Intersection conflict area operating distance obtaining method and system and medium

Abstract

The invention discloses an intersection conflict area operating distance obtaining method and system and a medium, and the method comprises the steps: obtaining geometric parameter information and lane line shape information of a road intersection, and building vehicle passing track boundary line equations in different directions according to the geometric parameter information and the lane line shape information; according to passing paths of the road intersection in different directions, conflict area types are divided; the conflict area types comprise a distribution conflict area, a cross conflict area and a confluence conflict area; carrying out simultaneous operation on the vehicle passing track boundary line equations of any two conflict directions, and solving coordinates of intersection points of conflict areas; according to the coordinates of the intersection points of the conflict area, determining the position coordinates of an entry point and the position coordinates of a departure point of the conflict area; and according to the types of the conflict areas and the position coordinates of the entry points and the position coordinates of the departure points of the conflict areas, calculation is carried out based on a pre-constructed conflict area operating distance calculation model of different conflict area types, and the conflict area operating distance is obtained. According to the invention, the action distance of the conflict area can be accurately solved.

Description

Technical Field

[0001] This invention relates to the field of road intersection conflict resolution technology, specifically to a method, system, and medium for obtaining the effective distance of the intersection conflict zone. Background Technology

[0002] Road intersections are the most complex and critical nodes in urban transportation systems, and their operational safety and traffic efficiency directly affect the overall performance of the road network. Because multiple directions and types of traffic flows converge within an intersection, potential path conflicts are inevitable during vehicle passage. Considering the definite external dimensions of vehicles and the need to maintain necessary lateral safety distances during travel, the actual trajectories of vehicles passing through an intersection are distributed in a strip-like pattern. The overlapping portions of the path strips from different directions constitute the conflict zone of the intersection.

[0003] In traditional signal-controlled intersections, traffic lights typically separate conflicting traffic flows in time to avoid collisions. With the development of vehicle-to-everything (V2X) and intelligent traffic control technologies, intersection management is gradually shifting towards intelligent cooperative control based on vehicle-road cooperation. In this model, vehicles can coordinate their driving states through real-time communication and path prediction, allowing them to sequentially pass through conflict zones according to a set time sequence without relying on traditional traffic lights. This achieves safe, collision-free, and non-stop passage, significantly improving the spatial and temporal utilization efficiency of the intersection. Accurately determining the effective distance of intersection conflict zones has become one of the key technical challenges in realizing intelligent cooperative passage.

[0004] The so-called conflict zone effective distance refers to the range of travel that a vehicle must avoid with other vehicles traveling in conflict directions from the time it enters the conflict zone until it leaves. This distance directly determines the vehicle's speed adjustment and timing of passage when approaching the conflict zone, and its calculation accuracy has a decisive impact on safety decisions and traffic coordination. However, current research has mostly focused on conflict point identification and path geometric overlap analysis, but has failed to fully consider the comprehensive influence of vehicle travel direction (such as straight-ahead or turning) and path geometric characteristics on the effective distance, leading to discrepancies between the calculated results and actual operation.

[0005] In view of the above, this application is hereby submitted. Summary of the Invention

[0006] The technical problem this invention aims to solve is that existing methods for obtaining the effective distance of conflict zones fail to fully consider the comprehensive influence of vehicle travel direction (e.g., straight ahead, turning) and path geometry on the effective distance, leading to deviations between calculated results and actual operation. This invention provides a method, system, and medium for obtaining the effective distance of intersection conflict zones. Based on different conflict types (diverging, crossing, and merging) and vehicle travel direction (straight ahead, turning), it accurately calculates the effective distance of conflict zones, providing theoretical support for the safe speed control and path planning of intelligent vehicles.

[0007] This invention is achieved through the following technical solution:

[0008] In a first aspect, the present invention provides a method for obtaining the effective distance of an intersection conflict zone, the method comprising:

[0009] Obtain the geometric parameters and lane alignment information of the road intersection, and establish the boundary line equations of vehicle travel trajectories in different directions based on the geometric parameters and lane alignment information.

