Road section safety comprehensive evaluation method based on dangerous driving behavior spectrum

Abstract

The invention discloses a road section safety comprehensive evaluation method based on a dangerous driving behavior spectrum, and relates to the field of intelligent traffic, and the method comprises the steps: collecting the driving data of each vehicle in a target road section in a set time period; according to the driving data, judging whether each vehicle in the road section has a dangerous driving behavior at each moment; calculating each dangerous driving behavior characteristic parameter of the vehicle with the dangerous driving behavior at each moment; the characteristic parameters are accumulated and averaged to obtain the score of each dangerous driving behavior of the vehicle, and normalization processing is carried out; carrying out weighted average on each normalized dangerous driving behavior score to obtain a dangerous driving behavior spectrum characteristic value of the vehicle; and the sum of the dangerous driving behavior spectrum characteristic values of all vehicles represents the comprehensive danger degree of the target road section. The road section safety state can be effectively judged, an accurate and timely traffic incident emergency disposal decision basis is provided for road traffic managers, the road traffic supervision level and the emergency disposal capacity are improved, and safe and smooth passing of road vehicles is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and more particularly to a comprehensive road safety evaluation method based on a dangerous driving behavior spectrum. Background Art

[0002] With the rapid increase in the number of motor vehicles and the further growth of residents' travel needs, road traffic accidents occur frequently, and road safety issues are increasingly becoming a key issue of concern in the transportation industry.

[0003] Road traffic accidents are not only affected by road conditions but also by dangerous driving behaviors. While driving, drivers observe the operating status of the vehicle ahead and changes in the driving environment to determine whether these changes meet their needs (safety, speed, etc.). Drivers then adjust their driving behavior through acceleration, deceleration, and lane changes. The biggest factor contributing to traffic accidents is the driver's conscious or unconscious unsafe behavior. These changes and adjustments indirectly impact surrounding traffic conditions. Dangerous driving behaviors not only pose a risk to the driver's vehicle, but also disrupt other vehicles in the traffic system. Surrounding vehicles, in turn, interact with each other, causing abnormal vehicle movement on the road section and compromising overall road safety. However, there is currently no systematic method for comprehensively evaluating dangerous driving behaviors and road section safety.

[0004] Therefore, how to provide a method for comprehensive evaluation of dangerous driving behavior and road section safety is an urgent problem that those skilled in the art need to solve. Summary of the Invention

[0005] In view of this, the present invention provides a comprehensive road safety evaluation method based on a dangerous driving behavior spectrum, thereby solving the problems involved in the background technology.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention discloses a comprehensive road safety evaluation method based on a dangerous driving behavior spectrum, the specific steps of which are as follows:

[0008] Collect driving data of each vehicle on the target road section within a set time period;

[0009] Determine whether there is any dangerous driving behavior of each vehicle in the road section at each time according to the driving data;

[0010] Calculating characteristic parameters of each dangerous driving behavior of a vehicle at each moment; accumulating and averaging the characteristic parameters to obtain a dangerous driving behavior score for each vehicle, and normalizing the score;

[0011] The normalized dangerous driving behavior scores are weighted averaged to obtain the dangerous driving behavior spectrum characteristic value of the vehicle; the sum of the dangerous driving behavior spectrum characteristic values ​​of all vehicles is used to represent the comprehensive danger level of the target road section.

[0012] Specifically, the driving data includes the speed, acceleration and lane number of the vehicle.

[0013] Specifically, the dangerous driving behaviors include: speeding, underspeeding, sudden acceleration, sudden deceleration, and lane changing.

[0014] Specifically, the method for distinguishing between speeding and underspeeding is as follows:

[0015] S101, obtain the vehicle's speed data and initialize the total data duration T and the speeding threshold and low-speed driving threshold

[0016] S102, determine whether the speed at time t is greater than If the value is greater than 0, it is determined to be speeding and the process goes to S104; otherwise, the process goes to S103;

[0017] S103, determine whether the speed at time t is less than If it is less than 0, it is judged as low speed driving and the process goes to S104;

[0018] S104, determine whether it is the last piece of data, if yes, end the determination, otherwise t=t+1 and return to S102.

