CN105711588A - Lane keeping assist system and lane keeping assist method - Google Patents

Abstract

The invention proposes a lane keeping assist system and a lane keeping assist method. The method comprises the steps of comprehensively detecting a people-vehicle-road driving environment through a lane environment detection module, a vehicle state detection module, a driver driving state detection module and a vehicle and road surface rolling friction coefficient detection module; calculating a corresponding detection signal through a lane keeping control module; judging whether a vehicle deviates from a lane or not; performing transverse lane return-to-center control through cooperative control of an electric power steering system (EPS) and an electronic stability program (ESP), and keeping a longitudinal safety distance through ESP control; and giving an alarm for reminding. Through the technical scheme provided by the invention, the driving safety of vehicle driving is remarkably improved; and the lane keeping is realized through the cooperative control of the EPS and the ESP, so that on the premise of ensuring the driving safety of the vehicle, the working comfort of the lane keeping assist system can be improved to the maximum extent.

Description

A kind of track keeps aid system and track to keep householder method

Technical field

The present invention relates to vehicle security drive field, be specifically related to a kind of track being applicable to motor vehicles and keep aid system and track to keep householder method.

Background technology

Track keeps aid system (Lane Keeping Assist System:LKAS) to refer to driving information based on the vehicle in travelling and road information, when prediction driving vehicle will depart from track, prevent driving vehicle from departing from a kind of intelligent driving aid system in track by controlling vehicle.Its critical function is in high speed or similar highway environment, and the driver of auxiliary fatigue or long-time dull driving keeps vehicle to travel in track, improves the safety of vehicle.

In prior art, patent of invention CN 1244034C, CN 100469630C, CN 101965286 the invention thinking of B be when vehicle to deviate its track travelled, according to vehicle relative to brake force on each wheel of the transverse shifting departure control action of this lane center or driving force, so that vehicle produces the yawing returning to traveling lane, thus prevent automotive run-off-road from travelling.But the clearest and the most definite brake force is according to what kind of ratio to apply or be controlled in above several patents, if brake force applies unreasonable, vehicle motion can be made to tend to labile state, heavy then cause vehicle occur break away, rollover risk, light then deceleration is crossed conference and is caused bigger impact sense to driver, cause driver panic, be substantially reduced driver comfort simultaneously.

Patent of invention CN 1154592C proposes by the steering of vehicle applies a design center line turning to biased torque to make moving vehicle tracking road track mark.But it does not consider, for the vehicle of high-speed stable running, the angle that steering wheel can rotate is typically limited, the most only is difficult to provide the enough yaw moments desired by vehicle by steering.To produce enough yaw moments, steering angle is crossed conference and is caused vehicle unstable, heavy then cause vehicle the risk breakked away, turn on one's side occur, the most then can cause bigger side knock sense to driver, cause driver panic, the most also can be substantially reduced driver comfort.

Vehicle-related information and the context dependant information of offer are combined to predict the running orbit of vehicle by patent of invention CN 101778753 B proposition, and the track carrying out vehicle keeps controlling.But do not consider that in " people-Che-road " this big system, people, as the impact of key factor, does not considers the driving behavior characteristic of driver.Therefore Lane Keeping System need to consider the driving behavior characteristic of driver simultaneously.

Meanwhile, these tracks existing keep aid system the most only to consider that vehicular transverse direction is i.e. considered safe in being maintained at left and right traffic lane line, do not consider the impact of longitudinal vehicle, and this has the biggest security risk.Such as in track, this vehicle place, there is the vehicle of Reduced Speed Now in front, or the unexpected lane change of another vehicle that adjacent lane travels is in track, this vehicle place, and when being in this vehicle front, if now this vehicle continue executing with track keep may easily cause vehicle accident with the automobile crash in front or cause personal injury.Additionally the coefficient of rolling friction between driving vehicle and road surface is continually changing, existing track keeps aid system all to carry out simplification process as constant in Theoretical Calculation and practical application, when meeting rain, avenging, freeze weather and time other reasons causes road surface or Local Road Surface coefficient of friction to change greatly, existing track keeps aid system that the processing mode of coefficient of friction will be directly influenced the effect that Lane Keeping System performs, and the situation being likely to result in erroneous judgement occurs.Track the most of the prior art keeps aid system to be not reaching to the track holding assist control purpose of high accuracy, high-intelligentization, high security.

Summary of the invention

nullThe present invention is directed to above-mentioned problems of the prior art，The track proposing a kind of novelty keeps aid system and track to keep householder method，By roadway environments detection module、Vehicle-state detection module、Driver state detection module、Vehicle and pavement of road coefficient of rolling friction detection module carry out complete detection to " people-Che-road " driving environment，And keep control module to carry out calculation process by track corresponding detection signals，Judge vehicle whether run-off-road，And by electric boosting steering system EPS(Electric Power Steering) and ESP ESP(Electronic Stability Programe) Collaborative Control realizes the horizontal rotary transform tensor in track，Kept by ESP ESP control realization longitudinal direction safe distance simultaneously，And carry out warning reminding at the appropriate time.The present invention can improve the drive safety of driving vehicle, and on the premise of ensureing drive safety, significantly improves vehicle drive comfortableness.

It is as follows that the present invention solves the technical scheme that above-mentioned technical problem taked:

nullA kind of track keeps aid system，Including: roadway environments detection module 10、Vehicle-state detection module 20、Driver state detection module 30、Vehicle and pavement of road coefficient of rolling friction detection module 40、Track keeps control module 50、Track keeps performing module 60 and warning system module 70，Described roadway environments detection module 10、Vehicle-state detection module 20、Driver state detection module 30、Vehicle and pavement of road coefficient of rolling friction detection module 40 are connected to track and keep the data acquisition importation of control module 50，Described track keeps performing module 60 and warning system module 70 is connected to track and keeps the control signal output part of control module 50，Described track keeps control module 50 according to roadway environments detection module 10、Vehicle-state detection module 20、" people-Che-road " driving environment detection data that driver state detection module 30 and vehicle provide with pavement of road coefficient of rolling friction detection module 40，Judge travel condition of vehicle and driver state，When driver state occurs abnormal，Described track holding control module 50 triggers warning system module 70 and carries out warning reminding，When lateral direction of car run-off-road occurs abnormal，Described track holding control module 50 controls track and keeps execution module 60 to perform lateral direction of car rotary transform tensor，When longitudinal direction of car is not in safe distance scope，Described track holding control module 50 controls track and keeps execution module 60 that vehicle is maintained at safe distance scope.

