A risk dynamic fusion method based on road space field theory

Abstract

The application discloses a risk dynamic fusion method based on a road space field theory, comprising the following steps: 1, data acquisition; 2, calculating the lane line restriction risk; 3, calculating the collision risk; 4, calculating the conflict risk; 5, risk fusion; 6, repeating the above steps to determine the risk at the next moment. The application subdivides the risk in the driving process into three risks: the conflict risk, the collision risk and the lane line restriction risk, combines the risk size, the risk diffusion and the coupling relationship of the risks, and calculates the specific risk value of each coordinate point on the road in real time, so that the driving safety is improved, and a solid foundation is laid for the further development of traffic management and intelligent driving.

Description

Technical Field

[0001] This invention relates to the fields of intelligent driving and risk assessment, specifically a risk dynamic fusion method based on road space field theory. Background Technology

[0002] With rapid economic development and accelerated urbanization, the number of vehicles has increased dramatically, leading to increasingly congested roads and prominent road safety issues. Road safety risks have also increased, including but not limited to traffic accidents, traffic congestion, and environmental pollution. These risks not only affect road efficiency but also pose a serious threat to people's lives and property. Therefore, effectively identifying, assessing, and managing road traffic risks has become a critical issue that urgently needs to be addressed in the fields of intelligent transportation systems and autonomous driving.

[0003] While existing research has explored and analyzed road traffic risks to some extent, most studies treat risks as independent entities, lacking in-depth consideration of their interactions and integration. With the rapid development of vehicle-to-everything (V2X) and autonomous driving technologies, vehicles require more reliable and accurate decision support systems to cope with complex road traffic environments. This necessitates not only identifying and assessing individual risk factors but also comprehensively considering the interactions and integration between different risk factors to achieve a holistic understanding of overall road traffic risks. This comprehensive risk assessment approach is crucial for improving the safety and reliability of autonomous vehicles and forms the foundation for the optimized management of intelligent transportation systems. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes a risk dynamic fusion method based on road space field theory, which aims 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] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0006] The present invention provides a risk dynamic fusion method based on road space field theory, characterized by the following steps:

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

[0008] According to n+1 lane lines Divide the road from the inside out, resulting in n lanes. Let represent the b-th lane, and n represent the total number of lanes;

[0009] Let the ordinates of the n+1 lane lines be denoted as follows: ;in, This indicates the b-th lane line. The ordinate;

[0010] Let the interval between two adjacent moments be... Then any time point is denoted as t;

[0011] The definition categorizes road risk factors into three types: lane restriction risk, vehicle collision risk, and vehicle conflict risk.

[0012] Step 2: Obtain information using intelligent roadside detectors. The angle between any vehicle i and any vehicle j at any time ;and ;

[0013] Get Steering angle of vehicle i at any given time Let the length and width of vehicle i be denoted as ; and ;

[0014] Get Midpoint coordinates of vehicle i at time i The midpoint coordinates of vehicle j and calculate Distance between vehicle i and vehicle j at time i ;

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

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

[0017] Step 3: Calculate any coordinate on each lane. The lane restriction risk at any given point is determined by merging the lane restriction risk of each lane into a single coordinate on the road. Lane restriction risk ,in, Represents any coordinate on lane b Risk of lane marking restrictions;

[0018] Step 4, Judgment Is it true? If it is true, then... Any coordinate on the road at any time Collision risk and Any coordinate on the road at any time Conflict risk If the above steps are not executed, proceed to step 9; otherwise, proceed directly to step 5.

[0019] Step 5, Calculation Virtual volume of vehicle i at any given time ;

[0020] Step 6, Calculation Total collision risk of all vehicles at any given time Any coordinate on the road The risk of spread at the site ;

[0021] Step 7: Determine if the condition that all vehicles on the road are in the same lane is met. If it is met, let... Any coordinate on the road at any time Conflict risk If the above steps are not executed, proceed to step 9; otherwise, proceed directly to step 8.

