A lane-changing safety evaluation method, terminal device and storage medium in an interweaving area

Abstract

The present invention relates to a lane-changing safety evaluation method for an interweaving area, a terminal device and a storage medium, wherein the method comprises: calculating the average lane-changing conflict probability of an interweaving area based on traffic data of n interweaving areas; dividing the interweaving area to be analyzed into 5 sections and numbering them; collecting traffic data of the interweaving area to be analyzed, and extracting all lane-changing events from the traffic data, and calculating the section number and lane number of the lane-changing starting point, lane-changing point and lane-changing end point corresponding to each lane-changing event according to the coordinates of the lane-changing starting point, lane-changing point and lane-changing end point, in combination with the sections divided into the corresponding interweaving area; calculating the lane-changing conflict probability of the interweaving area to be analyzed; and judging the lane-changing safety degree of the interweaving area to be analyzed according to the relationship between the lane-changing conflict probability of the interweaving area to be analyzed and a set probability threshold. The present invention provides a theoretical basis for traffic operation safety evaluation in an interweaving area.

Description

Technical Field

[0001] The present invention relates to the field of road safety technology, and in particular to a lane-changing safety evaluation method, terminal equipment and storage medium in an interweaving area. Background Art

[0002] Weaving areas are widely present on various roads in the urban road traffic system and are an important part of road traffic flow. The biggest difference between weaving areas and other basic sections is weaving operation, which is inseparable from lane changing behavior. The lane changing behavior of weaving traffic will also affect non-weaving traffic to change lanes in order to obtain a better driving environment. A large number of lane changing behaviors in weaving areas will reduce the overall speed of traffic flow, thereby reducing the traffic efficiency of weaving areas. In severe cases, it will also cause traffic congestion, making weaving areas the bottleneck sections of many roads.

[0003] Lane changing safety in weaving areas is a key link in ensuring smooth and safe traffic in weaving areas. By deeply analyzing the lane changing behavior of vehicles in weaving areas and their potential risks, safety hazards can be identified, and then the traffic organization design can be optimized to ensure driving safety and improve road traffic efficiency.

[0004] Existing traffic safety research on lane-changing behavior mainly focuses on the conflict risk prediction and influencing factor analysis of the entire lane-changing event. When modeling, the data of the entire lane-changing process is aggregated, ignoring the changing characteristics of the conflict risk over time during the lane-changing process and the changes in the influence of the corresponding influencing factors. In addition, most traffic safety research on weaving areas mainly reflects the relationship between the accident rate in the weaving area and factors such as traffic flow, roads and environment through statistical models. The aggregated data used is difficult to reflect the impact of the dynamic traffic flow characteristics of the weaving area on different stages of the lane-changing process. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a lane change safety evaluation method in an interweaving area, a terminal device and a storage medium.

[0006] The specific plan is as follows:

[0007] A method for evaluating lane change safety in an interweaving area comprises the following steps:

[0008] S1: Collect traffic data of n interweaving areas;

[0009] S2: Calculate the lane change conflict probability of each weaving area based on the ratio of the number of conflicting vehicles to the total number of vehicles in the traffic data of each weaving area, and then take the average of the lane change conflict probabilities of n weaving areas as the average lane change conflict probability of the weaving area;

[0010] S3: Divide the interleaved area to be analyzed into 5 sections, and number each section in sequence;

[0011] S4: Collecting traffic data of the weaving area to be analyzed, and extracting all lane change events from the traffic data, and calculating the section number and lane number of the lane change starting point, lane change point and lane change end point corresponding to each lane change event according to the coordinates of the lane change starting point, lane change point and lane change end point corresponding to each lane change event, in combination with the sections divided into the corresponding weaving area;

[0012] S5: Calculate the lane change conflict probability in the weaving area to be analyzed:

[0013]

[0014]

