The invention discloses a vulnerable traffic participant collision avoidance method based on pedestrian trajectory prediction. The method comprises the following steps of walking intention judgment, wherein various pedestrian walking intention change analysis is performed according to the change of action characteristics; active collision avoidance judgment: obtaining the position and speed of a pedestrian on a front road, and performing active collision avoidance based on a pre-estimated safe distance model; determining a braking distance: dividing the human-vehicle tracks into parallel tracks and intersected tracks, and establishing a human-vehicle pre-estimation safety distance model; active obstacle avoidance control: introducing a transverse speed error threshold, and if it is determined that the pedestrian has a street-crossing intention, comparing the time when the vehicle travels to the pedestrian trajectory with the time when the pedestrian passes through the vehicle traveling range; and if the pedestrian is judged to be in the straight-going deviation state, taking a trajectory parallel active obstacle avoidance measure. The invention further discloses a vulnerable traffic participant collision avoidance device based on pedestrian trajectory prediction. According to the invention, a reasonable driving strategy and an effective collision avoidance strategy can be decided and planned, and the method can be widely applied to the field of automobile active safety obstacle avoidance.

    本发明公开了一种基于行人轨迹预测的弱势交通参与者避撞方法,步骤如下:行走意图判别:依据动作特征的变化进行各种行人行走意图变化分析;主动避撞判断:获取前方道路行人位置和速度,基于预估安全距离模型主动避撞;确定制动距离:将人车轨迹分为轨迹平行和轨迹相交,建立人车预估安全距离模型;主动避障控制:引入横向速度误差阈,若判定行人有过街意图,比较车辆行驶至行人轨迹处时间和行人走过车辆行驶范围时间;若判断行人处于直行偏移状态,则采取轨迹平行主动避障措施。本发明还公开了一种基于行人轨迹预测的弱势交通参与者避撞装置。本发明能够决策规划出合理的行驶策略和有效的避撞策略,可以广泛应用于汽车主动安全避障领域。


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    Titel :

    Pedestrian trajectory prediction-based vulnerable traffic participant collision avoidance method and device


    Weitere Titelangaben:

    一种基于行人轨迹预测的弱势交通参与者避撞方法及装置


    Beteiligte:
    ZHAO YIMING (Autor:in) / XU XINYI (Autor:in) / MA ZE (Autor:in) / XIA BIAO (Autor:in) / LIU PENG (Autor:in)

    Erscheinungsdatum :

    2023-08-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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