Risk dynamic fusion method based on road space field theory

Abstract

The invention discloses a risk dynamic fusion method based on a road space field theory. The method comprises the following steps: 1, acquiring data; 2, calculating the limit risk of the lane line; 3, calculating a collision risk; 4, calculating a conflict risk; 5, risk fusion; and 6, circulating the steps, and determining the risk of the next moment. According to the method, the risks in the driving process are subdivided into three risks, namely the conflict risk, the collision risk and the lane line limiting risk, the specific risk value is calculated for each coordinate point on the road in real time by combining the risk size, the risk diffusion and the risk coupling relation, the driving safety is improved, and the driving safety is improved. And a solid foundation is laid for further development of traffic management and intelligent driving.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving and risk assessment, and in particular to a risk dynamic fusion method based on road space field theory. Background Art

[0002] With the rapid development of the economy and the acceleration of urbanization, the number of vehicles has increased dramatically, leading to increasing road traffic congestion and increasingly prominent road safety issues. The risk factors on the road have also increased, including but not limited to traffic accidents, traffic congestion, environmental pollution, etc. These risk factors not only affect the traffic efficiency of the road, but also pose a serious threat to people's lives and property safety. Therefore, how to effectively identify, evaluate and manage road traffic risks has become a key issue that needs to be solved in the field of intelligent transportation systems and intelligent driving.

[0003] Although existing research has studied and analyzed road traffic risks to a certain extent, most studies regard risks as independent individuals and lack in-depth consideration of the mutual influence and integration between risks. In the context of the rapid development of vehicle networking and autonomous driving technology, vehicles need more reliable and accurate decision support systems to cope with complex road traffic environments. This requires us not only to identify and evaluate individual risk factors, but also to be able to comprehensively consider the interactions and integration between different risk factors to achieve a comprehensive grasp of the entire road traffic risk. This comprehensive risk assessment method is crucial to improving the safety and reliability of autonomous vehicles, and is also the basis for achieving optimal management of intelligent transportation systems. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention proposes a risk dynamic fusion method based on road space field theory, in order to calculate the risk value on the road in real time, thereby improving driving safety and laying a solid foundation for the further development of traffic management and intelligent driving.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

[0006] The risk dynamic fusion method based on road space field theory of the present invention is characterized in that it includes the following steps:

[0007] Step 1: Establish a rectangular coordinate system of the road by taking the endpoint on the road boundary as the origin, the driving direction of the vehicle on the road as the x-axis, and the axis perpendicular to the driving direction of the vehicle as the y-axis;

[0008] Follow n+1 lane lines Divide the road from the inside to the outside, and get n lanes in sequence, among which, represents the bth lane line, and n represents the total number of lanes;

[0009] The ordinates of the n+1 lane lines are recorded as ;in, Indicates the bth lane line The vertical coordinate of

[0010] Let the interval between two adjacent moments be , then any moment is recorded as t;

[0011] The risk factors on the road are divided into three categories: lane limit risk, vehicle collision risk and vehicle conflict risk;

[0012] Step 2: Use intelligent roadside detectors to obtain The angle between any vehicle i and any vehicle j at any time ;and ;

[0013] Get The steering angle of vehicle i at time ; The length and width of vehicle i are respectively and ;

[0014] Get The midpoint coordinates of vehicle i at time and the midpoint coordinates of vehicle j , and calculate The distance between vehicle i and vehicle j at time ;

[0015] Get The acceleration difference between vehicle i and vehicle j at time , The speed difference between vehicle i and vehicle j at time , The speed of vehicle i at time ;

[0016] Get Number of vehicles on the road at the time ;

[0017] Step 3: Calculate any coordinate on each lane The restricted risk of the lane line at the position is thus combined into the restricted risk of the lane line on each lane as any coordinate on the road Lane restriction risk ,in, Represents any coordinate on lane b The risk of lane restriction;

[0018] Step 4: Judgement Is it established? If established, let Any coordinate on the road at any time Risk of collision and Any coordinate on the road at any time Risk of conflict , go to step 9, otherwise, go directly to step 5;

[0019] Step 5: Calculation The virtual volume of vehicle i at time ;

[0020] Step 6. Calculation Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ;

[0021] Step 7: Determine whether all vehicles on the road are in the same lane. If so, set Any coordinate on the road at any time Risk of conflict , proceed to step 9, otherwise, directly proceed to step 8;

[0022] Step 8. Calculation Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ;

[0023] Step 9: Calculate according to formula (18) Any coordinate on the road at any time Risk of integration ;

[0024] (18)

[0025] In formula (18), m represents the risk dimension index;

[0026] Step 10: After assigning t+1 to t, return to step 2 and execute sequentially until t>T, where T is the total duration.

