Early warning method and system for intrusion of upstream transition area of expressway

Abstract

The invention belongs to the technical field of vehicle safety early warning, and discloses a highway upstream transition area intrusion early warning method and system. Acquiring vehicle real-time operation data of adjacent lanes of the inner lane at the tail section of the warning area; acquiring the longitudinal distance between the vehicle and the starting point of the upstream transition area and the distance between the left front contour edge of the vehicle and the left lane boundary of the vehicle, and judging whether the vehicle has a lane changing intention; predicting vehicle lane changing execution time and vehicle speed and position at the lane changing end moment; calculating the safe parking distance of the vehicle and the longitudinal distance between the vehicle and the starting point of the upstream transition area at the end of lane changing; and judging whether the vehicle possibly intrudes into the upstream transition area and performing early warning. According to the method, current situation investigation and statistical data are used for lane changing intention recognition and lane changing end moment state judgment for the first time, beforehand early warning of the situation that the highway lane changing vehicle breaks into the upstream transition area is achieved, and compared with the prior art, the early warning timeliness is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of vehicle safety early warning technology, and in particular relates to a method and system for early warning of intrusion into the upstream transition zone of a highway. Background Technology

[0002] Highway construction zones typically consist of multiple levels of protected areas, including warning zones, upstream transition zones, longitudinal buffer zones, working zones, downstream transition zones, and termination zones. Among these, the upstream transition zone is crucial for ensuring vehicles smoothly transition laterally from the closed lane at the end of the warning zone to the open lane at the beginning of the buffer zone, making its safety protection paramount. However, in actual traffic operations, vehicles within the highway construction control zone may fail to realize they have entered the final section of the warning zone due to driver distraction or failure to promptly recognize construction signs. Drivers at the end of the warning zone may need to change lanes to overtake due to insufficient current speed. If, due to obstructed vision, the driver cannot promptly perceive that the inner lane ahead is closed, and in this situation, abruptly accelerating to change lanes risks entering the upstream transition zone.

[0003] Regarding lane change intention recognition: The invention patent discloses a highway operation site early warning method that integrates dynamic driving intention recognition and multi-sensor data fusion (publication number CN118486119A, publication date 20240813). For lane change intention recognition, it calculates the probability of having a lane change intention and the probability of not having a lane change intention by analyzing the distance between the vehicle and the lane line in the historical trajectory through a neural network. The invention patent discloses a method for detecting truck intrusion on expressways based on radar-visual trajectory fusion (publication number CN117711186A, publication date 20240315). For lane change intention recognition, it uses the vehicle's own state (such as speed, acceleration, etc.) and environmental feature information (state information of surrounding vehicles) as input to a neural network model to recognize lane change intention.

[0004] Regarding the timeliness of early warning: The invention patent discloses an intrusion detection and early warning system for highway maintenance sections (publication number CN118800025A, publication date 20241018), which detects collision events by installing sensors on traffic cones and realizes post-event early warning; A utility model patent discloses a road construction zone intrusion warning device (publication number CN221261757U, publication date: 20240702). The device detects intruding vehicles through an infrared sensor and then sends an intrusion signal to an alarm device to warn the driver that they have entered the construction zone, which also serves as a post-intrusion warning.

[0005] The invention patent discloses an intelligent anti-intrusion active warning device and method (publication number CN118522107A, publication date: 20240820). The method integrates multiple sensors such as radar and camera to realize real-time monitoring of vehicle speed within a certain range and judge whether the vehicle has intruded based on the vehicle's safe parking distance. This patent achieves a certain degree of advance warning, but its warning timeliness can be further improved. Summary of the Invention

[0006] To overcome the problems existing in related technologies, the present invention discloses an embodiment of a method and system for early warning of intrusion into the upstream transition zone of a highway.

[0007] The technical solution is as follows: A method for early warning of intrusion into the upstream transition zone of a highway, comprising the following steps: S1, obtain real-time vehicle operation data of the adjacent lanes in the inner lane at the end of the warning zone; S2, based on the real-time vehicle operation data, obtain the longitudinal distance between the vehicle and the starting point of the upstream transition zone, the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle, and use this to determine whether the vehicle intends to change lanes. S3, for vehicles with lane-changing intentions, predicts the lane-changing execution time, vehicle speed and position at the end of the lane-changing process; S4. Based on the predicted vehicle speed and position at the end of the lane change, calculate the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone. S5 determines whether a vehicle has entered the upstream transition zone based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and issues a warning accordingly.

