The invention belongs to the technical field of unmanned vehicles, and particularly relates to a vehicle collision early warning method based on a vehicle trajectory prediction model. The method comprises the steps that a constant speed model, a constant acceleration model, a constant turning rate and speed model and a constant turning rate and acceleration model are adopted to predict the movement track of a vehicle in a period of time in the future according to historical track data of vehicle movement; according to the length and the width of the vehicle body, foot belt track calculation is carried out, the contour of a convex polyhedron is determined, collision detection is carried out on foot belt tracks generated by the convex polyhedron in the future time, and collision category judgment is carried out according to the relative position relation. According to the invention, trajectory prediction can be carried out on the vehicle with the known relative position and the running yaw angle within a period of time, and collision detection and collision early warning are carried out according to the generated foot belt trajectory. The method is high in decision-making efficiency, sufficient in decision-making time, good in driving safety and low in calculation cost.
本发明属于无人驾驶车辆技术领域,具体为一种基于车辆轨迹预测模型的车辆碰撞预警方法。本发明方法包括:采用恒定速度模型、恒定加速度模型、恒定转弯速率及速度模型、恒定转弯速率及加速度模型根据车辆运动的历史轨迹数据对未来一段时间内车辆的运动轨迹进行预测;根据车身长度和宽度进行足带轨迹计算并确定凸多面体的轮廓,对凸多面体产生的未来时间内的足带轨迹进行碰撞检测以及根据相对位置关系进行碰撞类别的判断。本发明可以对已知相对位置以及行驶偏航角的车辆进行一段时间内的轨迹预测,根据生成的足带轨迹进行碰撞检测以及碰撞预警。本发明决策效率高、决策时间充裕,行驶安全性好,计算成本低。
Vehicle collision early warning method based on vehicle trajectory prediction model
一种基于车辆轨迹预测模型的车辆碰撞预警方法
2024-01-30
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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