[0027] The risk dynamic fusion method based on road space field theory described in the present invention is also characterized in that step 3 includes the following steps:

[0028] Step 3.1: Calculate the lane limit risk according to formula (1) ;

[0029] (1)

[0030] In formula (1), represents a fixed risk value for road markings;

[0031] Step 3.2, initialize b=1, ;

[0032] Step 3.3: Calculate any coordinate on lane b according to formula (2): The lane line limit risk The attenuation factor ;

[0033] (2)

[0034] In formula (2), represents the absolute value, represents the risk diffusion impact weight factor of road markings;

[0035] Step 3.4: Calculate any coordinate on lane b according to formula (3): The lane line limit risk The decay function ;

[0036] (3)

[0037] Step 3.5: Calculate any coordinate on lane b according to formula (4): The lane line limit risk ;

[0038] (4)

[0039] Step 3.6, judgment Is it established? If established, Assign to After that, return to step 3.3; otherwise, it means that any coordinate on the road is obtained Lane restriction risk , and proceed to step 4.

[0040] Further, step 5 includes the following steps:

[0041] Step 5.1: Calculate according to formula (5) The effective factor of the direction of vehicle j to vehicle i at the moment ;

[0042] (5)

[0043] In formula (5), represents the underlying risk factor;

[0044] Step 5.2: Calculate according to formula (6) The virtual volume of vehicle i at time ;

[0045] (6)

[0046] In formula (6), represents the vehicle volume conversion factor, Represents the velocity influence weight factor in the virtual volume.

[0047] Further, step 6 includes the following steps:

[0048] Step 6.1: Calculate according to formula (7) The collision risk of vehicle j against vehicle i at time ;

[0049] (7)

[0050] In formula (7), Indicates the impact weight factor of the collision risk. Indicates the acceleration impact weight factor in collision risk; express The virtual volume of vehicle j at time instant, The modulus represents the relative distance;

[0051] Step 6.2: Calculate the coordinates of vehicle i on the road according to formula (8): The risk lateral attenuation factor ;

[0052] (8)

[0053] In formula (8), It indicates the influence of the relative distance between other vehicles and vehicle i on the longitudinal risk. represents the speed of vehicle i The extent of impact on vertical risk;

[0054] Step 6.3: Calculate the coordinates of vehicle i on the road according to formula (9): The longitudinal attenuation factor of risk ;

[0055] (9)

[0056] In formula (9), It indicates the influence of the relative distance between other vehicles and vehicle i on the lateral risk. represents the speed of vehicle i The degree of impact on horizontal risks;

[0057] Step 6.4: Calculate the time according to formula (10) Any coordinate of vehicle i on the road The risk decay function at ;

[0058] (10)

[0059] Step 6.5: Calculate the time according to formula (11) The collision risk of vehicle j against vehicle i Any coordinate on the road The risk of proliferation ;

[0060] (11)

[0061] Step 6.6: Calculate according to formula (12) Total collision risk of vehicle i at time Any coordinate on the road The risk of proliferation ;

[0062] (12)

[0063] Step 6.7: Calculate according to formula (13) Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ;

[0064] (13).

[0065] Further, step 8 includes the following steps:

[0066] Step 8.1: Calculate according to formula (14) The collision risk of vehicle j to vehicle i at time ;

[0067] (14)

[0068] In formula (14), Indicates the impact weight factor of the conflict risk size, The speed impact weighting factor in conflict risk;

[0069] Step 8.2: Calculate according to formula (15) The collision risk of vehicle j to vehicle i at time Any coordinate on the road The risk of proliferation ;

[0070] (15)

[0071] Step 8.3: Calculate according to formula (16) Total conflict risk of vehicle i at time Any coordinate on the road The risk of proliferation ;

[0072] (16)

[0073] Step 8.4: Calculate according to formula (17) Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ;

[0074] (17).

