CN113096414A - Intersection timing method, system and device based on traffic conflict analysis - Google Patents
Intersection timing method, system and device based on traffic conflict analysis Download PDFInfo
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- CN113096414A CN113096414A CN202110259704.0A CN202110259704A CN113096414A CN 113096414 A CN113096414 A CN 113096414A CN 202110259704 A CN202110259704 A CN 202110259704A CN 113096414 A CN113096414 A CN 113096414A
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses an intersection timing method, a system and a device based on traffic conflict analysis, which screen timing signal periods by obtaining the required time for all queued vehicles at an entrance to be identified to continuously enter an intersection, and obtain traffic conflicts and corresponding traffic conflict types at a target intersection under each timing signal period, further obtain the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period, and finally obtain key factors influencing different types of traffic conflicts and a target timing scheme. According to the technical scheme, on the basis of considering traffic volume, the analysis of traffic conflict is combined, and an intersection signal timing scheme based on traffic safety is provided, so that the traffic safety environment of the intersection can be further improved on the premise of ensuring traffic efficiency.
Description
Technical Field
The invention relates to the field of traffic control and traffic safety, in particular to an intersection timing method, system and device based on traffic conflict analysis.
Background
With the economic development and the acceleration of the urbanization process of China, the urban traffic problem becomes the root cause of restricting the urban society and the economic development to a certain extent. An advanced urban traffic control system is one of important ways for improving the operation efficiency of urban traffic.
A level crossing is an area formed by the intersection of two or more roads. There are many intersections in the urban road system, which are the indispensable places for vehicles and pedestrians to gather, turn and evacuate, the throats of traffic, and the bottleneck sections of road traffic capacity and traffic safety. Therefore, the signal timing scheme of the intersection is reasonably designed, and the traffic flow operation of the intersection is scientifically and reasonably organized, so that delay is reduced, and traffic capacity and traffic safety are improved.
Disclosure of Invention
The invention aims to provide an intersection timing method, system and device based on traffic conflict analysis, so as to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the method is used for identifying traffic conflicts at the target intersection, screening all signal timing schemes to obtain the target signal timing scheme meeting traffic safety environment, sequentially executing the signal timing schemes at the target intersection within a historical time period to generate historical traffic data under each corresponding signal period, and executing the following steps:
step A, aiming at a plurality of access ports corresponding to a target intersection, obtaining the maximum queuing length of each access port based on historical traffic data, screening the access port with the maximum queuing length value in the target intersection as an access port to be identified, obtaining the required time for all queued vehicles of the access port to be identified to continuously enter the intersection according to the queuing length of the access port to be identified, screening signal cycles in each signal timing scheme in the historical traffic data according to the required time, screening signal cycles with the green light time length larger than the required time under all the same lane types as a timing signal cycle, and then entering step B;
step B, respectively aiming at each timing signal cycle, in the same preset specified type time period, based on historical traffic data, obtaining the number of traffic conflicts at each entrance in each timing signal cycle, and the relative positions, angles, speeds and driving directions of conflicting vehicles when the traffic conflicts occur, determining the traffic conflict type according to the number, the traffic conflicts occurring at the target intersection under each timing signal cycle and the corresponding traffic conflict type, and then entering step C;
step C, extracting traffic flow data, road geometric design characteristic data, traffic conflict data and a signal timing scheme of the intersection when each traffic conflict occurs, which are obtained in the step B, according to each signal phase contained in each timing signal period respectively aiming at each timing signal period, wherein the traffic conflict data comprise the relative position, angle, speed and driving direction of a conflict vehicle when the traffic conflict occurs, and meanwhile, combining corresponding traffic conflict types to obtain the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each signal phase, further obtaining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period, and then entering the step D;
and D, aiming at the target intersection, combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period and the quantity of traffic conflicts occurring in each timing signal period to obtain key factors influencing different types of traffic conflicts and a target timing scheme.
Further, the lane types in the step A comprise straight running, left turning and right turning;
and B, screening a matched time signal period in the step A, when the required time exceeds the maximum time for vehicle passing in the signal period, equally dividing the required time, updating the required time by each divided section, and re-screening the matched time signal period by using the updated required time, wherein the green light passing time in the signal period is used as a condition for screening the matched time signal period, and the signal period corresponding to the green light passing time longer than the required time is selected as the matched time signal period.
