The invention is applicable to the technical field of intelligent driving systems, and provides an automatic data acquisition method based on scene risk assessment, which comprises the following steps of: acquiring position, size and speed information of surrounding vehicles through sensing system hardware; according to a safety distance concept in the RSS model, a safety related area is formulated, and when vehicles exist in the area, the area can be regarded as potential safety threats; based on uncertainty Gaussian probability distribution, position distribution of surrounding vehicles in a future period of time is estimated, the probability of collision with the vehicle is calculated, and the collision risk is calculated synchronously; when one or more of the following conditions exist, it can be judged that the safety risk in the environment is large: the collision risk of a certain vehicle and the vehicle is larger than a threshold value, or the average risk of each vehicle to the vehicle in the environment is larger than the threshold value; when the surrounding environment is judged to have the risk, the current scene can be regarded as a valuable scene, the storage function of the data acquisition equipment is triggered, and the information of the current scene is stored.
本发明适用于智能驾驶系统技术领域,提供了一种基于场景风险评估的自动数据采集方法,包括以下步骤:通过感知系统硬件获取周边车辆的位置、尺寸和速度信息;根据RSS模型中的安全距离概念,制定安全相关区域,此区域内存在车辆时可以视为潜在的安全威胁;基于不确定性高斯概率分布,估算周边车辆未来一段时间内的位置分布,计算和自车发生碰撞的概率,同步计算碰撞风险;当有如下某种或多种情况时,可判断环境中安全风险大:某一车辆与自车的碰撞风险大于阈值,或环境中各车对自车的平均风险大于阈值;当判断周边环境存在风险时,可以将当前场景视为有价值场景,触发数据采集设备的存储功能,存储当前场景的信息。
Automatic data acquisition method based on scene risk assessment
一种基于场景风险评估的自动数据采集方法
2023-09-19
Patent
Electronic Resource
Chinese
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