Patent ID: 11872999
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 7:
8. The self-driving safety evaluation method of claim 7, further comprising determining rb and rc based on rSG3, wherein rSG3 is as follows:, r
    
      SG
      ⁢
      
        
      
      ⁢
      3
    
  
  =
  
    {
    
      
        
          
            
              
                e
                
                  
                    -
                    
                      r
                      4
                    
                  
                  ⁢
                  
                    t
                    lc
                  
                
              
              ,
            
          
          
            
              
                when
                ⁢
                
                  
                
                ⁢
                
                  t
                  lc
                
              
              <
              
                TLC
                threshold
              
            
          
        
        
          
            
              0
              ,
            
          
          
            
              
                when
                ⁢
                
                  
                
                ⁢
                
                  t
                  lc
                
              
              ≥
              
                TLC
                threshold
              
            
          
        
      
      ,, wherein rSG3 is rb or rc in the scenario in which the vehicle rushes out of the road boundary, wherein TLCthreshold represents a critical value of the time required by the vehicle to rush out of a road, wherein, t
      
        l
        ⁢
        c
      
    
    =
    
      
        (
        
          y
          ±
          
            
              w
              
                r
                ⁢
                o
                ⁢
                a
                ⁢
                d
              
            
            2
          
        
        )
      
      
        (
        
          
            
              v
              long
            
            ⁡
            
              (
              
                ϕ
                -
                
                  ϕ
                  d
                
              
              )
            
          
          +
          
            v
            
              l
              ⁢
              a
              ⁢
              t
            
          
        
        )
      
    
  
  ,, wherein e is a natural constant, wherein tlc is the estimated time taken by the vehicle to rush out of the lane, wherein y is a lateral offset of the vehicle at the road boundary, wherein Wroad is a width of the road, wherein vlong is a longitudinal speed of the vehicle, wherein vlat is a lateral speed of the vehicle, wherein ϕ-ϕd represents an angle between a heading direction of the vehicle and a road tangent direction, and wherein r4 is a normalized parameter.