本发明适用于自动驾驶安全技术领域,提供了考虑周围车辆异质性的自动驾驶车辆换道风险评估方法,包括:自动驾驶车辆通过感知系统实时采集自身及周围环境信息,通过考虑反应时间和最大制动减速度引入车辆的异质性来计算每辆周围车辆的威胁度;划分道路空间为网格,分别针对周围车辆和车道线构建风险能量场,叠加后得到道路区域综合风险能量场;自动驾驶车辆结合自身运动状态计算在道路区域综合风险能量场中所受风险力,并与设定风险等级阈值对比,评估换道过程中的风险。本发明解决了现有风险评估方法无法应对复杂道路环境以及对周围车辆特性和运动不确定性考虑不全面的问题,实现考虑周围车辆和自动驾驶车辆特性条件下的换道风险动态预警。
The invention is suitable for the technical field of automatic driving safety, and provides an automatic driving vehicle lane changing risk assessment method considering the heterogeneity of surrounding vehicles, which comprises the following steps that: an automatic driving vehicle acquires own and surrounding environment information in real time through a sensing system; calculating a threat degree for each surrounding vehicle by introducing heterogeneity of the vehicle in consideration of the reaction time and the maximum braking deceleration; dividing a road space into grids, respectively constructing risk energy fields for surrounding vehicles and lane lines, and superposing to obtain a comprehensive risk energy field of a road area; and calculating the risk force borne by the automatic driving vehicle in the comprehensive risk energy field of the road area by combining the motion state of the automatic driving vehicle, comparing the risk force with a set risk grade threshold value, and evaluating the risk in the lane changing process. According to the method, the problems that an existing risk assessment method cannot deal with a complex road environment and the characteristics and motion uncertainty of surrounding vehicles are not comprehensively considered are solved, and lane changing risk dynamic early warning under the condition of considering the characteristics of the surrounding vehicles and automatic driving vehicles is achieved.
考虑周围车辆异质性的自动驾驶车辆换道风险评估方法
10.06.2025
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 |