Collision risk assessment method based on positioning information
By acquiring and analyzing the multi-dimensional parameters of the vehicle and the target, combining positioning information to correct acceleration, and calculating longitudinal collision time, the deviation problem of traditional collision risk assessment methods under the influence of environmental and dynamic factors is solved, and more accurate collision risk assessment is achieved, providing reliable data for active safety systems.
Patent Information
- Application Number
- CN202411995018.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-03-21
AI Technical Summary
Traditional collision risk assessment methods rely on the relative speed and relative position between the bicycle and the target, and are susceptible to environmental and dynamic factors, resulting in the possible deviation of the evaluation results. Especially when the target object is close or the bicycle acceleration fluctuates greatly, it is difficult to accurately predict the collision risk.
By obtaining target parameters and bicycle parameters, including target coordinates, velocity, acceleration, longitudinal proximity coordinates, as well as bicycle positioning coordinates, front bumper coordinates, velocity and acceleration, combined with the preset acceleration correction coefficient, the bicycle correction acceleration is determined, and the longitudinal collision time is calculated, and the collision risk level is finally determined based on the collision time.
By introducing vehicle positioning information to correct the vehicle acceleration, the calculation accuracy of longitudinal collision time is improved, the collision risk between the vehicle and the target is more accurately evaluated, and reliable input data is provided for the active safety system.
Smart Images
Figure CN119659601A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle safety control technology, and in particular to a collision risk assessment method based on positioning information. Background Art
[0002] At present, in intelligent driving and assisted driving technology, collision risk assessment is an important part of ensuring vehicle driving safety. Traditional collision risk assessment mainly relies on information such as the relative speed and relative position between the vehicle and the target, which is easily affected by environmental and dynamic factors, making the risk assessment results biased. Especially when the target object is close or the vehicle's acceleration fluctuates greatly, it is difficult to accurately predict the collision risk based solely on relative speed and acceleration. Therefore, it is particularly necessary to improve the accuracy of collision risk assessment in a targeted manner. Summary of the invention
[0003] Based on this, it is necessary to provide a collision risk assessment method based on positioning information for the above technical problems, the method comprising:
[0004] Obtaining target parameters and vehicle parameters, wherein the target parameters include target coordinates, target speed, target acceleration, and target longitudinal near-point coordinates; the vehicle parameters include vehicle positioning coordinates, vehicle front bumper coordinates, vehicle speed, and vehicle acceleration;
[0005] Determining a corrected acceleration of the vehicle according to the vehicle positioning coordinates and a preset acceleration correction coefficient;
[0006] Determine the longitudinal collision time according to the target longitudinal near-point coordinates, the self-vehicle front bumper coordinates, the target coordinates, the target speed, the self-vehicle positioning coordinates and the self-vehicle speed and the self-vehicle corrected acceleration;
[0007] Based on the longitudinal collision time, a collision risk level is determined.
[0008] As an optional implementation, the acceleration correction coefficient includes a longitude acceleration correction coefficient and a latitude acceleration correction coefficient, and determining the vehicle correction acceleration according to the vehicle positioning coordinates and the preset acceleration correction coefficient includes:
[0009] Determining a longitude correction acceleration according to the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient;
[0010] Determining a latitude correction acceleration according to the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient;
[0011] The vehicle correction acceleration is determined based on the longitude correction acceleration and the latitude correction acceleration.
[0012] As an optional implementation manner, the formula for determining the longitude correction acceleration according to the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient is:
[0013] a lgt =k g0 +k g1 ×g lgt +k g2 ×g lgt 2 ;
[0014] Among them, a lgt is the longitude-corrected acceleration, k g0 , k g1 and k g2 is the preset longitude acceleration correction factor, g lgt It is the longitude value of the vehicle positioning coordinates.
[0015] As an optional implementation manner, the formula for determining the latitude correction acceleration according to the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient is:
[0016] a lat =k a0 +k a1 ×g lat +k a2 ×g lat 2 ;
[0017] Among them, a lat is the latitude-corrected acceleration, k a0 , k a1 and k a2 is the preset latitude acceleration correction factor, g lat The latitude value of the vehicle positioning coordinates.