[0075] An electronic device of the present invention includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the risk dynamic fusion method, and the processor is configured to execute the program stored in the memory.

[0076] The present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the risk dynamic fusion method when executed by a processor.

[0077] Compared with the prior art, the beneficial technical effects of the present invention are embodied in:

[0078] 1. The present invention divides the risks in the driving process into three types: conflict risk, collision risk and road marking restriction risk; combining the risk size, risk diffusion and risk coupling relationship, the specific risk value is calculated in real time for each coordinate point on the road. This refined risk assessment method can capture the slight changes in road risks, which not only improves driving safety, but also lays a solid foundation for the further development of traffic management and intelligent driving.

[0079] 2. The present invention introduces the concept of virtual volume, comprehensively considers the effective factors of vehicle size, speed and direction, and provides a more intuitive risk assessment method, which makes the risk assessment more in line with the driver's intuitive perception and improves the accuracy and practicality of the assessment.

[0080] 3. The present invention introduces a series of targeted risk calculation formulas by accurately considering the specific location and number of vehicles on the road. These formulas can more realistically reflect the complexity and dynamic changes of road traffic.

[0081] 4. The present invention introduces a risk dimension index, which regards risk factors as interrelated and dynamically changing entities, integrates risks, and can more accurately assess risks on the road, which is of great significance for preventing traffic accidents and improving road safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 It is the overall flow chart of the present invention;

[0083] Figure 2 To determine the circulation diagram of traffic risk in real time;

[0084] Figure 3 Cycle diagram for marking line limit risk. DETAILED DESCRIPTION

[0085] In this embodiment, Figure 1 As shown, a risk dynamic fusion method based on road space field theory includes the following steps:

[0086] Step 1: Establish a rectangular coordinate system of the road by taking the endpoint on the road boundary as the origin, the driving direction of the vehicle on the road as the x-axis, and the axis perpendicular to the driving direction of the vehicle as the y-axis;

[0087] like Figure 2 As shown, a cyclic process for determining traffic risks in real time is determined;

[0088] Follow n+1 lane lines Divide the road from the inside to the outside, and get n lanes in sequence, among which, represents the bth lane line, and n represents the total number of lanes;

[0089] The ordinates of the n+1 lane lines are recorded as ;in, Indicates the bth lane line The vertical coordinate of the bth lane line The vertical coordinate and the b+1th lane line The vertical coordinate Any coordinate between the vertical coordinates Any coordinate of lane b ;

[0090] Let the interval between two adjacent moments be , then any moment is recorded as t;

[0091] The risk factors on the road are defined into three categories, including lane limit risk, vehicle collision risk and vehicle conflict risk.

[0092] Step 2: Use intelligent roadside detectors to obtain The angle between any vehicle i and any vehicle j at any time ;and ;

[0093] Get The steering angle of vehicle i at time ; The length and width of vehicle i are respectively and ;

[0094] Get The midpoint coordinates of vehicle i at time and the midpoint coordinates of vehicle j , and calculate The distance between vehicle i and vehicle j at time ;

[0095] Get The acceleration difference between vehicle i and vehicle j at time , The speed difference between vehicle i and vehicle j at time , The speed of vehicle i at time ;

[0096] Get Number of vehicles on the road at the time ;

[0097] like Figure 3 As shown, this is the cyclic process of limiting the risk of lane lines.

[0098] Step 3: Calculate any coordinate on each lane The restricted risk of the lane line at the position is thus combined into the restricted risk of the lane line on each lane as any coordinate on the road Lane restriction risk ,in, Represents any coordinate on lane b The risk of lane restriction;

[0099] The restricted risk of lane lines refers to the risk caused by vehicles violating lane line rules, deviating from the predetermined driving lane or failing to comply with lane lines during driving; the closer to the lane line, the greater the risk, and the risk of driving in the middle of a serious lane is the lowest.

