您的位置：山东大学 -> 科技期刊社 -> 《山东大学学报（工学版）》

山东大学学报 (工学版) ›› 2022, Vol. 52 ›› Issue (6): 1-13.doi: 10.6040/j.issn.1672-3961.0.2022.172

• 交通工程—智慧交通专题 •    下一篇

互通式立交风险冲突识别与预警综述

吴建清1(),王其峰2,厉周缘1,田源1,*()   

  1. 1. 山东大学齐鲁交通学院, 山东 济南 250002
    2. 山东高速集团有限公司, 山东 济南 250000
  • 收稿日期:2022-05-02 出版日期:2022-12-20 发布日期:2022-12-23
  • 通讯作者: 田源 E-mail:jianqingwusdu@sdu.edu.cn;yuantian@sdu.edu.cn
  • 作者简介:吴建清, 1988年11月出生, 工学博士, 教授, 博士生导师, 齐鲁青年学者。美国交通工程师协会(ITE) 会员, 美国土木工程师学会(ASCE) 会员, 电气和电子工程师协会(IEEE) 会员。专业方向为交通信息系统及控制。开发了世界上首个基于路侧激光雷达的车路协同系统, 在AAP、IEEE ITSM、JSR、TRR、TRC、TRF等著名期刊发表科技论文30余篇。担任交通及智能监测领域内15个知名期刊的审稿专家。先后获ITE科技进步一等奖5项, TRB杰出论文奖1项, 美国联邦公路管理局科技奖1项。
    吴建清(1988—)，男，山东烟台人，教授，博士生导师，主要研究方向为智慧交通。E-mail：jianqingwusdu@sdu.edu.cn
  • 基金资助:
    国家自然科学基金项目(52002224);山东重点研发计划重大科技创新工程项目(2020CXGC010118)

Review of risk conflict identification and early warning for interchange

Jianqing WU1(),Qifeng WANG2,Zhouyuan LI1,Yuan TIAN1,*()   

  1. 1. School of Qilu Transportation, Shandong University, Jinan 250002, Shandong, China
    2. Shandong Hi-speed Group Co., Ltd., Jinan 250000, Shandong, China
  • Received:2022-05-02 Online:2022-12-20 Published:2022-12-23
  • Contact: Yuan TIAN E-mail:jianqingwusdu@sdu.edu.cn;yuantian@sdu.edu.cn

RichHTML

30

PDF (PC)

856

摘要：

围绕数据采集、交通冲突相关指标及冲突风险预警方法, 从适用范围、工作原理及优缺点方面, 介绍风险冲突识别与预警技术的各个环节及国内外相关研究成果。基于实时多传感器数据融合及路侧预警方式, 对城市互通式立交风险冲突识别与预警技术的未来发展趋势及实际应用做出展望。

关键词: 城市互通式立交, 分合流区, 数据采集, 交通冲突, 风险预警

Abstract:

This review focused on three parts with data collection method, related indexes of traffic conflict and conflict risk early warning method. Each step of the technology was introduced from range of application, working principle, advantages and disadvantages.Based on the real-time multi-sensor data fusion and roadside early warning method, the future development trend and practical application of risk conflict identification and early warning technology for urban interchanges were prospected.

Key words: urban interchange, merging and diversion area, data collection, traffic conflict, risk early warning

中图分类号: 

  • U491

图1

基于雷视融合的实时检测方法"

图2

空间/时间交通冲突指标分类"

表1

交通冲突指标优缺点"

冲突指标分类 典型指标 优点 缺点 适用环境
距离度量指标 PSD, 冲突距离, 非完全制动距离指标 相对于时间度量指标计算简单 距离和速度同时很大或很小时, 冲突可能并不严重 应用较少
速度度量指标 冲突速度
时间度量指标 TTC及其衍生指标、PET及其衍生指标 可以计算各时刻车辆之间的冲突过程 对于有角度的变道冲突车辆识别困难 适用于具有相近行驶轨迹的冲突
其他相关指标 碰撞能量大小, 结合电子技术指标 更为符合复杂的实际情况 需要更多的数据支撑 车路协同环境

图3

冲突风险预警技术类别"

