CN104648398A - Apparatus and method for keeping lane control according to type of a lane - Google Patents
Apparatus and method for keeping lane control according to type of a lane Download PDFInfo
- Publication number
- CN104648398A CN104648398A CN201410407492.6A CN201410407492A CN104648398A CN 104648398 A CN104648398 A CN 104648398A CN 201410407492 A CN201410407492 A CN 201410407492A CN 104648398 A CN104648398 A CN 104648398A
- Authority
- CN
- China
- Prior art keywords
- track
- lane
- information
- vehicle
- override
- 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.)
- Granted
Links
Classifications
-
- 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
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- 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
- B60W40/10—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 vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0071—Controller overrides driver automatically
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0073—Driver overrides controller
-
- 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
-
- 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
- B60W2540/18—Steering angle
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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 an apparatus and method for keeping lane control, which can detect driver overriding in different modes according to a type of a lane. According to the invention, the an apparatus for keeping lane control comprises a road parameter extraction part which extracts road parameters including lane information from a front image; a lane departure determination part which determines the possibility of departing a lane of a vehicle based on the lane information and vehicle motion information; a torque value calculating part which calculates a torque value in order to keep lane control when determining that a vehicle has the possibility of departing a lane; an overriding mode determination part which determines whether to drive the overriding mode based on information of a lane type; and a keeping lane control part which controls a vehicle to keep a lane based on a turning angle inputted by a driver if determining to drive the overriding mode, and controls a vehicle to keep a lane based on a the torque value if determining not to drive the overriding mode.
Description
Technical field
The present invention relates to the LKAS (Lane Keeping Assist System track keep ancillary system) controlling vehicle and keep track, the LKAS related in more detail is, considers that road especially controls vehicle and keeps track in the track of road.
Background technology
LKAS (Lane Keeping Assist System, track keep ancillary system) etc. maintenance lane controlling system be, utilize camera induction left side, front and right-hand lane to obtain lane information, prevent vehicle derailing track or calculating from making vehicle follow the steering assist torque (AssistSteering Torque) of road-center according to it, the steering assist torque of calculating is fed to steering controlling device, and then vehicle derailing track and the system that can keep track can be prevented.
According to the performance of the maintenance lane control function that this maintenance lane controlling system performs, there is a great difference according to correctly obtaining lane information in much degree.Correct lane information is obtained, just calculating that can be correct is in order to correctly control the assisted diversion moment of torsion keeping track because only have.
This maintenance lane controlling system, lane information is obtained based on the Front image of taking according to front camera, at this moment according to obtaining the lane information forwards arriving what degree distance, also can comprise or also can not comprise the necessary information in order to correctly control to keep track at the lane information obtained.
No. 2011-0104682nd, KR published patent describes, and detects the system that Driver override controls to keep track based on road information.But its system only detects Driver override when curved road according to the curvature of road, therefore there is the problem that can not effectively control to depart from track when linear road.
Summary of the invention
(problem that will solve)
The present invention proposes to solve problem as above, and the present invention proposes to keep the object of lane control device and method to be, detects Driver override (override) according to track kind in mutually different modes.
But object of the present invention is not limited in the above-mentioned item referred to, and not refer to or other objects clearly can be understood from following record by technical personnel.
(means of dealing with problems)
The present invention proposes to reach above-mentioned purpose, and the feature of the maintenance lane control device of track kind of giving chapter and verse is, comprising: road parameters extraction unit, it comprises the road parameters etc. of lane information from front Extraction of Image; Track departs from judging part, and it, based on the action message of described lane information and vehicle, judges the possibility in described vehicle derailing track; Torque rating calculating part, if judge, described vehicle has the possibility departing from track, then it keeps track calculated torque value to control described vehicle; Override pattern determination section, it is based on the information to described track kind, determines whether drive override pattern; Keep lane control portion, drive described override pattern if determine, then control described vehicle based on the deflection angle inputted by described chaufeur and keep track, do not drive described override pattern if determine, then based on described torque rating, control described vehicle keep track.
