自动驾驶汽车的道路交通安全评估基于与运动方向碰撞的时间
Fernando M Ortiz1, Matteo Sammarco2, Marcin Detyniecki2
1GTA/PEE/COPPE - Universidade Federal do Rio de Janeiro, Rio de Janeiro, Brazil.
本研究介绍了运动定向的时间到碰撞 (TTCmo),这是自动驾驶汽车安全的新指标. 通过分析对象定向,TTCmo改善了风险评估,确定至少8%的交互是有风险的.
科学领域:
- 自主系统 自主系统
- 道路安全工程 道路安全工程
- 计算机视觉 计算机视觉
背景情况:
- 目前的替代安全措施 (SSM) 不足以评估自动驾驶汽车 (AV) 风险,因为驾驶风格不同.
- 现有的方法无法充分考虑自动驾驶汽车与其他道路使用者的独特相互作用.
研究的目的:
- 引入和验证一种新的风险评估指标,即运动定向的碰撞时间 (TTCmo),专门用于AVS.
- 用一种包含对象定向的方法量化AV交互中的潜在风险.
主要方法:
- 开发了TTCmo度量,将检测到的物体的曲率集成到时间到碰撞计算中.
- 利用来自nuScenes和Lyft5数据集的3D对象检测数据进行分析.
- 对物体边界进行几何分析,以根据运动和位置变化识别基于运动和位置变化的风险事件.
主要成果:
- 确定,在AV周围检测到的物体相互作用中,至少有8%的物体相互作用构成风险.
- 证明使用TTCmo可以将分析数据比例比标准的时间到碰撞 (TTC) 减少高达60%.
结论:
- 通过考虑物体运动方向,TTCmo提供了对AV的更准确的风险评估.
- TTCmo指标提高了自动驾驶系统的安全分析效率和有效性.
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