehicle in front, AL. It is the width of vehicle A.

[0023] Step 3.2, when vehicle A's lateral velocity along the Y-axis When the lateral component of the AR of the vehicle in front in the adjacent right lane along the Y-axis is less than that of the vehicle in front, the vehicle in front of it is less than that of the vehicle in front of it. Equation (3) is used to calculate the lateral collision time of vehicle A with vehicle AR in the adjacent left lane at time t. : (3) In equation (3), It is the Y-axis coordinate of the center of the front of the vehicle AR at time t; It is the width of the AR vehicle in front.

[0024] Step 3.3, if ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; like ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; like ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. .

[0025] Step 3.4, when At that time, if TTC yThres If the constraint (4) is satisfied, then it means that there is a lateral conflict between vehicle A and the vehicle AL in the adjacent left lane at time t, where, TTC yThres Indicates the lateral conflict threshold: (4) when At that time, if TTC yThres If the constraint (5) is satisfied, then it means that there is a lateral conflict between vehicle A and vehicle AR in the adjacent right lane at time t: (5).

[0026] Step 4: Form a conflict set CON from all longitudinal and lateral conflicts identified within the sampling time. Let any j-th conflict in the conflict set CON be denoted as... C j = { t j , TTC j ， F j ， B j , type j},in, t j Let j represent the time when the j-th conflict occurs. TTC j Indicates the collision time of the j-th conflict. F j Indicates the vehicle preceding the j-th conflict. B j Indicates the following vehicle after the j-th collision. type j Indicate the type of the j-th conflict, where, type j=1 means C j For vertical conflict, type j =2 means C j This is a horizontal conflict.

[0027] Step 5: Statistically analyze the magnitude of the stimulus and acceleration received by the following vehicle from the preceding vehicle in each conflict in CON, obtain the stimulus threshold for the following vehicle to take an evasive action, and use it to identify whether the following vehicle takes evasive action at the moment the conflict occurs, thereby recording all conflicts in the study area that take evasive action within the sampling time.

[0028] Step 5.1, if type j =1, then use equation (6) to calculate the j-th conflict. C j The car behind B j At the moment of occurrence t j forward Time is affected by the car in front F j longitudinal stimulation ; (6) In equation (6), It is the j-th conflict C j The car behind B j exist The longitudinal velocity component at time t; It is the j-th conflict C j The car in front F j exist The longitudinal velocity component at time t; It is the driver's reaction time; like type j =2, calculate the j-th conflict using equation (7). C j The car behind B j At the moment of occurrence t j forward Time is affected by the conflict F j lateral stimulation : (7) In equation (7), It is the j-th conflictC j The car behind B j exist The lateral velocity component at time; ) is the j-th conflict C j The car in front F j exist The lateral velocity component at time.

[0029] Step 5.2: Based on signal detection theory, determine the stimulus threshold for the deceleration response of the vehicle after the collision. When the longitudinal stimulus is greater than 0, the frequency of longitudinal avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the longitudinal acceleration is negative, and the frequency of longitudinal non-avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the longitudinal acceleration is non-negative. Therefore, a longitudinal positive stimulus-longitudinal avoidance response frequency curve is plotted with the longitudinal stimulus as the horizontal axis and the longitudinal avoidance response frequency as the vertical axis; a longitudinal positive stimulus-longitudinal non-avoidance response frequency curve is plotted with the longitudinal stimulus as the horizontal axis and the longitudinal non-avoidance response frequency as the vertical axis. The magnitude of the longitudinal stimulus at the intersection of the two frequency curves is taken as the stimulus threshold for the vehicle following the conflict to initiate a longitudinal avoidance response. .

[0030] When the lateral stimulus is less than 0, the frequency of the lateral left-side avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the lateral acceleration is positive, and the frequency of the lateral non-left-side avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the lateral acceleration is negative. Therefore, a curve is plotted with the lateral stimulus as the horizontal axis and the lateral left-side avoidance response frequency as the vertical axis, and a similar curve is plotted with the lateral stimulus as the horizontal axis and the lateral non-left-side avoidance response frequency as the vertical axis. The magnitude of the lateral stimulus at the intersection of the two frequency curves is taken as the stimulus threshold for the vehicle following the conflict to exhibit a lateral left-side avoidance response. .

