Patent ID: 11941989
Assignee: NEUSOFT CORPORATION
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 5:
6. The method according to claim 1, wherein the step of determining the collision distance according to the data point interval where the nearest data point is located, the lane change state, the current position of the first vehicle, and the series of data points comprises:
in the case of determining that the second vehicle has changed lanes in the historical path, and the second vehicle is driving in the same lane as the first vehicle before changing lanes, and the second vehicle is driving in the adjacent lane with the first vehicle after changing lanes inwards:
when the data point interval where the nearest data point is located is the first interval, calculating the collision distance according to the following formula:

s=s7+s2+s8 

wherein

s7=d(Nr,Nr+1)+d(Nr+1,Nr+2)+ . . . +d(Na−1,Na)

s2=√{square root over (d(Na,Nb)2−w2)}

s8=d(Nb,Nb+1)+d(Nb+1,Nb+2)+ . . . +d(Nk−1,Nk)+|θk−θb|w 

when the data point interval where the nearest data point is located is the second interval, calculating the collision distance according to the following formula:

s=s9+s8 

wherein

s9=√{square root over (d(Qr,Nb)2−w2)};

s8=d(Nb,Nb+1)+d(Nb+1,Nb+2)+ . . . +d(Nk−1,Nk)+|θk−θb|w; 

when the data point interval where the nearest data point is located is the third interval, calculating the collision distance according to the following formula:

s=s10 

wherein

s10=d(Nr,Nr+1)+d(Nr+1,Nr+2)+ . . . +d(Nk−1,Nk)+|θk−θr|w; 

wherein, s represents the collision distance, Nr represents the nearest data point, Na represents the starting lane change data point, Nb represents the ending lane change data point, Nk represents the latest data point, Qr represents the current position of the first vehicle, θb represents the driving azimuth angle of the second vehicle in the ending lane change data point, θr represents the driving azimuth angle of the second vehicle in the nearest data point, θk represents the driving azimuth angle of the second vehicle contained in the latest data point, w represents the width of the lane where the first vehicle is located, d(Nr, Nr+1) represents the distance between the vehicle positions corresponding to the data points Nr and Nr+1, and d(Qr, Nb) represents the distance between the current position of the first vehicle and the vehicle position contained in the ending lane change data point.