Sharp turn early warning and guiding method and system for vehicle
By integrating multiple sensor data to build a curve environment model, generating a target driving trajectory and guiding the vehicle, it solves the problem that the existing technology cannot effectively inform the opposite lane information and guide the vehicle through sharp bends, improves driving safety and reduces equipment cost.
Patent Information
- Application Number
- CN202310760295.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-26
- Publication Date
- 2024-12-27
AI Technical Summary
The prior art cannot effectively inform the opposite lane information and guide the vehicle through sharp bends, resulting in curve accidents, and the roadside equipment installation cost is high and can only issue early warnings and cannot plan safe driving trajectory.
By integrating information from V2X communication, vision sensors, sound perception system and map system, a curve environment model is built, target driving trajectory is generated and vehicle guidance is carried out, to avoid over-middle line behavior and improve driving safety.
It realizes the generation of safe driving trajectories in curved driving scenarios, avoid curved driving accidents, improves driving safety and reduces equipment costs.
Smart Images
Figure CN119190010A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of autonomous driving, and more particularly, to a sharp curve guidance method and system for a vehicle. Background Art
[0002] At present, with the development of road traffic and the continuous growth of the number of motor vehicles, traffic safety problems have become increasingly serious, especially on mountain roads with many winding sections. Sharp turns often occur, which can easily lead to accidents involving vehicles passing on curves.
[0003] Currently, speed limit signs, speed limit markings, and sharp turn deceleration signs are set up to remind drivers of safe speeds and provide sharp turn warnings. However, this method can only remind drivers to drive at a safe speed and cannot inform oncoming lanes or guide vehicles through sharp turns.
[0004] In addition, currently roadside equipment can be set up to detect the vehicle speed before entering a curve, and compare it with the safe speed to determine whether to issue a deceleration warning to the driver. However, this method requires the installation of roadside equipment, speed sensors, etc. at each curved road section, which is costly and can only issue sharp curve warnings to the driver but cannot directly plan a safe driving trajectory to guide the driver to safely pass the curved road section.
[0005] Therefore, it is expected to provide an improved sharp turn guidance solution for vehicles, so that in curved driving scenarios, a safe driving trajectory can be generated by fusing various sensor data to guide the vehicle to safely pass through sharp turns. This avoids curve passing accidents that may be caused by behaviors such as overtaking the center line when driving on a curve, and further improves driving safety. Summary of the invention
[0006] This disclosure is provided to introduce some concepts in a simplified form that will be further described in the following detailed description. This disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
[0007] In response to the above problems, according to a first aspect of the present disclosure, a sharp curve guidance method for a vehicle is provided, the method comprising: determining that the vehicle is about to enter a curve area; in response to the determination, receiving information about the curve area from multiple different sources, the information comprising curve information, road environment information, and V2X information indicating oncoming vehicles; fusing the information from the multiple different sources to construct a curve environment model, the curve environment model indicating a target driving trajectory of the vehicle in the curve area; determining a target vehicle behavior of the vehicle in the curve area based on the target driving trajectory of the vehicle; and guiding the vehicle based on the target vehicle behavior when entering the curve area.
[0008] In the embodiments of the present disclosure, in a curved driving scenario, by fusing information from multiple different sources (e.g., V2X communication, visual sensors, sound perception systems, and map systems), a curved environment model can be constructed to generate a normal driving trajectory to guide the vehicle to safely pass through sharp turns, thereby avoiding curve passing accidents that may be caused by behaviors such as overtaking the center line when driving on a curve, and further improving driving safety.
[0009] According to one embodiment of the present disclosure, the information further includes sound information, and the sound information indicates whether there is an oncoming vehicle.
[0010] According to a further embodiment of the present disclosure, the curve information includes curve curvature information and other prior information about the curve area from a map system.
[0011] According to a further embodiment of the present disclosure, the road environment information includes lane line information about the curve area, and the lane line information includes a center line and an edge line.
[0012] According to a further embodiment of the present disclosure, determining that the vehicle is about to enter a curve area further includes: identifying the current position of the vehicle; and determining that the vehicle is about to enter a curve area based on the identified position of the vehicle and curve information from a map system, the curve information indicating the position of the curve area.
