An Analysis of Operating Characteristic of Vehicles at Signalized Road Intersections in Mountainous Cities Based on Aerial Video Data
-
摘要: 为明确山地城市信号交叉口到达车辆的运行特征及其影响因素，通过无人机采集4个位于山地城市的道路信号交叉口的高空视频图像数据，利用基于DataFromSky云平台的AI视频分析技术，获得车辆运行参数。基于车辆运行时空图，得到了交叉口直行道停止线前车辆停滞延误特征、停止线位置车头时距和车头间距统计特征，分析车头间距、停止线截面处速度及道路平均坡度之间的相关性。结果表明：不同路段同一排队位次和同一路段不同排队位次的车辆运行特征均有所不同，排队位次越靠前的车辆，停车点分布区间越集中，下坡路段整体停车位置分布范围比上坡路段大；无论是上坡、下坡，还是缓坡，排队位次越靠前的车辆停滞延误分布范围越大，而靠后的车辆停滞延误分布范围小，最大值出现在下坡路段；不同路段类型车头时距分布均集中于1.5 s，上坡路段的车头时距离散程度最大，但峰值比下坡路段和缓坡路段小；不同路段类型的车头间距分布均集中于10 m，上坡路段和下坡路段车头间距分布出现左偏现象，而缓坡路段车头间距分布更为集中；车头间距在上坡、下坡和缓坡路段均和车辆经过停止线位置处时的速度存在较强的正相关性；道路平均坡度与相邻2车车头间距存在正相关性。Abstract: In order to identify operating characteristics of vehicles approaching signalized intersections in mountainous cities and their influencing factors, aerial video data of the traffic are captured at four signalized intersections in a mountainous city by drones. The operating characteristics of vehicles are extracted by AI video analysis from DataFromSky cloud platform. Based on a time-space diagram and the obtained data, the statistics of delay value, time headway and space headway before stop lines of straight lanes at intersections are calculated. Moreover, the correlations between the space headway, speed of a vehicle passing through the stop line, and average gradient of road are analyzed. The results show that the operating characteristics of a vehicle vary with its position in a queue. Furthermore, even with the same position in a queue, the operating characteristics of a vehicle still vary with different road sections. When waiting behind a stop line, the distribution of stop positions of vehicles closer to the stop line is more concentrated than that farther from it. The overall distribution of stop positions of vehicles is more dispersed in downhill sections than that in uphill sections. No matter it is an uphill section, a downhill section, or a gentle slope, the distribution of delay at a location closer to the stop line is larger than that at a location farther from it, and the maximum value of delay appears in the downhill sections. The distribution of time headways is concentrated at 1.5 s for all types of road sections, and it is more dispersed in uphill sections than that in downhill sections or gentle slopes, but the maximum value of time headways in uphill sections is smaller than that in downhill sections or gentle slopes. The distribution of space headways is concentrated at 10 m for all types of road sections, and it is skewed to the left in uphill and downhill sections, while that is more symmetric and concentrated to the mean value in gentle slopes. For all types of road sections, there is a strong positive correlation between space headway and the speed of a vehicle passing through the stop line. Besides, there is a positive correlation between average gradient of road and space headway of adjacent vehicles.
-
图 7 不同路段类型和不同排队位次停滞延误
Figure 7. Stagnation and delay of different section types and queuing positions
图 11 上坡、下坡和缓坡车头间距与速度散点图
Figure 11. Scatter diagram of headway and speed on uphill, downhill and gentle slopes
表 1 交叉口相交道路主要技术参数
Table 1. Main technical parameters of road intersections
