The invention discloses a vehicle collision avoidance track risk assessment method under a pedestrian crossing working condition, which comprises the following steps: firstly, obtaining position information of a vehicle and a pedestrian by using a laser radar and a binocular camera, further calculating speed information, and establishing a vehicle coordinate system; then establishing a pedestrian-vehicle interaction model, and considering pedestrian movement as superposition of Markov movement and movement generated by vehicle interference; performing probability prediction on the future position of the pedestrian according to the pedestrian-vehicle interaction model; and finally, establishing a risk assessment function to assess the vehicle collision avoidance trajectory. The method can achieve the objective risk degree evaluation under the emergency collision avoidance condition of pedestrian crossing, achieves the prediction of the future movement of pedestrians, gives considerationto the possible movement of pedestrians under the interference of vehicles, and is further used for making the active safety decision-making planning.
本发明公开了一种行人过街工况下的车辆避撞轨迹风险评估方法,首先使用激光雷达、双目摄像头获得车辆和行人的位置信息,并进一步计算出速度信息,同时建立车辆坐标系;然后建立人车交互模型,将行人运动考虑成马尔科夫运动和车辆干扰产生的运动的叠加;接着根据人车交互模型对行人未来位置进行概率预测;最后建立风险评估函数对车辆避撞轨迹进行评估。本发明能实现在行人过街的紧急避撞工况下的客观风险度评估,对行人的未来运动进行预测,考虑行人在车辆干扰下的可能运动,进一步用于主动安全的决策规划。
Vehicle collision avoidance track risk assessment method under pedestrian crossing working condition
一种行人过街工况下的车辆避撞轨迹风险评估方法
2020-07-17
Patent
Elektronische Ressource
Chinesisch
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