The invention discloses a dangerous collision target selection method and system based on a tracking target and a storage medium. The dangerous collision target selection method comprises the steps of1, establishing a vehicle coordinate system; 2, fitting a transverse relative vehicle speed of the target by taking a transverse distance change between the target and the vehicle as a reference; 3,determining a dangerous collision area of the vehicle according to the driving state of the vehicle; calculating time TTC of the target entering the dangerous collision area of the vehicle according to the transverse and longitudinal relative vehicle speeds of the target; 4, according to the driving state of the current target and response time of a driver, calculating braking time of braking at different deceleration speeds; 5, comparing the time TTC calculated in the step 3 with comfortable braking time, emergency braking time, driver limit braking time and system limit braking time calculated in the step 4, and determining a danger level of the target; and 6, determining a final dangerous target according to a scene risk level and other environment information. According to the invention, the dangerous target can be rapidly and accurately identified.
本发明公开了一种基于跟踪目标的危险碰撞目标选择方法、系统及存储介质,包括:步骤1.建立本车车辆坐标系;步骤2.以目标与本车的横向距离变化为参考拟合目标的横向相对车速;步骤3.根据本车行驶状态确定本车危险碰撞区域;根据目标的横纵向相对车速计算目标进入本车的危险碰撞区域内的时间TTC;步骤4.按照当前目标的行驶状态、驾驶员反应时间计算以不同减速度制动的制动时间;步骤5.将步骤3计算出的时间TTC与步骤4计算出的舒适制动时间、紧急制动时间、驾驶员极限制动时间和系统极限制动时间进行对比,确定出目标的危险等级;步骤6.综合场景风险等级及其它环境信息,确定最终危险目标。本发明能够快速、准确地识别出危险目标。
Dangerous target selection method and system based on tracking target and vehicle
基于跟踪目标的危险目标选择方法、系统及车辆
2020-12-04
Patent
Electronic Resource
Chinese
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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