[0010] Based on the different traffic paths at road intersections, conflict zones are classified into types; conflict zone types include diverging conflict zones, intersecting conflict zones, and merging conflict zones.

[0011] Solve the equations of the boundary lines of the vehicle trajectories in any two conflict directions to find the coordinates of each intersection point in the conflict zone; based on the coordinates of each intersection point in the conflict zone, determine the coordinates of the entry point and the exit point in the conflict zone.

[0012] Based on the conflict zone type, the coordinates of the entry point and the departure point of the conflict zone, the conflict zone action distance is calculated using a pre-built conflict zone action distance calculation model for different conflict zone types.

[0013] Furthermore, the geometric parameters and lane alignment information of the road intersection are obtained. Based on the geometric parameters and lane alignment information, boundary line equations for vehicle travel trajectories in different directions are established, including:

[0014] Obtain the geometric parameters and lane alignment information of the road intersection. The geometric parameters include the number of lanes, lane width, and turning radius; the lane alignment information includes the vehicle travel direction and lane geometric features.

[0015] Based on geometric parameters and lane alignment information, and combined with vehicle width and lateral clearance, equations for vehicle travel trajectory boundary lines in different directions are established.

[0016] Furthermore, based on the different traffic paths in different directions at road intersections, conflict zone types are classified, including:

[0017] Based on the different traffic paths at the road intersection, identify vehicle pairs with potential conflict relationships;

[0018] Based on the different directions of vehicle travel, conflict zones are classified into diverging conflict zones, intersecting conflict zones, and merging conflict zones.

[0019] Furthermore, assume the first vehicle V α With the second vehicle V β There is a conflicting association, through the first vehicle V α With the second vehicle V β By simultaneously solving the equations of the vehicle travel trajectory boundary line, the conflict point ρ can be obtained. λ coordinates (x) ρλ ,y ρλ ), where λ={1,2,3,4}. Let ρ a (x ρa ,y ρa ) represents the coordinates of the entry point into the conflict zone, ρ e (x ρe ,y ρe ) indicates the coordinates of the departure point from the conflict zone.

[0020] Furthermore, pre-constructed conflict zone action distance calculation models for different conflict zone types include:

[0021] The model for calculating the effective distance of the diversion conflict zone categorizes diversion conflicts into two types based on the direction of travel of the conflicting vehicles: straight-ahead-turning conflicts and turning-turning conflicts. Specifically, these include:

[0022] The calculation model for the effective distance of the first diversion conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the diversion conflict zone formed by straight-through collisions is as follows:

[0023] ;

[0024] ;

[0025] in, Indicates the traffic diversion conflict zone for the first vehicle V α The effective range; Indicates the traffic diversion conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρeThese are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; w β Indicates the second vehicle V β The width of the car body, w c Indicates the second vehicle V β Lateral clearance width; here, the first vehicle V is set. α Second vehicle V β Lateral clearance width w c They are the same.

[0026] The calculation model for the effective distance of the second diversion conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the divergence conflict zone formed by a turning conflict is as follows:

[0027] ;

[0028] ;

[0029] Where, r β For the second vehicle V β The turning radius; x β0 ,y β0 The second vehicle V β The x-coordinate and y-coordinate of the center of the turning circle.

[0030] Furthermore, the pre-constructed conflict zone action distance calculation models for different conflict zone types also include:

[0031] The collision zone action distance calculation model categorizes collisions into three types based on the direction of travel of the vehicles: straight-on-straight-on collisions, straight-on-turning collisions, and turning-turning collisions. Specifically, these include:

[0032] The first collision zone effective distance calculation model is based on the first vehicle V. α Going straight and the second car V β The calculation model for the effective distance of the intersection conflict zone formed by straight-through collisions is expressed as follows:

[0033] ;

[0034] ;

[0035] in, Indicates the intersection conflict zone for the first vehicle V α The effective range, Indicates the intersection conflict zone for the second vehicle Vβ The effective range, w α Indicates the first vehicle V α Vehicle width; w β Indicates the second vehicle V β Vehicle width; w c Indicates the second vehicle V β Lateral clearance width; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x-coordinate and y-coordinate of the departure point from the conflict zone, respectively.