nullFurther keep aid system according to track of the present invention，Wherein said roadway environments detection module 10 includes ccd video camera 110 and radar 120，For detecting lane line mark、Lane line width、Vehicle center is away from both sides lane line distance、Pedestrian on road、Vehicle course angle、Relative velocity between separation between vehicles information and vehicle，Described vehicle-state detection module 20 includes acceleration transducer 210、Yaw-rate sensor 220 and wheel speed sensors 658，For detecting lateral direction of car and longitudinal acceleration、Yaw velocity and vehicle wheel rotational speed，Described driver state detection module 30 includes touch sensor 310、Steering indicating light signal indicator 320、Track hold button switching signal device 330、Steering wheel torque sensor 614 and steering wheel angle sensor 615，For detecting steering wheel for vehicle touch situations、Steering indicating light open and-shut mode、Track keeps aid system open and-shut mode、Wheel steering moment of torsion、Wheel steering angle and wheel steering angular velocity，Described vehicle and pavement of road coefficient of rolling friction detection module 40 include tire sensor，For being periodically detected the coefficient of rolling friction of vehicle and pavement of road；Described track keeps control module 50 to include input module 510, data memory module 520, microprocessor 530 and output module 540, described input module 510 is connected to described ccd video camera 110, radar 120, acceleration transducer 210, yaw-rate sensor 220, wheel speed sensors 658, touch sensor 310, steering indicating light signal indicator 320, track hold button switching signal device 330, steering wheel torque sensor 614, steering wheel angle sensor 615 and tire sensor, described microprocessor 530 is connected to described input module 510, data memory module 520 and output module 540；Described track keeps performing module 60 and includes that electric boosting steering system EPS controls device 610 and ESP ESP controls device 650, and described output module 540 is connected to described electric boosting steering system EPS control device 610, ESP ESP controls device 650 and warning system module 70.

Further keeping aid system according to track of the present invention, wherein said track keeps control module 50 to judge whether driver state exception occurs in the following manner based on the detection information that driver state detection module 30 provides: when touch sensor 310 detects that driver judges that driving condition is abnormal when not holding steady steering wheel；When steering wheel torque sensor 614 detects that within the unit interval wheel steering moment of torsion less than or equal to predetermined threshold value and all detects wheel steering moment of torsion less than or equal to predetermined threshold value in continuous n the unit interval, judging that driving condition is abnormal, n is detection number of times；When steering wheel angle sensor 615 detects that within the unit interval wheel steering angle and wheel steering angular velocity judge that driving condition is abnormal when being all higher than predetermined threshold value；When steering indicating light signal indicator 320 does not provides steering indicating light to judge that driving condition is abnormal when opening signal in the case of Vehicular turn.

Further keep aid system according to track of the present invention, wherein said track keeps the detection information that control module 50 provides based on roadway environments detection module 10, first vehicle whether lateral run-out track is judged, on the premise of lateral direction of car run-off-road, judge whether lateral direction of car run-off-road is in abnormality again, when lateral direction of car run-off-road is in abnormality, track holding control module 50 triggers track and keeps execution module 60 to perform the operation of lateral direction of car rotary transform tensor.

Further keeping aid system according to track of the present invention, wherein said track keeps control module 50 to judge vehicle whether lateral run-out track in such a way based on the detection information that roadway environments detection module 10 provides: when distance dl away from left-hand lane line of the vehicle left hand edge of the i+1 width image detected_i+1Deduct the vehicle right hand edge of i+1 width image distance dr away from right-hand lane line_i+1Absolute value more than distance dl away from left-hand lane line of the vehicle left hand edge of the i-th width image_iDeduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value time, it is determined that vehicle lateral run-out track, and when the vehicle left hand edge of the i-th width image that detect distance dl away from left-hand lane line_iAbsolute value deduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value more than or equal to preset threshold value dt time, then judge vehicle dextrad run-off-road, otherwise then left-hand run-off-road；When the absolute value of the course angle of i+1 width image of vehicle being detected more than the absolute value of course angle α of the i-th width image, then judge lateral direction of car run-off-road, and vehicle dextrad run-off-road is judged further when course angle is along the right direction of lane center, vehicle left-hand run-off-road is judged further when course angle is along the left direction of lane center.

Further keep aid system according to track of the present invention, wherein said track keeps control module 50 to judge whether lateral direction of car run-off-road is in exception in such a way based on the detection information that roadway environments detection module 10 provides: under determining vehicle left-hand run-off-road, when the vehicle left hand edge of the i-th width image distance dl away from left-hand lane line_iDistance H less than or equal to interference region inside lane line-spacing interference region inner side edge boundary line, left side_i1Time, it is determined that vehicle left-hand run-off-road is abnormal, needs to start rotary transform tensor operation；Under determining vehicle dextrad run-off-road, when the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iDistance H less than or equal to interference region inside lane line-spacing interference region inner side edge boundary line, right side_irTime, it is determined that vehicle dextrad run-off-road is abnormal, needs to start rotary transform tensor operation.

Further keep aid system according to track of the present invention, wherein when lateral direction of car run-off-road occurs abnormal, described track keeps control module 50 to carry out lateral direction of car rotary transform tensor in such a way: the horizontal aligning torque needed for the coefficient of rolling friction accurate information calculating that laterally and longitudinally acceleration, yaw velocity and vehicle wheel rotational speed information that first track keeps control module 50 to provide according to vehicle-state detection module 20 and vehicle and pavement of road coefficient of rolling friction detection module 40 provide；Then described horizontal aligning torque is distributed to described electric boosting steering system EPS by predetermined ratio and control device 610 and ESP ESP control device 650, described electric boosting steering system EPS controls device 610 provides the first auxiliary aligning torque by the electric power steering module corresponding steering force of adjustment and steering wheel angle, described ESP ESP controls device 650 by could be adjusted to provide the second auxiliary aligning torque to each wheel wheel speed, lateral direction of car rotary transform tensor is realized under the coordinated effect of the first auxiliary aligning torque and the second auxiliary aligning torque.

Further keep aid system according to track of the present invention, wherein said track keeps the spaces of vehicles information that control module 50 provides based on roadway environments detection module 10, judge whether longitudinal direction of car is in safe distance scope, when distance S detected between Ben Che and front truck is less than or equal to the safe distance S preset_TTime, judge that longitudinal direction of car is not in safe distance scope, now track keeps control module 50 according to roadway environments detection module 10, the spacing information that vehicle-state detection module 20 and vehicle provide with pavement of road coefficient of rolling friction detection module 40, speed information, acceleration information and coefficient of rolling friction information, brake force needed for accurate calculation, and the brake force calculated is supplied to ESP ESP control device 650, controlled device 650 by ESP ESP and provide corresponding brake force to each wheel, thus by adjusting wheel wheel speed, longitudinal direction of car is maintained at safe distance scope.