1 《中国公路学报》编辑部. 中国交通工程学术研究综述·2016[J]. 中国公路学报, 2016, 154 (6): 1- 161.
Editorial Department of China Journal of Highway and Transport . Review on China's traffic engineering research progress: 2016[J]. China Journal of Highway and Transport, 2016, 154 (6): 1- 161.
2 任福田. 交通工程学[M]. 北京: 人民交通出版社, 2017: 1- 347.
3 Transportation Research Board . Manual highway capacity (HCM2010)[M]. Washington: National Research Council, Transportation Research Board, 2010: 1- 110.
4 丘积, 王红, 蒋若曦, 等. 高速公路转换区严重冲突识别与分析[J]. 中国安全科学学报, 2022, 32 (2): 184- 191.
QIU Ji , WANG Hong , JIANG Ruoxi , et al. Identification and analysis of serious conflicts in expressway transition areas[J]. China Safety Science Journal, 2022, 32 (2): 184- 191.
5 程国柱, 盛林, 赵浩, 等. 基于危险度分析的信号交叉口专用相位设置条件[J/OL]. 吉林大学学报(工学版). [2022-04-25]. https://doi.org/10.13229/j.cnki.jdxbgxb20210969.
6 侯叙良, 黄珍, 陈志军. 基于车路协同的无信号交叉口协调控制策略[J]. 青岛理工大学学报, 2022, 43 (1): 137- 144.
HOU Xuliang , HUANG Zhen , CHEN Zhijun , et al. Coordinated control strategy for unsignalized intersections based on vehicle-road coordination[J]. Journal of Qingdao University of Technology, 2022, 43 (1): 137- 144.
7 彭涛. 高速公路运营期安全性评价及应对策略[J]. 工程技术研究, 2021, 6 (11): 151- 152.
PENG Tao . Evaluation of highway safety during operation and response strategies[J]. Engineering and Technological Research, 2021, 6 (11): 151- 152.
8 宋杰, 王永岗, 郑少娅. 基于动态PET算法的互通立交合流区交通冲突研究[C]//世界交通运输工程技术论坛(WTC2021). 西安: 人民交通出版社, 2021: 1735-1740.
SONG Jie, WANG Yonggang, ZHENG Shaoya. Research on traffic conflicts in merging areas of interchanges based on dynamic PET algorithm[C]//World Transport Engineering Forum (WTC2021). Xi'an: People's Traffic Press, 2021: 1735-1740.
9 余培恒. 基于交通安全度的无信号控制交叉口交通安全评价方法[J]. 山东交通科技, 2022, (1): 111- 115.
YU Peiheng . Traffic safety evaluation method of unsignalized intersection based on traffic safety degree[J]. Shandong Traffic Technology, 2022, (1): 111- 115.
10 袁黎, 王曌亚, 周荷媛. 无信号控制路段人行横道人车冲突风险分析[J/OL]. 交通运输工程与信息学报. [2022-04-25]. https://doi.org/10.19961/j.cnki.1672-4747.2021.09.019.
11 张驰, 王博, 杨坤, 等. 高速公路隧道与互通出入口小净距路段行车风险评价方法[J/OL]. 安全与环境学报. [2022-04-25]. https://doi.org/10.13637/j.issn.1009-6094.2021.1925.
12 ZHANG Chenxiao, MA Yongfeng, YU Yanan. Traffic safety evaluation method of arterial highway in suburban areas based on traffic conflicts[C]//CICTP 2018 Intelligence, Connectivity and Mobility. Proceedings of the 18th COTA International Conference of Transportation Professionals. Beijing, China: IEEE, 2018: 2020-2029.
13 XIANG Qiaojun , CHUAN L U , QUN W U , et al. Traffic safety evaluation on highway intersection based on severity division of traffic conflict[J]. Journal of Highway and Transportation Research and Development, 2008, 25 (8): 128- 131.
14 YANG Lei, XU Qiao, SHAO Fei, et al. The quantitative assessment of objective security about two-lane highway's intersection in mountainous area[C]//Applied Mecha-nics and Materials. Kunming, China: Trans Tech Publications Ltd., 2014, 505: 89-96.
15 牛世峰, 李贵强, 张士伟. 卫星定位数据驱动的营运车辆驾驶人驾驶风险评估模型[J]. 中国公路学报, 2020, 33 (6): 202- 211.
NIU Shifeng , LI Guiqiang , ZHANG Shiwei . Driving risk assessment model of commercial drivers based on satellite-positioning data[J]. China Journal of Highway and Transport, 2020, 33 (6): 202- 211.
16 薛清文, 蒋愚明, 陆键. 基于轨迹数据的危险驾驶行为识别方法[J]. 中国公路学报, 2020, 33 (6): 84- 94.
XUE Qingwen , JIANG Yuming , LU Jian . Risky driving behavior recognition based on trajectory data[J]. China Journal of Highway and Transport, 2020, 33 (6): 84- 94.
