CN-116682285-B - Intersection pedestrian safety assessment method based on space occupation prediction of dead zone of right-turning inner wheel difference of truck

CN116682285BCN 116682285 BCN116682285 BCN 116682285BCN-116682285-B

Abstract

The invention discloses an intersection pedestrian safety assessment method based on truck right-turning inner wheel difference dead zone occupation space prediction, which comprises the steps of constructing a truck radial distribution model and a steering angle distribution model, predicting truck movement reachable positions in a time interval T, predicting occupied spaces of truck right-turning inner wheel difference dead zones by the truck movement reachable positions, constructing a pedestrian radial distribution model and a steering angle distribution model, predicting pedestrian movement reachable positions in the time interval T, predicting pedestrian movement occupied spaces by the pedestrian movement reachable positions, predicting pedestrian occurrence in the truck inner wheel difference dead zones based on the truck right-turning inner wheel difference dead zones occupation spaces and the pedestrian movement occupied spaces, and assessing truck-pedestrian collision risks based on the truck right-turning inner wheel difference dead zones. The invention reduces the potential safety hazard caused by slow response speed of the driver or low sensitivity of the sensor.

Inventors

CHEN LONG
WANG XINYE
XIONG XIAOXIA
LI DAICHENG
LIU QINGCHAO
CAI YINGFENG
WANG HAI

Assignees

江苏大学

Dates

Publication Date: 20260512
Application Date: 20230616

Claims (7)

1. A pedestrian safety assessment method for an intersection based on space occupation prediction of a dead zone in a right-turning inner wheel of a truck is characterized by comprising the following steps: constructing a truck radial distribution model and a steering angle distribution model, and predicting the reachable position of the truck in a time interval T from the current moment T; constructing a pedestrian radial distribution model and a steering angle distribution model, and predicting the pedestrian movement reachable position in a time interval T from the current moment T; evaluating the collision risk of the truck-pedestrian based on the dead zone of the right turning inner wheel difference of the truck based on the occupied space of the dead zone of the right turning inner wheel difference of the truck and the occupied space of the pedestrian movement; The truck-pedestrian collision risk probability is as follows: Wherein S n H represents the intersection of the occupied space S of the right-turning inner wheel difference dead zone of the truck and the occupied space H of the pedestrian movement, x ' i is any point in the intersection area, P t (D′ i ,θ′ i I v t ,a t ,ψ′ t ) represents the probability that x' i is occupied by the truck after the time interval T, P pt (D′ pi ,Δθ′ pi I v pt ) represents the probability that x ' i is occupied by the pedestrian after the time interval T, D' i 、θ′ i is the radial distance and steering angle of x ' i relative to the truck position at the current moment, v t represents the speed of the truck at the current moment, a t represents the acceleration of the truck at the current moment, ψ' t is the yaw angular velocity of the truck at the current moment, D ' pi 、Δθ′ pi is the radial distance and steering angle of x' i relative to the pedestrian position at the current moment T, and v pt is the pedestrian speed corresponding to the current moment T; the probability model that the reachable position of freight train motion satisfies is: P t (D actualt ,θ actualt I v t ,a t ,ψ′ t )＝P(D actualt I v t ,a t )P(θ actualt I v t ,a t ,ψ′ t ) Wherein D actualt represents the true value of the travel distance of the truck from the current time T within the time interval T, theta actualt represents the true value of the steering angle of the truck from the current time T within the time interval T, P (D actualt I v t ,a t ) represents the truck radial distribution model, and P (theta actualt I v t ,a t ,ψ′ t ) represents the truck steering angle distribution model; the inner wheel difference dead zone is defined as an area surrounded by the tracks of front and rear wheels on the inner side of the truck in the time interval T, the inner side edge of the truck at the current moment and the inner side edge of the truck at the accessible position; the occupation space of the dead zone of the right turning inner wheel difference of the truck is a set of position points with probability not less than a minimum probability threshold value in the dead zone: S= { x' i I p t (x′ i )≥P min } Wherein P min is a minimum probability threshold, P t (x′ i ) represents the probability that x' i is located in the truck travel blind zone, and: Wherein, the Is 0-1 discriminant function, when the point x' i is positioned in the inner wheel difference blind area If the function value is 1, otherwise, 0;D ' 2 、θ′ 2 is taken to represent the radial distance and steering angle of the truck position x' 2 relative to the truck position at the current moment T after the time interval T, and the truck reachable position set A t ＝{x′ i I P t (D′ i ,θ′ i I v t ,a t ,ψ′ t )≥P min .
2. The intersection pedestrian safety assessment method according to claim 1, wherein the truck radial distribution model is: Wherein K l is a normalization constant, deltaD t is the deviation between the estimated value D t of the travel distance of the truck in the time interval T and the true value, and sigma l is the deviation distance between the maximum speed deviation and the maximum acceleration deviation in the time interval T.
3. The intersection pedestrian safety assessment method according to claim 1, wherein the truck steering angle distribution model is: Wherein K m is a normalization constant, sigma m represents the maximum value of the deviation of the steering angle of the truck in the time interval T, and delta theta t represents the deviation of the estimated value theta t of the steering angle in the time interval T from a true value.
4. The intersection pedestrian safety assessment method according to claim 1, wherein the probability model that the pedestrian movement reachable position is satisfied is: P pt (D pactualt ,Δθ pt I v pt )＝P(D pactualt I v pt )P(Δθ pt ) Wherein D pactualt represents the true value of the pedestrian movement distance in the time interval T, delta theta pt is the difference value of the movement state angles corresponding to the next time t+1 and the current time T of the pedestrian, P (D pactualt I v pt ) represents the radial distribution model of the pedestrian, and P (delta theta pt ) represents the steering angle distribution model of the pedestrian.
5. The intersection pedestrian safety assessment method according to claim 4, wherein the pedestrian radial distribution model is: Wherein K p is a normalization constant, sigma p represents the maximum deviation of the displacement of the pedestrian in the time interval T, and delta D pt represents the deviation of the true value and the estimated value of the movement distance in the time interval T.
6. The intersection pedestrian safety assessment method according to claim 4, wherein the pedestrian steering angle distribution model is: Where K q is a normalization constant and σ q represents the maximum steering angle of the pedestrian over the time interval T.
7. The intersection pedestrian safety assessment method according to claim 4, wherein the pedestrian movement reachable position prediction pedestrian movement occupied space is a set of position points where a pedestrian reachable position probability is not less than a minimum probability threshold: H= { x' i i P pt (D′ pi ,Δθ′ pi i v pt )≥P min }.

