考虑驾驶人特性的无信号交叉口网联车辆碰撞预警策略

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主题词：无信号交叉口 网联车辆 碰撞预警 驾驶人特性非合作博弈中图分类号：U471.15 文献标志码：A DOI： 10.19620/j.cnki.1000-3703.20240752

A Collision Warning Strategy for Connected Vehicles at Unsignalized IntersectionsConsideringDriverCharacteristics

WangRunmin1²，FengHao²，FanHaijin²，HeJiajun² （1.Collaborative InnovationCenterforWestern Traffc Safetyand IntellgentControlbyProvinceand Ministry，Chang'an University，Xi'an 71O064; 2.SchoolofInformation Engineering，Chang'anUniversity，Xi'an 710064）

【Abstract】Addressing the limitations of current intersection collsion warning systems，including non-line-of-sight isuesandlimitedconsiderationof drivers’characteristics，thispaperproposesacooperativecolisionwarning strategy for connectedvehiclesatintersections，incorporatingrivertraits.irstlyrivinghaviorsatinersetionsaeategordito straightandturning，andaturning speed modeltailoredtodrivercharacteristics is builtusingthe InDdataset.Secondly， vehicleturingtrajectorypredictionisenhancedwithaconstantyawratemodelandExtendedKalmanFilter，whilecolision risksaredynamicallassessedusingadual-circlevehiclegeometrymodelbasedonTimeExposedtoRisk.Thirdly，atwo-level warningstrategygroundedinnon-cooperativegametheoryisdevised，consideringdriverheterogeneityanddynamic interactions inunsignalizedconflicts.Finaly，thestrategyisvalidatedthroughsimulationsandreal-vehicletests.Results indicate the strategy successfully detected all colisions with a 100% warning rate，reduced collisions by up to 100% among diverse drivers，and decreased accidents by 95.06% and kinetic energy by 52.71% even with aggressive drivers.

Keywords：Unsignalized intersections，Connected vehicles，Collision warning，Drivers' characteristics，Non-cooperativegame

【引用格式】王润民，冯皓，凡海金，等.考虑驾驶人特性的无信号交叉口网联车辆碰撞预警策略[J].汽车技术，2025（7）：1-12. WANGRM，FENGH，FANHJ，etal.AColisionWarningStrategyforConnecedVehiclesatUnsignaliedIntersections ConsideringDriverCharacteristics[J].Automobile Technology，2O25（7）：1-12.

1前言

交叉口是交通网络的关键节点，其中，因缺乏时空隔离管控，无信号交叉口成为交通事故的高发区域。（剩余15470字）