[0013] According to a further embodiment of the present disclosure, the curve environment model includes oncoming vehicle information, and the target driving trajectory is generated based on the oncoming vehicle information.
[0014] According to a further embodiment of the present disclosure, when the oncoming vehicle information indicates the presence of an oncoming vehicle, the generated target driving trajectory is biased toward the road edge line of the curve area; when the oncoming vehicle information indicates the absence of an oncoming vehicle, the generated target driving trajectory is biased toward the road center line of the curve area.
[0015] According to a further embodiment of the present disclosure, guiding the vehicle based on the target vehicle behavior further includes: guiding the vehicle based on the current driving state of the vehicle and the target vehicle behavior.
[0016] According to a further embodiment of the present disclosure, the target vehicle behavior includes one or more of decelerating, driving on the left, driving on the right, and lane keeping.
[0017] According to a further embodiment of the present disclosure, the method further includes: in response to the determination, sending sound information or V2X information indicating the presence of the vehicle to one or more oncoming vehicles.
[0018] According to a second aspect of the present disclosure, a sharp curve guidance system for a vehicle is provided, the system comprising: a curve determination module, the curve determination module being configured to determine that the vehicle is about to enter a curve area; an information acquisition module, the information acquisition module being configured to receive information about the curve area from a plurality of different sources in response to the determination, the information comprising curve information, road environment information, and V2X information indicating oncoming vehicles; an information fusion module, the information fusion module being configured to fuse the information from the plurality of different sources to construct a curve environment model, the curve environment model indicating a target driving trajectory of the vehicle in the curve area; a behavior determination module, the behavior determination module being configured to determine a target vehicle behavior of the vehicle in the curve area based on the target driving trajectory of the vehicle; and a vehicle guidance module, the vehicle guidance module being configured to guide the vehicle based on the target vehicle behavior when entering the curve area.
[0019] According to one embodiment of the present disclosure, the information further includes sound information, and the sound information indicates whether there is an oncoming vehicle.
[0020] According to a further embodiment of the present disclosure, the curve environment model includes oncoming vehicle information, and the target driving trajectory is generated based on the oncoming vehicle information, wherein: when the oncoming vehicle information indicates the presence of an oncoming vehicle, the generated target driving trajectory deviates toward the road edge line of the curve area; when the oncoming vehicle information indicates the absence of an oncoming vehicle, the generated target driving trajectory deviates toward the road center line of the curve area.
[0021] According to a third aspect of the present disclosure, a vehicle with a sharp turn guidance function is provided, the vehicle comprising: a sharp turn guidance system as described in any one of the aforementioned aspects; a map system for providing curve information to the sharp turn guidance system; a sound perception system for providing perceived sound information to the sharp turn guidance system; a visual sensor for collecting and providing road environment information to the sharp turn guidance system; and a V2X communication system for acquiring and providing V2X information indicating oncoming vehicles to the sharp turn guidance system.
[0022] According to a fourth aspect of the present disclosure, a computer-readable storage medium storing instructions is provided, which, when executed, causes a vehicle to execute the method described in any one of the preceding aspects.
[0023] These and other features and advantages will become apparent by reading the following detailed description and by reference to the associated drawings.It is to be understood that the foregoing general description and the following detailed description are illustrative only and are not restrictive of the aspects of what is claimed. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to understand in detail the manner in which the above features of the present disclosure are used, the above briefly summarized contents may be described in more detail with reference to various embodiments, some of which are shown in the accompanying drawings. However, it should be noted that the accompanying drawings only show certain typical aspects of the present disclosure and should not be considered to limit its scope, as the description may allow for other equally effective aspects.
[0025] Figure 1 A schematic architecture diagram of a sharp curve guidance system according to an embodiment of the present disclosure is shown.
[0026] Figure 2 A schematic diagram showing a cornering scenario when there is no oncoming vehicle according to an embodiment of the present disclosure.
[0027] Figure 3 A schematic diagram is shown of another cornering scenario when there is an oncoming vehicle according to an embodiment of the present disclosure.