[0018] As an optional implementation manner, the formula for determining the vehicle corrected acceleration based on the longitude corrected acceleration and the latitude corrected acceleration is:
[0019] a c =a lgt +a lat ;
[0020] Among them, a c is the corrected acceleration of the vehicle, a lgt is the longitude-corrected acceleration, a lat Correct the acceleration for latitude.
[0021] As an optional implementation manner, the method for determining the preset acceleration correction coefficient includes:
[0022] Obtaining the acceleration and positioning coordinates of the vehicle under an emergency condition, wherein the emergency condition is a rapid acceleration condition or a rapid deceleration condition;
[0023] Based on the vehicle positioning coordinates, construct an acceleration correction model;
[0024] The acceleration correction coefficient is calculated using a least square method according to a fitting relationship between the vehicle acceleration and the acceleration correction model.
[0025] As an optional implementation manner, the formula for calculating the acceleration correction coefficient using the least squares method according to the fitting relationship between the vehicle acceleration and the acceleration correction model is:
[0026]
[0027] Among them, a lgt,i is the longitude-corrected acceleration of the i-th sampling point in the acceleration correction model, a lat,i is the latitude-corrected acceleration of the i-th sampling point in the acceleration correction model, k g0 , k g1 and k g2 is the longitude acceleration correction factor, g lgt,i is the longitude value of the vehicle positioning coordinates at the i-th sampling point, k a0 , k a1 and k a2 is the latitude acceleration correction factor, g lat,i is the latitude value of the vehicle positioning coordinates of the i-th sampling point, a host,i is the vehicle acceleration at the i-th sampling point, a c,i is the corrected acceleration of the ego vehicle at the i-th sampling point.
[0028] As an optional implementation manner, determining the longitudinal collision time according to the target longitudinal near point coordinates, the self-vehicle front bumper coordinates, the target coordinates, the target speed, the self-vehicle positioning coordinates, the self-vehicle speed and the self-vehicle corrected acceleration includes:
[0029] Calculating the relative speed between the vehicle and the target based on the target coordinates, the target speed, the vehicle positioning coordinates and the vehicle speed;
[0030] Determine the target near point distance according to the target longitudinal near point coordinates and the coordinates of the front bumper of the own vehicle;
[0031] A longitudinal collision time is determined based on the target near-point distance, the relative speed, and the self-vehicle corrected acceleration.
[0032] As an optional implementation manner, determining the target near point distance according to the target longitudinal near point coordinates and the coordinates of the front bumper of the own vehicle includes:
[0033] Determine a first distance between the target longitudinal near point coordinate and a preset coordinate origin;
[0034] Determine a second distance between the coordinates of the front bumper of the vehicle and the preset coordinate origin;
[0035] The distance difference between the first distance and the second distance is determined as the target near point distance.
[0036] As an optional implementation manner, the formula for determining the longitudinal collision time according to the target near-point distance, the relative speed and the self-vehicle corrected acceleration is:
[0037] S=vTTR+a c TTR 2 / 2;
[0038] Among them, S is the target near point distance, v is the relative speed, a c is the corrected acceleration of the ego vehicle, and TTR is the longitudinal collision time.
[0039] The present application provides a collision risk assessment method based on positioning information. The technical solution provided by the embodiments of the present application brings at least the following beneficial effects: obtaining target parameters and self-vehicle parameters, the target parameters include target coordinates, target speed, target acceleration and target longitudinal near-point coordinates; the self-vehicle parameters include self-vehicle positioning coordinates, self-vehicle front bumper coordinates, self-vehicle speed and self-vehicle acceleration; determining the self-vehicle corrected acceleration according to the self-vehicle positioning coordinates and the preset acceleration correction coefficient; determining the longitudinal collision time according to the target longitudinal near-point coordinates, the self-vehicle front bumper coordinates, the target coordinates, the target speed, the self-vehicle positioning coordinates and the self-vehicle speed and the self-vehicle corrected acceleration; determining the collision risk level based on the longitudinal collision time. The present application corrects the self-vehicle acceleration by introducing vehicle positioning information, thereby enhancing the calculation accuracy of the longitudinal collision time (TTR), thereby more accurately assessing the collision risk between the vehicle and the target and providing reliable input data for the active safety system.