[0015] in, represents the probability of lane change conflict in the i-th weaving area; represents the average lane-changing conflict probability in the weaving area; represents the jth first-category influencing factor corresponding to the i-th interleaving area; j represents the sequence number of the first-category influencing factor; J represents the total number of the first-category influencing factors; express The weight coefficient of represents the random error corresponding to the i-th interleaving area; represents the stage of the lane change event, Indicates the starting point of lane change. Indicates the lane change point. Indicates the end point of lane change; The mode of the segment numbers of the mth stage of all lane-changing events contained in the i-th weaving area; The mode of lane numbers of the mth stage of all lane change events contained in the i-th weaving area; express The corresponding weight coefficient; express The corresponding weight coefficient; express The corresponding weight coefficient; Indicates the serial number of the second type of influencing factors; It indicates the total number of the second type of influencing factors; Indicates the first interleaving area corresponding to the first The second type of influencing factors; express The weight coefficient of represents the random error corresponding to the jth first-category influencing factor;

[0016] S6: judging the safety level of lane changing in the weaving area to be analyzed based on the relationship between the lane changing conflict probability in the weaving area to be analyzed and a set probability threshold.

[0017] Furthermore, traffic data includes traffic flow data and road geometry design data; traffic flow data includes the vehicle's own motion data and the vehicle's environmental data, the motion data includes position, speed and acceleration, the environmental data includes headway between vehicles, headway time, and speed and acceleration differences with surrounding vehicles; road geometry design data includes the length of the weaving area, lane width and the total number of lanes.

[0018] Furthermore, when there is no prohibited lane change line between the starting point and the end point of the weaving area, the weaving area is divided into sections as follows: the area from the starting point to the end point is evenly divided into three sections, and based on the length of each of the three sections, a section of the same length is extended to both sides of the starting point and the end point respectively.

[0019] Furthermore, when there is a prohibited lane change line between the starting point and the end point of the weaving area, the weaving area is divided into sections as follows: the area between the starting point and the end point is divided by the end point of the prohibited lane change line connected to the starting point and the end point of the prohibited lane change line connected to the end point to obtain three sections, and then the length of the prohibited lane change line connected to the starting point is extended from the starting point toward the direction away from the weaving area as the fourth section, and at the same time, the length of the prohibited lane change line connected to the end point is extended from the end point toward the direction away from the weaving area as the fifth section.

[0020] Furthermore, the lane-changing starting point is the position where the lane-changing vehicle drives to a position 1 / 4 lane width away from the edge of the target lane; the lane-changing point is the last position of the lane-changing vehicle in the original lane; and the lane-changing end point is the position where the lane-changing vehicle enters the target lane and drives away from the edge of the target lane by 1 / 4 lane width.

[0021] A terminal device for evaluating lane change safety in an interweaving area includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described above in the embodiment of the present invention are implemented.

[0022] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described above in an embodiment of the present invention are implemented.

[0023] The present invention adopts the above technical solution to overcome the shortcoming that the macro-road design elements in the traditional model are difficult to be significantly expressed in the model dominated by micro-level traffic flow elements and traffic conflicts, and establishes a quantitative correlation between the traffic organization design and lane change safety in the weaving area, providing a theoretical basis for the safety evaluation of traffic operation in the weaving area. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a flow chart of a method according to a first embodiment of the present invention.

[0025] Figure 2The figure shows the segment division of the weaving area when there is no lane change prohibition line in this embodiment.

[0026] Figure 3 The figure shows the segment division of the weaving area when there is a lane change prohibition line in this embodiment.

[0027] Figure 4 Shown is a schematic diagram of three stages of a lane change event in this embodiment. DETAILED DESCRIPTION

[0028] To further illustrate various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in this field should be able to understand other possible implementations and advantages of the present invention.

[0029] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0030] Embodiment 1:

[0031] The embodiment of the present invention provides a method for evaluating lane change safety in an interweaving area. Figure 1 As shown, the method comprises the following steps:

[0032] S1: Collect traffic data of n weaving areas.

