The invention discloses a collision risk assessment method. The method comprises the following steps: acquiring a whole vehicle signal, a sensing sensor signal, a vehicle model parameter and a driving state estimation signal; performing risk assessment on the current vehicle by using a first collision risk assessment algorithm, screening out the most dangerous target, and calculating a left-right steering curvature and a curvature acceleration required by vehicle obstacle avoidance and acceleration and deceleration and an acceleration and deceleration change rate required by vehicle acceleration and deceleration obstacle avoidance for the target; performing global collision risk assessment on the n targets and the m lane lines by using a second collision risk assessment algorithm, and selecting a path which is most easy to avoid obstacles from all possible paths; dividing a transverse condition and a longitudinal condition, and if the transverse condition meets the logic 1 and the longitudinal condition meets the logic 2, triggering collision early warning. According to the method, the possibility of braking obstacle avoidance and steering obstacle avoidance is comprehensively considered through two collision risk assessment algorithms, and the working conditions of false triggering and non-triggering can be avoided.
本发明公开了一种碰撞风险评估方法,包括:获取自车整车信号、感知传感器信号、车辆模型参数和驾驶状态估计信号;利用第一种碰撞风险评估算法对当前车辆进行风险评估,筛选出最危险的一个目标,并计算针对该目标计算自车避障所需左右转向曲率、曲率加速度及自车加减速避障所需的加减速度、加减速度变化率;利用第二种碰撞风险评估算法对n个目标及m条车道线进行全局碰撞风险评估,选择出所有可能路径中最容易避开障碍物的路径;划分横向条件和纵向条件,若横向条件满足逻辑1且纵向条件满足逻辑2,则触发碰撞预警。本发明通过两种碰撞风险评估算法综合考虑了制动避障和转向避障的可能,能避免误触发、未触发工况。
Collision risk assessment method and system and storage medium
碰撞风险评估方法、系统及存储介质
2023-08-04
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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