[0019] Specifically, the method for distinguishing between the sudden acceleration and the sudden deceleration is:

[0020] S201, obtain the vehicle's acceleration data and initialize the total data duration T and the sudden acceleration threshold and rapid deceleration threshold

[0021] S202, determine whether the acceleration at time t is greater than If it is greater than , it is judged as rapid acceleration and the process goes to S204 ; otherwise, the process goes to S203 ;

[0022] S203, determine whether the acceleration at time t is less than If it is less than 0, it is judged as a sudden deceleration and the process goes to S204;

[0023] S204, determine whether it is the last piece of data, if yes, end the determination, otherwise t=t+1 and return to S202.

[0024] Specifically, the lane-changing behavior is determined as follows:

[0025] S201, obtaining lane number data of each vehicle;

[0026] S202, sorting vehicles in the road section;

[0027] S203, determining whether the lane number of the current vehicle at time t has changed, if so, determining that a lane change has occurred and recording it, otherwise proceeding to S204;

[0028] S204, determine whether it is the last moment data, if so, go to S205, otherwise t=t+1 and return to S203;

[0029] S205, determine whether there are any remaining vehicles, if yes, select a vehicle and return to S203, otherwise go to S206;

[0030] S206: Output the number and time of lane changes of each vehicle in the road section.

[0031] Specifically, the dangerous driving behavior characteristic parameters include: speeding characteristic parameter M1(t), underspeed characteristic parameter M2(t), sudden acceleration characteristic parameter M3(t), sudden deceleration characteristic parameter M4(t), and lane changing characteristic parameter M5(t), and the formula is:

[0032]

[0033]

[0034] Among them, V x (t) represents the speed of the x-th car at time t, a x (t) represents the acceleration of the xth car at time t, They represent the speeding threshold, underspeed threshold, sudden acceleration threshold and sudden deceleration threshold respectively.

[0035] Specifically, the dangerous driving behavior score is calculated based on the speeding characteristic parameter M1(t), the low-speed driving characteristic parameter M2(t), the sudden acceleration characteristic parameter M3(t), the sudden deceleration characteristic parameter M4(t), and the lane changing characteristic parameter M5(t), using the following formula:

[0036]

[0037] Among them, A i represents the time average score of the i-th dangerous driving behavior, M i (t) represents the characteristic parameters of the i-th dangerous driving behavior, i = 1, 2, 3, 4, 5; T is the total length of the data;

[0038] The formula for the normalization process is:

[0039]

[0040] Among them, A Ni represents the normalized score of the i-th dangerous driving behavior, min(A i ) and max(A i ) are the minimum and maximum values ​​of the dangerous driving behavior scores within the T time period.

[0041] Specifically, the calculation formula for the dangerous driving behavior spectrum characteristic value is:

[0042]

[0043] Where λ represents the characteristic value of the dangerous driving behavior spectrum of a vehicle, n is the total number of dangerous driving behaviors, n=5, ω i is the weight of the i-th dangerous driving behavior, and the sum of the weights of all dangerous driving behaviors is 1.

[0044] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a method for comprehensive evaluation of road section safety based on a dangerous driving behavior spectrum. The characteristic value of the dangerous driving behavior spectrum represents the comprehensive degree of danger of a dangerous driving behavior spectrum. The higher the characteristic value, the more serious the driver's dangerous driving behavior; conversely, the safer the driver's behavior. The characteristic value of the dangerous driving behavior spectrum comprehensively considers the driver's performance in various dangerous driving behaviors. When the driver exhibits multiple dangerous driving behaviors at the same time, the characteristic value will be high; when the driver exhibits only a few dangerous driving behaviors or no dangerous driving behaviors, the characteristic value will be low. The present invention can effectively determine the safety status of a specified road section, provide road traffic managers with accurate and timely decision-making basis for emergency handling of traffic incidents, improve the level of road traffic supervision and emergency handling capabilities, and ensure the safe and smooth passage of road vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0046] Figure 1 Schematic diagram of the overall process of an embodiment of the present invention.

[0047] Figure 2 Schematic diagram of the overspeed / underspeed recognition process according to an embodiment of the present invention.

