A dynamic queuing area blind area detection and early warning guidance method, device and medium

Abstract

The application provides a dynamic queuing area blind area detection and early warning guiding method, equipment and medium, a car-road cooperation algorithm is developed to provide early warning of pedestrians and non-motor vehicles for right-turn motor vehicles with double blind areas in the field of view, and then speed guidance is provided for the motor vehicles through a roadside unit and a vehicle-mounted device, so that the right-turn motor vehicles, non-motor vehicles and pedestrians can safely and smoothly pass through the intersection. The method can meet the accuracy and real-time performance of blind detection, has low requirements on the CV penetration rate, low equipment cost, and can still achieve good control effect under a certain error.

Description

Technical Field

[0001] This invention belongs to the field of intelligent traffic control and relates to a method, equipment and medium for dynamic queuing blind spot detection and early warning guidance at intersections in a vehicle-road cooperative environment. Background Technology

[0002] Traffic conditions at intersections are complex and unpredictable, making them frequent accident hotspots. Data from the U.S. National Highway Traffic Safety Administration shows that over 90% of intersection accidents are caused by human error, with 44.1% of these accidents resulting from obstructed driver vision and insufficient observation of surrounding traffic. For pedestrians and non-motorized vehicles, over 60% of traffic accidents occur at intersections. Pedestrians and non-motorized vehicles are in a vulnerable position in traffic, thus having a higher fatality rate in accidents. At intersections, queuing vehicles in other lanes make it difficult for right-turning vehicles to see pedestrians and non-motorized vehicles crossing at crosswalks, creating blind spots. Typical types of intersection blind spots are as follows: Figure 1 As shown, a significant portion of accidents involving pedestrians and non-motorized vehicles at intersections are caused by right-turning vehicles failing to yield to pedestrians and non-motorized vehicles in blind spots.

[0003] In China, signalized intersections generally do not have right-turn protection phases, allowing right-turning vehicles to always proceed. However, given the large volume of pedestrians and non-motorized vehicles and their high violation rates, right-turning vehicles often fail to yield in time, leading to accidents. Therefore, blind spot detection and early warning at intersections are crucial for the safety and efficient passage of vehicles, non-motorized vehicles, and pedestrians. Existing methods require high accuracy and real-time performance, high computer vision (CV) penetration, and high equipment costs, and research in these areas is still in its early stages. Vehicle-to-vehicle collision warning requires full occupancy vehicle-to-vehicle communication, which is currently unattainable; while pedestrian collision warning relies on vehicle sensors to detect pedestrians, and blind spots cannot be eliminated when obstructed.

[0004] Therefore, in a vehicle-road cooperative environment, developing a dynamic queuing area blind spot detection and early warning algorithm at intersections to provide pedestrian warnings for right-turning vehicles with blind spots and assist right-turning vehicles in passing through intersections safely and smoothly has high research value. Summary of the Invention

[0005] To address the challenges of existing blind spot detection methods, which require high accuracy and real-time performance, high computer vision (CV) penetration, high equipment costs, and are still in the early stages of research, this invention proposes a dynamic queuing area blind spot detection and early warning guidance method, equipment, and medium. It also develops a vehicle-road cooperative algorithm to provide pedestrian warnings for right-turning vehicles in blind spots and assists right-turning vehicles, non-motorized vehicles, and pedestrians in safely and smoothly passing through intersections.

[0006] This invention proposes a method for dynamic queuing area blind spot detection and early warning guidance, the method comprising the following steps:

[0007] Obtain the dynamic queuing zone length, and calculate the queuing length of motor vehicles and the blind spot range based on the dynamic queuing zone length;

[0008] The system assumes that there are conflicting objects within the blind spot of the motor vehicle, and calculates the motion state of the motor vehicle and the conflicting objects within the blind spot based on the current direction of travel and speed; the conflicting objects include pedestrians, non-motorized vehicles, and animals.

[0009] The point of conflict is calculated based on the movement state of the vehicle and the object in the blind spot. The time required for the vehicle to reach the point of conflict is then calculated as the time difference between the time required for the vehicle to reach the point of conflict and the time required for the object to reach the point of conflict.

[0010] When the time difference is less than or equal to the first threshold, a conflict warning is activated, and the speed of the vehicle is guided.

[0011] Furthermore, speed guidance for motor vehicles includes the following methods:

[0012] First guiding strategy: Adhere to the current speed Driving;

[0013] Second guidance strategy: Adopting expected acceleration ;

[0014] Third guiding strategy: Adopting expected deceleration ;

[0015] Fourth guiding strategy: First adopt the expected acceleration Maximum speed allowed at the intersection Then adopt the desired deceleration ;

[0016] Fifth guidance strategy: Adopt a sudden deceleration .