[0036] The second collision zone action distance calculation model is based on the first vehicle V. α Turning with the second car V β The calculation model for the effective distance of the intersection conflict zone formed by straight-through collisions is expressed as follows:

[0037] ;

[0038] ;

[0039] Where, r α For the first vehicle V α The turning radius; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle;

[0040] The third intersection conflict zone action distance calculation model is based on the first vehicle V. α Turning with the second car V β The calculation model for the effective distance of the intersection conflict zone formed by turning conflicts is expressed as follows:

[0041] ;

[0042] ;

[0043] Where, r β For the second vehicle V β The turning radius.

[0044] Furthermore, the pre-constructed conflict zone action distance calculation models for different conflict zone types also include:

[0045] The model for calculating the effective distance of merging conflict zones categorizes merging conflicts into two types based on the direction of travel of the conflicting vehicles: straight-ahead-turning conflicts and turning-turning conflicts; including:

[0046] The calculation model for the effective distance of the first merging conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the merging conflict zone formed by straight-through collisions is as follows:

[0047] ;

[0048] ;

[0049] in, Indicates the merging conflict zone for the first vehicle V α The effective range, Indicates the merging conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; w β Indicates the second vehicle V β Vehicle width; w c Indicates the second vehicle V β Lateral clearance width;

[0050] The calculation model for the effective distance of the second merging conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the merging conflict zone formed by a turning conflict is as follows:

[0051] ;

[0052] ;

[0053] Where, r β For the second vehicle V β The turning radius.

[0054] Furthermore, the method also includes: outputting the effective distance of each type of conflict zone according to the conflict zone type and the vehicle's driving direction, for use in the safe speed decision and path optimization of intelligent connected vehicles.

[0055] Secondly, the present invention provides a system for obtaining the effective distance of an intersection conflict zone, the system comprising:

[0056] The acquisition unit is used to acquire geometric parameter information and lane alignment information of road intersections;

[0057] Establish a unit to create boundary line equations for vehicle travel trajectories in different directions based on geometric parameter information and lane alignment information;

[0058] Type classification unit is used to classify conflict zone types according to the traffic paths in different directions at road intersections; conflict zone types include diverging conflict zones, intersection conflict zones, and merging conflict zones;

[0059] The conflict zone intersection coordinate solving unit is used to solve the equations of the vehicle trajectory boundary lines of any two conflict directions simultaneously to solve for the coordinates of each intersection point in the conflict zone; based on the coordinates of each intersection point in the conflict zone, the coordinates of the entry point and the exit point of the conflict zone are determined.

[0060] The calculation unit is used to calculate the conflict zone's effective distance based on the conflict zone type, the coordinates of the entry point and the departure point of the conflict zone, and a pre-built conflict zone effective distance calculation model for different conflict zone types.

[0061] Furthermore, the execution process of the type partitioning unit is as follows:

[0062] Based on the different traffic paths at the road intersection, identify vehicle pairs with potential conflict relationships;

[0063] Based on the different directions of vehicle travel, conflict zones are classified into diverging conflict zones, intersecting conflict zones, and merging conflict zones.

[0064] Thirdly, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for obtaining the effective distance of an intersection conflict zone.

[0065] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0066] 1. This invention provides a method, system, and medium for obtaining the effective distance of intersection conflict zones. Based on the different conflict types of diverging conflict zones, intersecting conflict zones, and merging conflict zones, as well as the vehicle's direction of travel (straight ahead, turning), the effective distance of the conflict zones is accurately calculated, providing theoretical support for the safe speed control and path planning of intelligent vehicles.