[0048] Figure 3 2 is a schematic diagram of a rapid acceleration / deceleration recognition process according to an embodiment of the present invention.

[0049] Figure 42 is a schematic diagram of a lane-changing behavior determination process according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] The embodiment of the present invention discloses a comprehensive road safety evaluation method based on a dangerous driving behavior spectrum. Figure 1 The specific steps are as follows:

[0052] Collect driving data of each vehicle on the target road section within a set time period;

[0053] Determine whether there is any dangerous driving behavior of each vehicle at any time within the road section based on driving data;

[0054] Calculate the characteristic parameters of each dangerous driving behavior of the vehicle at each moment; accumulate and average the characteristic parameters to obtain the dangerous driving behavior score of each vehicle, and normalize them;

[0055] The normalized dangerous driving behavior scores are weighted averaged to obtain the dangerous driving behavior spectrum characteristic value of the vehicle; the sum of the dangerous driving behavior spectrum characteristic values ​​of all vehicles is used to represent the comprehensive danger level of the target road section.

[0056] In a specific embodiment, the driving data includes the speed, acceleration, and lane number of the vehicle.

[0057] In a specific embodiment, dangerous driving behaviors include: speeding, underspeeding, sudden acceleration, sudden deceleration, and lane changing.

[0058] In a specific embodiment, Figure 2 As shown in the figure, the method for distinguishing between speeding and underspeeding is:

[0059] S101, obtain the vehicle's speed data and initialize the total data duration T and the speeding threshold and low-speed driving threshold

[0060] S102, determine whether the speed at time t is greater than If the value is greater than 0, it is determined to be speeding and the process goes to S104; otherwise, the process goes to S103;

[0061] S103, determine whether the speed at time t is less than If it is less than 0, it is judged as low speed driving and the process goes to S104;

[0062] S104, determine whether it is the last piece of data, if yes, end the determination, otherwise t=t+1 and return to S102.

[0063] In a specific embodiment, Figure 3 As shown in the figure, the method for distinguishing sudden acceleration and sudden deceleration is:

[0064] S201, obtain the vehicle's acceleration data and initialize the total data duration T and the sudden acceleration threshold and rapid deceleration threshold

[0065] S202, determine whether the acceleration at time t is greater than If it is greater than , it is judged as rapid acceleration and the process goes to S204 ; otherwise, the process goes to S203 ;

[0066] S203, determine whether the acceleration at time t is less than If it is less than 0, it is judged as a sudden deceleration and the process goes to S204;

[0067] S204, determine whether it is the last piece of data, if yes, end the determination, otherwise t=t+1 and return to S202.

[0068] In a specific embodiment, Figure 4 As shown in Figure 2, the lane-changing behavior is determined as follows:

[0069] S201, obtaining lane number data of each vehicle;

[0070] S202, sorting vehicles in the road section;

[0071] S203, determining whether the lane number of the current vehicle at time t has changed, if so, determining that a lane change has occurred and recording it, otherwise proceeding to S204;

[0072] S204, determine whether it is the last moment data, if so, go to S205, otherwise t=t+1 and return to S203;

[0073] S205, determine whether there are any remaining vehicles, if yes, select a vehicle and return to S203, otherwise go to S206;

[0074] S206: Output the number and time of lane changes of each vehicle in the road section.

[0075] In a specific embodiment, the characteristic parameters of dangerous driving behavior include: speeding characteristic parameter M1(t), underspeed characteristic parameter M2(t), sudden acceleration characteristic parameter M3(t), sudden deceleration characteristic parameter M4(t), and lane changing characteristic parameter M5(t), and the formula is:

[0076]

[0077] Among them, V x (t) represents the speed of the x-th car at time t, a x (t) represents the acceleration of the xth car at time t, They represent the speeding threshold, underspeed threshold, sudden acceleration threshold and sudden deceleration threshold respectively.

[0078] Specifically, the speeding and underspeed characteristic parameters measure the proportion of vehicle speed exceeding or falling below the speed limit. The larger the speeding and underspeed characteristic parameters M1(t) and M2(t) at time t, the greater the risk of the speed at that time. i When (t)=0, it means there is no risk of speeding or underspeeding.