Be preferably, deflection angle and the reference angle of basis to the information of described track kind of the input of described override pattern determination section more described chaufeur, judge whether the deflection angle that described chaufeur inputs is more than described reference angle.
Be preferably, described override pattern determination section is to utilize dotted line track, solid line track and center lane as the information to described track kind.
Be preferably, described override pattern determination section, if be described dotted line track to the information of described track kind, then the critical value set in advance is utilized as described reference angle, if be described solid line track to the information of described track kind, then the value adding the 1st weight in described critical value is utilized as described reference angle, if be described center lane to the information of described track kind, then the value adding the 2nd weight in described critical value is utilized as described reference angle.
Be preferably, described override pattern determination section, it utilizes with described 1st weight the value being greater than 0, utilizes with described 2 weights the value being greater than described 1st weight.
In addition, the feature of the maintenance lane control method according to track kind that the present invention proposes is, comprising: the step comprising the road parameters of lane information from front Extraction of Image; Based on the action message of described lane information and vehicle, judge the step of the possibility in described vehicle derailing track; If judge, described vehicle has the possibility departing from track, then keep the step of track calculated torque value to control described vehicle; Based on the information to described track kind, determine the step whether driving override pattern; And if determine to drive described override pattern, then control described vehicle based on the deflection angle inputted by described chaufeur and keep track, do not drive described override pattern if determine, then based on described torque rating, control the step that described vehicle keeps track.
Be preferably, determine the step whether driving described override pattern, deflection angle and the reference angle of basis to described track kind of information of more described chaufeur input, judge whether the deflection angle that described chaufeur inputs is more than described reference angle.
Be preferably, determine the step whether driving described override pattern, with the Information Pull dotted line track to described track kind, solid line track and center lane, if be described dotted line track to the information of described track kind, then the critical value set in advance is utilized as described reference angle, if be described solid line track to the information of described track kind, then the value adding the 1st weight in described critical value is utilized as described a reference value, if be described center lane to the information of described track kind, then the value adding the 2nd weight in described critical value is utilized as described reference angle.
(effect of invention)
The present invention detects Driver override according to the kind in track in mutually different modes, and then can obtain following effect.
The first, can more strengthen keeping lane controlling system (LKAS; Lane Keeping AssistSystem) prevent the effect departing from track accident.
The second, chaufeur can be induced to observe traffic rule side.
Accompanying drawing explanation
Fig. 1 is according to one embodiment of the invention, and schematically diagram keeps the block diagram of track ancillary system.
Fig. 2 and Fig. 3 is the reference diagram in order to the method judging Driver override is described.
Fig. 4 is according to one embodiment of the invention, and diagram keeps the diagram of circuit of the method for operation of track ancillary system in order.
Fig. 5 is according to the preferred embodiment of the present invention, and schematically diagram keeps the block diagram of lane control device.
Specific implementation method
Below, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.First, add reference marks in the inscape of each drawing, even if be presented at other drawings to identical inscape, should notice and make it have identical symbol as far as possible.In addition, judge to make the unclear situation of main points of the present invention to relevant known formation or illustrating of function, by description is omitted according to of the present invention explanation.In addition, the preferred embodiments of the present invention will be described following, but technological thought of the present invention is not limited thereto, certainly can be out of shape various enforcement by technical personnel.
At maintenance track ancillary system (LKAS; Lane Keeping Assist System), it prevents according to the careless disengaging track of chaufeur, as relating to, the present invention judges that chaufeur turns to consciousness, the judgment standard that chaufeur turns to override can be changed according to track kind, and then more can strengthen the effect preventing from departing from track accident keeping track ancillary system, and chaufeur can be induced to observe traffic rules and regulations.
Fig. 1 is according to one embodiment of the invention, and schematically diagram keeps the block diagram of track ancillary system.
