A method and device for analyzing conflicts of right-turn vehicles at an intersection, a storage medium and a terminal

Abstract

The application discloses a kind of intersection right turn vehicle conflict analysis method, device, storage medium and terminal, method includes: according to the driving track data of the right turn intersection to be analyzed in the preset time period, the traffic parameter of each right turn motor vehicle through the right turn intersection to be analyzed is calculated;According to the actual operation parameter of signal lamp on the current intersection, the signal phase with the right turn conflict of the right turn intersection to be analyzed and the signal phase without right turn conflict are analyzed;According to the traffic parameter of each right turn motor vehicle, 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 are calculated;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.The application is quantitatively analyzed to the vehicle and pedestrian, non-motor vehicle of intersection right turn, realizes fine intersection order management, and then improves right turn traffic efficiency and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a right-turn vehicle conflict analysis method and device, a storage medium and a terminal. BACKGROUND

[0002] As an important node of urban traffic, the intersection is a region where traffic accidents occur frequently and a bottleneck region that limits the operation efficiency of traffic flow. In order to improve the safety and efficiency of the intersection, it is necessary to reasonably split the conflict problems between various traffic themes at the intersection. In most of China, right-turn motor vehicles are not implemented signal control at intersections, and are allowed to right-turn during the red light. At intersections with large volumes of non-motor vehicles and pedestrians, conflicts with right-turn vehicles are prone to occur.

[0003] At present, the common definition of conflict is divided into two categories, one is to judge whether there is an avoidance behavior, and the other is the proximity degree in space / time. However, it is difficult to accurately quantitatively define and observe the avoidance behavior, and there is no unified consensus on the measurement index of proximity degree. The method of studying conflict by collision time, such as TTC and PET method, can judge whether there is a conflict between vehicles to a certain extent, and can judge the severity of the conflict according to the size of the collision time. However, this method has several disadvantages, one is that this method can only judge the severity of a single conflict, and cannot evaluate the severity of the conflict as a whole according to the conflict type; the other is that it is difficult to obtain high-precision trajectory data, and the video recognition technology has high accuracy in recognizing vehicle trajectories, but the recognition accuracy and precision of pedestrian and non-motor vehicle trajectories are poor, which is difficult to meet the actual application.

[0004] Therefore, it is difficult to solve the conflict problem between vehicles, pedestrians and non-motor vehicles at the intersection by the method of collision time, thereby reducing the right-turn traffic efficiency and safety. SUMMARY

[0005] The embodiments of the present application provide a right-turn vehicle conflict analysis method, device, storage medium and terminal. In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not a general review, nor does it determine the key / important constituent elements or delineate the protection scope of these embodiments. Its only purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0006] In a first aspect, the embodiments of the present application provide a right-turn vehicle conflict analysis method, which comprises:

[0007] calculating the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving trajectory data passing through the right-turn intersection to be analyzed within a preset time period, and generating the passing parameters of each right-turn motor vehicle;

[0008] analyzing signal phases with right-turn conflicts and signal phases without right-turn conflicts at the right-turn intersection to be analyzed according to actual operation parameters of signal lights at the current intersection;

[0009] calculating a first average turning time at the signal phases with right-turn conflicts and a second average turning time at the signal phases without right-turn conflicts according to the passing parameters of each right-turn motor vehicle;

[0010] 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.

[0011] Optionally, the passing time length of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase are calculated according to the driving trajectory data passing through the right-turn intersection to be analyzed within a preset time period, comprising:

[0012] obtaining driving trajectory data passing through the right-turn intersection to be analyzed within a preset time period;

[0013] dividing the right-turn trajectory of each right-turn motor vehicle in the driving trajectory data into the identified start area, the right-turn conflict area and the identified end area according to positions;

[0014] determining a first time corresponding to a first trajectory point of each right-turn motor vehicle entering the identified start area;

[0015] determining a second time corresponding to a first trajectory point of each right-turn motor vehicle entering the identified end area;

[0016] determining the difference between the second time and the first time as the passing time length of each right-turn motor vehicle;

[0017] determining the signal phase of each right-turn motor vehicle entering the start area as the target signal phase according to the driving trajectory data.

[0018] Optionally, the signal phases with right-turn conflicts and signal phases without right-turn conflicts at the right-turn intersection to be analyzed are analyzed according to actual operation parameters of signal lights at the current intersection, comprising:

[0019] analyzing a plurality of signal phases associated with the right-turn intersection to be analyzed according to actual operation parameters of signal lights at the current intersection;

[0020] analyzing conflict objects of each signal phase, and determining the signal phases without right-turn conflicts and a plurality of signal phases with right-turn conflicts based on the conflict objects of each signal phase and / or the number of right-turn exit lanes and left-turn entrance lanes on the opposite side of the right-turn;

[0021] obtaining a conflict type corresponding to each signal phase with right-turn conflicts, and classifying signal phases of the same type to obtain a plurality of conflict signal phases.

