Automatic driving curve lane changing method and system, readable storage medium and vehicle

Abstract

The invention discloses an automatic driving curve lane changing method and system, a readable storage medium and a vehicle, and the method comprises the steps: obtaining the curvature of a current curve and the vehicle condition of the current curve, and controlling a sensor system to obtain a first view of the current curve; obtaining a comparison result of the current curve vehicle condition and the first visual field, and calculating a rotation angle of a sensor system based on the comparison result; and controlling the angle radar rotation module to rotate based on the rotation angle, and carrying out lane changing. The curve vehicle condition acquired by the foresight camera is compared with the radar scanning range, the radar rotation angle is calculated, and the angle radar rotation module is controlled to drive the angle radars around the vehicle to rotate, so that the radar scans and recognizes the obstacle vehicle, and then the blind area possibly existing in scanning of the existing angle radar is eliminated; and the curve changing safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to an autonomous driving lane changing method, system, readable storage medium and vehicle. Background Art

[0002] When a vehicle is driving on the road, it often needs to change lanes when it encounters obstacles or slow-moving vehicles. During the lane change process, the corner radar is needed to determine the relative distance between the vehicle and the surrounding obstacle vehicles to determine whether it is appropriate to change lanes. When the vehicle changes lanes on a curve, the position of the surrounding obstacle vehicles may exceed the scanning boundary of the corner radar, causing the vehicle to change lanes in the presence of obstacle vehicles, which brings certain risks to the lane change.

[0003] At present, four corner radars are generally used to implement lane change technology, which are installed at the left front, right front, left rear and right rear positions of the vehicle. When the vehicle changes lanes to the left, the left front and left rear corner radars are used to determine the relative distance between the vehicle and the obstacle vehicle on the left; when the vehicle changes lanes to the right, the right front and right rear corner radars are used to determine the relative distance between the vehicle and the obstacle vehicle on the right.

[0004] However, when the vehicle changes lanes to the right on a curve that curves to the left (positive curvature), the obstacle vehicle in front of the right may exceed the effective scanning range of the right front corner radar, so the obstacle vehicle in front of the right cannot be identified. At the same time, the obstacle vehicle in the rear right may exceed the effective scanning range of the right rear corner radar, so the obstacle vehicle in the rear right cannot be identified. In this case, there is a safety risk in changing lanes to the right. Similarly, when the vehicle changes lanes to the left on a curve that curves to the right (negative curvature), the obstacle vehicle in front of the left may exceed the effective scanning range of the left front corner radar, so the obstacle vehicle in front of the left cannot be identified. At the same time, the obstacle vehicle in the rear left may exceed the effective scanning range of the left rear corner radar, so the obstacle vehicle in the rear left cannot be identified. In this case, there is a safety risk in changing lanes to the left. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide an automatic driving lane changing method, system, readable storage medium and vehicle, aiming to solve the problem that when the automatic driving vehicle changes lanes on a curve, the obstacle vehicle on the side of the vehicle is beyond the scanning range of the vehicle radar, resulting in a safety risk in the lane changing of the automatic driving vehicle.

[0006] To achieve the above object, the present invention provides an automatic driving lane changing method on a curve, the automatic driving lane changing method on a curve comprising:

[0007] Obtain the current curvature of the curve and the current vehicle condition of the curve. If the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative, and control the sensor system to obtain the first field of view of the current curve;

[0008] Obtaining a comparison result between the current curve vehicle condition and the first field of view, and calculating a rotation angle of the sensor system based on the comparison result;

[0009] The control angle radar rotation module rotates based on the rotation angle and changes lanes.

[0010] In summary, according to an automatic driving lane changing method on a curve proposed by the present invention, the current curve curvature and the current curve vehicle condition are obtained and the sensor system is controlled to obtain the first field of view of the current curve; the comparison result of the current curve vehicle condition and the first field of view is obtained, and the rotation angle of the sensor system is calculated based on the comparison result; the angle radar rotation module is controlled to rotate based on the rotation angle, and the lane is changed. The present invention compares the curve vehicle condition obtained by the front-view camera with the radar scanning range and calculates the radar rotation angle, and controls the angle radar rotation module to drive the corner radars around the vehicle to rotate, so that the radar scan can identify the obstacle vehicle, thereby eliminating the blind spots that may exist in the existing angle radar scanning and improving the safety of changing lanes on the curve.

