CN114537385B - Dangerous target screening method based on traffic target perception result - Google Patents

Dangerous target screening method based on traffic target perception result Download PDF

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CN114537385B
CN114537385B CN202210226337.9A CN202210226337A CN114537385B CN 114537385 B CN114537385 B CN 114537385B CN 202210226337 A CN202210226337 A CN 202210226337A CN 114537385 B CN114537385 B CN 114537385B
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vehicle
target
dangerous
lane
cipv
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CN114537385A (en
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丁明慧
雍文亮
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a dangerous target screening method based on traffic target perception results, which comprises the following steps: 1) Obtaining a perception result based on a multi-sensor information fusion technology; 2) Defining a traffic target as a longitudinal driving target or a transverse driving target; 3) Dividing an interested area, and calculating collision time TTC of the vehicle and a traffic target; 4) A dangerous object CIPV1 is selected from the longitudinal traveling objects in the region of interest, and a dangerous object CIPV is selected from the lateral traveling objects in the region of interest; 5) Dangerous object CIPV or dangerous object CIPV2 is selected as the most dangerous object CIPV output. The screening method divides perceived traffic targets into longitudinal driving targets and transverse driving targets, and adopts more targeted screening strategies to select the most dangerous targets according to the motion characteristics of each traffic target; therefore, the problems that the false detection rate and the omission rate of the dangerous target are high, the dangerous target is easy to jump, the output is unstable and the like are solved.

Description

Dangerous target screening method based on traffic target perception result
Technical Field
The invention belongs to the technical field of automatic driving of automobiles, and particularly relates to a dangerous target screening method based on traffic target perception results.
Background
The intelligent driving auxiliary system can provide active safety early warning and safety auxiliary control for a driver, reduce misoperation of the driver and improve driving safety. The environment perception technology in the intelligent auxiliary driving system is a precondition for realizing key technologies such as the motion control, path planning and decision making of the vehicle. The environment sensing technology comprises traffic target sensing, wherein the traffic target sensing mainly comprises the steps of acquiring the position, the speed, the acceleration, the type of a traffic target and the like of the traffic target through various sensors; the screening of dangerous objects from a plurality of traffic objects in the driving process is one of key technologies of the intelligent driving assistance system.
At present, two main screening methods for dangerous targets exist: firstly, the dangerous targets of the lane are screened by depending on the lane lines, secondly, the dangerous targets are screened according to the running track of the vehicle after depending on the motion state of the vehicle. The method and the device for detecting the dangerous target of the driving assistance system in China patent 201710696755.3 are characterized in that a preset camera is taken as an origin, an external image of a vehicle body is divided into 12 areas through a set horizontal distance threshold value and a set vertical distance threshold value, and the 12 areas are divided into 8 distance categories in consideration of symmetry of the target; according to the scheme, a unified screening strategy is adopted in the screening process, and the left-right direction dangerous difference caused by the steering movement of the target is not considered, so that the intelligent driving auxiliary system has the problems of high false detection rate and omission rate of the dangerous target, easy jump of the dangerous target, unstable output and the like. According to the scheme, a dangerous area is set and dangerous targets are screened according to the running track of a first vehicle based on the motion state data of the first vehicle; however, the dangerous targets are screened under the condition that lane lines are not considered completely, so that the traffic targets of adjacent curves are mistakenly identified when the vehicle turns in different amplitudes, and the vehicle is braked mistakenly.
In summary, the existing dangerous object screening process excessively depends on lane lines or the driving path of the vehicle, and meanwhile, a unified screening strategy is adopted, so that dangerous differences caused by the movement direction of traffic objects are not considered, the problems of high false detection rate and omission rate of dangerous objects, unstable easy jump output of dangerous objects and the like exist in the intelligent driving assistance system, and further, the situation that vehicles have more false brakes and omission brakes are caused, so that the use experience of users is seriously affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a dangerous target screening method based on traffic target perception results, solve the problems of high false detection rate and high missing detection rate in the existing dangerous target screening, and achieve the effects of reducing false braking and missing braking of vehicles and improving the use experience of users.