[0067] 2. This invention provides a method, system, and medium for obtaining the effective distance of the conflict zone at an intersection. By introducing vehicle boundary line equations and geometric overlap analysis, this invention can simultaneously consider vehicle width, turning radius, and driving direction to achieve accurate solution of the start and end points of the conflict zone with higher precision.

[0068] 3. The present invention provides a method, system and medium for obtaining the effective distance of the intersection conflict zone, which can perform general calculations for three typical conflict scenarios: divergence, intersection and merging. It has wider applicability and is especially suitable for various intersection geometries and traffic flow combinations.

[0069] 4. The present invention provides a method, system and medium for obtaining the effective distance of the conflict zone at an intersection. By accurately calculating the effective distance of the conflict zone, intelligent connected vehicles can achieve collision-free passage without relying on traffic lights, thereby improving the time and space utilization and safety assurance capabilities of the intersection. Attached Figure Description

[0070] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0071] Figure 1 This is a flowchart of a method for obtaining the effective distance of an intersection conflict zone according to the present invention;

[0072] Figure 2 This is a schematic diagram of the intersection conflict zone range provided in Embodiment 1 of the present invention;

[0073] Figure 3 This is a schematic diagram of the effective distance of the traffic diversion conflict zone provided in Embodiment 1 of the present invention;

[0074] Figure 4 This is a schematic diagram of the effective distance of the cross-conflict zone provided in Embodiment 1 of the present invention;

[0075] Figure 5 This is a schematic diagram of the effective distance of the merging conflict zone provided in Embodiment 1 of the present invention;

[0076] Figure 6 This is a structural block diagram of a system for obtaining the effective distance of an intersection conflict zone according to the present invention. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0078] Existing methods for obtaining the effective distance of conflict zones fail to fully consider the combined impact of vehicle travel direction (e.g., straight ahead, turning) and path geometry on the effective distance, leading to discrepancies between calculated results and actual operation. Therefore, establishing a method for calculating and obtaining the effective distance of intersection conflict zones that can take into account both vehicle travel direction and path geometry, and providing a scientific basis for intelligent connected vehicles' safety decisions, speed control, and path optimization at intersections, has become a critical technical problem urgently needing to be solved in the field of intelligent transportation.

[0079] The technical concept of this invention is as follows: First, based on the geometric parameters and lane alignment information of the road intersection, boundary line equations for vehicle trajectories in different directions are established. Then, the boundary line equations for vehicle trajectories in two conflicting directions are solved simultaneously to obtain the coordinates of each intersection point in the conflict zone, determining the coordinates of the entry and exit points of the conflict zone. Next, based on the differences in vehicle travel directions, corresponding conflict zone action distance calculation models are established for diverging conflict zones, intersection conflict zones, and merging conflict zones, including various combinations such as straight-to-turn, turn-to-turn, and straight-to-straight. Taking into account geometric features such as vehicle width, turning radius, and lateral clearance, the action distances of various conflict zones are accurately calculated through geometric calculations. Finally, the action distance results for each type are output to provide support for speed control and path optimization of intelligent connected vehicles.

[0080] Example 1

[0081] like Figure 1 As shown, the present invention provides a method for obtaining the effective distance of an intersection conflict zone, the method comprising:

[0082] Step 1: Obtain the geometric parameters and lane alignment information of the road intersection. Based on the geometric parameters and lane alignment information, establish the boundary line equations of vehicle travel trajectories in different directions.

[0083] In this embodiment, step 1 specifically includes:

[0084] Step 11: Obtain the geometric parameter information and lane alignment information of the road intersection. The geometric parameter information includes the number of lanes, lane width, and turning radius; the lane alignment information includes the vehicle driving direction and lane geometric features.

[0085] Step 12: Based on the geometric parameters and lane alignment information, and combined with the vehicle width and lateral clearance, establish the boundary line equations for vehicle travel trajectories in different directions.

