CN109353337A - A kind of intelligent vehicle lane-change stage collision probability safety predicting method - Google Patents

A kind of intelligent vehicle lane-change stage collision probability safety predicting method Download PDF

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CN109353337A
CN109353337A CN201810906731.0A CN201810906731A CN109353337A CN 109353337 A CN109353337 A CN 109353337A CN 201810906731 A CN201810906731 A CN 201810906731A CN 109353337 A CN109353337 A CN 109353337A
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vehicle
vehicles
collision
overtaking
lane
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CN109353337B (en
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刘朝
夏扬
吴施海
王东强
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Chongqing Large Data Research Institute Co Ltd
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Chongqing Large Data Research Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of intelligent vehicle lane-change stage collision probability safety predicting methods, comprising the following steps: 31) carries out collision probability prediction to close to the stage；32) collision probability prediction is carried out to fast；33) collision probability prediction is carried out to the lane-change stage of overtaking other vehicles.It overtakes other vehicles stage collision safety prediction technique the present invention provides a kind of intelligent vehicle, by analyzing lane-change process, determine most dangerous overtake other vehicles the lane-change stage, and the lane-change stage establishes collision safety model overtaking other vehicles, the full stage carries out security monitoring in overtaking process, it ensures safe operation, while the prediction technique in each stage provided by the invention can more delicately realize prediction of collision, improves the safety in car running process.

Description

A kind of intelligent vehicle lane-change stage collision probability safety predicting method
Technical field
The present invention relates to intelligent vehicle collision safeties to predict field, collides more particularly to a kind of intelligent vehicle lane-change stage general Rate safety predicting method.
Background technique
In intelligent vehicle collision safety field, often most critical, be easiest to safety accident occurs is intelligent vehicle lane-change rank Section, it is careless slightly since lane-change phase scenario is sufficiently complex, accident can occur, therefore, in the prior art, lack one kind and change The intelligent vehicle collision safety prediction technique in road stage so that in car running process, can be realized using modern information technologies, Sensing technology extends the sensing capability of driver, external information (such as speed, pedestrian or other barriers that cognition technology is obtained Hinder object distance etc.) driver is passed to, while recognizing whether to constitute security risk in the integrated information of road conditions and vehicle condition, and In case of emergency, it takes measures to control automobile automatically, automobile is enable actively to avert danger, guarantee vehicle safe driving, thus Traffic accident is reduced, traffic safety is improved.
Therefore those skilled in the art are dedicated to developing a kind of intelligent vehicle lane-change stage collision probability safety predicting method, Realization predicts the road conditions in automobilism using modern information technologies, sensing technology, in case of emergency, adopts automatically Controlling measurement automobile is taken, automobile is enable actively to avert danger, guarantees vehicle safe driving, to reduce traffic accident, improves and hands over Logical safety.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide a kind of intelligent vehicles to change Road stage collision probability safety predicting method, realize using modern information technologies, sensing technology to the road conditions in automobilism into Row prediction, in case of emergency, takes measures to control automobile automatically, automobile is enable actively to avert danger, and guarantees vehicle safety row It sails, to reduce traffic accident, improves traffic safety.
To achieve the above object, the present invention provides a kind of intelligent vehicle lane-change stage collision probability safety predicting method, packets Include following steps:
31) collision probability prediction is carried out to close to the stage；
32) collision probability prediction is carried out to fast；
33) collision probability prediction is carried out to the lane-change stage of overtaking other vehicles.
Preferably, it in the step 31), is realized according to the following steps to the collision probability prediction close to the stage:
311) collision time TTC is calculated according to the following formula:
Work as va> vb, the value of collision time TTC works as v obtained by formula (1)a≤vb, TTC=0.