[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0042] Figure 1 A flowchart of a collision risk assessment method based on positioning information provided in an embodiment of the present application;
[0043] Figure 2 A flow chart of a method for determining a corrected acceleration of a vehicle provided in an embodiment of the present application;
[0044] Figure 3 A flow chart of a method for determining an acceleration correction coefficient provided in an embodiment of the present application;
[0045] Figure 4 A flowchart of a method for determining longitudinal collision time provided in an embodiment of the present application. DETAILED DESCRIPTION
[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0047] The following will describe in detail a method for assessing collision risk based on positioning information provided by an embodiment of the present application in conjunction with a specific implementation manner. Figure 1 A flowchart of a collision risk assessment method based on positioning information provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the specific steps are as follows:
[0048] Step 101, obtaining target parameters and vehicle parameters, wherein the target parameters include target coordinates, target speed, target acceleration and target longitudinal near point coordinates, and the vehicle parameters include vehicle positioning coordinates, vehicle front bumper coordinates, vehicle speed and vehicle acceleration.
[0049] In implementation, the vehicle system can obtain target parameters and ego vehicle parameters through sensors and computers. Target parameters and ego vehicle parameters are the basic data for collision risk assessment, which are used for subsequent calculation of corrected acceleration and derivation of longitudinal collision time. The target longitudinal near point coordinates define the closest point where the target and the ego vehicle may collide, and can describe the dynamic relationship between the ego vehicle and the target.
[0050] Step 102, determining the vehicle correction acceleration according to the vehicle positioning coordinates and a preset acceleration correction coefficient.
[0051] In implementation, the corrected acceleration can be determined by combining the vehicle positioning coordinates (longitude and latitude) and a preset acceleration correction coefficient, which can compensate for the deviation of the original acceleration caused by the change of geographical location.
[0052] As an optional implementation, Figure 2 A flow chart of a method for determining a corrected acceleration of a vehicle provided in an embodiment of the present application, such as Figure 2 As shown, in step 102, the specific steps of determining the corrected acceleration of the vehicle according to the vehicle positioning coordinates and the preset acceleration correction coefficient are as follows, wherein the acceleration correction coefficient includes the longitude acceleration correction coefficient and the latitude acceleration correction coefficient:
[0053] Step 201, determining the longitude correction acceleration according to the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient.
[0054] During implementation, the vehicle system may determine the longitude corrected acceleration based on the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient.
[0055] As an optional implementation, in step 201, the formula for determining the longitude correction acceleration is as follows according to the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient:
[0056] a lgt =k g0 +k g1 ×g lgt +k g2 ×g lgt 2 ;
[0057] Among them, a lgt is the longitude-corrected acceleration, k g0 , k g1 and k g2 is the preset longitude acceleration correction factor, g lgt It is the longitude value of the vehicle positioning coordinates.
[0058] In the implementation, the longitude value g of the vehicle positioning coordinates is used lgt is 120.123, the longitude acceleration correction factor k g0 is 0.5, k g1 is -0.01, k g2 For example, if 0.001 is used, the longitude correction acceleration a lgt =0.5+(-0.01)×120.123+0.001×120.123 2 =2.042m / s 2 .
[0059] Step 202, determining the latitude correction acceleration according to the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient.
[0060] In implementation, the vehicle system may determine the latitude corrected acceleration based on the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient.
[0061] As an optional implementation, in step 202, the formula for determining the latitude correction acceleration is as follows based on the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient:
[0062] a lat =k a0 +k a1 ×g lat +k a2 ×g lat 2 ;
[0063] Among them, a lat is the latitude-corrected acceleration, k a0 , k a1 and k a2 is the preset latitude acceleration correction factor, g lat The latitude value of the vehicle positioning coordinates.
[0064] In the implementation, the latitude value g of the vehicle positioning coordinates is used lat is 30.456, the latitude acceleration correction factor k a0 is 0.3, k a1 is -0.02, k a2 For example, if 0.0005 is used, the latitude correction acceleration a lat =0.3+(-0.02)×30.456+0.0005×30.456 2 =0.909m / s 2 .
[0065] Step 203, determining the vehicle correction acceleration according to the longitude correction acceleration and the latitude correction acceleration.
[0066] In implementation, the vehicle system may determine the ego-vehicle corrected acceleration based on the longitude corrected acceleration and the latitude corrected acceleration.