[0022] Optionally, the first average turning time under the signal phase of the right-turn conflict is calculated, comprising:

[0023] determining whether the target signal phase of each right-turn motor vehicle belongs to each type of conflict signal phase, and determining the right-turn motor vehicle corresponding to the target signal phase belonging to each type of conflict signal phase, to obtain all right-turn motor vehicles of each type of conflict signal phase;

[0024] counting the first vehicle quantity of all right-turn motor vehicles of each type of conflict signal phase;

[0025] summing up the passing time of all right-turn motor vehicles of each type of conflict signal phase to obtain a first total time;

[0026] determining the ratio of the first total time to the first vehicle quantity corresponding thereto as the first average turning time of each type of conflict signal phase.

[0027] Optionally, the second average turning time under the signal phase of the right-turn conflict is calculated, comprising:

[0028] when the signal phase of the right-turn conflict exists, determining whether the target signal phase of each right-turn motor vehicle belongs to the signal phase of the right-turn conflict, and determining the right-turn motor vehicle corresponding to the target signal phase belonging to the signal phase of the right-turn conflict, to obtain all right-turn motor vehicles of the signal phase of the right-turn conflict;

[0029] counting the second vehicle quantity of all right-turn motor vehicles of the signal phase of the right-turn conflict;

[0030] summing up the passing time of all right-turn motor vehicles of the signal phase of the right-turn conflict to obtain a second total time;

[0031] determining the ratio of the second total time to the second vehicle quantity as the second average turning time.

[0032] Optionally, the second average turning time under the signal phase of the right-turn conflict is calculated, comprising:

[0033] when the signal phase of the right-turn conflict does not exist, calculating the average passing time of right-turn motor vehicles under all signal phases existing at the right-turn intersection to be analyzed, to obtain a right-turn motor vehicle passing time sequence under all signal phases;

[0034] selecting a preset percentile from the right-turn motor vehicle passing time sequence under all signal phases to obtain the second average turning time under the signal phase without conflict.

[0035] Optionally, the conflict severity of the right-turn intersection to be analyzed is determined according to the first average turning time and the second average turning time, comprising:

[0036] a ratio of the first average turn time and the second average turn time is calculated to obtain a right-turn conflict index;

[0037] According to the right-turn conflict index and a preset mapping relationship between a conflict index and a conflict severity level, a conflict severity level of the right-turn intersection to be analyzed is determined.

[0038] In a second aspect, an embodiment of the present application provides a right-turn vehicle conflict analysis device, which comprises:

[0039] A passing parameter generation module is configured to calculate a passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and a target signal phase according to driving track data of the right-turn intersection to be analyzed in a preset time period, and generate a passing parameter of each right-turn motor vehicle.

[0040] A signal phase analysis module is configured to analyze a signal phase with a right-turn conflict and a signal phase without a right-turn conflict of the right-turn intersection to be analyzed according to actual operation parameters of a signal light at a current intersection.

[0041] A turn time calculation module is configured to calculate a first average turn time in the signal phase with the right-turn conflict and a second average turn time in the signal phase without the right-turn conflict according to the passing parameter of each right-turn motor vehicle.

[0042] A conflict severity determination module is configured to determine a conflict severity level of the right-turn intersection to be analyzed according to the first average turn time and the second average turn time.

[0043] In a third aspect, an embodiment of the present application provides a computer storage medium, which stores a plurality of instructions, and the instructions are adapted to be loaded by a processor and execute the method steps described above.

[0044] In a fourth aspect, an embodiment of the present application provides a terminal, which can comprise 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 method steps described above.

[0045] The technical scheme provided by the embodiments of the present application can have the following beneficial effects:

[0046] In the embodiment of the present application, the intersection right-turn vehicle conflict analysis device first calculates the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving track data of the intersection to be analyzed within a preset time period, generates the passing parameter of each right-turn motor vehicle, then analyzes the signal phase with right-turn conflict and the signal phase without right-turn conflict according to the actual operation parameter of the signal light at the intersection, secondly calculates the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict according to the passing parameter of each right-turn motor vehicle, and finally determines the conflict severity of the right-turn intersection to be analyzed according to the first average turning time and the second average turning time. Since the conflict of the intersection is closely related to the signal phase of the signal light, the present application can deduce the severity of the intersection conflict by analyzing the passing parameter of each right-turn motor vehicle within a period of time and combining the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict. The present application quantitatively analyzes the conflict severity of the right-turn vehicle, pedestrian and non-motor vehicle at the intersection, thereby providing a basis for realizing more refined intersection order management, and further improving the right-turn passing efficiency.

[0047] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0049] Figure 1 is a flowchart of a right-turn vehicle conflict analysis method provided by an embodiment of the present application;

[0050] Figure 2 is a scene diagram of a right-turn area division of a cross intersection provided by an embodiment of the present application;

[0051] Figure 3 is a structure diagram of an intersection right-turn vehicle conflict analysis device provided by an embodiment of the present application;

[0052] Figure 4 is a structure diagram of a terminal provided by an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following description and drawings sufficiently illustrate specific embodiments of the present application to enable those skilled in the art to practice them.

