CN110203197A - A kind of lane identification and lane keeping method and terminal device - Google Patents
A kind of lane identification and lane keeping method and terminal device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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Abstract
The present invention relates to a kind of lane identification and lane keeping methods and terminal device, in the method, comprising the following steps: S1: identify this vehicle related lane in the road, and identify the information of vehicles of the Adjacent vehicles of this vehicle on related lane；S2: judge that the security level in the related lane where it, the security level include safety and danger according to the information of vehicles of Adjacent vehicles；S3: judge that the type in the forward direction lane of this vehicle, the type include straight way and bend according to the information of vehicles of Adjacent vehicles；S4: this vehicle is controlled according to the security level in related lane and the type in forward direction lane and is travelled according to corresponding target rotation angle.The present invention carries out corresponding vehicle control for different road situations in conjunction with the Adjacent vehicles on adjacent lane by the type of identification adjacent lane and forward direction lane, so that vehicle driving is more safe and comfortable.
Description
Technical field
The present invention relates to Research on Lane Detection Based on Hough Transform field more particularly to a kind of lane identifications and lane keeping method and terminal to set
It is standby.
Background technique
Lane is kept in terms of being the very important research of autonomous driving vehicle, and lane, which keeps being maintained at vehicle, works as
Preceding lane, realizes the function that lane is kept in automatic Pilot, plays vital work for reducing traffic accident
With.With the development of Vehicular intelligent and automatic Pilot technology, lane keeps technology to obtain more and more concerns.For certainly
It is dynamic to drive vehicle, mitigate the burden of driver by completely taking over driving task, Lane Keeping System needs to control vehicle
It is travelled in lane.
The patent of invention " lane keeps auxiliary system and its method " of Publication No. CN106515730A discloses one kind i.e.
The lane for also ensuring that reliable recognition lane on jam road is set to keep auxiliary system, if the distance to front vehicles is equal to
Or being less than reference distance value, then front vehicles course angle is applied to the lane course angle by controller.But when congestion
It waits, vehicle is closer at a distance of position, and radar monitoring can have blind area and interference, especially when road is turned, vehicle at this time
It can neither detect that front truck can not identify carriageway type and lane line, there are some potential safety problemss.
The patent of invention " lane keeping method and radar, Lane Keeping System " of Publication No. CN105844921A pass through to
Different radar beams are sent in front of headstock, the direction signs of the radar beam are carried in each radar beam, and reception is placed in
The reflection signal of electronic tag on lane, according to the direction signs of the radar beam carried in the reflection signal of electronic tag come
Determine headstock direction whether run-off-road.But it is laid with electronic tag on both sides of the road in road, it is related to infrastructure and changes big, expense
Height, and the problems such as installation accuracy, time precise synchronization, restricts.
Above-mentioned not consider the case where lane is bend in the prior art, scene biggish for bend is simultaneously not suitable for.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of lane identification and lane keeping method and terminal device, identification
The type in related lane and forward direction lane carries out corresponding in conjunction with the Adjacent vehicles on related lane for different road situations
Vehicle control so that the more safety of vehicle driving and comfortable.
Concrete scheme is as follows:
A kind of lane identification and lane keeping method, comprising the following steps:
S1: identify this vehicle related lane in the road, and identify the vehicle of the Adjacent vehicles of this vehicle on related lane
Information；
S2: the security level in the related lane where it, the security level are judged according to the information of vehicles of Adjacent vehicles
Including safety and danger；
S3: judging the type in the forward direction lane of this vehicle according to the information of vehicles of Adjacent vehicles, the type include straight way and
Bend；
S4: this vehicle is controlled according to the security level in related lane and the type in forward direction lane according to corresponding target rotation angle
It is travelled.
Further, the information of vehicles of the Adjacent vehicles includes Adjacent vehicles at a distance from this vehicle, course angle and opposite
Speed.
Further, the related lane be currently located lane, or be currently located lane and left-hand lane, or
It is to be currently located lane and right-hand lane, or be currently located lane, left-hand lane and right-hand lane.
Further, in step S2 the security level in each lane in related lane determination method are as follows: according to it is preceding to
Relationship and forward and backward of the nearest vehicle of backward this vehicle of distance at a distance from this vehicle between safe relative distance away from
Relationship between the relative velocity and safe relative velocity of the vehicle and this vehicle nearest from this vehicle determines.
Further, the judgment method of the type in forward direction lane described in step S3 are as follows: setting change rate threshold value, according to vehicle
Road yaws the size relation of angular rate of change and change rate threshold value and the course angular rate of change and change rate threshold value of opposite forward direction vehicle
Size relation judge.
Further, lane yaw angular rate of change include current time, current time previous moment and it is current when
The lane of the later moment in time at quarter yaws angular rate of change；The course angular rate of change of the opposite forward direction vehicle include current time, when
The course angular rate of change of the later moment in time of the previous moment and current time at preceding moment.
