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Lane-changing obstacle avoidance method and system based on automatic driving

An automatic driving and lane changing technology, applied in the direction of input parameters of external conditions, control devices, vehicle components, etc., can solve the problems of inability to guarantee driving safety, complex calculations, and inability to effectively identify dynamic obstacles on the lane

Active Publication Date: 2021-10-08
FORYOU GENERAL ELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The present invention provides a method and system for lane change and obstacle avoidance based on automatic driving, which solves the problem that the calculation of the path planning scheme of the existing vehicle obstacle avoidance scheme is too complicated, and the dynamic obstacles on the lane cannot be effectively identified, and the driving safety cannot be guaranteed. question

Method used

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  • Lane-changing obstacle avoidance method and system based on automatic driving
  • Lane-changing obstacle avoidance method and system based on automatic driving
  • Lane-changing obstacle avoidance method and system based on automatic driving

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Embodiment 1

[0064] An embodiment of the present invention provides a method for lane change and obstacle avoidance based on automatic driving, such as figure 1 , figure 2 As shown, in this embodiment, steps S1-S4 are included:

[0065] S1. When it is judged that the vehicle M 0 When it is necessary to change lanes, obtain the surrounding driving environment data.

[0066] In this embodiment, the vehicle M 0 The basis for judging the need to change lanes is that the vehicle M 0 is traveling faster than the vehicle M ahead in the same lane F and the distance between the two vehicles reaches the first threshold;

[0067] Acquiring the driving environment data around it is specifically: take the near side of the target lane (that is, the side close to the vehicle) the lane line as the Y axis, and pass the current vehicle M 0 The straight line at the geometric center establishes a coordinate system for the X-axis, and then uses sensing elements to obtain driving environment data, includ...

Embodiment 2

[0152] The reference signs appearing in the drawings of this embodiment include: a perception module 1 , an identification module 2 , a path calculation module 3 , a navigation module 4 , a risk judgment module 5 , a driving control module 6 , and a database 7 .

[0153] The embodiment of the present invention also provides a lane change and obstacle avoidance system based on automatic driving, see image 3 , including a perception module 1, an identification module 2, a path calculation module 3, a navigation module 4, a risk judgment module 5, a driving control module 6, and a database 7;

[0154] The perception module 1 is used to obtain driving environment data;

[0155] In this embodiment, the sensing system includes sensing elements such as radar and image acquisition components (such as cameras or video cameras);

[0156] The identification module 2 is used to identify the driving environment data, determine the surrounding road conditions and the vehicle data of the t...

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Abstract

The invention relates to the technical field of automatic driving, and provides a lane-changing obstacle avoiding method and system based on automatic driving, and the system comprises a sensing module, an identification module, a path calculation module, a navigation module, a risk judgment module, a driving control module and a database.When it is judged that the vehicle needs to change the lane, surrounding driving environment data is acquired and identified; when the lane changing path is planned, the movement area of the target obstacle in the lane changing judgment interval is obtained through the driving environment data, whether the movement area can be overlapped (collided) with the vehicle in the expected lane changing path or not is calculated according to the preset condition, and therefore whether lane changing can be carried out or not is determined, calculation of the movement area and the lane changing path is simple, and the dynamic obstacles on each lane can be effectively identified, so that the driving safety is ensured.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and system for changing lanes and avoiding obstacles based on automatic driving. Background technique [0002] When a vehicle is running on a public road, in order to improve traffic efficiency or avoid obstacles on the driving lane, the vehicle often needs to change lanes. However, since the driving positions of other vehicles on adjacent lanes change at all times, when changing lanes, the self-driving vehicle must always observe the positions of surrounding static or dynamic obstacles to ensure that it does not collide with other vehicles or pedestrians during the lane change process. or other obstacles to ensure driving safety. [0003] Several vehicle obstacle avoidance schemes have been designed in the prior art, for example: [0004] 1) The patent for invention with the publication number CN109540159B discloses a method of obtaining the curvature of the...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/09B60W30/095B60W40/06B60W40/105B60W40/107
CPCB60W60/001B60W30/09B60W30/0953B60W30/0956B60W40/06B60W40/105B60W40/107B60W2552/53B60W2554/4041B60W2554/4042B60W2554/801
Inventor 熊锐剑
Owner FORYOU GENERAL ELECTRONICS
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