[0022] Step 8, Calculation Total risk of conflict for all vehicles at any given moment Any coordinate on the road The risk of spread at the site ;

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

[0024] (18)

[0025] In equation (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 this invention is also characterized in that step 3 includes the following steps:

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

[0029] (1)

[0030] In equation (1), This indicates the fixed risk value of road markings;

[0031] Step 3.2: Initialize b=1. ;

[0032] Step 3.3: Calculate any coordinate on lane b according to equation (2). Lane restriction risk at the location attenuation factor ;

[0033] (2)

[0034] In equation (2), Represents absolute value. This indicates the weighting factor for the risk diffusion effect of road markings;

[0035] Step 3.4: Calculate any coordinate on lane b according to equation (3). Lane restriction risk at the location decay function ;

[0036] (3)

[0037] Step 3.5: Calculate any coordinate on lane b according to equation (4). Lane restriction risk at the location ;

[0038] (4)

[0039] Step 3.6, Judgment Is it true? If it is true, then... Assign to Then, return to step 3.3; otherwise, it means that any coordinate on the road has been obtained. Lane restriction risk Then proceed to step 4.

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

[0041] Step 5.1: Calculate according to formula (5) Effective factor of vehicle j's direction relative to vehicle i at time moment ;

[0042] (5)

[0043] In equation (5), Indicates the underlying risk factor;

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

[0045] (6)

[0046] In equation (6), Indicates the vehicle volume transformation factor. This represents the velocity influence weighting factor within the virtual volume.

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

[0048] Step 6.1: Calculate according to formula (7) Collision risk between vehicle j and vehicle i at any given moment ;

[0049] (7)

[0050] In equation (7), The weighting factor represents the magnitude of the collision risk. This indicates the weighting factor for the impact of acceleration in collision risk; express The virtual volume of vehicle j at time moment. The modulus representing relative distance;

[0051] Step 6.2: Calculate the coordinates of vehicle i on any road according to equation (8). Risk lateral attenuation factor ;

[0052] (8)

[0053] In equation (8), This indicates the degree of impact of the relative distance between other vehicles and vehicle i on longitudinal risk. Represents the speed of vehicle i The extent of the impact on vertical risks;

[0054] Step 6.3: Calculate the coordinates of vehicle i on any road according to equation (9). Longitudinal attenuation factor of risk ;

[0055] (9)

[0056] In equation (9), This indicates the degree of impact of the relative distance between other vehicles and vehicle i on lateral risk. Represents the speed of vehicle i The extent of the impact on horizontal risks;

[0057] Step 6.4: Calculate the time according to equation (10). Vehicle i at any coordinate on the road Risk decay function at the location ;

[0058] (10)

[0059] Step 6.5: Calculate the time according to equation (11). Collision risk of vehicle j to vehicle i Any coordinate on the road The risk of spread at the site ;

[0060] (11)

[0061] Step 6.6: Calculate according to formula (12) Total collision risk of vehicle i at any given moment Any coordinate on the road The risk of spread at the site ;

[0062] (12)

[0063] Step 6.7: Calculate according to formula (13) Total collision risk of all vehicles at any given time Any coordinate on the road The risk of spread at the site ;

[0064] (13).

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

[0066] Step 8.1: Calculate according to formula (14) Conflict risk between vehicle j and vehicle i at any given time ;

[0067] (14)

[0068] In equation (14), The weighting factor representing the magnitude of conflict risk The speed factor in the impact of conflict risk;

[0069] Step 8.2: Calculate according to formula (15) Conflict risk between vehicle j and vehicle i at any given time Any coordinate on the road The risk of spread at the site ;

[0070] (15)

[0071] Step 8.3: Calculate according to formula (16) Total Conflict Risk of Vehicle i at Any Moment Any coordinate on the road The risk of spread at the site ;

[0072] (16)

[0073] Step 8.4: Calculate according to formula (17) Total risk of conflict for all vehicles at any given moment Any coordinate on the road The risk of spread at the site ;

[0074] (17).

[0075] The present invention provides an electronic device, including a memory and a processor, wherein the memory is used to store a program that supports the processor in executing the risk dynamic fusion method, and the processor is configured to execute the program stored in the memory.