[0086] Specifically, for any first vehicle V α The boundary line equation for its vehicle travel trajectory is derived from the left boundary line equation F. Lα And the right boundary line equation F Rα Indicates; for the second vehicle V in the other directionβ The boundary line equation for its vehicle travel trajectory is derived from the left boundary line equation F. Lβ And the right boundary line equation F Rβ express.

[0087] Step 2: Based on the traffic paths in different directions at the road intersection, classify the conflict zone types; the conflict zone types include diverging conflict zones, intersecting conflict zones, and merging conflict zones;

[0088] In this embodiment, step 2 specifically includes:

[0089] Based on the different traffic paths at the road intersection, identify vehicle pairs with potential conflict relationships;

[0090] Based on the different directions of vehicle travel, conflict zones are classified into diverging conflict zones, intersecting conflict zones, and merging conflict zones.

[0091] Step 3: Solve the equations of the boundary lines of the vehicle trajectories of any two conflict directions simultaneously to find the coordinates of each intersection point in the conflict zone; based on the coordinates of each intersection point in the conflict zone, determine the coordinates of the entry point and the exit point in the conflict zone.

[0092] In this embodiment, we assume that the first vehicle V α With the second vehicle V β There is a conflicting association, through the first vehicle V α With the second vehicle V β By simultaneously solving the equations of the vehicle travel trajectory boundary line, the conflict point ρ can be obtained. λ coordinates (x) ρλ ,y ρλ ), where λ={1,2,3,4}. Let ρ a (x ρa ,y ρa ) represents the coordinates of the entry point into the conflict zone, ρ e (x ρe ,y ρe () indicates the coordinates of the departure point in the conflict zone.

[0093] like Figure 2 As shown, for the traffic diversion conflict zone, the coordinates of the entry point and departure point of the conflict zone can be expressed as:

[0094]

[0095]

[0096] For a conflict zone, the coordinates of the entry point and the exit point can be represented as:

[0097]

[0098]

[0099] For the merging conflict zone, the coordinates of the entry point and the departure point of the conflict zone can be represented as:

[0100]

[0101]

[0102] Step 4: Based on the conflict zone type, the coordinates of the entry point and the departure point of the conflict zone, calculate the conflict zone action distance using a pre-built conflict zone action distance calculation model for different conflict zone types to obtain the conflict zone action distance.

[0103] In this embodiment, the pre-constructed conflict zone action distance calculation models for different conflict zone types include three main categories:

[0104] Calculation model for the effective distance of the diversion conflict zone;

[0105] Model for calculating the effective distance of cross-conflict zones;

[0106] Model for calculating the effective distance of the merging conflict zone.

[0107] Specifically, such as Figure 3 As shown, based on the different directions of travel of the conflicting vehicles, traffic diversion conflicts can be divided into two categories: straight-to-turning conflicts and turning-to-turning conflicts.

[0108] (1) When the first vehicle V α To turn, the second vehicle V β When going straight, assume the first vehicle V α The coordinates of the turning center are (x α0 ,y α0 ), the first vehicle V α The turning radius is r α Then, the effective distance of the diversion conflict zone can be calculated geometrically. That is, the expression of the calculation model for the effective distance of the first diversion conflict zone is:

[0109] ;

[0110] ;

[0111] in, Indicates the traffic diversion conflict zone for the first vehicle V α The effective range; Indicates the traffic diversion conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; xρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; w β Indicates the second vehicle V β The width of the car body, w c Indicates the second vehicle V β Lateral clearance width; here, the first vehicle V is set. α Second vehicle V β Lateral clearance width w c They are the same.

[0112] (2) When the first vehicle V α Second vehicle V β When both are turning, assume the second vehicle V β The coordinates of the turning center are (x β0 ,y β0 ), second vehicle V β The turning radius is r β The effective distance of the diversion conflict zone can then be calculated geometrically. Therefore, the expression for the calculation model of the effective distance of the second diversion conflict zone is:

[0113] ;

[0114] ;

[0115] in, Indicates the traffic diversion conflict zone for the first vehicle V α The effective range; Indicates the traffic diversion conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; r β For the second vehicle V β The turning radius; x ρe ,y ρe These are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; x β0 ,y β0 The second vehicle V β The x-coordinate and y-coordinate of the center of the turning circle.

