Automatic driving risk evaluation method considering uncertainty

An automatic driving and risk assessment technology, applied in the field of automatic driving risk assessment considering uncertainty, can solve problems such as high uncertainty and difficulty in measuring vehicle parameters involved in traffic

Active Publication Date: 2019-04-05
TONGJI UNIV
View PDF5 Cites 23 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the limitation of sensor resolution and measurement accuracy, the unobservable behavior of traffic-involved drivers and the difficul

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Automatic driving risk evaluation method considering uncertainty
  • Automatic driving risk evaluation method considering uncertainty
  • Automatic driving risk evaluation method considering uncertainty

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0091] Example

[0092] The present invention relates to a risk assessment method for automatic driving considering uncertainty, such as figure 1 As shown, the method includes the following steps:

[0093] Step 1. Construct a priori environment map;

[0094] The prior environment map contains a multi-grained map of directed nodes in the driving direction, and fixed information such as road surface characteristics (mainly road curvature, slope, etc.) and road structural elements (speed bumps, road piles, road edges, etc.) are used as knowledge.

[0095] Step 2. Observing the state of vehicles involved in traffic and obtaining state data;

[0096] Vehicle state observation is divided into space observation and time observation. Among them, space observation mainly obtains the position and orientation angle of the vehicle in the horizontal plane; time observation mainly obtains the vehicle's velocity, acceleration and yaw rate.

[0097] Step 3: Call the execution track of the...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an automatic driving risk evaluation method considering uncertainty. The automatic driving risk evaluation method considering uncertainty comprises the steps of a priori environment map constructing step, a traffic participation vehicle state observing step, an own vehicle executing trajectory taking step and a self-adaptive multi-target tracking step based on priori knowledge. Through driving behavior likelihood estimation, orbifold matching and trajectory predication, running collision risk is estimated by using multiple safety margins, and finally, space-time running risk situation map is output for evaluation; and therefore, multi-safety-margin risk estimation of automatic driving can be realized, the adapting ability of automatic driving to the environment canbe improved, and the automatic driving process is more stable and reliable.

Description

technical field [0001] The invention relates to the technical field of risk assessment of smart cars, in particular to a risk assessment method for automatic driving in consideration of uncertainty. Background technique [0002] With the rapid development of society and economy, there are more and more motor vehicles on the road, and the problem of driving safety has become more and more prominent. Unmanned driving technology, which is expected to alleviate traffic pressure and drive safety, is gradually moving from the laboratory to the public. High requirements for driving safety require self-driving vehicles to have the ability to detect risks before humans and deal with risks before humans, so as to avoid collisions as much as possible and minimize damage. However, due to the limitations of sensor resolution and measurement accuracy, the unobservable behavior of traffic-involved drivers and the difficulty in measuring the parameters of traffic-involved vehicles, the envi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B60W30/095B60W40/06B60W40/10B60W40/105
CPCB60W30/095B60W40/06B60W40/10B60W40/105
Inventor 余卓平曾德全熊璐张培志李志强
Owner TONGJI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap