The invention provides a collision risk assessment method. The method comprises the steps of obtaining a to-be-assessed trajectory of a vehicle and predicted trajectories of other vehicles in a preset range; the to-be-evaluated track and the predicted track are converted to the same S-T coordinate system, S is the driving distance of the vehicle on the current lane where the vehicle runs, and T is time; and according to the to-be-evaluated trajectory and the predicted trajectory in the S-T coordinate system, determining whether the vehicle has a collision risk. In the embodiment of the invention, the to-be-assessed trajectory of the vehicle and the predicted trajectory of other vehicles in the preset range are converted into the same S-T coordinate system, and whether the vehicle has a collision risk is determined according to the to-be-assessed trajectory and the predicted trajectory in the S-T coordinate system. According to the embodiment of the invention, the S-T coordinate system is the corresponding relation between the driving distance of the vehicle in the current lane and the time, and the trajectory of the vehicle in the S-T coordinate system appears in a rectangular form, so that the problem of contradiction between the detection density and the detection accuracy is solved.
本申请提供了一种碰撞风险评估方法,包括:获取自车的待评估轨迹以及预设范围内其他车辆的预测轨迹;将待评估轨迹和预测轨迹转换至同一个S‑T坐标系,其中,S为车辆在自车行驶的当前车道的行驶距离,T为时间;根据S‑T坐标系中的待评估轨迹和预测轨迹,确定自车是否存在碰撞风险。在本申请实施例中,将自车的待评估轨迹和预设范围内其他车辆的预测轨迹转换至同一个S‑T坐标系,并根据S‑T坐标系中的待评估轨迹和预测轨迹,确定自车是否存在碰撞风险。本申请实施例S‑T坐标系为车辆在当前车道的行驶距离与时间的对应关系,且S‑T坐标系中车辆的轨迹是以矩形的形式出现,解决了检测密度与检测准确度相互矛盾的问题。
Collision risk assessment method and device, electronic equipment and storage medium
碰撞风险评估方法、装置、电子设备及存储介质
2025-04-15
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 |
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