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A method of performing a risk-based traffic scene analysis by an advanced driver support system and a vehicle provided with the system performing the analysis
A method of performing a risk-based traffic scene analysis by an advanced driver support system and a vehicle provided with the system performing the analysis
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机译：一种通过高级驾驶员支持系统执行基于风险的交通场景分析的方法以及具有该系统的车辆
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摘要
The invention relates to a method for the support of driving an ego-vehicle and such ego-vehicle including a driver assistance system configured to carry out the method steps. At least one traffic participant and/or infrastructure element involved in the traffic situation is selected which is to be taken into consideration for the traffic scene analysis. A hypothetical future trajectory for the ego-vehicle is predicted gained by predicting the current state of the ego-vehicle and is varied to generate a plurality of ego-trajectory alternatives including the calculated hypothetical future ego-trajectory. At least one hypothetical future trajectory from another traffic participant gained by predicting the current state of the traffic participant and/or calculating of a hypothetical future state sequence of the infrastructure element is determined. On the basis of at least one pair of the ego-trajectory plus one other trajectory a plurality of a risk functions over future time or along the calculated hypothetical future ego-trajectory alternatives is calculated, wherein one risk function corresponds to one ego-trajectory alternative. The plurality of risk functions is combined into a risk map which is then analyzed. From the analysis result a control signal for assisting the driving of the ego-vehicle is generated.
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