[0011] According to one aspect of the above technical solution, the step of obtaining the curvature of the current curve and the vehicle condition of the current curve, if the curve is curved to the left, the curvature is positive, and if the curve is curved to the right, the curvature is negative, and controlling the sensor system to obtain the first field of view of the current curve specifically includes:

[0012] Get the curvature of the current curve. If the curve bends to the left, the curvature is positive; if the curve bends to the right, the curvature is negative.

[0013] The sensor system includes a front-view camera, a left front corner radar, a right front corner radar, a left rear corner radar, and a right rear corner radar, wherein the front-view camera is used to obtain the current vehicle condition on the curve;

[0014] If the vehicle changes lanes right on a curve with positive curvature, the first field of view is provided by the right front corner radar and the right rear corner radar; if the vehicle changes lanes left on a curve with negative curvature, the first field of view is provided by the left front corner radar and the left rear corner radar.

[0015] According to one aspect of the above technical solution, the step of obtaining the comparison result between the current curve vehicle condition and the first field of view, and calculating the rotation angle of the sensor system based on the comparison result, specifically includes:

[0016] The process of obtaining the comparison result between the current curve vehicle condition and the first field of view is as follows: if no obstacle vehicle is identified in the current curve vehicle condition and the first field of view, the vehicle can directly change lanes;

[0017] If both the current curve condition and the first field of view identify an obstructed vehicle, the vehicle cannot change lanes and continues to drive along the current curve;

[0018] If an obstructed vehicle is identified in the current curve vehicle condition, and no obstructed vehicle is identified in the first field of view, the radar rotation angle is calculated.

[0019] According to one aspect of the above technical solution, the specific steps of calculating the radar rotation angle include:

[0020] When the vehicle is in a curve with positive curvature and is about to change lanes right, the lane curvature and vehicle speed of the current curve are obtained, and the right front corner radar rotation angle and the right rear corner radar rotation angle are calculated by the corner radar rotation angle calculation module. The calculation formula is as follows:

[0021] θ fr =c fr *κ(v ego *t pre )

[0022]

[0023] Among them, θ fr is the rotation angle of the right front radar, c fr is the right front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time, θ rr is the right rear corner radar rotation angle, is the right rear corner radar rotation delay time, and t is the current time.

[0024] According to one aspect of the above technical solution, when the vehicle is in a curve with negative curvature and is preparing to change lanes to the left, the lane line curvature of the current curve and the vehicle speed are obtained, and the left front corner radar rotation angle and the left rear corner radar rotation angle are calculated respectively by the corner radar rotation angle calculation module, and the calculation formula is as follows:

[0025] θ fl =c fl *κ(v ego *t pre )

[0026]

[0027] Among them, θ fl is the rotation angle of the left front radar, c fl is the left front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time, θ rl is the left rear radar rotation angle, is the rotation delay time of the left rear corner radar, and t is the current time.

[0028] The present invention further proposes an automatic driving lane changing system on a curve, wherein the automatic driving lane changing system on a curve is used to implement the automatic driving lane changing method on a curve, and the system comprises:

[0029] An acquisition module is used to acquire the curvature of the current curve and the vehicle condition of the current curve. If the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative, and the sensor system is controlled to acquire the first field of view of the current curve;

[0030] A comparison module, used for obtaining a comparison result between the current curve vehicle condition and the first field of view, and calculating a rotation angle of the sensor system based on the comparison result;

[0031] The lane changing module is used to control the angle radar rotation module to rotate based on the rotation angle and change lanes.

[0032] The present invention also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned automatic driving lane changing method on a curve.

[0033] The present invention further provides a vehicle, the vehicle comprising a memory and a processor, wherein:

[0034] The memory is used to store computer programs;

[0035] When the processor is used to execute the computer program stored in the memory, the above-mentioned automatic driving lane changing method is implemented.

