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

Abstract

The application discloses an automatic driving curve lane changing method and system, a readable storage medium and a vehicle. The method comprises the following steps: acquiring a current curve curvature and a current curve vehicle condition, and controlling a sensor system to acquire a first visual field of the current curve; acquiring a comparison result of the current curve vehicle condition and the first visual field, calculating a sensor system rotation angle based on the comparison result; and controlling an angular radar rotation module to rotate based on the rotation angle and change lanes. The application compares the curve vehicle condition acquired by a front-view camera with a radar scanning range, calculates a radar rotation angle, and drives the angular radar around the vehicle to rotate through the angular radar rotation module, so that the radar scans and identifies an obstacle vehicle, thereby eliminating the possible blind area of the existing angular radar scanning and improving the safety of curve lane changing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, in particular to an automatic driving curve lane changing method, system, readable storage medium and vehicle. BACKGROUND

[0002] When a vehicle is driving on a highway, it often needs to change lanes when encountering obstacles or slow-moving vehicles. During the lane changing process, an angle radar is used to determine the relative distance between the vehicle and the surrounding obstacle vehicles to determine whether it is suitable to change lanes. When the vehicle is changing lanes on a curve, the position of the surrounding obstacle vehicles may exceed the scanning boundary of the angle radar, resulting in a certain risk of lane changing in the presence of obstacle vehicles.

[0003] Currently, four angle radars are generally used to implement lane changing technology and 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 angle radars are used to determine the relative distance between the vehicle and the left obstacle vehicle; when the vehicle changes lanes to the right, the right front and right rear angle radars are used to determine the relative distance between the vehicle and the right obstacle vehicle.

[0004] However, when the vehicle is changing lanes to the right on a curve that is bending to the left (positive curvature), the right front obstacle vehicle may exceed the effective scanning range of the right front angle radar, so that the right front obstacle vehicle cannot be identified. At the same time, the obstacle vehicle behind the right may exceed the effective scanning range of the right rear angle radar, so that the obstacle vehicle behind the right cannot be identified. At this time, there is a safety risk in performing right lane changing. Similarly, when the vehicle is changing lanes to the left on a curve that is bending to the right (negative curvature), the left front obstacle vehicle may exceed the effective scanning range of the left front angle radar, so that the left front obstacle vehicle cannot be identified. At the same time, the obstacle vehicle behind the left may exceed the effective scanning range of the left rear angle radar, so that the obstacle vehicle behind the left cannot be identified. At this time, there is a safety risk in performing left lane changing. SUMMARY

[0005] Therefore, the present application aims to provide an automatic driving curve lane changing method, system, readable storage medium and vehicle, which solves the problem that the obstacle vehicles on the side of the vehicle exceed the scanning range of the vehicle radar when the automatic driving vehicle changes lanes on a curve, resulting in a safety risk in lane changing of the automatic driving vehicle.

[0006] To achieve the above-mentioned purpose, the present application provides an automatic driving curve lane changing method, which comprises:

[0007] obtaining the current curve curvature and the current curve vehicle condition, the curve bends to the left, so the curvature is positive, the curve bends to the right, so the curvature is negative, and controlling a sensor system to obtain a first field of view of the current curve;

[0008] acquire the current curve of the curve and the current curve condition of the curve, and control the sensor system to acquire the first visual field of the current curve;

[0009] The control angle radar rotating module rotates based on the rotating angle and performs lane changing.

[0010] In summary, according to the automatic driving curve lane changing method provided by the present application, the current curve condition of the curve is acquired, the first visual field of the current curve is acquired by controlling the sensor system, the comparison result of the current curve condition of the curve and the first visual field is acquired, and the rotating angle of the sensor system is calculated based on the comparison result. The control angle radar rotating module rotates based on the rotating angle and performs lane changing. The present application compares the curve condition acquired by the front-view camera and the scanning range of the radar, calculates the rotating angle of the radar, and drives the angle radar around the vehicle to rotate through the control angle radar rotating module, so that the radar scans and identifies the obstacle vehicle, thereby eliminating the possible blind area of the existing angle radar scanning and improving the safety of curve lane changing.