[0031] The frequency of lateral right-avoidance response for each vehicle following a conflict at the moment of occurrence was determined when the lateral stimulus was greater than 0, with negative lateral acceleration. The frequency of lateral non-right-avoidance response was determined when the lateral acceleration was non-negative. A curve was plotted with the lateral stimulus as the horizontal axis and the lateral right-avoidance response frequency as the vertical axis. Similarly, a curve was plotted with the lateral stimulus as the horizontal axis and the lateral non-right-avoidance response frequency as the vertical axis. The magnitude of the lateral stimulus at the intersection of these two frequency curves was taken as the stimulus threshold for the vehicle to initiate a lateral right-avoidance response. .

[0032] Step 5.3: Determine the j-th conflict. C j The moment of occurrence t j The j-th conflict C j Did the vehicle behind react and avoid it? When the j-th conflict C j The car in front F j With the j-th conflict C j The car behind B j When in the same lane, if equation (8) is satisfied, then it indicates the j-th conflict. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (8) When the j-th conflict C j The car in front F j In the j-th conflict C j The car behind B j When the right-hand adjacent lane satisfies equation (9), it indicates the j-th conflict. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (9) When the j-th conflict C j The car in front F j In the j-th conflict C j The car behind B j When the left adjacent lane satisfies equation (10), it indicates that the j-th conflict occurs. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (10).

[0033] Step Six: Based on the judgment results of the rear vehicle avoidance behavior in Step Five, obtain all conflicts in a single conflict where the front and rear vehicles are the same as those in other conflicts. Then, according to the temporal proximity of the conflicts that have the avoidance response, merge the conflicts that have the consecutive avoidance behaviors to determine the duration of the impact of the merged conflicts; thus obtaining a set of conflicts without redundancy within the sampling time in the study area.

[0034] Step 6.1: From CON, in chronological order of conflict time, sequentially obtain all conflicts in which the preceding and following vehicles in a single conflict are identical to the preceding and following vehicles in other conflicts, and form a current conflict subset; let the nth conflict in the current conflict subset be denoted as . C’ n = { t’ n , TTC' n ， F’ n ， B’ n , type' n},in, t’ n This indicates the time when the nth conflict occurs. TTC' n This represents the collision time of the nth conflict. F’ n This represents the vehicle preceding the nth conflict. B’ n This represents the car following the nth collision. type' n Indicates the type of the nth conflict, where, type' n =1 means C’ n For vertical conflict, type' n =2 means C’ n For horizontal conflicts; n = 1, 2, ..., N; N represents the total number of conflicts in the current conflict subset; Step 6.2: Initialize n=N; Initialize C’ n Duration of impact T’ n =0; Step 6.3, Judgment C’ n Did the following vehicle swerve to avoid it? If so, order... If so, proceed to step 6.4; otherwise, retain the remaining values ​​in the current conflict subset. C’ n Then proceed to step 6.6; Step 6.4, Judgment C’ n-1 If the following vehicle in the current conflict subset fails to swerve, proceed to step 6.5; otherwise, retain the vehicle in the current conflict subset. C’ n Then proceed to step 6.6; Step 6.5, Judgment C’ n The moment of occurrence t’ n Is it within the time range? t’ n-1 ，t’ n-1 +TTC' n-1 [Inside, among which] t’ n-1 Indicated C’ n-1 At the moment of occurrence, TTC' n-1 express C’ n-1 If the collision time is such that the time is equal to the time of collision, then the time of collision is calculated using equation (11). C’ n Duration of impact T’ n-1 And retain in the current subset of conflicts C’ n-1 Delete C’ n Thus C’ n and C’ n-1 Merge; otherwise, retain in the current conflict subset. C’ n ; (11) In equation (11), T’ n-1 yes C’ n-1 Duration of impact; Step 6.6: Determine if n=2 is true. If it is true, the merging of the current conflicting subset is complete, and proceed to step 6.7; otherwise, assign n-1 to n and return to step 6.3 for sequential execution. Step 6.7: Following steps 6.2 to 6.6, obtain all merged conflict subsets and form a non-redundant conflict set. Let any m-th non-redundant conflict in the non-redundant conflict set be denoted as . C’’ m = { t’’ m , TTC' ’m ， F’’ m ， B’’ m , type'' m},in, t’’ m Indicates the m-th conflict-free element. C’’ m The moment of occurrence, TTC'' m Indicates the m-th conflict-free element. C’’ m Collision time, F’’ m Indicates the m-th conflict-free element. C’’ m The car in front, B’’ m Indicates the m-th conflict-free element. C’’ m The car behind, type'' m Indicates the m-th conflict-free element. C’’ m The type, among which, type'' m =1 means C’’ m For vertical conflict, type'' m =2 means C’’ m For horizontal conflict; T’’ m Indicates the m-th conflict-free element. C’’ m The duration of the impact; m = 1, 2, ..., M; M represents the total number of non-redundant conflicts in the non-redundant conflict set.

