CN103832436A - Control method for lane keeping assist of vehicle and apparatus for lane keeping assist implementing the same - Google Patents
Control method for lane keeping assist of vehicle and apparatus for lane keeping assist implementing the same Download PDFInfo
- Publication number
- CN103832436A CN103832436A CN201310499865.2A CN201310499865A CN103832436A CN 103832436 A CN103832436 A CN 103832436A CN 201310499865 A CN201310499865 A CN 201310499865A CN 103832436 A CN103832436 A CN 103832436A
- Authority
- CN
- China
- Prior art keywords
- lane mark
- vehicle
- retentive control
- chaufeur
- separation time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
Abstract
The invention provides a control method for lane keeping assist of vehicle; the method comprises the following steps: calculating lane separating time; monitoring front watching level of the driver; determining whether to interfere with lane keeping assist control according to the lane separating time and the front watching level of the driver; by employing the invention, before the vehicle really separates from the lane, a lane keeping control time point is advanced, so unnecessary steering control can be minimized, thereby minimizing a steering abnormal feeling of the driver.
Description
Technical field
The present invention relates to the lane mark retentive control method of vehicle and realize its lane mark retentive control device, relate in particular to a kind of lane mark retentive control method of the vehicle that reflects driver status and realize its lane mark retentive control device.
Background technology
In the control system of intelligent vehicle, lane mark retentive control device (Lane Keeping Assist System, hereinafter to be referred as LKAS) is the necessary system of driver safety.This system is configured conventionally can inspection vehicle diatom and the motoring condition of senses vehicle, carries out lane mark retentive control or gives a warning to departing from lane mark, makes vehicle not depart from the lane mark of detection.
With regard to lane mark, can, by being installed on the camera sensing device between Windshield and the room mirror of vehicle, obtain the road image in front, and in LKAS camera system, the road image obtaining carried out to image processing and detect.And the motoring condition of vehicle can be by being installed on various sensors and electronic control unit (the Electronic Control Unit of vehicle; ECU) information of obtaining is carried out sensing.And then, for the lane mark retentive control of vehicle, can utilize such as vehicle with respect to information such as the transversal displacement (lateral offset) of the lane mark detecting, the curvature (curvature) of road, the lane mark detecting and course angles (heading angle).
In the time that vehicle will depart from lane mark, LKAS turns to actuator (actuator), i.e. electric boosting steering system (Motor Driven Power System by vehicle; MDPS) control and turn to, control and make corresponding vehicle keep lane mark to travel.
But, in the situation that actual vehicle will depart from lane mark, in the time that the period of LKAS puts early, existence realizes the unnecessary problem that turns to control, on the contrary, in the time of period point evening of LKAS, there is the problem that turns to sense out of control of controlling that turns to because of sharply.Particularly when vehicle travels or travels on the large road of curvature to lane mark edge side, even if there is chaufeur normally to grasp bearing circle also to turn to the problem of intervention.
Summary of the invention
Technical matters
Therefore, the present invention is used for solving described problem, and its object is to provide a kind of difference that turns to that can minimize chaufeur to feel the lane mark retentive control device of realizing the lane mark retentive control method of minimized vehicle and realizing it.
Technical scheme
Be intended to reach described object, the present invention can provide a kind of lane mark retentive control method of vehicle, and it comprises: a) step: calculate the lane mark separation time; B) step: degree is watched in the front of monitoring chaufeur attentively; And c) step: degree is watched in the front based on described lane mark separation time and chaufeur attentively, judges whether to get involved lane mark retentive control.
Preferably, in described a) step, the described lane mark separation time can calculate with respect to the transversal displacement of lane mark and the behavioural information of vehicle based on vehicle.
Preferably, in described b) step, it can be the time of not staring front according to chaufeur that degree is watched in described front attentively, by partition of the level fixed evaluation number.
