The invention discloses a detection method for protecting VRU driving safety through waterlogging recognition in automatic driving. The detection method comprises the following steps: S1) obtaining an optical image; s2) acquiring millimeter wave detection data; s3) calculating an NDWI (normalized water index), and obtaining relative position information of the ponding area and the vehicle from the NDWI; s4) identifying whether the VRU exists in the non-safe area according to the radar cross section and the size and motion characteristics of the size tracked by the target, and acquiring the position information of the VRU; s5) according to the water body with the position information and the speed of the vehicle, judging whether the vehicle meets the condition of approaching the ponding area or not; and S6) according to the VRU with the position and speed information and the speed of the vehicle, judging whether the VRU is in or is about to drive into the splashed dangerous area. According to the detection method for protecting the driving safety of the VRU through automatic driving accumulated water recognition, the possibility that the VRU is splashed by wheels is effectively reduced, and it is guaranteed that the VRU safely runs near the accumulated water area.

    本发明公开了一种自动驾驶积水识别保护VRU行驶安全的检测方法,包括如下步骤:S1)获取光学影像;S2)获取毫米波探测数据;S3)计算归一化水指数NDWI,并从中获取积水区域与自车相对位置信息;S4)根据雷达散射截面与目标跟踪出的size大小及其运动特性识别非安全区域内是否存在VRU,并获取VRU的位置信息;S5)根据带有位置信息的水体及自车速度判断自车是否满足接近积水区域的条件;S6)根据带有位置、速度信息的VRU及自车速度判断VRU是否处于或即将驶入被溅水的危险区域。本发明提供的自动驾驶积水识别保护VRU行驶安全的检测方法,有效降低VRU被车轮溅水的可能性,保障VRU的在积水区域附近安全行驶。


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    Title :

    Detection method for protecting VRU driving safety through automatic driving accumulated water recognition


    Additional title:

    一种自动驾驶积水识别保护VRU行驶安全的检测方法


    Contributors:
    YAN BIN (author) / LEI YANG (author) / ZHAO JIE (author)

    Publication date :

    2024-05-03


    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung




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