The invention provides a self-vehicle driving risk assessment method for lane changing violation of other vehicles, and the method comprises the following steps: constructing a lane changing violation degree evaluation module based on a Sigmoid function, the lane changing infringement degree evaluation module calculates part of the real-time characteristic data of the vehicle through a lane changing infringement degree evaluation function to obtain a lane changing infringement degree index DOA; constructing a lane changing infringement interaction risk module, wherein the lane changing infringement interaction risk module calculates the interaction risk exposure degree index REL and the interaction risk severity degree index RSL through a lane changing infringement interaction risk quantification function to obtain a lane changing infringement interaction risk index DRIDOA; a lane changing infringement interaction risk index DRIDOA is used as a self-vehicle driving risk assessment quantized value of lane changing infringement of other vehicles; according to the method, when the front vehicle is manually driven to change the lane to be in front of the automatic driving vehicle, the automatic driving vehicle is violated, and the risk assessment before behavior decision making of the automatic driving vehicle is realized, and the risk assessment has predictability and rapidness.
本发明提供一种他车换道侵犯性的自车行驶风险评估方法,包括以下步骤:基于Sigmoid函数构建换道侵犯性程度评价模块,所述换道侵犯性程度评价模块将部分所述实时自车特征数据通过换道侵犯性程度评价函数计算得到换道侵犯性程度指标DOA;构建换道侵犯性交互风险模块,所述换道侵犯性交互风险模块将交互风险暴露程度指标REL、交互风险严重程度指标RSL通过换道侵犯性交互风险量化函数计算得到换道侵犯性交互风险指数DRI_DOA;通过换道侵犯性交互风险指数DRI_DOA为他车换道侵犯性的自车行驶风险评估量化值;实现人工驾驶前车换道至自动驾驶车辆前方时,自动驾驶车辆受到侵犯,自动驾驶车辆进行行为决策前的风险评估,所述风险评估具有预见性和快速性。
Self-vehicle driving risk assessment method for lane changing violation of other vehicles
一种他车换道侵犯性的自车行驶风险评估方法
2024-07-12
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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