According to Fig. 1, track ancillary system 100 is kept to comprise front camera sensing device 110, lane identification and road parameters extraction unit 120, track kind extraction unit 130, vehicle sensors 140, track maintenance assist control 150, Driver override's judging part 160 and steering hardware 170.
Front camera sensing device 110, it performs the function obtaining and travel Front image.
Lane identification and road parameters extraction unit 120, it performs and identify track based on the image obtained, and extracts the transverse direction position of vehicle on track, the curvature, deflection angle etc. in track.
Track kind extraction unit 130, it performs the function distinguished from track kind.
Vehicle sensors 140, it performs the function of the dynamic state of measuring vehicle.
Keep track assist control 150, it performs the function having and apply steering assist torque when departing from track danger.
Driver override's judging part 160, it is based on the determining reference value of Driver override, performs and judges Driver override's state.
Steering hardware 170, it performs the function producing actual steering auxiliary torque.
Front camera sensing device 110 Real-time Obtaining travels the image in front, lane identification and road parameters extraction unit 120 extract road parameters from the image identification track in front afterwards, track kind extraction unit 130 distinguishes the kind from track based on the track identified, keep track assist control 150 to utilize the lane information obtained and car two action message received from vehicle sensors 140 afterwards, judge the danger in vehicle derailing track.
Have and depart from track danger and meet the situation keeping lane control condition, keep track assist control 150 to enter and keep lane control pattern applying steering assist torque.At this moment, according to the judged result of Driver override's judging part 160, if the steering torque value of chaufeur is more than a reference value judging Driver override, then enters Driver override's pattern and the steering assist torque value applied is reduced to 0.
As follows by the applying state of the steering assist torque value of each pattern.
(1) lane control pattern is kept: apply steering assist torque value.
(2) override pattern: do not apply steering assist torque value or reduce to 0 gradually.
Afterwards, the determination methods of the Driver override of Driver override's judging part 160 is described.Fig. 2 and Fig. 3 is the reference diagram in order to the method judging Driver override is described.
In the present invention to distinguish based on the kind of track in track kind extraction unit 130, judge Driver override.
Fig. 2 (a) illustrates and will depart from or the situation of change lane at dotted line track chaufeur.In dotted line track judge whether be chaufeur turn to override time, to judge that the basic torque value of override is suitable for DrvOvrdTq_Th, so when the value of chaufeur input is more than DrvOvrdTq_Th, namely detect Driver override during DrvTq >=DrvOvrdTq_Th.
Fig. 2 (b) illustrates and will depart from or the situation of change lane at solid line track chaufeur.Judge whether it is that chaufeur is when turning to override in solid line track, to judge that the basic torque value of override is suitable for DrvOvrdTq_Th+ α at this moment α >0, so when the value of chaufeur input is more than DrvOvrdTq_Th+ α, namely Driver override is detected during DrvTq >=DrvOvrdTq_Th+ α, and then when departing from solid line track as shown in Figure 3, only have the steering effort be suitable for when being greater than chaufeur disengaging dotted line track, just make it be converted to Driver override's pattern.
Fig. 2 (c) be a diagram that the situation departing from track at center lane chaufeur.Center lane judge whether be chaufeur turn to override time, to judge that the basic torque value of override is suitable for DrvOvrdTq_Th+ β at this moment β > α >0, so when the value of chaufeur input is more than DrvOvrdTq_Th+ β, namely Driver override is detected during DrvTq >=DrvOvrdTq_Th+ β, and then when departing from center lane as shown in Figure 3, only have the steering effort being suitable for and being greater than chaufeur and departing from solid line track, it just can be made to be converted to Driver override's pattern.
Fig. 4 is according to one embodiment of the invention, and diagram keeps the diagram of circuit of the method for operation of track ancillary system in order.
Extract road parameters (S410) after identifying track, distinguish the kind (S420) in track.
