CN104915912A - Yellow light dilemma zone modeling method - Google Patents

Abstract

Provided is a yellow light dilemma zone modeling method. The invention relates to a yellow light dilemma zone modeling method. In order to solve the problem that an existing model can hardly reflect the characteristics of dynamic change of a yellow light dilemma zone and is not suitable for analyzing dilemma zone distribution under the condition of countdown, the invention provides a yellow light dilemma zone modeling method. The method comprises the following steps: step 1, analyzing the formation of a yellow light dilemma zone; step 2, putting forward a basic hypothesis of modeling; step 3, collecting and processing related data; step 4, establishing a relational model of the perception reaction time and the speed when the yellow light is turned on; step 5, establishing a relational model of the deceleration and the speed when the yellow light is turned on; step 6, establishing a minimum stopping distance model; step 7, establishing a relational model of the acceleration and the speed when the yellow light is turned on; and step 8, establishing a maximum passing distance model, thus completing the yellow light dilemma zone modeling method. The yellow light dilemma zone modeling method of the invention is applied to the field of traffic safety.

Description

A kind of amber light dilemma zone modeling method

Technical field

The present invention relates to amber light dilemma zone modeling method.

Background technology

Crossing is the node of road network, respectively comes together in this to traffic flow, thus, be also traffic hazard multiplely.Amber light predicament is the one of the main reasons causing signalized intersections traffic hazard.When amber light opens bright, the vehicle on signalized intersections entrance driveway may meet with such awkward situation, before namely can not stopping at stop line safely, can not red light open bright before pass through crossing.Face such predicament, if driver selects to stop, then need brake hard, easily cause rear-end collision; If driver select continue travel, then can not red light open bright before by crossing, even make a dash across the red light, easily cause side impact events.

For reply amber light predicament problem, extend steady yellow duration, execute and draw an amber light parking indication wire, amber light parking warning mark is installed, amber light stop caution light is set, lays green light and extend system, amber light jogging zone control system is set, applies the measures such as vehicle-mounted amber light predicament district caution system and be in succession suggested.Although these measures shorten the scope in amber light predicament district to a certain extent; and decrease the possibility that vehicle is absorbed in amber light predicament district; but they are all suggested based on a changeless amber light predicament district; be difficult to effectively evade amber light predicament district, and be difficult to protect the vehicle being absorbed in amber light predicament district fully.In fact, by the impact of the many factors such as driver's sensitive and reactive ability, type of vehicle, traffic flow modes, traffic control device and Traffic Signal Timing scheme, amber light predicament district is outwardness all the time.Along with vehicle on entrance driveway to open the difference of bright hourly velocity at amber light, the distribution in predicament district also presents larger difference.

Parking sensitive and reactive time in the model of existing amber light dilemma zone, retarded velocity and acceleration three parameters are all endowed as definite value.In fact, assignment is that constant is difficult to reflect the difference between driver individuality, and the length of driver's sensitive and reactive time and institute adopt the size of acceleration, deceleration degree to be the impact being subject to car speed.In addition, traditional amber light dilemma zone model is it is considered that can vehicle pass through crossing in amber light interval.But observation finds, can driver's more attention cross stop line before steady yellow terminates to enter crossing.Therefore, be necessary to rebuild amber light dilemma zone model, to reflect actual conditions better.

In recent years, digital count-down device (hereinafter referred to as countdown) is arranged on urban road signalized intersections place of China widely, shows the excess time of a certain phase place with the form of number of seconds, makes driver ready with the conversion in the face of signal phase.Installing one of object of countdown is, the auxiliary traveling behavior of driver when amber light opens bright (stop or continue to travel) decision-making, avoids being absorbed in amber light predicament district.Investigation finds, there is significant impact the sensitive and reactive time of countdown on driver.Therefore, traditional amber light dilemma zone model is difficult to be applicable to inquire into the problem of amber light dilemma zone under countdown condition.