Further, in the step B, firstly, a general class of traffic conflict types is judged according to the driving direction of the conflicting vehicles, wherein the general class comprises same-direction conflict, opposite-direction left-turn conflict, cross conflict and corner right-turn conflict;
secondly, further determining the specific type of the current traffic conflict according to the relative position, angle and speed of the conflict vehicle;
the same-direction conflict is a same-direction left-turn conflict, a same-direction right-turn conflict, a same-direction slow-moving conflict and a same-direction lane-changing conflict when the current vehicle decelerates or turns according to the relative position of the previous vehicle;
when the front vehicle turns left, the front vehicle turns left in the same direction;
when the front vehicle turns to the right, the front vehicle conflicts with the right turning in the same direction;
when the front vehicle and the rear vehicle run on the same lane and the front vehicle decelerates, the front vehicle conflicts with the rear vehicle in the same direction;
when the current vehicle changes lanes to the left lane or the right lane, the lane change conflict is in the same direction;
the opposite left-turn conflict is that the vehicles turn left on any lane at the intersection, and the straight-going vehicles on the opposite lane are in danger of side collision;
the cross conflict is the danger that the main road vehicle generates rear-end collision or side collision when the branch road vehicle turns or passes through an intersection, and the specific types comprise right branch road vehicle-coming right-turn same-direction cross conflict, right branch road vehicle-coming left-turn opposite-direction cross conflict, left branch road vehicle-coming right-turn opposite-direction cross conflict, left branch road vehicle-coming left-turn same-direction cross conflict, right branch road vehicle-coming straight cross conflict and left branch road vehicle-coming straight cross conflict;
the right-turn collision at the corner is the danger of rear-end collision or opposite collision of normally running vehicles when the vehicles of the main road or the branch road turn right, and the specific types comprise right-turn opposite collision and right-turn same-direction collision.
Further, in the step C, the number of traffic conflicts occurring at the same position of different entrance points in the intersection within the same preset specified type time is recorded, and geometric figures with different colors and different sizes are used for representing the spatial distribution map of the traffic conflicts of different traffic conflict types occurring at the intersection, so as to obtain the spatial distribution characteristics of the traffic conflicts;
and calculating the average value of the number of traffic conflicts in different signal phases in all the time-matching signal periods, and obtaining the time distribution maps of the different signal phases by using the average value.
Further, in the step D, a collision prediction model is established by using poisson regression or negative binomial regression with the number of traffic collisions occurring in each timing signal period and the number of traffic collisions occurring in each signal phase in the current timing signal period as dependent variables, and key factors affecting different types of traffic collisions are analyzed by the collision prediction model.
Further, according to the key factors influencing different types of traffic conflicts obtained in the step D, when signal configuration is carried out, firstly, the full red phase of a signal lamp at an intersection is cleared, and after the signal phase, the full red phase time is prolonged by combining the number of traffic conflicts at the entrance;
secondly, combining the traffic conflict types of the traffic conflicts occurring in each signal phase and the time distribution characteristics and the space distribution characteristics of different traffic types, shortening or prolonging the signal timing time and updating the signal timing scheme.
Another aspect of the present invention provides an intersection timing system based on traffic conflict analysis, including:
one or more processors;
a memory storing executable instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising performing the procedures of the aforementioned cross-timing method.
Another aspect of the present invention provides a computer-readable medium storing software comprising instructions executable by one or more computers, the instructions, when executed by the one or more computers, performing the operations of any one of the aforementioned intersection timing methods.