[0036] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Flow chart of the method for changing lanes on a curve while automatically driving in the first embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of right lane change in the first embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of a left lane change in the first embodiment of the present invention;

[0040] Figure 4 It is a schematic diagram of the structure of the automatic driving lane changing system on a curve in the second embodiment of the present invention;

[0041] Figure 5 Schematic diagram of the structure of a vehicle using the automatic driving lane changing method on a curve in the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0045] Embodiment 1

[0046] like Figure 1 The flowchart of an automatic driving lane changing method on a curve in the present invention is shown. The automatic driving lane changing method on a curve includes the following steps S01 to S03, wherein:

[0047] S01. Obtain the current curvature of the curve and the current vehicle condition of the curve. If the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative, and control the sensor system to obtain the first field of view of the current curve.

[0048] The sensor system involved in this embodiment includes a front-view camera, a left front corner radar, a right front corner radar, a left rear corner radar, and a right rear corner radar. The front-view camera is installed in front of the vehicle to obtain the front field of view of the vehicle and the curvature of the lane line. At the same time, the vehicle is also equipped with a corner radar rotation angle calculation module and a corner radar rotation module. The corner radar rotation module is divided into a left front corner radar rotation module, a right front corner radar rotation module, a left rear corner radar rotation module, and a right rear corner radar rotation module, which are respectively installed at the left front, right front, left rear, and right rear positions of the vehicle. The corner radar rotation module can rotate at a certain angle in the horizontal direction. The left front, right front, left rear, and right rear corner radars are respectively fixedly installed on the left front corner radar rotation module, the right front corner radar rotation module, the left rear corner radar rotation module, and the right rear corner radar rotation module of the vehicle. The four corner radars are respectively used to give the relative distance between the vehicle and the left front, right front, left rear, and right rear obstacle vehicles.

[0049] The left front, right front, left rear and right rear corner radars can rotate in the horizontal direction driven by the left front corner radar rotation module, the right front corner radar rotation module, the left rear corner radar rotation module and the right rear corner radar rotation module respectively.

[0050] The curvature of the current curve is obtained through the front-view camera. If the curve is curved to the left, the curvature is positive; if the curve is curved to the right, the curvature is negative. If the vehicle changes lanes right on a curve with a positive curvature, the first field of view is provided by the right front corner radar and the right rear corner radar; if the vehicle changes lanes left on a curve with a negative curvature, the first field of view is provided by the left front corner radar and the left rear corner radar.

[0051] S02: Obtain a comparison result between the current curve vehicle condition and the first field of view, and calculate a rotation angle of the sensor system based on the comparison result.

[0052] Based on the current vehicle condition on the curve obtained by the front-view camera, the first field of view on one side of the vehicle is obtained through the radar, and the current vehicle condition on the curve and the first field of view are compared, and the radar rotation is controlled based on the comparison result.

[0053] If no obstacle vehicle is identified in the current curve condition and the first field of view, the vehicle can change lanes directly;

[0054] If both the current curve condition and the first field of view identify an obstructed vehicle, the vehicle cannot change lanes and continues to drive along the current curve;

[0055] If an obstructed vehicle is identified in the current curve condition, and an obstructed vehicle is not identified in the first field of view, the radar rotation angle is calculated to obtain the second field of view.

[0056] The angle between the second field of view and the first field of view is the radar rotation angle, and the angle radar rotation module drives the radar to rotate until the radar identifies the obstacle vehicle.

[0057] When the vehicle changes lanes right on a curve with positive curvature (curving to the left), the corner radar rotation angle calculation module calculates the angle that the right front corner radar and the right rear corner radar should rotate according to the curvature of the lane line in front of the vehicle and the speed of the vehicle, and transmits it to the right front corner radar rotation module and the right rear corner radar rotation module to drive the right front corner radar and the right rear corner radar to perform the rotation action respectively.

[0058] When the vehicle changes lanes to the left on a curve with negative curvature (curving to the right), the corner radar rotation angle calculation module calculates the angle that the left front corner radar and the left rear corner radar should rotate according to the curvature of the lane line in front of the vehicle and the speed of the vehicle, and transmits it to the left front corner radar rotation module and the left rear corner radar rotation module to drive the left front corner radar and the left rear corner radar to perform the rotation action respectively.

