Method for pre-judging collision possibility of unmanned vehicle and surrounding vehicles

An unmanned vehicle and vehicle technology, which is applied in the field of collision possibility prediction between unmanned vehicles and surrounding vehicles, can solve problems such as low accuracy, low efficiency, and complex methods.

Pending Publication Date: 2020-05-05
NORTHEASTERN UNIV
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Problems solved by technology

[0005] Aiming at the problems of low accuracy, poor real-time performance, overly complicated methods, and low efficiency existing in the prior art, the present invention provides a method for predicting the possibility of collision

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  • Method for pre-judging collision possibility of unmanned vehicle and surrounding vehicles
  • Method for pre-judging collision possibility of unmanned vehicle and surrounding vehicles
  • Method for pre-judging collision possibility of unmanned vehicle and surrounding vehicles

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Embodiment Construction

[0108] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0109] like figure 1 As shown, the method for predicting the possibility of collision between an unmanned vehicle and surrounding vehicles of the present invention is characterized in that it comprises the following steps:

[0110] Step 1: Obtain the trajectory data and environmental data of the unmanned vehicle during driving: obtain the trajectory data set of the target vehicle A in real time as P={P 1 ,P 2 ,...,P i ,...,P I}, the environment data set is E={E 1 ,E 2 ,...,E i ,...,E I}; wherein, the target vehicle A is an unmanned vehicle A * The distance between the unmanned vehicle A in the adjacent lane * nearest vehicle ahead; Pi is the trajectory data of the target vehicle A at the i-th time point, the time interval between two adjacent time points is d=0.1s, I is the total number of time points in the trajectory, and the traject...

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Abstract

The invention relates to the technical field of unmanned driving, and provides a method for pre-judging the collision possibility of an unmanned vehicle and surrounding vehicles. The method comprisesthe following steps of firstly, track data and environment data of a target vehicle are acquired; feature value addition and standardization processing are carried out on the trajectory data, lane changing and straight-going trajectory data are extracted and marked, and a kLSTM data set is constructed; environment data is cleaned, lane changing and straight-movingenvironment data is extracted andlabelled, and an Adaboost data set is created; a kAttention-LSTM deep neural network model and an Adaboost machine learning model are created and trained and behavior pre-judgment is made on the target vehicle in combination with the three models; after the lane changing behavior is predicted, collision possibility pre-judgment is conducted, and collision avoidance measures are taken when it is judged that the vehicle is in the dangerous driving state. According to the invention, the accuracy, real-time performance and efficiency of pre-judging the collision possibility of the unmanned vehicleand the surrounding vehicles can be improved.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a method for predicting the possibility of collision between an unmanned vehicle and surrounding vehicles. Background technique [0002] With the continuous increase in the incidence of global traffic accidents and the continuous increase of car ownership, traffic congestion and traffic safety problems are becoming more and more serious, and gradually arouse people's widespread attention. According to statistics, from 2005 to 2018, more than 1.25 million people died in road traffic accidents every year around the world, and China ranked first, the country with the highest number of road traffic accident deaths in the world. Moreover, with the steady development of China's economy and the continuous improvement of people's living standards, the number of cars in my country continues to rise. According to statistics released by the public security traffic control departme...

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Application Information

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IPC IPC(8): G06K9/62G06N3/04G06N3/08G08G1/16
CPCG06N3/084G08G1/161G06N3/044G06N3/045G06F18/24
Inventor 李贞妮牟童王骄
Owner NORTHEASTERN UNIV
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