17 吴建清, 宋修广. 智慧公路关键技术发展综述[J]. 山东大学学报(工学版), 2020, 50 (4): 52- 69.
WU Jiangqing , SONG Xiuguang . Review on smart highways critical technology[J]. Journal of Shandong University (Engineering Science), 2020, 50 (4): 52- 69.
18 KLEIN L A . Sensor technologies and data requirements for ITS[M]. Norwood, MA, USA: Artech House Publishers, 2001: 1- 549.
19 肖尧. 智能交通信息采集与融合技术的应用研究[D]. 南昌: 华东交通大学, 2011.
XIAO Yao. Research on intelligent traffic information acquisition and fusion technology[D]. Nanchang: East China Jiaotong University, 2011.
20 高艺嘉. 车辆检测及感知技术应用研究[J]. 工程技术研究, 2017, 8 (4): 56- 57.
GAO Yijia . Vehicle detection and sensing technology application research[J]. Engineering and Technological Research, 2017, 8 (4): 56- 57.
21 刘相莹. 智能交通中的车辆检测技术及其发展[J]. 科技信息(学术研究), 2007, (28): 263- 264.
LIU Xiangying . Vehicle detection technology and its development in intelligent transportation[J]. Scientific and Technical Information (Academic Research), 2007, (28): 263- 264.
22 KIM Seoungbum , COIFMAN Benjamin . Assessing the performance of speedinfo radar traffic sensors[J]. Journal of Intelligent Transportation Systems, 2017, 21 (3): 179- 189.
doi: 10.1080/15472450.2016.1273779
23 高敬红, 杨宜民. 道路交通车辆检测技术及发展综述[J]. 公路交通技术, 2012, (1): 116- 119.
GAO Jinghong , YANG Yimin . Summarization of techniques and development of detection for road traffic vehicles[J]. Technology of Highway and Transport, 2012, (1): 116- 119.
24 AHMED S A, HUSSAIN T M, SAADAWI T N. Active and passive infrared sensors for vehicular traffic control[C]//Proceedings of IEEE Vehicular Technology Conference. Stockholm, Sweden: IEEE Press, 1994: 1393-1397.
25 张星刚. 传感器在智能交通工程中的应用[J]. 中国交通信息化, 2014, (11): 139- 142.
ZHANG Xinggang . Application of sensors in intelligent traffic engineering[J]. China ITS Journal, 2014, (11): 139- 142.
26 王强. 基于视频检测的交通信息采集[D]. 西安: 西安电子科技大学, 2009.
WANG Qiang. Traffic information acquisition based on video detection[D]. Xi'an: Xidian University, 2009.
27 ZITO R , D'ESTE G , TAYLOR M A P . Global positioning systems in the time domain: how useful a tool for intelligent vehicle-highway systems?[J]. Transportation Research Part C: Emerging Technologies, 1995, 3 (4): 193- 209.
doi: 10.1016/0968-090X(95)00006-5
28 张艺, 严翌瑄, 李静. 基于多传感器融合的交通数据采集系统概述[J]. 物联网技术, 2021, 11 (2): 15- 18.
ZHANG Yi , YAN Yixuan , LI Jing . Overview of multi-sensor fusion-based traffic data acquisition system[J]. Internet of Things Technologies, 2021, 11 (2): 15- 18.
29 WANG Chen , XU Chengcheng , DAI Yulu . A crash prediction method based on bivariate extreme value theory and video-based vehicle trajectory data[J]. Accident Analysis & Prevention, 2019, 123, 365- 373.
30 MD DIAH J , ABDUL RAHMAN M Y , ADNAN M A , et al. Weaving section flow model at the weaving area of malaysian conventional roundabout[J]. Journal of Transportation Engineering, 2010, 136 (8): 782- 792.
doi: 10.1061/(ASCE)TE.1943-5436.0000133
31 LI Haijian, ZHANG Junjie, NIU Jun, et al. Cooperative lane changing strategies for connected and automated vehicles in weaving areas[C]//SAE 3rd International Forum on Connected Automated Vehicle Highway System Through the China Highway and Transportation Society. Jinan, China: SAE International Press, 2020.
32 LI Gen , ZHAI Wei , ZHU Xingbei , et al. Influence of lateral collision risk on merging behavior of weaving area[J]. Journal of Transportation Systems Engineering and Information Technology, 2021, 21 (4): 204- 210.