[0035] Step 7: Based on each conflict and its duration of influence in the non-redundant conflict set, select any m-th non-redundant conflict from the non-redundant conflict set. C’’ m As the root conflict in a chain of conflicts, and based on the root conflict, we search for all other unmarked, non-redundant conflicts that satisfy the chain relationship in the set of non-redundant conflicts as the root conflict. C’’ m The first-level sub-conflicts in the chain of conflicts leading to the root conflict are identified, and all sub-conflicts in the first-level sub-conflicts are marked, wherein the chain relationship is such that the preceding conflict is... C’’ m The car behind B’’ m And the time of occurrence is [ t’’ m ， t’’m + T’’ m Conflict within; Taking each sub-conflict in the first layer of sub-conflicts as the current conflict, and based on the current sub-conflict, searching in the set of non-redundant conflicts for all other unmarked non-redundant conflicts that satisfy the chain relation as the current conflict. C’’ m This is the second-level sub-conflict in the chain of conflicts that forms the root conflict; and all sub-conflicts in the second-level sub-conflict are marked, thus continuously adding to the chain. C’’ m The chain of conflicts, starting with the root conflict, continues until no more sub-conflicts satisfying the chain relationship can be found; and this process is repeated until a chain of conflicts is reached. C’’ m As a complete chain of conflicts rooted in conflict; The remaining unmarked conflicts in the non-redundant conflict set are taken as new root conflicts, and sub-conflicts of each level are added sequentially to form a complete chain of conflicts, until all unmarked conflicts in the non-redundant conflict set have been traversed; the specific steps are as follows: Step 7.1: Let m = 1; Step 7.2: Define and initialize variables i=1 and k=1; Step 7.3, let C’’ m For root conflicts, determine the (m+i)th conflict without redundancy. C’’ m+i Does it meet the requirements? F’’ m+i = B’’ m ,and If yes, proceed to step 7.4; otherwise, proceed to step 7.5; where, F’’ m+i Indicates the (m+i)th conflict-free element. C’’ m+i The car in front, Indicates the (m+i)th conflict-free element. C’’ m+i The moment of occurrence; Indicates the m-th conflict-free element. C’’ m Duration of impact; Step 7.4, Judgment C’’ m+i Has it been marked as a sub-conflict at any level in any chain of conflicts? If so, proceed to step 7.5; otherwise, C’’ m+i Marked as C’’ m For a sub-conflict at level k in the chain of conflicts leading to the root conflict, proceed to step 7.5; Step 7.5: Determine if i = M Does m hold true? If it does, it means we have obtained... C’’ m If there are no sub-conflicts at the k-th level, proceed to step 7.6; otherwise, assign i+1 to i and return to step 7.3 to execute sequentially. Step 7.6, with C’’ m Sort all sub-conflicts at level k of the root conflict in ascending order of their occurrence time, denoted as . C’’ m The p-th sub-conflict of the k-th layer of the root conflict is C k p p = 1, 2, ..., P, where P represents the order of 1, 2, ..., P. C’’ m Let be the number of all sub-conflicts at the k-th level of the root conflict; Step 7.7: Determine if P=0 is true. If it is true, it means that the result is obtained. C’’ m If the root conflict is a complete chain of conflicts, proceed to step 7.12; otherwise, initialize p=1, i=1. Step 7.8: Determine the (m+i)th conflict-free element. C’’ m+i Does it meet the requirements? F’’ m+i = B k p ,and If yes, proceed to step 7.9; otherwise, proceed to step 7.10; where, Indicates C’’ m The p-th sub-conflict of the k-th layer of the root conflict C k p The moment of occurrence; Indicates C’’ m The p-th sub-conflict of the k-th layer of the root conflict C k p Duration of impact; B k p express C k p The car behind; Step 7.9, Judgment C’’ m+i Has it been marked as a sub-conflict at any level in any chain of conflicts? If so, proceed to step 7.10; otherwise, C’’m+i Marked as C’’ m For a sub-conflict at level k+1 of the root conflict, proceed to step 7.10; Step 7.10: Determine if i=Mm is true. If true, proceed to step 7.11; otherwise, assign i+1 to i and return to step 7.8 for sequential execution. Step 7.11: Determine if p=P is true. If true, it means that we have obtained... C’’ m If there are all sub-conflicts in the (k+1)th layer, assign k+1 to k and return to step 7.6 for sequential execution; otherwise, initialize i=1 and assign p+1 to p, and return to step 7.8 for sequential execution. Step 7.12: Determine if m=M is ​​true. If true, it means all complete chain conflicts have been obtained; otherwise, assign m+1 to m and then determine... C’’ m+i If a conflict has been marked as a sub-conflict at any level in any chain of conflicts, repeat step 7.12; otherwise, return to step 7.2 for sequential execution.

