A method, device, system and storage medium for calculating vehicle controllability index

Abstract

A method, device, system, and storage medium for calculating a vehicle controllability index, wherein the method comprises: obtaining point cloud data reflecting the environment in which a vehicle is located; obtaining positioning data of the vehicle, the positioning data including: current position information of the vehicle and current speed of the vehicle; obtaining adhesion observation data of the road surface on which the vehicle is located, the road surface adhesion observation data including: peak road surface adhesion coefficient; and calculating the vehicle controllability index of the vehicle based on the point cloud data, the positioning data, and the road surface adhesion observation data, thereby realizing real-time quantitative calculation of the controllability index.

Description

Technical Field

[0001] This article relates to vehicle safety assessment technology, particularly a method, device, system and storage medium for calculating a vehicle controllability index. Background Art

[0002] The controllability of a system is used to characterize the system's ability to manipulate events in the event of an emergency. Controllability is a key evaluation metric in vehicle safety testing, providing a basis for risk quantification and hazard assessment in the test evaluation process. ISO 26262 also proposes assessing risk using three dimensions: severity, controllability, and exposure. ISO 21448 also proposes controllability and confidence as acceptance criteria for anticipated functional safety hazard behavior events.

[0003] Current controllability assessment methods focus on risk assessment of vehicle dynamics control and lack direct quantitative calculation methods. They often reflect controllability indirectly through some side information, making it difficult to accurately calculate and monitor controllability in real time during simulation and actual vehicle testing. Summary of the Invention

[0004] The present application provides a method, device, system and storage medium for calculating a vehicle controllability index, which can perform real-time quantitative calculation of the controllability index.

[0005] This application provides a method for calculating a vehicle controllability index, including:

[0006] Obtain point cloud data reflecting the vehicle's environment;

[0007] Acquiring the vehicle's positioning data, the positioning data including: the vehicle's current location information and the vehicle's current speed;

[0008] Obtaining adhesion observation data of a road surface on which the vehicle is located, wherein the road surface adhesion observation data includes: a road surface peak adhesion coefficient;

[0009] The vehicle controllability index of the vehicle is calculated based on the point cloud data, the positioning data and the road adhesion observation data.

[0010] In an exemplary embodiment, calculating the vehicle controllability index of the vehicle based on the point cloud data, the positioning data, and the road adhesion observation data includes:

[0011] Determine the current position information and bounding rectangle length and width information of all other traffic participants within a preset range from the vehicle based on the point cloud data, as well as the length information of the left and right boundaries of the lane where the vehicle is located;

[0012] determining a vehicle reaction area based on the positioning data, the road adhesion observation data, the length information of the left and right boundaries of the lane where the vehicle is located, and the obtained maximum steering angle of the vehicle;

[0013] Determining other traffic participants located in the own vehicle's reaction area from among all other traffic participants;

[0014] Determining an uncontrollable area of ​​the vehicle determined by the other traffic participants based on the positioning data, the current position information of each other traffic participant located in the reaction area of ​​the vehicle, and the length and width information of the boundary rectangle;

[0015] The vehicle controllability index of the vehicle is calculated according to the vehicle reaction area and the vehicle uncontrollable area determined by all other traffic participants located in the vehicle reaction area.

[0016] In an exemplary embodiment, determining the vehicle reaction area based on the positioning data, the road adhesion observation data, the length information of the left and right boundaries of the lane in which the vehicle is located, and the obtained maximum steering angle of the vehicle includes:

[0017] Calculating the radius of the vehicle's reaction area based on the vehicle's current speed and the road surface peak adhesion coefficient;

[0018] Calculating the left and right steering angles of the vehicle based on the radius of the vehicle's reaction area, the vehicle's current position information, the lengths of the left and right boundaries of the vehicle's lane, and the obtained maximum steering angle of the vehicle;

[0019] The reaction area of ​​the vehicle is determined according to the left and right steering angles of the vehicle and the radius of the reaction area.

[0020] In an exemplary embodiment, calculating the reaction area radius of the vehicle according to the current vehicle speed and the peak road adhesion coefficient includes:

[0021]

[0022] Among them, V e represents the current speed of the vehicle; μ represents the peak adhesion coefficient of the road surface, g represents the acceleration of gravity, and r represents the radius of the reaction area.

