Pedestrian risk assessment method considering pedestrian aggressivity

A technology of aggressiveness and pedestrians, which is applied in the field of pedestrian risk assessment considering the aggressiveness of pedestrians, and can solve problems such as lack, difficult decision-making, and differentiation

Active Publication Date: 2021-01-15
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Therefore, there is currently a lack of a suitable pedestrian risk assessment method, which makes subsequent decision-making difficult to achieve refinement and differentiation. It is necessary to develop a risk assessment method that can reflect the individual characteristics of pedestrians

Method used

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  • Pedestrian risk assessment method considering pedestrian aggressivity
  • Pedestrian risk assessment method considering pedestrian aggressivity
  • Pedestrian risk assessment method considering pedestrian aggressivity

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Embodiment Construction

[0057] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] Embodiments of the present invention provide a pedestrian risk assessment method considering the aggressiveness of pedestrians, such as figure 1 As shown, the method includes:

[0059] In step S1, it is detected whether there are pedestrians passing through the driving route of the self-vehicle; if so, proceed to step S2. If the detection result is negative, the detection can be continued.

[0060] In one example, when the self-vehicle is driving, it detects the area 30 meters ahead of the vehicle route in real time. When the self-vehicle sensor detects that pedestrians start to pass through the self-vehicle route, it enters the aggressive degree recognition process.

[0061] In step S2, the sensor data and positioning data of the self-vehicle are called to obtain the waiting time of pedestrians, whether the pedestrians move backward, the num...

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Abstract

The invention discloses a pedestrian risk assessment method considering pedestrian aggressivity. The pedestrian risk assessment method comprises the steps of S1, detecting whether a pedestrian passesthrough a self-vehicle driving route or not; if so, entering the step S2; S2, calling self-vehicle sensor data and positioning data to acquire pedestrian waiting time, whether pedestrians retreat or not, the number of pedestrian passing groups, the pedestrian passing speed, the acceleration and the pedestrian-vehicle distance; S3, determining a numerical value and an aggressivity index of a characteristic variable according to the data obtained in the step S2; S4, taking the aggressivity index of the characteristic variable obtained in the step S3 as input, and obtaining a pedestrian overall aggressivity value through a deep learning network based on a multilayer perceptron MLP; and S5, calculating a pedestrian risk value based on the pedestrian overall aggressivity value. By adopting themethod provided by the invention, the pedestrian aggressivity can be recognized and converted into the pedestrian risk value, so that the own vehicle can make decisions differentially, and the trafficefficiency is improved.

Description

technical field [0001] The invention relates to the field of pedestrian risk assessment for intelligent networked vehicles, in particular to a pedestrian risk assessment method considering the aggressiveness of pedestrians. Background technique [0002] The decision-making method of Intelligent Connected Vehicle (ICV) is one of the key technologies for autonomous driving. However, most of the existing decision-making methods are difficult to support high-level automatic driving, especially in crowded and complex scenes with low traffic efficiency, and one of the reasons is that there is no differentiated processing based on the individual characteristics of different objects. As a result, the dynamic adjustment ability of the vehicle according to the environmental decision-making is poor, and the degree of differentiation is insufficient. Therefore, the current ICV decision-making method needs to be optimized. [0003] A key pain point of differentiated decision-making opti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T7/70G06N3/04G06N3/08
CPCG06T7/70G06N3/08G06T2207/20081G06T2207/20084G06T2207/30196G06T2207/30252G06V40/103G06N3/045
Inventor 王裕宁黄荷叶王建强许庆
Owner TSINGHUA UNIV
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