33 陈乾. 快速路互通立交分合流区交通冲突机理研究[D]. 合肥: 合肥工业大学, 2019.
CHEN Qian. Study on traffic conflict mechanism in diverging and merging segment of expressway interchange[D]. Hefei: Hefei University of Technology, 2019.
34 SU Yi, LI Congying, ZHANG Jiawei, et al. Chara-cteristic analysis and behavior prediction method of converging behavior in urban expressway weaving section[C]//International Conference on Smart Transportation and City Engineering 2021. Chongqing, China: SPIE Press, 2021, 12050: 989-994.
35 WU Jianqing, XU Hao, ZHENG Jianying. Automatic background filtering and lane identification with roadside lidar data[C]//2017 IEEE 20th International Conference on Intelligent Transportation Systems. Yokohama, Japan: IEEE Press, 2017: 1-6.
36 郭玉彬. 基于视频图像的车辆检测跟踪及行为识别研究[D]. 北京: 北京交通大学, 2021.
GUO Yubin. Vehicle detection and tracking for behavior recognition based on video images[D]. Beijing: Beijing Jiaotong University, 2021.
37 宋彦颉. 基于路侧激光雷达的在途目标分类技术研究[D]. 济南: 山东大学, 2021.
SONG Yanjie. Study on automatic object classification technology based on roadside light detection and ranging[D]. Jinan: Shandong University, 2021.
38 GLAUZ W D, MIGLETZ D J. Application of traffic conflict analysis at intersections[R]. Washington DC, USA: Transportation Research Board, 1980.
39 朱顺应, 蒋若曦, 王红, 等. 机动车交通冲突技术研究综述[J]. 中国公路学报, 2020, 33 (2): 15- 33.
ZHU Shunying , JIANG Ruoxi , WANG Hong , et al. Review of research on traffic conflict techniques[J]. China Journal of Highway and Transport, 2020, 33 (2): 15- 33.
40 张苏. 中国交通冲突技术[D]. 成都: 西南交通大学, 1998.
ZHANG Su. China traffic conflict technology[D]. Chengdu: Southwest Jiaotong University, 1998.
41 LI Xiaomeng, YAN Xuedong, WANG Jiangfeng. Modeling traffic conflicts between pedestrians and vehicles at signalized intersection based on the cellular automata[C]//2nd International Conference on Civil Enginee-ring, Architecture and Building Materials (CEABM 2012). Yantai, China: Trans Tech Publications Ltd., 2012: 1881-1886.
42 LI Mengying , CHENG Lin , XU Guoshan , et al. Safety impact factor analysis at intersections with left-turn waiting areas based on ordered logit model[M]. Reston, VA, USA: American Society of Civil Engineers, 2018: 4640- 4649.
43 SAYED T , ZEIN S . Traffic conflict standards for intersections[J]. Transportation Planning and Technology, 1999, 22 (4): 309- 323.
44 SHEN Jiajun , WANG Wei . Study on signal timing based on the minimum of traffic conflict intensity for urban intersections[J]. Journal of Yangzhou University (natural Science Edition), 2013, 16 (1): 75- 78.
45 WANG Yan . Potential traffic conflict prediction model considering interaction of conflict spots at an unsignalized intersection[M]. Reston, VA, USA: American Society of Civil Engineers, 2018: 4954- 4967.
46 ZHANG Xinglei, MENG Xianghai. A research on traffic conflict characteristics of vehicles going straight or turning right at large intersections[C]//7th International Conference on Green Intelligent Transportation System and Safety. Nanjing, China: Springer, 2016: 527-535.
47 LI Meng , WANG Xiaohan , SHI Ke . Traffic conflict identification technology of vehicle intersection based on vehicle video trajectory extraction[J]. Procedia Computer Science, 2017, 109, 963- 968.
48 GUO Yanyong , LIU Pan , WU Yao , et al. Bayesian traffic conflict model accounting for heterogeneity[J]. China Journal of Highway and Transport, 2018, 31 (4): 296- 303.