Summary of the invention

The present invention will solve existing model be difficult to reflect the feature of actual amber light dilemma zone dynamic change and be not suitable for the problem analyzed and have dilemma zone distribution under countdown condition, and provides a kind of amber light dilemma zone modeling method.

A kind of amber light dilemma zone modeling method, it realizes according to the following steps:

Step one: the formation analyzing amber light dilemma zone;

Step 2: the basic assumption proposing modeling;

Step 3: sampling and processing related data;

Step 4: set up the relational model that sensitive and reactive time and amber light open bright hourly velocity;

Step 5: structure retarded velocity and amber light open the relational model of bright hourly velocity;

Step 6: set up minimum stopping distance model;

Step 7: structure acceleration and amber light open the relational model of bright hourly velocity;

Step 8: set up maximum by distance model, namely completes a kind of amber light dilemma zone modeling method.

Invention effect:

One of the present invention is with or without amber light dilemma zone modeling method under countdown condition, by analyzing the formation of amber light dilemma zone, propose to stop the sensitive and reactive time in the model of dilemma zone, acceleration, retarded velocity three parameters are the basic assumptions such as the function of car speed when opening bright about amber light, the observation of application video, the method collection of painted screen curtain reference line is stopped with the speed of footline car and to data such as 'STOP' line aheads with or without first when under countdown condition, amber light opens bright, screen and stop and the related data of footline car farthest apart from stop line is recently first with or without when amber light opens bright under countdown condition, set up respectively and stop the sensitive and reactive time with or without under countdown condition, retarded velocity and acceleration and amber light open the relational model of bright hourly velocity, thus be built with without stopping distance model minimum under countdown condition and maximumly pass through distance model.

The one that the present invention proposes is with or without amber light dilemma zone modeling method under countdown condition, the method is set up respectively and is opened relational model between bright hourly velocity with or without stop under countdown condition sensitive and reactive time, retarded velocity and acceleration and amber light, thus is built with without stopping distance model minimum under countdown condition and maximumly passes through distance model.The inventive method has expanded the scope of application of existing amber light dilemma zone model, can be and takes more reasonably amber light predicament workaround to provide theoretical foundation, be applied directly to and improve signalized intersections traffic safety level.

Compared with the model of existing amber light dilemma zone, the car speed different and characteristic of change when the parking sensitive and reactive time that the present invention has taken into full account driver and the acceleration, deceleration degree adopted open bright with amber light, more can reflect the feature of actual amber light dilemma zone dynamic change, and more meet the new situation that China's urban road signalized intersections extensively adopts amber light dilemma zone distribution under countdown signal background.

Accompanying drawing explanation

Fig. 1 is the overview flow chart of the inventive method;

Fig. 2 is the formation of amber light dilemma zone;

Fig. 3 is the schematic diagram of video camera decorating position and reference point.

Embodiment

Embodiment one: present embodiment be illustrated in figure 1 a kind of overview flow chart with or without amber light dilemma zone modeling method under countdown condition.The inventive method is by analyzing the formation of amber light dilemma zone, propose to stop the sensitive and reactive time in the model of dilemma zone, acceleration, retarded velocity three parameters are the basic assumptions such as the function of car speed when opening bright about amber light, the observation of application video, the method collection of painted screen curtain reference line is stopped with the speed of footline car and to data such as 'STOP' line aheads with or without first when under countdown condition, amber light opens bright, screen and stop and the related data of footline car farthest apart from stop line is recently first with or without when amber light opens bright under countdown condition, set up respectively and stop the sensitive and reactive time with or without under countdown condition, retarded velocity and acceleration and amber light open the relational model of bright hourly velocity, thus be built with without stopping distance model minimum under countdown condition and maximumly pass through distance model.