[0079] The rapid acceleration and deceleration characteristic parameters measure the ratio of the vehicle speed change to the rapid acceleration and deceleration thresholds. The larger the rapid acceleration and deceleration characteristic parameters M3(t) and M4(t) at time t, the greater the risk of vehicle acceleration and deceleration. i When (t) = 0, it means there is no risk of sudden acceleration or deceleration.

[0080] In a specific embodiment, the dangerous driving behavior score is calculated based on the speeding characteristic parameter M1(t), the low-speed driving characteristic parameter M2(t), the sudden acceleration characteristic parameter M3(t), the sudden deceleration characteristic parameter M4(t), and the lane changing characteristic parameter M5(t), using the following formula:

[0081]

[0082] Among them, A i represents the time average score of the i-th dangerous driving behavior, M i (t) represents the characteristic parameters of the i-th dangerous driving behavior, i = 1, 2, 3, 4, 5; T is the total length of the data;

[0083] The formula for normalization is:

[0084]

[0085] Among them, A Ni represents the normalized score of the i-th dangerous driving behavior, min(A i ) and max(A i ) are the minimum and maximum values ​​of the dangerous driving behavior scores within the T time period.

[0086] In a specific embodiment, the formula for calculating the characteristic value of the dangerous driving behavior spectrum is:

[0087]

[0088] Where λ represents the characteristic value of the dangerous driving behavior spectrum of a vehicle, n is the total number of dangerous driving behaviors, n=5, ω i is the weight of the i-th dangerous driving behavior, and the sum of the weights of all dangerous driving behaviors is 1.

[0089] In a specific embodiment, the speeding threshold, the underspeed threshold, the sudden acceleration threshold, and the sudden deceleration threshold have different danger levels and are selected according to the divided levels.

[0090] The speeding classification is shown in Table 1. Exceeding the speed limit by more than 10% but less than 20%, exceeding the speed limit by more than 20% but less than 50%, and exceeding the speed limit by more than 50% correspond to the general, relatively dangerous, and dangerous levels respectively.

[0091] Table 1 Speed ​​classification thresholds for different safety levels of speeding behavior (unit: km / h)

[0092]

[0093]

[0094] The classification of low-speed driving is shown in Table 2. Speeds below the speed limit by 5% to less than 10%, speeds below the speed limit by more than 10% to less than 20%, and speeds below the speed limit by more than 20% correspond to the general, relatively dangerous, and dangerous levels, respectively.

[0095] Table 2 Speed ​​classification thresholds for different safety levels of low-speed behavior (unit: km / h)

[0096]

[0097] For the classification of sudden acceleration and deceleration thresholds, based on the current driving speed, acceleration and deceleration behaviors are divided into four categories: safe, general, relatively dangerous, and dangerous according to the instantaneous acceleration, as shown in Tables 3 and 4.

[0098] Table 3 Classification thresholds of instantaneous acceleration for different levels of sudden acceleration behavior (unit: m / s 2 )

[0099]

[0100] Table 4 Instantaneous acceleration classification thresholds for different safety levels of sudden deceleration behavior (unit: m / s 2 )

[0101]

[0102]

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0104] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A comprehensive road safety evaluation method based on dangerous driving behavior spectrum, characterized in that: The specific steps are as follows: Collect driving data of each vehicle on the target road section within a set time period; Determine whether there is any dangerous driving behavior of each vehicle in the road section at each time according to the driving data; Calculate the characteristic parameters of each dangerous driving behavior of the vehicle at each time; The characteristic parameters are accumulated and averaged to obtain the dangerous driving behavior scores of the vehicle, and then normalized; The normalized dangerous driving behavior scores are weighted averaged to obtain the dangerous driving behavior spectrum characteristic value of the vehicle; The comprehensive danger level of the target road section is represented by the sum of the dangerous driving behavior spectrum characteristic values ​​of all vehicles.

2. A road section safety comprehensive evaluation method based on dangerous driving behavior spectrum according to claim 1, characterized in that: The driving data includes the speed, acceleration and lane number of the vehicle.