[0036] In this embodiment, an electronic device includes a memory and a processor. The memory stores a program that supports the processor in executing the above-described method, and the processor is configured to execute the program stored in the memory.

[0037] In this embodiment, a computer-readable storage medium stores a computer program, which is executed by a processor to perform the steps of the above method.

Claims

1. A method for identifying chain collisions of motor vehicles based on the rear vehicle avoidance characteristics, characterized in that, The procedure is as follows: Step 1: Take a straight road with N lanes in one direction as the study area, take the entry position of the outermost vehicle in the study area as the origin, set the direction parallel to the lane as the X-axis direction, and take the traffic flow direction as the positive X-axis direction. A two-dimensional rectangular coordinate system is established with the direction perpendicular to the lane as the Y-axis and the left side pointing in the direction of traffic flow as the positive Y-axis; N≥3; Let A be any vehicle in any lane in the study area, AF be the vehicle in front of vehicle A in the same lane, AL be the vehicle in front of vehicle A in the left lane, and AR be the vehicle in front of vehicle A in the right lane. Acquire the kinematic state data of vehicle A, preceding vehicle AF, preceding vehicle AL, and preceding vehicle AR at any time t within the sampling time, including: the position of the vehicle at time t, the lateral and longitudinal velocities at time t, and the lateral and longitudinal accelerations at time t. Step 2: When vehicle A has a longitudinal velocity component along the X-axis at time t... The longitudinal component of the velocity along the X-axis of the vehicle ahead in the same lane at time t is greater than that of the vehicle ahead in the same lane. Based on the positions and longitudinal velocities of vehicle A and the preceding vehicle AF at time t, calculate the longitudinal collision time of vehicle A with the preceding vehicle AF in the same lane at time t. TTC Ax ( t This is used to identify whether there is a longitudinal conflict between vehicle A and the preceding vehicle AF; thereby recording the longitudinal conflicts of all vehicles in the study area during the sampling period. Step 3: Based on the positions and lateral and longitudinal velocities of vehicle A and its preceding vehicles AL in the left and AR in the right lanes at any time t within the sampling time, calculate the collision times of vehicle A with AL in the left lane and AR in the right lane at time t. This time is used to obtain the lateral collision time of vehicle A with the preceding vehicle in its adjacent lane at time t. It also identifies whether vehicle A has a lateral conflict with the vehicle in front in the adjacent lane; thus recording the lateral conflicts of all vehicles in the study area. Step 4: Form a conflict set CON from all longitudinal and lateral conflicts identified within the sampling time. Let any j-th conflict in the conflict set CON be denoted as... C j = { t j TTC j ， F j ，B j type j },in, t j Let j represent the time when the j-th conflict occurs. TTC j Indicates the collision time of the j-th conflict. F j Indicates the vehicle preceding the j-th conflict. B j Indicates the following vehicle after the j-th collision. type j Indicate the type of the j-th conflict, where, type j =1 means C j For vertical conflict, type j =2 means C j For horizontal conflict; Step 5: Statistically analyze the magnitude of the stimulus and acceleration received by the following vehicle from the preceding vehicle in each conflict in CON, obtain the stimulus threshold for the following vehicle to take an evasive action, and use it to identify whether the following vehicle takes evasive action at the moment the conflict occurs, thereby recording all conflicts in the study area that take evasive action within the sampling time. Step Six: Based on the discrimination results of the rear vehicle avoidance behavior in Step Five, obtain all conflicts in which the front and rear vehicles in a single conflict are the same as those in other conflicts. Then, according to the temporal proximity of the conflicts in which the avoidance response occurs, merge the conflicts in which consecutive avoidance behaviors occur to determine the duration of the impact of the merged conflicts; thereby obtaining a set of conflicts without redundancy within the sampling time in the study area. Step 7: Based on each conflict and its duration of influence in the non-redundant conflict set, select any m-th non-redundant conflict from the non-redundant conflict set. C’’ m As the root conflict in a chain of conflicts, and based on the root conflict, we search for all other unmarked, non-redundant conflicts that satisfy the chain relationship in the set of non-redundant conflicts as the root conflict. C’’ m The first-level sub-conflicts in the chain of conflicts leading to the root conflict are identified, and all sub-conflicts in the first-level sub-conflicts are marked, wherein the chain relationship is such that the preceding conflict is... C’’ m The car behind B’’ m And the time of occurrence is [ t’’ m ，t’’ m + T’’ m Conflict within; Taking each sub-conflict in the first layer of sub-conflicts as the current conflict, and based on the current sub-conflict, searching in the set of non-redundant conflicts for all other unmarked non-redundant conflicts that satisfy the chain relation as the current conflict. C’’ m This is the second-level sub-conflict in the chain of conflicts that forms the root conflict; and all sub-conflicts in the second-level sub-conflict are marked, thus continuously adding to the chain. C’’ m The chain of conflicts, starting with the root conflict, continues until no more sub-conflicts satisfying the chain relationship can be found; and this process is repeated until a chain of conflicts is reached. C’’ m As a complete chain of conflicts rooted in conflict; The remaining unmarked conflicts in the non-redundant conflict set are taken as new root conflicts and sub-conflicts are added sequentially at each level to form a complete chain of conflicts until all unmarked conflicts in the non-redundant conflict set have been traversed.