编号 信号周期/s 相交道路 设计速度/（km/h） 进口道1 进口道2 编号 车道数 纵坡形式 平均坡度/% 编号 车道数 纵坡形式 平均坡度/% A 116 丹回路 60 1 4 下坡 2.6 2 2 缓上坡 0.9 南滨路 60 3 3 缓上坡 2.4 4 4 上坡 3.0 B 112 兰花路 60 5 3 缓上坡 0.5 6 2 缓下坡 1.6 回龙路 60 7 3 缓上坡 1.2 8 3 缓上坡 0. 5 C 100 二塘路 60 9 3 上坡 8.5 10 2 下坡 5.2 汇龙路 60 11 4 下坡 3.0 12 3 上坡 4. 0 D 127 融汇大道 60 13 3 下坡 4.8 14 3 上坡 5.4 两桥连接道 60 15 2 下坡 7.2 16 5 上坡 5.6 E 88 汇宾一路 60 17 3 缓上坡 2.2 18 2 缓上坡 1.0 融汇大道 60 19 3 上坡 6.0 20 3 下坡 3.5 F 93 辅仁大道 60 21 3 下坡 4.5 22 3 上坡 5.0 南坪东路 60 23 3 上坡 2.7 24 3 上坡 6.4 
下载: 导出CSV
表 2 直行车辆车头时距累计频率分布和特征分位值
Table 2. Cumulative frequency distribution and characteristic quantile value of headway of straight vehicles
道路 路段类型 均值 最大值 15th 25th 50th 75th 85th 90th 丹回路 下坡 1.95 6.54 1.07 1.24 1.60 2.36 2.90 3.41 汇龙路 下坡 2.18 6.74 1.17 1.33 1.90 2.64 3.45 3.84 二塘路10 下坡 2.25 6.87 1.37 1.53 1.94 2.70 3.50 3.87 连接道15 下坡 2.11 6.51 1.00 1.17 1.57 2.92 3.45 3.75 二塘路9 上坡 2.24 7.31 1.16 1.30 1.79 2.55 3.32 4.55 连接道16 上坡 2.35 6.71 1.12 1.37 2.00 3.01 3.88 4.52 兰花路 缓坡 1.76 3.54 1.13 1.30 1.77 2.27 2.54 2.79 回龙路 缓坡 1.84 4.63 1.01 1.21 1.57 2.29 2.62 3.30 融汇大道19 上坡 2.71 4.70 1.27 1.36 1.69 2.30 3.46 3.80 融汇大道20 下坡 2.96 5.91 1.31 1.57 1.87 3.23 3.61 4.63 南坪东路23 上坡 2.78 7.97 1.18 1.43 2.17 3.5 5.03 5.63 南坪东路24 上坡 2.33 6.71 1.27 1.43 2.00 2.68 3.40 4.35
下载: 导出CSV
表 3 车头时距分布K-S检验结果
Table 3. K-S test results of headway distribution
参数 上坡 缓坡 下坡 样本量 731 148 591 均值 2.46 1.71 2.04 标准差 1.50 0.67 1.11 绝对值 0.158 0.071 0.139 正值 0.158 0.071 0.139 负值 -0.117 -0.059 -0.083 检验统计 0.158 0.071 0.139 显著性 6.056×10-50 4.57×10-4 5.0595×10-31
下载: 导出CSV
表 4 直行车辆车头间距累计频率分布和特征分位值
Table 4. Cumulative frequency distribution and characteristic quantile value of headway of straight vehicles
道路 路段类型 均值 最小值 最大值 15th 50th 75th 85th 90th 丹回路 下坡 14.40 0.21 68.29 6.20 10.23 15.42 22.38 29.11 汇龙路 下坡 17.97 1.30 74.52 6.71 12.69 23.33 32.08 41.52 二塘路10 下坡 14.28 1.92 73.93 4.83 8.25 13.69 18.27 46.18 连接道15 下坡 18.10 0.58 80.01 5.96 11.88 26.57 36.03 39.83 二塘路9 上坡 13.06 2.17 51.76 5.53 10.99 14.66 20.47 24.95 连接道16 上坡 15.61 0.89 60.18 5.40 11.48 20.76 27.59 32.83 兰花路 缓坡 11.58 0.38 33.16 5.61 10.18 14.84 18.31 21.44 回龙路 缓坡 10.16 1.07 37.49 4.69 8.48 13.11 14.89 17.61 融汇大道19 上坡 11.22 2.88 35.41 5.03 6.84 14.07 16.89 27.88 融汇大道20 下坡 15.61 3.98 62.08 5.75 9.48 20.28 33.70 34.73 南坪东路23 上坡 13.07 0.36 31.65 5.92 11.65 14.70 23.09 29.95 南坪东路24 上坡 12.84 5.11 30.95 6.65 10.46 15.08 21.13 23.52
下载: 导出CSV
表 5 车头间距分布K-S检验结果
Table 5. K-S test results of headway distribution
参数 上坡 缓坡 下坡 样本量 659 346 664 均值 13.43 10.53 16.32 标准差 10.35 6.70 14.44 绝对值 0.191 0.118 0.208 正值 0.191 0.118 0.208 负值 -0.131 -0.089 -0.157 检验统计 0.191 0.118 0.208 显著性 1.258 4×10-66 1.305 9×10-12 1.902 2×10-80
下载: 导出CSV
表 6 速度和平均坡度对车头间距的回归分析结果
Table 6. Regression analysis results of speed and average slope on headway
变量 未标准化系数 标准化系数 t p 共线性统计 B 标准误差 Beta 容差 VIF 常量 -11.465 0.770 -14.886 < 0.001 速度 0.974 0.037 0.714 35.691 < 0.001 0.907 1.103 平均坡度 0.258 0.046 0.112 5.597 < 0.001 0.907 1.103 注：因变量：车头间距，平均坡度，R2 = 0.473，F = 652.504，p < 0.001，DW = 1.145。
下载: 导出CSV
-