[0023] In an exemplary embodiment, the left and right steering angles of the vehicle are calculated based on the radius of the vehicle's reaction area, the vehicle's current position information, the lengths of the left and right boundaries of the vehicle's lane, and the obtained maximum steering angle of the vehicle, including:

[0024]

[0025]

[0026] Among them, α l ,α r Respectively represent the left steering angle and right steering angle of the vehicle; min(,) means taking the smaller value of the two; Indicates the maximum steering angle of the vehicle; X e Indicates the current position information of the vehicle (X e ,Y e ) horizontal coordinate, (X l ,X r ) represents the length information of the left and right boundaries of the lane where the vehicle is located, Indicates the maximum steering angle of the vehicle.

[0027] In an exemplary embodiment, determining other traffic participants located in the own vehicle's reaction area from all other traffic participants includes:

[0028] Sequentially determine the current position (X) of the i-th (i=1,…,N) other traffic participants within the preset range of the vehicle i , Y i ) satisfies the following formula:

[0029] Among them, (L i ,W i ) represents the length and width of the bounding rectangle of the i-th other traffic participant, and N is the total number of other traffic participants within the preset range from the vehicle;

[0030] If so, it is determined that the i-th other traffic participant is located in the own vehicle reaction area.

[0031] In an exemplary embodiment, determining the uncontrollable area of ​​the vehicle determined by the other traffic participants based on the positioning data, the current position information of each other traffic participant located in the vehicle's reaction area, and the length and width information of the bounding rectangle includes:

[0032] According to the current position information of the vehicle, the position information of the jth other traffic participant located in the reaction area of ​​the vehicle (X j , Y j ), and the length and width information of the bounding rectangle of the jth other traffic participant (L j ,W j ), calculate the projection angle of the jth other traffic participant j∈N', N' is the total number of other traffic participants located in the vehicle's reaction area, and N' is less than or equal to N;

[0033]

[0034] according to and (L j ,W j ) Determine the uncontrollable area of ​​the vehicle determined by the jth other traffic participant

[0035] In an exemplary embodiment, calculating the vehicle controllability index of the vehicle based on the vehicle reaction area and the vehicle uncontrollable area determined by all other traffic participants located in the vehicle reaction area includes:

[0036]

[0037] in, It represents the uncontrollable area of ​​the vehicle determined by all other traffic participants located in the reaction area of ​​the vehicle; C is the vehicle controllability index.

[0038] The computer-readable storage medium provided in the present application stores one or more programs, and the one or more programs can be executed by one or more processors to implement any of the methods described above.

[0039] The vehicle controllability index calculation device provided in the present application includes a memory and a processor. The memory stores a program, and when the program is read and executed by the processor, it implements any of the methods described above.

[0040] The vehicle controllable index calculation system provided in this application includes:

[0041] A LiDAR module, configured to acquire point cloud data reflecting the vehicle's environment;

[0042] A positioning module is configured to obtain positioning data of the vehicle, wherein the positioning data includes: current position information of the vehicle and current speed of the vehicle;

[0043] A road adhesion observation module is configured to obtain adhesion observation data of a road on which the vehicle is located, wherein the road adhesion observation data includes: a road peak adhesion coefficient;

[0044] The calculation device for the vehicle controllability index as described above, which is respectively connected to the laser radar module, the positioning module and the road adhesion observation module, is configured to calculate the vehicle controllability index of the vehicle based on the data obtained from the laser radar module, the positioning module and the road adhesion observation module.

[0045] In an exemplary embodiment, the system further comprises:

[0046] The vehicle data communication module connected to the vehicle controllability index calculation device is configured to transmit the vehicle controllability index calculated by the vehicle controllability index calculation device.

[0047] In an exemplary embodiment, the vehicle data communication module is a controller area network (CAN) bus.

[0048] Compared with related technologies, this application takes into account the environmental factors of the vehicle and the driving data of the vehicle itself when calculating the controllability index. These factors are also the important factors causing expected functional safety issues and their potential risks. Therefore, the controllable indicators calculated based on these factors are also more accurate.

[0049] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. Other advantages of the present application can be realized and obtained by the solutions described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0051] Figure 1 A flow chart of a method for calculating a vehicle controllability index provided in an embodiment of the present application;

[0052] Figure 2 An implementation provided by the embodiment of this application Figure 1 Method flow chart of step S104;

[0053] Figure 3 An implementation provided by the embodiment of this application Figure 2 Method flow chart of step S1042;

[0054] Figure 4 A schematic diagram of the left and right steering angles of a vehicle provided in an embodiment of the present application;

[0055] Figure 5 An implementation provided by the embodiment of this application Figure 2 Method flow chart of step S1043;

[0056] Figure 6 A schematic diagram of another traffic participant located in the reaction area of ​​the vehicle provided in an embodiment of the present application;

[0057] Figure 7 An implementation provided by the embodiment of this application Figure 2 Method flow chart of step S1044;

[0058] Figure 8 A module diagram of a device for calculating a vehicle controllable index provided in an embodiment of the present application;

[0059] Figure 9 A module diagram of a vehicle controllable index calculation system provided in an embodiment of the present application;

[0060] Figure 10 A module diagram of another vehicle controllable indicator calculation system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0062] This application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the appended claims and their equivalents, the embodiments are not subject to other limitations. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0063] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0064] The embodiment of the present application provides a method for calculating a vehicle controllability index, such as Figure 1 As shown, the method includes:

[0065] Step S101: obtaining point cloud data reflecting the environment in which the vehicle is located;

[0066] Optionally, point cloud data P describing the environment can be obtained through lidar e The point cloud data records pedestrians, roads, buildings, vehicles and other objects around the vehicle in the form of points. Each point can be a three-dimensional coordinate point, and each point can contain color information, reflection intensity information, etc.

[0067] The method for obtaining point cloud data reflecting the environment in which the vehicle is located as described in this embodiment has been described in relevant technical documents;

[0068] Step S102: obtaining the vehicle's positioning data;

[0069] The positioning data includes: the current position information of the vehicle and the current speed of the vehicle;

[0070] Optionally, the positioning data may be obtained via GPS;

[0071] Step S103: Obtaining the road adhesion observation data of the vehicle;

[0072] The road surface adhesion observation data includes: road surface peak adhesion coefficient;

[0073] The peak road adhesion coefficient is used to measure the tire's adhesion ability on different road surfaces. Generally speaking, dry, good asphalt or concrete roads have the highest adhesion coefficient, reaching 0.7-0.8, while icy and snowy roads have the lowest adhesion coefficient and are most prone to slipping.

[0074] Step S104 calculates the vehicle controllability index of the vehicle based on the point cloud data, the positioning data and the road adhesion observation data.

[0075] The embodiment of the present application records a method for real-time quantitative calculation of controllability indicators; when calculating the controllability indicators, this method takes into account the environmental factors of the vehicle and the driving data of the vehicle itself, and these factors are also the important factors that cause expected functional safety issues and their potential risks. Therefore, the controllable indicators calculated based on these factors are also more accurate.

[0076] In an exemplary embodiment, Figure 2 As shown, step S104 calculates the vehicle controllability index of the vehicle based on the point cloud data, the positioning data and the observation data, including:

[0077] Step S1041 determines the current position information and bounding rectangle length and width information of all other traffic participants within a preset range from the vehicle, as well as the length information of the left and right boundaries of the lane where the vehicle is located, based on the point cloud data;

[0078] The preset range can be determined based on test data and experience, for example, the emergency braking distance of the vehicle can be used as the preset range;

[0079] For example, for each other traffic participant, its current position information and the length and width information of the boundary rectangle need to be calculated; in the related technology, there is already a point cloud data P obtained by the environment e The technical solution for obtaining the current position information and bounding rectangle length and width information of each other traffic participant, as well as the length information of the left and right boundaries of the lane where the vehicle is located, will not be repeated in this embodiment of the application;

[0080] Other types of traffic participants in the embodiments of the present application may include vehicles and pedestrians;

[0081] Step S1042 determines the vehicle's reaction area based on the positioning data, the road adhesion observation data, the length information of the left and right boundaries of the lane where the vehicle is located, and the obtained maximum steering angle of the vehicle;

[0082] The maximum steering angle of the vehicle, i.e., the angle of rotation of the vehicle body when the steering wheel is turned to the limit, is usually represented by the maximum steering angle of the front wheels. This parameter is an inherent parameter of the vehicle itself and can be obtained from an external module or data stored in the device running the method described in this application.