[0076] The present invention discloses a computer-readable storage medium on which a computer program is stored, wherein the computer program is executed by a processor to perform the steps of the risk dynamic fusion method.

[0077] Compared with existing technologies, the beneficial technical effects of the present invention are reflected in:

[0078] 1. This invention subdivides driving risks into three types: conflict risk, collision risk, and road marking restriction risk. By combining risk magnitude, risk diffusion, and risk coupling relationships, it calculates a specific risk value for each coordinate point on the road in real time. This refined risk assessment method can capture minute changes in road risks, not only improving driving safety but also laying a solid foundation for the further development of traffic management and intelligent driving.

[0079] 2. This invention introduces the concept of virtual volume, comprehensively considering the vehicle's size, speed, and direction factors, providing a more intuitive risk assessment method. This makes the risk assessment more in line with the driver's intuitive perception, improving the accuracy and practicality of the assessment.

[0080] 3. This 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. This invention introduces a risk dimension index, which treats risk factors as interrelated and dynamically changing entities, and integrates risks to more accurately assess risks on the road. This is of great significance for preventing traffic accidents and improving road safety. Attached Figure Description

[0082] Figure 1 This is the overall flowchart of the present invention;

[0083] Figure 2 To determine the loop diagram for real-time traffic risk assessment;

[0084] Figure 3 A cyclical diagram for limiting risk by marking lines. Detailed Implementation

[0085] In this embodiment, as 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 for the road by taking the endpoints on the road boundary as the origin, the direction of vehicle travel on the road as the x-axis, and the direction perpendicular to the direction of vehicle travel as the y-axis.

[0087] like Figure 2 As shown, this illustrates the cyclical process of determining traffic risks in real time.

[0088] According to n+1 lane lines Divide the road from the inside out, resulting in n lanes. Let represent the b-th lane, and n represent the total number of lanes;

[0089] Let the ordinates of the n+1 lane lines be denoted as follows: ;in, This indicates the b-th lane line. The ordinate of the line; where the b-th lane line ordinate With lane b+1 ordinate Any coordinate between the vertical coordinates For any coordinate of lane b ;

[0090] Let the interval between two adjacent moments be... Then any time point is denoted as t;

[0091] The definition categorizes road risk factors into three types: lane restriction risk, vehicle collision risk, and vehicle conflict risk.

[0092] Step 2: Obtain information using intelligent roadside detectors. The angle between any vehicle i and any vehicle j at any time ;and ;

[0093] Get Steering angle of vehicle i at any given time Let the length and width of vehicle i be denoted as ; and ;

[0094] Get Midpoint coordinates of vehicle i at time i The midpoint coordinates of vehicle j and calculate Distance between vehicle i and vehicle j at time i ;

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

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

[0097] like Figure 3 As shown, this illustrates the cyclical process of lane line restriction risks.

[0098] Step 3: Calculate any coordinate on each lane. The lane restriction risk at any given point is determined by merging the lane restriction risk of each lane into a single coordinate on the road. Lane restriction risk ,in, Represents any coordinate on lane b Risk of lane marking restrictions;

[0099] Lane restriction risk refers to the risk that a vehicle may incur while driving due to violation of lane rules, deviation from the intended driving lane, or failure to comply with lane lines; the closer to the lane line, the greater the risk, and driving in the middle of the lane carries the least risk.

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

[0101] (1)

[0102] In equation (1), This indicates the fixed risk value of road markings;

[0103] Step 3.2: Initialize b=1. ;

[0104] Step 3.3: Calculate any coordinate on lane b according to equation (2). Lane restriction risk at the location attenuation factor ;

[0105] (2)

[0106] In equation (2), Represents absolute value. This indicates the weighting factor for the risk diffusion effect of road markings;

[0107] Step 3.4: Calculate any coordinate on lane b according to equation (3). Lane restriction risk at the location decay function ;

[0108] (3)

[0109] When calculating the risk decay function, adding 1 to the denominator can prevent the risk from being amplified infinitely when the distance is too close, while ensuring that the risk gradually increases as the vehicle approaches the risk source of the road markings.

