Environment danger degree calculation method, device, storage medium and controller

Abstract

The invention discloses an environment danger degree calculation method, a device, a storage medium and a controller. The calculation method comprises the steps: obtaining the relative speed and the relative distance between a vehicle and a target vehicle, the vehicle speed of the vehicle and the remaining lane changing time, and then determining the collision time, the time headway and the safety distance; determining a first longitudinal risk factor, a second longitudinal risk factor and a third longitudinal risk factor according to the data, taking the maximum value of the first longitudinal risk factor, the second longitudinal risk factor and the third longitudinal risk factor as the final longitudinal risk factor, and then determining the absolute value of the nearest transverse distance between the target vehicle and the lane changing target line according to coordinate information of the target vehicle and the like; determining a transverse risk factor according to the absolute value and the target lane width information, and finally determining the current lane changing risk degree according to the final longitudinal risk degree and the transverse risk factor. Therefore, according to the calculation method, the flexibility and robustness of the vehicle lane changing strategy can be improved. Meanwhile, the safety of a driver is guaranteed, and the driving experience is improved.

Description

technical field [0001] The present invention relates to the technical field of vehicle assisted driving, and in particular to a method for calculating the degree of environmental danger when a vehicle automatically changes lanes, a computer-readable storage medium, a vehicle controller, and an environmental hazard degree when a vehicle automatically changes lanes degree calculation device. Background technique [0002] With the rapid development of information technology, automatic driving technology has gradually matured and become more and more popular. However, as far as the current technology is concerned, the technology for fully popularizing automatic driving of vehicles is not yet fully mature, and there are still major safety hazards. The assisted driving technology is relatively mature, so more and more users will also install assisted driving systems on vehicles. In related technologies, when the assisted driving system participates in vehicle lane change control, ...

AI Technical Summary

Problems solved by technology

[0003] The calculation results in related technologies are only divided into non-dangerous and dangerous, and the back-end cannot make a more flexible strategy, and only use TTC as a reference indicator, when the speed of the ego vehicle and the target vehicle are similar or the target vehicle overtakes the ego , the calculation result and the actual situation are prone to large errors, only the lateral distance between the target vehicle and the ego vehicle is involved in the calculation, and the robustness is poor

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