[0059] like Figure 2 and Figure 3 As shown in the figure, the autonomous driving vehicle is on a curve with positive curvature (curving to the left) and is preparing to change lanes right. At this time, the autonomous driving vehicle uses the right front corner radar to scan the obstacle vehicle in the right front direction of the vehicle. Due to the limitation of the corner radar scanning angle (the red scanning range in the figure below), the vehicle fails to scan the obstacle vehicle in the right front. Similarly, the autonomous driving vehicle uses the right rear corner radar to scan the obstacle vehicle in the right rear direction of the vehicle. Due to the limitation of the corner radar scanning angle (the red scanning range in the figure below), the vehicle fails to scan the obstacle vehicle in the right rear. There may be risks in changing lanes at this time.

[0060] The corner radar rotation angle calculation module calculates the right front corner radar rotation angle and the right rear corner radar rotation angle according to the lane line curvature and the vehicle speed given by the front-view camera according to the calculation formula, and sends them to the right front corner radar rotation module and the right rear corner radar rotation module to drive the right front corner radar and the right rear corner radar to rotate respectively. The scanning range of the corner radar after rotation is shown in the green area in the figure below. At this time, the corner radar can scan the obstacle vehicles in the right front and right rear, improving the safety of lane change. The calculation formula is as follows:

[0061] θ fr =c fr *κ(v ego *t pre )

[0062]

[0063] Among them, θ fr is the rotation angle of the right front radar, c fr is the right front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time (related to the vehicle speed), θ rr is the right rear radar rotation angle, is the rotation delay time of the right rear corner radar (related to the vehicle speed), and t is the current time.

[0064] Similarly, when the autonomous driving vehicle changes lanes to the left on a curve with negative curvature (curving to the right), the left front corner radar rotation module and the left rear corner radar rotation module drive the left front corner radar and the left rear corner radar to rotate respectively, scanning the obstacle vehicles in the left front and left rear to improve the safety of lane change. The rotation angle of the left rear corner radar rotation module after the left front corner radar is calculated according to the following calculation formula:

[0065] θ fl =c fl *κ(v ego *t pre )

[0066]

[0067] Among them, θ fl is the rotation angle of the left front radar, c fl is the left front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time (related to the vehicle speed), θ rl is the left rear radar rotation angle, is the rotation delay time of the left rear corner radar (related to the vehicle speed), and t is the current time.

[0068] S03. Control the angle radar rotation module to rotate based on the rotation angle and change lanes.

[0069] The corner radar rotation module drives the radar to rotate and change lanes based on the current curve conditions.

[0070] In summary, according to an automatic driving lane changing method on a curve proposed by the present invention, the current curve curvature and the current curve vehicle condition are obtained and the sensor system is controlled to obtain the first field of view of the current curve; the comparison result of the current curve vehicle condition and the first field of view is obtained, and the rotation angle of the sensor system is calculated based on the comparison result; the angle radar rotation module is controlled to rotate based on the rotation angle, and the lane is changed. The present invention compares the curve vehicle condition obtained by the front-view camera with the radar scanning range and calculates the radar rotation angle, and controls the angle radar rotation module to drive the corner radars around the vehicle to rotate, so that the radar scan can identify the obstacle vehicle, thereby eliminating the blind spots that may exist in the existing angle radar scanning and improving the safety of changing lanes on the curve.

[0071] Embodiment 2

[0072] Another aspect of the present invention is to provide an automatic driving lane changing system. Figure 4 , which is a schematic diagram of the structure of an automatic driving lane changing system on a curve in a second embodiment of the present invention, and the automatic driving lane changing system on a curve includes:

[0073] The acquisition module 11 is used to acquire the curvature of the current curve and the vehicle condition of the current curve. If the curve is curved to the left, the curvature is positive, and if the curve is curved to the right, the curvature is negative, and control the sensor system to acquire the first field of view of the current curve;

[0074] A comparison module 12, configured to obtain a comparison result between the current curve vehicle condition and the first field of view, and calculate a rotation angle of the sensor system based on the comparison result;

[0075] The lane changing module 13 is used to control the angle radar rotation module to rotate based on the rotation angle and change lanes.

[0076] Furthermore, in some optional embodiments, the acquisition module 11 further includes:

[0077] The acquisition unit is used to acquire the curvature of the current curve. If the curve bends to the left, the curvature is positive; if the curve bends to the right, the curvature is negative;

[0078] The sensor system includes a front-view camera, a left front corner radar, a right front corner radar, a left rear corner radar, and a right rear corner radar, wherein the front-view camera is used to obtain the current vehicle condition on the curve;

[0079] If the vehicle changes lanes right on a curve with positive curvature, the first field of view is provided by the right front corner radar and the right rear corner radar; if the vehicle changes lanes left on a curve with negative curvature, the first field of view is provided by the left front corner radar and the left rear corner radar.