49 孙立云. 城市道路交叉口事故预测模型及算法研究[D]. 北京: 北京交通大学, 2011.
SUN Liyun. Research on urban road intersections-accident prediction model and algorithm[D]. Beijing: Beijing Jiaotong University, 2011.
50 PART D . Highway safety manual[M]. Washington, USA: American Association of State Highway and Transportation Officials, 2010: 1- 2.
51 HYDEN Christer . The development of a method for traffic safety evaluation: the swedish traffic conflicts technique[M]. Lund, Sweden: Bulletin Lund Institute of Technology Department, 1987: 1- 57.
52 SVENSSON Ase . A method for analysing the traffic process in a safety perspective[M]. Lund, Sweden: Lund Institute of Technology, 1998: 1- 117.
53 罗石贵, 周伟. 路段交通冲突技术研究[J]. 公路交通科技, 2001, (1): 65- 68.
LUO Shigui , ZHOU Wei . Research on road traffic conflict technique[J]. Journal of Highway and Transportation Reseach and Development, 2001, (1): 65- 68.
54 项乔君, 陆键, 卢川, 等. 道路交通冲突分析技术及应用[M]. 北京: 科学出版社, 2008: 1- 190.
XIANG Qiaojun , LU Jian , LU Chuan , et al. Road traffic conflict analysis technology and application[M]. Beijing: Science Press, 2008: 1- 190.
55 GETTMAN Douglas , HEAD Larry . Surrogate safety measures from traffic simulation models[J]. Transportation Research Record, 2003, 1840 (1): 104- 115.
56 GUO Weiwei , QU Zhaowei , WANG Dianhai . Traffic conflict discrimination model[J]. Journal of Jilin University (Engineering and Technology Edition), 2011, 41 (1): 35- 40.
57 LUO Jing , TAN Yunlong , HAN Yin . Length design method of acceleration lane on expressway weaving area[J]. Computer Engineering and Applications, 2015, 51 (9): 248- 251.
58 LUO Jing, ZENG Xiaoqing, CHEN Yinong, et al. Determining acceleration lane length on expressway weaving area using microscopic traffic simulation[C]//International Symposium for Intelligent Transportation and Smart City 2019. Singapore: Springer, 2019: 13-27.
59 HAYWARD John C . Near miss determination through use of a scale of danger[J]. Highway Research Record, 1972, 24- 34.
60 ZHOU Jian, LIU Qingxia, DI Shende, et al. Risk assessment method of weaving area based on traffic conflict of TTC[C]//Proceedings of the Asia-Pacific Conference on Intelligent Medical 2018 & International Conference on Transportation and Traffic Engineering 2018. Beijing, China: Association for Computing Machinery, 2018: 95-98.
61 WANG Bao , GAO Linjie , JUAN Zhicai . Analysis of lane changing conflict based on tta in expressway weaving area[J]. Journal of System Simulation, 2018, 30 (9): 3306- 3311.
62 陆毅忱, 邹亚杰, 程凯, 等. 基于风险域的城市道路交叉口交通冲突分析方法[J]. 同济大学学报(自然科学版), 2021, 49 (7): 941- 948.
LU Yichen , ZOU Yajie , CHENG Kai , et al. Analytical method of traffic conflict at urban road intersections based on risk region[J]. Journal of Tongji University(Natural Science), 2021, 49 (7): 941- 948.
63 MUHLRAD Nicole . Traffic conflict techniques and other forms of behavioural analysis: application to safety diagnoses[M]. France: Citeseer, 1993: 1- 17.
64 孟祥海, 林兰平. 高速公路分合流区潜在事故风险研究[J]. 中国安全科学学报, 2015, 25 (8): 164- 170.
MENG Xianghai , LIN Lanping . Research on potential crash risk in freeway merging and diverging areas[J]. China Safety Science Journal, 2015, 25 (8): 164- 170.
65 SAUNIER Nicolas, SAYED Tarek, LIM Clark. Probabilistic collision prediction for vision-based automated road safety analysis[C]//2007 IEEE Intelligent Transportation Systems Conference. Bellevue, USA: IEEE Press, 2007: 872-878.