[0011] According to an aspect of the above technical solution, the step of acquiring the current curve of the curve and the current curve condition of the curve, and controlling the sensor system to acquire the first visual field of the current curve, specifically includes:

[0012] The current curve of the curve is acquired, and if the curve bends to the left, the curvature is positive, and if the curve bends to the right, the curvature is negative.

[0013] The sensor system includes a front-view camera, a left front angle radar, a right front angle radar, a left rear angle radar, and a right rear angle radar, and the front-view camera is used to acquire the current curve condition of the curve.

[0014] If the ego vehicle performs right lane changing in the curve with positive curvature, the first visual field is provided by the right front angle radar and the right rear angle radar, and if the ego vehicle performs left lane changing in the curve with negative curvature, the first visual field is provided by the left front angle radar and the left rear angle radar.

[0015] According to an aspect of the above technical solution, the step of acquiring the comparison result of the current curve condition of the curve and the first visual field, and calculating the rotating angle of the sensor system based on the comparison result, specifically includes:

[0016] The process of acquiring the comparison result of the current curve condition of the curve and the first visual field is that if there is no obstacle vehicle identified in the current curve condition of the curve and the first visual field, the vehicle can directly perform lane changing.

[0017] If there is an obstacle vehicle identified in the current curve condition of the curve and the first visual field, the vehicle cannot change lanes and continues to drive along the current curve.

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

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

[0020] When the ego vehicle is in a curve with positive curvature and is preparing to change lanes to the right, the lane line curvature of the current curve and the ego vehicle speed 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, and the calculation formula is as follows:

[0021] θ fr = c fr * κ(v ego * t pre )

[0022]

[0023] Where θ fr is the right front corner radar rotation angle, c fr is the right front corner radar rotation coefficient, κ is the lane line curvature, v ego is the ego 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 an aspect of the above technical solution, when the ego 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 ego vehicle speed 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, and the calculation formula is as follows:

[0025] θ fl = c fl * κ(v ego * t pre )

[0026]

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

[0028] The application further provides an automatic driving curve lane changing system for implementing the automatic driving curve lane changing method.

[0029] An acquisition module is configured to acquire a current curve curvature and a current curve driving condition, the curvature is positive when the curve bends to the left, and the curvature is negative when the curve bends to the right, and control a sensor system to acquire a first field of view of the current curve.

[0030] A comparison module is configured to acquire a comparison result of the current curve driving condition and the first field of view, and calculate a rotation angle of the sensor system based on the comparison result.

[0031] A lane changing module is configured to control the angular radar rotation module to rotate based on the rotation angle, and perform lane changing.

[0032] The application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the automatic driving curve lane changing method.

[0033] The application further provides a vehicle, which comprises a memory and a processor, wherein:

[0034] The memory is configured to store a computer program.

[0035] The processor is configured to execute the computer program stored in the memory to implement the automatic driving curve lane changing method.

[0036] Additional aspects and advantages of the application will be given in part in the following description, become apparent in part from the following description, or be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A flow chart of the automatic driving curve lane changing method in the first embodiment of the application;

[0038] Figure 2 A right lane changing schematic diagram in the first embodiment of the application;

[0039] Figure 3 A left lane changing schematic diagram in the first embodiment of the application;

[0040] Figure 4 A structure schematic diagram of the automatic driving curve lane changing system in the second embodiment of the application;

[0041] Figure 5 A structure schematic diagram of the vehicle applying the automatic driving curve lane changing method in the fourth embodiment of the application. DETAILED DESCRIPTION

[0042] For the purpose of promoting an understanding of the application, the application will now be described in greater detail with reference to the figures. Various embodiments of the application are depicted in the drawings. The application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art.

[0043] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present. As used herein, the terms "vertical", "horizontal", "left", "right", and the like are merely used for the purpose of explanation.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0045] Embodiment one

[0046] As Figure 1 The flow chart shows an automatic driving curve lane changing method in the application, which comprises the following steps S01-S03:

[0047] S01, the current curve and the current curve are obtained. 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. The sensor system is controlled to obtain the first field of view of the 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 under the driving of the left front corner radar rotating module, right front corner radar rotating module, left rear corner radar rotating module and right rear corner radar rotating module.

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

[0051] S02, obtaining the current curve condition and the first field of view comparison result, and calculating the sensor system rotation angle based on the comparison result.