[0100] Step 3.1: Calculate the lane limit risk according to formula (1) ;

[0101] (1)

[0102] In formula (1), represents a fixed risk value for road markings;

[0103] Step 3.2, initialize b=1, ;

[0104] Step 3.3: Calculate any coordinate on lane b according to formula (2): The lane line limit risk The attenuation factor ;

[0105] (2)

[0106] In formula (2), represents the absolute value, represents the risk diffusion impact weight factor of road markings;

[0107] Step 3.4: Calculate any coordinate on lane b according to formula (3): The lane line limit risk The decay function ;

[0108] (3)

[0109] When calculating the risk attenuation function, by adding 1 to the denominator, it is possible to avoid the risk being infinitely amplified when the distance is too close, while ensuring that the risk gradually increases when the vehicle approaches the risk source of the road marking.

[0110] Step 3.5: Calculate any coordinate on lane b according to formula (4): The lane line limit risk ;

[0111] (4)

[0112] Step 3.6, judgment Is it established? If established, Assign to After that, return to step 3.3; otherwise, it means that any coordinate on the road is obtained Lane restriction risk , and execute step 4;

[0113] Step 4: Judgement Is it established? If established, let Any coordinate on the road at any time Risk of collision and Any coordinate on the road at any time Risk of conflict , proceed to step 9; otherwise, go directly to step 5.

[0114] Step 5: Calculate the virtual volume of the vehicle;

[0115] Step 5.1: Calculate according to formula (5) The effective factor of the direction of vehicle j to vehicle i at the moment ;

[0116] (5)

[0117] In formula (5), represents the basic risk factor; the directional effective factor can adjust the risk assessment according to the direction of movement of the vehicle, so as to more accurately predict potential risks. This is because in actual driving, the behavior and risk perception of the rear vehicle are significantly affected by the motion state of the front vehicle. Considering the size and motion characteristics of the vehicle, the introduction of the directional factor can more accurately simulate the mutual influence and potential risks between vehicles. For example, on the highway, a small car (the rear vehicle) is following a large truck (the front vehicle). If the large truck suddenly slows down or changes lanes, the small car needs to react faster to avoid a collision. In this case, the directional factor will enhance the perception of the risk of the rear vehicle, prompting the rear vehicle to take more cautious driving behavior, such as increasing the distance between vehicles or preparing for emergency braking. For example, when at a certain moment, the angle between vehicle i (the rear vehicle) and vehicle j (the front vehicle) is = 150°, the angle between vehicle j and vehicle i =-30°, the directional influence factor of vehicle i is calculated as =0.067 , calculate the direction influence factor of vehicle j as =0.933 , it is concluded that the directional influence factor of vehicle j is greater than that of vehicle i. The directional factor will enhance the perception of the risk of the following vehicle, so that the following vehicle is exposed to greater potential risks.

[0118] Step 5.2: Calculate according to formula (6) The virtual volume of vehicle i at time ;

[0119] (6)

[0120] In formula (6), represents the vehicle volume conversion factor, represents the velocity influence weight factor in the virtual volume, express The speed of vehicle i at time instant;

[0121] Step 6: Calculate any coordinate on the road risk of collision;

[0122] Step 6.1: Calculate according to formula (7) The collision risk of vehicle j against vehicle i at time ;

[0123] (7)

[0124] In formula (7), Indicates the impact weight factor of the collision risk. Indicates the acceleration impact weight factor in collision risk; express The virtual volume of vehicle j at time instant, The modulus represents the relative distance;

[0125] Step 6.2: Calculate the coordinates of vehicle i on the road according to formula (8): The risk lateral attenuation factor ;

[0126] (8)

[0127] In formula (8), It indicates the influence of the relative distance between other vehicles and vehicle i on the longitudinal risk. represents the speed of vehicle i The extent of impact on vertical risk;

[0128] Step 6.3: Calculate the coordinates of vehicle i on the road according to formula (9): The longitudinal attenuation factor of risk ;

[0129] (9)

[0130] In formula (9), It indicates the influence of the relative distance between other vehicles and vehicle i on the lateral risk. represents the speed of vehicle i The degree of impact on horizontal risks.

[0131] Step 6.4: Calculate the time according to formula (10) Any coordinate of vehicle i on the road The risk decay function at ;

[0132] (10)

[0133] In order to ensure the continuity and stability of risk assessment, especially to avoid infinite risk values ​​when two vehicles are very close to each other, we adjust the calculation method of the decay function to add 1 to its denominator to prevent the decay factor from being zero when the two vehicles are in contact with each other (i.e., the distance is zero), thereby causing the risk value to tend to infinity. This approach ensures that risk assessment remains finite and continuous even when the vehicles are very close.

[0134] Step 6.5: Calculate the time according to formula (11) The collision risk of vehicle j against vehicle i Any coordinate on the road The risk of proliferation ;

[0135] (11)

[0136] Step 6.6: Calculate according to formula (12) Total collision risk of vehicle i at time Any coordinate on the road The risk of proliferation ;

[0137] (12)

[0138] Step 6.7: Calculate according to formula (13) Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ;

[0139] (13)

[0140] Step 7: Determine whether all vehicles on the road are in the same lane. If so, set Any coordinate on the road at any time Risk of conflict , proceed to step 9; otherwise, proceed directly to step 8.

[0141] Step 8: Calculate any coordinate on the road Risk of conflict in the region;

[0142] Step 8.1: Calculate according to formula (14) The collision risk of vehicle j to vehicle i at time ;

[0143] (14)

[0144] In formula (14), Indicates the impact weight factor of the conflict risk size, The speed impact weighting factor in conflict risk;

[0145] Step 8.2: Calculate according to formula (15) The collision risk of vehicle j to vehicle i at time Any coordinate on the road The risk of proliferation ;

[0146] (15)

[0147] Step 8.3: Calculate according to formula (16) Total conflict risk of vehicle i at time Any coordinate on the road The risk of proliferation ;

[0148] (16)

[0149] Step 8.4: Calculate according to formula (17) Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ;

[0150] (17)

[0151] Step 9: Calculate according to formula (18) Any coordinate on the road at any time Risk of integration ;

[0152] (18)

[0153] In formula (18), m represents the risk dimension index; the larger the value of the parameter, the less attention is paid to distant risk factors. m = 1 represents linear superposition, that is, all risk factors are considered equally; m = 2 represents square superposition, that is, risk assessment is more affected by risk factors that are close or have a greater direct impact; m = ∞ corresponds to an idealized model, in which only the most direct risk source is considered and all other risk factors are ignored.

[0154] Step 10: After assigning t+1 to t, return to step 2 and execute sequentially until t>T, where T is the total duration.

[0155] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0156] In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above method when executed by a processor.

Claims

1. A risk dynamic fusion method based on road space field theory, characterized in that: The following steps are involved: Step 1: Establish a road rectangular coordinate system by taking the endpoint on the road boundary as the origin, the driving direction of the vehicle on the road as the x-axis, and the axis perpendicular to the driving direction of the vehicle as the y-axis; Follow n+1 lane lines Divide the road from the inside to the outside, and get n lanes in sequence, among which, represents the bth lane line, and n represents the total number of lanes; The ordinates of the n+1 lane lines are recorded as ;in, Indicates the bth lane line The vertical coordinate of Let the interval between two adjacent moments be , then any moment is recorded as t; The risk factors on the road are divided into three categories: lane limit risk, vehicle collision risk and vehicle conflict risk; Step 2: Use intelligent roadside detectors to obtain The angle between any vehicle i and any vehicle j at any time ;and ; Get The steering angle of vehicle i at time ; The length and width of vehicle i are respectively and ; Get The midpoint coordinates of vehicle i at time and the midpoint coordinates of vehicle j , and calculate The distance between vehicle i and vehicle j at time ; Get The acceleration difference between vehicle i and vehicle j at time , The speed difference between vehicle i and vehicle j at time , The speed of vehicle i at time ; Get The number of vehicles on the road at the time ; Step 3: Calculate any coordinate on each lane The restricted risk of the lane line at the position is thus combined into the restricted risk of the lane line on each lane as any coordinate on the road Lane restriction risk ,in, Represents any coordinate on lane b The risk of lane restriction; Step 4: Judgement Is it established? If established, let Any coordinate on the road at any time Risk of collision and Any coordinate on the road at any time Risk of conflict , go to step 9, otherwise, go directly to step 5; Step 5: Calculation The virtual volume of vehicle i at time ; Step 6. Calculation Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ; Step 7: Determine whether all vehicles on the road are in the same lane. If so, set Any coordinate on the road at any time Risk of conflict , proceed to step 9, otherwise, directly proceed to step 8; Step 8. Calculation Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ; Step 9: Calculate according to formula (18) Any coordinate on the road at any time Risk of integration ; (18) In formula (18), m represents the risk dimension index; Step 10: After assigning t+1 to t, return to step 2 and execute sequentially until t>T, where T is the total duration.