66 ST-AUBIN Paul , SAUNIER Nicolas , MIRANDA-MORENO Luis . Large-scale automated proactive road safety analysis using video data[J]. Transportation Research Part C: Emerging Technologies, 2015, (58): 363- 379.
67 VANDERHORST A R A , DEGOEDE M , DEHAIR-BUIJSSEN S , et al. Traffic conflicts on bicycle paths: a systematic observation of behaviour from video[J]. Accident Analysis & Prevention, 2014, 62, 358- 368.
68 SUN Zongyuan , CHEN Yuren , WANG Pin , et al. Vision-based traffic conflict detection using trajectory learning and prediction[J]. IEEE Access, 2021, (9): 34558- 34569.
69 YANG Shaowei , FENG Yurong , YANG Hongzhi , et al. Review of operation analysis methods of expressway weaving area[J]. Journal of Highway and Transportation Research and Development, 2018, 35 (10): 92.
70 FENG Yurong , YANG Shaowei , YANG Hongzhi , et al. Comparative study on operation analysis methods of expressway weaving area[J]. Journal of Highway and Transportation Research and Development, 2018, 35 (8): 134.
71 ZHANG Jing , JU Yongfeng . Research on traffic flow model of expressway weaving area[J]. China Journal of Highway and Transport, 2011, 24 (5): 89- 93.
72 WANG Xiaofei, DING Zhenzhong, GUO Kai, et al. A simulation-based comprehensive analysis for traffic efficiency and spatial distribution of risks in short weaving area of municipal interchange[J/OL]. Journal of Advanced Transportation. [2021-05-19]. https://doi.org/10.1155/2021/9968426.
73 贾洪飞, 谭云龙, 李强, 等. 考虑驾驶员特征的快速路合流区间隙接受模型构建[J]. 吉林大学学报(工学版), 2015, 45 (1): 55- 61.
JIA Hongfei , TAN Yunlong , LI Qiang , et al. Gap acceptance model of expressway weaving area based on driver characteristics[J]. Journal of Jilin University(Engineering and Technology Edition), 2015, 45 (1): 55- 61.
74 ZHANG Xueyu , PAN Cunshu , XU Jin . Characteristics of micro driving behavior in urban road weaving areas[J]. Journal of Transport Information and Safety, 2020, 38 (3): 138- 147.
75 YUAN Li , SUN Yihang , ZHANG Xuan , et al. Risk evaluation model of unsignalized intersection based on traffic conflict line theory[J]. Green, Smart and Connected Transportation Systems, 2020, 45- 58.
76 孙姣姣. 考虑旋转动能及塑性变形量的车辆碰撞模型的研究[D]. 太原: 太原理工大学, 2005.
SUN Jiaojiao. Studies on the vehicle collision model considering spin kinetic energy and plastic deformation[D]. Taiyuan: Taiyuan University of Technology, 2005.
77 张腾飞. 基于冲突能量法的高速公路出入口匝道安全性分析[D]. 大连: 大连交通大学, 2011.
ZHANG Tengfei. The export and entrance ramp of highway safety analysis based on the conflict-energy law[D]. Dalian: Dalian Jiaotong University, 2011.
78 VOGEL Katja . A comparison of headway and time to collision as safety indicators[J]. Accident Analysis & Prevention, 2003, 35 (3): 427- 433.
79 LAURESHYN Aliaksei , DE CEUNYNCK Tim , KARLSSON Christoffer , et al. In search of the severity dimension of traffic events: Extended delta-v as a traffic conflict indicator[J]. Accident Analysis & Prevention, 2017, 98, 46- 56.
80 CUNTO Flávio , SACCOMANNO Frank F . Calibration and validation of simulated vehicle safety performance at signalized intersections[J]. Accident Analysis & Prevention, 2008, 40 (3): 1171- 1179.
81 WENG Jinxian , MENG Qiang , YAN Xuedong . Analysis of work zone rear-end crash risk for different vehicle-following patterns[J]. Accident Analysis & Prevention, 2014, 72, 449- 457.
82 ZHAO Peibo , LEE Chris . Assessing rear-end collision risk of cars and heavy vehicles on freeways using a surrogate safety measure[J]. Accident Analysis & Prevention, 2018, 113, 149- 158.