[0052] Based on the current curve condition obtained by the front-view camera, the first field of view of one side of the vehicle is obtained by the radar, and the current curve condition and the first field of view are compared, and the radar 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 directly change lanes;

[0054] If an obstacle vehicle is identified in the current curve condition and the first field of view, the vehicle cannot change lanes and continues to drive along the current curve;

[0055] If an obstacle vehicle is identified in the current curve condition and no obstacle vehicle is identified in the first field of view, the radar rotation angle is calculated to obtain a second field of view.

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

[0057] When the ego vehicle is right-lane-changing on the curve with positive curvature (bending to the left), the corner radar rotation angle calculation module calculates the angle at which the right front corner radar and the right rear corner radar should rotate according to the curvature of the vehicle front lane line and the ego vehicle speed, and transmits the angle to the right front corner radar rotating module and the right rear corner radar rotating module to drive the right front corner radar and the right rear corner radar to perform the rotating action, respectively.

[0058] When the ego vehicle is left-lane-changing on the curve with negative curvature (bending to the right), the corner radar rotation angle calculation module calculates the angle at which the left front corner radar and the left rear corner radar should rotate according to the curvature of the vehicle front lane line and the ego vehicle speed, and transmits the angle to the left front corner radar rotating module and the left rear corner radar rotating module to drive the left front corner radar and the left rear corner radar to perform the rotating action, respectively.

[0059] AsFigure 2 and Figure 3 As shown, the autonomous vehicle is on a curve with positive curvature (curving to the left) and is preparing to change lanes to the right. At this time, the autonomous vehicle uses its right front corner radar to scan for obstacles in front of its own right. Due to the limitation of the radar's scanning angle (the red scanning range in the figure below), the vehicle fails to scan for obstacles in front of its right. Similarly, the autonomous vehicle uses its right rear corner radar to scan for obstacles behind its own right. Due to the limitation of the radar's scanning angle (the red scanning range in the figure below), the vehicle fails to scan for obstacles behind its right. Executing a lane change at this time may pose a risk.

[0060] The corner radar rotation angle calculation module calculates the rotation angles of the right front corner radar and the right rear corner radar according to the lane curvature and vehicle speed provided by the forward-facing camera, and sends them to the right front corner radar rotation module and the right rear corner radar rotation module respectively to rotate the right front corner radar and the right rear corner radar. The scanning range of the rotated corner radar is shown in the green area in the figure below. At this time, the corner radar can scan for obstacles in front of and behind the right, improving the safety of lane changing. The calculation formula is as follows:

[0061] θ fr =c fr *κ(v ego *t pre )

[0062]

[0063] Where, θ fr c is the rotation angle of the radar at the right front corner. fr κ is the right front corner radar rotation coefficient, v is the lane line curvature, and v is the right front corner radar rotation coefficient. ego It is the vehicle speed, t pre It is the aiming time (related to the vehicle's speed), θ rr It is the rotation angle of the radar at the right rear corner. It is the right rear corner radar rotation delay time (related to the vehicle speed), and t is the current time.

[0064] Similarly, when an autonomous 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 respectively drive the left front corner radar and the left rear corner radar to rotate, scanning for obstacle vehicles to the left front and left rear, thus improving the safety of lane changes. The rotation angles of the left front corner radar and the left rear corner radar rotation modules are calculated according to the following formulas:

[0065] θ fl =c fl *κ(v ego *t pre )

[0066]

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

[0068] S03, the corner radar rotation module rotates based on the rotation angle, and changes lanes.

[0069] The corner radar rotation module drives the radar to rotate, and changes lanes based on the current curved road conditions.

[0070] In summary, according to the automatic driving curved lane changing method provided by the present application, the current curved road curvature and the current curved road conditions are obtained, and the sensor system is controlled to obtain the first field of view of the current curved road. The comparison result of the current curved road conditions and the first field of view is obtained, and the rotation angle of the sensor system is calculated based on the comparison result. The corner radar rotation module is controlled to rotate based on the rotation angle, and the lane is changed. The present application compares the curved road conditions obtained by the front-view camera with the radar scanning range and calculates the radar rotation angle, and drives the corner radars around the vehicle to rotate through the control of the corner radar rotation module, so that the radar scans and identifies the obstacle vehicle, thereby eliminating the possible blind area of the existing corner radar scanning, and improving the safety of the curved lane changing.