[0008] In step S1, real-time vehicle movement data of vehicles in adjacent lanes on the inner side of the warning zone at the end of the warning zone is obtained, including: Agreed upon the current time , obtain The warning zone displays real-time vehicle data for vehicles in adjacent lanes at the end of the inner lane. Real-time data includes: location and vehicle type. ,speed acceleration Heading angle And the status of the left turn signal.

[0009] In step S2, the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle are obtained, and this is used to determine whether the vehicle intends to change lanes, including: Based on real-time vehicle operation data and road geometry data, obtain Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle To determine whether a vehicle intends to change lanes, the system determines that the vehicle intends to change lanes if any one of several conditions is met. The vehicle was attempting to change lanes at that moment.

[0010] Furthermore, several judgment conditions include: Condition 1: The vehicle's left turn signal is on; Condition 2, vehicle heading angle Greater than the preset threshold Vehicle heading angle The angle between the vehicle's longitudinal axis and the lane centerline is defined as the angle at which the vehicle veers to the left. If the direction is positive, the vehicle will veer to the right. Negative; Condition 3: The distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle. Less than the preset distance ; Preset distance Data was obtained through on-site investigation and data analysis, or by referring to analogous data. The methods used for on-site investigation and data analysis included: selecting the driving lane of the basic road section upstream of the warning area and adjacent to the construction area; investigating the distance data between the left front contour edge of the vehicle and the left lane dividing line of the vehicle in a following driving state; and statistically calculating the average distance by vehicle type. with standard deviation Based on the normal distribution assumption, take .

[0011] In step S3, the predicted lane-changing execution time, vehicle speed, and position at the end of the lane change include: S301, Predicting lane change execution time; S302 predicts the vehicle speed at the end of the lane change and the longitudinal displacement during the lane change process.

[0012] Step S301, predicting lane change execution time includes: The lane-changing process is decomposed into a longitudinal lane-changing process and a lateral lane-changing process. Assume that the vehicle acceleration during the lane-changing process is... A constant vehicle heading angle is used to construct the lateral displacement of the vehicle during lane changing. ,exist Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle at any given time Inner lane width The distance between the left front outline edge of the vehicle and the left lane edge line at the moment the lane change ends. The relationship between the two equations is used to determine the vehicle lane-changing execution time. The specific relationship and calculation formula are as follows: ; In the formula, This is the distance between the left front edge of the vehicle and the left lane edge line of the vehicle at the moment the lane change ends. for The vehicle heading angle at that moment. For a moment, The execution time for vehicle lane changing. and They are respectively The vehicle's longitudinal and lateral speeds at any given time. For the process of changing lanes for vehicles Speed ​​at any moment for Vehicle speed at all times for Vehicle acceleration at all times for Vehicle heading angle at any given time; The data was obtained through on-site investigation and data analysis, or by referring to analogous data. The on-site investigation and data analysis methods are as follows: Select the inner lane of the basic road section upstream of the warning area and adjacent to the construction area, investigate the distance data between the left front contour edge of the vehicle and the left lane edge line of the vehicle, and statistically calculate the average distance by vehicle type. ,Pick .

[0013] Step S302, predict the vehicle speed at the end of the lane change and the longitudinal displacement during the lane change process, including: Based on predicted vehicle lane-changing execution time Find the vehicle speed at the end of the lane change. longitudinal displacement during vehicle lane changing The specific calculation formula is as follows: .

[0014] In step S4, based on the predicted vehicle speed and position at the end of the lane change, the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone are calculated, including: S401, Calculate the safe stopping distance of the vehicle at the end of the lane change; based on the vehicle speed at the end of the lane change. Combined with driver reaction time And vehicle comfort deceleration by model Calculate the safe stopping distance of the vehicle at the end of the lane change. The calculation formula is as follows: ; In the formula, This refers to the distance the vehicle travels within the driver's reaction time. The distance the vehicle travels to a stop at a comfortable deceleration rate; S402, calculate the longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change; based on Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone longitudinal displacement during lane changing Calculate the longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change. The calculation formula is as follows: .

[0015] In step S5, based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, it is determined whether the vehicle has entered the upstream transition zone, including: By comparing the safe stopping distance of vehicles at the end of a lane change. The longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change. Determine whether the vehicle has entered the upstream transition zone; if or Then judge At any moment, the vehicle intruded into the upstream transition zone; if Then judge Vehicles will not enter the upstream transition zone at any time.

