Vehicle cut-in collision risk assessment methods, systems, media and equipment

Abstract

This disclosure provides a method, system, medium, and device for assessing vehicle collision risks, relating to the field of vehicle driver assistance technology. It constructs a lateral safety assessment model and a longitudinal safety assessment model; acquires environmental perception information surrounding the vehicle and its own vehicle attitude information, inputs these into the lateral safety assessment model for lateral detection; if a lateral safety risk is determined, the information is then input into the longitudinal safety assessment model for longitudinal detection; if no risk is found in the longitudinal safety check, no active control is implemented; if a risk is found, longitudinal control is implemented based on the results of the longitudinal safety assessment model, and the deceleration for active control is calculated for deceleration.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle driving assistance technology, specifically to methods, systems, media, and equipment for assessing vehicle cutting-in collision risks. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the increasing application of intelligent autonomous driving technology, the safety and reliability of intelligent autonomous driving has become a key focus in the field of autonomous driving. On highways or urban roads, following vehicles will encounter many scenarios where vehicles in front change lanes or cut in, even when the safe distance is insufficient. This affects the timely judgment of following vehicles and may lead to rear-end collisions, affecting driving safety.

[0004] Existing collision risk assessment methods for lane changes rely on vehicle perception to analyze the lane-changing actions of the vehicle in front and promptly alert the driver to take control of the vehicle. However, this method ignores vehicle speed and distance, and is not very effective in terms of the timeliness and accuracy of vehicle control. Furthermore, it often relies on the driver's experience to slow down and avoid collisions. Summary of the Invention

[0005] To address the aforementioned issues, this disclosure proposes a method, system, medium, and equipment for assessing vehicle cutting-in collision risks. It senses the lateral and longitudinal speeds and safe distances of vehicles in adjacent lanes, and constructs mathematical models for lateral and longitudinal collision risk assessment. The system then performs lateral and longitudinal risk assessments on vehicles cutting in or making emergency cut-ins from ahead, and promptly controls the vehicle to decelerate and avoid collisions.

[0006] According to some embodiments, the present disclosure adopts the following technical solutions:

[0007] Methods for assessing the risk of vehicle cutting-in collisions include:

[0008] Construct horizontal and vertical security assessment models;

[0009] The vehicle acquires environmental perception information and its own vehicle attitude information, and inputs them into the lateral safety assessment model for lateral detection. If a lateral safety risk is detected, the information is then input into the longitudinal safety assessment model for longitudinal detection. If there is no risk in the longitudinal safety check, no active control is taken. If there is a risk, longitudinal control is performed based on the results of the longitudinal safety assessment model, and the deceleration of the active control is calculated to reduce speed.

[0010] According to some embodiments, the present disclosure adopts the following technical solutions:

[0011] The vehicle collision risk assessment system includes:

[0012] The model building module is used to build horizontal security assessment models and vertical security assessment models.

[0013] The evaluation module is used to acquire environmental perception information of the vehicle's surroundings and the vehicle's own attitude information, and input them into the lateral safety evaluation model for lateral detection. If a lateral safety risk is determined, the information is then input into the longitudinal safety evaluation model for longitudinal detection. If there is no risk in the longitudinal safety check, no active control is taken. If there is a risk, longitudinal control is performed based on the results of the longitudinal safety evaluation model, and the deceleration of the active control is calculated for deceleration.

[0014] According to some embodiments, the present disclosure adopts the following technical solutions:

[0015] A non-transitory computer-readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the vehicle cutting-in collision risk assessment method.

[0016] According to some embodiments, the present disclosure adopts the following technical solutions:

[0017] An electronic device includes a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to perform the vehicle cutting-in collision risk assessment method.

[0018] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0019] The vehicle cutting-in collision risk assessment method disclosed herein perceives vehicles in adjacent lanes ahead in real time, monitors lateral and longitudinal vehicle speeds and safe distances, and constructs mathematical models for lateral and longitudinal collision risk assessment based on the vehicle's own speed and position. It performs lateral and longitudinal risk assessments on vehicles cutting in front or cutting in suddenly, and if there is a collision risk, it promptly controls the vehicle to slow down and avoid collisions.

[0020] The vehicle cutting-in collision risk assessment method disclosed herein combines a lateral collision risk assessment model and a longitudinal collision risk assessment model to acquire information about the cutting-in vehicle. By combining the speed and length information of the vehicle and the cutting-in vehicle, the deceleration is calculated and controlled to actively intervene and slow down to avoid the cutting-in vehicle, thereby preventing collision accidents and improving driving safety. Attached Figure Description

[0021] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0022] Figure 1 This is a flowchart illustrating the vehicle cutting-in collision risk assessment method according to an embodiment of the present disclosure. Detailed Implementation

[0023] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0026] Example 1

[0027] One embodiment of this disclosure provides a method for assessing vehicle cutting-in collision risk. During normal driving, the intelligent driving vehicle perceives vehicles in adjacent lanes ahead in real time, monitors lateral and longitudinal speeds, safe distances, etc., and, combined with its own speed and position, constructs mathematical models for lateral and longitudinal collision risk assessment. The method performs lateral and longitudinal risk assessments on vehicles cutting in front or making emergency cut-ins, including:

[0028] Construct horizontal and vertical security assessment models;

[0029] The vehicle acquires environmental perception information and its own vehicle attitude information, and inputs them into the lateral safety assessment model for lateral detection. If a lateral safety risk is detected, the information is then input into the longitudinal safety assessment model for longitudinal detection. If there is no risk in the longitudinal safety check, no active control is taken. If there is a risk, longitudinal control is performed based on the results of the longitudinal safety assessment model, and the deceleration of the active control is calculated to reduce speed.

[0030] As one example, the construction process of the lateral safety assessment model and the longitudinal safety assessment model in the vehicle cutting-in collision risk assessment method includes:

[0031] Specifically, the collision risk assessment model for lane-changing vehicles first establishes a lateral safety check model: if a vehicle with a lane-changing tendency is in front of the vehicle, the distance between the rear of the vehicle in front and the front of the vehicle is obtained, as well as the lateral speed of the vehicle cutting into the lane. The longitudinal speed of the vehicle is controlled to be greater than the longitudinal speed of the vehicle in front, and a lateral collision assessment model is constructed.

[0032] Specifically, the distance between the rear of the vehicle in front and the front of this vehicle must be greater than 0, and the lateral speed of the vehicle cutting into this lane must be greater than 0.

[0033] 1) The distance between the rear of a vehicle participating in the traffic and the front of this vehicle:

[0034] dist lon >0

[0035] 2) Vehicles participating in the traffic are moving into this lane and have lateral speed:

[0036] vy cut_in >0

[0037] 3) The longitudinal speed of the vehicle is greater than the longitudinal speed of the other vehicles in the traffic:

[0038] vx ego_lon vx cut_in

[0039] 4) Lateral collision safety assessment model:

[0040]

[0041] Where, length ego The length of the vehicle. cut_in For the length of the vehicle to be cut in, factor safe For safety, the factor is 0.1. safe It can be calibrated.

[0042] Furthermore, for the longitudinal collision safety assessment model, two safety indicators need to be evaluated: the Active Fuzzy Safety Index (PFS) and the Critical Safety Index (CFS). When both the Active Fuzzy Safety Index and the Critical Safety Index are greater than 0, it is judged that there is a collision risk, and intervention and control are required.

[0043] Specifically, the Active Fuzzy Security Indicator (PFS):

[0044]

[0045] Key Security Metrics (CFS):

[0046]

[0047] Among them, dist follow This is the stationary following distance, 3m, calibrable; dist unsafe An unsafe following distance can lead to collisions and can be calibrated; dist safe The safe following distance can be calibrated.

[0048] When the vehicle acquires environmental perception information and its own attitude information, it inputs these into the lateral safety assessment model for lateral detection. If all conditions are met, a lateral collision risk is identified. If a lateral safety risk is determined, the information is then input into the longitudinal safety assessment model for longitudinal detection. If no longitudinal safety risk is detected, no active control is implemented. If the PFS and CFS are greater than 0, a collision risk is identified, requiring intervention control. If a risk is detected, longitudinal control is implemented based on the results of the longitudinal safety assessment model, and the active control deceleration is calculated for slowing down.

[0049] Based on the assessment of the above lateral and longitudinal collision safety models, if there is a lateral or longitudinal collision wind direction, the vehicle needs to be decelerated. The deceleration can be calculated using the following model:

[0050]

[0051] Among them, decc ctr To control deceleration, decc ego_max decc is the maximum deceleration of the vehicle. ego_comf Reduce speed for comfort.