Another aspect of the present invention provides an intersection timing device based on traffic conflict analysis, including:
the module is used for aiming at a plurality of corresponding road inlets of a target intersection, obtaining the maximum queuing length of each road inlet based on historical traffic data, screening the road inlet with the maximum queuing length value in the target intersection as a road inlet to be identified, obtaining the required time for all the queued vehicles of the road inlet to be identified to continuously enter the intersection according to the queuing length of the road inlet to be identified, screening signal cycles in each signal timing scheme in the historical traffic data according to the required time, and screening out the signal cycles with the green light time length larger than the required time under all the same lane types as the timing signal cycles;
a module, which is used for respectively aiming at each timing signal period, obtaining the quantity of traffic conflicts at each entrance in each timing signal period and the relative positions, angles, speeds and driving directions of conflicting vehicles when the traffic conflicts occur based on historical traffic data in the same preset specified type time period, and determining the traffic conflict type according to the quantity of the traffic conflicts and the relative positions, angles, speeds and driving directions of the conflicting vehicles, namely obtaining the traffic conflicts occurring at the target intersection under each timing signal period and the corresponding traffic conflict type;
a module, configured to extract traffic flow data, road geometric design feature data, traffic conflict data, and a signal timing scheme at the intersection at each occurrence of a traffic conflict, which are obtained in step B, for each timing signal period according to each signal phase included in the timing signal period, where the traffic conflict data includes a relative position, an angle, a speed, and a driving direction of a conflicting vehicle at the occurrence of a traffic conflict, and at the same time, obtain time distribution features and space distribution features of different traffic conflict types at each signal phase in combination with a corresponding traffic conflict type, and further obtain time distribution features and space distribution features of different traffic conflict types at each timing signal period;
and the module is used for obtaining key factors influencing different types of traffic conflicts and a target timing scheme by combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period and the quantity of the traffic conflicts in each timing signal period.
Compared with the prior art, the intersection signal timing method based on traffic conflict analysis provided by the invention has the advantages that compared with the traditional signal timing scheme only considering traffic flows in different directions, the intersection signal timing method based on traffic conflict analysis provided by the invention is combined with traffic conflict analysis on the basis of considering traffic volume, and the intersection signal timing scheme based on traffic safety is provided by the invention, so that the traffic safety environment of an intersection can be further improved on the premise of ensuring traffic efficiency.
Drawings
FIG. 1 is a flow chart of an intersection timing method in an exemplary embodiment of the invention;
fig. 2 is a schematic intersection diagram of an exemplary embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
In the exemplary flow shown in fig. 1, the traffic conflicts occurring at the target intersection are identified, and all signal timing schemes are screened to obtain a target signal timing scheme meeting the traffic safety environment, which is described in more detail below with reference to fig. 1 and fig. 2, where, in the exemplary flow shown in fig. 1, the target intersection sequentially executes the signal timing schemes within a historical time period to generate historical traffic data in each corresponding signal period, and executes the following steps:
step A, aiming at a plurality of access ports corresponding to a target intersection, obtaining the maximum queuing length of each access port based on historical traffic data, screening the access port with the maximum queuing length value in the target intersection as an access port to be identified, obtaining the required time for all queued vehicles at the access port to be identified to continuously enter the intersection according to the queuing length of the access port to be identified, screening signal periods in each signal timing scheme in the historical traffic data according to the required time, screening signal periods with the green light duration longer than the required time under all the same lane types as a timing signal period, wherein the same lane types are shown in figure 2 and comprise straight lanes, left-turning lanes and right-turning lanes, and when the timing signal period is screened, when the required time exceeds the maximum vehicle passing duration in the signal period, the required time is evenly divided, updating the required time by each equally divided section, re-screening the timing signal period by the updated required time, wherein the green light passing time in the signal period is taken as the condition for screening the timing signal period, the signal period corresponding to the green light passing time longer than the required time is selected as the timing signal period, and then, the step B is carried out;
step B, respectively aiming at each timing signal cycle, in the same preset specified type time period, wherein the same preset specified type time period is an execution process of each timing signal cycle, and in the same time period on different dates, such as in the execution of the same timing signal cycle, based on historical traffic data, the traffic conflict quantity of each access port in each timing signal cycle and the relative position, angle, speed and driving direction of conflicting vehicles when traffic conflict occurs are obtained, and the traffic conflict type is determined according to the traffic conflict quantity, namely the traffic conflict occurring at the target intersection under each timing signal cycle and the corresponding traffic conflict type are obtained;