Preferably, in described c) step, the value that is multiplied by the first weighted value when the described lane mark separation time and described evaluation number are multiplied by the difference of value of the second weighted value than predetermined a reference value hour, can start to get involved lane mark retentive control.
Be intended to reach described object, the present invention can provide the lane mark retentive control device of a vehicle, and it comprises: lane mark separation time calculating part, and it calculates the lane mark separation time; Monitoring portion, degree is watched in the front of its monitoring chaufeur attentively; And control and get involved judging part, degree is watched in its front based on described lane mark separation time and chaufeur attentively, judges whether to get involved lane mark retentive control.
Preferably, the described lane mark separation time can calculate with respect to the transversal displacement of lane mark and the behavioural information of vehicle based on vehicle.
Preferably, the time that front can not stared according to chaufeur by described monitoring portion, by partition of the level and calculate and surely watch the evaluation number of degree attentively about described front.
Preferably, it can be the time of not staring front according to chaufeur that degree is watched in described front attentively, by partition of the level fixed evaluation number.
Preferably, described control gets involved the difference of value that value that judging part is multiplied by the first weighted value when the described lane mark separation time and described evaluation number be multiplied by the second weighted value than predetermined a reference value hour, can start to get involved lane mark retentive control.
Technique effect
The lane mark retentive control method of vehicle according to the invention and realize its lane mark retentive control device, degree is watched in front based on lane mark separation time and chaufeur attentively, judge whether to get involved lane mark retentive control, before actual vehicle departs from lane mark, lane mark retentive control time point in advance, make unnecessary turning to control to realize and minimize, make the difference sense that turns to of chaufeur realize minimized beneficial effect thereby provide.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the lane mark retentive control method of the vehicle of the diagram preferred embodiment of the present invention;
Fig. 2 is the schematic diagram of the lane mark retentive control device of the vehicle of the diagram preferred embodiment of the present invention;
Fig. 3 shows the schematic diagram of not noting situation fixed evaluation number by partition of the level chaufeur;
Fig. 4 is that the evaluation number shown in pictorial image 3 is the schematic diagram of the lane mark retentive control under 0 state;
Fig. 5 is that the evaluation number shown in pictorial image 3 is the schematic diagram of the lane mark retentive control under 3 state.
Description of reference numerals
110: lane mark separation time calculating part
120: monitoring portion
130: control and get involved judging part
The specific embodiment
With reference to the accompanying drawings, describe the preferred embodiments of the present invention in detail.First it should be noted that the inscape of each figure being given aspect reference marks, for identical inscape, even show, also give as far as possible identical symbol on different figure.In addition, below preferred embodiments of the present invention will be described, but technological thought of the present invention non-limiting or be limited to this can diversely be out of shape enforcement by person of ordinary skill in the field, and this is self-evident.
Technical characterictic of the present invention is, watches degree attentively by the front of reflection chaufeur, in the time that prediction thinks that vehicle will depart from lane mark, controls and makes the period point of LKAS in advance.
Fig. 1 is the schematic diagram of the lane mark retentive control method of the vehicle of the diagram preferred embodiment of the present invention, and Fig. 2 is the schematic diagram of the lane mark retentive control device of the vehicle of the diagram preferred embodiment of the present invention.
If Fig. 1 and Fig. 2 are as shown, in the lane mark retentive control method of the vehicle of the preferred embodiment of the present invention, first, in step S100, lane mark separation time calculating part 110 calculates the lane mark separation time (TTLC:Time To Lane Crossing).In one embodiment, the lane mark separation time (TTLC) can calculate with respect to the behavioural information of the vehicle such as transversal displacement and the speed of a motor vehicle or course angle of lane mark based on vehicle.This lane mark separation time (TTLC) is one of key element determining the intervention time point of lane mark retentive control.Vehicle is with respect to the transversal displacement of lane mark, and the lane mark information that can utilize the front camera sensing device that is installed on vehicle to obtain is tried to achieve.In addition, the behavioural information of vehicle can be obtained by the various vehicle sensors that are installed on vehicle.
