The invention provides an automatic lane changing method and device based on angular millimeter-wave radars, a vehicle and a storage medium, and is applied to the vehicle, the left side and the right side of the vehicle are each provided with at least one pair of angular millimeter-wave radars, and each pair of angular millimeter-wave radars is located on the front side and the rear side of the vehicle. The method comprises the following steps: determining a target vehicle in a lane-to-be-changed direction according to detection data of an angular millimeter wave radar on the same side as the lane-to-be-changed direction; predicting a front safety area and a rear safety area of the vehicle during lane changing according to the course information and the driving information of the vehicle; according to one or more of the position relation between the target vehicle and the front safety area and the position relation between the target vehicle and the rear safety area and the relative information of the vehicle and the target vehicle, the vehicle is controlled to execute the lane changing operation in the lane-to-be-changed direction. According to the invention, lane changing risk assessment can be carried out based on the detection data of the angle millimeter wave radar, and the requirement of a low-cost aided navigation driving scene is met.
本申请提供一种基于角毫米波雷达自动变道方法、装置、车辆和存储介质,应用于车辆,车辆左侧和右侧均设置有至少一对角毫米波雷达,每对角毫米波雷达分别位于车辆前侧和后侧,该方法包括:根据与待变道方向同侧的角毫米波雷达的检测数据,确定在待变道方向的目标车辆;根据车辆的航向信息和行驶信息预测车辆在变道时的前方安全区域和后方安全区域;根据目标车辆与前方安全区域、后方安全区域的位置关系、车辆与目标车辆的相对信息中的一个或多个,控制车辆执行待变道方向的变道操作。本申请用以达到基于角毫米波雷达的检测数据也可以进行变道危险评估,满足低成辅助导航驾驶场景需求的效果。
Automatic lane changing method and device based on angle millimeter wave radar, vehicle and storage medium
基于角毫米波雷达自动变道方法、装置、车辆和存储介质
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Vehicle lane changing method, vehicle lane changing device, electronic equipment and storage medium
European Patent Office | 2025
|Automatic lane changing method and device of vehicle, vehicle and storage medium
European Patent Office | 2022
|Vehicle lane changing planning method, automatic driving vehicle and storage medium
European Patent Office | 2020
|Automatic driving vehicle lane changing control method and device, vehicle and storage medium
European Patent Office | 2021
|