Description

Intersection pedestrian safety assessment method based on space occupation prediction of dead zone of right-turning inner wheel difference of truck Technical Field The invention belongs to the technical field of intelligent driving technology and traffic safety evaluation, and particularly relates to an intersection pedestrian safety evaluation method based on space occupation prediction of a dead zone of a right-turning inner wheel of a truck. Background With the continuous development of Chinese economy, the domestic automobile conservation amount is continuously increased, and the traffic accident rate is increased. The accident rate caused by the visual field blind area of the driver is high, particularly, for vehicles with high and large vehicle types (such as a soil-slag vehicle, a cement tank car, a large bus, a truck and the like), the vehicle blind area is obviously larger than that of a small vehicle, the large vehicle can not travel along the track of the front wheel due to the rear wheel in the right turning process, the condition that the track of the front and rear wheels on the right side is not in an arc line often occurs, and the area surrounded by the track of the front and rear wheels is the vehicle internal differential blind area, which is one of serious potential safety hazards in the current road traffic. When a large-sized vehicle turns right, a driver cannot see pedestrians and non-motor vehicles on a non-motor vehicle lane in a rearview mirror, the driver can safely turn right by mistake, and after the driver bumps against the non-motor vehicle or the pedestrians, no deceleration braking measures are taken, the victim is directly involved under the wheels and rolled, so that the large-sized vehicle is a main cause of traffic accidents. Although relevant regulations related to view obstruction angles exist in China, the view obstruction angles can only be ensured to a certain extent. The current domestic ways of solving the dead zone of trucks are mainly focused on the following types: (1) The blind area detection device is adopted to realize detection and identification of pedestrians in the blind area when the truck turns, and the alarm device is installed; (2) The blind area pedestrian protection device is adopted, a driver does not need to pay attention to and react, and safety protection can be realized on pedestrians in the blind area at the first time; (3) An improved blind area viewing mirror is adopted for observing blind areas with different visual angles; (4) A blind area monitoring device is adopted to realize real-time monitoring of the blind area; (5) Adopting a blind area reminding device to remind pedestrians and non-motor vehicles of keeping a safe distance with a truck body in time; the effectiveness of the real-time early warning methods is mostly dependent on the sensitivity of the sensor or the response speed of the driver, and the traffic safety problem caused by the blind area of the driver's visual field cannot be effectively improved. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a pedestrian safety assessment method for an intersection based on space occupation prediction of a dead zone of a right-turning inner wheel difference of a truck, which reduces potential safety hazards caused by low reaction speed of a driver or low sensitivity of a sensor. The present invention achieves the above technical object by the following means. A pedestrian safety assessment method for intersections based on space occupation prediction of dead zones in right turning of trucks comprises the following steps: constructing a truck radial distribution model and a steering angle distribution model, and predicting the reachable position of the truck in a time interval T from the current moment T; constructing a pedestrian radial distribution model and a steering angle distribution model, and predicting the pedestrian movement reachable position in a time interval T from the current moment T; evaluating the collision risk of the truck-pedestrian based on the dead zone of the right turning inner wheel difference of the truck based on the occupied space of the dead zone of the right turning inner wheel difference of the truck and the occupied space of the pedestrian movement; The truck-pedestrian collision risk probability is as follows: Wherein S n H represents the intersection of the occupied space S of the right-turning inner wheel difference dead zone of the truck and the occupied space H of the pedestrian movement, x 'i is any point in the intersection area, P t(D′i,θ′i i v t,at,ψ′t) represents the probability that x' i is occupied by the truck after the time interval T, P pt(D′pi,Δθ′pi i v pt) represents the probability that x 'i is occupied by the pedestrian after the time interval T, D' i、θ′i is the radial distance and steering angle of x 'i relative to the truck position at the current moment, v t represents the speed of the truck a