[0016] Another object of the present invention is to provide an intrusion warning system for the upstream transition zone of a highway, the system implementing the intrusion warning method for the upstream transition zone of a highway, the system comprising: The adjacent lane vehicle real-time operation data acquisition module is used to acquire the real-time operation data of vehicles in adjacent lanes in the inner lane at the end of the warning zone. The lane change intention judgment module is used to obtain the longitudinal distance between the vehicle and the starting point of the upstream transition zone, the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle, and to judge whether the vehicle has a lane change intention based on the real-time operation data of the vehicle. The lane-changing information prediction module for vehicles with lane-changing intentions is used to predict the lane-changing execution time, vehicle speed and position at the end of the lane-changing process for vehicles with lane-changing intentions. The longitudinal distance calculation module is used to calculate the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, based on the predicted vehicle speed and position at the end of the lane change. The vehicle intrusion into the upstream transition zone detection and warning module is used to determine whether a vehicle has intruded into the upstream transition zone based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and to issue a warning. Combining all the above technical solutions, the beneficial effects of this invention are as follows: This invention is the first to utilize current situation surveys and statistical data for lane-changing intention identification and lane-changing end time determination. Based on this, a complete set of technical methods has been constructed to achieve monitoring and early warning of vehicles entering closed lanes. In the same scenario, patent CN118522107A is for monitoring and early warning of vehicles in closed lanes. In comparison, the early warning timeliness of this patent is significantly improved.

[0017] This invention first identifies the lane-changing intentions of vehicles in adjacent lanes on the inner side of the warning zone at the end of the warning zone. For vehicles with lane-changing intentions, the lane-changing trajectory is predicted to obtain the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone. Finally, based on the safe stopping distance of the vehicle and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, it is determined whether there is a risk of intrusion, and a warning is issued for vehicles with a risk of intrusion. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure; Figure 1 This is a flowchart of the intrusion warning method for the upstream transition zone of a highway provided in an embodiment of the present invention; Figure 2 This is a scenario diagram provided by an embodiment of the present invention, showing that lane-changing vehicles will not enter the upstream transition zone. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0020] The innovation of this invention lies in the following: For the specific scenario of "closing the inner lane of a one-way two-lane highway for construction", this invention uses a complete set of technical methods to realize lane change intention recognition and advance warning of vehicles entering the upstream transition zone. This invention recognizes lane change intentions based on current situation surveys and statistical data, and its recognition accuracy is outstanding. This invention provides real-time monitoring and intrusion warning for lane-changing vehicles before they change lanes to the closed lane, and its warning timeliness is significant.

[0021] Example 1: In this example, according to the provisions of the "Highway Maintenance Safety Operation Procedures" (JTG H30—2015) and the "Highway Engineering Technical Standards" (lane width basis), the lane width of the construction area of ​​a two-way four-lane expressway is specified. It is 3.75m.

[0022] like Figure 1 As shown, the highway upstream transition zone intrusion warning method provided in this embodiment of the invention includes: S1, obtain real-time vehicle operation data of the adjacent lanes in the inner lane at the end of the warning zone; Agreed upon the current time , obtain The warning zone displays real-time vehicle data for vehicles in adjacent lanes at the end of the inner lane. Real-time data includes: location and vehicle type. ,speed acceleration Heading angle And the status of the left turn signal.

[0023] S2, based on the real-time vehicle operation data, obtain the longitudinal distance between the vehicle and the starting point of the upstream transition zone, the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle, and use this to determine whether the vehicle intends to change lanes. Based on real-time vehicle operation data and road geometry data, obtain Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle To determine whether a vehicle intends to change lanes, the system determines that the vehicle intends to change lanes if any one of several conditions is met. The vehicle was attempting to change lanes at that moment.

[0024] For example, in this embodiment, a certain vehicle Real-time operational data: Vehicle type is car, vehicle speed acceleration Heading angle The vehicle's left turn signal is on.

[0025] Based on real-time vehicle operation data and road geometry data, obtain Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle To determine whether a vehicle intends to change lanes, the system determines that the vehicle intends to change lanes if any one of several conditions is met. The vehicle was attempting to change lanes at that moment.