[0083] The vehicle's reaction area refers to the entire area where the vehicle can move safely under control without interference from other traffic participants;

[0084] Step S1043: determining other traffic participants located in the vehicle's reaction area from all other traffic participants;

[0085] Step S1044 determines the uncontrollable area of ​​the vehicle determined by the other traffic participants based on the positioning data, the current position information of each other traffic participant located in the vehicle's reaction area, and the length and width information of the boundary rectangle;

[0086] The uncontrollable area of ​​a vehicle refers to the area where the vehicle cannot avoid collision with other traffic participants by emergency deceleration control. The vehicle is difficult to control its own safety after entering this area.

[0087] Step S1045 calculates the vehicle controllability index of the vehicle based on the vehicle reaction area and the vehicle uncontrollable area determined by all other traffic participants located in the vehicle reaction area.

[0088] In an exemplary embodiment, Figure 3 As shown, step S1042 determines the vehicle's reaction area based on the positioning data, the road adhesion observation data, the length information of the left and right boundaries of the lane where the vehicle is located, and the obtained maximum steering angle of the vehicle, including:

[0089] Step S10421 calculates the radius r of the vehicle's reaction area based on the vehicle's current speed and the road peak adhesion coefficient;

[0090] Optionally, let the current speed of the vehicle be V e , the peak road adhesion coefficient is μ, then the vehicle reaction area radius r can be obtained by the following formula (1):

[0091]

[0092] Where g represents the acceleration due to gravity;

[0093] Step S10422 calculates the left and right steering angles of the vehicle based on the radius r of the vehicle's reaction area, the vehicle's current position information, the lengths of the left and right boundaries of the vehicle's lane, and the obtained maximum steering angle of the vehicle.

[0094] The left and right steering angles of a vehicle refer to the maximum turning angles of the vehicle body when the steering wheel is turned left or right respectively, subject to the constraints of the vehicle's surrounding environment; Figure 4 A schematic diagram of the left and right steering angles of a vehicle is given; when the steering wheel turns left, the vehicle's left steering angle is α due to lane restrictions. l (less than the vehicle's maximum steering angle ); When the steering wheel turns right, the right steering angle of the vehicle is α r (equal to the vehicle's maximum steering angle );

[0095] Optionally, assume that the current location information of the vehicle is (X e ,Y e ), the length information of the left and right boundaries of the lane where the vehicle is located is (X l ,X r ), the maximum steering angle of the vehicle is The left and right steering angles of the vehicle can be obtained by the following formulas (2) and (3) respectively:

[0096]

[0097]

[0098] Among them, α l ,α r Respectively represent the left steering angle and right steering angle of the vehicle; min(,) means taking the smaller value of the two;

[0099] Step S10423: determining the vehicle's reaction area according to the vehicle's left and right steering angles and the reaction area radius;

[0100] Optionally, the fan-shaped area enclosed by the left and right steering angles of the vehicle and the radius of the reaction area is used as the reaction area, such as Figure 4 shown.

[0101] In an exemplary embodiment, Figure 5 As shown, step S1043 determines other traffic participants located in the vehicle's reaction area from all other traffic participants, including:

[0102] Step S10431 determines the current position (X) of the i-th (i=1, ..., N) other traffic participants within the preset range from the vehicle. i , Y i ) satisfies formula (4): If so, execute step S10432;

[0103]

[0104] Among them, (L i ,W i ) represents the length and width of the bounding rectangle of the i-th other traffic participant, and N is the total number of other traffic participants within the preset range from the vehicle;

[0105] Step S10432 determines that the i-th other traffic participant is located in the vehicle reaction area;

[0106] Figure 6 A schematic diagram of other traffic participants being located in the reaction area of ​​the vehicle is given. In the figure, two vehicles are located in the reaction area of ​​the vehicle, and the vehicle on the far left is the vehicle.

[0107] In an exemplary embodiment, Figure 7 As shown, step S1044 determines the uncontrollable area of ​​the vehicle determined by the other traffic participants based on the positioning data, the current position information of each other traffic participant located in the vehicle's reaction area, and the length and width information of the boundary rectangle, including:

[0108] Step S10441 calculates the position information (X) of the jth other traffic participant located in the reaction area of ​​the vehicle according to the current position information of the vehicle. j , Yj ), and the length and width information of the bounding rectangle of the jth other traffic participant (L j ,W j ), calculate the projection angle of the jth other traffic participant j∈N', N' is the total number of other traffic participants located in the vehicle's reaction area, and N' is less than or equal to N;

[0109] The projection angle is determined by selecting a position on the vehicle as the origin (the origin can also be the center of the rear axle or the geometric center of the vehicle), starting from the origin, and performing angular projection on the boundary lines of the boundary rectangles of each other traffic participant vehicle in the reaction area, and the angle formed by the projection is the projection angle; reference Figure 6 , in the figure δ j and δ i are the projection angles determined by two other vehicles located in the reaction zone, respectively;

[0110] Alternatively, it can be calculated using the following formulas (5) and (6):

[0111]

[0112]

[0113] Step S10442 is based on and (L j ,W j ) Determine the uncontrollable area of ​​the vehicle determined by the jth other traffic participant

[0114] Select a position on the vehicle as the origin (the origin can also be the center of the rear axle, or the geometric center of the vehicle), starting from the origin is the projection angle, and the boundary lines of the boundary rectangles of the jth other traffic participants in the reaction area are projected into the reaction area. The area formed by the projection (i.e. Figure 6 The area filled with diagonal lines in the middle) is the uncontrollable area determined by the jth other traffic participant.

[0115] In an exemplary embodiment, step S1045 calculates the vehicle controllability index of the vehicle based on the vehicle reaction area and the vehicle uncontrollable area determined by all other traffic participants located in the vehicle reaction area, including:

[0116] The vehicle controllability index is calculated according to the following formula (7):

[0117]

[0118] in, It represents the uncontrollable area of ​​the vehicle determined by all other traffic participants located in the reaction area of ​​the vehicle; C is the vehicle controllability index.

[0119] In an exemplary embodiment, the method further comprises:

[0120] After the vehicle controllability index of the vehicle is calculated, the vehicle controllability index is output to a controller area network (CAN) bus.

[0121] Since data is mostly transmitted between different functional modules on a vehicle via the CAN bus, the embodiment of the present application sends the calculated vehicle controllability index to the CAN bus to facilitate the transmission of the vehicle controllability index between different functional modules on the vehicle.

[0122] An embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the method described in any of the previous embodiments.

[0123] The embodiment of the present application also provides a device for calculating the vehicle controllability index, such as Figure 8 As shown, it includes a memory 801 and a processor 802. The memory 801 stores a program. When the program is read and executed by the processor 802, the method described in any of the previous embodiments is implemented.

[0124] The embodiment of the present application describes a device for real-time quantitative calculation of controllability indicators; the device can implement the method described in any of the above embodiments, and thus has the beneficial effects of any of the above embodiments.

[0125] The embodiment of the present application also provides a calculation system for vehicle controllable indicators, such as Figure 9 As shown, the system includes:

[0126] The laser radar module 901 is configured to obtain point cloud data reflecting the environment in which the vehicle is located;

[0127] The positioning module 902 is configured to obtain the positioning data of the vehicle, wherein the positioning data includes: the current position information of the vehicle and the current speed of the vehicle;

[0128] The road adhesion observation module 903 is configured to obtain adhesion observation data of the road on which the vehicle is located, wherein the road adhesion observation data includes: a road peak adhesion coefficient;

[0129] The vehicle controllability index calculation device 904 as described in the previous embodiment, which is respectively connected to the laser radar module 901, the positioning module 902 and the road adhesion observation module 903, is configured to calculate the vehicle controllability index of the vehicle based on the data obtained from the laser radar module 901, the positioning module 902 and the road adhesion observation module 903.

[0130] The embodiment of the present application describes a system for real-time quantitative calculation of controllability indicators; the system includes a calculation device for vehicle controllability indicators as described in the previous embodiment, and therefore has the beneficial effects of the calculation device.

[0131] In an exemplary embodiment, Figure 10 As shown, the system further includes:

[0132] The vehicle data communication module 905 connected to the vehicle controllability index calculation device 904 is configured to transmit the vehicle controllability index calculated by the vehicle controllability index calculation device 904 .

[0133] In one exemplary embodiment, the vehicle data communication module is a controller area network (CAN) bus. Since data is often transmitted between different functional modules on a vehicle via the CAN bus, the present embodiment sends the calculated vehicle controllability index to the CAN bus to facilitate transmission of the vehicle controllability index between different functional modules on the vehicle.