A kind of track keeping aid system to carry out based on track of the present invention keeps householder method, comprises the following steps:

Step one, track keep the detection information that provides based on roadway environments detection module 10 of control module 50, as follows judgement vehicle whether lateral run-out track, if then performing step 2:

(1), when distance dl away from left-hand lane line of the vehicle left hand edge of the i+1 width image detected_i+1Deduct the vehicle right hand edge of i+1 width image distance dr away from right-hand lane line_i+1Absolute value more than distance dl away from left-hand lane line of the vehicle left hand edge of the i-th width image_iDeduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value time, it is determined that vehicle lateral run-out track, and when the vehicle left hand edge of the i-th width image that detect distance dl away from left-hand lane line_iAbsolute value deduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value more than or equal to preset threshold value dt time, then judge vehicle dextrad run-off-road, otherwise then left-hand run-off-road；

(2), when the absolute value of the course angle of i+1 width image of vehicle being detected more than the absolute value of course angle α of the i-th width image, then judge lateral direction of car run-off-road, and vehicle dextrad run-off-road is judged further when course angle is along the right direction of lane center, vehicle left-hand run-off-road is judged further when course angle is along the left direction of lane center；

Step 2, when lateral direction of car run-off-road, described track keeps the detection information that provides based on roadway environments detection module 10 of control module 50 to judge whether lateral direction of car run-off-road belongs to abnormal conditions in such a way, if belonging to abnormal conditions, performs step 3:

(1), under determining vehicle left-hand run-off-road, when the vehicle left hand edge of the i-th width image distance dl away from left-hand lane line_iDistance H less than or equal to interference region inside lane line-spacing interference region inner side edge boundary line, left side_i1Time, it is determined that vehicle left-hand run-off-road is abnormal；

(2), under determining vehicle dextrad run-off-road, when the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iDistance H less than or equal to interference region inside lane line-spacing interference region inner side edge boundary line, right side_irTime, it is determined that vehicle dextrad run-off-road is abnormal；

Step 3, when lateral direction of car run-off-road occurs abnormal, described track keeps control module 50 to carry out lateral direction of car rotary transform tensor in such a way:

(1) the horizontal aligning torque needed for, track keeps the coefficient of rolling friction accurate information calculating that the control module 50 laterally and longitudinally acceleration, yaw velocity and the vehicle wheel rotational speed information that provide according to vehicle-state detection module 20 and vehicle and pavement of road coefficient of rolling friction detection module 40 provide；

(2), track keeps control module 50 that by predetermined ratio, the horizontal aligning torque calculated is distributed to described electric boosting steering system EPS control device 610 and ESP ESP controls device 650；

(3), described electric boosting steering system EPS controls device 610 provides the first auxiliary aligning torque by the electric power steering module corresponding steering force of adjustment and steering wheel angle, described ESP ESP control device 650, by could be adjusted to provide the second auxiliary aligning torque to each wheel wheel speed, realizes lateral direction of car rotary transform tensor under the coordinated effect of the first auxiliary aligning torque and the second auxiliary aligning torque.

Further keep householder method according to track of the present invention, the most further comprising the steps of:

The detection information that step 4, described track keep control module 50 to provide based on driver state detection module 30 judges whether driver state exception occurs in such a way, and when driver state occurs abnormal, trigger warning system module 70 and carry out warning reminding:

(1), detect that driver judges that driving condition is abnormal when not holding steady steering wheel when touch sensor 310；

(2), when steering wheel torque sensor 614 detects that within the unit interval wheel steering moment of torsion less than or equal to predetermined threshold value and all detects wheel steering moment of torsion less than or equal to predetermined threshold value in continuous n the unit interval, judging that driving condition is abnormal, n is detection number of times；

(3), within the unit interval, detect that wheel steering angle and wheel steering angular velocity judge that driving condition is abnormal when being all higher than predetermined threshold value when steering wheel angle sensor 615；

(4), steering indicating light is not provided to judge that driving condition is abnormal when opening signal in the case of Vehicular turn when steering indicating light signal indicator 320；

Step 5, described track keep the separation between vehicles information that control module 50 provides based on roadway environments detection module 10, judge whether longitudinal direction of car is in safe distance scope, when longitudinal direction of car is not in safe distance scope, described track keeps control module 50 to calculate required brake force, and the brake force calculated is supplied to ESP ESP control device 650, controlled device 650 by ESP ESP and each wheel is provided corresponding brake force, thus by adjusting wheel wheel speed, longitudinal direction of car is maintained at safe distance scope.

The invention have the benefit that

1), patent of the present invention the complete detection of " people-Che-road " driving environment is realized track keep by roadway environments detection, vehicle-state detection, driver state-detection, vehicle and pavement of road coefficient of rolling friction detection four module, the drive safety of driving vehicle can be obviously improved.

2), patent of the present invention uses EPS to control device and realizes track holding with ESP control device Collaborative Control mode, control device by EPS and realize the first auxiliary aligning torque, control device by ESP and realize the second auxiliary aligning torque, on the premise of ensureing vehicle driving safety, farthest improve comfortableness when track keeps aid system to work.

3), should patent of invention return not only by lateral run-out just realize track keep, increase longitudinal safe distance simultaneously and keep function, front in this vehicle and track, place can be prevented effectively from and have the vehicle of Reduced Speed Now, or the unexpected lane change of another vehicle that travels of adjacent lane is in track, this vehicle place, and the vehicle accident that caused when being in this vehicle front or personal injury.

4), patent of the present invention has preferable extensibility, on the basis of prior art, adjusted by corresponding software or a small amount of hardware puts into, the senior drive assist system Function Extensions such as adaptive cruise, forward direction anti-collision warning, driver fatigue detection, full-view image can be realized, of great advantage for promoting the active safety of vehicle.

Accompanying drawing explanation

Fig. 1 is the module composition structural representation that track of the present invention keeps aid system；

Fig. 2 is that track of the present invention keeps aid system arrangement schematic diagram on car load；

Fig. 3 be track of the present invention keep aid system form structural representation in detail；

Fig. 4 is the overall control flow chart that track of the present invention keeps aid system；

Fig. 5 is driver behavioral value flow chart；

Fig. 6 is deviation principle schematic；

Fig. 7 is deviation decision flow chart；

Fig. 8 is that track keeps performing (deviation is abnormal) principle schematic；

Fig. 9 is that track keeps performing (deviation is abnormal) decision flow chart；

Figure 10 is that track keeps controlling schematic diagram；

Figure 11 is that track keeps control flow chart.

Detailed description of the invention

Below in conjunction with accompanying drawing, technical scheme is described in detail, so that those skilled in the art can be more clearly understood from the solution of the present invention, but the most therefore limits the scope of the invention.

Fig. 1 is the modular structure schematic diagram that track of the present invention keeps aid system.As it can be seen, described track keeps aid system to be kept control module 50, track to keep execution module 60 and warning system module 70 7 part to form by roadway environments detection module 10, vehicle-state detection module 20, driver state detection module 30, vehicle with pavement of road coefficient of rolling friction detection module 40, track.Described roadway environments detection module 10, vehicle-state detection module 20, driver state detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40 are connected to track and keep the data acquisition importation of control module 50, and described track keeps performing module 60 and warning system module 70 is connected to track and keeps the control signal output part of control module 50.By roadway environments detection module 10, vehicle-state detection module 20, driver state detection module 30, vehicle and the pavement of road coefficient of rolling friction detection module 40 complete detection to " people-Che-road " driving environment, control module 50 is kept to carry out calculation process by track corresponding detection signals, judge vehicle whether run-off-road, and keep the electric boosting steering system EPS of craspedodrome module 60 to control device 610 by track and ESP ESP controls device 650 Collaborative Control and realizes the horizontal rotary transform tensor in track, control device 650 by ESP ESP simultaneously and realize longitudinal safe distance holding, and carry out warning reminding by alarm device 710 in due course.