[0080] Furthermore, in some optional embodiments, the comparison module 12 further includes:

[0081] A comparison unit, for obtaining the comparison result of the current curve vehicle condition and the first field of view, wherein if no obstacle vehicle is identified in the current curve vehicle condition and the first field of view, the vehicle can directly change lanes;

[0082] If both the current curve condition and the first field of view identify an obstructed vehicle, the vehicle cannot change lanes and continues to drive along the current curve;

[0083] If an obstructed vehicle is identified in the current curve condition, and an obstructed vehicle is not identified in the first field of view, the radar rotation angle is calculated to obtain the second field of view.

[0084] The specific steps of calculating the radar rotation angle include:

[0085] When the vehicle is in a curve with positive curvature and is about to change lanes right, the lane curvature and vehicle speed of the current curve are obtained, and the right front corner radar rotation angle and the right rear corner radar rotation angle are calculated by the corner radar rotation angle calculation module. The calculation formula is as follows:

[0086] θ fr =c fr *κ(v ego *t pre )

[0087]

[0088] Among them, θ fr is the rotation angle of the right front radar, c fr is the right front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time, θ rris the right rear radar rotation angle, is the right rear corner radar rotation delay time, and t is the current time.

[0089] When the vehicle is in a curve with negative curvature and is about to change lanes to the left, the lane curvature and vehicle speed of the current curve are obtained, and the left front corner radar rotation angle and the left rear corner radar rotation angle are calculated by the corner radar rotation angle calculation module. The calculation formula is as follows:

[0090] θ fl =c fl *κ(v ego *t pre )

[0091]

[0092] Among them, θ fl is the rotation angle of the left front radar, c fl is the left front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time, θ rl is the left rear radar rotation angle, is the rotation delay time of the left rear corner radar, and t is the current time.

[0093] In summary, according to an automatic driving lane changing system proposed by the present invention, the current curve curvature and the current curve vehicle condition are obtained and the sensor system is controlled to obtain the first field of view of the current curve; the comparison result of the current curve vehicle condition and the first field of view is obtained, and the rotation angle of the sensor system is calculated based on the comparison result; the angle radar rotation module is controlled to rotate based on the rotation angle, and the lane is changed. The present invention compares the curve vehicle condition obtained by the front-view camera with the radar scanning range and calculates the radar rotation angle, and controls the angle radar rotation module to drive the corner radars around the vehicle to rotate, so that the radar scan can identify the obstacle vehicle, thereby eliminating the blind spots that may exist in the existing angle radar scanning and improving the safety of changing lanes on the curve.

[0094] Embodiment 3

[0095] On the other hand, the present invention further proposes a computer-readable storage medium, on which one or more computer programs are stored, which implement the above-mentioned automatic driving lane changing method when executed by a processor.

[0096] Those skilled in the art will appreciate that the logic or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable storage medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0097] More specific examples of computer-readable storage media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in another suitable manner as necessary, and then stored in a computer memory.

[0098] Embodiment 4

[0099] Another aspect of the present invention provides a vehicle, see Figure 5 , shown is a vehicle in the fourth embodiment of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor, wherein when the processor 10 executes the computer program 30, the automatic driving lane changing method on a curve as described above is implemented.

[0100] Specifically, the vehicle may be a computer, a vehicle testing device, etc. The processor 10 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip in some embodiments, and is used to run the program code or process data stored in the memory 20, such as executing an access restriction program.

[0101] The memory 20 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 20 may be an internal storage unit of the vehicle, such as a hard disk of the vehicle. In other embodiments, the memory 20 may also be an external storage device of the vehicle, such as a plug-in hard disk equipped on the vehicle, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 20 may also include both an internal storage unit of the vehicle and an external storage device. The memory 20 may be used not only to store application software and various types of data installed in the vehicle, but also to temporarily store data that has been output or is to be output.

[0102] It should be pointed out that Figure 5 The structure shown does not constitute a limitation on the vehicle. In other embodiments, the vehicle may include Figure 5 Fewer or more components may be shown, or certain components may be combined, or arranged differently.

