The invention discloses a pedestrian collision early warning method and system based on a lane level map. The method comprises the following steps: marking vehicles and pedestrians on a built-in lane-level map based on obtained basic information of the own vehicle and surrounding vehicles and basic information of the pedestrians; based on the marked lane level map, pedestrians possibly colliding with the vehicle in the driving direction of the vehicle are screened out, and whether the pedestrians are located in a blind area or a non-blind area is judged; and for the pedestrians in the blind area, the blind area orientation where the pedestrians are located is judged, and for the pedestrians possibly colliding, collision early warning presentation is carried out in combination with the blind area and the blind area orientation judgment result. According to the invention, through the V2X communication technology, the perception capability of the bicycle is improved, the V2X information and the lane level map are fused, the early warning result is accurate to the lane level and the specific direction, the effective early warning rate of the blind area is improved, the early warning is more visual, the driving experience is improved, the safety of vehicle driving is improved, and the driving experience is improved. And technical support is provided for further development of intelligent driving.
本发明公开了一种基于车道级地图的行人碰撞预警方法和系统。该方法基于获取的自车及周围车辆的基本信息和行人的基本信息,在内置的车道级地图上对车辆和行人进行标注;基于标注的车道级地图,筛选出自车行驶方向上可能和自车发生碰撞的行人,并判断行人位于盲区还是非盲区;对于盲区行人,判断行人所处的盲区方位,对可能发生碰撞的行人,结合盲区及盲区方位判断结果进行碰撞预警呈现。本发明通过V2X通信技术提高单车的感知能力,将V2X的信息和车道级地图进行融合,预警结果精确到车道级别和具体的方位,提高盲区有效预警率,同时使得预警更直观,改善了驾驶体验,从而提高了车辆行驶的安全性,也为智能驾驶的进一步发展提供技术支撑。
Pedestrian collision early warning method and system based on lane level map
基于车道级地图的行人碰撞预警方法和系统
2024-05-03
Patent
Electronic Resource
Chinese