In order to solve the technical problems, the invention adopts the following technical scheme:
a dangerous target screening method based on traffic target perception results comprises the following steps:
1) Obtaining a perception result based on a multi-sensor information fusion technology, wherein the perception result comprises lane line information, host vehicle information and target information corresponding to traffic targets around the host vehicle;
2) Defining a corresponding traffic target as a longitudinal driving target or a transverse driving target according to the target information;
3) Dividing an interested region according to the information of the vehicle, and calculating the collision time TTC of the vehicle and a traffic target according to the information of the vehicle and the target information;
4) According to the collision time TTC, the vehicle information, the lane line information and preset dangerous parameters, a dangerous object CIPV is selected from longitudinal driving objects in the region of interest, and a dangerous object CIPV is selected from transverse driving objects in the region of interest;
5) The dangerous object CIPV or the dangerous object CIPV is selected as the most dangerous object CIPV to be output according to the time to collision TTC and the preset weight coefficient.
Further, in step 1), the lane line information includes a host lane line, a left lane line, and a right lane line; the vehicle information comprises vehicle speed, vehicle acceleration and vehicle turning radius, and the vehicle speed comprises vehicle longitudinal speed and vehicle transverse speed; the target information includes a target vehicle speed, a target acceleration, a longitudinal distance and a lateral distance of the corresponding traffic target from the host vehicle.
Further, in step 2), the longitudinal driving target refers to a traffic target that runs in the same direction or opposite direction to the host vehicle, and the transverse driving target refers to a traffic target that has a transverse movement tendency.
Further, in step 3), the collision time TTC of the vehicle and the traffic target is calculated according to the vehicle information and the target information, and a kinematic formula is adopted; in step 3), the operation of dividing the region of interest according to the host vehicle information is as follows:
Obtaining a running direction line passing through the center of the vehicle according to the turning radius of the vehicle, and establishing a plane rectangular coordinate system taking the center of the vehicle as an origin and taking the front of the vehicle as the Y-axis forward direction;
and taking an area obtained by respectively translating the driving direction line by W/2 m towards the positive direction and the negative direction of the X axis as an interested area along the Y axis, wherein the part of the interested area on the positive half axis of the Y axis is a forward area, the length of the forward area on the Y axis is Lf m, the part of the interested area on the negative half axis of the Y axis is a backward area, and the length of the backward area on the Y axis is Lr m.
Further, in step 4), the operation of selecting the dangerous object CIPV from the longitudinal traveling objects in the region of interest is as follows:
Translating the driving direction line leftwards and rightwards for 1.5m respectively to obtain a driving path of the vehicle, and obtaining information of a steering lamp of the vehicle; judging whether the vehicle runs in a reverse direction or a forward direction according to the longitudinal speed of the vehicle, and when the longitudinal speed Ve of the vehicle is more than or equal to 0km/h, the vehicle runs in the forward direction, and the interested area of the vehicle is a forward area; when the longitudinal speed Ve of the vehicle is less than 0km/h, the vehicle runs in a reverse direction, and the interested area of the vehicle is a backward area;
when the host vehicle runs forward and the left turn light of the host vehicle is turned on, selecting a longitudinal running target with the smallest longitudinal distance with the host vehicle from a forward region, a host vehicle running path, a common region of the host vehicle lane and a left lane as a dangerous target CIPV;
When the host vehicle runs forward and the right turn light of the host vehicle is turned on, selecting a longitudinal running target with the smallest longitudinal distance with the host vehicle from a forward region, a host vehicle running path, a common region of the host lane and a right lane as a dangerous target CIPV;
when the vehicle is in forward running and the steering lamp of the vehicle is not turned on, selecting a longitudinal running target with the minimum longitudinal distance from the vehicle from a forward area, a vehicle running path and a common area of the vehicle lane as a dangerous target CIPV;
When the host vehicle is traveling in reverse, a longitudinal traveling target having the smallest longitudinal distance from the host vehicle is selected as a dangerous target CIPV1 from the common area of the backward area and the traveling path of the host vehicle.
Further, in step 4), the risk parameters include a collision time boundary including TLL, TLR, TRL, TRR, TCL and TCR and a lateral distance boundary including DLL, DLR, DRL, DRR, DCL and DCR.