[0110] Step 3.5: Calculate any coordinate on lane b according to equation (4). Lane restriction risk at the location ;

[0111] (4)

[0112] Step 3.6, Judgment Is it true? If it is true, then... Assign to Then, return to step 3.3; otherwise, it means that any coordinate on the road has been obtained. Lane restriction risk And proceed to step 4;

[0113] Step 4, Judgment Is it true? If it is true, then... Any coordinate on the road at any time Collision risk and Any coordinate on the road at any time Conflict risk If the above steps are not executed, proceed to step 9; otherwise, proceed directly to step 5.

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

[0115] Step 5.1: Calculate according to formula (5) Effective factor of vehicle j's direction relative to vehicle i at time moment ;

[0116] (5)

[0117] In equation (5), The basic risk factor is represented by the directional factor, which adjusts the risk assessment based on the vehicle's direction of motion, thus more accurately predicting potential risks. This is because, in actual driving, the behavior and risk perception of following vehicles are significantly influenced by the motion state of the vehicle in front. Considering the size and motion characteristics of vehicles, introducing the directional factor can more accurately simulate the mutual influence and potential risks between vehicles. For example, on a highway, a small car (the following vehicle) is following a large truck (the vehicle in front). If the large truck suddenly slows down or changes lanes, the small car needs to react faster to avoid a collision. In this situation, the directional factor enhances the perception of risk from the following vehicle, prompting the following vehicle to take more cautious driving behaviors, such as increasing the following distance or preparing for emergency braking. To illustrate, at a certain moment, the angle between vehicle i (the following vehicle) and vehicle j (the vehicle in front)... =150°, the angle between vehicle j and vehicle i =-30°, calculate the directional influence factor of vehicle i as follows: =0.067 The directional influence factor of vehicle j is calculated as follows: =0.933 The results show that vehicle j has a greater directional influence factor than vehicle i. The directional factor enhances the perception of risk to following vehicles, thus subjecting following vehicles to greater potential risks.

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

[0119] (6)

[0120] In equation (6), Indicates the vehicle volume transformation factor. This represents the velocity influence weighting factor within the virtual volume. express The speed of vehicle i at any given time;

[0121] Step 6: Calculate any coordinate on the road. Collision risk;

[0122] Step 6.1: Calculate according to formula (7) Collision risk between vehicle j and vehicle i at any given moment ;

[0123] (7)

[0124] In equation (7), The weighting factor represents the magnitude of the collision risk. This indicates the weighting factor for the impact of acceleration in collision risk; express The virtual volume of vehicle j at time moment. The modulus representing relative distance;

[0125] Step 6.2: Calculate the coordinates of vehicle i on any road according to equation (8). Risk lateral attenuation factor ;

[0126] (8)

[0127] In equation (8), This indicates the degree of impact of the relative distance between other vehicles and vehicle i on longitudinal risk. Represents the speed of vehicle i The extent of the impact on vertical risks;

[0128] Step 6.3: Calculate the coordinates of vehicle i on any road according to equation (9). Longitudinal attenuation factor of risk ;

[0129] (9)

[0130] In equation (9), This indicates the degree of impact of the relative distance between other vehicles and vehicle i on lateral risk. Represents the speed of vehicle i The extent of the impact on horizontal risks.

[0131] Step 6.4: Calculate the time according to equation (10). Vehicle i at any coordinate on the road Risk decay function at the location ;

[0132] (10)

[0133] To ensure the continuity and stability of risk assessment, especially to avoid infinitely large risk values ​​when two vehicles approach each other at extremely close range, we adjusted the calculation method of the attenuation function by adding 1 to its denominator. This prevents the attenuation factor from becoming zero when the two vehicles come into contact (i.e., the distance is zero), thus avoiding the risk value from approaching infinity. This method ensures that the risk assessment remains finite and continuous even when the vehicles are very close.

