基于V2I通信的交叉口车辆碰撞预警方法

doi:10.13229/j.cnki.jdxbgxb.20210764

摘要/Abstract

摘要：

面向交通事故高发比例的无信号交叉口场景，提出了一种基于V2I通信的车辆碰撞预警方法，以保障行车安全。首先，提出路段与冲突区域匹配方法，筛选存在碰撞风险的车辆与冲突区域；在此基础上，提出两级冗余碰撞预警方法，包括用于车辆进入交叉口前的一级动态碰撞距离检测（DDTC）算法以及车辆进入交叉口后的二级圆形区域碰撞检测（CATC）算法。该方法通过网联信息弥补自车感知局限性，通过冲突区域匹配与安全距离过滤提高检测效率，通过动态距离差阈值设置提高检测准确率。基于NHTSA交叉口场景集的测试结果表明，该方法与具代表性的时间差法与距离差法相比，漏报率分别降低了约16%和6%，误报率分别降低了约88%和48%，检测时间均降低了约74%，具备更高的准确性和高效性。

关键词: 车辆工程, 碰撞预警, 车辆与基础设施互联, 道路交叉口, 动态距离阈值

Abstract:

Facing the unsignalized intersection scenario with a high incidence of traffic accidents， a vehicle collision warning method based on V2I communication is proposed to ensure driving safety. First， a method for matching road segments and conflict areas is proposed to screen vehicles that are at risk of collision and the corresponding conflict areas. On this basis， a two-level redundant intersection collision warning method is proposed， including the Dynamic Distance to Collision （DDTC） algorithm， which is used to perform first-level collision warning before the vehicle enters the intersection， as well as the Circular Area to Collision （CATC） algorithm， which is used for secondary collision warning after the vehicle enters the intersection. This method compensates for the limitations of self-vehicle perception through networked information， improves detection efficiency through conflict area matching and safe distance filtering， and improves detection accuracy through dynamic distance difference threshold setting. The test results based on the NHTSA intersection scene set show that compared with the representative Time to Collision method and Time to Distance method， the false negative rate is reduced by 16% and 6%， and the false positive rate is reduced by 88% and 48%， respectively， and the detection time is reduced by about 74%， with higher accuracy and efficiency.

Key words: vehicle engineering, collision warning, vehicle-to-infrastructure, intersection, dynamic distance threshold

中图分类号:

赵睿,李云,胡宏宇,高镇海. 基于V2I通信的交叉口车辆碰撞预警方法[J]. 吉林大学学报(工学版), 2023, 53(4): 1019-1029.

Rui ZHAO,Yun LI,Hong-yu HU,Zhen-hai GAO. Vehicle collision warning method at intersection based on V2I communication[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(4): 1019-1029.

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主车	辅车	冲突区域
直行	直行	IV
直行	右转	-
直行	左转	I或IV
直行	掉头	-
右转	直行	IV
右转	右转	-
右转	左转	IV
右转	掉头	-
左转	直行	IV
左转	右转	-
左转	左转	I或IV
左转	掉头	II
掉头	直行	III或IV
掉头	右转	III
掉头	左转	III或IV
掉头	掉头	III

场景	场景描述
ICA?1	主车以恒定的速度直行，辅车在与主车垂直的车道以恒定速度直行
ICA?2	辅车以恒定速度直行，主车在与主车垂直的车道上以一个小于辅车速度的恒定速度右转
ICA?3	辅车以恒定速度直行，主车在与主车垂直的车道上以一个小于辅车速度的恒定速度左转
ICA?6	主车以恒定速度直行，辅车在与主车垂直的车道上以恒定的减速度在交叉口前刚好停车
ICA?7	辅车以恒定速度直行，主车在与主车垂直的车道上以恒定的减速度在交叉口前刚好停车
ICA?8	主车以恒定的速度左转，辅车在与主车平行的车道上以恒定的减速度在交叉口前刚好停车

参数	ICA?1	ICA?2	ICA?3	ICA?6	ICA?7	ICA?8
主车初始速度/（m·h^-1）	25±1.3	22±1.1	22±1.1	35±1.8	35±1.8	25±1.3
主车转弯速度/（m·h^-1）	-	12±1.1	12±1.1	-	-	--
主车减速度/g	-	-0.15±0.05	-0.15±0.05	-	-0.15±0.1	-
辅车初始速度/（m·h^-1）	25±1.3	35±1.8	35±1.8	35±1.8	35±1.8	25±1.3
辅车减速度/g	-	-	-	-0.15±0.1	-	-0.15±0.1
主车距交叉口距离/m	56±5.6	49±4.9	49±4.9	-	-	-
辅车距交叉口距离/m	56±5.6	78±7.8	78±7.8	-	-	-

性能	本文方法			TTC	DTC
性能	参数组1	参数组2	参数组3	TTC	DTC
漏报率（ICA?1）/%	0	0	0	19	5
漏报率（ICA?2）/%	1	0	0	21	7
漏报率（ICA?3）/%	1	0	0	10	7
时效性/s	1.31/4.93	1.57/4.91	1.31/6.18
时效提升率/%	73.42	68.02	78.80