Track is the situation (S430) of dotted line, if chaufeur steering torque value is greater than DrvOvrdTq_Th value (S440), is then converted to Driver override's pattern (S49) 0.
Not not dotted line in track but the situation (S450) of general solid line, if chaufeur steering torque value is greater than DrvOvrdTq_Th+ α (S460), then be converted to Driver override's pattern (S490), it is the situation (S470) of Central Line in track, when torque rating is greater than DrvOvrdTq_Th+b (S480), be converted to Driver override's pattern (S490).
If be converted to Driver override's pattern, then do not carry out the auxiliary control in maintenance track.
Existing maintenance track ancillary system (LKAS), turn to the kind do not considered during intention from track understanding chaufeur, but in the solid line track comprising Central Line, the danger departing from Accident of Large-scale during track is larger, needs the strategy in more positive maintenance track.
In the present invention, allowing the dotted line track of change lane, that respects chaufeur turns to consciousness, forbidding the realization that track is changed and center lane, more strengthen the maintenance lane function of LKAS, carry out the more strict benchmark being suitable for judgement override, and then improve disengaging track accident, and chaufeur can be induced to observe traffic rules and regulations.
Below, can the apparatus and method of pie graph 1 to Fig. 4 be described in order based on the above embodiments.
Fig. 5 is according to the preferred embodiment of the present invention, and schematically diagram keeps the block diagram of lane control device.
According to Fig. 5, lane control device 1 is kept to comprise road parameters extraction unit 10, track disengaging judging part 20, torque rating calculating part 30, override pattern determination section 40, keep lane control portion 50, power supply unit 60 and master control part 70.
Power supply unit 60, it performs each function formed being supplied in by power supply and forming and keep lane control device 1.Further, master control part 70 performs the function of the integrated operation controlling each inscape forming track retentive control device 1.When considering to keep lane control device 1 can be arranged at vehicle ECU, at the present embodiment, not there is power supply unit 60 harmless with master control part 70 yet.
Road parameters extraction unit 10, it performs the function of the road parameters comprising lane information from front Extraction of Image.Road parameters extraction unit 10, itself and camera sensing device interlock are from camera sensing device Real-time Obtaining Front image.
Track departs from judging part 20, and it, based on the lane information obtained from road parameters extraction unit 10 with the action message of the vehicle obtained from vehicle sensors, performs the function judging vehicle derailing track possibility.
Torque rating calculating part 30, if depart from judging part 20 according to track to judge that vehicle has the possibility departing from track, then it keeps track to perform the function of calculated torque value to control vehicle.
Override pattern determination section 40, it is based on the information to track kind, performs the function determining whether to drive override pattern.At the present embodiment, the information of track kind is included in the lane information extracted in parameter extraction portion 10, track, but also can has track kind extraction unit, it extracts separately the information to track kind.
Override pattern determination section 40, compares the deflection angle of chaufeur input and the reference angle of basis to the information of track kind, judges whether the deflection angle that chaufeur inputs is more than reference angle, and then can determine whether drive override pattern.That is, if override pattern determination section 40 judges that the deflection angle that chaufeur inputs is more than reference angle, then determine to drive override pattern, the not enough reference angle of deflection angle that chaufeur inputs if judge, then determine not drive override pattern.
Override pattern determination section 40, it is with the information utilisation point line track to track kind, solid line track and center lane.Such as, override pattern determination section 40, if be dotted line track to the information of track kind, then the critical value set in advance is utilized as reference angle, if be solid line track to the information of track kind, then the value adding the 1st weight in critical value is utilized as reference angle, if be center lane to the information of track kind, then the value adding the 2nd weight in critical value is utilized as reference angle.Above-mentioned, override pattern determination section 40 utilizes the value being greater than 0 with the 1st weight, utilizes the value being greater than the 1st weight with the 2nd weight.