[0054] It should be noted that the described embodiments are merely some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0055] The following description refers to the accompanying drawings. Unless otherwise noted, like elements in different drawings represent the same or similar elements. The following description of exemplary embodiments is not meant to represent all embodiments in accordance with the present application. Rather, they are simply examples of apparatus and methods in accordance with some aspects of the present application as detailed in the appended claims.

[0056] In the description of the present application, it should be understood that the terms "first", "second" and the like are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise stated, "a plurality of" means two or more. The association between the associated objects is described, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after are a "or" relationship.

[0057] The present application provides a method and device for analyzing right-turn vehicle conflicts at an intersection, a storage medium and a terminal to solve the problems in the above related technical problems. In the technical solution provided by the present application, since the conflict at the intersection is closely related to the signal phase of the signal light, the severity of the intersection conflict can be derived by analyzing the passing parameters of each right-turn vehicle in a period of time, and combining the first average turning time under the signal phase of the right-turn conflict and the second average turning time under the signal phase without right-turn conflict. The present application provides a basis for realizing more refined intersection order management by quantitatively analyzing the severity of the conflict between right-turn vehicles, pedestrians and non-motor vehicles at the intersection, thereby improving the right-turn traffic efficiency. The following will be described in detail by way of exemplary embodiments.

[0058] The following will be described in detail by way of exemplary embodiments. Figure 1 -Appendix Figure 2 The intersection right-turn vehicle conflict analysis method provided by the embodiment of the present application is described in detail. The method can be realized by relying on a computer program and can be run on an intersection right-turn vehicle conflict analysis device based on the von Neumann system. The computer program can be integrated in an application or run as an independent tool class application.

[0059] Please refer to Figure 1 A flowchart of an intersection right-turn vehicle conflict analysis method is provided for the embodiment of the present application. As shown inFigure 1 As shown, the method of the embodiments of the present application can include the following steps:

[0060] S101, calculating the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving trajectory data of each right-turn motor vehicle passing through the right-turn intersection to be analyzed in a preset time period, and generating the passing parameter of each right-turn motor vehicle;

[0061] The preset time period is a period of time set according to an actual application scenario, for example, 07:47:53-09:47:53 in the morning rush hour; it can also be 24 hours a day, or a month. The right-turn intersection to be analyzed is the intersection where the motor vehicle needs to turn right in a specified intersection to be analyzed. The passing time is the total time spent by the vehicle in the set right-turn area, and the set right-turn area includes the identification start area, the right-turn conflict area and the identification end area. The target signal phase is the signal phase being performed when the motor vehicle enters the identification start area of the set right-turn area.

[0062] Generally, for example, taking the motor vehicle turning right from south to east as an example, the set right-turn area is, for example, Figure 2 As shown, the setting ranges of the areas are as follows: the identification start area: the right-turn lane of the south entrance, a region of one car length south from the stop line; the right-turn conflict area: from the stop line of the south entrance lane to the position of the center guardrail in the east-west direction; the identification end area: extending 20 meters eastward from the right-turn conflict area.

[0063] In the embodiments of the present application, when calculating the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving trajectory data of each right-turn motor vehicle passing through the right-turn intersection to be analyzed in a preset time period, first, the driving trajectory data of each right-turn motor vehicle passing through the right-turn intersection to be analyzed in the preset time period is obtained, then the right-turn trajectory of each right-turn motor vehicle in the driving trajectory data is divided into the identification start area, the right-turn conflict area and the identification end area according to the position, then the first time point corresponding to the first time point when each right-turn motor vehicle enters the identification start area is determined, and the second time point corresponding to the first time point when each right-turn motor vehicle enters the identification end area is determined, then the difference between the second time point and the first time point is determined as the passing time of each right-turn motor vehicle, and finally the signal phase when each right-turn motor vehicle enters the start area is determined as the target signal phase according to the driving trajectory data.

[0064] In a possible implementation, when calculating the passing time of each right-turn motor vehicle, the vehicle V i enters the identification start area, and the first trajectory point after entering the identification start area is recorded as P is , and the corresponding time is T is ; the first trajectory point P ie when the vehicle enters the identification end area, and the corresponding time is Tie . The vehicle V i The time for right turn through the intersection is T i = T ie -T is .

[0065] S102, analyzing signal phases with right turn conflict and signal phases without right turn conflict with the actual operation parameters of the signal lights at the current intersection;

[0066] In the embodiments of the present application, when analyzing signal phases with right turn conflict and signal phases without right turn conflict with the actual operation parameters of the signal lights at the current intersection, first, the signal phases associated with the right turn intersection are analyzed according to the actual operation parameters of the signal lights at the current intersection, then the conflict objects of each signal phase are analyzed, and the signal phases without right turn conflict and the signal phases with right turn conflict are determined based on the conflict objects of each signal phase and / or the number of right turn entrance lanes and left turn entrance lanes on the opposite side of the right turn. Finally, the conflict types corresponding to each signal phase with right turn conflict are obtained, and signal phases of the same type are classified to obtain multiple types of conflict signal phases. For example, if there is a merging conflict between the right turn vehicle and the motor vehicle, and the number of exit lanes is greater than the number of entrance lanes, the conflict is ignored, and the vehicle in this phase is classified into the conflict-free set. The conflict-free is determined according to the conflict object of the signal phase and the number of entrance and exit lanes, and the multiple right turn conflicts are determined according to the conflict object.