[0134] Step 6.5: Calculate the time according to equation (11). Collision risk of vehicle j to vehicle i Any coordinate on the road The risk of spread at the site ;

[0135] (11)

[0136] Step 6.6: Calculate according to formula (12) Total collision risk of vehicle i at any given moment Any coordinate on the road The risk of spread at the site ;

[0137] (12)

[0138] Step 6.7: Calculate according to formula (13) Total collision risk of all vehicles at any given time Any coordinate on the road The risk of spread at the site ;

[0139] (13)

[0140] Step 7: Determine if the condition that all vehicles on the road are in the same lane is met. If it is met, let... Any coordinate on the road at any time Conflict risk If the above steps are not executed, proceed to step 9; otherwise, proceed directly to step 8.

[0141] Step 8: Calculate any coordinate on the road. Conflict risks at the location;

[0142] Step 8.1: Calculate according to formula (14) Conflict risk between vehicle j and vehicle i at any given time ;

[0143] (14)

[0144] In equation (14), The weighting factor representing the magnitude of conflict risk The speed factor in the impact of conflict risk;

[0145] Step 8.2: Calculate according to formula (15) Conflict risk between vehicle j and vehicle i at any given time Any coordinate on the road The risk of spread at the site ;

[0146] (15)

[0147] Step 8.3: Calculate according to formula (16) Total Conflict Risk of Vehicle i at Any Moment Any coordinate on the road The risk of spread at the site ;

[0148] (16)

[0149] Step 8.4: Calculate according to formula (17) Total risk of conflict for all vehicles at any given moment Any coordinate on the road The risk of spread at the site ;

[0150] (17)

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

[0152] (18)

[0153] In equation (18), m represents the risk dimension index; the larger the value of the parameter, the lower the degree of attention paid to distant risk factors. m=1 represents linear superposition, that is, all risk factors are considered equally; m=2 represents quadratic superposition, that is, risk assessment is more affected by risk factors that are close at hand 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. The memory stores a program that supports the processor in executing the above-described 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, which is executed by a processor to perform the steps of the above method.

Claims

1. A risk dynamic fusion method based on road space field theory, characterized in that, The method comprises the following steps: Step 1, establishing a road rectangular coordinate system with the end point on the road boundary as the origin, the driving direction of the vehicle on the road as the x-axis, and the direction perpendicular to the driving direction of the vehicle as the y-axis; According to n+1 lane lines Divide the road from inside to outside, and get n lanes in turn, wherein, Indicates the bth lane line, and n indicates the total number of lanes; The longitudinal coordinates of the n+1 lane lines are sequentially denoted as ; wherein, denotes the longitudinal coordinate of the bth lane line . Let the interval between two adjacent time instants be Let any one time instant be denoted as t; Defining that the risk factors on the road are divided into three categories, including the lane line restriction risk, the collision risk of the vehicle, and the conflict risk of the vehicle; Step 2, acquiring with intelligent roadside detectors the angle between any vehicle i and any vehicle j at time t ; and ; acquiring the steering angle of the vehicle i at the time ; let the length and width of the vehicle i be and ; acquire the midpoint coordinates of vehicle i at time t and the midpoint coordinates of vehicle j at time t and calculate the distance between vehicle i and vehicle j at time t ; acquiring the acceleration difference between vehicle i and vehicle j at time t , the speed difference between vehicle i and vehicle j at time t , the speed of vehicle i at time t ; acquiring the number of vehicles on the road at the time ; Step 3, calculating the limiting risk of lane lines at any coordinate on each lane, thereby merging the limiting risk of lane lines at any coordinate on each lane into the limiting risk of lane lines at any coordinate on the road wherein, represents the limiting risk of lane lines at any coordinate on the bthlane ​​​ Step 4, Judgment Is it true? If it is true, then... Any coordinate on the road at any time Collision risk and Any coordinate on the road at any time Conflict risk If the above steps are not executed, proceed to step 9; otherwise, proceed directly to step 5. Step 5, calculation Virtual volume of the vehicle i at the moment ; Step 6, calculation Total collision risk of all vehicles at the moment Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; Step 7, judge whether all vehicles on the road are in the same lane, if yes, let the conflict risk at any coordinate on the road at this moment , execute step 9, otherwise, directly execute step 8; Step 8, calculation Total conflict risk of all vehicles at the moment Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; Step 9, calculate according to formula (18) the fusion risk at any coordinate on the road at the moment the fusion risk at any coordinate on the road at the moment ; (18) In formula (18), m represents the risk dimension index; Step 10, after t+1 is assigned to t, returning to step 2 for sequential execution until t>T, wherein T is the total duration.