[0028] Figure 4 An exemplary flow chart of a sharp curve guidance method according to an embodiment of the present disclosure is shown.
[0029] Figure 5 An exemplary vehicle supporting a sharp curve guidance function according to an embodiment of the present disclosure is shown.
[0030] Figure 6 A schematic architecture diagram of a sharp curve guidance system according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION
[0031] The present disclosure is described in detail below in conjunction with the accompanying drawings, and the features of the present disclosure will be further revealed in the following specific description. The term "vehicle" used throughout the specification refers to any type of automobile, including but not limited to cars, vans, trucks, buses, etc.
[0032] Figure 1 FIG. 1 shows a schematic diagram of a sharp curve guidance system 100 according to an embodiment of the present disclosure. Figure 1 As shown, the system 100 may include at least a curve determination module 102 , an information acquisition module 104 , an information fusion module 106 , a behavior determination module 108 , and a vehicle guidance module 110 .
[0033] The curve determination module 102 may determine that the vehicle is about to enter a curve region.
[0034] In one embodiment, the curve determination module 102 may identify the current location of the vehicle, and determine that the vehicle is about to enter a curve area (i.e., about to enter a curve) based on the identified location of the vehicle and curve information from a map system, wherein the curve information may include the location of the curve area.
[0035] In response to determining that the vehicle is about to enter a curve, the information acquisition module 104 may receive information about the curve area from multiple different sources, wherein the information may include curve information, road environment information, and V2X information indicating oncoming vehicles.
[0036] In one embodiment, the information from multiple different sources may further include sound information (e.g., a horn sound received by the sound perception system), which indicates whether there is an oncoming vehicle. For example, in one scenario, when the vehicle is about to pass a blind curve, the oncoming vehicle may issue a warning by honking, and the vehicle may receive the horn sound through the sound perception system and know that there is an oncoming vehicle.
[0037] In one embodiment, the curve information may include curve curvature information and other prior information about the curve area obtained from the map system. The curve curvature is used to measure the curvature of the curve. The larger the curvature and the smaller the curvature radius, the more curved the curve (i.e., the higher the curvature). Other prior information may include other information related to the curve obtained from the map system, such as whether the curve section is in a no-horn zone, etc.
[0038] In one embodiment, the road environment information may include lane line information about the curved area, wherein the lane line information includes a center line and an edge line. For example, the road semantic information (e.g., lane line) may be detected based on the road environment image data acquired from the vehicle's visual sensor, wherein the lane line detection may be performed using a traditional method or a deep learning method. In addition, in the absence of a road center line, the road center line may be fitted based on the roadside information.
[0039] In addition, the road environment information may also include information such as sharp curve deceleration signs.
[0040] In one embodiment, the V2X information may be information transmitted to the vehicle from a vehicle on the opposite lane via direct V2V (vehicle-to-vehicle) communication, which may indicate whether there is a vehicle in the opposite lane (i.e., whether a curve meeting is about to occur). In another embodiment, the V2X information may be information transmitted to the roadside unit from the vehicle on the opposite lane via V2I (vehicle-to-roadside infrastructure) communication and transmitted to the vehicle by the roadside unit. In some aspects, the V2X information may also include other information about the curve or the oncoming vehicle (e.g., safe speed for turning, speed of the oncoming vehicle, etc.).
[0041] In addition, in response to determining that the vehicle is about to enter a turn, sound information (e.g., by honking a horn) or V2X information indicating the presence of the vehicle may be sent directly or indirectly via V2X communication to one or more oncoming vehicles.
[0042] It is to be understood that information from other sources (eg, other sensors) may also be acquired for subsequent information fusion.
[0043] The information fusion module 106 may then fuse the information from the multiple different sources to construct a curve environment model, which may indicate the target driving trajectory of the vehicle in the curve area (ie, calculate a safe driving trajectory of the vehicle through the curve using information fusion).
[0044] In one embodiment, the constructed curve environment model may include oncoming vehicle information, wherein the target driving trajectory may be generated based on the oncoming vehicle information.