[0067] As an optional implementation, in step 203, the formula for determining the vehicle correction acceleration according to the longitude correction acceleration and the latitude correction acceleration is:
[0068] a c =a lgt +a lat ;
[0069] Among them, a cis the corrected acceleration of the vehicle, a lgt is the longitude-corrected acceleration, a lat Correct the acceleration for latitude.
[0070] In practice, the purpose of correcting the acceleration is to calibrate the vehicle acceleration more accurately through positioning information. lgt and a lat The influence of longitude and latitude are considered separately, reflecting the dynamic correction in different directions. After adding the two together, the obtained a c It can be used to comprehensively evaluate the vehicle's motion status in the current geographical environment and ensure the accuracy of subsequent collision risk assessment.
[0071] As an optional implementation, Figure 3 A flow chart of a method for determining an acceleration correction coefficient provided in an embodiment of the present application, such as Figure 3 As shown, the steps for determining the preset acceleration correction coefficient are as follows:
[0072] Step 301, obtaining the acceleration and positioning coordinates of the vehicle under an emergency condition, where the emergency condition is a rapid acceleration condition or a rapid deceleration condition.
[0073] In practice, the vehicle state under emergency conditions (such as sudden acceleration or deceleration) can provide real data on the vehicle's dynamic characteristics. In such conditions, the change in acceleration is more obvious. These data include the acceleration of the ego vehicle (positive value for sudden acceleration and negative value for sudden deceleration) and the ego vehicle's positioning coordinates (including longitude and latitude values).
[0074] Step 302: construct an acceleration correction model based on the vehicle positioning coordinates.
[0075] In implementation, the positioning coordinates (longitude and latitude) can be associated with the vehicle acceleration data to construct a quadratic polynomial function that describes the relationship between acceleration and positioning coordinates, i.e., an acceleration correction model. For example, a set of sample data (including acceleration values and corresponding longitude and latitude values) is collected through multiple rapid acceleration and deceleration tests. The above data can be substituted into the acceleration correction model to prepare for parameter fitting.
[0076] Step 303: Calculate the acceleration correction coefficient using the least square method according to the fitting relationship between the vehicle acceleration and the acceleration correction model.
[0077] In implementation, the least square method determines the correction coefficient in the model by minimizing the sum of squares of errors between the predicted value of the acceleration correction model and the actual collected data.
[0078] As an optional implementation, in step 303, according to the fitting relationship between the vehicle acceleration and the acceleration correction model, the formula for calculating the acceleration correction coefficient using the least square method is:
[0079]
[0080] Among them, a lgt,i is the longitude-corrected acceleration of the i-th sampling point in the acceleration correction model, a lat,i is the latitude-corrected acceleration of the i-th sampling point in the acceleration correction model, k g0 , k g1 and k g2 is the longitude acceleration correction factor, g lgt,i is the longitude value of the vehicle positioning coordinates at the i-th sampling point, k a0 , k a1 and k a2 is the latitude acceleration correction factor, g lat,i is the latitude value of the vehicle positioning coordinates of the i-th sampling point, a host,i is the vehicle acceleration at the i-th sampling point, a c,i is the corrected acceleration of the ego vehicle at the i-th sampling point.
[0081] In implementation, a set of acceleration correction coefficients that can minimize the sum of squares of errors between the predicted value of the acceleration correction model and the actual acquired ego-vehicle acceleration is the optimal solution.
[0082] Step 103, determining the longitudinal collision time according to the target longitudinal near point coordinates, the coordinates of the front bumper of the own vehicle, the target coordinates, the target speed, the own vehicle positioning coordinates, the own vehicle speed and the own vehicle corrected acceleration.
[0083] In implementation, the vehicle system can determine the longitudinal collision time based on the target longitudinal near point coordinates, the ego vehicle front bumper coordinates, the target coordinates, the target speed, the ego vehicle positioning coordinates, the ego vehicle speed, and the ego vehicle corrected acceleration. The longitudinal collision time is used to describe the time when the ego vehicle collides with the target, and can quantify the collision risk.