[0071] Embodiment two

[0072] The present application also provides an automatic driving curved lane changing system, please refer to Figure 4 , which is a structure schematic diagram of the automatic driving curved lane changing system in the second embodiment of the present application. The automatic driving curved lane changing system comprises:

[0073] The acquisition module 11 is used for acquiring the current curved road curvature and the current curved road conditions. If the curved road bends to the left, the curvature is positive, and if the curved road bends to the right, the curvature is negative. The sensor system is controlled to obtain the first field of view of the current curved road.

[0074] The comparison module 12 is used for obtaining the comparison result of the current curved road conditions and the first field of view, and calculating the rotation angle of the sensor system based on the comparison result.

[0075] The lane changing module 13 is used for controlling the corner radar rotation module to rotate based on the rotation angle, and changing lanes.

[0076] Further, in some optional embodiments, the acquisition module 11 further comprises:

[0077] an acquisition unit, configured to acquire the current curve curvature, wherein the curvature is positive if the curve bends to the left, and the curvature is negative if the curve bends to the right;

[0078] The sensor system comprises 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 configured to acquire the current curve condition of the curve;

[0079] If the ego vehicle is right-lane-changing on the 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 ego vehicle is left-lane-changing on the curve with negative curvature, the first field of view is provided by the left front corner radar and the left rear corner radar.

[0080] Further, in some optional embodiments, the comparison module 12 further comprises:

[0081] a comparison unit, configured to compare the current curve condition and the first field of view, wherein if no obstacle vehicle is identified in the current curve condition and the first field of view, the ego vehicle can directly perform lane-changing;

[0082] if an obstacle vehicle is identified in the current curve condition and the first field of view, the ego vehicle cannot perform lane-changing and continues to drive along the current curve;

[0083] if an obstacle vehicle is identified in the current curve condition and no obstacle vehicle is identified in the first field of view, the radar rotation angle is calculated to acquire a second field of view.

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

[0085] When the ego vehicle is on the curve with positive curvature and is ready to perform right-lane-changing, the lane line curvature of the current curve and the ego vehicle speed are acquired, 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, and the calculation formula is as follows:

[0086] θ fr = c fr * κ(v ego * t pre )

[0087]

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

[0089] When the ego vehicle is in a curve with negative curvature and is preparing to change lanes to the left, the curvature of the lane line of the current curve and the speed of the ego vehicle are obtained, 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, and the calculation formula is as follows:

[0090] θ fl = c fl * kappa (v ego * t pre )

[0091]

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

[0093] In summary, according to the automatic driving curve lane changing system provided by the present application, 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 current curve vehicle condition and the comparison result of the first field of view are obtained, and the rotation angle of the sensor system is calculated based on the comparison result; the corner radar rotation module is controlled to rotate based on the rotation angle, and lane changing is performed. The present application compares the curve vehicle condition obtained by the front-view camera with the radar scanning range, calculates the radar rotation angle, and drives the corner radars around the vehicle to rotate through the control of the corner radar rotation module, so that the radar scanning can identify the obstacle vehicle, thereby eliminating the possible blind area of the existing corner radar scanning and improving the safety of curve lane changing.

[0094] Embodiment three

[0095] In another aspect, the present application also provides a computer readable storage medium having one or more computer programs stored thereon, which programs are executed by a processor to implement the above-mentioned automatic driving curve lane changing method.

[0096] Those skilled in the art can understand that the logic or steps represented in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, which can be embodied in any computer readable storage medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions execution system, apparatus or device. For the purpose of this specification, the "computer readable storage medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instruction execution system, apparatus or device.

[0097] More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable storage medium can even be paper or other suitable medium upon which the program is printed, because the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by electronic means to obtain, interpret or process the program, and then store it in a computer memory if necessary.

[0098] Embodiment Four

[0099] Another aspect of the present application also provides a vehicle, please refer to Figure 5 , which is a vehicle in the fourth embodiment of the present application, comprising a memory 20, a processor 10 and a computer program 30 stored in the memory and executable on the processor, the processor 10 executes the computer program 30 to realize the automatic driving curve lane changing method as described above.

