Patent ID: 11912286
Assignee: TSINGHUA UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The method according to claim 2, wherein
the “synchronized test data” used in S5 comprises controller area network (CAN) data of the test vehicle,
the “driving risk identification model” in S51 is expressed as:

U[x(t)]=Uatt[x(t)]+Urep[x(t)],

wherein,
U[x(t)] is the identification risk values calculated by using the driving risk identification model;
Uatt[x(t)] is a goal attraction model expressed as:, U
     
      a
      ⁢
      t
      ⁢
      t
     
    
    [
    
     x
     ⁡
     (
     t
     )
    
    ]
   
   =
   
    
     1
     2
    
    ⁢
    
     
      ε
      ⁡
      (
      
       
        
         x
         goal
        
        (
        t
        )
       
       -
       
        [
        
         x
         ⁡
         (
         t
         )
        
        ]
       
      
      )
     
     2
    
   
  
  ;
 

Urep[x(t)] is an obstacle repulsive force model expressed as:, U
    
     r
     ⁢
     e
     ⁢
     p
    
   
   [
   
    x
    ⁡
    (
    t
    )
   
   ]
  
  =
  
   {
   
    
     
      
       
        
         
          1
          2
         
         ⁢
         
          
           τ
           ⁡
           (
           
            
             1
             
              
               
                x
                
                 o
                 ⁢
                 b
                 ⁢
                 s
                
               
               (
               t
               )
              
              -
              
               x
               ⁡
               (
               t
               )
              
             
            
            -
            
             1
             
              x
              0
             
            
           
           )
          
          2
         
        
        ,
       
      
      
       
        
         
          if
          ⁢
            
          
           x
           
            o
            ⁢
            b
            ⁢
            s
           
          
          ⁢
          
           (
           t
           )
          
         
         -
         
          x
          ⁢
          
           (
           t
           )
          
         
        
        ≤
        
         x
         0
        
       
      
     
     
      
       
        0
         
        ,
       
      
      
       
        
         
          if
          ⁢
             
          
           x
           
            o
            ⁢
            b
            ⁢
            s
           
          
          ⁢
          
           (
           t
           )
          
         
         -
         
          x
          ⁢
          
           (
           t
           )
          
         
        
        >
        
         x
         0
        
       
      
     
    
    ;
   
  
 

 wherein
ε represents a scale factor of an attraction, and ε is one of the at least one parameter to be calibrated;
τ represents a scale factor of a repulsive force, and τ is one of the at least one parameter to be calibrated;

xgoal is a coordinate of a goal;
x is a coordinate of the test vehicle;

xobs is a coordinate of an obstacle;
x0 is an influence radius of the obstacle.