无交通信号路口行人过街的人车交互过程研究

自动驾驶汽车要进入人车混行的无交通信号路口，需确保与行人之间的交互安全，为解决这一问题，现以非自动驾驶汽车为研究对象，探索其与行人在无交通信号路口的交互过程。本文选取北京市内两处无交通信号灯的路口作为研究场景进行长期拍摄，基于视频数据从中提取行人的个体属性变量、行人的穿越行为变量、车辆的穿越行为变量以及间隙数据，将行人的过街行为分为穿越前、中两个阶段进行研究。结果表明，穿越阶段对行人的穿越时间具有显著性影响，穿越路口对行人的穿越时间不具有显著性影响。对于穿越前的等待时间，在有右转车道下对其具有影响的因素有行人的拒绝车辆个数和来自方向，在无右转车道下对其具有影响的因素有行人的拒绝车辆个数和起始位置。对于穿越中的穿越时间，在有无右转车道下对其具有影响的因素均为穿越人数和车辆1的行为。今后自动驾驶汽车行驶到无交通信号路口时，可以通过此结果去识别行人，并判断出行人的穿越时间，以便及时做出相应的措施。

Study on Human Vehicle Interaction Process of Pedestrian Crossing at non Traffic Signal Intersection

The automatic driving vehicle has to enter the mixed traffic signal free intersection of people and vehicles. It is necessary to ensure the interaction safety between pedestrians. In order to solve this problem, the non self driving vehicle is taken as the research object, and its interaction with pedestrians at no traffic signal intersection is explored. In this paper, two intersections without traffic lights in Beijing are selected as the research scene for long-term shooting. Based on the video data, the individual attribute variables of pedestrians, pedestrian crossing behavior variables, vehicle crossing behavior variables and gap data are extracted, and the pedestrian crossing is divided into two stages before and during crossing. The results show that the crossing stage has a significant impact on the crossing time of pedestrians, and the crossing intersection has no significant impact on the crossing time of pedestrians. For the waiting time before crossing, the factors affecting it in the case of right turn lane are the number of vehicles rejected by pedestrians and the direction from which they come, and the factors affecting it in the case of no right turn lane are the number of vehicles rejected by pedestrians and the starting position. For the crossing time in crossing, the factors affecting it with or without right turn lane are the number of crossing people and the behavior of vehicle 1. In the future, when driving a vehicle to a traffic signal intersection, the result can be used to identify pedestrians and determine the travel time of traveller, so as to make corresponding measures in time.