Fig. 2 be track keep aid system specifically arrange schematic diagram, Fig. 3 be track keep aid system concrete attachment structure schematic diagram, below in conjunction with the accompanying drawings 2 and 3 describe in detail tracks of the present invention keep aid systems composition structure.Described roadway environments detection module 10 includes ccd video camera 110, image processor 111, radar 120 and signal processor 121, described ccd video camera 110 is arranged in the rear of room mirror, described image processor 111 also is disposed on the rear distance ccd video camera 110 of room mirror and nearby or becomes one with ccd video camera 110, and described ccd video camera 110 by relevant connection connection in image processor 111, described image processor 111 is by relevant connection connection input module 510 in track keeps control module 50.Described radar 120 be arranged in below car mark before on grid, described signal processor 121 is arranged in main driving under-seat region in driving cabin, and described radar 120 by relevant connection connection in signal processor 121, described signal processor 121 is by relevant connection connection input module 510 in track keeps control module 50.Described roadway environments detection module 10 is used for detecting track and surrounding, concrete ccd video camera 110 is for detecting on lane line mark, lane line width, the vehicle center distance away from both sides lane line, road the relevant informations such as distance between pedestrian, vehicle course angle, vehicle, and the relevant information detected by ccd video camera 110 by relevant connection circuit passes to the input module 510 of track holding control module 50 after image processor 111 preliminary treatment.Described radar 120 is for detecting the relative velocity between vehicle, by the relevant information of detection after signal processor 121 preliminary treatment, passes to track by relevant connection circuit and keeps the input module 510 of control module 50.

Described vehicle-state detection module 20 includes acceleration transducer 210, yaw-rate sensor 220 and four wheel speed sensors 658, described acceleration transducer 210, yaw-rate sensor 220 are arranged in car load centroid position near zone, and it is connected to the input module 510 in track holding control module 50, four wheel speed sensors 658 are arranged in four tire region, and are kept the input module 510 of control module 50 in track by relevant connection connection.Described vehicle-state detection module 20 is for detecting position and the attitude of driving vehicle, confirm that vehicle the most stably travels, acceleration information, for measuring the transverse direction and longitudinal direction acceleration of car load, is passed to track by relevant connection circuit and keeps the input module 510 of control module 50 by concrete acceleration transducer 210.Yaw velocity, for detecting the yaw velocity of car load, is passed to track by relevant connection circuit and keeps the input module 510 of control module 50 by described yaw-rate sensor 220.Described four wheel speed sensors 658 are for the rotating speed of four wheels of detection, and then calculate speed information, wheel speed, speed information passed to track by relevant connection circuit and keep the input module 510 of control module 50.

Described driver state detection module 30 includes 310, two steering indicating light signal indicatoies 320 of touch sensor, track hold button switching signal device 330, steering wheel torque sensor 614 and steering wheel angle sensor 615, is all kept the input module 510 of control module 50 in track by connection.Described touch sensor 310 is arranged in the wheel rim of steering wheel 617, and whether both hands completely disengage from steering wheel to be used for sensing driver.Two steering indicating light signal indicatoies 320 are arranged in the near zone near left and right steering indicating light, steering indicating light is provided to be in the signal of opening or closed mode, track hold button switching signal device 330 is arranged on the dash panel or region convenient to operate around shift handle, for providing track to keep the information whether aid system opens, described steering wheel torque sensor 614 and steering wheel angle sensor 615 are arranged on the electric steering column 611 that electric boosting steering system EPS controls in device 610.Described driver state detection module 30 is the most normal for the driving behavior detecting driver, if there is the driver behavior causing risk.Concrete, described steering wheel angle sensor 615 is used for detecting vehicle steering angle, and then calculates the angular velocity of steering wheel, steering angle, angular velocity information is passed to track by relevant connection circuit and keeps the input module 510 of control module 50.Described steering wheel torque sensor 614 applies moment of torsion on the steering wheel for detecting driver, by relevant connection circuit, steering wheel torque information is passed to track and keeps the input module 510 of control module 50.Described touch sensor 310 holds the situation of steering wheel for detecting driver, by relevant connection circuit, driver holds the information of steering wheel and passes to track and keep the input module 510 of control module 50.Described steering indicating light signal indicator 320 provides switching signal, is used for confirming that steering indicating light is on state or closed mode, by relevant connection circuit, steering indicating light opening and closing signal is passed to track and keeps the input module 510 of control module 50.Described track hold button switching signal 330 is used for confirming that track keeps control module to be on state or closed mode, keeps control module opening and closing signal to pass to track in track by relevant connection circuit and keeps the input module 510 of control module 50.

Described vehicle and pavement of road coefficient of rolling friction detection module 40 include four SAW tire sensors (SAW tire sensor) 410, receptor 420 and signal processor 430, four SAW tire sensors (SAW tire sensor) 410 are separately mounted in the pattern rubber of four tires, receptor 420 and signal processor 430 are arranged on main driving under-seat region in driving cabin, and four SAW tire sensors 410 pass through connection in receptor 420, receptor 420 passes through connection in signal processor 430, signal processor 430 keeps the input module 510 of control module 50 by connection in track.Described vehicle and pavement of road coefficient of rolling friction detection module 40 are used for being periodically detected vehicle and pavement of road coefficient of rolling friction.The SAW tire sensor 410 being installed in four tyre tread rubber is for tyre load, tire pressure, coefficient of road adhesion and the change course thereof of four wheels of Real time identification, the parameters such as the coefficient of road adhesion recorded are received through receptor 420, after signal processor 430 preliminary treatment, passes to track by relevant connection circuit and keep the input module 510 of control module 50.

nullDescribed track keeps control module 50 to include input module 510、Data memory module 520、Microprocessor 530 and output module 540，Each module arrangement is easy to the region arranged in driving cabin between front two rows seat，Input module 510 and data memory module 520 are connected to microprocessor 530，Microprocessor 530 is connected to output module 540，Microprocessor 530 gathers track context detection module 10 by input module 510、Vehicle-state detection module 20、The data message that driver state detection module 30 and vehicle detect with pavement of road coefficient of rolling friction detection module 40，The calculation process that data memory module 520 is microprocessor 530 provides memory space，Output module 540 is as the control signal outfan of microprocessor 530，It is connected to track keep performing module 60 and warning system module 70.Described track keeps control module 50 to carry out calculating process for the signal inputting each measurement module, and keep performing module 60 according to the output control track calculated, warning system module 70 collaborative work, concrete input module 510 is for by roadway environments detection module 10, vehicle-state detection module 20, driver state detection module 30, each signal that vehicle inputs with pavement of road coefficient of rolling friction detection module 40 processes, it is converted into the signal that microprocessor 530 can identify and be easy to process, data memory module 520 is for carrying out real-time storage to each data in microprocessor 530 processing procedure.Microprocessor 530 is for carrying out detailed Data Analysis Services to the signal of input module 510 input, and whether real-time judge vehicle run-off-road occurs, when carry out power that track keeps performing and keep performing to need and torque and how distribution etc..Output module 540 keeps performing module 60 signal that is readily identified and that process and exports for the forces associated after microprocessor 530 computational analysis and torque demand are converted into track and keep performing module 60 to track, and the alarm signal after being analyzed and processed by microprocessor 530 exports to warning system module 70.