[0017] Furthermore, speed guidance for motor vehicles is provided, specifically for right-turn speed guidance.

[0018] The restrictions on the right turn speed guidance for motor vehicles are as follows:

[0019] (1) The maximum speed that a motor vehicle can accelerate to in the right-turn lane of an intersection. The minimum speed at which the vehicle can be reduced is 5.6 m / s. It is 1.4 m / s;

[0020] (2) Let the time difference ,in This represents the time required for a right-turning vehicle to reach the point of conflict in the left-side blind spot. The time required for the object of the conflict to reach the conflict point in the left blind spot of the vehicle is given by the initial speed of the vehicle after it enters the intersection. ,like Then, the speed of the motor vehicle is guided according to the conflict object and the state of the motor vehicle.

[0021] Furthermore, the aforementioned and The calculation methods include:

[0022] The spatiotemporal coordinates obtained from the detection of the two adjacent sides of the right-turning vehicle are as follows: and The spatiotemporal coordinates obtained from detecting the two adjacent sides of the conflicting object are respectively and ;but and Calculate according to formula (20):

[0023] (20)

[0024] Furthermore, methods for calculating blind spot conflict points based on the movement state of the vehicle and the conflicting object within the blind spot include:

[0025] Assuming that the trajectories of the right-turning vehicle and the object of the conflict are both straight lines, their slopes are calculated according to formula (21);

[0026] (twenty one)

[0027] The trajectory expressions for right-turning motor vehicles and conflicting objects are shown in Equation (22) and Equation (23), respectively;

[0028] (twenty two)

[0029] (twenty three)

[0030] Equations (22) and (23) can be combined to calculate the location of the conflict point in the left blind spot of the vehicle. .

[0031] Furthermore, when guiding the speed of motor vehicles, when a right-turning vehicle maintains its current speed... If the vehicle arrives at the point of conflict in the left blind spot before the object of the conflict, then perform the following steps:

[0032] If detection Then guide the motor vehicle to continue at the current speed. Driving;

[0033] If detection This guides the motor vehicle to adopt the desired acceleration. It accelerates while simultaneously providing a collision warning for the blind spot on the right side of the vehicle;

[0034] Let the time when a motor vehicle enters the intersection be the communication radius R of the roadside unit (RSU). At this point, the time from when the conflicting objects arrive at the conflict point is The distance a motor vehicle travels during the acceleration phase is After the expected acceleration, The time is At this time, the speed of the motor vehicle is ( ), expected acceleration Satisfying equation (24);

[0035] (twenty four)

[0036] in and Calculate according to equations (25) and (26);

[0037] (25)

[0038] (26)

[0039] Once equation (24) is satisfied, the motor vehicle will be guided to maintain its current speed. When driving, the vehicle must pass the point of conflict before the object in the blind spot on the left side of the vehicle.

[0040] If the motor vehicle is guided to accelerate to If equation (24) is still not satisfied, the assumed travel distance at this time... Calculate according to formula (27);

[0041] (27)

[0042] At this point, the vehicle should not accelerate as desired; instead, it should be guided to decelerate as desired. When approaching the point of conflict on the left side of the vehicle, yield to the object in the blind spot on the left side of the vehicle, with the desired deceleration. Satisfying equation (28), the moment of acceleration ends Satisfying equation (29);

[0043] (28)

[0044] (29)

[0045] Furthermore, when guiding the speed of motor vehicles, when a right-turning vehicle maintains its current speed... If the vehicle arrives at the conflict point after the conflict object has passed, then the following steps will be performed:

[0046] like Then guide right-turning vehicles to maintain their current speed. Drive through the pedestrian crossing in blind spot A after the pedestrians have crossed the conflict point.

[0047] like For safety reasons, right-turning vehicles are guided to slow down. Let the distance traveled by the vehicle during the acceleration phase be... After the expected deceleration process, it just makes The time is The speed at this time is ( ), expected deceleration Satisfying equation (30);

[0048] (30)

[0049] in and Calculate according to formulas (31) and (32).

[0050] (31)

[0051] (32)

[0052] Once equation (30) is satisfied, the motor vehicle will be guided to maintain its current speed. When driving, proceed only after the object in the left blind spot of the vehicle has passed the point of conflict;

[0053] like If the motor vehicle is guided to slow down to If the time formula (30) cannot be satisfied, then guide the motor vehicle to decelerate rapidly throughout the entire process. ;

[0054] Let the time for rapid deceleration to reach the collision point in the left blind spot of the vehicle be . , and Equations (33) and (34) are satisfied respectively;

[0055] (33)

[0056] (34)

[0057] Furthermore, when guiding the speed of a motor vehicle, the vehicle enters both the left and right blind spots after entering the left blind spot.