2. The method for identifying motor vehicle chain conflicts based on rear vehicle avoidance characteristics according to claim 1, characterized in that, Step two is to proceed as follows: Step 2.1: Calculate the longitudinal collision time of vehicle A with its preceding vehicle AF in the same lane at time t using equation (1). : (1) In equation (1), It is the X-axis coordinate of the center of the front of vehicle A at time t; It is the X-axis coordinate of the center of the front of the vehicle AF at time t; It is the length of the vehicle in front (AF). Step 2.2, if Less than the longitudinal conflict threshold TTC xThres If the condition is met, it means that there is a longitudinal conflict between vehicle A and its adjacent vehicle AF in the same lane at time t; otherwise, it means that there is no longitudinal conflict between vehicle A and its preceding vehicle AF at time t.

3. The method for identifying chain collisions of motor vehicles based on the rear vehicle avoidance characteristics according to claim 2, characterized in that, Step three is to proceed as follows: Step 3.1, when vehicle A's lateral velocity along the Y-axis When the lateral velocity component along the Y-axis of the vehicle AL in the adjacent left lane is greater than that of the vehicle in front of it. Equation (2) is used to calculate the lateral collision time of vehicle A with the vehicle in front of it in the adjacent left lane at time t. : (2) In equation (2), It is the Y-axis coordinate of the center of the front of the vehicle AL at time t; It is the Y-axis coordinate of the center of the front of vehicle A at time t; It is the width of the vehicle in front, AL. This is the width of vehicle A. Step 3.2, when vehicle A's lateral velocity along the Y-axis When the lateral component of the AR of the vehicle in front in the adjacent right lane along the Y-axis is less than that of the vehicle in front, the vehicle in front of it is less than that of the vehicle in front of it. Equation (3) is used to calculate the lateral collision time of vehicle A with vehicle AR in the adjacent left lane at time t. : (3) In equation (3), It is the Y-axis coordinate of the center of the front of the vehicle AR at time t; It is the width of the vehicle in front (AR). Step 3.3, if ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; like ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; like ,and At that time, the time of lateral collision between vehicle A and the vehicle in front in the adjacent lane. ; Step 3.4, when At that time, if TTC yThres If the constraint (4) is satisfied, then it means that there is a lateral conflict between vehicle A and the vehicle AL in the adjacent left lane at time t, where, TTC yThres Indicates the lateral conflict threshold: (4) when At that time, if TTC yThres If the constraint (5) is satisfied, then it means that there is a lateral conflict between vehicle A and vehicle AR in the adjacent right lane at time t: (5)。 4. The method for identifying chain collisions of motor vehicles based on the rear vehicle avoidance characteristics according to claim 3, characterized in that, Step five is to proceed as follows: Step 5.1, if type j =1, then use equation (6) to calculate the j-th conflict. C j The car behind B j At the moment of occurrence t j forward Time is affected by the car in front F j longitudinal stimulation ; (6) In equation (6), It is the j-th conflict C j The car behind B j exist The longitudinal velocity component at time t; It is the j-th conflict C j The car in front F j exist The longitudinal velocity component at time t; It is the driver's reaction time; like type j =2, calculate the j-th conflict using equation (7). C j The car behind B j At the moment of occurrence t j forward Time is affected by the conflict F j lateral stimulation : )(7) In equation (7), It is the j-th conflict C j The car behind B j exist The lateral