[0084] As an optional implementation, Figure 4 A flow chart of a method for determining longitudinal collision time provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in step 103, the specific steps of determining the longitudinal collision time according to the target longitudinal near point coordinates, the self-vehicle front bumper coordinates, the target coordinates, the target speed, the self-vehicle positioning coordinates, the self-vehicle speed and the self-vehicle corrected acceleration are as follows:
[0085] Step 401, calculate the relative speed between the ego vehicle and the target according to the target coordinates, the target speed, the ego vehicle positioning coordinates and the ego vehicle speed.
[0086] During implementation, the vehicle system can calculate the relative speed between the vehicle and the target based on the target coordinates, target speed, vehicle positioning coordinates and vehicle speed. Specifically, it can be calculated by the velocity components of the target in the longitude and latitude directions, and the velocity components of the vehicle in the longitude and latitude directions.
[0087] Step 402, determining the target near point distance according to the target longitudinal near point coordinates and the coordinates of the front bumper of the vehicle.
[0088] During implementation, the vehicle system may determine the target near point distance based on the target longitudinal near point coordinates and the coordinates of the front bumper of the own vehicle.
[0089] As an optional implementation, in step 402, the specific method for determining the target near point distance according to the target longitudinal near point coordinates and the coordinates of the front bumper of the vehicle is as follows:
[0090] Determine a first distance between the target longitudinal near point coordinates and a preset coordinate origin, determine a second distance between the vehicle front bumper coordinates and a preset coordinate origin, and determine the difference between the first distance and the second distance as the target near point distance.
[0091] In implementation, the first distance is the straight-line distance from the preset coordinate origin to the target vehicle's longitudinal near-point coordinates, and the second distance is the straight-line distance from the preset coordinate origin to the self-vehicle's front bumper coordinates, and the difference between the two is the target vehicle's near-point distance. For example: the preset coordinate origin is (0, 0), the target longitudinal near-point coordinates are (50, 20), and the self-vehicle's front bumper coordinates are (30, 10). The first distance (the distance from the target longitudinal near-point to the origin) is 53.85m, and the second distance (the distance from the self-vehicle's front bumper to the origin) is 31.62m, so the target near-point distance is 22.23m.
[0092] Step 403, determining the longitudinal collision time according to the target near point distance, the relative speed and the self-vehicle corrected acceleration.
[0093] In implementation, the vehicle system can determine the longitudinal collision time based on the target approach distance, relative speed, and ego vehicle corrected acceleration.
[0094] As an optional implementation, in step 403, the formula for determining the longitudinal collision time according to the target near-point distance, the relative speed and the self-vehicle corrected acceleration is:
[0095] S=vTTR+a c TTR 2 / 2;
[0096] Among them, S is the target near point distance, v is the relative speed, a c is the corrected acceleration of the ego vehicle, and TTR is the longitudinal collision time.
[0097] In the implementation, the target near-point distance S is 40m, the relative speed v is 2.83m / s, and the vehicle correction acceleration a c For example, if the target is -1.5m / s, the calculated TTR has no solution, indicating that the current vehicle cannot avoid collision, and TTR can be set to 0 to indicate that it has entered a collision state. For another example: the target near point distance S is 40m, the relative speed v is 2.83m / s, and the vehicle corrected acceleration a c If the speed is 1.5m / s, then the TTR is 5.66s.
[0098] Step 104 : determining a collision risk level based on the longitudinal collision time.
[0099] In implementation, after the vehicle system determines the longitudinal collision time, it can evaluate the collision risk level, including but not limited to the following methods, as follows:
[0100] 1. Direct risk assessment based on TTR: TTR represents the time required for a collision between the vehicle and the target. The smaller the TTR, the higher the collision risk. The following rules can be used:
[0101] High risk: When the TTR is lower than the preset collision risk threshold (such as 1 second), the system determines it as a serious collision risk and triggers an emergency warning or automatic intervention (such as emergency braking).
[0102] Low risk: TTR is higher than the preset safety threshold (such as greater than 3 seconds), the risk is low and no special reminder is required.
[0103] Medium risk: TTR is between the collision risk threshold and the safety threshold (such as 1 to 3 seconds). The system reminds the driver to pay attention and be ready to take action. The collision risk threshold and the safety threshold can be adjusted according to the actual scenario and vehicle dynamic parameters (speed, distance, etc.).