[0045] In a further embodiment, when the oncoming vehicle information indicates that there is an oncoming vehicle, the generated target driving trajectory is biased toward the road edge line of the curve area, and when the oncoming vehicle information indicates that there is no oncoming vehicle, the generated target driving trajectory is biased toward the road center line of the curve area, as further described below. Figure 2 and 3 as described.
[0046] The behavior determination module 108 may determine a target vehicle behavior of the vehicle in the curve region based on the target driving trajectory of the vehicle.
[0047] In one embodiment, the target vehicle behavior may include one or more of decelerating, driving left, driving right, and lane keeping.
[0048] The vehicle guidance module 110 may guide the vehicle based on the target vehicle behavior when the vehicle enters a curve area.
[0049] In one embodiment, the vehicle guidance module 110 can guide the vehicle based on the current driving state of the vehicle and the target vehicle behavior. For example, if the current driving trajectory of the vehicle deviates from the target driving trajectory, the vehicle can be guided to drive along the target driving trajectory by increasing / decreasing steering force, decelerating, etc., or the vehicle can be guided to safely turn by issuing a sharp turn warning message.
[0050] Those skilled in the art will appreciate that the system 100 and its modules of the present disclosure may be implemented in hardware or software, and the modules may be merged or combined in any appropriate manner.
[0051] Figure 2A schematic diagram is shown of a cornering scenario 200 when there is no oncoming vehicle according to an embodiment of the present disclosure.
[0052] In scenario 200, it is first determined based on data from a map system that vehicle V is about to enter a curve, and information about the curve is received from multiple different sources before the vehicle enters the curve, wherein the information about the curve may include curve information (for example, including curve curvature and other prior information from map data (such as information about whether the curve area is in a no-horn area)) and road environment information (for example, information about the vehicle's surroundings obtained from visual sensors, etc. (for example, lane line information)).
[0053] Since there is no oncoming vehicle in this scenario, the vehicle may not receive V2X information indicating the oncoming vehicle, or may receive information that there is no oncoming vehicle, for example, via V2I.
[0054] The vehicle can then fuse the information from the above multiple sources to construct a curve environment model, which can include vehicle body and lane information in the curve area, which can indicate the target driving trajectory of the vehicle in the curve area, for example, due to Figure 2 If the curve environment model indicates that there is no oncoming vehicle, the generated safe driving trajectory can be biased towards the detected or fitted road centerline, such as Figure 2 As shown by the dotted line in .
[0055] Subsequently, a target vehicle behavior of the vehicle in the curve area (eg, slowing down and driving left toward the center line of the road) may be determined based on the target driving trajectory of the vehicle.
[0056] Subsequently, when the vehicle enters a curve, the target vehicle behavior can be used to guide the vehicle through the curve at a safe speed and a safe driving trajectory.
[0057] Figure 3 A schematic diagram is shown of another cornering scenario 300 when there is an oncoming vehicle according to an embodiment of the present disclosure.
[0058] In scenario 300 , similar to scenario 200 , it may first be determined based on data from a map system that the vehicle V is about to enter a curve, and information about the curve may be received from multiple different sources before the vehicle enters the curve, including, for example, curve information or road environment information.
[0059] Since there is an oncoming vehicle in this scenario, the vehicle can receive V2X information indicating the oncoming vehicle. In the case of using direct V2X communication (e.g., DSRC technology), the vehicle is equipped with an onboard unit (OBU) and the road infrastructure is equipped with a roadside unit (RSU), wherein the vehicle receives V2X information indicating the presence of another vehicle (i.e., oncoming vehicle) from another vehicle in the opposite lane via direct V2V (vehicle to vehicle) communication, or receives V2X information indicating the oncoming vehicle from another vehicle in the opposite lane via a roadside unit via V2I (vehicle to road infrastructure) communication. For direct V2X, the sending vehicle is actually connected to the intended receiver without the need for any additional infrastructure (e.g., base station or relay), thereby minimizing communication delays in transmission. In addition, the vehicle can also transmit V2X information to the oncoming vehicle via V2X communication (e.g., indicating the presence of the vehicle to remind the oncoming vehicle to pay attention to the curve).
