According to the multi-axis distributed driving intelligent vehicle path planning collision risk assessment method provided by the invention, a safety level division mode based on TTC calculation is established, the relative movement speed and the relative position deviation of the vehicle are considered, the emergency degree of an obstacle avoidance scene of the intelligent vehicle can be described more accurately, and the collision risk assessment accuracy is improved. And the risk degree of the surrounding area of the intelligent vehicle is determined. According to the method, both safety and stability are considered in a path planning strategy, and the target weight for adjusting the vehicle path length and curvature is obtained in combination with the road traffic sensing information and the safety level model, so that effective and comprehensive evaluation of collision risks can be realized in the path planning process of the intelligent vehicle, and the path planning accuracy is improved. And the vehicle can make proper actions in time, so that the safety of intelligent driving is ensured.
本发明提供了一种多轴分布式驱动智能车辆路径规划碰撞风险评估方法,建立了基于TTC计算的安全等级划分方式,考虑了车辆的相对运动速度、相对位置偏差,可较为准确的描述智能车辆避障场景的紧急程度,并确定出智能车辆周围区域的风险程度高低。本发明在路径规划策略中实现了安全性与稳定性的兼顾,结合道路交通传感信息、安全等级模型得到用于调节车辆路径长度和曲率的目标权重,从而能够在智能车辆的路径规划过程中实现碰撞风险的有效综合评估,并使车辆及时做出适合的动作,保证智能驾驶的安全性。
Multi-axis distributed driving intelligent vehicle path planning collision risk assessment method
一种多轴分布式驱动智能车辆路径规划碰撞风险评估方法
22.03.2024
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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