[0026] Multiple judgment conditions include: Condition 1: The vehicle's left turn signal is on; Condition 2, vehicle heading angle Greater than the preset threshold , =5°, vehicle heading angle The angle between the vehicle's longitudinal axis and the lane centerline is defined as the angle at which the vehicle veers to the left. If the direction is positive, the vehicle will veer to the right. Negative; Condition 3: The distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle. Less than the preset distance ; Preset distance Data was obtained through on-site investigation and data analysis, or by referring to analogous data. The methods used for on-site investigation and data analysis included: selecting the driving lane of the basic road section upstream of the warning area and adjacent to the construction area; investigating the distance data between the left front contour edge of the vehicle and the left lane dividing line of the vehicle in a following driving state; and statistically calculating the average distance by vehicle type. with standard deviation Based on the normal distribution assumption, take .

[0027] Another exemplary embodiment, in this case, Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone =150m, distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle =0.85m; vehicle heading angle preset threshold =5°, preset distance Based on the vehicle's turn signal status, heading angle, and distance between the vehicle's left front profile edge and the lane divider on the left, the vehicle simultaneously meets conditions one, two, and three. Therefore, it is determined that the vehicle is... It always has the intention to change lanes.

[0028] S3, for vehicles with lane-changing intentions, predicts the lane-changing execution time, vehicle speed and position at the end of the lane-changing process; S301, Predicting lane change execution time; Specifically, the process of lane changing is decomposed into a longitudinal lane changing process and a lateral lane changing process. It is assumed that the vehicle acceleration during the lane changing process is... A constant vehicle heading angle is used to construct the lateral displacement of the vehicle during lane changing. ,exist Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle at any given time Inner lane width The distance between the left front outline edge of the vehicle and the left lane edge line at the moment the lane change ends. The relationship between the two equations is used to determine the vehicle lane-changing execution time. The specific relationship and calculation formula are as follows: ; In the formula, This is the distance between the left front edge of the vehicle and the left lane edge line of the vehicle at the moment the lane change ends. for The vehicle heading angle at that moment. For a moment, The execution time for vehicle lane changing. and They are respectively The vehicle's longitudinal and lateral speeds at any given time. For the process of changing lanes for vehicles Speed ​​at any moment for Vehicle speed at all times for Vehicle acceleration at all times for Vehicle heading angle at any given time; The data was obtained through on-site investigation and data analysis, or by referring to analogous data. The on-site investigation and data analysis methods are as follows: Select the inner lane of the basic road section upstream of the warning area and adjacent to the construction area, investigate the distance data between the left front contour edge of the vehicle and the left lane edge line of the vehicle, and statistically calculate the average distance by vehicle type. ,Pick .

[0029] Another example is that, in this embodiment, based on surveys and statistics, the average distance between the left front contour edge of the vehicle and the left lane edge line is... That is, the distance between the left front outline edge of the vehicle and the left lane edge line of the vehicle at the moment the lane change ends. .

[0030] Based on vehicle operation data, the width of the inner lane The distance between the left front outline edge of the vehicle and the left lane edge line at the moment the lane change ends. =1.25m Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle at any given time ,speed acceleration Heading angle The lane change execution time is calculated using the formula above. .

[0031] S302 predicts the vehicle speed at the end of the lane change and the longitudinal displacement during the lane change process.

[0032] The specific content is: based on the predicted vehicle lane-changing execution time. Find the vehicle speed at the end of the lane change. longitudinal displacement during vehicle lane changing The specific calculation formula is as follows: ; Another exemplary embodiment, according to Vehicle speed at any time acceleration Heading angle Lane change execution time The vehicle speed at the end of the lane change is calculated using the formula above. longitudinal displacement during vehicle lane changing .

[0033] S4. Based on the predicted vehicle speed and position at the end of the lane change, calculate the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone. S401, Calculate the safe stopping distance of the vehicle at the end of the lane change; based on the vehicle speed at the end of the lane change. Combined with driver reaction time And vehicle comfort deceleration by model Calculate the safe stopping distance of the vehicle at the end of the lane change. The calculation formula is as follows: ; In the formula, This refers to the distance the vehicle travels within the driver's reaction time. The distance the vehicle travels to a stop at a comfortable deceleration rate; For driver reaction time (e.g.) ); To improve vehicle comfort (e.g.) ); S402, calculate the longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change; The specific content is: based on Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone longitudinal displacement during lane changing Calculate the longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change. The calculation formula is as follows: ; Specifically, in this embodiment, according to Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone =150m, longitudinal displacement during vehicle lane changing process The actual distance between the vehicle and the upstream transition zone at the end of the lane change is calculated using the formula above. .