As shown in Figure 2, a kind of amber light dilemma zone modeling method, it realizes according to the following steps:

Step one: the formation analyzing amber light dilemma zone;

Step 2: the basic assumption proposing modeling;

Step 3: sampling and processing related data;

Step 4: set up the relational model that sensitive and reactive time and amber light open bright hourly velocity;

Step 5: structure retarded velocity and amber light open the relational model of bright hourly velocity;

Step 6: set up minimum stopping distance model;

Step 7: structure acceleration and amber light open the relational model of bright hourly velocity;

Step 8: set up maximum by distance model, namely completes a kind of amber light dilemma zone modeling method.

Embodiment two: present embodiment and embodiment one unlike: in described step one, the formation of amber light dilemma zone be when opening bright by amber light vehicle braking to the minor increment stopped completely and minimum stopping distance X _sand the vehicle of safety crossing can open the bright ultimate range up to stop line and maximum by distance X at amber light in amber light interval _ccommon decision, be specifically calculated as follows:

$X_S=\frac{V_0}{3.6}{\mathrm{\δ}}_1+\frac{V_0^2}{25.92d},X_C=\frac{V_0}{3.6}\mathrm{\τ}+\frac{1}{2}a{(\mathrm{\τ}-{\mathrm{\δ}}_2)}^2-W$

X in formula _s---minimum stopping distance (m);

X _c---maximum by distance (m);

V ₀---car speed (km/h) when amber light opens bright;

δ ₁---parking sensitive and reactive time (s), value is 1.0s;

D---maximum deceleration (m/s ²), value is 3.0m/s ²;

τ---amber light duration (s);

A---peak acceleration (m/s ²), value is 0m/s ²;

δ ₂---travel sensitive and reactive time (s), often suppose that it equals the parking sensitive and reactive time;

W---crossing width and average vehicle commander's sum (m);

Work as X _s>X _ctime, form predicament district; Work as X _s<X _ctime, form selection area.

Other step and parameter identical with embodiment one.

Embodiment three: present embodiment and embodiment one or two unlike: in described step 2, suppose that can driver only consider by stop line, instead of pass through crossing in amber light interval; Suppose parking sensitive and reactive time δ ₁, maximum deceleration d and peak acceleration a is along with car speed when amber light opens bright is different and change; Suppose that travelling the sensitive and reactive time is zero;

Minimum stopping distance X _s, be expressed as:

$X_S=\frac{V_0}{3.6}{\mathrm{\&delta;}}_1\left(V_0\right)+\frac{V_0^2}{25.92d\left(V_0\right)}$

Maximum by distance X _c, can be expressed as:

$X_C=\frac{V_0}{3.6}\mathrm{\&tau;}+\frac{1}{2}a\left(V_0\right){\mathrm{\&tau;}}^2.$

Other step and parameter identical with embodiment one or two.

Embodiment four: one of present embodiment and embodiment one to three unlike: as shown in Figure 3, numeral is video camera decorating position; In described step 3, observed by video, gather and have countdown signalized intersections and the video data without countdown signalized intersections; By screen setting-out, and the traffic flow video playing amber period by Hotplayer player frame by frame is record on Through Lane the related data of first parking and footline car; Wherein, described related data comprises: amber light opens the bright moment, car speed and to 'STOP' line ahead when amber light opens bright, and first parking brake lamp opens the bright moment, and footline car crosses the stop line moment; Delete make a dash across the red light footline car and amber light open bright before start to brake first relevant information of stopping.

Other step and parameter identical with one of embodiment one to three.

Embodiment five: one of present embodiment and embodiment one to four unlike: in described step 4, with or without under countdown condition, screen in the vehicle of friction speed when amber light opens bright and stop to the head that 'STOP' line ahead is minimum, its minimum parking sensitive and reactive time equals amber light and brake lamp opens the bright mistiming; Application is linear, logarithm, inverse, power, S type and exponential function, variation relation when matching is opened bright with or without parking sensitive and reactive time minimum under countdown condition and amber light respectively between car speed; Select coefficient R ²and the maximum fitting function of significance test statistical value F is as relational model therebetween:

Without under countdown condition, best-fit function is reciprocal function, is expressed as:

δ ₁＝0.493+17.501/V ₀

δ in formula ₁---parking sensitive and reactive time (s);

V ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition, best-fit function is linear function, is expressed as:

δ ₁＝0.026V ₀-0.135。

Other step and parameter identical with one of embodiment one to four.