Further, in step 4), the operation of selecting the dangerous object CIPV from the lateral traveling objects in the region of interest is as follows:
Judging whether the vehicle runs in a reverse direction or a forward direction according to the longitudinal speed of the vehicle, and when the longitudinal speed Ve of the vehicle is more than or equal to 0km/h, the vehicle runs in the forward direction, and the interested area of the vehicle is a forward area; when the longitudinal speed Ve of the vehicle is less than 0km/h, the vehicle runs in a reverse direction, and the interested area of the vehicle is a backward area;
When the left turn light of the host vehicle is turned on, the corresponding collision time TTC in the common area of the interested area, the host lane and the left lane is less than or equal to TLL, and the absolute value of the lateral distance between the host vehicle and the lateral driving target of the DLL is smaller than the primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than DLR of the vehicle as a primary target, wherein the collision time TTC of the corresponding region of interest, the common region of the vehicle lane and the right lane is less than or equal to TLR; selecting a preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV;
When the right turn light of the vehicle is turned on, taking a transverse driving target of which the collision time TTC corresponding to the common area of the interested area, the vehicle lane and the left lane is less than or equal to TRL and the absolute value of the transverse distance from the vehicle is less than DRL as a primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than the DRR of the vehicle as a primary target, wherein the collision time TTC corresponding to the common region of the region of interest, the lane and the right lane is less than or equal to TRR; selecting a preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV;
when the turn signal lamp of the host vehicle is not turned on, taking a transverse driving target of which the collision time TTC corresponding to the common area of the interested area, the host lane and the left lane is less than or equal to TCL and the absolute value of the transverse distance from the host vehicle is less than DCL as a primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than DCR as a primary target, wherein the collision time TTC of the corresponding region of interest, the common region of the own lane and the right lane is less than or equal to TCR; and selecting the preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV.
Further, in step 4), when the lane line information is valid, the own lane refers to a lane bounded by the own lane line, the left lane refers to a lane bounded by the left lane line, and the right lane refers to a lane bounded by the right lane line;
When the lane line information is invalid, taking the driving path of the vehicle as a vehicle lane, taking the left shifting of the driving path of the vehicle as a left lane, and taking the right shifting of the driving path of the vehicle as a right lane, wherein the left shifting of the driving path of the vehicle is 3 meters.
Further, in step 5), the weight coefficients include a right turn weight coefficient atr, a left turn weight coefficient atl, a reverse running weight coefficient ar, and a forward straight running weight coefficient as.
Further, in step 5), the operation of selecting the dangerous object CIPV or the dangerous object CIPV2 as the most dangerous object CIPV output according to the collision time TTC and the preset weight coefficient is as follows:
defining the collision time of the vehicle and a longitudinal driving target as TTC CIPV1, and defining the collision time of the vehicle and a transverse driving target as TTC CIPV2;
When the vehicle is running forward and the left turn light of the vehicle is on, if atl ×ttc CIPV2≤TTCCIPV1 is set, the dangerous target CIPV2 is selected as the most dangerous target CIPV to be output; if atl ×ttc CIPV2＞TTCCIPV1, then select dangerous object CIPV1 as most dangerous object CIPV output;
when the vehicle is running forward and the right turn light of the vehicle is on, if atr×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV as the most dangerous target CIPV to output; if attr×ttc CIPV2＞TTCCIPV1, then select dangerous object CIPV1 as the most dangerous object CIPV output;
When the vehicle is running forward and the vehicle steering lamp is not turned on, if as×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV as the most dangerous target CIPV to output; if as×ttc CIPV2＞TTCCIPV1, then dangerous object CIPV1 is selected as the most dangerous object CIPV to be output;
When the vehicle is in a reverse running mode, if ar×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV2 as the most dangerous target CIPV to output; if ar×ttc CIPV2＞TTCCIPV1, dangerous object CIPV1 is selected and output as the most dangerous object CIPV.
Compared with the prior art, the invention has the following beneficial effects:
1. the screening method divides perceived traffic targets into longitudinal driving targets and transverse driving targets, and adopts more targeted screening strategies to select the most dangerous targets according to the motion characteristics of each traffic target; therefore, the problems that the false detection rate and the omission rate of the dangerous target are high, the dangerous target is easy to jump, the output is unstable and the like are solved; in addition, the transverse traveling targets are considered independently, so that the recognition of the transverse traveling targets is improved, and the risks of scenes such as 'ghost probes' are reduced.