2. The risk dynamic fusion method based on road space field theory according to claim 1, characterized in that, Step 3 comprises the following steps: Step 3.

1. Calculate the limit risk of the lane line according to formula (1) ; (1) In formula (1), a fixed risk value representing a road marking; Step 3.2, initialize b = 1, ; Step 3.

3. Calculate the limiting risk of lane line at any coordinate on the b-th lane according to formula (2) ;​​ (2) In formula (2), denotes the absolute value, denotes a risk spreading influence weight factor for road markings; Step 3.

4. Calculate the limiting risk of lane line at any coordinate on the b-th lane according to formula (3) ;​​ (3) Step 3.

5. Calculate the limiting risk of lane line at any coordinate on the b-th lane according to formula (4) ;​ (4) Step 3.6, judge whether it is true, if true, set to After that, return to step 3.3; otherwise, it means that the limiting risk of the lane line at any coordinate on the road is obtained , and step 4 is executed.

3. The risk dynamic fusion method based on road space field theory according to claim 2, characterized in that, Step 5 comprises the following steps: Step 5.1, calculate according to formula (5) Instantaneous vehicle j to vehicle i directional effectiveness factor ; (5) In formula (5), denotes the base risk factor; Step 5.2, calculating according to formula (6) the virtual volume of the vehicle i at the moment ; (6) In formula (6), denotes a vehicle volume transformation factor, denotes a speed influence weight factor in the virtual volume.

4. The risk dynamic fusion method based on road space field theory according to claim 3, characterized in that, Step 6 comprises the following steps: Step 6.

1. Calculate according to formula (7) Risk of collision of vehicle j on vehicle i at time instant t ; (7) In formula (7), an influence weight factor representing the size of the collision risk, an acceleration influence weight factor in the collision risk; an influence weight factor representing a virtual volume of the vehicle j at the time instant, a modulus of the relative distance; Step 6.

2. Calculate the risk lateral decay factor for vehicle i at any coordinate on the road according to formula (8) ; and ; (8) in formula (8), denotes the degree of influence of the relative distance between the ego vehicle and vehicle i on the longitudinal risk, denotes the speed of vehicle i the degree of influence on the longitudinal risk; Step 6.

3. Calculate the risk longitudinal decay factor for vehicle i at any coordinate on the road according to formula (9) ; and ; (9) In formula (9), denotes the degree of influence of the relative distance between the ego vehicle and vehicle i on the lateral risk, denotes the speed of vehicle i the degree of influence on the lateral risk; Step 6.

4. Calculate time instant according to formula (10) Risk decay function of vehicle i at any coordinate on the road Risk decay function of vehicle i at any coordinate on the road ; (10) Step 6.

5. Calculate time instant according to formula (11) Collision risk of vehicle j on vehicle i Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; (11) Step 6.6, calculating according to formula (12) Total collision risk of vehicle i at time instant t Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; (12) Step 6.7, calculating from formula (13) Total collision risk for all vehicles at the moment Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; (13)。 5. The risk dynamic fusion method based on road space field theory according to claim 4, characterized in that, Step 8 comprises the following steps: Step 8.1, calculate according to formula (14) Risk of collision of vehicle j to vehicle i at time instant ; (14) In formula (14), an influence weight factor representing the magnitude of the risk of collision, a speed influence weight factor in the risk of collision; Step 8.

2. Calculate according to formula (15) Risk of collision of vehicle j to vehicle i at time instant Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; (15) Step 8.

3. Calculate according to formula (16) Total conflict risk of vehicle i at time instant Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; (16) Step 8.

4. Calculate according to formula (17) Total conflict risk of all vehicles at the moment Diffusion risk at any coordinate on the road Diffusion risk at any coordinate on the road ; (17)。 6. An electronic device comprising a memory and a processor, characterized in that The memory is used for storing a program supporting the processor to execute the risk dynamic fusion method in any one of claims 1-5, and the processor is configured to execute the program stored in the memory.

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

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