[0104] 2. Comprehensive analysis combined with other parameters: TTR is only a key indicator for collision risk assessment. Combining it with other dynamic parameters can improve the accuracy of the assessment. When the relative speed is high, even if the TTR is large, the collision risk may be high because it may be difficult for the vehicle to stop completely in a short time. The risk level can be increased in high-speed scenarios, and the risk level can be appropriately reduced in low-speed scenarios. In addition, the deceleration ability (braking performance) of the vehicle can affect the collision risk assessment. If the deceleration ability of the vehicle decreases, the vehicle system can judge in advance and give a stricter risk level. Environmental factors can also affect the collision risk assessment. For example, in special scenarios (rainy and snowy weather), the vehicle system can give a stricter risk level based on environmental conditions.
[0105] 3. Construction of risk assessment model: Based on TTR and other parameters, a multi-factor risk assessment model can be constructed. For example, a weighted formula is used to comprehensively evaluate the collision risk score. The factors involved in the calculation include longitudinal collision time, relative speed and relative acceleration, etc. Each factor is configured with a weight. When the calculation result exceeds the set threshold, the vehicle system triggers the corresponding warning or intervention mechanism.
[0106] The embodiment of the present application provides a collision risk assessment method based on positioning information, the method comprising: obtaining target parameters and self-vehicle parameters, the target parameters including target coordinates, target speed, target acceleration and target longitudinal near-point coordinates; self-vehicle parameters including self-vehicle positioning coordinates, self-vehicle front bumper coordinates, self-vehicle speed and self-vehicle acceleration; determining the self-vehicle correction acceleration according to the self-vehicle positioning coordinates and the preset acceleration correction coefficient; determining the longitudinal collision time according to the target longitudinal near-point coordinates, self-vehicle front bumper coordinates, target coordinates, target speed, self-vehicle positioning coordinates and self-vehicle speed and self-vehicle correction acceleration; determining the collision risk level based on the longitudinal collision time. The embodiment of the present application constructs an acceleration correction model based on actual working conditions by introducing vehicle positioning information (longitude and latitude) and dynamic data, so that the correction acceleration can be more in line with the actual motion state of the vehicle, and the accuracy of the model is improved. By using the sampling data of emergency conditions (such as rapid acceleration or rapid deceleration), the correction coefficient is fitted by the least squares method, which can effectively describe the acceleration characteristics of the vehicle in various complex dynamic environments, and improve the generalization ability and adaptability of the model. The embodiment of the present application also improves the calculation accuracy of the longitudinal collision time, thereby more comprehensively evaluating the collision risk between the vehicle and the target and providing reliable input data for the active safety system. The fitting method based on the least squares method has low algorithm complexity and is easy to implement. It can be deployed in the vehicle embedded system to achieve real-time correction and evaluation, which is suitable for actual application scenarios. By accurately correcting the vehicle dynamic characteristic parameters, the control logic of the active safety system is optimized, thereby improving driving safety and riding comfort.
[0107] It should be understood that although Figures 1 to 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figures 1 to 4 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.
[0108] It can be understood that the same / similar parts between the various embodiments of the above method in this specification can refer to each other, and each embodiment focuses on the differences from other embodiments. For related points, please refer to the description of other method embodiments.
[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
[0110] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0111] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.
[0112] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.
[0113] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0114] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.
Claims
1. A collision risk assessment method based on positioning information, characterized in that: The method comprises: Obtaining target parameters and vehicle parameters, wherein the target parameters include target coordinates, target speed, target acceleration, and target longitudinal near-point coordinates; the vehicle parameters include vehicle positioning coordinates, vehicle front bumper coordinates, vehicle speed, and vehicle acceleration; Determining a corrected acceleration of the vehicle according to the vehicle positioning coordinates and a preset acceleration correction coefficient; Determine the longitudinal collision time according to the target longitudinal near-point coordinates, the self-vehicle front bumper coordinates, the target coordinates, the target speed, the self-vehicle positioning coordinates and the self-vehicle speed and the self-vehicle corrected acceleration; Based on the longitudinal collision time, a collision risk level is determined.