[0067] The present application uses motor vehicle trajectory data and phase relationship to determine the conflict severity between right turn vehicles and pedestrians and non-motor vehicles, avoiding the problems of difficult acquisition of pedestrian and non-motor vehicle data and poor data accuracy. The motor vehicle trajectory data and phase relationship are used to obtain the conflict severity index and severity of right turn motor vehicles at the intersection with pedestrians and non-motor vehicles, realizing quantitative and qualitative conflict evaluation. For example, according to the actual operation of the intersection, the phases with motor vehicle right turn conflict and the phases without motor vehicle right turn conflict can be analyzed. For example, in the present application, the south-east motor vehicle right turn and the north-west motor vehicle right turn can be used for illustration, and the conflict conditions of each phase corresponding to the two right turns are shown in Table 1.

[0068] Table 1

[0069]

[0070]

[0071]

[0072] According to the content divided by Table 1, taking the case of right turning of the vehicle from south to east as an example, the signal phase in which the vehicle right turns is divided by the first point of the vehicle in the identified starting area, that is, T ie The signal phase corresponding to the time, phases I and IV have the conflict of the right turning vehicle from south to east and the left turning vehicle from north to east, but if the number of the exit lanes of the right turning (that is, the east exit lanes) is greater than the number of the left turning entrance lanes on the opposite side of the right turning (that is, the north entrance left turning lanes), the conflict of the north to east can be ignored, and is regarded as no conflict. Therefore, phases I, IV and VI are the conflict-free phase set S0 of the right turning vehicle; phases II, III and V are the conflict phase set S1 of the right turning vehicle and the same direction non-motor vehicle and pedestrian; and phases VII, VIII and X are the conflict phase set S2 of the right turning vehicle and the crossing direction non-motor vehicle and pedestrian.

[0073] In the embodiments of the present application, when the first average turning time in the signal phase with the right turning conflict is calculated, it is first determined whether the target signal phase of each right turning vehicle belongs to each type of conflict signal phase, and the right turning vehicles corresponding to the target signal phases belonging to each type of conflict signal phase are determined to obtain all the right turning vehicles of each type of conflict signal phase, then the first vehicle number of all the right turning vehicles of each type of conflict signal phase is counted, secondly the sum of the passing time of all the right turning vehicles of each type of conflict signal phase is obtained to obtain the first total time, and finally the ratio of the first total time to the first vehicle number corresponding thereto is determined as the first average turning time of each type of conflict signal phase.

[0074] In the embodiments of the present application, when the second average turning time in the signal phase without the right turning conflict is calculated, first, when there is a signal phase without the right turning conflict, it is determined whether the target signal phase of each right turning vehicle belongs to the signal phase without the right turning conflict, and the right turning vehicles corresponding to the target signal phases belonging to the signal phase without the right turning conflict are determined to obtain all the right turning vehicles of the signal phase without the right turning conflict, then the second vehicle number of all the right turning vehicles of the signal phase without the right turning conflict is counted, secondly the sum of the passing time of all the right turning vehicles of the signal phase without the right turning conflict is obtained to obtain the second total time, and finally the ratio of the second total time to the second vehicle number is determined as the second average turning time.

[0075] In the embodiments of the present application, when the second average turning time in the signal phase without the right turning conflict is calculated, first, when there is a signal phase without the right turning conflict, it is determined whether the target signal phase of each right turning vehicle belongs to the signal phase without the right turning conflict, and the right turning vehicles corresponding to the target signal phases belonging to the signal phase without the right turning conflict are determined to obtain all the right turning vehicles of the signal phase without the right turning conflict, then the second vehicle number of all the right turning vehicles of the signal phase without the right turning conflict is counted, secondly the sum of the passing time of all the right turning vehicles of the signal phase without the right turning conflict is obtained to obtain the second total time, and finally the ratio of the second total time to the second vehicle number is determined as the second average turning time.

[0076] Or, when there is no right-turn conflict signal phase, first calculate the average right-turn vehicle travel time under all signal phases of the to-be-analyzed right-turn intersection, obtain the right-turn vehicle travel time sequence under all signal phases, then select a preset percentile from the right-turn vehicle travel time sequence under all signal phases to obtain the second average turn time under the conflict-free signal phase.

