The invention relates to a signal-control intersection vehicle trajectory reconstruction method based on particle filtering, and the method comprises the steps: obtaining historical trajectory data and corresponding signal state data in a to-be-analyzed region, and constructing a trajectory reconstruction model based on a particle filtering algorithm; and inputting the origin and destination points of the current track and the corresponding signal state information into the track reconstruction model, and outputting to obtain second-by-second track points of the vehicle, namely reconstructing to obtain a complete vehicle track. Compared with the prior art, the method has the advantages that modeling is performed according to intersection signal states in different scenes, iteration is performed step by step by using a particle filtering method under the condition of known origin and destination points of the track and state information of the corresponding signal lamps in combination with a vehicle kinematics principle, and second-by-second track points of the vehicle are directly output, so that a reconstructed complete vehicle track is obtained; the trajectory reconstruction precision can be effectively improved while the calculation amount is reduced and the trajectory reconstruction step is simplified.
本发明涉及一种基于粒子滤波的信控交叉口车辆轨迹重构方法,包括:获取待分析区域内的历史轨迹数据及相应信号状态数据,基于粒子滤波算法,构建轨迹重构模型;将当前轨迹的起讫点和对应信号状态信息输入轨迹重构模型,输出得到车辆逐秒轨迹点,即重构得到完整的车辆轨迹。与现有技术相比,本发明按照交叉口信号状态分场景建模,结合车辆运动学原理,在已知轨迹起讫点及对应信号灯状态信息的条件下,利用粒子滤波方法逐步迭代、直接输出车辆的逐秒轨迹点,以得到重构的完整车辆轨迹,能够在减少计算量、简化轨迹重构步骤的同时有效提高轨迹重构精度。
Signal control intersection vehicle trajectory reconstruction method based on particle filtering
一种基于粒子滤波的信控交叉口车辆轨迹重构方法
2024-05-03
Patent
Elektronische Ressource
Chinesisch
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