[0116] Specifically, such as Figure 4 As shown, based on the different directions of travel of the conflicting vehicles, cross-traffic conflicts can be divided into three categories: straight-on-straight-on conflicts, straight-on-turning conflicts, and turning-turning conflicts.

[0117] (1) When the first vehicle V α Second vehicle V β When both are going straight, the effective distance of the intersection conflict zone can be obtained through geometric calculation. That is, the expression for the calculation model of the effective distance of the first intersection conflict zone is:

[0118] ;

[0119] ;

[0120] in, Indicates the intersection conflict zone for the first vehicle V α The effective range, Indicates the intersection conflict zone for the second vehicle V β The effective range, w α Indicates the first vehicle V α Vehicle width; w β Indicates the second vehicle V β Vehicle width; w c Indicates the second vehicle V β Lateral clearance width; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x-coordinate and y-coordinate of the departure point from the conflict zone, respectively.

[0121] (2) When the first vehicle V α To turn, the second vehicle V β When the traffic is going straight, the effective distance of the intersection conflict zone can be obtained through geometric calculation. That is, the expression of the calculation model for the effective distance of the second intersection conflict zone is:

[0122] ;

[0123] ;

[0124] Where, r α For the first vehicle V α The turning radius; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle;

[0125] (3) When the first vehicle V α Second vehicle V βWhen both are turning, the effective distance of the intersection conflict zone can be obtained through geometric calculation. That is, the expression of the calculation model for the effective distance of the third intersection conflict zone is:

[0126] ;

[0127] ;

[0128] Where, r β For the second vehicle V β The turning radius.

[0129] Specifically, such as Figure 5 As shown, based on the different directions of travel of the conflicting vehicles, merging conflicts can be divided into two categories: straight-to-turning conflicts and turning-to-turning conflicts.

[0130] (1) When the first vehicle V α To turn, the second vehicle V β When the flow is straight, the effective distance of the merging conflict zone can be obtained through geometric calculation. The expression for the calculation model of the effective distance of the first merging conflict zone is:

[0131] ;

[0132] ;

[0133] in, Indicates the merging conflict zone for the first vehicle V α The effective range, Indicates the merging conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; w β Indicates the second vehicle V β Vehicle width; w c Indicates the second vehicle V β Lateral clearance width;

[0134] (2) When the first vehicle V α Second vehicle V β When both are turning, the effective distance of the merging conflict zone can be obtained through geometric calculations. The expression for the calculation model of the effective distance of the second merging conflict zone is as follows:

[0135] ;

[0136] ;

[0137] Where, r β For the second vehicle V β The turning radius.

[0138] As a further implementation, the method also includes:

[0139] Step 5: Based on the conflict zone type and vehicle travel direction, output the effective distance of each type of conflict zone for use in the safe speed decision and path optimization of intelligent connected vehicles, that is, to provide input parameters for the safe speed decision and path optimization of vehicles at intersections.

[0140] Example 2

[0141] like Figure 6 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment provides a system for obtaining the effective distance of an intersection conflict zone, which corresponds one-to-one with the method for obtaining the effective distance of an intersection conflict zone in Embodiment 1; the system includes:

[0142] The acquisition unit is used to acquire geometric parameter information and lane alignment information of road intersections;

[0143] Establish a unit to create boundary line equations for vehicle travel trajectories in different directions based on geometric parameter information and lane alignment information;

[0144] Type classification unit is used to classify conflict zone types according to the traffic paths in different directions at road intersections; conflict zone types include diverging conflict zones, intersection conflict zones, and merging conflict zones;

[0145] The conflict zone intersection coordinate solving unit is used to solve the equations of the vehicle trajectory boundary lines of any two conflict directions simultaneously to solve for the coordinates of each intersection point in the conflict zone; based on the coordinates of each intersection point in the conflict zone, the coordinates of the entry point and the exit point of the conflict zone are determined.