[0058] Let the radius of the right turn of the motor vehicle be r, and the turning route be... ,make ,in This represents the time required for a right-turning vehicle to travel from the point of conflict in blind spot A to the point of conflict in blind spot B. Let the time required for a pedestrian to reach the conflict point in blind spot B be ; let the time when a motor vehicle passes through the conflict point in blind spot A be . The speed is Assuming the vehicle maintains a safe distance when turning right. Travel at a constant speed;

[0059] If the motor vehicle accelerates at the desired speed Drive to If the vehicle starts traveling at a constant speed and reaches the collision point in blind spot A, then... The calculation method is shown in equation (35);

[0060] (35)

[0061] If the motor vehicle first accelerates at the desired speed Reaching the maximum Then, with the desired deceleration Upon reaching the point of conflict in the left blind spot of the vehicle, The calculation method is shown in equation (36);

[0062] (36)

[0063] If the motor vehicle accelerates at the desired speed Drive to When the vehicle begins to travel at a constant speed to the point of conflict in the left blind spot, and then... The calculation method is shown in equation (37);

[0064] (37)

[0065] If the motor vehicle decelerates suddenly Upon reaching the conflict point in blind zone A, then The calculation method is shown in equation (38);

[0066] (38)

[0067] This application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0068] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0069] The aforementioned dynamic queuing blind spot detection and early warning guidance method, computer equipment, and computer-readable storage medium were used to develop a vehicle-road cooperative algorithm to provide pedestrian warnings for right-turning vehicles in blind spots, and to assist right-turning vehicles, non-motorized vehicles, and pedestrians in safely and smoothly passing through intersections. This method can meet the requirements of accuracy and real-time performance in blind detection, does not require a high penetration rate of computer vision (CV), and has low equipment costs, while still achieving relatively good control results within a certain margin of error. Attached Figure Description

[0070] Figure 1 This is a flowchart of a dynamic queuing area blind spot detection and early warning guidance method according to this application.

[0071] Figure 2 is a flowchart of the vehicle-road cooperative algorithm of this application.

[0072] Figure 3 is a schematic diagram of acceleration in blind zone A without conflict and early warning for blind zone B in this application.

[0073] Figure 4 is a schematic diagram of the warning for blind spot B when turning in the absence of conflict in blind spot A according to this application.

[0074] Figure 5 is a schematic diagram of acceleration and early warning for blind zone B under the condition of conflict in blind zone A of this application.

[0075] Figure 6 is a schematic diagram of the warning for blind spot B when accelerating past and turning in the case of a conflict in blind spot A.

[0076] Figure 7 is a schematic diagram of deceleration and early warning for blind zone B under the condition of conflict in blind zone A of this application.

[0077] Figure 8 is a schematic diagram of the warning for blind spot B when turning after decelerating through blind spot A in the case of a conflict.

[0078] Figure 9 is a schematic diagram of a specific example verification scenario one of this application.

[0079] Figure 10 This is a schematic diagram illustrating the second specific example verification scenario of this application.

[0080] Figure 11 This is a schematic diagram illustrating specific example verification scenario three of this application.

[0081] Figure 12 This is a diagram of the internal structure of the computer device used in this application. Detailed Implementation

[0082] Example 1

[0083] like Figure 2 As shown, Embodiment 1 of this invention proposes a method for dynamic queuing blind spot detection and early warning guidance at intersections under a vehicle-road cooperative environment (hereinafter referred to as the dynamic queuing blind spot detection and early warning guidance method). The vehicle-road cooperative algorithm is performed according to the following steps:

[0084] (1) Blind spot judgment of dynamic queuing area

[0085] Dynamic queuing blind spot determination includes two parts: queue length estimation and blind spot range calculation.

[0086] (2) Object detection and state prediction

[0087] Conflict object detection and state prediction includes acquiring information on pedestrians and non-motorized vehicles within blind spots and predicting their states. The acquired information includes the location and speed of the conflicting objects, the direction of travel for pedestrians and non-motorized vehicles, and state predictions for pedestrians and non-motorized vehicles, assuming they maintain their current direction and speed.

[0088] (3) Conflict prediction

[0089] Conflict prediction is mainly based on the time difference between right-turning vehicles and pedestrians reaching the conflict point to determine what guidance strategy to take next;

[0090] (4) Blind spot warning and right turn speed guidance

[0091] Blind spot warning and right turn speed guidance include warning activation and deactivation, as well as right turn speed guidance. Specific guidance methods include the following:

[0092] Take the current speed Driving;

[0093] Take the desired acceleration ;

[0094] Adopting the desired deceleration ;

[0095] First, take the desired acceleration Maximum speed allowed at the intersection Then adopt the desired deceleration ;

[0096] Take a sudden deceleration .

[0097] Since motor vehicles have two blind spots, the left blind spot and the right blind spot, the following text will use blind spot A to represent the left blind spot and blind spot B to represent the right blind spot.