[1] 尹宝计. 山地城市信号交叉口车辆运行规律与延误分析[D]. 重庆: 重庆交通大学, 2016.YIN B J. Analyzing on the vehicle's running characteristics and delay at the signalized intersection in mountainous city[D]. Chongqing: Chongqing Jiaotong University, 2016. (in Chinese) [2] 张惠玲, 李克平, 钱红波, 等. 基于视频双截面的信号控制交叉口延误检测[J]. 同济大学学报(自然科学版), 2011, 39(7): 1013-1018. https://www.cnki.com.cn/Article/CJFDTOTAL-TJDZ201107014.htmZHANG H L, LI K P, QIAN H B, et al. Signal control intersection delay detecting based on video double section[J]. Journal of Tongji University(Natural Science Edition), 2011, 39(7): 1013-1018. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-TJDZ201107014.htm [3] 范宏强. 基于元胞自动机的若干类型城市道路交叉口交通流特性研究[D]. 北京: 北京交通大学, 2015.FAN H Q. Research on the traffic flow characteristics of ur-ban road intersection based on cellular automaton model[D]. Beijing: Beijing Jiaotong University, 2015. (in Chinese) [4] CATBAGAN J L, NAKAMURA H. Desired speed distributions on two-lane highways under various conditions [J]. Transportation Research Record, 2008(2088): 218-226. doi: 10.3141/2088-23 [5] BONZANI I, MUSSONE L. From the discrete kinetic theory of vehicular traffic flow to computing the velocity distribution at equilibrium[J]. Mathematical and Computer Modeling, 2009, 49(3-4): 610-616. doi: 10.1016/j.mcm.2008.01.010 [6] 金晓琼, 王利杰, 邵岩. 不同交通流状态下的车头间距分布[J]. 大连交通大学学报, 2014, 35(1): 33-36.JIN X Q, WANG L J, SHAO Y. Headway distribution under different traffic flow conditions[J]. Journal of Dalian Jiaotong University, 2014, 35(1): 33-36. (in Chinese) [7] 周娟, 贺云龙, 田静静. 基于NGSIM轨迹数据的车辆行驶速度特性分析[J]. 交通科技与经济, 2019, 21(3): 45-48+61. https://www.cnki.com.cn/Article/CJFDTOTAL-KJJJ201903010.htmZHOU J, HE Y L, TIAN J J. Speed characteristic analysis based on NGSIM trajectory data[J]. Transportation Technology and Economy, 2019, 21(3): 45-48+61. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-KJJJ201903010.htm [8] 赵星, 任刚. 信号交叉口车头时距特性分析[J]. 交通运输工程与信息学报, 2010, 8(1): 103-108. https://www.cnki.com.cn/Article/CJFDTOTAL-JTGC201001022.htmZHAO X, REN G. Analysis of vehicle headway characters at a signalized intersection[J]. Journal of Transportation Engineering and Information, 2010, 8(1): 103-108. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JTGC201001022.htm [9] 徐进, 孙子秋, 龙岩松, 等. 基于自然驾驶数据的跨江大桥小客车跟驰特性研究[J]. 中国公路学报, 2022, 35(5): 170-178. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL202205016.htmXU J, SUN Z Q, LONG Y S, et al. Driving behavior of passenger cars on river crossing bridge based on naturalistic driving data[J]. China Journal of Highway and Transport, 2022, 35(5): 170-178. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL202205016.htm [10] 张智勇, 黄轶, 任福田. 加/减速跟车状态车头间距研究[J]. 北京工业大学学报, 2009, 35(6): 775-779. https://www.cnki.com.cn/Article/CJFDTOTAL-BJGD200906012.htmZHANG Z Y, HUANG Y, REN F T. Research of distance headway car following behavioral at acceleration/deceleration regime[J]. Journal of Beijing University of Technology, 2009, 35(6): 775-779. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-BJGD200906012.htm [11] 赖林, 胡永红, 史忠科. 基于车头间距与前车速度的改进优化速度模型[J]. 西北工业大学学报, 2014, 32(1): 118-112. https://www.cnki.com.cn/Article/CJFDTOTAL-XBGD201401026.htmLAI L, HU Y H, SHI Z K. An improved optimal velocity model based on space headway and speed of front vehicle[J]. Journal of Northwest University of Technology, 2014, 32(1): 118-112. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-XBGD201401026.htm [12] 邵长桥, 杜晓辉, 李光芹. 信号交叉口排队离散车头时距统计分析[J]. 