[0146] The calculation unit is used to calculate the conflict zone's effective distance based on the conflict zone type, the coordinates of the entry point and the departure point of the conflict zone, and a pre-built conflict zone effective distance calculation model for different conflict zone types.

[0147] As a further implementation, the execution process of the type division unit is as follows:

[0148] Based on the different traffic paths at the road intersection, identify vehicle pairs with potential conflict relationships;

[0149] Based on the different directions of vehicle travel, conflict zones are classified into diverging conflict zones, intersecting conflict zones, and merging conflict zones.

[0150] The execution process of each unit can be carried out according to the steps of the method for obtaining the effective distance of the intersection conflict zone in Embodiment 1, and will not be described in detail in this embodiment.

[0151] Meanwhile, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for obtaining the effective distance of an intersection conflict zone.

[0152] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0153] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0154] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0155] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0156] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for obtaining the effective distance of an intersection conflict zone, characterized in that, The method includes: Obtain the geometric parameters and lane alignment information of the road intersection, and establish the boundary line equations of vehicle travel trajectories in different directions based on the geometric parameters and lane alignment information. Based on the different traffic paths at road intersections, conflict zones are classified into types; these conflict zone types include diverging conflict zones, intersecting conflict zones, and merging conflict zones. Solve the equations of the boundary lines of the vehicle trajectories in any two conflict directions to find the coordinates of each intersection point in the conflict zone; based on the coordinates of each intersection point in the conflict zone, determine the coordinates of the entry point and the exit point in the conflict zone. Based on the conflict zone type, the coordinates of the entry point and the departure point of the conflict zone, the conflict zone action distance is calculated using a pre-built conflict zone action distance calculation model for different conflict zone types.

2. The method for obtaining the effective distance of an intersection conflict zone according to claim 1, characterized in that, Obtain the geometric parameters and lane alignment information of the road intersection, and based on the geometric parameters and lane alignment information, establish the boundary line equations for vehicle travel trajectories in different directions, including: The geometric parameters and lane alignment information of the road intersection are obtained. The geometric parameters include the number of lanes, lane width, and turning radius. The lane alignment information includes the vehicle driving direction and lane geometric features. Based on the geometric parameters and lane alignment information, and combined with vehicle width and lateral clearance, boundary line equations for vehicle travel trajectories in different directions are established.

3. The method for obtaining the effective distance of an intersection conflict zone according to claim 1, characterized in that, Based on the different traffic routes in different directions at road intersections, conflict zones are classified into types, including: Based on the different traffic paths at the road intersection, identify vehicle pairs with potential conflict relationships; Based on the different driving directions of the vehicles, the conflict zones are divided into diverging conflict zones, intersecting conflict zones, and merging conflict zones.

4. The method for obtaining the effective distance of an intersection conflict zone according to claim 1, characterized in that, Pre-built conflict zone action distance calculation models for different conflict zone types include: The model for calculating the effective distance of the diversion conflict zone includes: The calculation model for the effective distance of the first diversion conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the diversion conflict zone formed by straight-through collisions is as follows: ； ； in, Indicates the traffic diversion conflict zone for the first vehicle V α The effective range; Indicates the traffic diversion conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; w β Indicates the second vehicle V β The width of the car body, w c Indicates the second vehicle V β Lateral clearance width; The calculation model for the effective distance of the second diversion conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the divergence conflict zone formed by a turning conflict is as follows: ； ； Where, r β For the second vehicle V β The turning radius; x β0 ,y β0 The second vehicle V β The x-coordinate and y-coordinate of the center of the turning circle.

