The invention discloses a real-time collision detection method based on driving intention and trajectory prediction, and the method comprises the steps: constructing an intention-based trajectory prediction frame which does not need deep learning, constructing a driving intention prediction model based on features extracted from a non-intersection scene and an intersection scene, and carrying out the prediction of the driving intention based on a tree-shaped Parzen Estimation (Tree-structured Parzen Estimation). The method comprises the following steps: completing training of a driving intention prediction model by using a Bayesian optimization algorithm based on TPE, predicting driving intentions of obstacle vehicles around a controlled vehicle by using the driving intention prediction model obtained by training, and predicting driving tracks of the obstacle vehicles around the controlled vehicle for a non-intersection scene and an intersection scene respectively. Whether the controlled vehicle and the obstacle vehicle will collide or not is judged through comparison and calculation of the driving tracks of the controlled vehicle and the obstacle vehicle, and the calculation real-time performance of collision detection is effectively improved.
本发明公开了一种基于驾驶意图与轨迹预测的实时碰撞检测方法,构建了不需要深度学习的基于意图的轨迹预测框架,基于非路口场景和路口场景分别提取的特征构建驾驶意图预测模型,并采用基于树形Parzen估计(Tree‑structured Parzen Estimator,TPE)的贝叶斯优化算法完成对驾驶意图预测模型的训练,采用训练得到的驾驶意图预测模型预测受控车辆周围障碍车辆的驾驶意图,再针对非路口场景和路口场景分别预测受控车辆周围障碍车辆的驾驶轨迹,通过对受控车辆与障碍车辆的驾驶轨迹的比较计算判断受控车辆与障碍车辆是否会发生碰撞,有效地提高了碰撞检测的计算实时性。
Real-time collision detection method based on driving intention and trajectory prediction
一种基于驾驶意图与轨迹预测的实时碰撞检测方法
2025-03-14
Patent
Electronic Resource
Chinese
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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