[0060] In addition, when an oncoming vehicle honks, the vehicle's sound perception system can receive sound information (e.g., honking sound) from the oncoming vehicle, which also indicates the oncoming vehicle. In addition, the vehicle can also send sound information to the oncoming vehicle by honking the horn to remind the oncoming vehicle to pay attention to the curve (especially in the blind curve scene).
[0061] The vehicle can then fuse the information from the above multiple sources to construct a curve environment model, which can include vehicle body and lane information in the curve area, which can indicate the target driving trajectory of the vehicle in the curve area, for example, due to Figure 3 If the curve environment model indicates that there is an oncoming vehicle, the generated safe driving trajectory can be biased towards the detected or fitted road edge line, such as Figure 3 As shown by the dotted line in .
[0062] Subsequently, a target vehicle behavior of the vehicle in the curve region (eg, slowing down and driving to the right toward the edge of the road) may be determined based on the target driving trajectory of the vehicle.
[0063] Subsequently, when the vehicle V enters the curve area, the vehicle can be guided to pass the curve at a safe speed and a safe driving trajectory based on the target vehicle behavior. The above guidance can be performed by automatically or manually controlling the vehicle to drive according to the calculated safe driving trajectory.
[0064] Therefore, a curve environment model can be constructed by fusing information from multiple different sources to calculate a safe driving trajectory, thereby guiding the vehicle to safely pass through sharp curves. This avoids curve accidents that may be caused by behaviors such as overtaking the center line when driving on a curve, further improving driving safety.
[0065] Figure 4An example flow chart of a sharp curve guidance method 400 according to an embodiment of the present disclosure is shown.
[0066] The method 400 begins at step 402 , where the curve determination module 102 may determine that the vehicle is about to enter a curve region.
[0067] In one embodiment, it may be determined that the vehicle is about to enter a curve area based on curve information (including, for example, curve position information) from a map system.
[0068] In step 404 , the information acquisition module 104 may receive information about the curve area from a plurality of different sources in response to the determination, the information including curve information, road environment information, and V2X information indicating oncoming vehicles.
[0069] In one embodiment, the information acquisition module 104 may also acquire sound information (eg, horn sound) via a sound perception system, where the sound information indicates whether there is an oncoming vehicle.
[0070] In one embodiment, the curve information may include curve curvature information about the curve area from a map system and other prior information (eg, indicating whether the curve area is in a no-horn zone).
[0071] In one embodiment, the road environment information may include lane line information about the curved area, and the lane line information may include a detected or fitted center line and edge line.
[0072] Of course, it is understandable that any other method known to those skilled in the art may be used to obtain road environment information (eg, lane line detection).
[0073] In addition, in response to determining that the vehicle is about to enter a curve, the vehicle may also transmit sound information to one or more oncoming vehicles (e.g., by honking a horn) or transmit V2X information indicating the presence of the vehicle via V2X communication (i.e., informing one or more oncoming vehicles that a curve meeting is about to occur).
[0074] At step 406 , the information fusion module 106 may fuse information from a plurality of different sources to construct a curve environment model, the curve environment model indicating a target driving trajectory of the vehicle in the curve region.
[0075] In one embodiment, the above-mentioned curve environment model may include oncoming vehicle information, and the target driving trajectory is generated based on the oncoming vehicle information, wherein when the oncoming vehicle information indicates the presence of an oncoming vehicle, the generated target driving trajectory is biased toward the road edge line of the curve area, and when the oncoming vehicle information indicates the absence of an oncoming vehicle, the generated target driving trajectory is biased toward the road center line of the curve area.
[0076] Subsequently, at step 408 , the behavior determination module 108 may determine a target vehicle behavior of the vehicle in the curve area based on the target driving trajectory of the vehicle.
[0077] In one embodiment, the target vehicle behavior may include, but is not limited to, one or more of decelerating, driving left, driving right, and lane keeping.
[0078] In step 410 , the vehicle guidance module 110 may guide the vehicle based on the target vehicle behavior when entering a curve area.
[0079] In one implementation, the vehicle guidance module 110 may guide the vehicle based on the current driving state of the vehicle and the target vehicle behavior.