Keep lane control portion 50, if determine to drive override pattern according to override pattern determination section 40, then based on the deflection angle of chaufeur input, perform the function controlling vehicle and keep track.In addition, keep lane control portion 50, if do not drive override pattern according to override pattern determination section 40, then based on the torque rating calculated according to torque-calculating section 30, perform the function controlling vehicle and keep track.
Below, to keeping the method for operation of lane control device 1 to be described.
First, lane control device 1 is kept to comprise the road parameters of lane information from front Extraction of Image.
Afterwards, keep lane control device 1 based on the action message of lane information and vehicle, judge vehicle derailing track possibility.
If judge, vehicle has departs from the possibility in track, then keep lane control device 1 to keep track and calculated torque value to control vehicle.
Afterwards, keep lane control device 1 based on the information to track kind, determine whether drive override pattern, determine to drive the method for override pattern same as described above.
Drive override pattern if determine, then control vehicle based on the deflection angle that track retentive control device 1 input by chaufeur and keep track, do not drive override pattern if determine, then keep lane control device 1 based on torque rating, control vehicle maintenance track.
The all inscapes being formed in the embodiment of the present invention described above are combined into one or combine and operate describing above, the present invention is not necessary to be defined in this embodiment, as long as namely within the scope of the object of the invention, also its all inscape optionally can be operated in conjunction with more than one.In addition, its all inscape can be embodied as an independently hardware respectively, but also can be used as computer program to realize, computer program have by each inscape its part or all optionally combine, perform the program module of part or all function in one or more hardware combinations.In addition, the preservation media (Computer Readable Media) that computer program identical is therewith kept at as readable in computers such as USB holder, CD CD, flash memories are read by computer and carry out, and then can realize embodiments of the invention.As the preservation media of computer program, magnetic recording medium, optical recording media, carrier media etc. can be comprised.
In addition, comprising all terms of technical or scientific term, as long as no differently defining in the detailed description, there is the meaning that technical personnel that the technical field be same as belonging to the present invention has usual knowledge is generally understood.As define in advance for, the general term used should be interpreted as consistent with the meaning on correlation technique article, and clearly defines as long as no in the present invention, is not interpreted as the meaning of excessive desirability or formality.
Above explanation is only exemplary explanation technological thought of the present invention, and the technical field belonging to the present invention has the technical personnel of usual knowledge, in the scope being no more than internal characteristic of the present invention, can carry out various amendment, change and replacement.Therefore; not to limit technological thought of the present invention but in order to illustrate in embodiment disclosed by the invention and accompanying drawing; technological thought of the present invention is not limited according to this embodiment and accompanying drawing; protection scope of the present invention should be explained according to following request scope, should be interpreted as being included in interest field of the present invention with all technological thoughts in its equivalents.
Claims (8)
1., according to a maintenance lane control device for track kind, it is characterized in that, comprising:
Road parameters extraction unit, it comprises the road parameters etc. of lane information from front Extraction of Image;
Track departs from judging part, and it, based on the action message of described lane information and vehicle, judges the possibility in described vehicle derailing track;
Torque rating calculating part, if judge, described vehicle has the possibility departing from track, then it keeps track calculated torque value to control described vehicle;
Override pattern determination section, it is based on the information to described track kind, determines whether drive override pattern;
Keep lane control portion, drive described override pattern if determine, then control described vehicle based on the deflection angle inputted by described chaufeur and keep track, do not drive described override pattern if determine, then based on described torque rating, control described vehicle keep track.
2. the maintenance lane control device according to track kind according to claim 1, is characterized in that,
Described override pattern determination section, deflection angle and the reference angle of basis to the information of described track kind of its more described chaufeur input, judge whether the deflection angle that described chaufeur inputs is more than described reference angle.
3. the maintenance lane control device according to track kind according to claim 2, is characterized in that,
Described override pattern determination section, it is to utilize dotted line track, solid line track and center lane as the information to described track kind.