[0098] The prerequisites for guiding right turn speed are set as follows:

[0099] (1) According to the "Urban Road Intersection Planning Code", the speed limit for right-turn lanes at at-grade intersections is 20 km / h. When passing through at-grade intersections with narrow roads and large blind spots, the speed should be controlled between 5 km / h and 10 km / h. Therefore, the maximum speed that a right-turning vehicle can accelerate to on the approach lane is... Taking 20km / h as an example, which is 5.6m / s, the minimum speed at which the vehicle can decelerate is... Take 5 km / h, which is 1.4 m / s.

[0100] (2) Let ,in (s) represents the time required for a right-turning vehicle to reach the conflict point in blind spot A. (s) represents the time required for a pedestrian to reach the conflict point in blind zone A. Let RSU be the detection time interval after a right-turning vehicle enters the roadside RSU communication range radius R (m). initial velocity ,like RSU then begins to guide vehicle speeds based on the status of pedestrians and vehicles.

[0101] like Figure 5 As shown, the spatiotemporal coordinates obtained from the detection of the two adjacent sides of the right-turning vehicle are respectively and The spatiotemporal coordinates obtained from detecting the two adjacent sides of the pedestrian are as follows: and . and Calculate according to formula (39).

[0102] (39)

[0103] Assuming that the trajectories of right-turning motor vehicles and pedestrians are both straight lines, their slopes are calculated according to formula (40).

[0104] (40)

[0105] Therefore, the trajectory expressions for right-turning motor vehicles and pedestrians are shown in equations (41) and (42), respectively.

[0106] (41)

[0107] (42)

[0108] By combining equations (41) and (42), the location of the conflict point in blind zone A can be calculated.

[0109] (1) When a motor vehicle turns right at its current speed Vehicles will arrive at the point of conflict before pedestrians.

[0110] If detection Then guide the motor vehicle to continue at the current speed. Driving;

[0111] If detection This guides the motor vehicle to adopt the desired acceleration. It accelerates the process and also provides conflict warnings for blind spot B.

[0112] Combination Figures 3 to 8 Let the moment when the motor vehicle enters the RSU communication range radius R be... At this point, the time it takes for the pedestrian to reach the point of conflict is The distance a motor vehicle travels during the acceleration phase is After the expected acceleration process, it just makes The time is The speed at this time is ( ), The requirements are shown in equation (43).

[0113] (43)

[0114] in and Calculate according to equations (44) and (45).

[0115] (44)

[0116] (45)

[0117] Once equation (43) is satisfied, the motor vehicle will be guided to maintain its current speed. Driving, compared to

[0118] Pedestrians in blind spot A cross the point of conflict first.

[0119] If the motor vehicle is guided to accelerate to If equation (43) is still not satisfied, the assumed travel distance at this time is... Calculate according to formula (46).

[0120] (46)

[0121] At this point, the vehicle should not accelerate as desired; for safety reasons, it is necessary to guide the vehicle to decelerate. Upon reaching the point of conflict, yield to pedestrians in blind spot A. and the moment of acceleration to the end The requirements are shown in equations (47) and (48) respectively.

[0122] (47)

[0123] (48)

[0124] (2) When a motor vehicle turns right at its current speed The vehicle will arrive at the point of conflict after the pedestrians have crossed.

[0125] like Then guide right-turning vehicles to maintain their current speed. Drive through the pedestrian crossing in blind spot A after the pedestrians have crossed the conflict point.

[0126] like For safety reasons, right-turning vehicles are guided to slow down. Let the distance traveled by the vehicle during the acceleration phase be... After the expected deceleration process, it just makes The time is The speed at this time is ( ), The requirements are as shown in equation (49);

[0127] (49)

[0128] in and Calculate according to formulas (50) and (51).

[0129] (50)

[0130] (51)

[0131] Once equation (49) is satisfied, the motor vehicle will be guided to maintain its current speed. Drive through the blind spot A, and proceed only after the pedestrian in blind spot A has passed the point of conflict.

[0132] like If the motor vehicle is guided to slow down to If the time formula (49) cannot be satisfied, then guide the motor vehicle to decelerate rapidly throughout the entire process. Let the time of rapid deceleration be... (i.e., the time to reach the conflict point in blind zone A). and The requirements are shown in equations (52) and (53) respectively.

[0133] (52)

[0134] (53)

[0135] Let the radius of the right turn of the motor vehicle be r, and the turning route be... ,make ,in This represents the time required for a right-turning vehicle to travel from the point of conflict in blind spot A to the point of conflict in blind spot B. This represents the time required for a pedestrian to reach the conflict point in blind spot B. Let the time when a motor vehicle passes through the conflict point in blind spot A be... The speed is Here it is assumed that the vehicle maintains a safe distance when turning right. Travel at a constant speed.