[0080] Therefore, by integrating various different information (for example, curve information, V2X information indicating oncoming vehicles, etc.), a safe driving trajectory can be calculated, thereby avoiding curve crossing accidents that may be caused by behaviors such as overtaking the center line when driving on a curve, further improving driving safety.
[0081] Figure 5 An exemplary vehicle 500 supporting sharp curve warning and guidance according to one embodiment of the present disclosure is shown.
[0082] The vehicle 500 may include Figure 1 The sharp curve guidance system 100 shown in the figure can determine that a vehicle is about to enter a curve area; in response to the determination, receive information about the curve area from multiple different sources, the information including curve information, road environment information, and V2X information indicating oncoming vehicles; fuse the information from the multiple different sources to construct a curve environment model, the curve environment model indicates a target driving trajectory of the vehicle in the curve area; determine a target vehicle behavior of the vehicle in the curve area based on the target driving trajectory of the vehicle; and when entering the curve area, guide the vehicle based on the target vehicle behavior.
[0083] In addition, the vehicle 500 may further include a map system 502 for providing curve information to the sharp curve guidance system 100 , wherein the curve information may include curve position information and curve curvature information about the curve area and other prior information.
[0084] In addition, the vehicle 500 may further include a sound perception system 504 for providing perceived sound information (eg, whistle sound) to the sharp curve guidance system 100 .
[0085] In addition, the vehicle 500 may further include a visual sensor 506 for collecting and providing road environment information to the sharp curve guidance system 100 . The road environment information may include lane line information about the curve area.
[0086] In addition, the vehicle 500 may further include a V2X communication system 508 for acquiring and providing V2X information indicating oncoming vehicles to the sharp curve guidance system 100 .
[0087] Figure 6 1 shows a schematic architecture diagram of a sharp curve guidance system 600 according to an embodiment of the present disclosure. The system 600 may be configured to perform various methods described herein (including, for example, Figure 4 aspects of the methods described herein.
[0088] like Figure 6 As shown, the system 600 may include one or more processors 602. The one or more processors 602 may include a central processing unit (CPU), which may be a multi-core CPU in some examples. The instructions executed at the CPU may be loaded, for example, from a program memory associated with the CPU or may be loaded from a memory 604. The one or more processors 602 may also include additional processing components customized for specific functions, such as a graphics processing unit (GPU), a digital signal processor (DSP), and a neural processing unit (NPU). In some examples, the one or more processors 602 may be based on an ARM or RISC-V instruction set.
[0089] The system 600 also includes a memory 604. The memory 604 may include RAM, ROM, or a combination thereof. The memory 604 may store computer executable instructions that, when executed by at least one processor 602, cause the at least one processor to perform various functions described herein, including: determining that the vehicle is about to enter a curve area; in response to the determination, receiving information about the curve area from multiple different sources, the information including curve information, road environment information, and V2X information indicating an oncoming vehicle; fusing the information from the multiple different sources to construct a curve environment model, the curve environment model indicating the target driving trajectory of the vehicle in the curve area; determining the target vehicle behavior of the vehicle in the curve area based on the target driving trajectory of the vehicle; and guiding the vehicle based on the target vehicle behavior when entering the curve area. In some cases, the memory 604 may particularly include a BIOS that can control basic hardware or software operations, such as interaction with peripheral components or devices.
[0090] Understandably, Figure 6 This is merely one example of a system, and other systems including fewer, additional, or alternative aspects may also be consistent with the present disclosure.
[0091] The various illustrative blocks and modules described in conjunction with the disclosure herein may be implemented or executed with a general purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration).
[0092] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Other examples and implementations fall within the scope of the present disclosure and the appended claims. For example, due to the nature of software, the functions described herein may be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination thereof. Features that implement the functions may also be physically located in various locations, including being distributed so that parts of the functions are implemented at different physical locations.
[0093] What has been described above includes examples of various aspects of the claimed subject matter. Of course, it is not possible to describe every conceivable combination of components or methods for the purpose of describing the claimed subject matter, but one of ordinary skill in the art will recognize that many further combinations and permutations of the claimed subject matter are possible. Thus, the disclosed subject matter is intended to encompass all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims.
