Method and device for determining risk of vehicle track

Abstract

The invention discloses a method and a device for determining the risk of a vehicle track. The maximum risk, possibly brought by a vehicle, of the vehicle in a first limit state when the vehicle is atthe maximum risk is determined during the determination of the risk of the track. For each obstacle in the environment where the vehicle is located, the maximum risk possibly brought to the vehicle by the obstacle is determined on the basis of a second limit state of a behavior, which can be most unfavorable for the vehicle, made by the obstacle. According to the method and the device in the specification, the worst driving environment where the vehicle may be located and the most extreme motion state of the vehicle itself can be used as the basis for determining the track risk, and the comprehensiveness, the forward looking performance and the sensitivity of track risk determination are improved. In addition, the lowest risk bearing capacity of the vehicle and the maximum risk possibly brought by the obstacle to the vehicle can be patterned to a certain extent through the risk area which has a graphic attribute expression mode. The efficiency and intuition of determining the risk ofthe vehicle track can be improved.

Description

[0001] Cross References to Related Applications [0002] This application claims the priority of a Chinese patent application filed with the State Intellectual Property Office on December 25, 2019, with application number 201911355415.X, and the title of the invention is "A method and device for determining the risk of vehicle trajectory". The full text of the application Incorporated herein by reference for all purposes. technical field [0003] This specification relates to the field of unmanned driving technology, and in particular to a method and device for determining the risk of vehicle trajectories. Background technique [0004] At present, as an important part of artificial intelligence technology, the intelligentization of vehicles plays an increasingly prominent role in social production and life, and has become one of the main directions to guide the development of transportation technology. [0005] In the prior art, unmanned vehicles and vehicles with assisted...

AI Technical Summary

Problems solved by technology

[0007] It can be seen that the existing obstacle motion state prediction method cannot predict the sudden behavior of the obstacle in the environment where the vehicle is located (behavior that violates the law of the obstacle's movement), and then when determining the risk of the trajectory later, it cannot be based on The unexpected behavior of obstacles that may appear, the risk assessment of the pre-planned trajectory of the vehicle cannot achieve the purpose of risk assessment of the vehicle trajectory

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