Then degree is watched in the front that, monitoring portion 120 monitors chaufeur in step S200 attentively.Fig. 3 shows the schematic diagram of not noting situation fixed evaluation number by partition of the level chaufeur.Degree is watched in the front of chaufeur attentively, can not stare according to chaufeur the time in front, by partition of the level, and shows with evaluation number as shown in Figure 3.
For example, in the time that chaufeur is normally stared front, evaluation number is 0, does not stare front when more than 3 seconds when chaufeur, and evaluation number is 3.
Monitoring portion 120 obtains the front of chaufeur and watches degree attentively by being installed on the chaufeur camera sensing device of vehicle, become described evaluation number by partition of the level.
Then, in step S300, control intervention judging part 130 and watch degree attentively based on lane mark separation time (TTLC) and the front of chaufeur, judge whether to get involved lane mark retentive control.In one embodiment, control intervention judging part 130 and can judge whether to get involved control by following mathematical expression 1.
< mathematical expression 1>
α (TTLC)-β (evaluation number)≤a reference value
Control and get involved value poor that judging part (130) was multiplied by the value of the first weighted value α and described evaluation number and is multiplied by the second weighted value β in the lane mark separation time (TTLC), than predetermined a reference value hour, can be judged as and start to get involved lane mark retentive control.
Fig. 4 is that the evaluation number shown in pictorial image 3 is the schematic diagram of the lane mark retentive control under 0 state, and Fig. 5 is that the evaluation number shown in pictorial image 3 is the schematic diagram of the lane mark retentive control under 3 state.
Known with reference to Fig. 4, be that evaluation number is 0 situation, in the time that chaufeur is normally stared front, only, in the situation that vehicle 1 departs from lane mark L, for example, when the horizontal position 2 of vehicle 1 departs from outside lane mark L, just carry out and turn to control by LKAS.
On the contrary, known with reference to Fig. 5, that evaluation number is 3 situation, do not stare front when more than 3 seconds at chaufeur, not yet departing under the state of lane mark, the horizontal position 2 of for example vehicle 1 is positioned at lane mark L, and anticipation departs from lane mark, therefore can shift to an earlier date LKAS period point, turn to control to realize.
More than explanation just exemplarily illustrates technological thought of the present invention, as long as those skilled in the art, not exceeding in the scope of internal characteristic of the present invention, can carry out multiple modification, change and displacement.Therefore, disclosed embodiment and accompanying drawing in the present invention, is not for limiting technological thought of the present invention but for explanation, the scope of technological thought of the present invention is not limited by these embodiment and accompanying drawing.Protection scope of the present invention should make an explanation according to following request scope, and all technological thoughts in equal scope with it, should be interpreted as being included in interest field of the present invention.
Claims (8)
1. a lane mark retentive control method for vehicle, is characterized in that, comprising:
A) step: calculate the lane mark separation time;
B) step: degree is watched in the front of monitoring chaufeur attentively; And
C) step: degree is watched in the front based on described lane mark separation time and chaufeur attentively, judges whether to get involved lane mark retentive control.
2. the lane mark retentive control method of vehicle according to claim 1, is characterized in that: in described a) step, the described lane mark separation time calculates with respect to the transversal displacement of lane mark and the behavioural information of vehicle based on vehicle.
3. the lane mark retentive control method of vehicle according to claim 1, is characterized in that: in described b) step, it is the time of not staring front according to chaufeur that degree is watched in described front attentively, by partition of the level fixed evaluation number.
4. the lane mark retentive control method of vehicle according to claim 3, it is characterized in that: in described c) step, the value that is multiplied by the first weighted value when the described lane mark separation time and described evaluation number are multiplied by the difference of value of the second weighted value than predetermined a reference value hour, start to get involved lane mark retentive control.
