The invention discloses an intelligent vehicle lane changing collision probability evaluation method based on track prediction. The method comprises the steps of 1) acquiring the vehicle size, vehiclereal-time motion parameters and the longitudinal relative distance between a target vehicle and surrounding vehicles, 2) establishing an original coordinate system for conflict prediction by taking the mass center of the target vehicle as an original point and taking the position of the mass center of the vehicle as an approximate vehicle position, and performing grid division on the coordinate system, 3) predicting the probability that the target vehicle arrives at each grid by using a hidden Markov model, 4) analyzing according to the result output by the forward algorithm and calculating the relative displacement of the target vehicle and the surrounding vehicles after t time, 5) according to the initial position, the motion state and the prediction information of each vehicle, calculating the relative position of the target vehicle and the surrounding vehicles after t time, and 6) visually outputting the probability distribution of the target vehicle and the surrounding vehicles arriving at each grid at the t moment by using a thermodynamic diagram. The method can effectively solve the problem of collision probability prediction possibly existing in midway lane changing of thevehicle.
本发明公开了一种基于轨道预测的智能车辆换道碰撞概率评估方法,包括步骤:1)获取车辆尺寸,车辆实时运动参数、目标车辆与周边车辆的纵向相对距离;2)以目标车辆质心处为原点,以车辆质心位置近似为车辆位置,建立冲突预测的原始坐标系,将坐标系进行栅格划分;3)运用隐马尔科夫模型对目标车辆到达各个栅格的概率进行预测;4)根据前向算法输出的结果进行分析并计算出t时刻后目标车辆和周围车辆的相对位移;5)根据各车辆初始位置、运动状态以及预测信息,计算t时间后目标车辆与周围车辆的相对位置;6)将目标车辆和周围车辆t时刻到达各个栅格的概率分布用热力图进行可视化输出。本发明可有效解决车辆中途换道可能存在的碰撞概率预测问题。
Intelligent vehicle lane changing collision probability evaluation method based on track prediction
一种基于轨道预测的智能车辆换道碰撞概率评估方法
2021-01-22
Patent
Electronic Resource
Chinese
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