2. According to the screening method, the interested areas of the longitudinal running target and the transverse running target are determined according to the running states (reversing running, forward straight running, left turning and right turning) of the vehicle, and further screening is carried out based on the interested areas, so that the probability of false identification and missed identification of the system can be effectively reduced, and the problem that dangerous targets are too late to identify is solved.
3. According to the screening method, in the process of screening the dangerous target CIPV from the longitudinal driving targets, the lane lines and the driving track of the vehicle are simultaneously referred to, so that the algorithm failure caused by the serious dependence on the lane lines in the case of no lane lines is avoided, and meanwhile, the problems of misidentification of the dangerous target in the steering process and the like caused by the serious dependence on the driving track of the vehicle can be avoided; the advantages of the two methods can be effectively combined, and the disadvantages of the two methods are avoided.
4. According to the screening method, the dangerous target CIPV is screened independently of the lane lines, and only the transverse distance between the transverse driving target and the vehicle, the collision time and the driving direction of the vehicle are concerned; in the process of screening dangerous targets CIPV from the transverse driving targets, dangerous parameters under different motion states (reversing driving, forward straight driving, left turning and right turning) of the vehicle are set, so that dangerous targets CIPV are screened more accurately.
5. According to the screening method disclosed by the invention, different weights are added to the collision time corresponding to the dangerous target CIPV according to different dangerous degrees of different motion states (reversing, forward straight, left turning and right turning) of the vehicle, so that the accuracy of screening the most dangerous target in different scenes can be effectively improved.
Drawings
FIG. 1 is a flow chart of a dangerous target screening method based on traffic target perception results according to an embodiment;
FIG. 2 is a schematic diagram of a forward straight traveling region of interest and a traveling path of the host vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a region of interest corresponding to left turn of a host vehicle and a driving path of the host vehicle according to an embodiment;
Fig. 4 is a schematic diagram of a region of interest corresponding to a right turn of a host vehicle and a driving path of the host vehicle according to an embodiment.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Examples:
Referring to fig. 1, a dangerous target screening method based on traffic target perception results includes the following steps:
1) Obtaining a perception result based on a multi-sensor information fusion technology, wherein the perception result comprises lane line information, host vehicle information and target information corresponding to traffic targets around the host vehicle;
The lane line information comprises an own lane line, a left lane line and a right lane line; the vehicle information comprises the vehicle longitudinal speed, the vehicle transverse speed, the vehicle longitudinal acceleration, the vehicle transverse acceleration and the vehicle turning radius of the vehicle; the target information includes a target longitudinal speed, a target lateral speed, a target longitudinal acceleration, a target lateral acceleration, a longitudinal distance and a lateral distance of the corresponding traffic target from the host vehicle.
2) Defining a corresponding traffic target as a longitudinal driving target or a transverse driving target according to the target information; the longitudinal driving target refers to a traffic target which runs in the same direction or opposite directions with the vehicle, and the transverse driving target refers to a traffic target with a transverse movement trend.
3) Dividing an interested region according to the information of the vehicle, and calculating the collision time TTC of the vehicle and a traffic target according to the information of the vehicle and the target information based on a kinematic formula;
Referring to fig. 2 to 4, the operations of dividing the region of interest according to the own vehicle information are as follows: obtaining a running direction line passing through the center of the vehicle according to the turning radius of the vehicle;
establishing a plane rectangular coordinate system taking the center of the vehicle as an origin and taking the front of the vehicle as the Y-axis forward direction; taking an area obtained by translating the driving direction line by W/2 m towards the positive direction and the negative direction of the X axis respectively as an interested area along the Y axis, wherein the total width of the interested area is W m, and the total length of the interested area is L m; the part of the region of interest on the positive half axis of the Y axis is a forward region, the length of the forward region on the Y axis is Lf meters, the part of the region of interest on the negative half axis of the Y axis is a backward region, and the length of the backward region on the Y axis is Lr meters;
In addition, the running direction line is respectively translated leftwards and rightwards by 1.5m to obtain a running path of the vehicle; fig. 2 to fig. 4 are schematic diagrams of a region of interest corresponding to forward straight movement of the host vehicle and a travel path of the host vehicle, a schematic diagram of a region of interest corresponding to left turn of the host vehicle and a travel path of the host vehicle, and a schematic diagram of a region of interest corresponding to right turn of the host vehicle and a travel path of the host vehicle, respectively.