Claims
1. A sharp bend guidance method for a vehicle, the method comprising: Determining that the vehicle is about to enter a curve area; In response to the determination, receiving information about the curve area from a plurality of different sources, the information including curve information, road environment information, and V2X information indicating an oncoming vehicle; fusing the information from the plurality of different sources to construct a curve environment model, the curve environment model indicating a target driving trajectory of the vehicle in the curve region; determining a target vehicle behavior of the vehicle in the curve area based on a target driving trajectory of the vehicle; as well as When entering the curve area, the vehicle is guided based on the target vehicle behavior. 2 . The method of claim 1 , wherein the information further comprises sound information indicating whether there is an oncoming vehicle. 3 . The method according to claim 1 , wherein the curve information comprises curve curvature information and other prior information about the curve area from a map system.
4. The method as claimed in claim 1, wherein the road environment information includes lane line information about the curve area, and the lane line information includes a center line and an edge line.
5. The method of claim 1, wherein determining that the vehicle is about to enter a curve area further comprises: identifying the current location of the vehicle; as well as A determination is made that the vehicle is about to enter a curve area based on the identified position of the vehicle and curve information from a mapping system, the curve information indicating the position of the curve area. 6 . The method according to claim 1 , wherein the curve environment model includes oncoming vehicle information, and the target driving trajectory is generated based on the oncoming vehicle information.
7. The method of claim 6, wherein: When the oncoming vehicle information indicates that there is an oncoming vehicle, the generated target driving trajectory deviates toward the road edge line of the curve area; When the oncoming vehicle information indicates that there is no oncoming vehicle, the generated target driving trajectory is biased toward the center line of the road in the curve area.
8. The method of claim 1, wherein guiding the vehicle based on the target vehicle behavior further comprises: The vehicle is guided based on the current driving state of the vehicle and the target vehicle behavior. 9 . The method according to claim 1 , wherein the target vehicle behavior comprises one or more of decelerating, driving left, driving right, and lane keeping.
10. The method of claim 1, further comprising: In response to the determination, sound information or V2X information indicating the presence of the vehicle is transmitted to one or more oncoming vehicles.
11. A sharp curve guidance system for a vehicle, the system comprising: A curve determination module, the curve determination module is configured to determine that the vehicle is about to enter a curve area; an information acquisition module, the information acquisition module being configured to receive information about the curve area from a plurality of different sources in response to the determination, the information including curve information, road environment information, and V2X information indicating an oncoming vehicle; an information fusion module, the information fusion module being configured to fuse the information from the plurality of different sources to construct a curve environment model, the curve environment model indicating a target driving trajectory of the vehicle in the curve area; a behavior determination module, the behavior determination module being configured to determine a target vehicle behavior of the vehicle in the curve area based on a target driving trajectory of the vehicle; as well as A vehicle guidance module is configured to guide the vehicle based on the target vehicle behavior when entering the curve area.
12. The system of claim 11, wherein the information further comprises sound information indicating whether there is an oncoming vehicle.
13. The system according to claim 11, wherein the curve environment model includes oncoming vehicle information, and the target driving trajectory is generated based on the oncoming vehicle information, wherein: When the oncoming vehicle information indicates that there is an oncoming vehicle, the generated target driving trajectory deviates toward the road edge line of the curve area; When the oncoming vehicle information indicates that there is no oncoming vehicle, the generated target driving trajectory is biased toward the center line of the road in the curve area.
14. A vehicle with a sharp curve guidance function, the vehicle comprising: A sharp bend guidance system as claimed in any one of claims 11 to 13; A map system, used for providing curve information to the sharp curve guidance system; a sound perception system, for providing perceived sound information to the sharp curve guidance system; A visual sensor, used for collecting and providing road environment information to the sharp curve guidance system; as well as The V2X communication system is used to obtain and provide V2X information indicating oncoming vehicles to the sharp curve guidance system.
15. A computer-readable storage medium storing instructions, which, when executed, cause a vehicle to perform the method according to any one of claims 1 to 10.