83 BAGDADI Omar . Estimation of the severity of safety critical events[J]. Accident Analysis & Prevention, 2013, 50, 167- 174.
84 王俊骅, 张方方, 张兰芳. 基于Opencv和Halcon的交通冲突视频自动检测及数据处理[J]. 同济大学学报(自然科学版), 2010, 38 (2): 238- 244.
WANG Junhua , ZHANG Fangfang , ZHANG Lanfang . Halcon and opencv-based traffic automatic conflicting detecting method and data transaction[J]. Journal of Tongji University(Natural Science), 2010, 38 (2): 238- 244.
85 STEVANOVIC Aleksandar . Adaptive traffic control systems: domestic and foreign state of practice[M]. Washington, USA: Transportation Research Board, 2010: 1- 113.
86 PAPAGEORGIOU Markos , DIAKAKI Christina , DINOPOULOU Vaya , et al. Review of road traffic control strategies[J]. Proceedings of the IEEE, 2003, 91 (12): 2043- 2067.
87 HAMILTON Andrew , WATERSON Ben , CHERRETT Tom , et al. The evolution of urban traffic control: changing policy and technology[J]. Transportation Planning and Technology, 2013, 36 (1): 24- 43.
88 GARTNER N H , STAMATIADIS Chronis . Arterial-based control of traffic flow in urban grid networks[J]. Mathematical and Computer Modelling, 2002, 35 (5/6): 657- 671.
89 郭涛. 城市快速路匝道分合流区交通运行特性及优化控制方法研究[D]. 青岛: 青岛理工大学, 2014.
GUO Tao. Study on traffic operation characteristics and optimal control method for ramp's diverging and merging areas in urban expressway[D]. Qingdao: Qingdao University of Technology, 2014.
90 JIA Hongfei, MENG Xin, LI Yongxing, et al. A new control strategy of vehicle changing lane behaviors in the weaving area of the urban expressway under connected vehicle environment[C]//19th COTA International Conference of Transportation Professionals: Transportation in China: Connecting the World, CICTP 2019. Nanjing, China: American Society of Civil Engineers, 2019: 5808-5820.
91 CHEN Ning, WANG Zhenhua, CHEN Yanyan, et al. A novel control strategy of urban expressway weaving area[C]//17th COTA International Conference of Transportation Professionals: Transportation Reform and Change: Equity, Inclusiveness, Sharing, and Innovation, CICTP 2017. Shanghai, China: American Society of Civil Engineers, 2018: 914-925.
92 DU Zhibin, ZHANG Qingyu, ZHAO Pengchao, et al. Research on vehicle control strategy at weaving area under vehicle-infrastructure cooperative environment[C]//2019 4th International Seminar on Computer Technology, Mechanical and Electrical Engineering, ISCME 2019. Chengdu, China: Conference Series IOP Publish-ing, 2020, 1486(7): 072013.
93 LIU Zhiyong . A survey of intelligence methods in urban traffic signal control[J]. IJCSNS International Journal of Computer Science and Network Security, 2007, 7 (7): 105- 112.
94 ZHAO Dongbin , DAI Yujie , ZHANG Zhen . Computational intelligence in urban traffic signal control: a survey[J]. IEEE Transactions on Systems, Man, and Cybernetics: Part C (Applications and Reviews), 2011, 42 (4): 485- 494.
95 YE Duofu, LIU Xin, LIU Gang, et al. Self-organization traffic flow methods based on traffic intelligent control systems[C]//29th Chinese Control And Decision Conference (CCDC). Chongqing, China: IEEE Press, 2017: 7600-7605.
96 MU Shengdong , XIONG Zhengxian , TIAN Yixiang . Intelligent traffic control system based on cloud computing and big data mining[J]. IEEE Transactions on Industrial Informatics, 2019, 15 (12): 6583- 6592.
