A modeling method of driving risk assessment based on vehicle trajectory prediction.

This paper has presented a two-dimensional driving risk modeling method based on the field theory and proposed a driving risk modeling scheme based on trajectory prediction. This method is based on the artificial potential field theory, vehicle kinematics, and dynamics. This study first proposes the basic concept of driving risk modeling and establishes a basic model of driving risk. Then we convert the Cartesian coordinate system according to the road structure curve, so that the risk field is distributed along the road curve, and realize the prediction of driving risk according to the road structure. Finally, we convert the Cartesian coordinate system to the Frenet coordinate system to quantify the driving risk according to any vehicle trajectory prediction.