[0077] In a possible implementation, after obtaining the travel parameters of each right-turn vehicle according to step S101, and obtaining the conflict-free phase set S0 of the right-turn vehicle, the conflict phase set S1 of the right-turn vehicle and the same-direction non-motor vehicle and pedestrian, and the conflict phase set S2 of the right-turn vehicle and the cross-direction non-motor vehicle and pedestrian according to Table 1, the average right-turn time of the conflict phase set S1 of the same-direction non-motor vehicle and pedestrian can be calculated and recorded as The average right-turn time of the conflict phase set S2 of the cross-direction non-motor vehicle and pedestrian The average right-turn time of all phases

[0078] The average turn time under conflict-free is calculated. If there are phases I, IV, and VI, the average turn time of set S0 under the phase is taken as the conflict-free right-turn time When the phase does not exist, the 15% of the right-turn vehicle travel time under all phases is taken as the conflict-free right-turn time

[0079] In a possible implementation, taking the north entrance right turn at the intersection of Guanghua Road and Jintong East Road as an example, the motor vehicle data of the morning peak of 8:30-9:30 on July 26, 2022 is selected. According to the data, the travel time of each right-turn vehicle through the to-be-analyzed right-turn intersection and the target signal phase can be analyzed. The signal phase is south-north straight-left turn- east-west straight-left cycle release. One signal cycle is 2 minutes and 20 seconds. At the same time, based on the actual situation of the intersection, it is obtained that the north-south straight phase is the conflict phase of the north-west right-turn vehicle and the same-direction non-motor vehicle and pedestrian; and the east-west straight-left phase is the conflict phase of the north-west right-turn vehicle and the cross-direction non-motor vehicle and pedestrian. Based on this, the data such as Table 2 can be obtained after numbering.

[0080] Table 2

[0081]

[0082]

[0083] S104, determining the conflict severity of the to-be-analyzed right-turn intersection according to the first average turn time and the second average turn time.

[0084] In the embodiments 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, first, the ratio of the first average turning time and the second average turning time is calculated to obtain a right-turn conflict index, and then according to the mapping relationship between the right-turn conflict index and a preset conflict index-conflict severity table, the conflict severity of the right-turn intersection to be analyzed is determined.

[0085] Specifically, the calculation formula of the right-turn conflict index is The conflict index-conflict severity table is shown in Table 3, for example.

[0086] Table 3

[0087] K i ]]> <＝1 (1,2] (2,3] >3 Conflict severity No conflict Mild Moderate Severe

[0088] In a possible implementation, for example, according to the data in Table 2, it is identified that there are 26 right-turn trajectory vehicles, and the average passing time is 13.42 s. Since there are 2 west exit lanes and 1 south entrance left-turn lane, under the south-north left-turn phase, the right-turn vehicles of the north entrance can be considered as no conflict, that is, the average passing time of the north-west conflict-free right-turn is Under the south-north straight phase, the north entrance right-turn vehicle conflicts with the south-north pedestrian and non-motor vehicle, and the average passing time is 13.14 s. Under the east-west straight left phase, the north entrance right-turn vehicle conflicts with the east-west pedestrian and non-motor vehicle, and the average passing time is 16.67 s.

[0089] At this time, the right-turn conflict index K1: 13.14 / 8.14=1.614. The conflict severity is slight. The right-turn conflict index K2: 16.67 / 8.14=2.048. The conflict severity is moderate. The total average time of the north-west right-turn is 13.42 s, and the right-turn conflict index K: 13.42 / 8.14=1.65 s. The conflict severity is slight.

[0090] In the embodiment of the present application, the intersection right-turn vehicle conflict analysis device first calculates the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving track data of each right-turn motor vehicle passing through the right-turn intersection to be analyzed in a preset time period, generates the passing parameter of each right-turn motor vehicle, then analyzes the signal phase with right-turn conflict and the signal phase without right-turn conflict with the right-turn intersection to be analyzed according to the actual operation parameter of the signal light on the current intersection, secondly calculates the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict according to the passing parameter of each right-turn motor vehicle, and finally determines the conflict severity of the right-turn intersection to be analyzed according to the first average turning time and the second average turning time. Since the conflict of the intersection is closely related to the signal phase of the signal light, the conflict severity of the intersection can be deduced by analyzing the passing parameter of each right-turn motor vehicle in a period of time and combining the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict. The conflict severity of the right-turn vehicle and the pedestrian and non-motor vehicle at the intersection is quantitatively analyzed, so as to provide a basis for realizing more refined intersection order management, and the right-turn passing efficiency is improved.

[0091] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0092] Please refer to Figure 3 which shows the structure schematic diagram of the intersection right-turn vehicle conflict analysis device provided by an exemplary embodiment of the present application. The intersection right-turn vehicle conflict analysis device can be realized as all or part of the terminal by software, hardware or combination of the two. The device 1 comprises 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.

[0093] The passing parameter generation module 10 is used to calculate the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving track data of each right-turn motor vehicle passing through the right-turn intersection to be analyzed in a preset time period, and generate the passing parameter of each right-turn motor vehicle.

[0094] The signal phase analysis module 20 is used to analyze the signal phase with right-turn conflict and the signal phase without right-turn conflict with the right-turn intersection to be analyzed according to the actual operation parameter of the signal light on the current intersection.

[0095] The turning time calculation module 30 is used to calculate the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict according to the passing parameter of each right-turn motor vehicle.

[0096] 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.