Described track keeps performing module 60 and includes that electric boosting steering system EPS controls device 610 and ESP ESP controls device 650, further described electric boosting steering system EPS controls device 610 and is made up of electric steering column 611 and manual steering gear 616, and described electric steering column 611 is made up of mechanical steering tubing portion 612 and power-assisted steering module 613.Described electric steering column 611 is arranged in steering wheel 617 lower zone in driving cabin, and described manual steering gear 616 is arranged in above front deck subframe, left and right front tyre zone line.Described ESP ESP controls device 650 and is made up of ECU651, brake boost pump 652, hydraulic control unit 653 and four brake booster 654-657.ECU651, hydraulic control unit 653 are arranged in driving cabin assistant driver seat lower zone, and brake boost pump 652 is arranged near fire wall position on the right side of front deck, and four brake booster 654-657 are arranged in four tire region.Described track keeps execution module 60 to be used for controlling electric boosting steering system EPS control device 610 and ESP ESP controls device 650 collaborative work and realizes just returning and longitudinal direction safe distance holding of track lateral run-out.Concrete described electric boosting steering system EPS control device 610 adjusts corresponding steering force by the electric power steering module being made up of electric steering column 611 and manual steering gear 616 and steering wheel angle 630 realizes providing the first auxiliary aligning torque 620.Described ESP ESP controls device 650 and controls the brake signal to four brake booster 654-657 outputs by ECU651, brake boost pump 652 and hydraulic control unit 653, thus four wheel wheel speeds is adjusted by brake booster 654-657 relation by a certain percentage 670 respectively and realizes providing the second auxiliary aligning torque 660.First auxiliary aligning torque 620 and the setting of the second auxiliary aligning torque 660, is in order to, on the premise of ensureing vehicle driving safety, maximum raising track keeps comfortableness during aid system work.The device 650 of ESP ESP control simultaneously is adjusted 670 to realize the holding of longitudinal direction of car safe distance also by four wheel wheel speeds.

The alarm device 710 of described warning system module 70 includes alarm 721, display screen 731, two hazard warning flasher 732, steering wheel vibration sensor 741, seat vibration sensors 742, described alarm 721 is arranged on display screen 731 right side area, display screen 731 is arranged at instrument viewing area, two hazard warning flasher 732 are separately positioned in left and right outside rear-view mirror, described steering wheel vibration sensor 741 is arranged on inside steering wheel, and described seat vibration sensor 742 is arranged on inside seat.Each parts of described warning system module 70 are all directly connected in described track and keep the output module 540 of control module 50, control signal according to output module 540 output provides multiple warning reminding, the type of alarm of concrete described warning system module 70 includes sound prompting 720(alarm 721 chimes of doom etc.), image remind 730(display screen 731, hazard warning flasher 732 etc.) and vibrating alert 740(steering wheel vibration sensor 741, seat vibration sensor 742 etc.), thus when determining that vehicle has abnormal conditions, farthest remind driver to note.

Track of the present invention keeps aid system by roadway environments detection module 10, vehicle-state detection module 20, driver state detection module 30, vehicle and the pavement of road coefficient of rolling friction detection module 40 complete detection to " people-Che-road " driving environment, control module 50 is kept to carry out calculation process by track corresponding detection signals, judge vehicle whether run-off-road, and keep craspedodrome module 60 to realize the horizontal rotary transform tensor in track by track and longitudinal safe distance keeps controlling, carry out warning reminding by alarm device 710 the most when necessary.4 to accompanying drawing 11 illustrates this control track holding control process below in conjunction with the accompanying drawings.

The described track that is given the most as shown in Figure 4 keeps the whole job control flow process of aid system.First speed is judged after vehicle launch, activate track holding aid system to determine whether to start.It is 60Km/h-120Km/h that track of the present invention keeps aid system to be preferably suitable for vehicle speed range.When speed is less than 60Km/h, system inactive；When speed is higher than 120Km/h, system is automatically switched off, and by warning reminding driver's adapter driving authority；When speed is between 60Km/h-120Km/h, system activates.

When detecting that speed is between 60Km/h-120Km/h, activate described track and keep aid system, then by roadway environments detection module 10, vehicle-state detection module 20, driver state detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40 carry out road environment detection respectively, vehicle-state detects, driving behavior detection and coefficient of rolling friction detection, and kept control module 50 to be analyzed processing to the data of detection by track, thus accurately detect vehicle state in which, and judge whether vehicle deviation occurs and whether want track to keep controlling operation accordingly, when judging to need to carry out track holding, system carries out track and keeps control model, otherwise continue detection.

Describing described track in detail below in conjunction with schematic diagram and flow chart keeps the various detection function course of aid system and track to keep controlling function course.

Described track keeps the driving behavior detection function of aid system as shown in Figure 5, including following process:

First track keeps control module 50 to first pass through touch sensor 310 detecting driver and hold the situation of steering wheel, when detecting that driver does not hold steady steering wheel, to warning system module 70 output alarm signal, directly warning reminding driver focuses on driving, one of optional three kinds of type of alarms or combination.

Secondly the signal determining track that track keeps control module 50 to provide according to track hold button switching signal device 330 keeps whether aid system closes.When detecting that track hold button switching signal device 330 is closed, then track keeps control module 50 to export warning reminding signal to warning system module 70, is turned off by warning reminding driver's system, the driving authority of request driver's adapter vehicle.Otherwise perform following detection.

nullThen track keep control module 50 to steering wheel torque sensor 614 in the unit interval and in the unit interval signal of steering wheel angle sensor 615 detect，Within the unit interval, threshold value Tt that torque T d of driver turn steering wheel is arranged is detected less than or equal to system by steering wheel torque sensor 614、And in n unit interval, (n is detection number of times continuously，Set according to system debug result) all detect when torque T d of driver turn steering wheel is less than or equal to threshold value Tt that system is arranged，Then represent in driver's driving process and fail normally to revise direction、Driver is in improper driving condition, and (driver dozes off、Tired、Distraction etc.)，Then track keeps control module 50 to warning system module 70 output alarm signal，Focus on driving by warning reminding driver.When threshold value Tt that torque T d detected is arranged more than system, detect, by steering wheel angle sensor 615, the threshold θ whether rotational angle theta of steering wheel is arranged more than system further_t, and threshold value ω that whether arranges more than system of the angular velocity omega of steering wheel_tIf then representing that driver is in improper driving condition (driver's carelessness, doze, distraction, fatigue, make a phone call), then focus on driving by warning reminding driver, if the rotational angle theta detected and angular velocity omega are respectively less than the corresponding threshold value set, then perform following steering indicating light signal detection.