[0103] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for changing lanes on a curve while driving an automatic driving vehicle, characterized in that: The method for autonomous driving lane change on a curve includes: Obtain the current curve curvature and the current curve vehicle condition. If the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative, and control the sensor system to obtain the first field of view of the current curve; Obtaining a comparison result between the current curve vehicle condition and the first field of view, and calculating a rotation angle of the sensor system based on the comparison result; The control angle radar rotation module rotates based on the rotation angle and changes lanes.

2. The method for changing lanes on a curve while automatically driving according to claim 1, characterized in that: The step of obtaining the curvature of the current curve and the vehicle condition of the current curve, wherein if the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative, and controlling the sensor system to obtain the first field of view of the current curve specifically includes: The sensor system includes a front-view camera, a left front corner radar, a right front corner radar, a left rear corner radar, and a right rear corner radar, wherein the front-view camera is used to obtain the current vehicle condition on the curve; If the vehicle changes lanes right on a curve with positive curvature, the first field of view is provided by the right front corner radar and the right rear corner radar; if the vehicle changes lanes left on a curve with negative curvature, the first field of view is provided by the left front corner radar and the left rear corner radar.

3. The method for changing lanes on a curve while automatically driving according to claim 1, characterized in that: The step of obtaining a comparison result between the current curve vehicle condition and the first field of view, and calculating a rotation angle of the sensor system based on the comparison result specifically includes: The process of obtaining the comparison result between the current curve vehicle condition and the first field of view is as follows: if no obstacle vehicle is identified in the current curve vehicle condition and the first field of view, the vehicle can directly change lanes; If both the current curve condition and the first field of view identify an obstructed vehicle, the vehicle cannot change lanes and continues to drive along the current curve; If an obstructed vehicle is identified in the current curve condition, and an obstructed vehicle is not identified in the first field of view, the radar rotation angle is calculated to obtain the second field of view.

4. The method for changing lanes on a curve while automatically driving according to claim 3, characterized in that: The specific steps of calculating the radar rotation angle include: When the vehicle is in a curve with positive curvature and is about to change lanes right, the lane curvature and vehicle speed of the current curve are obtained, and the right front corner radar rotation angle and the right rear corner radar rotation angle are calculated by the corner radar rotation angle calculation module. The calculation formula is as follows: θ fr =c fr *k(v ego *t pre ) Among them, θ fr is the rotation angle of the right front radar, c fr is the right front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time, θ rr is the right rear radar rotation angle, is the right rear corner radar rotation delay time, and t is the current time.

5. The method for changing lanes on a curve while automatically driving according to claim 4, characterized in that: When the vehicle is in a curve with negative curvature and is about to change lanes to the left, the lane curvature and vehicle speed of the current curve are obtained, and the left front corner radar rotation angle and the left rear corner radar rotation angle are calculated by the corner radar rotation angle calculation module. The calculation formula is as follows: i fl =c fl *k(v ego *t pre ) Among them, θ fl is the rotation angle of the left front radar, c fl is the left front radar rotation coefficient, κ is the lane curvature, v ego is the vehicle speed, t pre is the preview time, θ rl is the left rear radar rotation angle, is the rotation delay time of the left rear corner radar, and t is the current time.

6. An automatic driving lane changing system on a curve, the automatic driving lane changing system on a curve being used to implement the automatic driving lane changing method on a curve according to any one of claims 1 to 5, the system comprising: An acquisition module is used to acquire the curvature of the current curve and the vehicle condition of the current curve. If the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative, and the sensor system is controlled to acquire the first field of view of the current curve; A comparison module, used for obtaining a comparison result between the current curve vehicle condition and the first field of view, and calculating a rotation angle of the sensor system based on the comparison result; The lane changing module is used to control the angle radar rotation module to rotate based on the rotation angle and change lanes.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the automatic driving lane changing method on a curve as described in any one of claims 1 to 5 is implemented.

8. A vehicle, characterized in that: The vehicle comprises a memory and a processor, wherein: The memory is used to store computer programs; When the processor is used to execute the computer program stored in the memory, the automatic driving lane changing method on a curve as described in any one of claims 1-5 is implemented.

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