4. the maintenance lane control device according to track kind according to claim 3, is characterized in that,
Described override pattern determination section, if be described dotted line track to the information of described track kind, then the critical value set in advance is utilized as described reference angle, if be described solid line track to the information of described track kind, then the value adding the 1st weight in described critical value is utilized as described reference angle, if be described center lane to the information of described track kind, then the value adding the 2nd weight in described critical value is utilized as described reference angle.
5. the maintenance lane control device according to track kind according to claim 4, is characterized in that,
Described override pattern determination section, it utilizes with described 1st weight the value being greater than 0, utilizes with described 2 weights the value being greater than described 1st weight.
6., according to a maintenance lane control method for track kind, it is characterized in that, comprising:
The step of the road parameters of lane information is comprised from front Extraction of Image;
Based on the action message of described lane information and vehicle, judge the step of the possibility in described vehicle derailing track;
If judge, described vehicle has the possibility departing from track, then keep the step of track calculated torque value to control described vehicle;
Based on the information to described track kind, determine the step whether driving override pattern; And
Drive described override pattern if determine, then control described vehicle based on the deflection angle inputted by described chaufeur and keep track, do not drive described override pattern if determine, then based on described torque rating, control the step that described vehicle keeps track.
7. the maintenance lane control method according to track kind according to claim 6, is characterized in that,
Determine the step whether driving described override pattern, deflection angle and the reference angle of basis to described track kind of information of more described chaufeur input, judge whether the deflection angle that described chaufeur inputs is more than described reference angle.
8. the maintenance lane control method according to track kind according to claim 7, is characterized in that,
Determine the step whether driving described override pattern, to utilize dotted line track, solid line track and center lane as the information to described track kind,
If be described dotted line track to the information of described track kind, then the critical value set in advance is utilized as described reference angle, if be described solid line track to the information of described track kind, then the value adding the 1st weight in described critical value is utilized as described a reference value, if be described center lane to the information of described track kind, then the value adding the 2nd weight in described critical value is utilized as described reference angle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020130142234A KR102112486B1 (en) | 2013-11-21 | 2013-11-21 | Apparatus and method for controlling lane keeping according to type of a lane |
| KR10-2013-0142234 | 2013-11-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104648398A true CN104648398A (en) | 2015-05-27 |
| CN104648398B CN104648398B (en) | 2017-05-24 |
Family
ID=53240165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410407492.6A Active CN104648398B (en) | 2013-11-21 | 2014-08-19 | Apparatus and method for keeping lane control according to type of a lane |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR102112486B1 (en) |
| CN (1) | CN104648398B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107735309A (en) * | 2015-06-26 | 2018-02-23 | 株式会社电装 | Track departs from restraining device |
| CN108162961A (en) * | 2016-12-01 | 2018-06-15 | 丰田自动车株式会社 | Driving supporting device in track |
| CN109624976A (en) * | 2018-12-25 | 2019-04-16 | 广州小鹏汽车科技有限公司 | A kind of the lane holding control method and system of vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220106358A (en) | 2021-01-22 | 2022-07-29 | 주식회사 에이치엘클레무브 | Driver assistance system and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101175662A (en) * | 2005-05-27 | 2008-05-07 | 罗伯特·博世有限公司 | Lane holding assistant for motor vehicles |
