Obstacle trajectory prediction based auxiliary driving method and system

Abstract

The invention provides an obstacle trajectory prediction based auxiliary driving method and system. The method includes obtaining environment data around a vehicle collected by a vehicle sensor; determining the drivable area of a dynamic obstacle around the vehicle based on the environment data; predicting the driving trajectory of the dynamic obstacle by utilizing the historical status information and the drivable area of the dynamic obstacle; and judging the conflicting risk status of the driving trajectory of the dynamic obstacle and the driving trajectory of the vehicle. Thus, early warning can be performed by calculating the risk coefficients of the trajectory of the dynamic obstacle and the trajectory of the vehicle.

Description

【Technical field】 [0001] The present application relates to the field of automatic control, in particular to a method and system for assisting driving based on obstacle trajectory prediction. 【Background technique】 [0002] Common among the existing vehicle assisted driving systems are adaptive cruise control system (Adaptive Cruise Control) and emergency automatic braking system (Autonomous Emergency Brake). Accelerate or brake to decelerate. [0003] However, there are deficiencies in these existing vehicle auxiliary driving systems: [0004] 1. The early warning time is short. Due to the use of passive detection technology, only when these conditions are triggered, for example, when an obstacle enters the driving area, the alarm or action is taken, and corresponding strategies cannot be taken before the obstacle enters the driving area. Usually when these conditions are triggered, the vehicle is already in a certain dangerous state, and the time reserved for the driver ...

AI Technical Summary

Problems solved by technology

[0004] 1. The early warning time is short. Due to the use of passive detection technology, only when these conditions are triggered, for example, when an obstacle enters the driving area, the alarm or action is taken, and corresponding strategies cannot be taken before the obstacle enters the driving area

Usually when these conditions are triggered, the vehicle is already in a certain dangerous state, and the time reserved for the driver or the auxiliary driving system is often not enough to ensure safety, let alone comfort

[0005] 2. The applicable scene is narrow, and it can only be applied to simple road scenes, such as expressways and urban ring roads, and it is difficult to apply to common complex urban road scenes

[0006] 3. Lack of active predictive ability

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