[0034] S5 determines whether a vehicle has entered the upstream transition zone based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and issues a warning accordingly.

[0035] Specifically, this involves comparing the safe stopping distances of vehicles at the end of a lane change. The longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change. Determine whether the vehicle has entered the upstream transition zone; if or Then judge At any moment, the vehicle intruded into the upstream transition zone; if Then judge At all times, vehicles will not enter the upstream transition zone. In this embodiment, because Therefore, it is determined that the vehicle is in Vehicles will never enter the upstream transition zone. A scenario illustration showing vehicles changing lanes without entering the upstream transition zone is shown below. Figure 2 As shown. In At all times, warnings are issued to vehicles that may enter the upstream transition zone.

[0036] Example 2: This invention provides an intrusion warning system for the upstream transition zone of a highway, comprising: The adjacent lane vehicle real-time operation data acquisition module is used to acquire the real-time operation data of vehicles in adjacent lanes in the inner lane at the end of the warning zone. The lane change intention judgment module is used to obtain the longitudinal distance between the vehicle and the starting point of the upstream transition zone, the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle, and to judge whether the vehicle has a lane change intention based on the real-time operation data of the vehicle. The lane-changing information prediction module for vehicles with lane-changing intentions is used to predict the lane-changing execution time, vehicle speed and position at the end of the lane-changing process for vehicles with lane-changing intentions. The longitudinal distance calculation module is used to calculate the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, based on the predicted vehicle speed and position at the end of the lane change. The vehicle intrusion into the upstream transition zone judgment and early warning module is used to determine whether a vehicle has intruded into the upstream transition zone based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and to issue an early warning. For the specific scenario of "inner lane closure construction on a one-way two-lane highway," the complete set of technical methods of this invention is applied to achieve pre-warning of lane-changing vehicles intruding into the upstream transition zone.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for early warning of intrusion into the upstream transition zone of a highway, characterized in that, The method includes the following steps: S1, obtain real-time vehicle operation data of the adjacent lanes in the inner lane at the end of the warning zone; S2, based on the real-time vehicle operation data, obtain the longitudinal distance between the vehicle and the starting point of the upstream transition zone, the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle, and use this to determine whether the vehicle intends to change lanes. S3, for vehicles with lane-changing intentions, predicts the lane-changing execution time, vehicle speed and position at the end of the lane-changing process; S4. Based on the predicted vehicle speed and position at the end of the lane change, calculate the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone. S5 determines whether a vehicle has entered the upstream transition zone based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and issues a warning accordingly.

2. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 1, characterized in that, In step S1, real-time vehicle movement data of vehicles in adjacent lanes on the inner side of the warning zone at the end of the warning zone is obtained, including: Agreed upon the current time , obtain The warning zone displays real-time vehicle data for vehicles in adjacent lanes at the end of the inner lane. Real-time data includes: location and vehicle type. ,speed acceleration Heading angle And the status of the left turn signal.

3. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 2, characterized in that, In step S2, the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle are obtained, and this is used to determine whether the vehicle intends to change lanes, including: Based on real-time vehicle operation data and road geometry data, obtain Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle To determine whether a vehicle intends to change lanes, the system determines that the vehicle intends to change lanes if any one of several conditions is met. The vehicle was attempting to change lanes at that moment.

4. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 3, characterized in that, Multiple judgment conditions include: Condition 1: The vehicle's left turn signal is on; Condition 2, vehicle heading angle Greater than the preset threshold Vehicle heading angle The angle between the vehicle's longitudinal axis and the lane centerline is defined as the angle at which the vehicle veers to the left. If the direction is positive, the vehicle will veer to the right. Negative; Condition 3: The distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle. Less than the preset distance ; Preset distance Data was obtained through on-site investigation and data analysis, or by referring to analogous data. The methods used for on-site investigation and data analysis included: selecting the driving lane of the basic road section upstream of the warning area and adjacent to the construction area; investigating the distance data between the left front contour edge of the vehicle and the left lane dividing line of the vehicle in a following driving state; and statistically calculating the average distance by vehicle type. with standard deviation Based on the normal distribution assumption, take .

5. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 1, characterized in that, In step S3, the predicted lane-changing execution time, vehicle speed, and position at the end of the lane change include: S301, Predicting lane change execution time; S302 predicts the vehicle speed at the end of the lane change and the longitudinal displacement during the lane change process.

6. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 5, characterized in that, Step S301, predicting lane change execution time includes: The lane-changing process is decomposed into a longitudinal lane-changing process and a lateral lane-changing process. Assume that the vehicle acceleration during the lane-changing process is... A constant vehicle heading angle is used to construct the lateral displacement of the vehicle during lane changing. ,exist Distance between the left front edge of the vehicle and the lane divider on the left side of the vehicle at any given time Inner lane width The distance between the left front outline edge of the vehicle and the left lane edge line at the moment the lane change ends. The relationship between the two equations is used to determine the vehicle lane-changing execution time. The specific relationship and calculation formula are as follows: ； In the formula, This is the distance between the left front edge of the vehicle and the left lane edge line of the vehicle at the moment the lane change ends. for The vehicle heading angle at that moment. For a moment, The execution time for vehicle lane changing. and They are respectively The vehicle's longitudinal and lateral speeds at any given time. For the process of changing lanes for vehicles Speed ​​at any moment for Vehicle speed at all times for Vehicle acceleration at all times for Vehicle heading angle at any given time; The data was obtained through on-site investigation and data analysis, or by referring to analogous data. The on-site investigation and data analysis methods are as follows: Select the inner lane of the basic road section upstream of the warning area and adjacent to the construction area, investigate the distance data between the left front contour edge of the vehicle and the left lane edge line of the vehicle, and statistically calculate the average distance by vehicle type. ,Pick .

7. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 6, characterized in that, Step S302, predict the vehicle speed at the end of the lane change and the longitudinal displacement during the lane change process, including: Based on predicted vehicle lane-changing execution time Find the vehicle speed at the end of the lane change. longitudinal displacement during vehicle lane changing The specific calculation formula is as follows: 。 8. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 1, characterized in that, In step S4, based on the predicted vehicle speed and position at the end of the lane change, the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone are calculated, including: S401, Calculate the safe stopping distance of the vehicle at the end of the lane change; based on the vehicle speed at the end of the lane change. Combined with driver reaction time And vehicle comfort deceleration by model Calculate the safe stopping distance of the vehicle at the end of the lane change. The calculation formula is as follows: ； In the formula, This refers to the distance the vehicle travels within the driver's reaction time. The distance the vehicle travels to a stop at a comfortable deceleration rate; S402, calculate the longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change; based on Longitudinal distance between the vehicle at any time and the starting point of the upstream transition zone longitudinal displacement during lane changing Calculate the longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change. The calculation formula is as follows: 。 9. The method for early warning of intrusion into the upstream transition zone of a highway according to claim 1, characterized in that, In step S5, based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, it is determined whether the vehicle has entered the upstream transition zone, including: By comparing the safe stopping distance of vehicles at the end of a lane change. The longitudinal distance between the vehicle and the starting point of the upstream transition zone at the end of the lane change. Determine whether the vehicle has entered the upstream transition zone; if or Then judge At any moment, the vehicle intruded into the upstream transition zone; if Then judge Vehicles will not enter the upstream transition zone at any time.

10. An intrusion warning system for the upstream transition zone of a highway, characterized in that, The system implements the intrusion warning method for the upstream transition zone of a highway as described in any one of claims 1-9, and the system includes: The adjacent lane vehicle real-time operation data acquisition module is used to acquire the real-time operation data of vehicles in adjacent lanes in the inner lane at the end of the warning zone. The lane change intention judgment module is used to obtain the longitudinal distance between the vehicle and the starting point of the upstream transition zone, the distance between the left front contour edge of the vehicle and the lane dividing line on the left side of the vehicle, and to judge whether the vehicle has a lane change intention based on the real-time operation data of the vehicle. The lane-changing information prediction module for vehicles with lane-changing intentions is used to predict the lane-changing execution time, vehicle speed and position at the end of the lane-changing process for vehicles with lane-changing intentions. The longitudinal distance calculation module is used to calculate the safe stopping distance of the vehicle at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, based on the predicted vehicle speed and position at the end of the lane change. The vehicle intrusion into the upstream transition zone judgment and warning module is used to determine whether a vehicle has intruded into the upstream transition zone based on the vehicle's safe stopping distance at the end of the lane change and the longitudinal distance between the vehicle and the starting point of the upstream transition zone, and to issue a warning.

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