under the premise of not considering the conflict between pedestrians and vehicles and the secondary conflict, firstly, judging the general classes of traffic conflict types according to the driving directions of conflicting vehicles, wherein the general classes comprise the same-direction conflict, the opposite-direction left-turn conflict, the cross conflict and the corner right-turn conflict;
secondly, further determining the specific type of the current traffic conflict according to the relative position, angle and speed of the conflict vehicle;
the same-direction conflict is a same-direction left-turn conflict, a same-direction right-turn conflict, a same-direction slow-moving conflict and a same-direction lane-changing conflict when the current vehicle decelerates or turns according to the relative position of the previous vehicle;
when the front vehicle turns left, the front vehicle turns left in the same direction;
when the front vehicle turns to the right, the front vehicle conflicts with the right turning in the same direction;
when the front vehicle and the rear vehicle run on the same lane and the front vehicle decelerates, the front vehicle conflicts with the rear vehicle in the same direction;
when the current vehicle changes lanes to the left lane or the right lane, the lane change conflict is in the same direction;
the opposite left-turn conflict is that the vehicles turn left on any lane at the intersection, and the straight-going vehicles on the opposite lane are in danger of side collision;
the cross conflict is the danger that the main road vehicle generates rear-end collision or side collision when the branch road vehicle turns or passes through an intersection, and the specific types comprise right branch road vehicle-coming right-turn same-direction cross conflict, right branch road vehicle-coming left-turn opposite-direction cross conflict, left branch road vehicle-coming right-turn opposite-direction cross conflict, left branch road vehicle-coming left-turn same-direction cross conflict, right branch road vehicle-coming straight cross conflict and left branch road vehicle-coming straight cross conflict;
the right-turn conflict at the corner is that when the vehicles of the main road or the branch road turn right, the vehicles running normally are in danger of rear-end collision or opposite collision, the specific types comprise right-turn opposite collision and right-turn same-direction collision, and then the step C is carried out;
step C, extracting traffic flow data, road geometric design characteristic data, traffic conflict data and a signal timing scheme of the intersection when each traffic conflict occurs, which are obtained in the step B, according to each signal phase contained in each timing signal period respectively aiming at each timing signal period, wherein the traffic conflict data comprise the relative position, angle, speed and driving direction of a conflict vehicle when the traffic conflict occurs, and meanwhile, combining corresponding traffic conflict types to obtain the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each signal phase, so as to further obtain the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period;
recording the number of traffic conflicts at the same position of different access ports in the intersection within the same preset specified type time, and representing the spatial distribution map of the traffic conflicts of different traffic conflict types at the intersection by using geometric figures with different colors and different sizes to obtain the spatial distribution characteristics of the traffic conflicts;
calculating the average value of the number of traffic conflicts in different signal phases in all timing signal periods, obtaining the time distribution map of the different signal phases by using the average value, and then entering the step D;
and D, aiming at the target intersection, combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each time distribution signal period and the quantity of traffic conflicts occurring in each time distribution signal period, and establishing a conflict prediction model by adopting Poisson regression or negative binomial regression as follows:
taking the number of traffic conflicts in the whole time-distribution signal period as a dependent variable y, if the average value of the number of the traffic conflicts is equal to the variance, the number of the traffic conflicts is considered to be in accordance with the characteristics of Poisson distribution, and a regression model is established as follows:
log(E(Y|X))＝b X (1)
if the average value of the dependent variable y is smaller than the variance, the number of the traffic conflicts is considered to be in accordance with the characteristics of the Poisson distribution, and a regression model is established as follows:
log(E(Y|X))＝b X+ε (2)
wherein, X is a vector and refers to factors influencing the occurrence number of traffic conflicts, such as traffic volume, vehicle speed, vehicle distance, signal duration and the like, epsilon is an error caused by expressing individual heterogeneity and unobservable part in a negative binomial regression model, and the influence of each factor on the occurrence number of traffic conflicts in the whole time-distribution signal period can be analyzed by adopting stata software to solve the value of the coefficient b in the formulas (1) and (2);
then, taking the number of traffic conflicts occurring in each phase in the time-sharing signal period as a dependent variable y, modeling and solving the coefficient value of each factor in the model by adopting the same method, and analyzing the influence of each factor on the number of traffic conflicts occurring in each phase in the time-sharing signal period;
obtaining key factors influencing different types of traffic conflicts through a conflict prediction model, and then carrying out signal timing to obtain a target timing scheme;
firstly, clearing the all red phase of a signal lamp at an intersection, and setting and prolonging the all red phase time by combining the number of traffic conflicts at an entrance after the signal phase;
secondly, combining the traffic conflict types of the traffic conflicts occurring in each signal phase and the time distribution characteristics and the space distribution characteristics of different traffic types, shortening or prolonging the signal timing time and updating the signal timing scheme.