[0136] (1) If the motor vehicle previously accelerated at the desired speed Drive to When the vehicle starts traveling at a constant speed to the point of conflict in blind spot A, and , then The calculation method is shown in equation (54).

[0137] (54)

[0138] (2) If the motor vehicle first accelerates at the desired speed Reaching the maximum Then, with the desired deceleration Upon reaching the conflict point in blind zone A, then The calculation method is shown in equation (55).

[0139] (55)

[0140] (3) If the motor vehicle previously decelerated at the desired speed Drive to When the vehicle starts traveling at a constant speed to the point of conflict in blind spot A, and , then The calculation method is shown in equation (56).

[0141] (56)

[0142] (4) If the motor vehicle previously decelerated suddenly Upon reaching the conflict point in blind zone A, then The calculation method is shown in equation (57).

[0143] (57)

[0144] Example 2

[0145] like Figure 1 As shown, Embodiment 2 of the present invention proposes a method for dynamic queuing area blind spot detection and early warning guidance, the method comprising the following steps:

[0146] S1. Obtain the dynamic queuing area length, and calculate the queuing length of motor vehicles and the blind spot range based on the dynamic queuing area length;

[0147] S2. Preset that there are conflicting objects in the blind spot of the motor vehicle, and calculate the motion state of the motor vehicle and the conflicting objects in the blind spot according to the current running direction and speed; the conflicting objects include pedestrians, non-motorized vehicles and animals.

[0148] S3. Calculate the point where the vehicle travels to the intersection of the direction of travel of the vehicle and the direction of travel of the object in the blind spot based on the movement state of the vehicle and the object in the blind spot. Calculate the time difference between the time required for the vehicle to travel to the point of travel and the time required for the object to travel to the point of travel.

[0149] S4. When the time difference is less than or equal to the first threshold, a conflict warning is activated, and the speed of the motor vehicle is guided.

[0150] Furthermore, speed guidance for motor vehicles includes the following methods:

[0151] First guiding strategy: Adhere to the current speed Driving;

[0152] Second guidance strategy: Adopting expected acceleration ;

[0153] Third guiding strategy: Adopting expected deceleration ;

[0154] Fourth guiding strategy: First adopt the expected acceleration Maximum speed allowed at the intersection Then adopt the desired deceleration ;

[0155] Fifth guidance strategy: Adopt a sudden deceleration .

[0156] Because motor vehicles have two blind spots: the left blind spot and the right blind spot, such as Figures 3 to 11 In the diagram, blind spot A represents the blind spot on the left side of the vehicle, and blind spot B represents the blind spot on the right side of the vehicle.

[0157] Furthermore, speed guidance for motor vehicles is provided, specifically for right-turn speed guidance.

[0158] The restrictions on the right turn speed guidance for motor vehicles are as follows:

[0159] (1) The maximum speed that a motor vehicle can accelerate to in the right-turn lane of an intersection. The minimum speed at which the vehicle can be reduced is 5.6 m / s. It is 1.4 m / s;

[0160] (2) Let the time difference ,in This represents the time required for a right-turning vehicle to reach the point of conflict in the left-side blind spot. The time required for the object of the conflict to reach the conflict point in the left blind spot of the vehicle is given by the initial speed of the vehicle after it enters the intersection. ,like Then, the speed of the motor vehicle is guided according to the conflict object and the state of the motor vehicle.

[0161] Furthermore, the aforementioned and The calculation methods include:

[0162] The spatiotemporal coordinates obtained from the detection of the two adjacent sides of the right-turning vehicle are as follows: and The spatiotemporal coordinates obtained from detecting the two adjacent sides of the conflicting object are respectively and ;but and Calculate according to formula (58):

[0163] (58)

[0164] Furthermore, methods for calculating blind spot conflict points based on the movement state of the vehicle and the conflicting object within the blind spot include:

[0165] Assuming that the trajectories of the right-turning vehicle and the object of the conflict are both straight lines, their slopes are calculated according to formula (59);

[0166] (59)

[0167] The trajectory expressions for right-turning motor vehicles and conflicting objects are shown in Equation (60) and Equation (61), respectively;

[0168] (60)

[0169] (61)

[0170] The positions of the collision points in the left blind spot of a vehicle can be calculated by combining equations (60) and (61). .