Track keeps control module 50 to be detected steering indicating light signal by two steering indicating light signal indicatoies 320.In torque T driver turn steering wheel being detected_dThreshold value T arranged more than system_t, steering wheel angle θ less than or equal to system arrange threshold θ_t, steering wheel angular velocity ω less than or equal to system arrange threshold value ω_tIn the case of, track keeps control module 50 to be detected the situation of vehicle turn signal further by steering indicating light signal indicator 320, if now steering indicating light is not switched on, then it represents that driver still in improper driving condition, then focuses on driving by warning reminding driver；When in torque T driver turn steering wheel being detected_dThreshold value T arranged more than system_t, steering wheel angle θ less than or equal to system arrange threshold θ_t, steering wheel angular velocity ω less than or equal to system arrange threshold value ω_tUnder, detect that the steering indicating light of vehicle is in when opening, then it represents that driver is in normal commutation or lane change state, and system is not reported to the police.The driving condition of driver can be detected accurately by said process, it is ensured that be in abnormal driving state.

Described track keeps the deviation decision-making function of aid system to include following process, and wherein accompanying drawing 6 judges schematic diagram for deviation, and accompanying drawing 7 is deviation decision flowchart:

First track keeps the input module of control module 50 to receive the information such as the lane line mark of roadway environments detection module 10 offer, lane line width, the vehicle center distance away from left and right sides lane line, vehicle course angle, and the relevant information input microprocessor that will receive, the N width image of continuous acquisition is carried out course angle and/or vehicle and judges with left and right lane line distance.

When the absolute value of course angle α of i+1 width image vehicle 100 being detected is more than the absolute value (0 ＜ i ＜ N-1) of course angle α of the i-th width image, show that there is the trend that deviation increases the weight of in track, and course angle α less than zero (defined herein course angle α be positioned on the right side of lane center 101 on the occasion of, course angle α is positioned on the left of lane center 101 for negative value), then it represents that vehicle left avertence；Otherwise then vehicle right avertence.When the absolute value of course angle α of the i+1 width image detected is less than the absolute value of course angle α of the i-th width image, show that deviation does not occurs.

When the vehicle left hand edge of the i+1 width image detected distance dl away from left-hand lane line 102_i+1Deduct the vehicle right hand edge of i+1 width image distance dr away from right-hand lane line 102_i+1Absolute value more than distance dl away from left-hand lane line 102 of the vehicle left hand edge of the i-th width image_iDeduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line 102_iAbsolute value, show that there are the trend that increases the weight of of deviation, and distance dl that the vehicle left hand edge of the i-th width image is away from left-hand lane line 102 in track_iAbsolute value deduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line 102_iAbsolute value more than or equal to system arrange threshold value dt, then it represents that vehicle right avertence；Otherwise then vehicle left avertence.When the vehicle left hand edge of the i+1 width image detected distance dl away from left-hand lane line_i+1Deduct the vehicle right hand edge of i+1 width image distance dr away from right-hand lane line_i+1Absolute value less than or equal to distance dl away from left-hand lane line of the vehicle left hand edge of the i-th width image_iDeduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value, show that deviation does not occurs.

Described track keeps aid system to determine a need for performing track holding control operation further according to the result of above-mentioned deviation, and (whether the most above-mentioned deviation is beyond predetermined safe range, belong to abnormality), first following judge process is included, wherein Fig. 8 is that track keeps performing to judge schematic diagram, Fig. 9 is that track keeps performing decision flow chart, keeps execution to make the following judgment according to above two figures to when carrying out track:

When determining that vehicle has left avertence trend, by judging the vehicle left hand edge of the i-th width image distance dl away from left-hand lane line 102_iAbsolute value whether less than the left side interference region 103 inside lane line 102 distance H away from interference region inner side edge boundary line 105_i1.Work as dl_iAbsolute value less than or equal to H_i1, then it represents that the left avertence of vehicle, from beyond safety range, belongs to lateral run-out abnormality, needs to perform track and keeps rotary transform tensor.Otherwise then illustrate that the left avertence of vehicle is still within controlled normal range, it is not necessary to carry out rotary transform tensor.

When determining that vehicle has right avertence trend, by judging the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line 102_iAbsolute value whether less than the right side interference region 104 inside lane line 102 distance H away from interference region inner side edge boundary line 106_ir.Work as dr_iAbsolute value less than or equal to H_ir, then it represents that the right avertence of vehicle, beyond safety range, belongs to lateral run-out abnormality, needs to perform track and keeps rotary transform tensor.Otherwise then illustrate that the right avertence of vehicle is still within controlled normal range, it is not necessary to carry out rotary transform tensor.

Vehicle longitudinal spacing controls to be carried out the detection of surrounding by photographic head, radar, detects the safe distance S that distance S of this car and front truck is arranged with system_TCarry out contrasting (safe distance S_TCalculated by safe operation event t of the relative velocity of two cars with systemic presupposition), when S is less than or equal to S_TTime, carry out longitudinal safe distance and keep performing control, otherwise be then made without longitudinal safe distance and keep performing control.

Last described track keeps aid system to perform back just to operate according to above-mentioned deviation decision structure, and Figure 10 is that track keeps controlling schematic diagram, and Figure 11 is that track keeps control flow chart.Return according to above two figures and just keep being described how carrying out track.

As mentioned above, during vehicle is kept straight on, run into the improper driving condition of driver (driver's carelessness, doze, distraction, fatigue, make a phone call) to drive and cause deflecting roller to deflect, causing vehicle to deviate traveling lane, this deviation is kept aid system to recognize and monitor in real time by track.The most as above, when judging that vehicle is in deviation state and is deviated into interference region by detection, device 610 and ESP control device 650 is controlled by horizontal aligning torque good for system-computed being respectively allocated to as desired EPS, making EPS and ESP coordinated control, wherein EPS control device 610 adjusts corresponding steering force by electric power steering module and steering wheel angle 630 realizes providing the first auxiliary aligning torque 620.ESP control device 650 is adjusted 670 respectively and realizes providing the second auxiliary aligning torque 660 by relation by a certain percentage to four wheel wheel speeds.Lateral direction of car is made just to deviate back under the first auxiliary aligning torque 620 and the second auxiliary aligning torque 660 act on jointly, it is achieved track keeps 680.Curve 107 is the vehicle centroid driving trace curve keeping through track controlling.First auxiliary aligning torque 620 and the setting of the second auxiliary aligning torque 660, is in order to, on the premise of ensureing vehicle driving safety, maximum raising track keeps comfortableness during aid system work.Simultaneously when detecting that needs carry out longitudinal safe distance holding, the demand braking force calculated is supplied to ESP and controls device 650 by system, ESP, by providing corresponding brake force to four wheels, carries out the adjustment of wheel wheel speed, it is achieved longitudinal direction of car safe distance keeps.