4) According to the collision time TTC, the vehicle information, the lane line information and preset dangerous parameters, a dangerous object CIPV is selected from longitudinal driving objects in the region of interest, and a dangerous object CIPV is selected from transverse driving objects in the region of interest; the risk parameters include a collision time boundary including TLL, TLR, TRL, TRR, TCL and TCR and a lateral distance boundary including DLL, DLR, DRL, DRR, DCL and DCR;
TLL represents the collision time boundary of the longitudinal running target of the left part of the region of interest when the left turn lamp of the host vehicle is turned on, TLR represents the collision time boundary of the longitudinal running target of the right part of the region of interest when the left turn lamp of the host vehicle is turned on, TRL represents the collision time boundary of the longitudinal running target of the left part of the region of interest when the right turn lamp of the host vehicle is turned on, TRR represents the collision time boundary of the longitudinal running target of the right part of the region of interest when the right turn lamp of the host vehicle is turned on, TCL represents the collision time boundary of the longitudinal running target of the left part of the region of interest when the turn lamp of the host vehicle is not turned on, TCR represents the collision time boundary of the longitudinal running target of the right part of the region of interest when the turn lamp of the host vehicle is not turned on; in this embodiment, TLL, TLR, TRL, TRR, TCL and TCR values are 3 seconds;
DLL represents the lateral distance boundary of the longitudinal running object of the left part of the region of interest when the left turn lamp of the host vehicle is on, DLR represents the lateral distance boundary of the longitudinal running object of the right part of the region of interest when the left turn lamp of the host vehicle is on, DRL represents the lateral distance boundary of the longitudinal running object of the left part of the region of interest when the right turn lamp of the host vehicle is on, DRR represents the lateral distance boundary of the longitudinal running object of the right part of the region of interest when the right turn lamp of the host vehicle is on, DCL represents the lateral distance boundary of the longitudinal running object of the left part of the region of interest when the turn lamp of the host vehicle is not on, DCR represents the lateral distance boundary of the longitudinal running object of the right part of the region of interest when the turn lamp of the host vehicle is not on; in this embodiment, the DLL value is 4 meters, the DLR value is 2 meters, the DRL value is 2 meters, the DRR value is 4 meters, the DCL value is 3 meters, and the DCR value is 3 meters.
The operation of selecting the dangerous object CIPV1 from among the longitudinal traveling objects within the region of interest is as follows:
Translating the driving direction line leftwards and rightwards for 1.5m respectively to obtain a driving path of the vehicle, and obtaining information of a steering lamp of the vehicle; judging whether the vehicle runs in a reverse direction or a forward direction according to the longitudinal speed of the vehicle, and when the longitudinal speed Ve of the vehicle is more than or equal to 0km/h, the vehicle runs in the forward direction, and the interested area of the vehicle is a forward area; when the longitudinal speed Ve of the vehicle is less than 0km/h, the vehicle runs in a reverse direction, and the interested area of the vehicle is a backward area;
when the host vehicle runs forward and the left turn light of the host vehicle is turned on, selecting a longitudinal running target with the smallest longitudinal distance with the host vehicle from a forward region, a host vehicle running path, a common region of the host vehicle lane and a left lane as a dangerous target CIPV;
When the host vehicle runs forward and the right turn light of the host vehicle is turned on, selecting a longitudinal running target with the smallest longitudinal distance with the host vehicle from a forward region, a host vehicle running path, a common region of the host lane and a right lane as a dangerous target CIPV;
when the vehicle is in forward running and the steering lamp of the vehicle is not turned on, selecting a longitudinal running target with the minimum longitudinal distance from the vehicle from a forward area, a vehicle running path and a common area of the vehicle lane as a dangerous target CIPV;
When the host vehicle is traveling in reverse, a longitudinal traveling target having the smallest longitudinal distance from the host vehicle is selected as a dangerous target CIPV1 from the common area of the backward area and the traveling path of the host vehicle.