[0097] It should be noted that the intersection right-turn vehicle conflict analysis device provided in the above embodiment is only used as an example to illustrate the division of the above functional modules when the intersection right-turn vehicle conflict analysis method is performed. In actual application, the above functions can be completed by different functional modules according to needs, 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 intersection right-turn vehicle conflict analysis device and the intersection right-turn vehicle conflict analysis method provided in the above embodiment belong to the same concept, and the implementation process is detailed in the method embodiment. Here, it will not be repeated.

[0098] The serial numbers of the above embodiments of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0099] In the embodiments of the present application, the intersection right-turn vehicle conflict analysis device first calculates the passing time of each right-turn motor vehicle through the intersection to be analyzed and the target signal phase according to the driving track data of each right-turn motor vehicle passing through the intersection to be analyzed within a preset time period, generates the passing parameter of each right-turn motor vehicle, then analyzes the signal phase with right-turn conflict and the signal phase without right-turn conflict with the intersection to be analyzed according to the actual running parameter of the signal light at the intersection, secondly calculates the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict according to the passing parameter of each right-turn motor vehicle, and finally determines the conflict severity of the intersection to be analyzed according to the first average turning time and the second average turning time. Since the conflict of the intersection is closely related to the signal phase of the signal light, the present application can deduce the severity of the intersection conflict by analyzing the passing parameter of each right-turn motor vehicle within a period of time and combining the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict, thereby providing a basis for realizing more refined intersection order management, and further improving the right-turn passing efficiency.

[0100] The present application also provides a computer readable medium having program instructions stored thereon, which, when executed by a processor, implement the intersection right-turn vehicle conflict analysis method provided by each of the above method embodiments.

[0101] The present application also provides a computer program product containing instructions, which, when running on a computer, causes the computer to perform the intersection right-turn vehicle conflict analysis method of each of the above method embodiments.

[0102] Please refer to Figure 4A structural schematic diagram of a terminal is provided for the embodiments of the present application. As shown in Figure 4 The terminal 1000 can 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.

[0103] The communication bus 1002 is configured to realize the connection and communication between the components.

[0104] The user interface 1003 can include a display, a camera, and optionally a standard wired interface and a wireless interface.

[0105] The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0106] The processor 1001 can include one or more processing cores. The processor 1001 connects various parts of the entire electronic device 1000 through various interfaces and lines, executes various functions of the electronic device 1000 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 1001 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU is mainly used to process the operating system, user interface, and application programs; the GPU is used to render and draw the content to be displayed on the display; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 1001, but can be realized by a separate chip.

[0107] Among them, the memory 1005 may include a random access memory (RAM) or a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. 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 for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally be at least one storage device located away from the aforementioned processor 1001. As Figure 4 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an intersection right-turn vehicle conflict analysis application.

[0108] exist Figure 4 In the terminal 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain user input data; and the processor 1001 can be used to call the intersection right-turn vehicle conflict analysis application stored in the memory 1005 and specifically perform the following operations:

[0109] Calculate the travel time and target signal phase of each right-turning vehicle passing through the right-turn intersection to be analyzed based on the vehicle trajectory data passing through the right-turn intersection to be analyzed within a preset time period, and generate the travel parameters of each right-turning vehicle;

[0110] Analyze the signal phases at the right-turn intersection where there is a right-turn conflict and the signal phases at the right-turn intersection where there is no right-turn conflict according to the actual operating parameters of the traffic lights at the current intersection;

[0111] Calculating, based on the traffic parameters of each right-turning motor vehicle, a first average turning time at a signal phase in which there is a right-turn conflict and a second average turning time at a signal phase in which there is no right-turn conflict;

[0112] The conflict severity of the right-turn intersection to be analyzed is determined according to the first average turning time and the second average turning time.

[0113] 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 based on the driving trajectory data of the right-turn intersection to be analyzed within a preset time period, the processor 1001 specifically performs the following operations:

[0114] obtain driving track data of vehicles passing through the right-turn intersection to be analyzed within a preset time period;

[0115] divide the right-turn track of each right-turn motor vehicle in the driving track data into a recognition start area, a right-turn conflict area, and a recognition end area according to positions;

[0116] determine a first time corresponding to a first track point at which each right-turn motor vehicle enters the recognition start area;

[0117] determine a second time corresponding to a first track point at which each right-turn motor vehicle enters the recognition end area;

[0118] determine a difference between the second time and the first time as a passing time length of each right-turn motor vehicle;

[0119] determine, according to the driving track data, a signal phase at which each right-turn motor vehicle enters the start area as a target signal phase.

[0120] In one embodiment, the processor 1001, when performing analysis on signal phases with right-turn conflicts and signal phases without right-turn conflicts at the right-turn intersection to be analyzed according to actual operation parameters of signal lights at a current intersection, specifically performs the following operations:

[0121] analyze a plurality of signal phases associated with the right-turn intersection to be analyzed according to actual operation parameters of signal lights at a current intersection;

[0122] analyze conflict objects of each signal phase, and determine signal phases without right-turn conflicts and a plurality of signal phases with right-turn conflicts based on the conflict objects of each signal phase and / or a number of right-turn exit lanes and left-turn entrance lanes on the opposite side of the right-turn exit lane;

[0123] obtain a conflict type corresponding to each signal phase with right-turn conflicts, and classify signal phases of the same type to obtain a plurality of types of conflict signal phases.

