本文關(guān)鍵詞： 交通路口 車(chē)輛碰撞預(yù)警 道路網(wǎng)格 速度建議　出處：《大連理工大學(xué)》2014年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：城市交通系統(tǒng)中,交通路口是一個(gè)重要節(jié)點(diǎn)。交通路口由于車(chē)流量大,交通狀況復(fù)雜,成為了交通安全事故的高發(fā)地,嚴(yán)重地影響了車(chē)輛的通行安全和車(chē)輛通過(guò)效率的提高。因此,交通路口的安全成為了一個(gè)亟待解決的問(wèn)題。 隨著無(wú)線(xiàn)通信技術(shù)和定位技術(shù)的發(fā)展,車(chē)-路之間進(jìn)行安全可靠的通信在今天已成為可能。車(chē)路協(xié)同已成為解決交通路口安全通行問(wèn)題的主要技術(shù)手段。通過(guò)車(chē)路協(xié)同技術(shù)構(gòu)造的車(chē)輛安全預(yù)警系統(tǒng)能夠保證交通路口中車(chē)輛的安全,同時(shí)還能提高交通路口的通行效率。 本文基于車(chē)路協(xié)同技術(shù),提出了交通路口基于道路時(shí)空網(wǎng)格的車(chē)輛碰撞預(yù)警方法。我們將交通路口劃分為多個(gè)時(shí)空網(wǎng)格,路側(cè)終端根據(jù)車(chē)輛的當(dāng)前運(yùn)動(dòng)狀態(tài)模擬車(chē)輛的行駛軌跡,確定車(chē)輛在不同時(shí)刻占用的網(wǎng)格數(shù)。若在未來(lái)某一時(shí)刻存在不同車(chē)輛占用相同的網(wǎng)格,那么碰撞就會(huì)發(fā)生。在判斷出車(chē)輛的潛在碰撞后,系統(tǒng)還要根據(jù)車(chē)輛的當(dāng)前運(yùn)動(dòng)狀態(tài),給出碰撞車(chē)輛的安全速度建議。 為了更加精確地預(yù)測(cè)車(chē)輛的運(yùn)行軌跡,本文還提出了基于擴(kuò)展卡爾曼濾波的車(chē)輛位姿估計(jì)精確度提高方法。通過(guò)不斷地進(jìn)行預(yù)測(cè)和更新來(lái)提高車(chē)輛位姿估計(jì)的精度,更加準(zhǔn)確的地估計(jì)車(chē)輛的運(yùn)行軌跡,進(jìn)而提高安全預(yù)警的準(zhǔn)確性。 為了對(duì)算法進(jìn)行驗(yàn)證,我們?cè)谟行盘?hào)和無(wú)信號(hào)交通路口環(huán)境下對(duì)算法進(jìn)行了仿真實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明在GPS數(shù)據(jù)存在誤差的情況下,提出的算法能夠?qū)Υ蟛糠峙鲎矝_突進(jìn)行預(yù)警,但存在遺漏檢測(cè)的情況；在GPS數(shù)據(jù)經(jīng)過(guò)平滑處理,車(chē)輛位姿估計(jì)較為精確的情況下,算法能夠有效地檢測(cè)出交通路口的碰撞,并提出精確的速度建議,具有較高的準(zhǔn)確性。
[Abstract]:In the urban traffic system, traffic intersection is an important node. Because of the heavy traffic flow and complicated traffic situation, the intersection has become a high incidence of traffic safety accidents. It seriously affects the safety of vehicles and the improvement of the efficiency of traffic passage. Therefore, the safety of traffic junctions becomes a problem to be solved urgently. With the development of wireless communication technology and positioning technology, The safe and reliable communication between vehicles and roads has become possible today. Vehicle-road coordination has become the main technical means to solve the problem of safe passage at traffic junctions. The vehicle safety early warning system can be constructed by means of vehicle-road coordination technology. Enough to ensure the safety of traffic vehicles, At the same time, it can improve the efficiency of traffic intersection. In this paper, based on the vehicle-road cooperation technology, a vehicle collision early warning method based on the road space-time grid is proposed, and the intersection is divided into several space-time grids. According to the current moving state of the vehicle, the road side terminal simulates the vehicle's moving track and determines the number of grids occupied by the vehicle at different times. If there are different vehicles occupying the same grid at a certain time in the future, After judging the potential collision of the vehicle, the system should give the safety speed suggestion according to the current motion state of the vehicle. In order to predict vehicle trajectory more accurately, this paper also proposes a method to improve the accuracy of vehicle pose estimation based on extended Kalman filter, which can improve the accuracy of vehicle pose estimation by continuous prediction and updating. More accurate estimation of vehicle trajectory, and then improve the accuracy of safety warning. In order to verify the algorithm, the algorithm is simulated at signalized and unsignalized traffic junctions. The experimental results show that there are errors in the GPS data. The proposed algorithm can warn most collision conflicts, but there exists the situation of missing detection. When the GPS data is smoothed and the vehicle pose estimation is more accurate, the algorithm can effectively detect the collision at traffic junctions. And put forward the accurate speed suggestion, has the higher accuracy.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：U491

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