The operation of selecting the dangerous object CIPV from the lateral travel objects within the region of interest is as follows:
Judging whether the vehicle runs in a reverse direction or a forward direction according to the longitudinal speed of the vehicle, and when the longitudinal speed Ve of the vehicle is more than or equal to 0km/h, the vehicle runs in the forward direction, and the interested area of the vehicle is a forward area; when the longitudinal speed Ve of the vehicle is less than 0km/h, the vehicle runs in a reverse direction, and the interested area of the vehicle is a backward area;
When the left turn light of the host vehicle is turned on, the corresponding collision time TTC in the common area of the interested area, the host lane and the left lane is less than or equal to TLL, and the absolute value of the lateral distance between the host vehicle and the lateral driving target of the DLL is smaller than the primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than DLR of the vehicle as a primary target, wherein the collision time TTC of the corresponding region of interest, the common region of the vehicle lane and the right lane is less than or equal to TLR; selecting a preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV;
When the right turn light of the vehicle is turned on, taking a transverse driving target of which the collision time TTC corresponding to the common area of the interested area, the vehicle lane and the left lane is less than or equal to TRL and the absolute value of the transverse distance from the vehicle is less than DRL as a primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than the DRR of the vehicle as a primary target, wherein the collision time TTC corresponding to the common region of the region of interest, the lane and the right lane is less than or equal to TRR; selecting a preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV;
when the turn signal lamp of the host vehicle is not turned on, taking a transverse driving target of which the collision time TTC corresponding to the common area of the interested area, the host lane and the left lane is less than or equal to TCL and the absolute value of the transverse distance from the host vehicle is less than DCL as a primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than DCR as a primary target, wherein the collision time TTC of the corresponding region of interest, the common region of the own lane and the right lane is less than or equal to TCR; and selecting the preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV.
When the lane line information is valid, the own lane refers to a lane taking the lane line of the own lane as a boundary, the left lane refers to a lane taking the lane line of the left lane as a boundary, and the right lane refers to a lane taking the lane line of the right lane as a boundary;
When the lane line information is invalid, taking the driving path of the vehicle as a vehicle lane, taking the left shifting of the driving path of the vehicle as a left lane, and taking the right shifting of the driving path of the vehicle as a right lane, wherein the left shifting of the driving path of the vehicle is 3 meters.
5) According to the TTC and the preset weight coefficient, selecting a dangerous target CIPV or a dangerous target CIPV2 as a most dangerous target CIPV to output; the weight coefficients comprise a right turn weight coefficient atr, a left turn weight coefficient atl, a reversing running weight coefficient ar and a forward straight running weight coefficient as; in this example, att is 0.9, ar is 0.85, as is 0.95.
The operation of selecting the dangerous object CIPV or the dangerous object CIPV2 as the most dangerous object CIPV output is as follows:
defining the collision time of the vehicle and a longitudinal driving target as TTC CIPV1, and defining the collision time of the vehicle and a transverse driving target as TTC CIPV2;
When the vehicle is running forward and the left turn light of the vehicle is on, if atl ×ttc CIPV2≤TTCCIPV1 is set, the dangerous target CIPV2 is selected as the most dangerous target CIPV to be output; if atl ×ttc CIPV2＞TTCCIPV1, then select dangerous object CIPV1 as most dangerous object CIPV output;
when the vehicle is running forward and the right turn light of the vehicle is on, if atr×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV as the most dangerous target CIPV to output; if attr×ttc CIPV2＞TTCCIPV1, then select dangerous object CIPV1 as the most dangerous object CIPV output;
When the vehicle is running forward and the vehicle steering lamp is not turned on, if as×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV as the most dangerous target CIPV to output; if as×ttc CIPV2＞TTCCIPV1, then dangerous object CIPV1 is selected as the most dangerous object CIPV to be output;
When the vehicle is in a reverse running mode, if ar×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV2 as the most dangerous target CIPV to output; if ar×ttc CIPV2＞TTCCIPV1, dangerous object CIPV1 is selected and output as the most dangerous object CIPV.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims (6)

1. A dangerous target screening method based on traffic target perception results is characterized in that: the method comprises the following steps:
1) Obtaining a perception result based on a multi-sensor information fusion technology, wherein the perception result comprises lane line information, host vehicle information and target information corresponding to traffic targets around the host vehicle;
2) Defining corresponding traffic targets as longitudinal driving targets and transverse driving targets according to the target information;
3) Dividing an interested region according to the information of the vehicle, and calculating the collision time TTC of the vehicle and a traffic target according to the information of the vehicle and the target information;
4) According to the collision time TTC, the vehicle information, the lane line information and preset dangerous parameters, a dangerous object CIPV is selected from longitudinal driving objects in the region of interest, and a dangerous object CIPV is selected from transverse driving objects in the region of interest;