97 WANG Weizhi, LIU Binghan. The intelligent traffic control based on synergetic method[C]//7th World Congress on Intelligent Control and Automation. Chongqing, China: IEEE Press, 2008: 3533-3536.
98 侯忠生, 许建新. 数据驱动控制理论及方法的回顾和展望[J]. 自动化学报, 2009, 35 (6): 650- 667.
HOU Zhongsheng , XU Jianxin . On data-driven control theory: the state of the art and perspective[J]. Acta Automatica Sinica, 2009, 35 (6): 650- 667.
99 杨文臣, 张轮, 田毕江, 等. 城市道路交通信号自适应控制方法研究综述[J]. 交通科技, 2017, (4): 152- 157.
YANG Wenchen , ZHANG Lun , TIAN Bijiang , et al. Urban adaptive traffic signal control methods: a survey of the state of the art[J]. Transportation Science & Technology, 2017, (4): 152- 157.
100 李稻葵. 智能驾驶将颠覆汽车产业[J]. 新财富, 2016, (4): 108- 110.
LI Daokui . Smart driving will disrupt the auto industry[J]. New Wealth, 2016, (4): 108- 110.
101 蒋司杨. 车辆前向碰撞预警算法研究综述[J]. 汽车实用技术, 2022, 47 (5): 154- 157.
JIANG Siyang . A Survey of the forward collision warning algrithms[J]. Automobile Applied Technology, 2022, 47 (5): 154- 157.
102 张学军, 郑丽英. 汽车智能防撞自适应控制研究与仿真[J]. 计算机工程, 2010, 36 (9): 171- 172.
ZHANG Xuejun , ZHENG Liying . Research and simulation of vehicle intelligent crash-avoiding self-adaptive control[J]. Computer Engineering, 2010, 36 (9): 171- 172.
103 김준형, OHCheol, OHJutaek. A methodology for providing more reliable traffic safety warning infor-mation based on positive guidance technique[J]. Korean Society of Transportation, 2009, 27 (2): 207- 217.
104 任润雨. 基于轨迹预测的交通冲突预警系统仿真研究[J]. 物流科技, 2020, 43 (5): 104- 108.
REN Runyu . Simulation research on traffic conflict early warning system based on trajectory prediction[J]. Logistics Sci-Tech, 2020, 43 (5): 104- 108.
105 田竞. 驾驶风险信息分析及交通冲突预警研究[D]. 昆明: 昆明理工大学, 2019.
TIAN Jing. Research of driving risk information analysis and traffic conflict warning[D]. Kunming: Kunming University of Science and Technology, 2019.
106 张鑫. 快速路分合流区交通流特性分析及安全限速[D]. 合肥: 合肥工业大学, 2020.
ZHANG Xin. Analysis of traffic flow characteristics and safety speed limit in the diverging and confluence area of expressway[D]. Hefei: Hefei University of Technology, 2020.
107 吴建清, 宋修广. 同步定位与建图技术发展综述[J]. 山东大学学报(工学版), 2021, 51 (5): 16- 31.
WU Jianqing , SONG Xiuguang . Review on development of simultaneous localization and mapping technology[J]. Journal of Shandong University(Engineering Science), 2021, 51 (5): 16- 31.
[1] 赵梅1,2,胡天亮1,2*,张倩3，张承瑞1,2. 基于LabVIEW的AMT数据采集系统设计与研究[J]. 山东大学学报(工学版), 2011, 41(6): 70-74.
[2] 王泽静1,2，秦敬玉1*，米春旭1. 高精度电阻数据自动采集与动态显示系统设计[J]. 山东大学学报(工学版), 2010, 40(4): 133-137.
[3] 贝广霞,楼佩煌,叶文华,王晓梅 . 精密加工中圆柱度在机检测关键技术[J]. 山东大学学报(工学版), 2007, 37(5): 65-67 .
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] 谢楠 . 不确定非线性离散时滞系统的可靠保成本控制[J]. 山东大学学报(工学版), 2007, 37(4): 28 -33 .
[2] 吴世林 肖书安. 隧道地震成像理论与应用案例[J]. 山东大学学报(工学版), 2009, 39(5): 96 -100 .
[3] 彭丽芳 ,王仲顺,董文冉 . 市场均衡条件下供应链协作方式的对比[J]. 山东大学学报(工学版), 2006, 36(4): 65 -69 .
[4] 尚芳 刘允刚 张承慧. 一类不确定非线性系统输出反馈扰动抑制[J]. 山东大学学报(工学版), 2010, 40(1): 19 -27 .
[5] 吴俊飞 林美 祝卫国 张艳飞. 含圆坑缺陷尿塔衬里开裂原因分析[J]. 山东大学学报(工学版), 2010, 40(1): 84 -86 .
[6] 周风余,吴爱国,李贻斌, . 110kV输电线路巡线机器人控制方法及实现[J]. 山东大学学报(工学版), 2007, 37(6): 31 -35 .
[7] 张 欣,李术才,李树忱 . 考虑天然渗流场影响的地应力场反演回归分析及应用[J]. 山东大学学报(工学版), 2008, 38(4): 57 -62 .
[8] 施来顺,董岩岩,李彦彦,李文静 . 二氧化氯催化氧化处理铬黑T模拟废水的实验[J]. 山东大学学报(工学版), 2007, 37(5): 113 -117 .
[9] 牛林 赵建国 李可军. 1000kV特高压交流输电线路工频磁场分析[J]. 山东大学学报(工学版), 2010, 40(1): 154 -158 .
[10] 张道强. 知识保持的嵌入方法[J]. 山东大学学报(工学版), 2010, 40(2): 1 -10 .
版权所有 © 2018 《山东大学学报(工学版)》编辑部　
地址: 济南市山大南路27号（250100）　 电话: 0531-88366735　 E-mail: xbgxb@sdu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发