The present invention is detected by roadway environments, vehicle-state detects, driver state-detection, vehicle detects the four module complete detection to " people-Che-road " driving environment with pavement of road coefficient of rolling friction, control module is kept to carry out calculation process by track corresponding detection signals, judge vehicle whether run-off-road, and realize the horizontal rotary transform tensor in track by electric boosting steering system EPS and ESP ESP Collaborative Control and kept by ESP ESP control realization longitudinal direction safe distance, and carry out warning reminding in due course, whole scheme at least has the following advantages and innovation: 1., the complete detection of " people-Che-road " driving environment is realized track holding, it is obviously improved the drive safety of driving vehicle.2., use EPS to control device to realize track holding with ESP control device Collaborative Control mode, on the premise of ensureing vehicle driving safety, farthest improve comfortableness when track holding aid system works.3., by lateral run-out return and just realize track holding, increase longitudinal safe distance simultaneously and keep function, the longitudinal vehicle impact on Lane Keeping System can be prevented effectively from, promote the drive safety of driving vehicle.4., this patent of invention has preferable extensibility.

Below it is only that the preferred embodiment of the present invention is described; technical scheme is not limited to this; the any known deformation that those skilled in the art are made on the basis of the major technique of the present invention is conceived broadly falls into the present invention claimed technology category, and the protection domain that the present invention is concrete is as the criterion with the record of claims.

Claims (10)

1. null1. a track keeps aid system，It is characterized in that，Including: roadway environments detection module (10)、Vehicle-state detection module (20)、Driver state detection module (30)、Vehicle and pavement of road coefficient of rolling friction detection module (40)、Track keeps control module (50)、Track keeps performing module (60) and warning system module (70)，Described roadway environments detection module (10)、Vehicle-state detection module (20)、Driver state detection module (30)、Vehicle and pavement of road coefficient of rolling friction detection module (40) are connected to track and keep the data acquisition importation of control module (50)，Described track keeps performing module (60) and warning system module (70) is connected to track and keeps the control signal output part of control module (50)，Described track keeps control module (50) according to roadway environments detection module (10)、Vehicle-state detection module (20)、" people-Che-road " driving environment detection data that driver state detection module (30) and vehicle provide with pavement of road coefficient of rolling friction detection module (40)，Judge travel condition of vehicle and driver state，When driver state occurs abnormal，Described track keeps control module (50) triggering warning system module (70) to carry out warning reminding，When lateral direction of car run-off-road occurs abnormal，Described track keeps control module (50) to control track and keeps execution module (60) execution lateral direction of car rotary transform tensor，When longitudinal direction of car is not in safe distance scope，Described track keeps control module (50) control track to keep execution module (60) that vehicle is maintained at safe distance scope.
2. nullTrack the most according to claim 1 keeps aid system，It is characterized in that，Described roadway environments detection module (10) includes ccd video camera (110) and radar (120)，For detecting lane line mark、Lane line width、Vehicle center is away from both sides lane line distance、Pedestrian on road、Vehicle course angle、Relative velocity between separation between vehicles information and vehicle，Described vehicle-state detection module (20) includes acceleration transducer (210)、Yaw-rate sensor (220) and wheel speed sensors (658)，For detecting lateral direction of car and longitudinal acceleration、Yaw velocity and vehicle wheel rotational speed，Described driver state detection module (30) includes touch sensor (310)、Steering indicating light signal indicator (320)、Track hold button switching signal device (330)、Steering wheel torque sensor (614) and steering wheel angle sensor (615)，For detecting steering wheel for vehicle touch situations、Steering indicating light open and-shut mode、Track keeps aid system open and-shut mode、Wheel steering moment of torsion、Wheel steering angle and wheel steering angular velocity，Described vehicle and pavement of road coefficient of rolling friction detection module (40) include tire sensor，For being periodically detected the coefficient of rolling friction of vehicle and pavement of road；Described track keeps control module (50) to include input module (510), data memory module (520), microprocessor (530) and output module (540), described input module (510) is connected to described ccd video camera (110), radar (120), acceleration transducer (210), yaw-rate sensor (220), wheel speed sensors (658), touch sensor (310), steering indicating light signal indicator (320), track hold button switching signal device (330), steering wheel torque sensor (614), steering wheel angle sensor (615) and tire sensor, described microprocessor (530) is connected to described input module (510), data memory module (520) and output module (540)；Described track keeps performing module (60) and includes that electric boosting steering system EPS controls device (610) and ESP ESP controls device (650), and described output module (540) is connected to described electric boosting steering system EPS control device (610), ESP ESP controls device (650) and warning system module (70).
3. Track the most according to claim 2 keeps aid system, it is characterized in that, described track keeps control module (50) to judge whether driver state exception occurs in the following manner based on the detection information that driver state detection module (30) provides: when touch sensor (310) detects that driver judges that driving condition is abnormal when not holding steady steering wheel；When steering wheel torque sensor (614) detects that within the unit interval wheel steering moment of torsion less than or equal to predetermined threshold value and all detects wheel steering moment of torsion less than or equal to predetermined threshold value in continuous n the unit interval, judging that driving condition is abnormal, n is detection number of times；When steering wheel angle sensor (615) detects that within the unit interval wheel steering angle and wheel steering angular velocity judge that driving condition is abnormal when being all higher than predetermined threshold value；When steering indicating light signal indicator (320) does not provides steering indicating light to judge that driving condition is abnormal when opening signal in the case of Vehicular turn.
4. 4. keep aid system according to the track described in Claims 2 or 3, it is characterized in that, described track keeps the detection information that control module (50) provides based on roadway environments detection module (10), first vehicle whether lateral run-out track is judged, on the premise of lateral direction of car run-off-road, judge whether lateral direction of car run-off-road is in abnormality again, when lateral direction of car run-off-road is in abnormality, track keeps control module (50) to trigger track and keeps execution module (60) execution lateral direction of car rotary transform tensor operation.
5. Track the most according to claim 4 keeps aid system, it is characterized in that, described track keeps control module (50) to judge vehicle whether lateral run-out track in such a way based on the detection information that roadway environments detection module (10) provides: when distance dl away from left-hand lane line of the vehicle left hand edge of the i+1 width image detected_i+1Deduct the vehicle right hand edge of i+1 width image distance dr away from right-hand lane line_i+1Absolute value more than distance dl away from left-hand lane line of the vehicle left hand edge of the i-th width image_iDeduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value time, it is determined that vehicle lateral run-out track, and when the vehicle left hand edge of the i-th width image that detect distance dl away from left-hand lane line_iAbsolute value deduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value more than or equal to predetermined threshold value d_TTime, then judgement vehicle dextrad run-off-road, otherwise then left-hand run-off-road；When the absolute value of the course angle of i+1 width image of vehicle being detected more than the absolute value of course angle α of the i-th width image, then judge lateral direction of car run-off-road, and vehicle dextrad run-off-road is judged further when course angle is along the right direction of lane center, vehicle left-hand run-off-road is judged further when course angle is along the left direction of lane center.
6. Track the most according to claim 5 keeps aid system, it is characterized in that, described track keeps control module (50) to judge whether lateral direction of car run-off-road is in exception in such a way based on the detection information that roadway environments detection module (10) provides: under determining vehicle left-hand run-off-road, when the vehicle left hand edge of the i-th width image distance dl away from left-hand lane line_iAbsolute value less than or equal to distance H in interference region inside lane line-spacing interference region inner side edge boundary line, left side_i1Time, it is determined that vehicle left-hand run-off-road is abnormal, needs to start rotary transform tensor operation；Under determining vehicle dextrad run-off-road, when the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value less than or equal to distance H in interference region inside lane line-spacing interference region inner side edge boundary line, right side_irTime, it is determined that vehicle dextrad run-off-road is abnormal, needs to start rotary transform tensor operation.
7. 7. keep aid system according to the track described in any one of claim 2-6, it is characterized in that, when lateral direction of car run-off-road occurs abnormal, described track keeps control module (50) to carry out lateral direction of car rotary transform tensor in such a way: the coefficient of rolling friction accurate information that laterally and longitudinally acceleration, yaw velocity and vehicle wheel rotational speed information that first track keeps control module (50) to provide according to vehicle-state detection module (20) and vehicle and pavement of road coefficient of rolling friction detection module (40) provide calculate needed for horizontal aligning torque；Then described horizontal aligning torque is distributed to described electric boosting steering system EPS by predetermined ratio and control device (610) and ESP ESP control device (650), described electric boosting steering system EPS controls device (610) provides the first auxiliary aligning torque by the electric power steering module corresponding steering force of adjustment and steering wheel angle, described ESP ESP controls device (650) by could be adjusted to provide the second auxiliary aligning torque to each wheel wheel speed, lateral direction of car rotary transform tensor is realized under the coordinated effect of the first auxiliary aligning torque and the second auxiliary aligning torque.
8. 8. keep aid system according to the track described in any one of claim 2-7, it is characterized in that, described track keeps the spaces of vehicles information that control module (50) provides based on roadway environments detection module (10), judge whether longitudinal direction of car is in safe distance scope, when distance S detected between Ben Che and front truck is less than or equal to the safe distance S preset_TTime, judge that longitudinal direction of car is not in safe distance scope, now track keeps control module (50) according to roadway environments detection module (10), the spacing information that vehicle-state detection module (20) and vehicle provide with pavement of road coefficient of rolling friction detection module (40), speed information, acceleration information and coefficient of rolling friction information, brake force needed for accurate calculation, and the brake force calculated is supplied to ESP ESP control device (650), controlled device (650) by ESP ESP and provide corresponding brake force to each wheel, thus by adjusting wheel wheel speed, longitudinal direction of car is maintained at safe distance scope.
9. 9. the track keeping aid system to carry out based on track described in any one of claim 2-8 keeps householder method, it is characterised in that comprise the following steps:

   Step one, track keep control module (50) the detection information that provides based on roadway environments detection module (10), judge vehicle whether lateral run-out track as follows, if then performing step 2:

   (1), when distance dl away from left-hand lane line of the vehicle left hand edge of the i+1 width image detected_i+1Deduct the vehicle right hand edge of i+1 width image distance dr away from right-hand lane line_i+1Absolute value more than distance dl away from left-hand lane line of the vehicle left hand edge of the i-th width image_iDeduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value time, it is determined that vehicle lateral run-out track, and when the vehicle left hand edge of the i-th width image that detect distance dl away from left-hand lane line_iAbsolute value deduct the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value more than or equal to preset threshold value d_TTime, then judgement vehicle dextrad run-off-road, otherwise then left-hand run-off-road；

   (2), when the absolute value of the course angle of i+1 width image of vehicle being detected more than the absolute value of course angle α of the i-th width image, then judge lateral direction of car run-off-road, and vehicle dextrad run-off-road is judged further when course angle is along the right direction of lane center, vehicle left-hand run-off-road is judged further when course angle is along the left direction of lane center；

   Step 2, when lateral direction of car run-off-road, described track keeps control module (50) the detection information that provides based on roadway environments detection module (10) to judge whether lateral direction of car run-off-road belongs to abnormal conditions in such a way, if belonging to abnormal conditions, performs step 3:

   (1), under determining vehicle left-hand run-off-road, when the vehicle left hand edge of the i-th width image distance dl away from left-hand lane line_iAbsolute value less than or equal to distance H in interference region inside lane line-spacing interference region inner side edge boundary line, left side_i1Time, it is determined that vehicle left-hand run-off-road is abnormal；

   (2), under determining vehicle dextrad run-off-road, when the vehicle right hand edge of the i-th width image distance dr away from right-hand lane line_iAbsolute value less than or equal to distance H in interference region inside lane line-spacing interference region inner side edge boundary line, right side_irTime, it is determined that vehicle dextrad run-off-road is abnormal；

   Step 3, when lateral direction of car run-off-road occurs abnormal, described track keeps control module (50) to carry out lateral direction of car rotary transform tensor in such a way:

   (1) the horizontal aligning torque needed for, the coefficient of rolling friction accurate information that track keeps control module (50) the laterally and longitudinally acceleration, yaw velocity and the vehicle wheel rotational speed information that provide according to vehicle-state detection module (20) and vehicle and pavement of road coefficient of rolling friction detection module (40) to provide calculates；

   (2), track keeps control module (50) that by predetermined ratio, the horizontal aligning torque calculated is distributed to described electric boosting steering system EPS control device (610) and ESP ESP controls device (650)；

   (3), described electric boosting steering system EPS controls device (610) provides the first auxiliary aligning torque by the electric power steering module corresponding steering force of adjustment and steering wheel angle, described ESP ESP control device (650), by could be adjusted to provide the second auxiliary aligning torque to each wheel wheel speed, realizes lateral direction of car rotary transform tensor under the coordinated effect of the first auxiliary aligning torque and the second auxiliary aligning torque.
10. Track the most according to claim 9 keeps householder method, it is characterised in that the most further comprising the steps of:

    The detection information that step 4, described track keep control module (50) to provide based on driver state detection module (30) judges whether driver state exception occurs in such a way, and when driver state occurs abnormal, trigger warning system module (70) and carry out warning reminding:

    (1), detect that driver judges that driving condition is abnormal when not holding steady steering wheel when touch sensor (310)；

    (2), when steering wheel torque sensor (614) detects that within the unit interval wheel steering moment of torsion less than or equal to predetermined threshold value and all detects wheel steering moment of torsion less than or equal to predetermined threshold value in continuous n the unit interval, judging that driving condition is abnormal, n is detection number of times；

    (3), within the unit interval, detect that wheel steering angle and wheel steering angular velocity judge that driving condition is abnormal when being all higher than predetermined threshold value when steering wheel angle sensor (615)；

    (4), steering indicating light is not provided to judge that driving condition is abnormal when opening signal in the case of Vehicular turn when steering indicating light signal indicator (320)；

    Step 5, described track keeps the separation between vehicles information that control module (50) provides based on roadway environments detection module (10), judge whether longitudinal direction of car is in safe distance scope, when longitudinal direction of car is not in safe distance scope, described track keeps the brake force needed for control module (50) calculating, and the brake force calculated is supplied to ESP ESP control device (650), controlled device (650) by ESP ESP and provide corresponding brake force to each wheel, thus by adjusting wheel wheel speed, longitudinal direction of car is maintained at safe distance scope.