Here:
SabIt is that two vehicles start distance；
LaIt is the length of (A) of overtaking other vehicles；
LbIt is the length of passed vehicle (B)；
vaIt is (A) present speed of overtaking other vehicles；
vbIt is passed vehicle (B) present speed；
312) when passing vehicle and two vehicle speed of passed vehicle vehicle are constant, calculate what collision occurred according to the following formula Probability:
As P (tr>=TTC > tw)*P(δθ< θth)*P(δv> vthWhen)=1, reminded； (2)
Wherein,
P (x) is logical operator, when x is true, P (x)=1, otherwise, P (x)=0；
trIt is the threshold value of prompt time of overtaking other vehicles；
twIt is the threshold value overtaken other vehicles and alert the time；
δθIt is two vehicle relative positions；
θthIt is the threshold value of relative position；
δvIt is two vehicle relative velocities；
vthIt is the threshold value of relative velocity；
313) warning of overtaking other vehicles is determined according to the following formula:
As P (TTC≤tw)*P(δθ< θth)*P(δv> 0) value be 1 when, alarmed (3)
Preferably, it is realized according to the following steps and collision probability prediction is carried out to fast:
321) time required for fast is calculated according to the following formula:
Wherein,
totThe time required to being fast；
It is the safety coefficient of lane-change process time-consuming；
SbaIt is two vehicle relative distances；
SabIt is the initial distance of two vehicles when starting of overtaking other vehicles；
It is the speed overtaken other vehicles；
It is the speed of passed vehicle；
322) safe passing distance is calculated according to the following formula:
Lot=vatot (5)
Wherein, LotIt is road area of overtaking other vehicles safely；
323) lane changing feasible condition is determined according to the following formula:
If current road is a two-way road, overtaking lane is the lane on opposite, at this moment if there is head-on And the vehicle (D) come, then passing vehicle needs to meet following formula in the case where can star lane changing behavior:
Sad> (vdtot+0.5adtot 2)+Lot (6)
Wherein, SadIt is relative distance between passing vehicle (A) and vehicle (D)；
LotIt is road area of overtaking other vehicles safely；
Wherein, if on current road being multidirectional road, overtaking lane is also and the same lane vehicle (C) simultaneously Driving direction is identical.Assuming that the present speed of (C) vehicle is vc, acceleration is ac.Then, vehicle (A) can star lane change Line feed is that must satisfy following formula:
Sca> (vctot+0.5actot 2)-Lot (7)
ScaIt is shown two vehicles distance；
LotIt is road area of overtaking other vehicles safely.
Preferably, in the step 33), lane-change stage collision probability prediction of overtaking other vehicles is calculated according to the following steps:
331) collision domain of passing vehicle is determined according to the following formula:
Wherein, N (XA|μA,ΛA) be collision domain field probability density distribution；
ΛAIt is covariance matrix；
|ΛA| it is ΛADecision element；
D is the dimension of input variable, is design value；
μAIt is the mean variance of dimensional gaussian distribution；
ΔAIt is μATo XAMahalanobis distance, calculated by following equation
ΔA 2=(XA-μA)TΛA -1(XA-μA) (9)
332) the potential conflict domain for being exceeded vehicle is similarly built according to the formula of step 331)；
333) probability density that the potential domain in conflict area is overlapped, calculates the estimation of collision probability according to the following formula:
Firstly, the transformation matrix from vehicle axis system to world coordinate system
Wherein,
R is transformation matrix；
θ is the azimuth between target vehicle coordinate and world coordinates.
Then, the covariance matrix from vehicle coordinate to world coordinates is established:
ΛA W=RAΛARA T (11)
ΛB W=RBΛBRB T (12)
Joint probability density function is provided according to the following formula:
The collision probability density for integrating the conflict field of this two vehicle of moment obtains overtaking other vehicles the collision probability of moment t:
Wherein,
CpIf being that collision probability assessment collision occurs, Cp=1；
If the not no probability of collision risk between the two, Cp=0；
F (x, y) is collision probability density function；
ScIt is collision domain.
The beneficial effects of the present invention are: overtaking other vehicles stage collision safety prediction technique the present invention provides a kind of intelligent vehicle, lead to It crosses and lane-change process is analyzed, determination is most dangerous to overtake other vehicles the lane-change stage, and establishes collision peace in the lane-change stage of overtaking other vehicles Full model, the full stage carries out security monitoring in overtaking process, ensures safe operation, while each stage provided by the invention Prediction technique can more delicately realize prediction of collision, improve the safety in car running process.
Detailed description of the invention
Fig. 1 is the step flow chart of the specific embodiment of the invention.
Fig. 2 is that typical case overtakes other vehicles lane-change procedure declaration schematic diagram.
Fig. 3 is collision area schematic diagram of overtaking other vehicles.
Fig. 4 is the call duration time simulation curve figure of the vehicle detected in overtaking process.
Fig. 5 is the relative distance simulation curve figure in overtaking process with Adjacent vehicles and opposite vehicle.
Fig. 6 is the relative bearing curve graph in overtaking process with Adjacent vehicles and opposite vehicle.
Fig. 7 is overtaking process anti-collision warning response time curve graph.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figure 1, a kind of intelligent vehicle lane-change stage collision probability safety predicting method, comprising the following steps:
31) collision probability prediction is carried out to close to the stage；
32) collision probability prediction is carried out to fast；
33) collision probability prediction is carried out to the lane-change stage of overtaking other vehicles.
