论文标题
基于复杂的车道检测和碰撞风险估计的合作超车设计
A Design of Cooperative Overtaking Based on Complex Lane Detection and Collision Risk Estimation
论文作者
论文摘要
据信，合作超车具有通过交通参与者（包括道路基础设施，附近的车辆等）之间的实时信息交换来提高道路安全和交通效率的能力。在本文中，我们专注于合作超车的建模，计算和分析的关键问题，并使其在公路超车区中起着关键作用。详细说明，为了扩大对周围环境的认识，使用板载摄像头检测到了自我车辆前面的车道标记并用bezier曲线进行建模。虽然通过车辆到车辆通信方案获得附近的车辆位置，以确保定位的准确性。然后，提出了基于高斯的冲突潜力领域来确保超车安全性，该领域可以定量估计即将到来的碰撞危险。为了支持所提出的方法，在人类的仿真平台上进行了许多实验。结果表明，我们提出的方法可以提高性能，尤其是在某些不可预测的自然道路情况下。
Cooperative overtaking is believed to have the capability of improving road safety and traffic efficiency by means of the real-time information exchange between traffic participants, including road infrastructures, nearby vehicles and others. In this paper, we focused on the critical issues of modeling, computation, and analysis of cooperative overtaking and made it playing a key role in the road overtaking area. In detail, for the purpose of extending the awareness of the surrounding environment, the lane markings in front of ego vehicle were detected and modeled with Bezier curve using an onboard camera. While the nearby vehicle positions were obtained through the vehicle-to-vehicle communication scheme making assure of the accuracy of localization. Then, Gaussian-based conflict potential field was proposed to guarantee the overtaking safety, which can quantitatively estimate the oncoming collision danger. To support the proposed method, many experiments were conducted on the human-in-the-loop simulation platform. The results demonstrated that our proposed method achieves better performance, especially in some unpredictable nature road circumstances.