[0171] Furthermore, when guiding the speed of motor vehicles, when a right-turning vehicle maintains its current speed... If the vehicle arrives at the point of conflict in the left blind spot before the object of the conflict, then perform the following steps:

[0172] If detection Then guide the motor vehicle to continue at the current speed. Driving;

[0173] If detection This guides the motor vehicle to adopt the desired acceleration. It accelerates while simultaneously providing a collision warning for the blind spot on the right side of the vehicle;

[0174] Combination Figures 3 to 8 Let the time when a motor vehicle enters the intersection be the time when the communication range radius R of the roadside unit (RSU) is reached. At this point, the time from when the conflicting objects arrive at the conflict point is The distance a motor vehicle travels during the acceleration phase is After the expected acceleration, The time is At this time, the speed of the motor vehicle is ( ), expected acceleration Satisfying equation (62);

[0175] (62)

[0176] in and Calculate according to formulas (63) and (64);

[0177] (63)

[0178] (64)

[0179] Once equation (62) is satisfied, the motor vehicle will be guided to maintain its current speed. When driving, the vehicle must pass the point of conflict before the object in the blind spot on the left side of the vehicle.

[0180] If the motor vehicle is guided to accelerate to If equation (62) is still not satisfied, the assumed travel distance at this time... Calculate according to formula (65);

[0181] (65)

[0182] At this point, the vehicle should not accelerate as desired; instead, it should be guided to decelerate as desired. When approaching the point of conflict on the left side of the vehicle, yield to the object in the blind spot on the left side of the vehicle, with the desired deceleration. Satisfying equation (66), the moment of acceleration ends Satisfying equation (67);

[0183] (66)

[0184] (67)

[0185] Furthermore, when guiding the speed of motor vehicles, when a right-turning vehicle maintains its current speed... If the vehicle arrives at the conflict point after the conflict object has passed, then the following steps will be performed:

[0186] like Then guide right-turning vehicles to maintain their current speed. Drive through the pedestrian crossing in blind spot A after the pedestrians have crossed the conflict point.

[0187] like For safety reasons, right-turning vehicles are guided to slow down. Let the distance traveled by the vehicle during the acceleration phase be... After the expected deceleration process, it just makes The time is The speed at this time is ( ), expected deceleration Satisfying equation (68);

[0188] (68)

[0189] in and Calculate according to formulas (69) and (70).

[0190] (69)

[0191] (70)

[0192] Once equation (68) is satisfied, the motor vehicle will be guided to maintain its current speed. When driving, proceed only after the object in the left blind spot of the vehicle has passed the point of conflict;

[0193] like If the motor vehicle is guided to slow down to If the time formula (68) cannot be satisfied, then guide the motor vehicle to decelerate rapidly throughout the entire process. ;

[0194] Let the time for rapid deceleration to reach the collision point in the left blind spot of the vehicle be . , and They satisfy equations (71) and (72) respectively;

[0195] (71)

[0196] (72)

[0197] Furthermore, when guiding the speed of a motor vehicle, the vehicle enters both the left and right blind spots after entering the left blind spot.

[0198] Let the radius of the right turn of the motor vehicle be r, and the turning route be... ,make ,in This represents the time required for a right-turning vehicle to travel from the point of conflict in blind spot A to the point of conflict in blind spot B. Let the time required for a pedestrian to reach the conflict point in blind spot B be denoted as ; let the time when a motor vehicle passes through the conflict point in blind spot A be denoted as . The speed is Assuming the vehicle maintains a safe distance when turning right. Travel at a constant speed;

[0199] If the motor vehicle accelerates at the desired speed Drive to If the vehicle starts traveling at a constant speed and reaches the collision point in blind spot A, then... The calculation method is shown in equation (73);

[0200] (73)

[0201] If the motor vehicle first accelerates at the desired speed Reaching the maximum Then, with the desired deceleration Upon reaching the point of conflict in the left blind spot of the vehicle, The calculation method is shown in equation (74);

[0202] (74)

[0203] If the motor vehicle decelerates at the desired speed Drive to When the vehicle begins to travel at a constant speed to the point of conflict in the left blind spot, and then... The calculation method is shown in equation (75);

[0204] (75)

[0205] If the motor vehicle decelerates suddenly Upon reaching the conflict point in blind zone A, then The calculation method is shown in equation (76);

[0206] (76)

[0207] The following uses a specific application for verification; please refer to [link / reference]. Figures 9 to 11 .

[0208] This case study focuses on the Xianxia-Jianhe West Road intersection in Shanghai, where straight-through non-motorized vehicles consist of electric bikes and bicycles. The cycle time at this intersection is 138 seconds. The width of the non-motorized vehicle lane is 3.5 meters. The intersection length is 50 meters. At this intersection, the average speeds of electric bikes and bicycles are 6.79 m / s and 4.25 m / s, respectively. Electric bikes account for 68% of the total traffic at the Xianxia-Jianhe West Road intersection.

[0209] In this case, video trajectory processing software was used to extract spatiotemporal trajectory data of straight-going, non-motorized vehicles, and motorized vehicles in adjacent lanes at the intersection. The ballistic data frequency was 0.12s, and the positioning accuracy was 0.05m. This high-resolution data was sufficient to ensure the reliability of the analysis results. This study collected trajectory data of 660 straight-going non-motorized vehicles at the Xianxia-Jianhe West Road intersection over 24 cycles.