5) According to the TTC and the preset weight coefficient, selecting a dangerous target CIPV or a dangerous target CIPV2 as a most dangerous target CIPV to output;
In the step 3), the collision time TTC of the vehicle and the traffic target is calculated according to the vehicle information and the target information, and a kinematic formula is adopted; in step 3), the operation of dividing the region of interest according to the host vehicle information is as follows:
Obtaining a running direction line passing through the center of the vehicle according to the turning radius of the vehicle, and establishing a plane rectangular coordinate system taking the center of the vehicle as an origin and taking the front of the vehicle as the Y-axis forward direction;
Taking an area obtained by translating a driving direction line by W/2 m towards the positive direction and the negative direction of the X axis respectively as an interested area along the Y axis, wherein the part of the interested area on the positive half axis of the Y axis is a forward area, the length of the forward area on the Y axis is Lf m, the part of the interested area on the negative half axis of the Y axis is a backward area, and the length of the backward area on the Y axis is Lr m;
In step 4), the operation of selecting the dangerous object CIPV from the longitudinal traveling objects in the region of interest is as follows:
Translating the driving direction line leftwards and rightwards for 1.5m respectively to obtain a driving path of the vehicle, and obtaining information of a steering lamp of the vehicle; judging whether the vehicle runs in a reverse direction or a forward direction according to the longitudinal speed of the vehicle, and when the longitudinal speed Ve of the vehicle is more than or equal to 0km/h, the vehicle runs in the forward direction, and the interested area of the vehicle is a forward area; when the longitudinal speed Ve of the vehicle is less than 0km/h, the vehicle runs in a reverse direction, and the interested area of the vehicle is a backward area;
when the host vehicle runs forward and the left turn light of the host vehicle is turned on, selecting a longitudinal running target with the smallest longitudinal distance with the host vehicle from a forward region, a host vehicle running path, a common region of the host vehicle lane and a left lane as a dangerous target CIPV;
When the host vehicle runs forward and the right turn light of the host vehicle is turned on, selecting a longitudinal running target with the smallest longitudinal distance with the host vehicle from a forward region, a host vehicle running path, a common region of the host lane and a right lane as a dangerous target CIPV;
when the vehicle is in forward running and the steering lamp of the vehicle is not turned on, selecting a longitudinal running target with the minimum longitudinal distance from the vehicle from a forward area, a vehicle running path and a common area of the vehicle lane as a dangerous target CIPV;
When the vehicle is in reverse running, selecting a longitudinal running target with the minimum longitudinal distance from the vehicle from a common area of a backward area and a running path of the vehicle as a dangerous target CIPV;
In step 4), the risk parameters include a collision time boundary and a lateral distance boundary, the collision time boundary including TLL, TLR, TRL, TRR, TCL and TCR, the lateral distance boundary including DLL, DLR, DRL, DRR, DCL and DCR;
in step 4), the operation of selecting the dangerous object CIPV from the lateral traveling objects in the region of interest is as follows:
Judging whether the vehicle runs in a reverse direction or a forward direction according to the longitudinal speed of the vehicle, and when the longitudinal speed Ve of the vehicle is more than or equal to 0km/h, the vehicle runs in the forward direction, and the interested area of the vehicle is a forward area; when the longitudinal speed Ve of the vehicle is less than 0km/h, the vehicle runs in a reverse direction, and the interested area of the vehicle is a backward area;
When the left turn light of the host vehicle is turned on, the corresponding collision time TTC in the common area of the interested area, the host lane and the left lane is less than or equal to TLL, and the absolute value of the lateral distance between the host vehicle and the lateral driving target of the DLL is smaller than the primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than DLR of the vehicle as a primary target, wherein the collision time TTC of the corresponding region of interest, the common region of the vehicle lane and the right lane is less than or equal to TLR; selecting a preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV;
When the right turn light of the vehicle is turned on, taking a transverse driving target of which the collision time TTC corresponding to the common area of the interested area, the vehicle lane and the left lane is less than or equal to TRL and the absolute value of the transverse distance from the vehicle is less than DRL as a primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than the DRR of the vehicle as a primary target, wherein the collision time TTC corresponding to the common region of the region of interest, the lane and the right lane is less than or equal to TRR; selecting a preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV;
when the turn signal lamp of the host vehicle is not turned on, taking a transverse driving target of which the collision time TTC corresponding to the common area of the interested area, the host lane and the left lane is less than or equal to TCL and the absolute value of the transverse distance from the host vehicle is less than DCL as a primary target; taking a transverse driving target with the absolute value of the transverse distance smaller than DCR as a primary target, wherein the collision time TTC of the corresponding region of interest, the common region of the own lane and the right lane is less than or equal to TCR; and selecting the preliminary target with the minimum corresponding collision time TTC as a dangerous target CIPV.