[0052] Example 2

[0053] One embodiment of this disclosure provides a vehicle cutting-in collision risk assessment system, including:

[0054] The model building module is used to build horizontal security assessment models and vertical security assessment models.

[0055] The evaluation module is used to acquire environmental perception information of the vehicle's surroundings and the vehicle's own attitude information, and input them into the lateral safety evaluation model for lateral detection. If a lateral safety risk is determined, the information is then input into the longitudinal safety evaluation model for longitudinal detection. If there is no risk in the longitudinal safety check, no active control is taken. If there is a risk, longitudinal control is performed based on the results of the longitudinal safety evaluation model, and the deceleration of the active control is calculated for deceleration.

[0056] Example 3

[0057] One embodiment of this disclosure provides a non-transitory computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the vehicle cutting-in collision risk assessment method.

[0058] Example 4

[0059] One embodiment of this disclosure provides an electronic device, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the vehicle cutting-in collision risk assessment method.

[0060] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0061] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0062] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A method for assessing the risk of vehicle cutting-in collisions, characterized in that, include: Construct horizontal and vertical security assessment models; Among them, for vehicles with a tendency to change lanes, the distance between the rear of the preceding vehicle and the front of the current vehicle is obtained, as well as the lateral speed of the vehicle changing lanes and cutting into the current lane. The longitudinal speed of the current vehicle is controlled to be greater than the longitudinal speed of the preceding vehicle cutting into the current lane, and a lateral safety assessment model is constructed. The horizontal security assessment model is as follows: in, For the length of the vehicle, The length of the vehicle to be cut in. For safety, the value is 0.

1. Able to calibrate, This is the distance between the rear of the vehicle in front and the front of this vehicle. The lateral velocity during the cut. The longitudinal speed of the vehicle. The longitudinal speed at which the preceding vehicle cuts in; The vehicle acquires environmental perception information and its own vehicle attitude information, and inputs them into the lateral safety assessment model for lateral detection. If a lateral safety risk is detected, the information is then input into the longitudinal safety assessment model for longitudinal detection. If there is no risk in the longitudinal safety check, no active control is taken. If there is a risk, longitudinal control is taken based on the results of the longitudinal safety assessment model, and the deceleration of the active control is calculated to reduce speed. In the longitudinal safety assessment model, two safety indicators are evaluated, including active fuzzy safety indicators and critical safety indicators. When both active fuzzy safety indicators and critical safety indicators are greater than 0, it is judged that there is a collision risk and intervention and control are required.

2. The vehicle cutting-in collision risk assessment method as described in claim 1, characterized in that, Based on the assessment of the lateral and longitudinal collision evaluation models, if there is a risk of lateral and longitudinal collision, the vehicle needs to be decelerated, and the deceleration needs to be further calculated.

3. The vehicle cutting-in collision risk assessment method as described in claim 2, characterized in that, The controlled deceleration is calculated as follows: in, To control deceleration, The maximum deceleration of the vehicle. To reduce speed for comfort, These are key safety indicators.

4. The vehicle cutting-in collision risk assessment method as described in claim 1, characterized in that, The distance between the rear of the vehicle in front and the front of your vehicle must be greater than 0, and the lateral speed of the vehicle cutting into your lane must be greater than 0.

5. A vehicle cutting-in collision risk assessment system, specifically implementing the vehicle cutting-in collision risk assessment method as described in any one of claims 1-4, characterized in that, include: The model building module is used to build horizontal security assessment models and vertical security assessment models. The evaluation module is used to acquire environmental perception information of the vehicle's surroundings and the vehicle's own attitude information, and input them into the lateral safety evaluation model for lateral detection. If a lateral safety risk is determined, the information is then input into the longitudinal safety evaluation model for longitudinal detection. If there is no risk in the longitudinal safety check, no active control is taken. If there is a risk, longitudinal control is performed based on the results of the longitudinal safety evaluation model, and the deceleration of the active control is calculated for deceleration.

6. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium is used to store computer instructions, which, when executed by a processor, implement the vehicle cutting-in collision risk assessment method as described in any one of claims 1-4.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to perform the vehicle cutting-in collision risk assessment method as described in any one of claims 1-4.

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