[0124] In one embodiment, the processor 1001, when performing calculation of a first average turning time under the signal phase with the right-turn conflict, specifically performs the following operations:

[0125] determine whether the target signal phase of each right-turn motor vehicle belongs to each type of conflict signal phase, and determine right-turn motor vehicles corresponding to the target signal phase belonging to each type of conflict signal phase to obtain all right-turn motor vehicles of each type of conflict signal phase;

[0126] count a first vehicle number of all right-turn motor vehicles of each type of conflict signal phase;

[0127] sum up the passing time lengths of all right-turn motor vehicles of each type of conflict signal phase to obtain a first total time length;

[0128] determining a ratio of the first total duration and the first number of vehicles corresponding to the first total duration as the first average turn time of each type of conflict signal phase.

[0129] In an embodiment, the processor 1001, when performing the calculation of the second average turn time of the signal phase without right-turn conflict, specifically performs the following operations:

[0130] When the signal phase without right-turn conflict exists, determining whether the target signal phase of each right-turn motor vehicle belongs to the signal phase without right-turn conflict, and determining the right-turn motor vehicle corresponding to the target signal phase belonging to the signal phase without right-turn conflict, to obtain all right-turn motor vehicles of the signal phase without right-turn conflict;

[0131] counting the second number of vehicles of all right-turn motor vehicles of the signal phase without right-turn conflict;

[0132] summing up the passing durations of all right-turn motor vehicles of the signal phase without right-turn conflict to obtain a second total duration;

[0133] determining a ratio of the second total duration and the second number of vehicles as the second average turn time.

[0134] In an embodiment, the processor 1001, when performing the determination of the conflict severity of the right-turn intersection to be analyzed according to the first average turn time and the second average turn time, specifically performs the following operations:

[0135] calculating a ratio of the first average turn time and the second average turn time to obtain a right-turn conflict index;

[0136] determining the conflict severity of the right-turn intersection to be analyzed according to the mapping relationship between the right-turn conflict index and a preset conflict index-conflict severity table.

[0137] In an embodiment, the processor 1001, when performing the calculation of the second average turn time of the signal phase without right-turn conflict, specifically performs the following operations:

[0138] When the signal phase without right-turn conflict does not exist, calculating the average passing duration of the right-turn motor vehicle under all signal phases existing at the right-turn intersection to be analyzed to obtain a right-turn motor vehicle passing time sequence under all signal phases;

[0139] selecting a preset percentile from the right-turn motor vehicle passing time sequence under all signal phases to obtain the second average turn time of the signal phase without conflict.

[0140] In the embodiment of the present application, the intersection right-turn vehicle conflict analysis device first calculates the passing time of each right-turn motor vehicle through the right-turn intersection to be analyzed and the target signal phase according to the driving track data of the intersection to be analyzed within a preset time period, generates the passing parameter of each right-turn motor vehicle, then analyzes the signal phase with right-turn conflict and the signal phase without right-turn conflict according to the actual operation parameter of the signal light on the intersection, secondly calculates the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict according to the passing parameter of each right-turn motor vehicle, and finally determines the conflict severity of the right-turn intersection to be analyzed according to the first average turning time and the second average turning time. Since the conflict of the intersection is closely related to the signal phase of the signal light, the present application can deduce the severity of the intersection conflict by analyzing the passing parameter of each right-turn motor vehicle within a period of time and combining the first average turning time under the signal phase with right-turn conflict and the second average turning time under the signal phase without right-turn conflict, thereby providing a basis for realizing more refined intersection order management, and further improving the right-turn passing efficiency.

[0141] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the intersection right-turn vehicle conflict analysis program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory or a random access memory, etc.

[0142] The above only discloses the preferred embodiments of the present application, and of course cannot limit the scope of the rights of the present application, so equivalent changes made according to the claims of the present application still fall within the scope of the present application.

Claims

1. A method of intersection right-turn vehicle conflict analysis, characterized by, The method comprises: According to the driving trajectory data of the vehicles passing through the right-turn intersection to be analyzed within a preset time period, the passing time of each right-turn vehicle through the right-turn intersection to be analyzed and the target signal phase are calculated to generate the passing parameters of each right-turn vehicle; the passing time is the total time spent by the vehicle in passing through the set right-turn area, and the set right-turn area includes the identification start area, the right-turn conflict area and the identification end area; the target signal phase is the signal phase being performed by the signal lamp when the vehicle enters the identification start area; According to the actual operation parameters of the signal lamp at the current intersection, the signal phases with right-turn conflicts and the signal phases without right-turn conflicts with the right-turn intersection to be analyzed are analyzed; According to the passing parameters of each right-turn vehicle, the first average turning time in the signal phase with right-turn conflicts and the second average turning time in the signal phase without right-turn conflicts are calculated; 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.