[0033] The collected traffic data is the traffic data of each weaving area within a period of time, such as within a day, within a week, etc. In this embodiment, the traffic data includes traffic flow data and road geometry design data; the traffic flow data includes the motion data of the vehicle itself and the environmental data of the vehicle, the motion data includes the position, speed and acceleration, and the environmental data includes the headway, headway time and the speed difference and acceleration difference with surrounding vehicles; the road geometry design data includes the length of the weaving area, the lane width and the total number of lanes.

[0034] S2: Calculate the lane change conflict probability of each weaving area based on the ratio of the number of conflicting vehicles to the total number of vehicles in the traffic data of each weaving area, and then take the average of the lane change conflict probabilities of the n weaving areas as the average lane change conflict probability of the weaving area.

[0035] In this embodiment, the collision includes a rear-end collision and a side collision collision. Whether the vehicle has a rear-end collision and a side collision collision is determined in the following manner.

[0036] The TTC value of a vehicle is as follows:

[0037]

[0038]

[0039] in, and They represent the longitudinal positions of the centers of the i-1th vehicle and the i-th vehicle along the direction of traffic flow respectively; and The lateral positions of the centers of the i-1th vehicle and the i-th vehicle respectively along the direction of traffic flow; Indicates the lateral distance between the two vehicles; and They represent the speeds of the i-1th vehicle and the i-th vehicle along the traffic flow direction at time t respectively; and are the lengths of the i-1th vehicle and the i-th vehicle along the traffic flow direction respectively; and They represent the width of the i-1th vehicle and the i-th vehicle along the direction of traffic flow respectively.

[0040] A vehicle whose TTC value is less than a time threshold (such as 4 seconds) is judged to have a rear-end collision, and a vehicle whose TTC value is less than a time threshold and whose lateral distance is less than a distance threshold (such as 0.6 meters) is judged to have a side collision.

[0041] S3: Divide the interleaved area to be analyzed into 5 sections, and number each section in sequence.

[0042] In this embodiment, there are two ways to divide the interleaving area:

[0043] (1) When there is no lane change prohibition line between the starting point and the end point of the weaving area, the area between the starting point and the end point is divided into three equal sections, and based on the length of each of the three sections, a section of the same length is extended to both sides of the starting point and the end point. Figure 2 As shown, the endpoints of the two converging triangles in the interweaving area are the starting point and the end point of the interweaving area respectively. After being divided into three equal sections, the length of each section is a. Then, the end point of the first converging triangle is used as the starting point to extend to the left by a length, and the end point of the second converging triangle is used as the starting point to extend to the right by a length. In this way, the lengths of the five sections are all a. The numbers are 0, 1, 2, 3, and 4 from left to right.

[0044] (2) When there is a no lane change line (on one side) between the starting point and the end point of the weaving area, the area between the starting point and the end point is divided by the end point of the no lane change line connected to the starting point and the end point of the no lane change line connected to the end point to obtain three sections. Then, the length of the no lane change line connected to the starting point extending away from the weaving area is used as the fourth section, and the length of the no lane change line connected to the end point extending away from the weaving area is used as the fifth section. Figure 3As shown, the endpoints of the two merging triangles in the weaving area are the starting point and the end point of the weaving area respectively, the length of the no lane change line connected to the starting point is a, the length of the no lane change line connected to the end point is c, the remaining length between the starting point and the end point is b, the starting point extends to the left by a length, and the end point extends to the right by c length.

[0045] S4: Collect traffic data of the weaving area to be analyzed, and extract all lane change events from the traffic data. According to the coordinates of the lane change starting point, lane change point and lane change end point corresponding to each lane change event, combined with the sections divided into the corresponding weaving area, calculate the section number and lane number of the lane change starting point, lane change point and lane change end point corresponding to each lane change event.

