The embodiment of the invention discloses a collision risk state determination method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the first own vehicle state information of a vehicle in a current time frame and the first state information of an obstacle around the vehicle in the current time frame; predicting first position probability distribution information corresponding to the vehicle in at least one future time frame based on the first vehicle state information; based on the first state information of the obstacle, predicting second position probability distribution information corresponding to the obstacle in each future time frame; and determining a collision risk state of the vehicle and the obstacle based on the first position probability distribution information and the second position probability distribution information corresponding to each future time frame. According to the embodiment of the invention, the tolerance of a trajectory prediction result to noise can be improved, so that the adverse effect of sensor data noise on a collision risk state can be reduced, and the robustness, accuracy and effectiveness of the collision risk state are improved.

    本公开实施例公开了一种碰撞风险状态的确定方法、装置、电子设备和存储介质,其中,方法包括:确定车辆在当前时间帧的第一自车状态信息和车辆周围的障碍物在当前时间帧的第一状态信息;基于第一自车状态信息,预测车辆在至少一个未来时间帧分别对应的第一位置概率分布信息;基于障碍物的第一状态信息,预测障碍物在各未来时间帧分别对应的第二位置概率分布信息;基于各未来时间帧分别对应的第一位置概率分布信息和第二位置概率分布信息,确定车辆与障碍物的碰撞风险状态。本公开实施例可以提高轨迹预测结果对噪声的容忍度,从而可以降低传感器数据噪声对碰撞风险状态的不利影响,提高碰撞风险状态的鲁棒性、准确性和有效性。


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    Title :

    Method and device for determining collision risk state, electronic equipment and storage medium


    Additional title:

    碰撞风险状态的确定方法、装置、电子设备和存储介质


    Contributors:
    PEI XIZHE (author) / QI LIANJUN (author)

    Publication date :

    2024-07-09


    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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