Further, it in the step 31), is realized according to the following steps to the collision probability prediction close to the stage:
311) collision time TTC is calculated according to the following formula:
Work as va> vb, the value of collision time TTC works as v obtained by formula (1)a≤vb, TTC=0.
Here:
SabIt is that two vehicles start distance；
LaIt is the length of (A) of overtaking other vehicles；
LbIt is the length of passed vehicle (B)；
vaIt is (A) present speed of overtaking other vehicles；
vbIt is passed vehicle (B) present speed；
312) when passing vehicle and two vehicle speed of passed vehicle vehicle are constant, calculate what collision occurred according to the following formula Probability:
As P (tr>=TTC > tw)*P(δθ< θth)*P(δv> vthWhen)=1, reminded； (2)
Wherein,
P (x) is logical operator, when x is true, P (x)=1, otherwise, P (x)=0；
trIt is the threshold value of prompt time of overtaking other vehicles；
twIt is the threshold value overtaken other vehicles and alert the time；
δθIt is two vehicle relative positions；
θthIt is the threshold value of relative position；
δvIt is two vehicle relative velocities；
vthIt is the threshold value of relative velocity；
313) warning of overtaking other vehicles is determined according to the following formula:
As P (TTC≤tw)*P(δθ< θth)*P(δv> 0) value be 1 when, alarmed (3)
Further, it in the step 32), is realized according to the following steps and collision probability prediction is carried out to fast:
321) time required for fast is calculated according to the following formula:
Wherein,
totThe time required to being fast；
It is the safety coefficient of lane-change process time-consuming；
SbaIt is two vehicle relative distances；
SabIt is the initial distance of two vehicles when starting of overtaking other vehicles；
It is the speed overtaken other vehicles；
It is the speed of passed vehicle；
322) safe passing distance is calculated according to the following formula:
Lot=vatot (5)
Wherein, LotIt is road area of overtaking other vehicles safely；
323) lane changing feasible condition is determined according to the following formula:
If current road is a two-way road, overtaking lane is the lane on opposite, at this moment if there is head-on And the vehicle (D) come, then passing vehicle needs to meet following formula in the case where can star lane changing behavior:
Sad> (vdtot+0.5adtot 2)+Lot (6)
Wherein, SadIt is relative distance between passing vehicle (A) and vehicle (D)；
LotIt is road area of overtaking other vehicles safely；
Wherein, if on current road being multidirectional road, overtaking lane is also and the same lane vehicle (C) simultaneously Driving direction is identical.Assuming that the present speed of (C) vehicle is vc, acceleration is ac.Then, vehicle (A) can star lane change Line feed is that must satisfy following formula:
Sca> (vctot+0.5actot 2)-Lot (7)
ScaIt is shown two vehicles distance；
LotIt is road area of overtaking other vehicles safely.
Further, in the step 33), lane-change stage collision probability prediction of overtaking other vehicles is calculated according to the following steps:
331) collision domain of passing vehicle is determined according to the following formula:
Wherein, N (XA|μA,ΛA) be collision domain field probability density distribution；
ΛAIt is covariance matrix；
|ΛA| it is ΛADecision element；
D is the dimension of input variable, is design value；
μAIt is the mean variance of dimensional gaussian distribution；
ΔAIt is μATo XAMahalanobis distance, calculated by following equation
ΔA 2=(XA-μA)TΛA -1(XA-μA) (9)
332) the potential conflict domain for being exceeded vehicle is similarly built according to the formula of step 331)；
333) probability density that the potential domain in conflict area is overlapped, calculates the estimation of collision probability according to the following formula:
Firstly, the transformation matrix from vehicle axis system to world coordinate system
Wherein,
R is transformation matrix；
θ is the azimuth between target vehicle coordinate and world coordinates.
Then, the covariance matrix from vehicle coordinate to world coordinates is established:
ΛA W=RAΛARA T (11)
ΛB W=RBΛBRB T (12)
Joint probability density function is provided according to the following formula:
The collision probability density for integrating the conflict field of this two vehicle of moment obtains overtaking other vehicles the collision probability of moment t:
Wherein,
CpIf being that collision probability assessment collision occurs, Cp=1；
If the not no probability of collision risk between the two, Cp=0；
F (x, y) is collision probability density function；
ScIt is collision domain.
According to the feature of multiple normal distribution, the linear combination of normal distribution is still able to satisfy normal distribution.It therefore, can be with To entry/exit conflicts field.
Such as Fig. 3, wherein overtaking security zone expression overtake other vehicles in security fields i.e. Fig. 3 it is maximum that Rectangle frame, Vehicle A indicate that vehicle A, that is, passing vehicle, Vehicle B indicate vehicle B, that is, passed vehicle vehicle； Overtaking Lane L indicates that fast, Lane L indicate middle part lane, and Lane R indicates slow lane.
Due to carry out in real roads dangerous passing behavior be it is abnormally dangerous and expensive, need multiple vehicles outfits Inter-vehicular communication equipment.Therefore, the method that the research in this field at present generallys use emulation testing carries out proof of algorithm.I Collision simulation platform is built using the miniature intelligent vehicle of 1:10.Compared to real road running test, miniature intelligent vehicle is utilized Simulation test has inexpensive, safe and repeatable experimental situation.It is devised using appeal algorithm principle following based on machine The vehicle obstacle-avoidance of device vision and algorithm of overtaking other vehicles, method include the following steps:
Processor determine miniature front side using the detection of obstacles algorithm based on single image whether there are obstacles or Vehicle；Whether detection of obstacles algorithm here is the prior art, can be directly obscured by an object by road on image come straight Tap into capable judgement.
Processor demarcates two cameras, and the height and distance of barrier are determined using the method for stereoscopic vision And transmit information to controller；
Range unit detects the vehicle condition in adjacent two lane, provides travelable region for lane-change of overtaking other vehicles and will be feasible The information in region is set to be transferred to controller；
Controller exchanges information with adjacent vehicle according to the information of acquisition, obtains the relevant information of opponent vehicle, uses Adaptive lane-change strategy, sends to operation control module and orders, complete the autonomous lane-change of vehicle.
In order to which in the prompting of upcoming phase authentication suggestion and method for early warning, we pass through the contracting of 4 1:10 ratios Micro- intelligent vehicle is equipped with wireless telecom equipment and establishes 20 meters of emulation road environments of longest lane distance, scaling (1:10), It is equivalent to true lane and effectively links up 200 meters of distance far.According to the schematic diagram of such as Fig. 2, the imitative of result such as Fig. 4 to Fig. 7 is obtained True result figure.Fig. 4 is the call duration time simulation curve figure of the vehicle detected in overtaking process.Its ordinate is vehicle ID, horizontal Coordinate is the time.Fig. 5 is the relative distance simulation curve figure in overtaking process with Adjacent vehicles and opposite vehicle, ordinate For relative distance, abscissa is the time, and unit is the second.Fig. 6 be in overtaking process with the opposite side of Adjacent vehicles and opposite vehicle Parallactic angle curve graph, ordinate are related side's parallactic angle, and abscissa is the time, and unit is the second.Fig. 7 is overtaking process anti-collision warning Response time curve graph.Its ordinate is collision time, and abscissa is runing time, and unit is the second.
Wherein No. 3 curves indicate that passed vehicle B, No. 2 curves indicate that vehicle E in the same direction, No. 1 curve indicate that opposite direction carrys out vehicle D.Fig. 4 is aobvious Show in test process vehicle communication time graph in Fig. 2.Such as Fig. 4, in the initial stage, vehicle B and vehicle E are only detected, and The vehicle D to come head-on has been recognized after 2.6s.Fig. 4 to Fig. 7 shows that positive vehicle reminds the result of decision with alarm.It is corresponding Test scene in figure, reminder alarm and an alarm are properly detected three times.And it can show adjacent lane vehicle The result of decision of alarm.There is the preferable result of decision to the accuracy of simulation test.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Technical solution, all should be within the scope of protection determined by the claims.

Claims (4)

1. a kind of intelligent vehicle lane-change stage collision probability safety predicting method, it is characterized in that: the following steps are included:
31) collision probability prediction is carried out to close to the stage；
32) collision probability prediction is carried out to fast；
33) collision probability prediction is carried out to the lane-change stage of overtaking other vehicles.
2. intelligent vehicle collision safety prediction technique as described in claim 1, it is characterized in that: in the step 31), according to following Step is realized to the collision probability prediction close to the stage:
311) collision time TTC is calculated according to the following formula:
Work as va> vb, the value of collision time TTC works as v obtained by formula (1)a≤vb, TTC=0.