[0046] In this embodiment, the lane-changing starting point is set to the position where the lane-changing vehicle drives to a position 1 / 4 lane width away from the target lane edge line; the lane-changing point is set to the last position of the lane-changing vehicle in the original lane; and the lane-changing end point is set to the position where the lane-changing vehicle drives away from the target lane edge line 1 / 4 lane width after entering the target lane. Figure 4 shown.

[0047] The section numbers are the numbers 0, 1, 2, 3, 4 set in step S3, and the lane numbers are the numbers of the lanes on the actual road.

[0048] S5: Calculate the lane change conflict probability in the weaving area to be analyzed:

[0049]

[0050]

[0051] in, represents the probability of lane change conflict in the i-th weaving area; represents the average lane-changing conflict probability in the weaving area; represents the jth first-category influencing factor corresponding to the i-th interleaving area; j represents the sequence number of the first-category influencing factor; J represents the total number of the first-category influencing factors; express The weight coefficient of represents the random error corresponding to the i-th interleaving area; represents the stage of the lane change event, Indicates the starting point of lane change. Indicates the lane change point. Indicates the end point of lane change; The mode (i.e., the number with the largest number of occurrences) of the segment numbers of the mth stage of all lane-changing events contained in the i-th weaving area; The mode of lane numbers of the mth stage of all lane change events contained in the i-th weaving area; express The corresponding weight coefficient; express The corresponding weight coefficient; express The corresponding weight coefficient; Indicates the serial number of the second type of influencing factors; It indicates the total number of the second type of influencing factors; Indicates the first interleaving area corresponding to the The second type of influencing factors; express The weight coefficient of Indicates the random error corresponding to the jth first-category influencing factor. In this embodiment, the first-category influencing factors include: the lane where the lane-changing vehicle is located, the longitudinal position of the lane-changing vehicle, the instantaneous acceleration of the lane-changing vehicle, etc., and the second-category influencing factors include: the length of the weaving area, the duration of the lane-changing process and the average speed, etc. Those skilled in the art can set the required first-category influencing factors and second-category influencing factors according to the actual application situation, and are not limited here.

[0052] S6: judging the safety level of lane changing in the weaving area to be analyzed based on the relationship between the lane changing conflict probability in the weaving area to be analyzed and a set probability threshold.

[0053] In this embodiment, the probability threshold is set to include four levels, corresponding to three probability thresholds. The four levels are respectively slight, medium, severe and very severe. These four levels are used to reflect the different degrees of lane changing safety in the weaving area to be analyzed. The smaller the probability of lane changing conflict, the safer the weaving area to be analyzed.

[0054] Embodiment 2:

[0055] The present invention also provides a terminal device for evaluating lane change safety in an interweaving area, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the above-mentioned method embodiment of the first embodiment of the present invention when executing the computer program.

[0056] Further, as an executable solution, the lane change safety assessment terminal device in the interweaving area may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The lane change safety assessment terminal device in the interweaving area may include, but is not limited to, a processor and a memory. Those skilled in the art may understand that the composition structure of the lane change safety assessment terminal device in the interweaving area is merely an example of the lane change safety assessment terminal device in the interweaving area, and does not constitute a limitation on the lane change safety assessment terminal device in the interweaving area. It may include more or less components than the above, or a combination of certain components, or different components. For example, the lane change safety assessment terminal device in the interweaving area may also include input and output devices, network access devices, buses, etc., which are not limited in the embodiments of the present invention.

[0057] Furthermore, as an executable solution, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the lane-changing safety evaluation terminal device in the interweaving area, and uses various interfaces and lines to connect various parts of the lane-changing safety evaluation terminal device in the interweaving area.

[0058] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the lane change safety evaluation terminal device in the interweaving area by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and an application required for at least one function; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0059] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

[0060] If the module / unit integrated in the said interweaving area lane change safety evaluation terminal equipment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The said computer program can be stored in a computer-readable storage medium, and the said computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the said computer program includes computer program code, and the said computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The said computer-readable medium may include: any entity or device capable of carrying the said computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, Random Access Memory) and software distribution medium, etc.

