Non-signalized intersection vehicle conflict early warning method based on steering intention prediction

Abstract

The invention discloses a non-signalized intersection vehicle conflict early warning method based on steering intention prediction. The method comprises the steps of numbering each entrance, and dividing a conflict area in a non-signalized intersection; establishing an improved vehicle conflict table in combination with the relative motion relation of the vehicles on the lanes in the conflict area; enabling the vehicle to interact with the roadside unit, and performing steering intention prediction by combining road information and own vehicle information; generating expected driving path information based on the steering intention prediction information, and sending the expected driving path information to the roadside unit; according to the expected driving path, carrying out space conflict judgment based on the vehicle conflict table; and carrying out time conflict detection based on an improved PET method on the vehicles with the space conflicts, if no conflict exists, ending early warning, and if the conflict exists, outputting final early warning information. According to the invention, under the technical background of vehicle-road cooperation, steering intention prediction is taken as an entry point, accurate and efficient traffic conflict early warning of the non-signalized intersection can be carried out, and the method has a very high application value.

Description

technical field [0001] The invention belongs to the field of vehicle-road coordination, and in particular relates to a conflict warning method for unsignalized intersections based on steering intention prediction. Background technique [0002] As an important traffic infrastructure, the road traffic network has an impact on traffic safety that cannot be ignored. In the road network, the intersection safety problem is particularly prominent. The proportion of accidents occurring at intersections reaches 59.7%, and the proportion of accidents at unsignalized intersections is as high as 25%-30%. [0003] Unsignalized intersections lack signal control equipment, the right of way is relatively vague, and the traffic rules cannot be accurately implemented. Driving decisions mainly rely on the driver's observation and judgment of the surrounding environment, which has a high risk of traffic accidents. In addition, the scene traffic in various specific working environments is devel...

AI Technical Summary

Problems solved by technology

[0003] Unsignalized intersections lack signal control equipment, the right of way is relatively vague, and the rules of passage cannot be accurately implemented. Driving decisions mainly rely on the driver's observation and judgment of the surrounding environment, which has a high risk of traffic accidents

In addition, the scene traffic in various specific working environments is developing rapidly, such as airport scenes, industrial parks, campus environments, etc. There are often many unsignalized intersections in such scene environments, and there is a high risk of conflict

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