The invention discloses a driverless car early warning method for a complex dynamic environment, and the method comprises the steps: firstly carrying out the lateral and longitudinal decoupling of a prediction module, and simplifying the lateral behavior prediction of surrounding vehicles into the selection of a target lane; and selecting the most possibly selected lane sequence of the vehicle bycalculating the probability of each lane sequence; after the lane sequence is obtained, due to the fact that the longitudinal running track of the surrounding vehicles can also greatly influence the vehicles running on the target lane, on the basis of transverse prediction of the surrounding vehicles, adding intention tendency prediction of a driver in the vehicle running direction; and finally, establishing a surrounding environment early warning model according to the collision time TTC. According to the method, the prediction algorithm complexity is effectively reduced while the predictionaccuracy is ensured, the interaction influence between vehicles in the driving process is considered, accurate risk assessment and early warning are provided for the driverless vehicle in a complex dynamic traffic environment, and a foundation is laid for real-time decision making of a decision planning system.

    本发明公开了一种针对复杂动态环境的无人驾驶汽车预警方法,首先对预测模块进行横纵向解耦,将周围车辆横向行为预测简化为对目标车道的选择问题。通过计算每个车道序列的概率,来选择车辆最有可能选取的车道顺序。在得到车道顺序后,由于周围车辆在纵向的行驶轨迹对于其目标车道行驶的车辆也会产生较大影响,因此,在周围车辆横向预测的基础上,加入驾驶员在车辆行驶方向上的意图倾向预测。最后,根据碰撞时间TTC建立周围环境预警模型。本发明在保证预测准确性的同时有效降低了预测算法复杂度,同时将行驶过程中车与车之间的交互影响纳入考虑,实现在复杂动态的交通环境下为无人驾驶汽车提供准确风险评估与预警,为决策规划系统实时决策奠定基础。


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    Title :

    Driverless car early warning method for complex dynamic environment


    Additional title:

    针对复杂动态环境的无人驾驶汽车预警方法


    Contributors:
    WANG YISONG (author) / WANG CHUNYAN (author) / ZHAO WANZHONG (author) / LIU LIFENG (author) / QIN YAJUAN (author) / LIU XIAOQIANG (author) / WANG ZHAN (author)

    Publication date :

    2021-01-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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