The invention relates to an automatic driving collision risk detection method and system based on lane information and a medium, and the method comprises the steps: P1, obtaining the coordinate array information of boundary shape points of an obstacle and the coordinate data information of a central point of the obstacle in real time under a global coordinate system based on a vehicle-mounted sensing system, and obtaining the coordinate array information of the boundary shape points of the obstacle based on a vehicle-mounted positioning system; vehicle positioning coordinate array information is obtained in real time, and lane left boundary coordinate data information, lane right boundary coordinate data information and lane center line discrete shape point coordinate array information are obtained in real time based on a high-precision map. According to the method, obstacle information which does not need to be processed outside the lane is directly filtered through the frenet coordinate system, the calculation power consumption is reduced, the collision risk calculated according to the coordinates is very low in calculation amount, the collision risk can be calculated only through the coordinate position of the matching point in the track without recalculating the obstacle frenet coordinate when a plurality of alternative paths are planned and generated, and the calculation efficiency is greatly improved. And the consumption of computing power is greatly reduced.
本发明涉及一种基于车道信息的自动驾驶碰撞风险检测方法、系统及介质,所述方法包括P1.在全局坐标系下,基于车载感知系统,实时获取障碍物边界形点坐标数组信息和障碍物中心点坐标数据信息,基于车载定位系统,实时获取车辆定位坐标数组信息,基于高精度地图,实时获取车道左边界坐标数据信息、车道右边界坐标数据信息和车道中心线离散形点坐标数组信息。本发明不仅通过frenet坐标系直接过滤车道外不需要处理的障碍物信息,降低算力消耗,而且根据坐标计算的碰撞风险,计算量非常低,且规划生成多个备选路径不需要重新计算障碍物frenet坐标,只通过轨迹中的匹配点坐标位置即可计算碰撞风险,极大减小算力的消耗。
Automatic driving collision risk detection method and system based on lane information and medium
一种基于车道信息的自动驾驶碰撞风险检测方法、系统及介质
2023-08-01
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 |
European Patent Office | 2023
|Automatic driving road collision risk map generation method and system and medium
European Patent Office | 2024
|European Patent Office | 2023
|Collision risk detection method for vehicle lane changing, electronic equipment and storage medium
European Patent Office | 2024
|