| KR20110104683A (en) * | 2010-03-17 | 2011-09-23 | 주식회사 만도 | Method for controlling assist steering torque and lane keeping control apparatus |
| US20120166032A1 (en) * | 2010-12-23 | 2012-06-28 | GM Global Technology Operations LLC | Driving-based lane offset control for lane centering system |
| CN102785661A (en) * | 2012-08-20 | 2012-11-21 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
| US20130090825A1 (en) * | 2011-10-10 | 2013-04-11 | Mando Corporation | Lane-change assistance system of vehicle and lane-change assistance method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5421019B2 (en) * | 2009-08-03 | 2014-02-19 | トヨタ自動車株式会社 | Vehicle travel support device |
| JP5430505B2 (en) | 2010-06-25 | 2014-03-05 | トヨタ自動車株式会社 | Vehicle control device |
| JP5510172B2 (en) | 2010-08-09 | 2014-06-04 | 日産自動車株式会社 | Vehicle control device |
-
2013
- 2013-11-21 KR KR1020130142234A patent/KR102112486B1/en active IP Right Grant
-
2014
- 2014-08-19 CN CN201410407492.6A patent/CN104648398B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101175662A (en) * | 2005-05-27 | 2008-05-07 | 罗伯特·博世有限公司 | Lane holding assistant for motor vehicles |
| KR20110104683A (en) * | 2010-03-17 | 2011-09-23 | 주식회사 만도 | Method for controlling assist steering torque and lane keeping control apparatus |
| US20120166032A1 (en) * | 2010-12-23 | 2012-06-28 | GM Global Technology Operations LLC | Driving-based lane offset control for lane centering system |
| US20130090825A1 (en) * | 2011-10-10 | 2013-04-11 | Mando Corporation | Lane-change assistance system of vehicle and lane-change assistance method thereof |
| CN102785661A (en) * | 2012-08-20 | 2012-11-21 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107735309A (en) * | 2015-06-26 | 2018-02-23 | 株式会社电装 | Track departs from restraining device |
| CN107735309B (en) * | 2015-06-26 | 2019-08-06 | 株式会社电装 | Lane, which is detached from, inhibits device |
| CN108162961A (en) * | 2016-12-01 | 2018-06-15 | 丰田自动车株式会社 | Driving supporting device in track |
| CN108162961B (en) * | 2016-12-01 | 2020-10-20 | 丰田自动车株式会社 | In-lane driving support device |
| CN109624976A (en) * | 2018-12-25 | 2019-04-16 | 广州小鹏汽车科技有限公司 | A kind of the lane holding control method and system of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104648398B (en) | 2017-05-24 |
| KR102112486B1 (en) | 2020-06-04 |
| KR20150058901A (en) | 2015-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104670228B (en) | The lane line of vehicle keeps control device and its method | |
| CN104670229B (en) | Imaginary lane line generating means keep control system with method and lane line | |
| CN103577682B (en) | The anchor choosing lane method of navigation input is used in road changes situation | |
| CN102622884B (en) | Vehicle illegal turning behavior detection method based on tracking | |
| CN105263785B (en) | Vehicle control system | |
| CN101031462B (en) | Method and device for driver assistance | |
| CN103359112B (en) | The drive assistance device of vehicle | |
| CN104648398A (en) | Apparatus and method for keeping lane control according to type of a lane | |
| CN105313897A (en) | System and method of recognizing travelled lane of vehicle | |
| CN107010054A (en) | Control system and the method for determining the safe lane changing that vehicle is carried out | |
| US20100231718A1 (en) | Lane recognition device | |
| CN108352117B (en) | Lane maintenance control device | |
| US8489253B2 (en) | Driver state assessment device | |
| CN102189992A (en) | Method for setting basis following position and system for lane-keeping control | |
| JP2016224802A (en) | Vehicle controller and program | |
| CN105083281A (en) | Vehicle collision avoidance apparatus and method | |
| CN114194196B (en) | Method and apparatus for controlling terrain mode using road condition judgment model based on deep learning | |
| CN109582021A (en) | Intelligent vehicle barrier-avoiding method, device and computer readable storage medium | |
| CN105377658A (en) | Lane keeping assist apparatus | |
| CN111032467A (en) | Travel control method and travel control device for driving assistance vehicle | |
| CN105377657A (en) | Lane keeping assist apparatus | |
| CN104859530A (en) | Automatic control device and method for steering lamp | |
| JP2018507811A (en) | Vehicle speed matching method and apparatus for vehicle | |
| CN109080633B (en) | Cruise vehicle speed control device and method under intersection scene | |
| SE0950603A1 (en) | System and method for keeping driving times |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |