CN110466518A - A kind of safe predictor method intersecting scene towards track of vehicle - Google Patents
A kind of safe predictor method intersecting scene towards track of vehicle Download PDFInfo
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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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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Abstract
The present invention relates to a kind of safe predictor methods for intersecting scene towards track of vehicle, and this method comprises the following steps: (1) obtaining this vehicle motion information prediction this vehicle motion profile；(2) it obtains to vehicle motion information prediction to vehicle motion profile；(3) time PET is invaded after estimating according to this vehicle of prediction motion profile and to vehicle motion profile；(4) pre-impact time TTC is determined according to this vehicle motion profile；(5) intrusion time PET and pre-impact time TTC estimates vehicle safety state after.Compared with prior art, the present invention carries out the safety that track of vehicle intersects under scene using the index that PET and TTC are combined is estimated and estimates, compensate for it is currently used only can not determine whether two vehicles in this case mutually hit with TTC parameter and bump against the defect of position, it is more accurate that the safe condition of scene is estimated.
Description
Technical field
The present invention relates to autonomous driving vehicle fields, pre- more particularly, to a kind of safety for intersecting scene towards track of vehicle
Estimate method.
Background technique
During driver's normal driving, an important concept is exactly safety margin (Safety Margin), such as
Shown in Fig. 1, driver can retain certain safety margin and travel in comfort zone during normally travel.Certain specific
In the case of, driver can be made actively to enter non-comfort zone.Driver is also that will not voluntarily enter nervous area.The right side in nervous area
Boundary is safety zone boundary, and on this boundary line, no matter what action driver takes cannot avoid collision, even if taking
Behavior correctly can only also be alleviated collision bring injury.Therefore, safety margin can be defined as driver from current shape
Time-space matrix of the state to safety zone boundary.It can be seen that safety margin and relevant range can preferably instruct driving behavior
Analysis and the exploitation of active safety system.
Chinese patent CN109572693A provides a kind of vehicle obstacle-avoidance householder method, system and vehicle, is related to automobile
Technical field, if prediction vehicle-to-target object can collide, according to the current status information of vehicle and original obstacle
Object information generates vehicle obstacle-avoidance and controls signal, sends control signals to vehicle control device control vehicle and makes corresponding avoidance
Measure.Chinese patent CN109131084A discloses a kind of 360 panorama of active forewarning driving auxiliary control method, first to vehicle
Around environment detected, then by handling the video image of acquisition, judgement obtain whether dangerous barrier,
And the type of barrier is distinguished, and danger classes is judged according to the car status information received, so that warning note is issued, it is real
The effect of existing active forewarning car owner.Chinese patent CN107766636A provides a kind of city based on extreme value theory and microscopic simulation
Intersection Safety Evaluation Method models traffic conflict data using extreme value model, calculates the accident risk rate of intersection.
SpearmanRank coefficient carries out safe ordering, selection and actual accidents to crossing respectively according to risk indicator and actual accidents number
The immediate safe evaluation method of the safety of reflection.
For the safety margin of this vehicle of quantitative analysis evaluation position, common index is exactly to touch in advance under Car following
It hits the time (Time to Collision, TTC), initial definition is that the vehicle on same track keeps current vehicle speed constant
To the required time that collides, it can be seen that this parameter two vehicles relatively when driving, this wheel paths variation occupies to lane
When caused conflict, it is more difficult to define and use, for example this vehicle left-hand rotation in Fig. 2 has opposite car (Left Turn Across
Path/Opposite Direction, LTAP/OD) scene.
In the scene that two similar wheel paths cross, many documents are in analysis driving behavior and evaluation safety margin institute
Index is PET (Post Encroachment Time), and PET refers to that first car is driven out to two wheel paths intersectional regions and
Two vehicles enter the time difference of two wheel paths intersectional regions.The region (Enchroachment Zone, EZ) that two wheel paths cross
It is that the track of Ben Che and opposite car crosses the region to be formed, this usual region is reduced to parallelogram, in Fig. 2
Red parallelogram region.Pet sheet has levied the time difference for the collision time point that distance may occur, this parameter can be positive
Or it is negative, indicate which vehicle first runs over the region EZ.
PET is the time parameter really occurred after the completion of the movement of two vehicles, is not appropriate for being used directly to describe
Safety margin when this vehicle present position, the present invention will extend to the definition of this parameter, in any time of vehicle driving
The time difference that two vehicles drove into and sailed out of the region EZ can be estimated, that is, estimates PET as a ginseng of evaluation safety margin
Number, and TTC is defined and is calculated based on this parameter.
As shown in figure 3, pov is to vehicle, and sv is this vehicle, and two wheel paths intersectional regions are EZ (Echroachment in figure
Zone), the definition of PET is that a vehicle leaves the region EZ and another vehicle enters the time difference in the region EZ, when this vehicle first leaves EZ
When region, PET is positive value, when opposite car first leaves the region EZ, such as the case where Fig. 3 shown in, PET is negative value.It can be seen that
Pet sheet has levied the time difference that distance may collide.
Finding in this vehicle can be based on the current kinematics parameters of this vehicle and to the kinematics of vehicle to any moment of vehicle
One PET of parameter prediction referred to as estimates PET herein, indicates that two vehicles may be sent out in track intersection when estimating PET equal to 0
Raw collision.According to the definition of pre-impact time TTC, current point in time and two vehicles may collide the time difference at time point, In
In the scene of this paper, when predicting PET equal to 0, it is equally at this time that the time that this vehicle needs to drive into the region EZ, which is TTC,
The time in the region EZ is driven into vehicle.
It can be seen that exclusive use from above-mentioned analysis and estimate PET as parameter, degree of danger cannot be characterized well,
Such as when estimating PET equal to 0, it is predicted that two vehicles may collide, but TTC at this time can be larger, without correlation
Active safety system is made a response.Certainly this does not illustrate that PET is nonsensical in this analysis, it is therefore apparent that when PET is not
When 0, two vehicles are estimated to be collided, but driver will not receive the very small situation of PET.So PET is also to a certain degree
Upper characterization is dangerous.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind towards track of vehicle
Intersect the safe predictor method of scene.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of safe predictor method intersecting scene towards track of vehicle, this method comprises the following steps:
(1) this vehicle motion information prediction this vehicle motion profile is obtained；
(2) it obtains to vehicle motion information prediction to vehicle motion profile；
(3) time PET is invaded after estimating according to this vehicle of prediction motion profile and to vehicle motion profile；
(4) pre-impact time TTC is determined according to this vehicle motion profile；
(5) intrusion time PET and pre-impact time TTC estimates vehicle safety state after.
This vehicle motion information and include current time car speed, longitudinal acceleration, side to vehicle motion information
To acceleration and headstock towards angle.
This vehicle motion information is obtained by the sensor being mounted on this vehicle in step (1), and then the processor on this vehicle
Pass through this vehicle motion information prediction this vehicle motion profile.
Step (2) specifically: be mounted on and the sensor on vehicle is obtained to vehicle motion information, when appearance pair in this vehicle visual field
Che Shi, this vehicle send data requesting instructions to vehicle, more vehicle motion informations are sent to this vehicle to vehicle, and the processor on this vehicle is logical
It crosses to vehicle motion information prediction to vehicle motion profile.
Camera is installed on this described vehicle, whether this vehicle visual field is appeared in vehicle by the camera head monitor
In.
This vehicle motion profile and vehicle motion profile is obtained in the following way:
(a) this vehicle and car speed v (t), longitudinal acceleration a to the current t moment of vehicle are obtainedlon(t), side acceleration
alat(t) and headstock is towards angle γ (t)；
(b) predict respectively according to the following formula this vehicle and to vehicle the t+1 moment longitudinal velocity vlon(t+1), side velocity vlat
(t+1) and headstock is towards angle γ (t+1):
vlon(t+1)=v (t)+alon(t) * Δ t,
vlat(t+1)=alat(t) * Δ t,
Wherein, Δ t is the sampling instant time difference, and v (t+1) is the car speed at t+1 moment；
(c) this Che Yundong is drawn towards angle according to this vehicle of prediction and the longitudinal velocity to vehicle, side velocity and headstock
Track and to vehicle motion profile.
Step (3) specifically:
(31) two wheel paths intersectional regions, the i.e. area EZ are determined according to this vehicle of prediction motion profile and to vehicle motion profile
Domain；
(32) enter the time t in the region EZ from current location according to this vehicle of prediction this vehicle of moving track calculation1And this
Vehicle leaves the time t in the region EZ from current location2；
(33) according to the time t for entering the region EZ from current location to vehicle to vehicle moving track calculation of prediction3And it is right
Vehicle leaves the time t in the region EZ from current location4；
(34) Ruo Benche first leaves the region EZ, then intrusion time PET is t afterwards3-t2If first leaving the region EZ to vehicle, after
Intrusion time PET is t4-t1。
Step (4) pre-impact time TTC is determined as the time t that this vehicle enters the region EZ from current location1。
Step (5) specifically: as TTC < 3s and -0.27s < PET < 0.6s, vehicle is dangerous driving states, otherwise, vehicle
Be safe driving state.
Compared with prior art, the present invention has the advantage that the present invention, which uses, estimates the index that PET and TTC are combined
Intersect the safety under scene carrying out track of vehicle to estimate, compensating for currently used only can not determine the situation with TTC parameter
Whether lower two vehicles mutually hit the defect for bumping against position, so more accurate that be estimated to the safe condition of scene.
Detailed description of the invention
Fig. 1 is driving safety state diagram；
Fig. 2 is that this vehicle turns left to have the scene figure of opposite car；
Fig. 3 is that PET calculates schematic diagram；
Fig. 4 is the flow diagram of the method for the present invention；
Fig. 5 is that this vehicle motion profile predicts schematic diagram；
Fig. 6 is two vehicle movement velocity schematic diagrames；
Fig. 7 is 2.3s and carving copy vehicle and to predict schematic diagram to vehicle motion profile at 3.9s two in embodiment；
Fig. 8 is to estimate PET and TTC result in embodiment；
Fig. 9 is 4.2s and carving copy vehicle and to predict schematic diagram to vehicle motion profile at 5.9s two in embodiment.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Note that the following embodiments and the accompanying drawings is said
Bright is substantial illustration, and the present invention is not intended to be applicable in it object or its purposes is defined, and the present invention does not limit
In the following embodiments and the accompanying drawings.
Embodiment
As shown in figure 4, a kind of safe predictor method for intersecting scene towards track of vehicle, this method comprises the following steps:
(1) this vehicle motion information prediction this vehicle motion profile is obtained；
(2) it obtains to vehicle motion information prediction to vehicle motion profile；
(3) time PET is invaded after estimating according to this vehicle of prediction motion profile and to vehicle motion profile；
(4) pre-impact time TTC is determined according to this vehicle motion profile；
(5) intrusion time PET and pre-impact time TTC estimates vehicle safety state after.
This vehicle motion information and include current time car speed to vehicle motion information, vertical in step (1) and step (2)
To acceleration, side acceleration and headstock towards angle.
This vehicle motion information is obtained by the sensor being mounted on this vehicle in step (1), and then the processor on this vehicle
Pass through this vehicle motion information prediction this vehicle motion profile.Step (2) specifically: be mounted on to obtain the sensor on vehicle and vehicle is transported
Dynamic information, when occurring in this vehicle visual field to vehicle, this vehicle sends data requesting instructions to vehicle, sends out more vehicle motion informations to vehicle
Send to this vehicle, the processor on this vehicle by vehicle motion information prediction to vehicle motion profile.Wherein, camera shooting is installed on this vehicle
Whether head appears in this vehicle visual field vehicle by the camera head monitor.
As shown in figure 5, this vehicle motion profile obtains in the following way:
(a) this vehicle and car speed v (t), longitudinal acceleration a to the current t moment of vehicle are obtainedlon(t), side acceleration
alat(t) and headstock is towards angle γ (t)；
(b) predict respectively according to the following formula this vehicle and to vehicle the t+1 moment longitudinal velocity vlon(t+1), side velocity vlat
(t+1) and headstock is towards angle γ (t+1):
vlon(t+1)=v (t)+alon(t) * Δ t,
vlat(t+1)=alat(t) * Δ t,
Wherein, Δ t is the sampling instant time difference, and v (t+1) is the car speed at t+1 moment；
(c) this Che Yundong is drawn towards angle according to this vehicle of prediction and the longitudinal velocity to vehicle, side velocity and headstock
Track and to vehicle motion profile.
Similarly, vehicle motion profile is obtained by same mode.
Step (3) specifically:
(31) two wheel paths intersectional regions, the i.e. area EZ are determined according to this vehicle of prediction motion profile and to vehicle motion profile
Domain；
(32) enter the time t in the region EZ from current location according to this vehicle of prediction this vehicle of moving track calculation1And this
Vehicle leaves the time t in the region EZ from current location2；
(33) according to the time t for entering the region EZ from current location to vehicle to vehicle moving track calculation of prediction3And it is right
Vehicle leaves the time t in the region EZ from current location4；
(34) Ruo Benche first leaves the region EZ, then intrusion time PET is t afterwards3-t2If first leaving the region EZ to vehicle, after
Intrusion time PET is t4-t1。
Step (4) pre-impact time TTC is determined as the time t that this vehicle enters the region EZ from current location1。
Step (5) specifically: as TTC < 3s and -0.27s < PET < 0.6s, vehicle is dangerous driving states, otherwise, vehicle
Be safe driving state.
The present embodiment has chosen this vehicle of an example from natural driving data library EuroFOT and turns left to have the scene of opposite car,
Two vehicle movement velocitys are as shown in Figure 6.The present embodiment is programmed using MATLAB, completes model buildings process, as long as reading corresponding
Natural driving data and complete to calculate the motion state of target vehicle using state estimation tool, and when setting
Between synchronous point, two vehicle motion profiles can be rebuild and calculate safety margin parameter prediction PET and TTC.
The relative position of two vehicles when Fig. 7 illustrates 2.3 seconds and 3.9 seconds, red left-hand rotation Che Weiben vehicle, blue straight traffic
It can be used to calculate PET and TTC, the result of their estimation is as shown in Figure 8 after scene reproduction for opposite car.Only exist
When estimating PET equal to 0, the time that this garage sails to the region EZ is only TTC, such as institute in 0.1 second to the 1.2 seconds period in Fig. 8
Show.
Since the track of this vehicle has been obtained by nature driving data, during estimating PET, this vehicle arrives EZ
The distance in region is can be calculated by coordinate, do not need to introduce new steering model estimate the region EZ position and
To the distance in the region EZ, the process of processing is simplified.
When opposite vehicle preferentially crosses the region EZ in this example, the estimation of PET is after 4.2 seconds it is important to note that in Fig. 9
The situation that first width figure is 4.2 seconds, will just leave the region EZ to vehicle at this time, when entering to vehicle later or leave the estimation in the region EZ
Between be all not present, hereafter estimate PET and should be calculated as this vehicle current time and subtract 4.2 seconds and sail to the region EZ plus this garage
The required time.After this vehicle drives into the region EZ, the calculating for estimating PET leaves it at that, and PET later is just real processes
PET afterwards, the PET that driver receives in present case is -1.7 seconds.
Above embodiment is only to enumerate, and does not indicate limiting the scope of the invention.These embodiments can also be with other
Various modes are implemented, and can make in the range of not departing from technical thought of the invention it is various omit, displacement, change.
Claims (9)
1. a kind of safe predictor method for intersecting scene towards track of vehicle, which is characterized in that this method comprises the following steps:
(1) this vehicle motion information prediction this vehicle motion profile is obtained；
(2) it obtains to vehicle motion information prediction to vehicle motion profile；
(3) time PET is invaded after estimating according to this vehicle of prediction motion profile and to vehicle motion profile；
(4) pre-impact time TTC is determined according to this vehicle motion profile；
(5) intrusion time PET and pre-impact time TTC estimates vehicle safety state after.
2. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 1, which is characterized in that institute
This vehicle motion information for stating and to vehicle motion information include current time car speed, longitudinal acceleration, side acceleration and
Headstock is towards angle.
3. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 1, which is characterized in that step
Suddenly this vehicle motion information is obtained by the sensor being mounted on this vehicle in (1), and then the processor on this vehicle passes through this Che Yun
Dynamic this vehicle of information prediction motion profile.
4. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 1, which is characterized in that step
Suddenly (2) specifically: it is mounted on and the sensor on vehicle is obtained to vehicle motion information, when occurring in this vehicle visual field to vehicle, this vehicle
Data requesting instructions are sent to vehicle, this vehicle are sent to by more vehicle motion informations to vehicle, the processor on this vehicle is by transporting vehicle
Information prediction is moved to vehicle motion profile.
5. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 4, which is characterized in that institute
Camera is installed on this vehicle stated, whether vehicle is appeared in this vehicle visual field by the camera head monitor.
6. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 2, which is characterized in that this
Vehicle motion profile and vehicle motion profile is obtained in the following way:
(a) this vehicle and car speed v (t), longitudinal acceleration a to the current t moment of vehicle are obtainedlon(t), side acceleration alat
(t) and headstock is towards angle γ (t)；
(b) predict respectively according to the following formula this vehicle and to vehicle the t+1 moment longitudinal velocity vlon(t+1), side velocity vlat(t+1)
With headstock towards angle γ (t+1):
vlon(t+1)=v (t)+alon(t) * Δ t,
vlat(t+1)=alat(t) * Δ t,
Wherein, Δ t is the sampling instant time difference, and v (t+1) is the car speed at t+1 moment；
(c) this vehicle motion profile is drawn towards angle according to this vehicle of prediction and the longitudinal velocity to vehicle, side velocity and headstock
With to vehicle motion profile.
7. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 1, which is characterized in that step
Suddenly (3) specifically:
(31) two wheel paths intersectional regions, the i.e. region EZ are determined according to this vehicle of prediction motion profile and to vehicle motion profile；
(32) enter the time t in the region EZ from current location according to this vehicle of prediction this vehicle of moving track calculation1And this vehicle is from working as
Leave the time t in the region EZ in front position2；
(33) according to the time t for entering the region EZ from current location to vehicle to vehicle moving track calculation of prediction3And to vehicle from working as
Leave the time t in the region EZ in front position4；
(34) Ruo Benche first leaves the region EZ, then intrusion time PET is t afterwards3-t2If first leaving the region EZ to vehicle, invade afterwards
Time PET is t4-t1。
8. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 7, which is characterized in that step
Suddenly (4) pre-impact time TTC is determined as the time t that this vehicle enters the region EZ from current location1。
9. a kind of safe predictor method for intersecting scene towards track of vehicle according to claim 1, which is characterized in that step
Suddenly (5) specifically: as TTC < 3s and -0.27s < PET < 0.6s, vehicle is dangerous driving states, and otherwise, vehicle is security row
Car state.
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Application publication date: 20191119 |