论文标题
基于预测的可达到性分析，用于高速公路上的碰撞风险评估
Prediction-Based Reachability Analysis for Collision Risk Assessment on Highways
论文作者
论文摘要
实时安全系统是智能车辆的关键组件。本文在高速公路上介绍了一种基于预测的碰撞风险评估方法。给定一个点质量车辆动力学系统，考虑使用车辆状态概率分布的二维运动，随机向前的可触及套件是最初建立的。然后，我们开发一个加速预测模型，该模型提供多模式概率加速分布来传播车辆状态。通过总结两辆车辆在空间重叠的状态的概率来计算碰撞概率。仿真结果表明，预测模型在车辆运动位置误差方面具有较高的性能，并且提出的碰撞检测方法是敏捷且有效的，可以确定切入崩溃事件中的碰撞。
Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set considering two-dimensional motion with vehicle state probability distributions is firstly established. We then develop an acceleration prediction model, which provides multi-modal probabilistic acceleration distributions to propagate vehicle states. The collision probability is calculated by summing up the probabilities of the states where two vehicles spatially overlap. Simulation results show that the prediction model has superior performance in terms of vehicle motion position errors, and the proposed collision detection approach is agile and effective to identify the collision in cut-in crash events.