5. The method for obtaining the effective distance of an intersection conflict zone according to claim 4, characterized in that, Pre-built conflict zone action distance calculation models for different conflict zone types also include: The model for calculating the effective distance of cross-conflict zones includes: The first collision zone effective distance calculation model is based on the first vehicle V. α Going straight and the second car V β The formula for calculating the effective distance of the intersection conflict zone formed by straight-through collisions is as follows: ； ； in, Indicates the intersection conflict zone for the first vehicle V α The effective range, Indicates the intersection conflict zone for the second vehicle V β The effective range, w α Indicates the first vehicle V α Vehicle width; w β Indicates the second vehicle V β Vehicle width; w c Indicates the second vehicle V β Lateral clearance width; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x-coordinate and y-coordinate of the departure point from the conflict zone, respectively. The second collision zone action distance calculation model is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the intersection conflict zone formed by straight-through collisions is as follows: ； ； Where, r α For the first vehicle V α The turning radius; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; The third intersection conflict zone action distance calculation model is based on the first vehicle V. α Turning with the second car V β The calculation model for the effective distance of the intersection conflict zone formed by turning conflicts is expressed as follows: ； ； Where, r β For the second vehicle V β The turning radius.

6. The method for obtaining the effective distance of an intersection conflict zone according to claim 4, characterized in that, Pre-built conflict zone action distance calculation models for different conflict zone types also include: The calculation model for the effective distance of the merging conflict zone includes: The calculation model for the effective distance of the first merging conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the merging conflict zone formed by straight-through collisions is as follows: ； ； in, Indicates the merging conflict zone for the first vehicle V α The effective range, Indicates the merging conflict zone for the second vehicle V β The effective range; r α For the first vehicle V α The turning radius; x ρa ,y ρa These are the x-coordinate and y-coordinate of the entry point into the conflict zone, respectively; x ρe ,y ρe These are the x and y coordinates of the departure point from the conflict zone, respectively; x α0 ,y α0 The first vehicle V α The x and y coordinates of the center of the turning circle; w β Indicates the second vehicle V β Vehicle width; w c Indicates the second vehicle V β Lateral clearance width; The calculation model for the effective distance of the second merging conflict zone is based on the first vehicle V. α Turning with the second car V β The formula for calculating the effective distance of the merging conflict zone formed by a turning conflict is as follows: ； ； Where, r β For the second vehicle V β The turning radius.

7. The method for obtaining the effective distance of an intersection conflict zone according to claim 1, characterized in that, The method also includes: outputting the effective distance of each type of conflict zone according to the conflict zone type and the vehicle's driving direction, for use in the safe speed decision and path optimization of intelligent connected vehicles.

8. A system for obtaining the effective distance of an intersection conflict zone, characterized in that, The system includes: The acquisition unit is used to acquire geometric parameter information and lane alignment information of road intersections; A unit is established to establish boundary line equations for vehicle travel trajectories in different directions based on the geometric parameter information and lane alignment information. The type classification unit is used to classify conflict zone types according to the traffic paths in different directions at road intersections; the conflict zone types include diverging conflict zones, intersecting conflict zones, and merging conflict zones. The conflict zone intersection coordinate solving unit is used to solve the equations of the vehicle trajectory boundary lines of any two conflict directions simultaneously to solve for the coordinates of each intersection point in the conflict zone; based on the coordinates of each intersection point in the conflict zone, the coordinates of the entry point and the exit point of the conflict zone are determined. The calculation unit is used to calculate the conflict zone action distance based on the conflict zone type, the coordinates of the entry point and the departure point of the conflict zone, and a pre-built conflict zone action distance calculation model for different conflict zone types.

9. The intersection conflict zone action distance acquisition system according to claim 8, characterized in that, The execution process of the type division unit is as follows: Based on the different traffic paths at the road intersection, identify vehicle pairs with potential conflict relationships; Based on the different driving directions of the vehicles, the conflict zones are divided into diverging conflict zones, intersecting conflict zones, and merging conflict zones.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for obtaining the effective distance of an intersection conflict zone as described in any one of claims 1 to 7.

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