Embodiment six: one of present embodiment and embodiment one to five unlike: in described step 5, the head filtered out for step 4 stops, and its maximum deceleration d is calculated as follows:

$d=\frac{V_0^2}{7.2(3.6X_S-V_0{\mathrm{\&delta;}}_1)};$

Application is linear, logarithm, inverse, power, S type and exponential function, and matching is with or without variation relation when maximum deceleration and amber light open bright under countdown condition between car speed respectively; Select coefficient R ²and the maximum fitting function of significance test statistical value F is as relational model therebetween:

Without under countdown condition, best-fit function is power function, is expressed as:

$d=0.107V_0^{0.879}$

D in formula---maximum deceleration (m/s ²);

V ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition, best-fit function is S type function, is expressed as:

$d=\exp (-\frac{43.375}{V_0}+2.208).$

Other step and parameter identical with one of embodiment one to five.

Embodiment seven: one of present embodiment and embodiment one to six unlike: in described step 6, according to the hypothesis that step 2 proposes, when the minimum parking sensitive and reactive time that integrating step four and step 5 are set up respectively and maximum deceleration and amber light open bright, the relational model of car speed, obtains with or without stopping distance X minimum under countdown condition _smodel:

Without under countdown condition:

$X_S=\frac{1}{3.6}{V}_0(0.493+\frac{17.501}{V_0})+\frac{V_0^2}{25.92\left(0.107V_0^{0.879}\right)}$

V in formula ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition:

$X_S=\frac{1}{3.6}{V}_0(0.026V_0-0.135)+\frac{V_0^2}{25.92\exp (2.208-\frac{43.375}{V_0})}.$

Other step and parameter identical with one of embodiment one to six.

Embodiment eight: one of present embodiment and embodiment one to seven unlike: in described step 7, with or without under countdown condition, screen footline car maximum to 'STOP' line ahead in the vehicle of friction speed when amber light opens bright, its peak acceleration a is calculated as follows:

a in formula---peak acceleration (m/s ²);

X _c---maximum by distance (m);

V ₀---car speed (km/h) when amber light opens bright;

T---time of vehicle operation and amber light open the bright mistiming (s) crossing stop line with vehicle;

Application is linear, logarithm and reciprocal function, and matching is with or without variation relation when peak acceleration and amber light open bright under countdown condition between car speed respectively; Select coefficient R ²and the maximum fitting function of significance test statistical value F is as relational model therebetween:

Without under countdown condition, best-fit function is logarithmic function, is expressed as:

a＝11.188-2.576ln V ₀

A in formula---peak acceleration (m/s ²);

V ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition, best-fit function is linear function, is expressed as:

a＝-0.129V ₀+8.635。

Other step and parameter identical with one of embodiment one to seven.

Embodiment nine: one of present embodiment and embodiment one to eight unlike: in described step 8, according to the hypothesis that step 2 proposes, the relational model of car speed when peak acceleration constructed by integrating step seven and amber light open bright, obtains with or without maximum by distance X under countdown condition _cmodel:

Without under countdown condition:

$X_C=\frac{1}{3.6}{V}_0\mathrm{\&tau;}+\frac{1}{2}(11.188-2.576\ln V_0){\mathrm{\&tau;}}^2$

V in formula ₀---car speed (km/h) when amber light opens bright;

τ---amber light duration (s);

Under having countdown condition:

other step and parameter identical with one of embodiment one to eight.

Claims (9)

1. an amber light dilemma zone modeling method, is characterized in that it realizes according to the following steps:

Step one: the formation analyzing amber light dilemma zone;

Step 2: the basic assumption proposing modeling;

Step 3: sampling and processing related data;

Step 4: set up the relational model that sensitive and reactive time and amber light open bright hourly velocity;

Step 5: structure retarded velocity and amber light open the relational model of bright hourly velocity;

Step 6: set up minimum stopping distance model;

Step 7: structure acceleration and amber light open the relational model of bright hourly velocity;

Step 8: set up maximum by distance model, namely completes a kind of amber light dilemma zone modeling method.

2. a kind of amber light dilemma zone according to claim 1 modeling method, is characterized in that in described step one, and the formation of amber light dilemma zone is the minor increment and minimum stopping distance X that when opening bright by amber light, vehicle, braking extremely stops completely _sand the vehicle of safety crossing can open the bright ultimate range up to stop line and maximum by distance X at amber light in amber light interval _ccommon decision, be specifically calculated as follows:

$X_S=\frac{V_0}{3.6}{\mathrm{\&delta;}}_1+\frac{V_0^2}{25.92d},X_C=\frac{V_0}{3.6}\mathrm{\&tau;}+\frac{1}{2}a{(\mathrm{\&tau;}-{\mathrm{\&delta;}}_2)}^2-W$

X in formula _s---minimum stopping distance (m);

X _c---maximum by distance (m);

V ₀---car speed (km/h) when amber light opens bright;

δ ₁---parking sensitive and reactive time (s), value is 1.0s;

D---maximum deceleration (m/s ²), value is 3.0m/s ²;

τ---amber light duration (s);

A---peak acceleration (m/s ²), value is 0m/s ²;

δ ₂---travel sensitive and reactive time (s), often suppose that it equals the parking sensitive and reactive time;

W---crossing width and average vehicle commander's sum (m);

Work as X _s>X _ctime, form predicament district; Work as X _s<X _ctime, form selection area.

3. a kind of amber light dilemma zone according to claim 2 modeling method, is characterized in that in described step 2, supposes that can driver only consider by stop line, instead of pass through crossing in amber light interval; Suppose parking sensitive and reactive time δ ₁, maximum deceleration d and peak acceleration a is along with car speed when amber light opens bright is different and change; Suppose that travelling the sensitive and reactive time is zero;

Minimum stopping distance X _s, be expressed as:

$X_S=\frac{V_0}{3.6}{\mathrm{\&delta;}}_1\left(V_0\right)+\frac{V_0^2}{25.92d\left(V_0\right)}$

Maximum by distance X _c, can be expressed as:

$X_C=\frac{V_0}{3.6}\mathrm{\&tau;}+\frac{1}{2}a\left(V_0\right){\mathrm{\&tau;}}^2.$

4. a kind of amber light dilemma zone according to claim 3 modeling method, is characterized in that, in described step 3, being observed by video, gathers and has countdown signalized intersections and the video data without countdown signalized intersections; By screen setting-out, and the traffic flow video playing amber period by Hotplayer player frame by frame is record on Through Lane the related data of first parking and footline car; Wherein, described related data comprises: amber light opens the bright moment, car speed and to 'STOP' line ahead when amber light opens bright, and first parking brake lamp opens the bright moment, and footline car crosses the stop line moment; Delete make a dash across the red light footline car and amber light open bright before start to brake first relevant information of stopping.

5. a kind of amber light dilemma zone according to claim 4 modeling method, it is characterized in that in described step 4, with or without under countdown condition, screen in the vehicle of friction speed when amber light opens bright and stop to the head that 'STOP' line ahead is minimum, its minimum parking sensitive and reactive time equals amber light and brake lamp opens the bright mistiming; Application is linear, logarithm, inverse, power, S type and exponential function, variation relation when matching is opened bright with or without parking sensitive and reactive time minimum under countdown condition and amber light respectively between car speed; Select coefficient R ²and the maximum fitting function of significance test statistical value F is as relational model therebetween:

Without under countdown condition, best-fit function is reciprocal function, is expressed as:

