Dangerous target screening method based on traffic target sensing result

The invention relates to a dangerous target screening method based on a traffic target sensing result. The method comprises the following steps: 1) acquiring a sensing result based on a multi-sensor information fusion technology; 2) defining a traffic target as a longitudinal driving target or a transverse driving target; 3) dividing a region of interest, and calculating the collision time TTC of the vehicle and the traffic target; 4) selecting a dangerous target CIPV1 from the longitudinal driving targets in the region of interest, and selecting a dangerous target CIPV2 from the transverse driving targets in the region of interest; and 5) selecting the dangerous target CIPV1 or the dangerous target CIPV2 as the most dangerous target CIPV output. According to the screening method, sensed traffic targets are divided into longitudinal driving targets and transverse driving targets, and the most dangerous target is selected by adopting a more targeted screening strategy according to the motion characteristics of