视觉障碍下十字路口电动两轮车事故特征和典型场景分析

doi:10.3969/j.issn.1674-8484.2023.06.002

汽车安全与节能学报 ›› 2023, Vol. 14 ›› Issue (6): 664-670.DOI: 10.3969/j.issn.1674-8484.2023.06.002

视觉障碍下十字路口电动两轮车事故特征和典型场景分析

韩勇¹^,²(), 孟昕¹, 潘迪¹^,², 吴贺³, 石金明¹, 张悦苁¹

1.厦门理工学院机械与汽车工程学院，厦门361024，中国
2.福建省客车先进设计与制造重点实验室，厦门 361024，中国
3.厦门大学航空航天学院，厦门 361024，中国

收稿日期:2023-05-07 修回日期:2023-07-17 出版日期:2023-12-31 发布日期:2023-12-29
作者简介:韩勇（1984—），男（汉），教授。E-mail：Yonghanxmut@gmail.com；yonghan@xmut.edu.cn。
基金资助:
厦门市自然科学基金(3502Z20227223);福建省技术创新重点攻关及产业化项目(2023G048)

Characteristics and typical scenario analysis of electric two-wheeler accidents at intersections with visual obstacle

HAN Yong¹^,²(), MENG Xin¹, PAN Di¹^,², WU He³, SHI Jinming¹, ZHANG Yuecong¹

1. School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China
2. Fujian Provincial Key Laboratory of Advanced Design and Manufacturing of Buses, Xiamen 361024, China
3. Xiamen University School of Aeronautics and Astronautics, Xiamen 361024, China

Received:2023-05-07 Revised:2023-07-17 Online:2023-12-31 Published:2023-12-29

摘要/Abstract

摘要：

视觉障碍是导致汽车与电动两轮车在十字路口发生碰撞的主要原因之一。为了厘清其事故特征以促进适用于中国道路的电动两轮车自动紧急制动（AEB）测试场景的开发, 该文统计分析了道路弱势群体交通事故（VRU-TRAVi）数据库510例电动两轮车案例中具有视觉障碍的交通违规情况、障碍物类型和事故场景和等事故特征。采用逐帧分析法和直接线性理论估算不同事故场景下的碰撞速度和碰撞时间（TTC），获得不同事故场景下碰撞速度与TTC的分布关系并分析了障碍物对事故规避的影响。结果表明：将事故特征场景统计结果与前人研究结果对比得出4种典型场景，即固定障碍物场景、相邻车道反向行驶中车辆或同向等待车辆为障碍物场景、非相邻车道可移动障碍物场景，4种场景下TTC均值分别为1.12、1.02、0.96、1.27 s，汽车速度分别为24~47、27~46、27~46、18~45 km/h，电动两轮车速度分别为15~27、15~24、15~24、16~24 km/h。研究结果可为存在视觉障碍的电动两轮车碰前事故场景测试的关键技术提供参考。

关键词: 电动两轮车, 事故场景, 视觉障碍, 十字路口, 碰撞时间(TTC)

Abstract:

The visual obstacle is the main cause of collisions between cars and electric two-wheelers at intersections. In order to clarify the accident characteristics and facilitate the development of autonomous emergency braking (AEB) test scenarios for electric two-wheelers suitable for Chinese roads, this paper statistically analyzed the traffic violations, obstacle types and accident scenarios of 510 cases of car-to-electric two-wheel vehicle collisions with visual impairments in the Road Vulnerable Group Traffic Accidents (VRU-TRAVi) database. The relationship between the speed and time to collision (TTC) in the different collision scenarios was investigated and analyzed, the impact of obstacles on accident avoidance were also calculated with frame-by-frame analysis and direct linear theory. And the accident characteristics and scenario statistics were compared with the results of previous studies. The results show that four typical collision scenarios in the car-to-electric two-wheel vehicle with visual obstacles are extracted: fixed obstacle scenarios, adjacent lane of the vehicle in the reverse direction of travel or the same direction waiting for the vehicle as an obstacle scenarios, and non-adjacent lane moving obstacle scenarios. The average of TTC in the four scenarios are 1.12, 1.02, 0.96, and 1.27 s. The car speeds are 24-47, 27-46, 27-46, and 18-45 km/h; the electric two-wheeled vehicle speeds are15-27, 15-24, 15-24, and 16-24 km/h. The research results can provide reference for the key technology of pre-collision accident scene test of electric two-wheelers with visual impairment.

Key words: electric two-wheeler, accident scenario, visual obstacle, intersection, time to collision (TTC)

中图分类号:

U467.1+4

韩勇, 孟昕, 潘迪, 吴贺, 石金明, 张悦苁. 视觉障碍下十字路口电动两轮车事故特征和典型场景分析[J]. 汽车安全与节能学报, 2023, 14(6): 664-670.

HAN Yong, MENG Xin, PAN Di, WU He, SHI Jinming, ZHANG Yuecong. Characteristics and typical scenario analysis of electric two-wheeler accidents at intersections with visual obstacle[J]. Journal of Automotive Safety and Energy, 2023, 14(6): 664-670.

图/表 9

图1 坐标系转换示意图

图2 场景模型

图3 交通违规类型

图4 视觉障碍场景类型

图5 汽车与ETW速度分布

图6 95%置信区间下的TTC上限、下限及平均值分布

图7 TTC-v分布及避撞情况

图8 AEB无法避撞案例的电动两轮车位置分布

图9 十字路口视觉障碍情况下的典型场景

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视觉障碍下十字路口电动两轮车事故特征和典型场景分析

Characteristics and typical scenario analysis of electric two-wheeler accidents at intersections with visual obstacle

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