[0100] Among them, the vehicle can be a computer, a whole vehicle test device, etc., the processor 10 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip in some embodiments, for running program code or processing data stored in the memory 20, such as executing access restriction program.

[0101] The memory 20 includes at least one type of readable storage medium, including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 20 can be an internal storage unit of the vehicle, such as a hard disk of the vehicle, in some embodiments. The memory 20 can also be an external storage device of the vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., equipped on the vehicle, in other embodiments. Further, the memory 20 can include both an internal storage unit and an external storage device of the vehicle. The memory 20 can be used to store application software installed in the vehicle and various data, and to temporarily store data that has been output or will be output.

[0102] It is noted that Figure 5 The illustrated structure does not limit the vehicle, which can include more or fewer components than those shown, or a combination of some components, or different arrangement of components, in other embodiments. Figure 5 Fewer or more components can be shown, or some components can be combined, or different components can be arranged.

[0103] It is understood that portions of the application can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies known in the art or a combination thereof can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0104] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for autonomous driving lane changing on curves, characterized in that, The method for autonomous driving lane changing on curves includes: The sensor system includes a front-view camera, a left front-angle radar, a right front-angle radar, a left rear-angle radar, and a right rear-angle radar. The front-view camera is used to acquire the current curve conditions and lane curvature. The corner radars acquire a first field of view. If the vehicle is changing lanes to the right in a curve with positive curvature, the first field of view is provided by the right front-angle radar and the right rear-angle radar; if the vehicle is changing lanes to the left in a curve with negative curvature, the first field of view is provided by the left front-angle radar and the left rear-angle radar. If no obstructing vehicle is detected in the current curve and in the first field of view, the vehicle can change lanes directly. If an obstructing vehicle is detected in both the current curve and in the first field of view, the vehicle cannot change lanes and continues to drive along the current curve. If an obstructing vehicle is detected in the current curve but not in the first field of view, the radar rotation angle is calculated based on the lane curvature, vehicle speed, pre-aiming time, and rear radar rotation delay time to obtain a second field of view. The control angle radar rotation module rotates based on the rotation angle and changes lanes.

2. The autonomous driving lane-changing method for cornering according to claim 1, characterized in that, The specific steps for calculating the radar rotation angle include: When the vehicle is in a curve with positive curvature and is preparing to change lanes to the right, the curvature of the lane lines and the vehicle speed of the current curve are obtained. The rotation angles of the right front radar and the right rear radar are calculated by the corner radar rotation angle calculation module. The calculation formulas are as follows: in, The rotation angle of the radar at the right front corner. It is the radar rotation coefficient at the right front corner. It is the curvature of the lane lines. It is the vehicle's speed. It's the aiming time. It is the rotation angle of the radar at the right rear corner. It is the rotation delay time of the radar in the right rear corner. This is the current time.

3. The autonomous driving lane-changing method for cornering according to claim 2, characterized in that, When the vehicle is in a curve with negative curvature and is preparing to change lanes to the left, the curvature of the lane lines and the vehicle speed of the current curve are obtained. The rotation angles of the left front radar and the left rear radar are calculated by the corner radar rotation angle calculation module. The calculation formula is as follows: in, The rotation angle of the radar at the left front corner. It is the radar rotation coefficient at the left front corner. It is the curvature of the lane lines. It is the vehicle's speed. It's the aiming time. It is the rotation angle of the radar at the left rear corner. It is the rotation delay time of the radar in the left rear corner. This is the current time.

4. An autonomous driving lane-changing system for cornering, the autonomous driving lane-changing system for cornering is used to implement the autonomous driving lane-changing method according to any one of claims 1-3, the system comprising: The acquisition module is used to acquire the current curvature of the curve and the current vehicle condition of the curve. If the curve curves to the left, the curvature is positive; if the curve curves to the right, the curvature is negative. It also controls the sensor system to acquire the first field of view of the current curve. The comparison module is used to obtain the comparison result between the current curve vehicle condition and the first field of view, and calculate the 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.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the autonomous driving curve lane changing method as described in any one of claims 1-3.

6. A vehicle, characterized in that, The vehicle includes a memory and a processor, wherein: The memory is used to store computer programs; When the processor executes the computer program stored in the memory, it implements the autonomous driving curve lane changing method according to any one of claims 1-3.

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