5. a lane mark retentive control device for vehicle, is characterized in that, comprising:
Lane mark separation time calculating part, it calculates the lane mark separation time;
Monitoring portion, degree is watched in the front of its monitoring chaufeur attentively; And
Control and get involved judging part, degree is watched in its front based on described lane mark separation time and chaufeur attentively, judges whether to get involved lane mark retentive control.
6. the lane mark retentive control device of vehicle according to claim 5, is characterized in that:
The described lane mark separation time calculates with respect to the transversal displacement of lane mark and the behavioural information of vehicle based on vehicle.
7. the lane mark retentive control device of vehicle according to claim 5, is characterized in that: front is not stared by described monitoring portion time according to chaufeur, and by partition of the level and calculate and surely watch the evaluation number of degree attentively about described front.
8. the lane mark retentive control device of vehicle according to claim 7, it is characterized in that: described control gets involved judging part, the value that is multiplied by the first weighted value when the described lane mark separation time and described evaluation number are multiplied by the difference of value of the second weighted value than predetermined a reference value hour, start to get involved lane mark retentive control.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2012-0131679 | 2012-11-20 | ||
| KR1020120131679A KR20140064388A (en) | 2012-11-20 | 2012-11-20 | Control method for lane keeping assist of vehicle and apparatus for lane keeping assist implementing the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103832436A true CN103832436A (en) | 2014-06-04 |
| CN103832436B CN103832436B (en) | 2016-07-06 |
Family
ID=50796420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310499865.2A Active CN103832436B (en) | 2012-11-20 | 2013-10-22 | The lane line of vehicle keeps control method and lane line thereof to keep controlling device |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20140064388A (en) |
| CN (1) | CN103832436B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110785334A (en) * | 2017-08-02 | 2020-02-11 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and program |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1611398A (en) * | 2003-10-29 | 2005-05-04 | 日产自动车株式会社 | Lane departure prevention apparatus |
| CN1792686A (en) * | 2004-12-21 | 2006-06-28 | 日产自动车株式会社 | Lane departure prevention system |
| CN101041355A (en) * | 2006-01-19 | 2007-09-26 | 通用汽车环球科技运作公司 | Lane departure warning and avoidance system with warning modification criteria |
| CN101500874A (en) * | 2006-09-14 | 2009-08-05 | 丰田自动车株式会社 | Sight-line end estimation device and driving assist device |
| JP2010224788A (en) * | 2009-03-23 | 2010-10-07 | Toyota Central R&D Labs Inc | Lane departure prediction device |
| CN101872069A (en) * | 2009-04-02 | 2010-10-27 | 通用汽车环球科技运作公司 | Strengthen vision system full-windshield HUD |
-
2012
- 2012-11-20 KR KR1020120131679A patent/KR20140064388A/en not_active Application Discontinuation
-
2013
- 2013-10-22 CN CN201310499865.2A patent/CN103832436B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1611398A (en) * | 2003-10-29 | 2005-05-04 | 日产自动车株式会社 | Lane departure prevention apparatus |
| CN1792686A (en) * | 2004-12-21 | 2006-06-28 | 日产自动车株式会社 | Lane departure prevention system |
| CN101041355A (en) * | 2006-01-19 | 2007-09-26 | 通用汽车环球科技运作公司 | Lane departure warning and avoidance system with warning modification criteria |
| CN101500874A (en) * | 2006-09-14 | 2009-08-05 | 丰田自动车株式会社 | Sight-line end estimation device and driving assist device |
| JP2010224788A (en) * | 2009-03-23 | 2010-10-07 | Toyota Central R&D Labs Inc | Lane departure prediction device |
| CN101872069A (en) * | 2009-04-02 | 2010-10-27 | 通用汽车环球科技运作公司 | Strengthen vision system full-windshield HUD |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110785334A (en) * | 2017-08-02 | 2020-02-11 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103832436B (en) | 2016-07-06 |
| KR20140064388A (en) | 2014-05-28 |
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