δ ₁＝0.493+17.501/V ₀

δ in formula ₁---parking sensitive and reactive time (s);

V ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition, best-fit function is linear function, is expressed as:

δ ₁＝0.026V ₀-0.135。

6. a kind of amber light dilemma zone according to claim 5 modeling method, is characterized in that in described step 5, and the head filtered out for step 4 stops, and its maximum deceleration d is calculated as follows:

$d=\frac{V_0^2}{7.2(3.6X_S-V_0{\mathrm{\&delta;}}_1)};$

Application is linear, logarithm, inverse, power, S type and exponential function, and matching is with or without variation relation when maximum deceleration and amber light open bright under countdown condition between car speed respectively; Select coefficient R ²and the maximum fitting function of significance test statistical value F is as relational model therebetween:

Without under countdown condition, best-fit function is power function, is expressed as:

$d={0.107V}_0^{0.879}$

D in formula---maximum deceleration (m/s ²);

V ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition, best-fit function is S type function, is expressed as:

$d=\exp (-\frac{43.375}{V_0}+2.208).$

7. a kind of amber light dilemma zone according to claim 6 modeling method, it is characterized in that in described step 6, according to the hypothesis that step 2 proposes, when the minimum parking sensitive and reactive time that integrating step four and step 5 are set up respectively and maximum deceleration and amber light open bright, the relational model of car speed, obtains with or without stopping distance X minimum under countdown condition _smodel:

Without under countdown condition:

$X_S=\frac{1}{3.6}{V}_0(0.493+\frac{17.501}{V_0})+\frac{{V_0}^2}{25.92\left(0.107{V_0}^{0.879}\right)}$

V in formula ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition:

$X_S=\frac{1}{3.6}{V}_0(0.026V_0-0.135)+\frac{{V_0}^2}{25.92\mathrm{epx}(2.208-\frac{43.375}{V_0})}.$

8. a kind of amber light dilemma zone according to claim 7 modeling method, it is characterized in that in described step 7, with or without under countdown condition, screen footline car maximum to 'STOP' line ahead in the vehicle of friction speed when amber light opens bright, its peak acceleration a is calculated as follows:

$a=\frac{2(3.6X_C-V_{0}t)}{{3.6t}^2}$ A in formula---peak acceleration (m/s ²);

X _c---maximum by distance (m);

V ₀---car speed (km/h) when amber light opens bright;

T---time of vehicle operation and amber light open the bright mistiming (s) crossing stop line with vehicle;

Application is linear, logarithm and reciprocal function, and matching is with or without variation relation when peak acceleration and amber light open bright under countdown condition between car speed respectively; Select coefficient R ²and the maximum fitting function of significance test statistical value F is as relational model therebetween:

Without under countdown condition, best-fit function is logarithmic function, is expressed as:

a＝11.188-2.576ln V ₀

A in formula---peak acceleration (m/s ²);

V ₀---car speed (km/h) when amber light opens bright;

Under having countdown condition, best-fit function is linear function, is expressed as:

a＝-0.129V ₀+8.635。

9. a kind of amber light dilemma zone according to claim 8 modeling method, it is characterized in that in described step 8, according to the hypothesis that step 2 proposes, the relational model of car speed when peak acceleration constructed by integrating step seven and amber light open bright, obtains with or without maximum by distance X under countdown condition _cmodel:

Without under countdown condition:

$X_C=\frac{1}{3.6}{V}_0\mathrm{\&tau;}+\frac{1}{2}(11.188-2.576\mathrm{LN}{V}_0){\mathrm{\&tau;}}^2$

V in formula ₀---car speed (km/h) when amber light opens bright;

τ---amber light duration (s);

Under having countdown condition:

$X_C=\frac{1}{3.6}{V}_0\mathrm{\&tau;}+\frac{1}{2}(8.635-{0.129V}_0){\mathrm{\&tau;}}^2.$