According to the embodiment disclosed by the invention, the invention also provides an intersection timing system based on traffic conflict analysis, which comprises the following components:
one or more processors;
a memory storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising performing the process of the cross timing method of any of the preceding embodiments.
Particularly preferably, the aforementioned processor is a processor of a computer system, including but not limited to an ARM-based embedded processor, an X86-based microprocessor, or a type-based processor.
The memory is arranged as a carrier that can store data, typically comprising RAM and ROM.
It should be understood that the computer system may communicate with each subsystem through the bus to obtain the corresponding parameters, so as to implement the control of the operation of each subsystem.
In alternative embodiments, the invention may also be configured to be implemented as follows:
an intersection timing device based on traffic conflict analysis, comprising:
the module is used for aiming at a plurality of corresponding road inlets of a target intersection, obtaining the maximum queuing length of each road inlet based on historical traffic data, screening the road inlet with the maximum queuing length value in the target intersection as a road inlet to be identified, obtaining the required time for all the queued vehicles of the road inlet to be identified to continuously enter the intersection according to the queuing length of the road inlet to be identified, screening signal cycles in each signal timing scheme in the historical traffic data according to the required time, and screening out the signal cycles with the green light time length larger than the required time under all the same lane types as the timing signal cycles;
a module, which is used for respectively aiming at each timing signal period, obtaining the quantity of traffic conflicts at each entrance in each timing signal period and the relative positions, angles, speeds and driving directions of conflicting vehicles when the traffic conflicts occur based on historical traffic data in the same preset specified type time period, and determining the traffic conflict type according to the quantity of the traffic conflicts and the relative positions, angles, speeds and driving directions of the conflicting vehicles, namely obtaining the traffic conflicts occurring at the target intersection under each timing signal period and the corresponding traffic conflict type;
a module, configured to extract traffic flow data, road geometric design feature data, traffic conflict data, and a signal timing scheme at the intersection at each occurrence of a traffic conflict, which are obtained in step B, for each timing signal period according to each signal phase included in the timing signal period, where the traffic conflict data includes a relative position, an angle, a speed, and a driving direction of a conflicting vehicle at the occurrence of a traffic conflict, and at the same time, obtain time distribution features and space distribution features of different traffic conflict types at each signal phase in combination with a corresponding traffic conflict type, and further obtain time distribution features and space distribution features of different traffic conflict types at each timing signal period;
and the module is used for obtaining key factors influencing different types of traffic conflicts by combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each time distribution signal period and the quantity of the traffic conflicts in each time distribution signal period.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (9)
1. An intersection timing method based on traffic conflict analysis is used for identifying traffic conflicts occurring at a target intersection, screening all signal timing schemes and obtaining the signal timing schemes meeting traffic safety environment, and is characterized in that the target intersection sequentially executes the target signal timing schemes in a historical time period to generate historical traffic data under each corresponding signal period, and the following steps are executed:
step A, aiming at a plurality of access ports corresponding to a target intersection, obtaining the maximum queuing length of each access port based on historical traffic data, screening the access port with the maximum queuing length value in the target intersection as an access port to be identified, obtaining the required time for all queued vehicles of the access port to be identified to continuously enter the intersection according to the queuing length of the access port to be identified, screening signal cycles in each signal timing scheme in the historical traffic data according to the required time, screening signal cycles with the green light time length larger than the required time under all the same lane types as a timing signal cycle, and then entering step B;
step B, respectively aiming at each timing signal cycle, in the same preset specified type time period, based on historical traffic data, obtaining the number of traffic conflicts at each entrance in each timing signal cycle, and the relative positions, angles, speeds and driving directions of conflicting vehicles when the traffic conflicts occur, determining the traffic conflict type according to the number, the traffic conflicts occurring at the target intersection under each timing signal cycle and the corresponding traffic conflict type, and then entering step C;
step C, extracting traffic flow data, road geometric design characteristic data, traffic conflict data and a signal timing scheme of the intersection when each traffic conflict occurs, which are obtained in the step B, according to each signal phase contained in each timing signal period respectively aiming at each timing signal period, wherein the traffic conflict data comprise the relative position, angle, speed and driving direction of a conflict vehicle when the traffic conflict occurs, and meanwhile, combining corresponding traffic conflict types to obtain the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each signal phase, further obtaining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period, and then entering the step D;
and D, aiming at the target intersection, combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period and the quantity of traffic conflicts occurring in each timing signal period to obtain key factors influencing different types of traffic conflicts and a target timing scheme.
2. The intersection timing method based on traffic conflict analysis according to claim 1, wherein the lane types in the step a comprise straight running, left turning and right turning;
and B, screening a matched time signal period in the step A, when the required time exceeds the maximum time for vehicle passing in the signal period, equally dividing the required time, updating the required time by each divided section, and re-screening the matched time signal period by using the updated required time, wherein the green light passing time in the signal period is used as a condition for screening the matched time signal period, and the signal period corresponding to the green light passing time longer than the required time is selected as the matched time signal period.
3. The intersection timing method based on the traffic conflict analysis according to claim 1, wherein in the step B, a general class of traffic conflict types is firstly judged according to the driving directions of the conflicting vehicles, and the general class comprises the same-direction conflict, the conflict of left turn, the conflict of intersection, and the conflict of right turn at a corner;
secondly, further determining the specific type of the current traffic conflict according to the relative position, angle and speed of the conflict vehicle;
the same-direction conflict is a same-direction left-turn conflict, a same-direction right-turn conflict, a same-direction slow-moving conflict and a same-direction lane-changing conflict when the current vehicle decelerates or turns according to the relative position of the previous vehicle;
when the front vehicle turns left, the front vehicle turns left in the same direction;
when the front vehicle turns to the right, the front vehicle conflicts with the right turning in the same direction;
when the front vehicle and the rear vehicle run on the same lane and the front vehicle decelerates, the front vehicle conflicts with the rear vehicle in the same direction;
when the current vehicle changes lanes to the left lane or the right lane, the lane change conflict is in the same direction;
the opposite left-turn conflict is that the vehicles turn left on any lane at the intersection, and the straight-going vehicles on the opposite lane are in danger of side collision;
the cross conflict is the danger that the main road vehicle generates rear-end collision or side collision when the branch road vehicle turns or passes through an intersection, and the specific types comprise right branch road vehicle-coming right-turn same-direction cross conflict, right branch road vehicle-coming left-turn opposite-direction cross conflict, left branch road vehicle-coming right-turn opposite-direction cross conflict, left branch road vehicle-coming left-turn same-direction cross conflict, right branch road vehicle-coming straight cross conflict and left branch road vehicle-coming straight cross conflict;
the right-turn collision at the corner is the danger of rear-end collision or opposite collision of normally running vehicles when the vehicles of the main road or the branch road turn right, and the specific types comprise right-turn opposite collision and right-turn same-direction collision.
4. The intersection timing method based on traffic conflict analysis according to claim 1, wherein in the step C, the number of traffic conflicts occurring at the same position of different entrance roads within the same preset specified type time is recorded, and geometric figures with different colors and different sizes are used to represent the spatial distribution map of the traffic conflicts of different traffic conflict types occurring at the intersection, so as to obtain the spatial distribution characteristics of the traffic conflicts;
and calculating the average value of the number of traffic conflicts in different signal phases in all the time-matching signal periods, and obtaining the time distribution maps of the different signal phases by using the average value.
5. The intersection timing method based on traffic conflict analysis according to claim 1, wherein in the step D, a conflict prediction model is established by using poisson regression or negative binomial regression with the number of traffic conflicts occurring in each timing signal period and the number of traffic conflicts occurring in each signal phase in the current timing signal period as dependent variables, and key factors affecting different types of traffic conflicts are analyzed through the conflict prediction model.
