The invention discloses a collision risk assessment method and device based on lane and surrounding vehicle motion prediction, and belongs to the field of automatic driving. The method comprises the following steps: calculating position information of a vehicle and surrounding vehicles in a road coordinate system; based on a quintic polynomial, generating all local candidate paths of the vehicle; based on the lane state transition matrix and a lane transition model, calculating dynamic real-time probability distribution of each surrounding vehicle driving to each lane; based on the position information of the surrounding vehicles and the dynamic real-time probability distribution, using a cubic polynomial to generate future driving tracks of the surrounding vehicles on different lanes; and based on the dynamic real-time probability distribution and the time required for collision between the local candidate path of the own vehicle and the future driving track of each surrounding vehicle on different lanes, calculating a total collision risk value when the own vehicle runs along each local candidate path. According to the method, probability motion prediction and a lane structure are combined, the motion uncertainty in a real driving environment is effectively reflected, and the risk assessment accuracy is improved.
本发明公开了一种基于车道及周围车辆运动预测的碰撞风险评估方法和装置,属于自动驾驶领域。方法包括:计算自车和周围车辆在道路坐标系的位置信息;基于五次多项式,生成自车的所有局部候选路径;基于车道状态转移矩阵和车道转换模型,计算周围每一车辆驶向每个车道的动态实时概率分布;基于周围车辆的位置信息和动态实时概率分布,利用三次多项式生成周围车辆在不同车道上的未来行驶轨迹;基于动态实时概率分布和自车的局部候选路径与周围每一车辆在不同车道上的未来行驶轨迹之间的碰撞所需时间,计算自车沿每一局部候选路径行驶时的总碰撞风险值。本发明结合概率运动预测与车道结构,有效反映真实驾驶环境下运动不确定性,提高风险评估准确率。
Collision risk assessment method and device based on lane and surrounding vehicle motion prediction
基于车道及周围车辆运动预测的碰撞风险评估方法和装置
2025-03-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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