2. The dangerous target screening method based on traffic target perception results according to claim 1, wherein the dangerous target screening method is characterized by comprising the following steps: in the step 1), the lane line information comprises an own lane line, a left lane line and a right lane line; the vehicle information comprises vehicle speed, vehicle acceleration and vehicle turning radius, and the vehicle speed comprises vehicle longitudinal speed and vehicle transverse speed; the target information includes a target vehicle speed, a target acceleration, a longitudinal distance and a lateral distance of the corresponding traffic target from the host vehicle.
3. The dangerous target screening method based on traffic target perception results according to claim 1, wherein the dangerous target screening method is characterized by comprising the following steps: in the step 2), the longitudinal driving target refers to a traffic target which runs in the same direction or opposite directions with the vehicle, and the transverse driving target refers to a traffic target with a transverse movement trend.
4. The dangerous target screening method based on traffic target perception results according to claim 2, wherein the dangerous target screening method is characterized by comprising the following steps: in the step 4), when the lane line information is valid, the own lane refers to a lane which is bounded by the own lane line, the left lane refers to a lane which is bounded by the left lane line, and the right lane refers to a lane which is bounded by the right lane line;
When the lane line information is invalid, taking the driving path of the vehicle as a vehicle lane, taking the left shifting of the driving path of the vehicle as a left lane, and taking the right shifting of the driving path of the vehicle as a right lane, wherein the left shifting of the driving path of the vehicle is 3 meters.
5. The dangerous target screening method based on traffic target perception results according to claim 4, wherein the dangerous target screening method is characterized by comprising the following steps: in step 5), the weight coefficients include a right turn weight coefficient atr, a left turn weight coefficient atl, a reverse running weight coefficient ar and a forward straight running weight coefficient as.
6. The dangerous target screening method based on traffic target perception results according to claim 5, wherein the dangerous target screening method is characterized by comprising the following steps: in step 5), the operation of selecting the dangerous object CIPV or the dangerous object CIPV2 as the most dangerous object CIPV output according to the collision time TTC and the preset weight coefficient is as follows:
defining the collision time of the vehicle and a longitudinal driving target as TTC CIPV1, and defining the collision time of the vehicle and a transverse driving target as TTC CIPV2;
When the vehicle is running forward and the left turn light of the vehicle is on, if atl ×ttc CIPV2≤TTCCIPV1 is set, the dangerous target CIPV2 is selected as the most dangerous target CIPV to be output; if atl ×ttc CIPV2＞TTCCIPV1, then select dangerous object CIPV1 as most dangerous object CIPV output;
when the vehicle is running forward and the right turn light of the vehicle is on, if atr×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV as the most dangerous target CIPV to output; if attr×ttc CIPV2＞TTCCIPV1, then select dangerous object CIPV1 as the most dangerous object CIPV output;
When the vehicle is running forward and the vehicle steering lamp is not turned on, if as×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV as the most dangerous target CIPV to output; if as×ttc CIPV2＞TTCCIPV1, then dangerous object CIPV1 is selected as the most dangerous object CIPV to be output; when the vehicle is in a reverse running mode, if ar×ttc CIPV2≤TTCCIPV1, selecting the dangerous target CIPV2 as the most dangerous target CIPV to output; if ar×ttc CIPV2＞TTCCIPV1, dangerous object CIPV1 is selected and output as the most dangerous object CIPV.
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