2. The method of claim 1, wherein, According to the driving trajectory data of the vehicles passing through the right-turn intersection to be analyzed within a preset time period, the passing time of each right-turn vehicle through the right-turn intersection to be analyzed and the target signal phase are calculated, comprising: Obtaining the driving trajectory data of the vehicles passing through the right-turn intersection to be analyzed within a preset time period; Dividing the right-turn trajectory of each right-turn vehicle in the driving trajectory data into the identification start area, the right-turn conflict area and the identification end area according to the position; Determining the first time corresponding to the first trajectory point of each right-turn vehicle entering the identification start area; Determining the second time corresponding to the first trajectory point of each right-turn vehicle entering the identification end area; Determining the passing time of each right-turn vehicle as the difference between the second time and the first time; According to the driving trajectory data, the signal phase of each right-turn vehicle entering the start area is determined as the target signal phase.

3. The method of claim 1, wherein, According to the actual operation parameters of the signal lamp at the current intersection, the signal phases with right-turn conflicts and the signal phases without right-turn conflicts with the right-turn intersection to be analyzed are analyzed, comprising: According to the actual operation parameters of the signal lamp at the current intersection, the signal phases with right-turn conflicts and the signal phases without right-turn conflicts with the right-turn intersection to be analyzed are analyzed, comprising: According to the actual operation parameters of the signal lamp at the current intersection, the signal phases with right-turn conflicts and the signal phases without right-turn conflicts with the right-turn intersection to be analyzed are analyzed, comprising: According to the actual operation parameters of the signal lamp at the current intersection, the signal phases with right-turn conflicts and the signal phases without right-turn conflicts with the right-turn intersection to be analyzed are analyzed, comprising:

4. The method of claim 3, wherein, The calculation of the first average turning time in the signal phase with right-turn conflicts comprises: Determining whether the target signal phase of each right-turn vehicle belongs to each type of conflict signal phase, and determining the right-turn vehicles corresponding to the target signal phase belonging to each type of conflict signal phase to obtain all right-turn vehicles of each type of conflict signal phase; Counting the first vehicle number of all right-turn vehicles of each type of conflict signal phase; Summing up the passing time of all right-turn vehicles of each type of conflict signal phase to obtain the first total time; determine a ratio of the first total time length and the first vehicle quantity corresponding to the first total time length as the first average turn time of each conflict signal phase.

5. The method of claim 1, wherein, calculating a second average turn time of a signal phase without right-turn conflict, comprising: when there is a signal phase without right-turn conflict, judging whether the target signal phase of each right-turn motor vehicle belongs to the signal phase without right-turn conflict, and determining the right-turn motor vehicle corresponding to the target signal phase belonging to the signal phase without right-turn conflict to obtain all right-turn motor vehicles of the signal phase without right-turn conflict; counting a second vehicle quantity of all right-turn motor vehicles of the signal phase without right-turn conflict; summing up the passing time length of all right-turn motor vehicles of the signal phase without right-turn conflict to obtain a second total time length; determining a ratio of the second total time length and the second vehicle quantity as the second average turn time.

6. The method of claim 1, wherein, calculating a second average turn time of a signal phase without right-turn conflict, comprising: when there is no signal phase without right-turn conflict, calculating an average passing time length of right-turn motor vehicles under all signal phases existing at the right-turn intersection to be analyzed to obtain a right-turn motor vehicle passing time sequence under all signal phases; selecting a preset percentile from the right-turn motor vehicle passing time sequence under all signal phases to obtain the second average turn time of the signal phase without conflict.

7. The method of claim 1, wherein, the determining of the conflict severity of the right-turn intersection to be analyzed according to the first average turn time and the second average turn time, comprising: calculating a ratio of the first average turn time and the second average turn time to obtain a right-turn conflict index; determining the conflict severity of the right-turn intersection to be analyzed according to a mapping relationship between the right-turn conflict index and a preset conflict index-conflict severity table.

8. An intersection right-turn vehicle conflict analysis device implemented using the method of any one of claims 1-7, characterized by, The device comprises: a passing parameter generation module configured to calculate a passing time length of each right-turn motor vehicle through the right-turn intersection to be analyzed and a target signal phase according to driving track data of the right-turn intersection to be analyzed within a preset time period, and generate a passing parameter of each right-turn motor vehicle; a signal phase analysis module configured to analyze a signal phase with right-turn conflict and a signal phase without right-turn conflict existing at the right-turn intersection to be analyzed according to actual operation parameters of a signal lamp at a current intersection; a turn time calculation module configured to calculate a first average turn time of a signal phase with right-turn conflict and a second average turn time of a signal phase without right-turn conflict according to the passing parameter of each right-turn motor vehicle; a conflict severity determination module configured to determine a conflict severity of the right-turn intersection to be analyzed according to the first average turn time and the second average turn time.

9. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7.

10. A terminal, characterized by comprising: comprise: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7.

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