The invention discloses a vehicle collision risk assessment method and device, an unmanned vehicle and a storage medium, and the method comprises the steps: obtaining the obstacle information of a target vehicle, so as to determine the relative speed of the target vehicle and an obstacle; based on the relative vehicle speed and the safe braking time of the target vehicle, at least two distance windows of the target vehicle are determined, and the distance windows longitudinally divide the front area of the target vehicle; based on the relative vehicle speed and the vehicle head position of the target vehicle, an interference window of the target vehicle is determined, the interference window represents an area having interference with the target vehicle moving at the relative vehicle speed, and the interference window and the at least two distance windows have overlapping areas respectively; based on the relative position of the obstacle and the overlapping area, the collision risk of the target vehicle relative to the obstacle is evaluated. Therefore, the collision risk of the current environment of the target vehicle can be evaluated in real time, and the reliability is high.

    本申请公开了一种车辆碰撞风险评估方法和装置、无人车和存储介质,其中该方法包括获取目标车辆的障碍物信息,以确定目标车辆与障碍物的相对车速;基于相对车速和目标车辆的安全制动时间,确定目标车辆的至少两个距离窗口,其中,距离窗口纵向切分目标车辆的前方区域;基于相对车速和目标车辆的车头位置,确定目标车辆的干涉窗口,其中,干涉窗口表示与以相对车速运动的目标车辆存在干涉的区域,干涉窗口与至少两个距离窗口分别具有交叠区域;基于障碍物与交叠区域的相对位置,评估目标车辆相对障碍物的碰撞风险。这样,可以对目标车辆当前所处环境的碰撞风险进行实时评估,且可靠性高。


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    Title :

    Vehicle collision risk assessment method and device, unmanned vehicle and storage medium


    Additional title:

    车辆碰撞风险评估方法和装置、无人车和存储介质


    Contributors:
    FU YIHAO (author) / YAO ZHIPENG (author) / LYU QIANG (author) / MIAO QIANKUN (author)

    Publication date :

    2024-02-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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