2. The method according to claim 1, characterized in that: The acceleration correction coefficient includes a longitude acceleration correction coefficient and a latitude acceleration correction coefficient. The process of determining the vehicle correction acceleration according to the vehicle positioning coordinates and the preset acceleration correction coefficient includes: Determining a longitude correction acceleration according to the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient; Determining a latitude correction acceleration according to the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient; The vehicle correction acceleration is determined based on the longitude correction acceleration and the latitude correction acceleration.
3. The method according to claim 2, characterized in that The formula for determining the longitude correction acceleration according to the longitude value of the vehicle positioning coordinates and the longitude acceleration correction coefficient is: a lgt =k g0 +k g1 ×g lgt +k g2 ×g lgt 2 ; Among them, a lgt is the longitude-corrected acceleration, k g0 , k g1 and k g2 is the preset longitude acceleration correction factor, g lgt It is the longitude value of the vehicle positioning coordinates.
4. The method according to claim 2, characterized in that: The formula for determining the latitude correction acceleration according to the latitude value of the vehicle positioning coordinates and the latitude acceleration correction coefficient is: a lat =k a0 +k a1 ×g lat +k a2 ×g lat 2 ; Among them, a lat is the latitude-corrected acceleration, k a0 , k a1 and k a2 is the preset latitude acceleration correction factor, g lat The latitude value of the vehicle positioning coordinates.
5. The method according to claim 2, characterized in that: The formula for determining the vehicle correction acceleration based on the longitude correction acceleration and the latitude correction acceleration is: a c =a lgt +a lat ; Among them, a c is the corrected acceleration of the vehicle, a lgt is the longitude-corrected acceleration, a lat Correct the acceleration for latitude.
6. The method according to claim 2, characterized in that The method for determining the preset acceleration correction coefficient includes: Obtaining the acceleration and positioning coordinates of the vehicle under an emergency condition, wherein the emergency condition is a rapid acceleration condition or a rapid deceleration condition; Based on the vehicle positioning coordinates, construct an acceleration correction model; The acceleration correction coefficient is calculated using a least square method according to a fitting relationship between the vehicle acceleration and the acceleration correction model.
7. The method according to claim 6, characterized in that The formula for calculating the acceleration correction coefficient using the least square method according to the fitting relationship between the vehicle acceleration and the acceleration correction model is: Among them, a lgt,i is the longitude-corrected acceleration of the i-th sampling point in the acceleration correction model, a lat,i is the latitude-corrected acceleration of the i-th sampling point in the acceleration correction model, k g0 , k g1 and k g2 is the longitude acceleration correction factor, g lgt,i is the longitude value of the vehicle positioning coordinates at the i-th sampling point, k a0 , k a1 and k a2 is the latitude acceleration correction factor, g lat,i is the latitude value of the vehicle positioning coordinates of the i-th sampling point, a host,i is the vehicle acceleration at the i-th sampling point, a c,i is the corrected acceleration of the ego vehicle at the i-th sampling point.
8. The method according to claim 1, characterized in that: The determining of the longitudinal collision time according to the target longitudinal near-point coordinates, the coordinates of the front bumper of the own vehicle, the target coordinates, the target speed, the own vehicle positioning coordinates, the own vehicle speed and the own vehicle corrected acceleration includes: Calculating the relative speed between the vehicle and the target based on the target coordinates, the target speed, the vehicle positioning coordinates and the vehicle speed; Determine the target near point distance according to the target longitudinal near point coordinates and the coordinates of the front bumper of the own vehicle; A longitudinal collision time is determined based on the target near-point distance, the relative speed, and the self-vehicle corrected acceleration.
9. The method according to claim 8, characterized in that Determining the target near point distance according to the target longitudinal near point coordinates and the coordinates of the front bumper of the vehicle includes: Determine a first distance between the target longitudinal near point coordinate and a preset coordinate origin; Determine a second distance between the coordinates of the front bumper of the vehicle and the preset coordinate origin; The distance difference between the first distance and the second distance is determined as the target near point distance.
10. The method according to claim 8, characterized in that The formula for determining the longitudinal collision time according to the target near-point distance, the relative speed and the self-vehicle corrected acceleration is: S=vTTR+a c TTR 2 / 2; Among them, S is the target near point distance, v is the relative speed, a c is the corrected acceleration of the ego vehicle, and TTR is the longitudinal collision time.