公路交通科技, 2003, 20(4): 76-79. https://www.cnki.com.cn/Article/CJFDTOTAL-GLJK200304020.htmSHAO C Q, DU X H, LI G Q. Queuing vehicle headway statistic analysis at signalized intersection[J]. Journal of Highway and Transportation Research and Development, 2003, 20(4): 76-79. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GLJK200304020.htm [13] SATYAJIT M, ANKIT G. Assessment of vehicles headway during queue dissipation at signal-controlled intersection under mixed traffic[J]. Current Science, 2019, 116(3): 437-444. doi: 10.18520/cs/v116/i3/437-444 [14] 王殿海, 郭佳林, 蔡正义. 基于自动车牌识别数据的混合交通流饱和流率实时估计[J]. 交通运输系统工程与信息, 2021, 21(2): 37-43. https://www.cnki.com.cn/Article/CJFDTOTAL-YSXT202102006.htmWANG D H, GUO J L, CAI Z Y. Real time estimation of saturated flow rate of mixed traffic flow based on automatic license plate recognition data[J]. Journal of Transportation Systems Engineering and Information Technology, 2021, 21(2): 37-43. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-YSXT202102006.htm [15] 沈辛夷. 基于延误的信号交叉口相位差优化方法[D]. 杭州: 浙江大学, 2020.SHEN X Y. Delay-based offset optimization method for signalized intersections[D]. Hangzhou: Zhejiang University, 2020. (in Chinese) [16] 冯汝怡, 李志斌, 吴启范, 等. 航拍视频车辆检测目标关联与时空轨迹匹配[J]. 交通信息与安全, 2021, 39(2): 61-69+77. doi: 10.3963/j.jssn.1674-4861.2021.02.008FENG R Y, LI Z B, WU Q F, et al. Association of vehicle object detection and the time-space trajectory matching from aerial videos[J]. Journal of Transport Information and Safety, 2021, 39(2): 61-69+77. (in Chinese) doi: 10.3963/j.jssn.1674-4861.2021.02.008 [17] 李振威. 基于轨迹追踪的山地城市交叉口直行车辆行驶特性研究[D]. 重庆: 重庆交通大学, 2021.LI Z W. Research on driving characteristics of straight vehicles at intersections in mountainous cities based on trajectory tracking[D]. Chongqing: Chongqing Jiaotong University, 2021. (in Chinese) [18] 韩鹏. 基于无人机的车辆目标检测与跟踪技术研究[D]. 南京: 南京航空航天大学, 2020.HAN P. Research on vehicle target detection and tracking technology based on UAV[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2020. (in Chinese) [19] 李少博, 马立, 蔡晓禹, 等. 无人机视频车辆跟踪算法研究[J]. 公路与汽运, 2019(4): 33-38+61. https://www.cnki.com.cn/Article/CJFDTOTAL-ZNQY201904007.htmLI S B, MA L, CAI X Y, et al. Research on UAV video vehicle tracking algorithm[J]. Highway and Automobile Transportation, 2019(4): 33-38+61. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZNQY201904007.htm [20] AMRUTSAMANVAR R B, MUTHURAJAN B R, VANAJAKSHI L D. Extraction and analysis of microscopic traffic data in disordered heterogeneous traffic conditions[J]. Transportation Letters, 2021, 11(6): 1-20. http://www.sciencedirect.com/science/article/pii/S1942786722002168 [21] PANICHPAPIBOON S. Time-headway distributions on an expressway: Case of Bangkok[J]. Journal of Transportation Engineering, 2014, 141(1): 1-8. http://d.wanfangdata.com.cn/periodical/74dfca9abf47d2966affab9814f43e61 [22] 蒋阳升, 韩世凡, 吴婷, 等. 信号交叉口车辆到达规律分析[J]. 交通运输工程与信息学报, 2015, 13(1): 1-6. https://www.cnki.com.cn/Article/CJFDTOTAL-JTGC201501001.htmJIANG Y S, HAN S F, WU T, et al. Analysis of vehicle arrival law at signalized intersection [J]. Journal of Transportation Engineering and Information, 2015, 13(1): 1-6. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JTGC201501001.htm -
点击查看大图
图(11) / 表(6)
计量
- 文章访问数: 786
- HTML全文浏览量: 398
- PDF下载量: 26
- 被引次数: 0