CN109849908B - Lane keeping auxiliary system based on adjacent lane risk prediction and control method - Google Patents
Lane keeping auxiliary system based on adjacent lane risk prediction and control method Download PDFInfo
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Abstract
The invention discloses a lane keeping auxiliary system and a control method based on adjacent lane risk prediction, which comprises a vehicle model prediction module, a sensor detection module, a safety risk pre-judging module, an active control module and a lane keeping auxiliary module, wherein the sensor detection module is used for detecting the driving state information of the vehicle, the driving state information of the vehicles in the adjacent lanes and the road surface condition, and respectively transmitting the information to the model prediction module and the safety risk pre-judging module; the vehicle model prediction module carries out pre-aiming track on the vehicle; the safety risk pre-judging module pre-judges the transverse risk according to the running state information of the vehicles in the adjacent lanes and the pre-aiming track information of the vehicle, and respectively sends the pre-judging results to the active control module and the lane keeping auxiliary module, and the active control module executes active braking control or active steering control according to the pre-judging results.
Description
Technical Field
The invention belongs to the technical field of automobile safety auxiliary driving, and particularly relates to a lane keeping auxiliary system and a control method based on adjacent lane risk prediction.
Background
The Lane Keeping Auxiliary System (LKAS) belongs to an active safety system of a vehicle, is one of main branches of ADAS, can provide lateral control of the vehicle, is a higher-level active safety auxiliary system of a lane departure auxiliary early warning system (LDWS), and has important research value in the advanced intelligent auxiliary driving direction in the current automobile field; the current lane keeping research is still focused on the lane departure algorithm and the accurate path tracking, the current lane departure early warning algorithm is most common TLC, and as for the path control, high-precision models and control algorithms are mostly adopted, such as a neural network, a particle swarm, a sliding mode, extension and the like;
under the current intelligent development trend, only a single vehicle and a lane are taken as research objects and cannot meet the requirements, namely the current research ignores the safety risk in the lane keeping process, namely in the process of starting the lane keeping function to drive, the vehicles running in the same direction of the lanes on two sides slide laterally or are out of control in steering, the transverse collision risk caused to the vehicle is increased, the uncertainty of the lane keeping auxiliary driving function in the starting process is increased, and the safety in the whole driving process is threatened
Disclosure of Invention
According to the problems in the prior art, the lane keeping auxiliary system and the control method based on the adjacent lane risk prediction are provided, and the safety and the integrity of the lane keeping system can be effectively improved.
The technical scheme adopted by the invention is as follows:
the lane keeping auxiliary system based on adjacent lane risk prediction comprises a vehicle model prediction module, a sensor detection module, a safety risk prejudgment module, an active control module and a lane keeping auxiliary module;
the sensor detection module is used for detecting the driving state information of the vehicle, the driving state information of the vehicles in the adjacent lanes and the road surface condition and respectively transmitting the information to the model prediction module and the safety risk pre-judgment module;
the vehicle model prediction module obtains the information of the pre-aiming track of the vehicle according to the running state information of the vehicle, and estimates the running states of the vehicles after a plurality of time steps;
the safety risk pre-judging module pre-judges the transverse risk according to the running state information of the vehicles in the adjacent lanes and the pre-aiming track information of the vehicle and respectively sends the pre-judging results to the active control module and the lane keeping auxiliary module,
and the active control module executes active braking deceleration or active steering according to the pre-judgment result.
Further, the sensor detection module comprises a camera, a laser radar, a vehicle body attitude sensor and a gyroscope.
The control method of the lane keeping auxiliary system based on the adjacent lane risk prediction comprises the following steps:
step 1, detecting the state parameters of a vehicle, the state parameters of vehicles in adjacent lanes and road surface information through a sensor detection module;
step 2, obtaining the vehicle running information of the adjacent lanes according to the parameters measured by the sensor detection module, and calculating the cross-lane time TLC and the longitudinal running distance S1；
Step 3, the vehicle model prediction module predicts the model track of the vehicle by using the measured parameters; setting the vehicle to keep running along the same distance with the lane line in the process of starting the lane keeping function, wherein the predicted path of the vehicle is the distance d from the lane line1The running distance S of the vehicle in the adjacent lane within the cross-track time TLC of the vehicle is calculated2；S2＝TLC·v2，v2The vehicle speed is the vehicle speed;
step 4, combining the states of the vehicle and the adjacent lane vehicles, carrying out safety risk pre-judgment, and carrying out active braking control or active steering control according to the pre-judgment result; the method for pre-judging the security risk comprises the following steps:
step 4.1, calculating the longitudinal distance S between the front wheels of the two vehicles when the vehicles in the adjacent lanes invade the predicted running track of the vehicle3：
Wherein S is1For longitudinal travel distance of vehicles in adjacent lanes, S2For the driving distance, L, within the cross-track time TLC of the vehicles in the adjacent lanes1For vehicle wheelbase of adjacent lanes, L2For the wheelbase of the vehicle, db1Is the wheel track of the vehicle in the adjacent lane, theta is the vehicle heading angle of the vehicle in the adjacent lane, d1Is a vehicleDistance from left front wheel to lane line, ShThe longitudinal distance between the center positions of the two vehicles;
step 4.2, setting the vehicle distance threshold value as
And an auxiliary distance threshold of
The longitudinal distance S between the front wheels of the two vehicles3Distance from vehicle threshold S0Making a comparison if S3＞S0If so, indicating that no safety risk exists, and continuing to start the lane keeping function; if S3≤S0Then S will be3And SfMaking a comparison if S3＞SfIf the risk degree is not large, the host vehicle is subjected to active steering control, and if the risk degree is not large, the host vehicle is subjected to active braking control.
Further, the active steering control method comprises the following steps:
step S1, calculating the vehicle distance threshold S of the vehicle0Ideal distance d between lower part and lane line4；
Step S2, setting virtual lane auxiliary lines in the lane, and setting the minimum safe distance d between the two lane linessThe vehicle is ensured to always run between two virtual lane lines in the active steering control process of the vehicle;
step S3, in the area between two virtual lane lines, with d4Carrying out real-time path planning on a target, wherein the path of the target cannot exceed the lane, and calculating a corresponding target corner by combining a driver model and a road model;
step S4, the actual steering wheel angle is made to track the target angle by the PID controller, and the steering process is completed;
step S5, returning to step 1) after the steering process is finished, and detecting the distance d from the left front wheel of the vehicle to the lane line in real time1Ideal distance d from the lane line4Making a comparison if d is satisfied1＜d4If so, then go to active steering control, otherwise, thenAnd ending the active steering control and continuing to start lane keeping.
Further, the active braking control method comprises the following steps:
step S1, calculating the distance threshold S of the vehicle0Ideal running distance SbThe calculation formula is as follows:
step S2, calculating braking acceleration a;
wherein, delta is the rotating mass conversion coefficient, m is the whole vehicle mass, FbFor ground braking force, FfTo rolling resistance, FwAs air resistance, FiIs the ramp resistance;
step S3, calculating ideal travel distance SbOptimum braking time tzThe calculation formula is as follows:
wherein a is braking acceleration, v2The running speed of the vehicle is shown, and a is braking acceleration;
step S4, returning to step 4 after the braking process is finished, and calculating the real-time longitudinal distance S of the front wheels of the two vehicles3And making a risk judgment.
Further, the cross-track time TLC is calculated by the following steps:
step 2.1, calculating the yaw velocity omega of the vehicle in the adjacent lane,
wherein k is0The error compensation coefficient is theta, and theta is the vehicle heading angle of the adjacent lane;
step 2.2, calculating the turning radius R of the vehicle in the adjacent lanev，
Wherein v is1The speed of the vehicle in the adjacent lane is shown, and omega is the yaw rate of the vehicle in the adjacent lane;
step 2.3, calculating the minimum transverse distance d between the front wheels of the vehicles in the adjacent lanes and the predicted track of the vehicle3，
Wherein d is2The distance between the center position of the vehicle body of the vehicle in the adjacent lane and the lane line,
step 2.4, calculating the turning arc deflection angle α of the vehicle in the adjacent lane,
wherein R isvThe turning radius of the vehicle in the adjacent lane;
step 2.4, calculating the cross-track distance DLC,
DLC＝αRv
step 2.5, calculating cross-track time TLC;
further, the longitudinal travel distance S1The calculation method comprises the following steps:
further, the state parameter of the host vehicle, the state parameter of the vehicle in the adjacent lane, and the road surface information include: distance d from left front wheel to lane line of vehicle1Vehicle wheelbase L of adjacent lanes1Adjacent lane vehicle wheel track db1Speed v of vehicle running in the same direction on adjacent lanes1Heading angle theta of vehicle in adjacent lane, vehicle body of vehicle in adjacent laneDistance d between the center position and the lane line2The longitudinal distance S between the center positions of the two vehicleshAnd the running speed v of the vehicle2。
The invention has the beneficial effects that:
compared with the prior art, the invention considers the risk of lateral collision to the vehicle when the vehicles running in the same direction of the lanes on the two sides sideslip or the steering is out of control in the process of starting the lane keeping function, and breaks through the current research limit on the lane keeping of the single vehicle;
in the risk pre-judging process, the risk is quantitatively evaluated, the risk which is invisible in the future is expressed by a data formula, the risk levels are divided, active control is performed, the risk is avoided, and the safety and the integrity of the lane keeping system are further improved;
in the aspect of active control, two control methods of active steering and active braking are adopted, wherein the steering control limits the path planning in the lane, the lane change is not involved, and the complexity of the algorithm is reduced; the active braking control adopts a method of fixing the braking acceleration and selecting the braking time according to the situation, thereby being simple and effective
Drawings
FIG. 1 is a schematic diagram of a lane keeping aid system based on adjacent lane risk prediction;
FIG. 2 is a flow chart of lane keeping aid control based on adjacent lane risk prediction;
fig. 3 is a schematic diagram of the lateral risk prediction principle of the adjacent lane.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the lane keeping auxiliary system based on adjacent lane risk prediction according to the present invention includes a vehicle model prediction module, a sensor detection module, a safety risk prediction module, an active control module, and a lane keeping auxiliary module; the sensor detection module comprises sensors such as a camera, a laser radar, a vehicle body attitude sensor and a gyroscope, detects the driving state information of the vehicle, the driving state information of the vehicles driving in adjacent lanes and the road surface condition, and respectively transmits the information to the model prediction module and the safety risk pre-judging module;
the vehicle model prediction module is used for predicting the aiming track of the vehicle according to the vehicle running state information detected by the sensor to obtain vehicle pre-tracing track information and estimating the running states of the vehicles after a plurality of time steps; the vehicle pre-tracing track information is input into a safety risk pre-judging module,
the safety risk pre-judging module pre-judges the transverse risk according to the running state information of the vehicles in the adjacent lanes and the pre-aiming track information of the vehicle and respectively sends the pre-judging results to the active control module and the lane keeping auxiliary module,
the active control module receives a pre-judgment result made by the safety risk pre-judgment module, starts active braking deceleration or active steering to avoid risks when the pre-judgment result is a danger signal, and is connected with the vehicle model prediction module to feed back information; and when the pre-judging result is that no safety risk signal exists, the lane keeping auxiliary module continues to start the lane keeping auxiliary function state.
As shown in fig. 2, based on the lane keeping assist system based on the adjacent lane risk prediction, the present invention further provides a control method of the lane keeping assist system based on the adjacent lane risk prediction, which includes the following steps:
step 1, detecting the state parameters of a vehicle, the state parameters of vehicles in adjacent lanes and road surface information through a sensor detection module; with reference to fig. 3, the method for specifically acquiring the parameters is as follows:
step 1.1, detecting a lane line by using a camera, identifying the lane line and obtaining the distance d from the left front wheel of the vehicle to the lane line1Namely BF;
step 1.2, recognizing the models of surrounding vehicles by using the camera, recognizing the models of the vehicles, and acquiring the wheel base L of the vehicles on the adjacent lanes1And the wheel track of the vehicle in the adjacent lanedb1；
Step 1.3, utilizing the laser radar to carry out three-dimensional scene modeling on surrounding road surfaces, vehicles and the like, and measuring the speed v of vehicles running in the same direction of adjacent lanes1The heading angle theta of the vehicles in the adjacent lanes, and the distance d between the center position of the vehicle body of the vehicle in the adjacent lanes and the lane line2I.e. OQ and the longitudinal distance S between the two vehicle center positionshPQ shown in FIG. three;
step 1.4, utilizing a GPS module to measure the speed v of the vehicle2。
Step 2, obtaining the vehicle running information of the adjacent lanes according to the parameters measured by the sensor detection module, and calculating the cross-lane time TLC and the longitudinal running distance S1I.e., BC in the figure, the trajectory illustrates the process of the lane invading into the own lane and further invading into the predicted trajectory of the left front wheel of the own vehicle as shown in fig. 3; the specific calculation process is as follows:
step 2.1, calculating the yaw velocity omega of the vehicle in the adjacent lane, wherein omega is obtained by differentiating the course angle theta with time,
wherein k is0The error compensation coefficient is theta, and theta is the vehicle heading angle of the adjacent lane;
step 2.2, calculating the turning radius R of the vehicle in the adjacent lanev，
Wherein v is1The speed of the vehicle in the adjacent lane is shown, and omega is the yaw rate of the vehicle in the adjacent lane;
step 2.3, calculating the minimum transverse distance d between the front wheels of the vehicles in the adjacent lanes and the predicted track of the vehicle3I.e., AB in the figure;
wherein d is2The distance between the center position of the vehicle body of the vehicle in the adjacent lane and the lane line,
step 2.4, calculating the turning arc deflection angle α of the vehicle in the adjacent lane,
wherein R isvThe turning radius of the vehicle in the adjacent lane;
step 2.4, calculate the cross-track DLC, i.e. in FIG. three
DLC＝αRv(8)
Step 2.5, calculating cross-track time TLC;
longitudinal travel distance S1The calculation method comprises the following steps:
BC＝CG-ABtanθ (11)
step 3, the vehicle model prediction module predicts the model track of the vehicle by using the measured parameters; the vehicle is set to travel while keeping the same distance from the lane line while the lane keeping function is turned on, and as shown in fig. 3, the predicted trajectory (the front wheels on the side closer to the lane line) of the vehicle is set to a distance d from the lane line1The running distance S of the vehicle in the adjacent lane within the cross-track time TLC of the vehicle is calculated2(ii) a The calculation formula is as follows: s2＝TLC·v2。
Step 4, combining the states of the vehicle and the adjacent lane vehicles, carrying out safety risk pre-judgment, and carrying out active braking control or active steering control according to the pre-judgment result; the method for pre-judging the security risk comprises the following steps:
step 4.1, calculating the longitudinal distance S between the front wheels of the two vehicles when the vehicles in the adjacent lanes invade the predicted running track of the vehicle3I.e., CE in the figure:
wherein S is1For longitudinal travel distance of vehicles in adjacent lanes, S2For the driving distance, L, within the cross-track time TLC of the vehicles in the adjacent lanes1For vehicle wheelbase of adjacent lanes, L2For the wheelbase of the vehicle, db1Is the wheel track of the vehicle in the adjacent lane, theta is the vehicle heading angle of the vehicle in the adjacent lane, d1The distance from the left front wheel of the vehicle to the lane line, ShThe longitudinal distance between the center positions of the two vehicles;
step 4.2, setting the vehicle distance threshold value as
And an auxiliary distance threshold of
The longitudinal distance S between the front wheels of the two vehicles3Distance from vehicle threshold S0Making a comparison if S3＞S0If so, indicating that no safety risk exists, and continuing to start the lane keeping function; if S3≤S0Then S will be3And SfMaking a comparison if S3＞SfIf the risk degree is not large, the host vehicle is subjected to active steering control, and if the risk degree is not large, the host vehicle is subjected to active braking control.
The active steering control method comprises the following steps:
step S1, calculating the vehicle distance threshold S of the vehicle0Ideal distance d between lower part and lane line4；
Step S2, setting virtual lane auxiliary lines in the lane, and setting the minimum safe distance d between the two lane linessThe vehicle is ensured to always run between two virtual lane lines in the active steering control process of the vehicle;
step S3, in the area between two virtual lane lines, with d4Carrying out real-time path planning on a target, wherein the path of the target cannot exceed the lane, and calculating a corresponding target corner by combining a driver model and a road model;
step S4, the actual steering wheel angle is made to track the target angle by the PID controller, and the steering process is completed;
step S5, returning to step 1) after the steering process is finished, and detecting the distance d from the left front wheel of the vehicle to the lane line in real time1Ideal distance d from the lane line4Making a comparison if d is satisfied1＜d4If so, the active steering control is carried out, otherwise, the active steering control is ended, and the lane keeping is continuously started.
The active braking control method comprises the following steps:
step S1, calculating the distance threshold S of the vehicle0Ideal running distance SbThe calculation formula is as follows:
step S2, calculating braking acceleration a;
wherein, delta is the rotating mass conversion coefficient, m is the whole vehicle mass, FbIs the braking force of the ground,
Ffto rolling resistance, Ff＝fmgcosγ，FwIn order to be the air resistance,
Fias ramp resistance, Fi＝mgsinγ；FμFor brake braking force, TμThe brake friction torque is the brake friction torque, r is the wheel radius, the structural parameters of the brake such as the form, the structural size, the friction factor of a friction pair and the wheel radius determine the magnitude of the braking force, and the magnitude of the braking force is equal to the brake cylinder pressure pbAs a function of the brake cylinder pressure pbA fixed braking force is selected when the fixed braking force is constant; f is the rolling resistance coefficient, CDIs the coefficient of air resistance: a is the frontal area, v2The vehicle running speed is the vehicle running speed;
step S3, calculating ideal travel distance SbOptimum braking time tzThe calculation formula is as follows:
wherein a is braking acceleration, v2The running speed of the vehicle is shown, and a is braking acceleration;
step S4, returning to step 4 after the braking process is finished, and calculating the real-time longitudinal distance S of the front wheels of the two vehicles3And making a risk judgment.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (8)
1. The lane keeping auxiliary system based on adjacent lane risk prediction is characterized by comprising a vehicle model prediction module, a sensor detection module, a safety risk pre-judging module, an active control module and a lane keeping auxiliary module;
the sensor detection module is used for detecting the driving state information of the vehicle, the driving state information of the vehicles in the adjacent lanes and the road surface condition and respectively transmitting the information to the model prediction module and the safety risk pre-judgment module;
the vehicle model prediction module obtains the information of the pre-aiming track of the vehicle according to the running state information of the vehicle, and estimates the running states of the vehicles after a plurality of time steps;
the safety risk pre-judging module pre-judges the transverse risk according to the running state information of the vehicles in the adjacent lanes and the pre-aiming track information of the vehicles, respectively sends the pre-judging results to the active control module and the lane keeping auxiliary module, and calculates the longitudinal distance S between the two front wheels when the vehicles in the adjacent lanes invade the predicted running track of the vehicles in the safety risk pre-judging module3：
Wherein S is1For longitudinal travel distance of vehicles in adjacent lanes, S2For the driving distance, L, within the cross-track time TLC of the vehicles in the adjacent lanes1For vehicle wheelbase of adjacent lanes, L2For the wheelbase of the vehicle, db1Is the wheel track of the vehicle in the adjacent lane, theta is the vehicle heading angle of the vehicle in the adjacent lane, d1The distance from the left front wheel of the vehicle to the lane line, ShThe longitudinal distance between the center positions of the two vehicles;
setting a vehicle distance threshold value of
And an auxiliary distance threshold of
The longitudinal distance S between the front wheels of the two vehicles3Distance from vehicle threshold S0Making a comparison if S3＞S0If so, indicating that no safety risk exists, and continuing to start the lane keeping function; if S3≤S0Then S will be3And SfMaking a comparison if S3＞SfIf the safety risk of the transverse collision exists but the risk degree is not large, the vehicle is subjected to active steering control, otherwise, if the safety risk is large, the vehicle is subjected to active braking control;
and the active control module executes active braking deceleration or active steering according to the pre-judgment result.
2. The adjacent lane risk prediction based lane keeping aid system according to claim 1, wherein the sensor detection module comprises a camera, a lidar, a body attitude sensor, and a gyroscope.
3. The control method of the lane keeping assist system based on the adjacent lane risk prediction according to claim 1, characterized by comprising the steps of:
step 1, detecting the state parameters of a vehicle, the state parameters of vehicles in adjacent lanes and road surface information through a sensor detection module;
step 2, obtaining the vehicle running information of the adjacent lanes according to the parameters measured by the sensor detection module, and calculating the cross-lane time TLC and the longitudinal running distance S1；
Step 3, the vehicle model prediction module predicts the model track of the vehicle by using the measured parameters; setting the vehicle to keep running along the same distance with the lane line in the process of starting the lane keeping function, wherein the predicted path of the vehicle is the distance d from the lane line1The vehicle crossing time TLC of the vehicle in the adjacent lane is calculatedDistance S traveled2；S2＝TLC·v2，v2The vehicle speed is the vehicle speed;
step 4, combining the states of the vehicle and the adjacent lane vehicles, predicting the safety risk, and performing active braking control or active steering control according to the prediction result; the method for pre-judging the security risk comprises the following steps:
step 4.1, calculating the longitudinal distance S between the front wheels of the two vehicles when the vehicles in the adjacent lanes invade the predicted running track of the vehicle3：
Wherein S is1For longitudinal travel distance of vehicles in adjacent lanes, S2For the driving distance, L, within the cross-track time TLC of the vehicles in the adjacent lanes1For vehicle wheelbase of adjacent lanes, L2For the wheelbase of the vehicle, db1Is the wheel track of the vehicle in the adjacent lane, theta is the vehicle heading angle of the vehicle in the adjacent lane, d1The distance from the left front wheel of the vehicle to the lane line, ShThe longitudinal distance between the center positions of the two vehicles;
step 4.2, setting the vehicle distance threshold value as
And an auxiliary distance threshold of
The longitudinal distance S between the front wheels of the two vehicles3Distance from vehicle threshold S0Making a comparison if S3＞S0If so, indicating that no safety risk exists, and continuing to start the lane keeping function; if S3≤S0Then S will be3And SfMaking a comparison if S3＞SfIf the risk degree is not large, the host vehicle is subjected to active steering control, and if the risk degree is not large, the host vehicle is subjected to active braking control.
4. The method for controlling a lane keeping assist system based on adjacent lane risk prediction according to claim 3, wherein the method for active steering control is:
step S1, calculating the vehicle distance threshold S of the vehicle0Ideal distance d between lower part and lane line4；
Step S2, setting virtual lane auxiliary lines in the lane, and setting the minimum safe distance d between the two lane linessThe vehicle is ensured to always run between two virtual lane lines in the active steering control process of the vehicle;
step S3, in the area between two virtual lane lines, with d4Carrying out real-time path planning on a target, wherein the path of the target cannot exceed the lane, and calculating a corresponding target corner by combining a driver model and a road model;
step S4, the actual steering wheel angle is made to track the target angle by the PID controller, and the steering process is completed;
step S5, returning to step 1 after the steering process is finished, and detecting the distance d from the left front wheel of the vehicle to the lane line in real time1Ideal distance d from the lane line4Making a comparison if d is satisfied1＜d4If so, the active steering control is carried out, otherwise, the active steering control is ended, and the lane keeping is continuously started.
5. The method for controlling a lane keeping assist system based on adjacent lane risk prediction according to claim 3, wherein the active braking control method is:
step S1, calculating the distance threshold S of the vehicle0Ideal running distance SbThe calculation formula is as follows:
step S2, calculating braking acceleration a;
wherein, delta is the rotating mass conversion coefficient, m is the whole vehicle mass, FbFor ground braking force, FfTo rolling resistance, FwAs air resistance, FiIs the ramp resistance;
step S3, calculating ideal travel distance SbOptimum braking time tzThe calculation formula is as follows:
wherein a is braking acceleration, v2The running speed of the vehicle is shown, and a is braking acceleration;
step S4, returning to step 4 after the braking process is finished, and calculating the real-time longitudinal distance S of the front wheels of the two vehicles3And making a risk judgment.
6. The control method of the lane keeping assist system based on the adjacent lane risk prediction according to claim 3, wherein the cross-lane time TLC is calculated by:
step 2.1, calculating the yaw velocity omega of the vehicle in the adjacent lane,
wherein k is0The error compensation coefficient is theta, and theta is the vehicle heading angle of the adjacent lane;
step 2.2, calculating the turning radius R of the vehicle in the adjacent lanev，
Wherein v is1The speed of the vehicle in the adjacent lane is shown, and omega is the yaw rate of the vehicle in the adjacent lane;
step 2.3, calculating the minimum transverse distance d between the front wheels of the vehicles in the adjacent lanes and the predicted track of the vehicle3，
Wherein d is2For vehicle body centre of adjacent laneThe distance between the location and the lane line;
step 2.4, calculating the turning arc deflection angle α of the vehicle in the adjacent lane,
wherein R isvThe turning radius of the vehicle in the adjacent lane;
step 2.4, calculate the cross-track DLC, DLC α Rv；
Step 2.5, calculating cross-track time TLC;
7. the method for controlling a lane keeping assist system based on adjacent lane risk prediction according to claim 6, wherein the longitudinal driving distance S1The calculation method comprises the following steps:
8. the adjacent lane risk prediction-based control method of the lane keeping assist system according to claim 3, wherein the state parameter of the host vehicle, the state parameter of the adjacent lane vehicle, and the road surface information include: distance d from left front wheel to lane line of vehicle1Vehicle wheelbase L of adjacent lanes1Adjacent lane vehicle wheel track db1Speed v of vehicle running in the same direction on adjacent lanes1The heading angle theta of the vehicles in the adjacent lanes, and the distance d between the center position of the vehicle body of the vehicle in the adjacent lanes and the lane line2The longitudinal distance S between the center positions of the two vehicleshAnd the running speed v of the vehicle2。
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