[0210] Based on the specific implementation method of this study, the spatiotemporal trajectory data in this case is divided into three cases for application verification.

[0211] Scenario 1: There is no conflict between right-turning motor vehicles, non-motor vehicles, and pedestrians at the pedestrian crossing in the intersection's entrance lane, such as... Figure 9 As shown.

[0212] Scenario 2: There is no conflict between right-turning motor vehicles, non-motorized vehicles, and pedestrians at the pedestrian crossing in the intersection entrance lane, and motor vehicles are guided to yield to non-motorized vehicles and pedestrians before crossing the intersection. The scenario is as follows: Figure 10 As shown.

[0213] Scenario 3: There is no conflict between right-turning motor vehicles, non-motor vehicles, and pedestrians at the pedestrian crossing in the intersection's entrance lane, and motor vehicles are guided to accelerate and pass through the intersection first. (Example:) Figure 11 As shown.

[0214] The calculation results of each parameter for the three cases are shown in Table 1:

[0215] Table 1. Parameter calculation results for three application cases.

[0216]

[0217] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 12As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a dynamic queuing blind spot detection and early warning guidance method.

[0218] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0219] For specific limitations on the steps implemented by the processor when executing a computer program, please refer to the limitations on the dynamic queuing blind zone detection and early warning guidance method mentioned above, which will not be repeated here.

[0220] This application also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the steps of the dynamic queuing area blind spot detection and early warning guidance method described above.

[0221] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0222] The aforementioned dynamic queuing blind spot detection and early warning guidance method, computer equipment, and computer-readable storage medium were used to develop a vehicle-road cooperative algorithm to provide pedestrian warnings for right-turning vehicles in blind spots, and to assist right-turning vehicles, non-motorized vehicles, and pedestrians in safely and smoothly passing through intersections. This method can meet the requirements of accuracy and real-time performance in blind detection, has low requirements for CV penetration rate, and has low equipment cost, while still achieving relatively good control results within a certain margin of error.

[0223] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0224] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for dynamic queuing area blind spot detection and early warning guidance, characterized in that, The method includes the following steps: Obtain the dynamic queuing zone length, and calculate the queuing length of motor vehicles and the blind spot range based on the dynamic queuing zone length; The system assumes that there are conflicting objects within the blind spot of the motor vehicle, and calculates the motion state of the motor vehicle and the conflicting objects within the blind spot based on the current direction of travel and speed; the conflicting objects include pedestrians, non-motorized vehicles, and animals. The point of conflict is calculated based on the movement state of the vehicle and the object in the blind spot. The point where the vehicle travels to the intersection with the direction of travel of the object is taken as the point of conflict. The time difference between the time required for the vehicle to travel to the point of conflict and the time required for the object to travel to the point of conflict is calculated. When the time difference is less than or equal to the first threshold, a conflict warning is activated, and the speed of the vehicle is guided. Speed ​​guidance for motor vehicles includes the following methods: First guiding strategy: Adhere to the current speed Driving; Second guidance strategy: Adopt expected acceleration ; Third guiding strategy: Adopting expected deceleration ; Fourth guiding strategy: First adopt the expected acceleration Maximum speed allowed at the intersection Then adopt the desired deceleration ; Fifth guidance strategy: Adopt a sudden deceleration ; When guiding the speed of motor vehicles, when a motor vehicle turns right at its current speed... If the vehicle arrives at the point of conflict in the left blind spot before the object of the conflict, then perform the following steps: If detection Then guide the motor vehicle to continue at the current speed. Driving; If detection This guides the motor vehicle to adopt the desired acceleration. It accelerates while simultaneously providing a collision warning for the blind spot on the right side of the vehicle; Let the time when a motor vehicle enters the intersection be the time when the communication range radius R of the roadside unit (RSU) is reached. At this point, the time from when the conflicting objects arrive at the conflict point is The distance a motor vehicle travels during the acceleration phase is After the expected acceleration, The time is At this time, the speed of the motor vehicle is , Expected acceleration Satisfying equation (5); （5） in and Calculate according to equations (6) and (7); （6） （7） Once equation (5) is satisfied, the motor vehicle will be guided to maintain its current speed. When driving, the vehicle must pass the point of conflict before the object in the blind spot on the left side of the vehicle. If the motor vehicle is guided to accelerate to If equation (5) is still not satisfied, the assumed travel distance at this time is... Calculate according to formula (8); （8） At this point, the vehicle should no longer accelerate as desired, and should be guided to decelerate as desired. When approaching the point of conflict on the left side of the vehicle, yield to the object in the blind spot on the left side of the vehicle, with the desired deceleration. Satisfying equation (9), the moment of acceleration ends Satisfying equation (10); （9） （10）。 2. The dynamic queuing area blind spot detection and early warning guidance method according to claim 1, characterized in that, Speed ​​guidance for motor vehicles refers to speed guidance for right turns. The restrictions on the right turn speed guidance for motor vehicles are as follows: (1) The maximum speed that a motor vehicle can accelerate to in the right-turn lane of an intersection. The minimum speed at which the vehicle can be reduced is 5.6 m / s. It is 1.4 m / s; (2) Let the time difference ,in This represents the time required for a right-turning vehicle to reach the point of conflict in the left-side blind spot. The time required for the object of the conflict to reach the conflict point in the left blind spot of the vehicle is given by the initial speed of the vehicle after it enters the intersection. ,like Then, the speed of the motor vehicle is guided according to the conflict object and the state of the motor vehicle.