6. The intersection timing method based on traffic conflict analysis according to claim 5, wherein according to the key factors influencing different types of traffic conflicts obtained in the step D, when signal timing is carried out, firstly, the full red phase of a signal lamp at an intersection is cleared, and after the signal phase, the full red phase time is prolonged by combining the number of traffic conflicts occurring at an entrance;
secondly, combining the traffic conflict types of the traffic conflicts occurring in each signal phase and the time distribution characteristics and the space distribution characteristics of different traffic types, shortening or prolonging the signal timing time and updating the signal timing scheme.
7. An intersection timing system based on traffic conflict analysis, comprising:
one or more processors;
a memory storing executable instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
step A, aiming at a plurality of access ports corresponding to a target intersection, obtaining the maximum queuing length of each access port based on historical traffic data, screening the access port with the maximum queuing length value in the target intersection as an access port to be identified, obtaining the required time for all queued vehicles of the access port to be identified to continuously enter the intersection according to the queuing length of the access port to be identified, screening signal cycles in each signal timing scheme in the historical traffic data according to the required time, screening signal cycles with the green light time length larger than the required time under all the same lane types as a timing signal cycle, and then entering step B;
step B, respectively aiming at each timing signal cycle, in the same preset specified type time period, based on historical traffic data, obtaining the number of traffic conflicts at each entrance in each timing signal cycle, and the relative positions, angles, speeds and driving directions of conflicting vehicles when the traffic conflicts occur, determining the traffic conflict type according to the number, the traffic conflicts occurring at the target intersection under each timing signal cycle and the corresponding traffic conflict type, and then entering step C;
step C, extracting traffic flow data, road geometric design characteristic data, traffic conflict data and a signal timing scheme of the intersection when each traffic conflict occurs, which are obtained in the step B, according to each signal phase contained in each timing signal period respectively aiming at each timing signal period, wherein the traffic conflict data comprise the relative position, angle, speed and driving direction of a conflict vehicle when the traffic conflict occurs, and meanwhile, combining corresponding traffic conflict types to obtain the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each signal phase, further obtaining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period, and then entering the step D;
and D, aiming at the target intersection, combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period and the quantity of traffic conflicts occurring in each timing signal period to obtain key factors influencing different types of traffic conflicts and a target timing scheme.
8. A computer-readable medium storing software, the software comprising instructions executable by one or more computers to perform the operations of the intersection timing method of any of claims 1-6 when executed by the one or more computers.
9. Intersection timing device based on traffic conflict analysis, its characterized in that includes:
the module is used for aiming at a plurality of corresponding road inlets of a target intersection, obtaining the maximum queuing length of each road inlet based on historical traffic data, screening the road inlet with the maximum queuing length value in the target intersection as a road inlet to be identified, obtaining the required time for all the queued vehicles of the road inlet to be identified to continuously enter the intersection according to the queuing length of the road inlet to be identified, screening signal cycles in each signal timing scheme in the historical traffic data according to the required time, and screening out the signal cycles with the green light time length larger than the required time under all the same lane types as the timing signal cycles;
a module, which is used for respectively aiming at each timing signal period, obtaining the quantity of traffic conflicts at each entrance in each timing signal period and the relative positions, angles, speeds and driving directions of conflicting vehicles when the traffic conflicts occur based on historical traffic data in the same preset specified type time period, and determining the traffic conflict type according to the quantity of the traffic conflicts and the relative positions, angles, speeds and driving directions of the conflicting vehicles, namely obtaining the traffic conflicts occurring at the target intersection under each timing signal period and the corresponding traffic conflict type;
a module, configured to extract traffic flow data, road geometric design feature data, traffic conflict data, and a signal timing scheme at the intersection at each occurrence of a traffic conflict, which are obtained in step B, for each timing signal period according to each signal phase included in the timing signal period, where the traffic conflict data includes a relative position, an angle, a speed, and a driving direction of a conflicting vehicle at the occurrence of a traffic conflict, and at the same time, obtain time distribution features and space distribution features of different traffic conflict types at each signal phase in combination with a corresponding traffic conflict type, and further obtain time distribution features and space distribution features of different traffic conflict types at each timing signal period;
and the module is used for obtaining key factors influencing different types of traffic conflicts and a target timing scheme by combining the time distribution characteristics and the space distribution characteristics of different traffic conflict types in each timing signal period and the quantity of the traffic conflicts in each timing signal period.
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