velocity component at time; ) is the j-th conflict C j The car in front F j exist The lateral velocity component at time. Step 5.2: Based on signal detection theory, determine the stimulus threshold for the deceleration response of the vehicle after the collision. When the longitudinal stimulus is greater than 0, the frequency of longitudinal avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the longitudinal acceleration is negative, and the frequency of longitudinal non-avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the longitudinal acceleration is non-negative. Therefore, a longitudinal positive stimulus-longitudinal avoidance response frequency curve is plotted with the longitudinal stimulus as the horizontal axis and the longitudinal avoidance response frequency as the vertical axis; a longitudinal positive stimulus-longitudinal non-avoidance response frequency curve is plotted with the longitudinal stimulus as the horizontal axis and the longitudinal non-avoidance response frequency as the vertical axis. The magnitude of the longitudinal stimulus at the intersection of the two frequency curves is taken as the stimulus threshold for the vehicle following the conflict to initiate a longitudinal avoidance response. ; When the lateral stimulus is less than 0, the frequency of the lateral left-side avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the lateral acceleration is positive, and the frequency of the lateral non-left-side avoidance response is calculated for each vehicle following a conflict at the moment of occurrence when the lateral acceleration is negative. Therefore, a curve is plotted with the lateral stimulus as the horizontal axis and the lateral left-side avoidance response frequency as the vertical axis, and a similar curve is plotted with the lateral stimulus as the horizontal axis and the lateral non-left-side avoidance response frequency as the vertical axis. The magnitude of the lateral stimulus at the intersection of the two frequency curves is taken as the stimulus threshold for the vehicle following the conflict to exhibit a lateral left-side avoidance response. ; The frequency of lateral right-avoidance response for each vehicle following a conflict at the moment of occurrence was determined when the lateral stimulus was greater than 0, with negative lateral acceleration. The frequency of lateral non-right-avoidance response was determined when the lateral acceleration was non-negative. A curve was plotted with the lateral stimulus as the horizontal axis and the lateral right-avoidance response frequency as the vertical axis. Similarly, a curve was plotted with the lateral stimulus as the horizontal axis and the lateral non-right-avoidance response frequency as the vertical axis. The magnitude of the lateral stimulus at the intersection of these two frequency curves was taken as the stimulus threshold for the vehicle to initiate a lateral right-avoidance response. . Step 5.3: Determine the j-th conflict. C j The moment of occurrence t j The j-th conflict C j Did the vehicle behind react and avoid it? When the j-th conflict C j The car in front F j With the j-th conflict C j The car behind B j When in the same lane, if equation (8) is satisfied, then it indicates the j-th conflict. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (8) When the j-th conflict C j The car in front F j In the j-th conflict C j The car behind B j When the right-hand adjacent lane satisfies equation (9), it indicates the j-th conflict. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (9) When the j-th conflict C j The car in front F j In the j-th conflict C j The car behind B j When the left adjacent lane satisfies equation (10), it indicates that the j-th conflict occurs. C j The car behind B j An avoidance response occurred; otherwise, it indicates the j-th conflict. C j The car behind B j No avoidance response occurred; (10)。 