[0134] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for calculating a vehicle controllability index, comprising: Obtain point cloud data reflecting the vehicle's environment; Acquiring the vehicle's positioning data, the positioning data including: the vehicle's current location information and the vehicle's current speed; Obtaining adhesion observation data of a road surface on which the vehicle is located, wherein the road surface adhesion observation data includes: a road surface peak adhesion coefficient; Calculating the vehicle controllability index of the vehicle according to the point cloud data, the positioning data, and the road adhesion observation data includes: Determine the current position information and bounding rectangle length and width information of all other traffic participants within a preset range from the vehicle based on the point cloud data, as well as the length information of the left and right boundaries of the lane where the vehicle is located; Determining a vehicle reaction area based on the positioning data, the road adhesion observation data, the length information of the left and right boundaries of the lane where the vehicle is located, and the obtained maximum steering angle of the vehicle includes: Calculating the reaction area radius of the vehicle according to the current vehicle speed and the peak road adhesion coefficient includes: V e represents the current speed of the vehicle, μ represents the peak road adhesion coefficient, g represents the acceleration of gravity, and r represents the radius of the reaction area; Calculating the left and right steering angles of the vehicle based on the radius of the vehicle's reaction area, the vehicle's current position information, the lengths of the left and right boundaries of the vehicle's lane, and the obtained maximum steering angle of the vehicle includes: α l ,α r Respectively represent the left steering angle and right steering angle of the vehicle, min(,) means the smaller value is taken between the two. Indicates the maximum steering angle of the vehicle, X e Indicates the current position information of the vehicle (X e ,Y e ) horizontal coordinate, (X l ,X r ) represents the length information of the left and right boundaries of the lane where the vehicle is located; Determining the vehicle's reaction area based on the vehicle's left and right steering angles and the reaction area radius; determining other traffic participants located in the vehicle's reaction area from among all other traffic participants; According to the positioning data, the current position information and the length and width information of the boundary rectangle of each other traffic participant located in the vehicle reaction area, determining the uncontrollable area of ​​the vehicle determined by the other traffic participant, including: according to the current position information of the vehicle, the position information (X) of the jth other traffic participant located in the vehicle reaction area j , Y j ), and the length and width information of the bounding rectangle of the jth other traffic participant (L j ,W j ), calculate the projection angle of the jth other traffic participant j∈N', N' is the total number of other traffic participants in the vehicle's reaction area, N' is less than or equal to N, N is the total number of other traffic participants within a preset range from the vehicle; according to and (L j ,W j ) Determine the uncontrollable area of ​​the vehicle determined by the jth other traffic participant Calculating the vehicle controllability index of the vehicle based on the vehicle reaction area and the vehicle uncontrollable area determined by all other traffic participants located in the vehicle reaction area includes: It represents the uncontrollable area of ​​the vehicle determined by all other traffic participants located in the reaction area of ​​the vehicle; C is the vehicle controllability index.

2. The method according to claim 1, characterized in that Determining other traffic participants located in the own vehicle's reaction area from among all other traffic participants includes: Sequentially determine the current position (X) of the i-th (i=1,…,N) other traffic participants within the preset range of the vehicle i , Y i ) satisfies the following formula: (L i ,W i ) represents the length and width information of the bounding rectangle of the i-th other traffic participant; If so, it is determined that the i-th other traffic participant is located in the own vehicle reaction area.

3. A computer-readable storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the method according to any one of claims 1 to 2.

4. A device for calculating a vehicle controllability index, comprising a memory and a processor, wherein the memory stores a program, and when the program is read and executed by the processor, the program implements the method according to any one of claims 1 to 2.

5. A vehicle controllable index calculation system, characterized in that: The system comprises: A LiDAR module, configured to acquire point cloud data reflecting the vehicle's environment; A positioning module is configured to obtain positioning data of the vehicle, wherein the positioning data includes: current position information of the vehicle and current speed of the vehicle; A road adhesion observation module is configured to obtain adhesion observation data of a road on which the vehicle is located, wherein the road adhesion observation data includes: a road peak adhesion coefficient; The vehicle controllability index calculation device as described in claim 4 is respectively connected to the laser radar module, the positioning module and the road adhesion observation module, and is configured to calculate the vehicle controllability index of the vehicle based on data obtained from the laser radar module, the positioning module and the road adhesion observation module.

6. The system according to claim 5, characterized in that The system further comprises: The vehicle data communication module connected to the vehicle controllability index calculation device is configured to transmit the vehicle controllability index calculated by the vehicle controllability index calculation device.

7. The system according to claim 6, characterized in that The vehicle data communication module is a controller area network (CAN) bus.

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