The invention discloses a collision prediction, early warning and takeover method for an automatic driving vehicle. The method comprises the following steps: acquiring planning information of the vehicle in real time; acquiring obstacle information and scene information in real time; the planning information, the obstacle information and the scene information are sent to an early warning module, the early warning module stores the information in the form of cache information, and the cache information comprises a time sequence of the planning information, the obstacle information and the scene information in a period of time; the early warning module performs collision prediction between the vehicle and other obstacles through the trained collision prediction model; judging whether a collision risk exists or not according to the collision prediction; if yes, collision early warning information is sent out, and a worker is prompted to take over the vehicle manually; otherwise, the automatic driving vehicle continues to run in the automatic driving state according to the planning information. The safety performance of automatic driving can be improved, and a guarantee is provided for safe operation of the automatic driving vehicle.
本发明公开一种自动驾驶车辆的碰撞预测、预警及接管方法,包括:实时获取自车的规划信息;实时获取障碍物信息和场景信息;将规划信息、障碍物信息和场景信息发送给预警模块,预警模块以缓存信息进行存储,缓存信息包括一段时间内的规划信息、障碍物信息及场景信息的时序序列;预警模块通过训练好的碰撞预测模型进行自车与其它障碍物之间的碰撞预测;根据碰撞预测,判断是否存在碰撞风险;若存在,则发出碰撞预警信息,并提示工作人员对自车进行人工接管;否则,自动驾驶车辆按照规划信息继续在自动驾驶状态下运行。本发明能够提升自动驾驶的安全性能,为自动驾驶车辆的安全运行提供保障。
Collision prediction, early warning and takeover method for autonomous vehicle
自动驾驶车辆的碰撞预测、预警及接管方法
26.01.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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