3. The method for comprehensive road safety evaluation based on dangerous driving behavior spectrum according to claim 1 is characterized in that: The dangerous driving behaviors include: speeding, underspeed, sudden acceleration, sudden deceleration, and lane changing.

4. A road section safety comprehensive evaluation method based on dangerous driving behavior spectrum according to claim 3, characterized in that: The method for distinguishing the overspeeding and the underspeeding is as follows: S101, obtain the vehicle speed data and initialize the total data duration T and the speeding threshold and low speed threshold S102, determine whether the speed at time t is greater than If it is greater than, it is judged as speeding and the process goes to S104; otherwise, the process goes to S103; S103, determine whether the speed at time t is less than If it is less than 0, it is judged as low-speed driving and the process goes to S104; S104, determine whether it is the last piece of data, if yes, end the determination, otherwise t=t+1 and return to S102.

5. The method for comprehensive road safety evaluation based on dangerous driving behavior spectrum according to claim 3 is characterized in that: The method for distinguishing the rapid acceleration and the rapid deceleration is as follows: S201, obtain the acceleration data of the vehicle and initialize the total data duration T and the rapid acceleration threshold and rapid deceleration threshold S202, determine whether the acceleration at time t is greater than If it is greater than , it is judged as rapid acceleration and the process goes to S204 ; otherwise, the process goes to S203 ; S203, determine whether the acceleration at time t is less than If it is less than 0, it is judged as a sudden deceleration and the process goes to S204; S204, determine whether it is the last piece of data, if yes, end the determination, otherwise t=t+1 and return to S202.

6. The method for comprehensive road safety evaluation based on dangerous driving behavior spectrum according to claim 3 is characterized in that: The lane-changing behavior is determined by: S201, obtaining lane number data of each vehicle; S202, sorting vehicles in the road section; S203, determining whether the lane number of the current vehicle at time t has changed, if so, determining that a lane change has occurred and recording it, otherwise proceeding to S204; S204, determine whether it is the last moment data, if so, go to S205, otherwise t=t+1 and return to S203; S205, determine whether there are any remaining vehicles, if yes, select a vehicle and return to S203, otherwise go to S206; S206, outputting the number and time of lane changes of each vehicle in the road section.

7. The method for comprehensive road safety evaluation based on dangerous driving behavior spectrum according to claim 1 is characterized in that: The dangerous driving behavior characteristic parameters include: speeding characteristic parameters M 1( t ) , low speed driving characteristic parameter M 2( t ) , rapid acceleration characteristic parameter M 3( t ) , rapid deceleration characteristic parameter M4(t), lane change characteristic parameter M5(t), the formula is: Among them, V x( t ) represents the speed of the xth car at time t, a x( t ) represents the acceleration of the xth car at time t, They represent the speeding threshold, the underspeed threshold, the sudden acceleration threshold and the sudden deceleration threshold respectively.

8. A road section safety comprehensive evaluation method based on dangerous driving behavior spectrum according to claim 7, characterized in that: The dangerous driving behavior score is based on the speeding characteristic parameter M 1( t ) , the low-speed driving characteristic parameter M2 ( t ) , the rapid acceleration characteristic parameter M 3( t ) , the rapid deceleration characteristic parameter M4(t), and the lane change characteristic parameter M5(t) are calculated, and the formula is: Among them, A i represents the time average score of the i-th dangerous driving behavior, M i (t) represents the characteristic parameters of the i-th dangerous driving behavior, i = 1, 2, 3, 4, 5; T is the total data duration; The formula for the normalization process is: Among them, A Ni represents the normalized score of the ith dangerous driving behavior, min(A i ) and max(A i ) are the minimum and maximum values ​​of the dangerous driving behavior scores in the T time period.

9. A road section safety comprehensive evaluation method based on dangerous driving behavior spectrum according to claim 8, characterized in that: The calculation formula of the characteristic value of the dangerous driving behavior spectrum is: Where λ represents the characteristic value of the dangerous driving behavior spectrum of a vehicle, n is the total number of dangerous driving behaviors, n=5, ω i is the weight of the i-th dangerous driving behavior, and the sum of the weights of all dangerous driving behaviors is 1.

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