2. The risk dynamic fusion method based on road space field theory according to claim 1 is characterized in that: Step 3 includes the following steps: Step 3.1: Calculate the lane limit risk according to formula (1) ; (1) In formula (1), represents a fixed risk value for road markings; Step 3.2, initialize b=1, ; Step 3.3: Calculate any coordinate on lane b according to formula (2): The lane line limit risk The attenuation factor ; (2) In formula (2), represents the absolute value, represents the risk diffusion impact weight factor of road markings; Step 3.4: Calculate any coordinate on lane b according to formula (3): The lane line limit risk The decay function ; (3) Step 3.5: Calculate any coordinate on lane b according to formula (4): The lane line limit risk ; (4) Step 3.6, judgment Is it established? If established, Assign to After that, return to step 3.3; otherwise, it means that any coordinate on the road is obtained Lane restriction risk , and proceed to step 4.

3. The risk dynamic fusion method based on road space field theory according to claim 2 is characterized in that: Step 5 includes the following steps: Step 5.1: Calculate according to formula (5) The effective factor of the direction of vehicle j to vehicle i at the moment ; (5) In formula (5), represents the underlying risk factor; Step 5.2: Calculate according to formula (6) The virtual volume of vehicle i at time ; (6) In formula (6), represents the vehicle volume conversion factor, Represents the velocity influence weight factor in the virtual volume.

4. The risk dynamic fusion method based on road space field theory according to claim 3 is characterized in that: Step 6 includes the following steps: Step 6.1: Calculate according to formula (7) The collision risk of vehicle j against vehicle i at time ; (7) In formula (7), Indicates the impact weight factor of the collision risk. Indicates the acceleration impact weight factor in collision risk; express The virtual volume of vehicle j at time instant, The modulus represents the relative distance; Step 6.2: Calculate the coordinates of vehicle i on the road according to formula (8): The risk lateral attenuation factor ; (8) In formula (8), It indicates the influence of the relative distance between other vehicles and vehicle i on the longitudinal risk. represents the speed of vehicle i The extent of impact on vertical risk; Step 6.3: Calculate the coordinates of vehicle i on the road according to formula (9): The longitudinal attenuation factor of risk ; (9) In formula (9), It indicates the influence of the relative distance between other vehicles and vehicle i on the lateral risk. represents the speed of vehicle i The degree of impact on horizontal risks; Step 6.4: Calculate the time according to formula (10) Any coordinate of vehicle i on the road The risk decay function at ; (10) Step 6.5: Calculate the time according to formula (11) The collision risk of vehicle j against vehicle i Any coordinate on the road The risk of proliferation ; (11) Step 6.6: Calculate according to formula (12) Total collision risk of vehicle i at time Any coordinate on the road The risk of proliferation ; (12) Step 6.7: Calculate according to formula (13) Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ; (13)。 5. The risk dynamic fusion method based on road space field theory according to claim 4 is characterized in that: Step 8 includes the following steps: Step 8.1: Calculate according to formula (14) The collision risk of vehicle j to vehicle i at time ; (14) In formula (14), Indicates the impact weight factor of the conflict risk size, The speed impact weighting factor in conflict risk; Step 8.2: Calculate according to formula (15) The collision risk of vehicle j to vehicle i at time Any coordinate on the road The risk of proliferation ; (15) Step 8.3: Calculate according to formula (16) Total conflict risk of vehicle i at time Any coordinate on the road The risk of proliferation ; (16) Step 8.4: Calculate according to formula (17) Total collision risk of all vehicles at the moment Any coordinate on the road The risk of proliferation ; (17)。 6. An electronic device, comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the risk dynamic fusion method described in any one of claims 1 to 5, and the processor is configured to execute the program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the risk dynamic fusion method described in any one of claims 1 to 5 are executed.

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