Here:
SabIt is that two vehicles start distance；
LaIt is the length of (A) of overtaking other vehicles；
LbIt is the length of passed vehicle (B)；
vaIt is (A) present speed of overtaking other vehicles；
vbIt is passed vehicle (B) present speed；
312) when passing vehicle and two vehicle speed of passed vehicle vehicle are constant, the probability that collision occurs is calculated according to the following formula:
As P (tr>=TTC > tw)*P(δθ< θth)*P(δv> vthWhen)=1, reminded；(2)
Wherein,
P (x) is logical operator, when x is true, P (x)=1, otherwise, P (x)=0；
trIt is the threshold value of prompt time of overtaking other vehicles；
twIt is the threshold value overtaken other vehicles and alert the time；
δθIt is two vehicle relative positions；
θthIt is the threshold value of relative position；
δvIt is two vehicle relative velocities；
vthIt is the threshold value of relative velocity；
313) warning of overtaking other vehicles is determined according to the following formula:
As P (TTC≤tw)*P(δθ< θth)*P(δv> 0) value be 1 when, alarmed (3).
3. intelligent vehicle collision safety prediction technique as described in claim 1, it is characterized in that: in the step 32), according to following Step, which is realized, carries out collision probability prediction to fast:
321) time required for fast is calculated according to the following formula:
Wherein,
totThe time required to being fast；
It is the safety coefficient of lane-change process time-consuming；
SbaIt is two vehicle relative distances；
SabIt is the initial distance of two vehicles when starting of overtaking other vehicles；
vaIt is the speed overtaken other vehicles；
vbIt is the speed of passed vehicle；
322) safe passing distance is calculated according to the following formula:
Lot=vatot (5)
Wherein, LotIt is road area of overtaking other vehicles safely；
323) lane changing feasible condition is determined according to the following formula:
If current road is a two-way road, overtaking lane is the lane on opposite, at this moment if there is coming head-on Vehicle (D), then passing vehicle needs to meet following formula in the case where can star lane changing behavior:
Sad> (vdtot+0.5adtot 2)+Lot (6)
Wherein, SadIt is relative distance between passing vehicle (A) and vehicle (D)；
LotIt is road area of overtaking other vehicles safely；
Wherein, if on current road being multidirectional road, overtaking lane is also simultaneously with vehicle (C) with lanes side To identical.Assuming that the present speed of (C) vehicle is vc, acceleration is ac.Then, vehicle (A) can star lane changing behavior must Following formula must be met:
Sca> (vctot+0.5actot 2)-Lot (7)
ScaIt is shown two vehicles distance；
LotIt is road area of overtaking other vehicles safely.
4. intelligent vehicle collision safety prediction technique as described in claim 1, it is characterized in that: in the step 33), under Column step calculates lane-change stage collision probability prediction of overtaking other vehicles:
331) collision domain of passing vehicle is determined according to the following formula:
Wherein, N (XA|μA,ΛA) be collision domain field probability density distribution；
ΛAIt is covariance matrix；
|ΛA| it is ΛADecision element；
D is the dimension of input variable, is design value；
μAIt is the mean variance of dimensional gaussian distribution；
ΔAIt is μATo XAMahalanobis distance, calculated by following equation
ΔA 2=(XA-μA)TΛA -1(XA-μA) (9)
332) the potential conflict domain for being exceeded vehicle is similarly built according to the formula of step 331)；
333) probability density that the potential domain in conflict area is overlapped, calculates the estimation of collision probability according to the following formula:
Firstly, the transformation matrix from vehicle axis system to world coordinate system
Wherein,
R is transformation matrix；
θ is the azimuth between target vehicle coordinate and world coordinates.
Then, the covariance matrix from vehicle coordinate to world coordinates is established:
ΛA W=RAΛARA T (11)
ΛB W=RBΛBRB T (12)
Joint probability density function is provided according to the following formula:
The collision probability density for integrating the conflict field of this two vehicle of moment obtains overtaking other vehicles the collision probability of moment t:
Wherein,
CpIf being that collision probability assessment collision occurs, Cp=1；
If the not no probability of collision risk between the two, Cp=0；
F (x, y) is collision probability density function；
ScIt is collision domain.
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CN110085056A (en) * 2019-04-24 2019-08-02 华南理工大学 Vehicle lane-changing instantaneous risk recognition methods under a kind of highway bus or train route cooperative surroundings
CN110675656A (en) * 2019-09-24 2020-01-10 华南理工大学 Intelligent vehicle lane change early warning method based on instantaneous risk identification
CN111640299A (en) * 2020-05-11 2020-09-08 华砺智行(武汉)科技有限公司 Reverse overtaking early warning method and system in V2X vehicle networking environment
CN112249008A (en) * 2020-09-30 2021-01-22 南京航空航天大学 Unmanned automobile early warning method aiming at complex dynamic environment
CN112319477A (en) * 2020-11-02 2021-02-05 天津大学 Decision planning method for unmanned driving

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