[0061] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A lane-changing safety evaluation method in an interweaving area, characterized in that: The following steps are involved: S1: Collect traffic data of n interweaving areas; S2: Calculate the lane change conflict probability of each weaving area based on the ratio of the number of conflicting vehicles to the total number of vehicles in the traffic data of each weaving area, and then take the average of the lane change conflict probabilities of n weaving areas as the average lane change conflict probability of the weaving area; S3: Divide the interleaved area to be analyzed into 5 sections, and number each section in sequence; S4: Collecting traffic data of the weaving area to be analyzed, and extracting all lane change events from the traffic data, and calculating the section number and lane number of the lane change starting point, lane change point and lane change end point corresponding to each lane change event according to the coordinates of the lane change starting point, lane change point and lane change end point corresponding to each lane change event, in combination with the sections divided into the corresponding weaving area; S5: Calculate the lane change conflict probability in the weaving area to be analyzed: in, represents the lane change conflict probability in the i-th weaving area; represents the average lane-changing conflict probability in the weaving area; represents the jth first-category influencing factor corresponding to the i-th interleaving area; j represents the sequence number of the first-category influencing factor; J represents the total number of the first-category influencing factors; express The weight coefficient of represents the random error corresponding to the i-th interleaving area; represents the stage of the lane change event, Indicates the starting point of lane change. Indicates the lane change point. Indicates the end point of lane change; The mode of the segment numbers of the mth stage of all lane-changing events contained in the i-th weaving area; The mode of lane numbers of the mth stage of all lane change events contained in the i-th weaving area; express The corresponding weight coefficient; express The corresponding weight coefficient; express The corresponding weight coefficient; Indicates the serial number of the second type of influencing factors; It indicates the total number of the second type of influencing factors; Indicates the first interleaving area corresponding to the first The second type of influencing factors; express The weight coefficient of represents the random error corresponding to the jth first-category influencing factor; S6: judging the safety level of lane changing in the weaving area to be analyzed based on the relationship between the lane changing conflict probability in the weaving area to be analyzed and a set probability threshold.

2. The lane change safety evaluation method in weaving area according to claim 1, characterized in that: Traffic data includes traffic flow data and road geometry design data; traffic flow data includes the vehicle's own motion data and the vehicle's environmental data, the motion data includes position, speed and acceleration, the environmental data includes the headway between vehicles, headway time, and speed and acceleration differences with surrounding vehicles; road geometry design data includes the length of the weaving area, lane width and the total number of lanes.

3. The lane change safety evaluation method in weaving area according to claim 1, characterized in that: When there is no prohibited lane change line between the starting point and the end point of the weaving area, the weaving area is divided into sections as follows: the area from the starting point to the end point is equally divided into three sections, and based on the length of each of the three sections, a section of the same length is extended to both sides of the starting point and the end point respectively.

4. The lane change safety evaluation method in weaving area according to claim 1, characterized in that: When there is a prohibited lane change line between the starting point and the end point of the weaving area, the weaving area is divided into sections as follows: the area from the starting point to the end point is divided by the end point of the prohibited lane change line connected to the starting point and the end point of the prohibited lane change line connected to the end point to obtain three sections, and then the length of the prohibited lane change line connected to the starting point is extended from the starting point toward the direction away from the weaving area as the fourth section, and at the same time, the length of the prohibited lane change line connected to the end point is extended from the end point toward the direction away from the weaving area as the fifth section.

5. The lane-changing safety evaluation method in weaving area according to claim 1, characterized in that: The lane-changing starting point is when the lane-changing vehicle reaches a position 1 / 4 of the lane width away from the edge of the target lane; The lane-changing point is the last position of the lane-changing vehicle in the original lane; the lane-changing end point is the position where the lane-changing vehicle enters the target lane and leaves the edge of the target lane by 1 / 4 of the lane width.

6. A terminal device for evaluating lane change safety in an interweaving area, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method as claimed in any one of claims 1 to 5 are implemented.

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