5. The method for identifying chain collisions of motor vehicles based on the rear vehicle avoidance characteristics according to claim 4, characterized in that, Step six is ​​to proceed as follows: Step 6.1: From CON, in chronological order of conflict time, obtain all conflicts in which the preceding and following vehicles in a single conflict are the same as the preceding and following vehicles in other conflicts, and form a current conflict subset. Let the nth conflict in the current conflict subset be denoted as C’ n = { t’ n TTC' n ，F’ n ，B’ n ,type' n },in, t’ n This indicates the time when the nth conflict occurs. TTC' n This represents the collision time of the nth conflict. F’ n This represents the vehicle preceding the nth conflict. B’ n This represents the car following the nth collision. type' n Indicates the type of the nth conflict, where, type' n =1 means C’ n For vertical conflict, type' n =2 means C’ n For horizontal conflicts; n = 1, 2, ..., N; N represents the total number of conflicts in the current conflict subset; Step 6.2: Initialize n=N; Initialize C’ n Duration of impact T’ n =0; Step 6.3, Judgment C’ n Did the following vehicle swerve to avoid it? If so, order... If so, proceed to step 6.4; otherwise, retain the remaining values ​​in the current conflict subset. C’ n Then proceed to step 6.6; Step 6.4, Judgment C’ n-1 If the following vehicle in the current conflict subset fails to swerve, proceed to step 6.5; otherwise, retain the vehicle in the current conflict subset. C’ n Then proceed to step 6.6; Step 6.5, Judgment C’ n The moment of occurrence t’ n Is it within the time range? t’ n-1 ，t’ n-1 +TTC' n-1 [Inside, among which] t’ n-1 Indicated C’ n-1 At the moment of occurrence, TTC' n-1 express C’ n-1 If the collision time is such that the time is equal to the time of collision, then the time of collision is calculated using equation (11). C’ n Duration of impact T’ n-1 And retain in the current subset of conflicts C’ n-1 Delete C’ n Thus C’ n and C’ n-1 Merge; otherwise, retain in the current conflict subset. C’ n ; (11) In equation (11), T’ n-1 yes C’ n-1 Duration of impact; Step 6.6: Determine if n=2 is true. If it is true, the merging of the current conflicting subset is complete, and proceed to step 6.7; otherwise, assign n-1 to n and return to step 6.3 for sequential execution. Step 6.7: Following steps 6.2 to 6.6, obtain all merged conflict subsets and form a non-redundant conflict set. Let any m-th non-redundant conflict in the non-redundant conflict set be denoted as . C’’ m = { t’’ m TTC'' m ，F’ ’ m ，B’’ m ,type'' m },in, t’’ m Indicates the m-th conflict-free element. C’’ m The moment of occurrence, TTC'' m Indicates the m-th conflict-free element. C’’ m Collision time, F’’ m Indicates the m-th conflict-free element. C’’ m The car in front, B’’ m Indicates the m-th conflict-free element. C’’ m The car behind, type'' m Indicates the m-th conflict-free element. C’’ m The type, among which, type'' m =1 means C’’ m For vertical conflict, type'' m =2 means C’’ m For horizontal conflict; T’’ m Indicates the m-th conflict-free element. C’’ m The duration of the impact; m = 1, 2, ..., M; M represents the total number of non-redundant conflicts in the non-redundant conflict set.

6. An electronic device, comprising a memory and a processor, characterized in that, The memory is used to store a program that supports the processor in executing the motor vehicle chain conflict identification method according to any one of claims 1-5, and the processor is configured to execute the program stored in the memory.

7. A computer-readable storage medium storing a computer program thereon, characterized in that, The computer program, when run by a processor, executes the steps of the motor vehicle chain conflict identification method according to any one of claims 1-5.

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