The invention discloses a coordinate transformation-based vehicle-road cooperation lane change risk assessment method, which comprises the following steps of: analyzing vehicle formation information parameters of a vehicle-road cooperation platform to obtain trunk vehicle driving data; determining a two-dimensional coordinate system taking the lane changing vehicle as a center coordinate; converting the geographic coordinate system into a space coordinate system, and mapping the space coordinate system into a two-dimensional coordinate system to complete conversion from the geographic coordinate system to a real-time plane coordinate system; establishing a risk assessment model; inputting the driving data and expected values of the trunk-line vehicles in the lane changing process into the risk assessment model, and performing operational analysis and simulation; and the influence of the vehicle driving data on the lane changing risk is explored, and the factor which has the greatest influence on the risk in the lane changing process of the vehicle is obtained. By means of the coordinate transformation algorithm and the lane change risk assessment model, the collision risk caused by lane change of the vehicle in the driving process is calculated, the risk index is quantified, the safety and effectiveness of the vehicle in the lane change process are guaranteed, and a new thought is provided for lane change logic judgment and lane change path planning.
本发明公开了一种基于坐标变换的车路协同换道风险评估方法,包括解析车路协同平台车辆编队信息参数,获得干系车辆行驶数据;确定以换道车辆为中心坐标的二维坐标系;将地理坐标系变换为空间坐标系,并映射到二维坐标系之中,完成从地理坐标系到实时平面坐标系的变换;建立风险评估模型;将换道过程中干系车辆行驶数据和期望值输入到风险评估模型之中,进行运算分析和仿真;探究车辆行驶数据对换道风险的影响,得出车辆在换道过程中对风险影响最大的因素。本发明借助坐标变换算法和换道风险评估模型,计算车辆在行驶中变换车道带来的碰撞风险,量化风险指数,保证了车辆在换道过程中的安全性和有效性,为换道逻辑判断和换道路径规划提供新思路。
Coordinate transformation-based vehicle-road collaborative lane change risk assessment method
一种基于坐标变换的车路协同换道风险评估方法
2024-01-02
Patent
Electronic Resource
Chinese
European Patent Office | 2024
|European Patent Office | 2020
|Lane change risk assessment and personalized lane change decision method
European Patent Office | 2023
|European Patent Office | 2025
|