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浙江大学学报(工学版)  2024, Vol. 58 Issue (6): 1221-1232    DOI: 10.3785/j.issn.1008-973X.2024.06.012
土木工程、交通工程     
基于道路监控的高速公路作业区碰撞风险预警
王博1,2,3(),刘昌赫1,2,张驰1,2,*(),张敏4,邬贵冬5
1. 长安大学 公路学院,陕西 西安 710064
2. 教育部公路基础设施数字化工程研究中心,陕西 西安 710000
3. 南洋理工大学 土木与环境学院,新加坡 639789
4. 长安大学 运输工程学院,陕西 西安 710064
5. 四川交通职业技术学院 四川交通运输研究院,四川 成都 611130
Crash risk early warning in highway work zone based on road surveillance camera
Bo WANG1,2,3(),Changhe LIU1,2,Chi ZHANG1,2,*(),Min ZHANG4,Guidong WU5
1. School of Highway, Chang’an University, Xi’an 710064, China
2. Engineering Research Center of Highway Infrastructure Digitalization, Ministry of Education, Xi’an 710000, China
3. School of Civil and Environmental Engineering, Nanyang Technological University, Singapore 639789, Singapore
4. College of Transportation Engineering, Chang’an University, Xi’an 710064, China
5. Sichuan Transportation Research Institute, Sichuan Vocational and Technical College of Communications, Chengdu 611130, China
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摘要:

为了更及时地掌握高速公路作业区车辆碰撞风险态势,提出基于闭路电视监控的作业区碰撞风险预警方法. 采用计算机视觉技术进行车辆检测、坐标转换和车辆3D形态估计,获取作业区交通流和车辆信息. 以改进事故时间指数 (ITA) 为上游过渡段的碰撞风险量化指标,依据警告区起点的交通流特征,实现上游过渡段的碰撞风险预测. 通过集成一维卷积神经网络 (1D CNN)、长短期记忆网络 (LSTM) 和注意力机制,构建基于1D CNN+LSTM+Attention (CLA)框架的碰撞风险预测模型. 结果表明:所提数据采集方法满足碰撞风险预测的需求. 相较其他冲突指标,ITA在风险量化中具有更适宜的敏感度. 相较LSTM和1D CNN+LSTM,基于CLA的预警模型准确度更高,其拟合优度确定系数和均方根误差分别为0.805和0.359. 所提方法能够提前90 s为作业区提供碰撞风险预警.

关键词: 公路工程作业区计算机视觉改进事故时间指数碰撞风险预警    
Abstract:

A crash risk early warning method for work zones based on closed-circuit television system was proposed, in order to improve the timely detection of collision risks within highway work zones. Computer vision techniques were employed for vehicle detection, coordinate transformation, and 3D vehicle shape estimation, enabling the extraction of traffic flow and vehicle information within the work zone. Crash risks in the upstream transition section were predicted based on the traffic features at the starting point of the warning area, utilizing the improved time to accident (ITA) as a quantified indicator for crash risk assessment. By integrating the one-dimensional convolutional neural network (1D CNN), long short-term memory (LSTM) and the attention mechanism, a crash risk prediction model based on the 1D CNN+LSTM+Attention (CLA) framework was constructed. Results showed that the proposed data collection method met the needs for crash risk prediction. The proposed ITA exhibits better sensitivity in risk quantification, compared to other conflict indicators. The CLA-based prediction model demonstrates superior accuracy compared to the LSTM and 1D CNN+LSTM models, with a goodness of fit coefficient and root mean square error of 0.805 and 0.359, respectively. The proposed method can provide crash risk warnings for work zones 90 seconds in advance.

Key words: highway engineering    work zone    computer vision    improved accident time index    crash risk early warning
收稿日期: 2023-07-14 出版日期: 2024-05-25
CLC:  U 418  
基金资助: 陕西省自然科学基础研究计划资助项目(2023-JC-YB-391);国家重点研发计划资助项目(2020YFC1512005);四川省科技计划资助项目(2022YFG0048);四川省交通运输厅科技资助项目(2022-ZL-04);山西省重点研发计划资助项目(202102020101014).
通讯作者: 张驰     E-mail: wb1010110wb@chd.edu.cn;zhangchi@chd.edu.cn
作者简介: 王博(1995—),男,博士生,从事交通安全研究. orcid.org/0000-0002-0593-6612. E-mail:wb1010110wb@chd.edu.cn
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引用本文:

王博,刘昌赫,张驰,张敏,邬贵冬. 基于道路监控的高速公路作业区碰撞风险预警[J]. 浙江大学学报(工学版), 2024, 58(6): 1221-1232.

Bo WANG,Changhe LIU,Chi ZHANG,Min ZHANG,Guidong WU. Crash risk early warning in highway work zone based on road surveillance camera. Journal of ZheJiang University (Engineering Science), 2024, 58(6): 1221-1232.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2024.06.012        https://www.zjujournals.com/eng/CN/Y2024/V58/I6/1221

图 1  基于深度学习算法的作业区碰撞风险预警方案
图 2  相机标定与坐标系投影
图 3  车辆3D形态自动估计程序示意图
指标编码说明
各车道交通量N(i)从内侧向外侧第i个车道,单位时间内通过车辆的数量
各车道平均速度V(i)从内侧向外侧第i个车道,单位时间内通过车辆的平均速度
小型车交通量NC单位时间内通过的小型车辆的数量
小型车平均速度VC单位时间内通过的小型车辆的平均速度
大型车交通量NT单位时间内通过的大型车辆的数量
大型车平均速度VT单位时间内通过的大型车辆的平均速度
表 1  碰撞风险预测模型特征变量
图 4  1D CNN-LSTM-Attention模型结构示意图
图 5  依托项目示意图
图 6  数据处理细节及异常事件
车道n指标${\bar e}/{\mathrm{m}} $emax/mstd/m
内侧12长度?0.389?0.7960.148
宽度?0.011?0.1060.075
中间12长度0.0840.6070.406
宽度0.0470.1960.115
外侧8长度?0.119?1.5971.033
宽度0.0750.4340.177
表 2  车辆尺寸估计结果误差分析
图 7  TTC、TA、ITA和DRAC随后车速度变化的趋势
图 8  作业期与非作业期TTC、TA、ITA和DRAC分布对比
图 9  作业期间各车道ITA变化
图 10  车辆换道至外侧车道案例
图 11  基于互相关性系数的滞后性分析
图 12  基于LSTM、CL和CLA模型的ITA预测结果对比
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