The invention discloses a vehicle driving risk prediction method in a cross-country environment based on a vehicle-road action mechanism. The method comprises the steps of 1, data preprocessing; 2, estimating the motion state of the vehicle; 3, estimating the environment state and the environment parameters; and 4, predicting the driving risk. The method has the beneficial effects that technologies of disciplines such as vehicle dynamics, ground mechanics and computer vision are combined, and a static and dynamic layering prediction mode of risks is carried out by combining geometrical and mechanical characteristics of a front road, so that the problem of vehicle driving risk prediction is solved by using the most fundamental principle based on the vehicle-road effect; in addition, multidisciplinary advanced technical means can be combined, the development trend of the automatic driving technology is met, and wide application prospects and feasibility under multiple scenes and multipleworking conditions are achieved.
本发明公开了一种基于车路作用机理的越野环境中车辆行驶风险预测方法,其方法为:第一步、数据预处理;第二步、对车辆运动状态进行估计;第三步、对环境状态与环境参数进行估计;第四步、对行驶风险进行预测。有益效果:结合了车辆动力学、地面力学、计算机视觉等学科的技术,通过结合前方道路的几何和力学特征进行风险的静、动态分层预测的方式,得以用基于车‑路作用的最根本的原理解决车辆行驶风险预测问题,并且能够结合多学科的先进技术手段,符合自动驾驶技术发展趋势,具有广泛的应用前景和多场景、多工况下的可行性。
Vehicle driving risk prediction method in cross-country environment based on vehicle-road action mechanism
一种基于车路作用机理的越野环境中车辆行驶风险预测方法
2021-02-23
Patent
Elektronische Ressource
Chinesisch
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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