3. The dynamic queuing area blind spot detection and early warning guidance method according to claim 2, characterized in that, The and The calculation methods include: The spatiotemporal coordinates obtained from the detection of the two adjacent sides of the right-turning vehicle are as follows: and The spatiotemporal coordinates obtained from detecting the two adjacent sides of the conflicting object are respectively and ;but and Calculate according to formula (1): （1） R is the communication range radius of the roadside unit (RSU). This is the detection time interval for the Roadside Unit (RSU).

4. The dynamic queuing area blind spot detection and early warning guidance method according to claim 3, characterized in that, Methods for calculating blind spot conflict points based on the movement state of the vehicle and the object in the blind spot include: Assuming that the trajectories of the right-turning vehicle and the object of the conflict are both straight lines, their slopes are calculated according to formula (2); （2） The trajectory expressions for right-turning motor vehicles and conflicting objects are shown in Equation (3) and Equation (4), respectively; （3） （4） Equations (3) and (4) can be combined to calculate the location of the conflict point in the left blind spot of the vehicle. .

5. The dynamic queuing area blind spot detection and early warning guidance method according to claim 4, characterized in that, When guiding the speed of motor vehicles, when a motor vehicle turns right at its current speed... If the vehicle arrives at the conflict point after the conflict object has passed, then the following steps will be performed: like Then guide right-turning vehicles to maintain their current speed. Drive through the pedestrian crossing in the left blind spot after the pedestrians have crossed the point of conflict. like For safety reasons, right-turning vehicles are guided to slow down. Let the distance traveled by the vehicle during the acceleration phase be... After the expected deceleration process, it just makes The time is The speed at this time is , Expected deceleration Satisfying equation (11); （11） in and Calculate according to formulas (12) and (13) （12） （13） Once equation (11) is satisfied, the motor vehicle will be guided to maintain its current speed. When driving, proceed only after the object in the left blind spot of the vehicle has passed the point of conflict; like If the motor vehicle is guided to slow down to If the time formula (11) cannot be satisfied, then guide the motor vehicle to decelerate rapidly throughout the entire process. , ; Let the time for rapid deceleration to reach the collision point in the left blind spot of the vehicle be . , and Equations (14) and (15) are satisfied respectively. （14） （15）。 6. The dynamic queuing area blind spot detection and early warning guidance method according to claim 5, characterized in that, When guiding the speed of a motor vehicle, the vehicle enters the blind spot on the left side of the vehicle and then enters the blind spot on the right side of the vehicle; Let the radius of the right turn of the motor vehicle be r, and the turning route be... ,make ,in This represents the time required for a right-turning vehicle to travel from a left-side blind spot conflict point to a right-side blind spot conflict point. This represents the time required for a pedestrian to reach the point of conflict in the right-hand blind spot. set up The time point at which the motor vehicle passes through the left blind spot conflict point is The speed is Assuming the vehicle maintains a safe distance when turning right. Travel at a constant speed; If the motor vehicle accelerates at the desired speed Drive to When the vehicle begins to travel at a constant speed to the point of conflict in the left blind spot, then... The calculation method is shown in equation (16); （16） If the motor vehicle first accelerates at the desired speed Reaching the maximum Then, with the desired deceleration Upon reaching the point of conflict in the left blind spot of the vehicle, The calculation method is shown in equation (17); （17） If the motor vehicle decelerates at the desired speed Drive to When the vehicle begins to travel at a constant speed to the point of conflict in the left blind spot, and then... The calculation method is shown in equation (18); （18） If the motor vehicle decelerates suddenly Upon reaching the conflict point in the left blind spot, The calculation method is shown in equation (19); （19）。 7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the dynamic queuing area blind spot detection and early warning guidance method according to any one of claims 1 to 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic queuing area blind spot detection and early warning guidance method as described in any one of claims 1 to 6.

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