Vehicle collision avoidance track risk assessment method under pedestrian crossing working condition

The invention discloses a vehicle collision avoidance track risk assessment method under a pedestrian crossing working condition, which comprises the following steps: firstly, obtaining position information of a vehicle and a pedestrian by using a laser radar and a binocular camera, further calculating speed information, and establishing a vehicle coordinate system; then establishing a pedestrian-vehicle interaction model, and considering pedestrian movement as superposition of Markov movement and movement generated by vehicle interference; performing probability prediction on the future position of the pedestrian according to the pedestrian-vehicle interaction model; and finally, establishing a risk assessment function to assess the vehicle collision avoidance trajectory. The method can achieve the objective risk degree evaluation under the emergency collision avoidance condition of pedestrian crossing, achieves the prediction of the future movement of pedestrians, gives considerationto the possible movement