Further, in the judgement of the type in forward direction lane, when the judging result and this vehicle of lane yaw angular rate of change
When the judging result difference of the course angular rate of change of opposite forward direction vehicle, the vehicle letter of the adjacent lane in lane where introducing this vehicle
Breath carrys out auxiliary judgment.
Further, step S4 is specifically included:
(1): being straight way to the type in lane but when related lane only has a lane when preceding, control vehicle with first object
Corner is travelled；
(2): being straight way to the type in lane but when there are at least two lanes in related lane when preceding, judge left-hand lane or the right side
The security level in side lane: when the security level of left-hand lane or right-hand lane is danger, vehicle is controlled with first object
Corner is travelled；When the security level of left-hand lane or right-hand lane is safe, the second mesh needed for lane is kept is calculated
Corner is marked, judges whether the second target rotation angle is greater than lane change corner threshold value, if it is greater, then control vehicle is with the second target rotation angle
Lane change is left-hand lane or right-hand lane, and is maintained at left-hand lane or right lane only；Otherwise, vehicle is controlled with the first mesh
Mark corner is travelled；
(3): when it is preceding to the type in lane be bend when, control vehicle travelled with third target rotation angle.
Further, the first object corner is by this vehicle relative to transversal displacement, the lane for being currently located lane
Yaw angle, lane curvature and this axle are summed after weighting respectively away from four and are obtained.
Further, second target rotation angle is by this vehicle relative to transversal displacement, the lane for being currently located lane
Yaw angle, lane curvature three with lane change corner threshold value ask poor acquisition after weighting and sum respectively.
Further, increase lane curvature in the calculating of the third target rotation angle on the basis of first object corner
The influence of change rate.
Further, it when vehicle is using the second target rotation angle lane change as left-hand lane or right-hand lane, opens and turns to light
It reminds.
Further, step S4 further include:
When the preceding type to lane is straight way but to only have the type in a lane or forward direction lane be bend in related lane
When, brake force is applied to this vehicle；
It is straight way to the type in lane but when related lane there are at least two lanes when preceding, such as left-hand lane or right-hand lane
Security level when being dangerous, brake force is applied to this vehicle；As the security level of left-hand lane or right-hand lane be it is safe when, it is right
This vehicle does not apply brake force.
Further, while applying brake force to vehicle, braking light prompting is opened.
A kind of lane identification and lane keep terminal device, including processor, memory and are stored in the memory
In and the computer program that can run on the processor, the processor realize the present invention when executing the computer program
The step of embodiment above-mentioned method.
The present invention use technical solution as above, and have the utility model has the advantages that
(1) vehicle is controlled respectively to the different type that lane is straight way and bend for preceding, so as to improve
The robustness and reliability of system.
(2) information for not only considering current lane line has also combined the information in related lane and its vehicle letter on lane
Breath, is not only maintained at vehicle on lane, but also reduces to side knock sense caused by driver, improves the comfort of driving.
Detailed description of the invention
Fig. 1 show the flow diagram of the embodiment of the present invention one.
Fig. 2 show the schematic diagram that multilane identifies in the embodiment.
Fig. 3 show road safety level in the embodiment and judges schematic diagram.
Fig. 4 show forward direction road type recognition methods schematic diagram in the embodiment.
Fig. 5 show in the embodiment lane under different situations and keeps householder method schematic diagram.
Fig. 6 show the structural schematic diagram of the embodiment of the present invention two.
Specific embodiment
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
Embodiment one:
Refering to what is shown in Fig. 1, the present invention provides a kind of lane identification and lane keeping methods, comprising the following steps:
S1: identify this vehicle related lane in the road, and identify the vehicle of the Adjacent vehicles of this vehicle on related lane
Information.
" related lane " described here refers to type difference and the position of this vehicle in the road according to road where this vehicle
It sets and lane relevant to drive demand.Such as in the embodiment, this vehicle is currently at the road type of at least three lanes, and this
The position of vehicle in the road is middle lane (lane non-two sides Bian), and the correlation lane is then the vehicle that this vehicle is currently located
Road, the lane on the left of this vehicle and the lane on the right side of Ben Che.In the other cases, for example, vehicle drive in two lanes road and
Along right travel, then related lane refers to the lane on the left of lane and Ben Che that this vehicle is currently located；In another example vehicle drive in
At least road of three lanes and along rightmost side lanes, then related lane refers to that (i.e. road is most for lane that this vehicle is currently located
Right lane) and this vehicle on the left of lane (i.e. the right two lane highways of road)；For another example vehicle drive then mutually cut-offs in bicycle road
Road is only the lane that this vehicle is currently located.In the embodiment, related lane includes three kinds of lanes, can make full use of the vehicle on periphery
Road information controls vehicle in a suitable case and converts to left-lane or right lane, to reduce caused by driver laterally
Impact sense, promotes the comfort of driving.
As shown in Fig. 2, the related lane of the identification is to install at least one camera on this vehicle to carry out image recognition, it is
The optimized image visual field is obtained, optimal embodiment is to install forward sight camera, left view camera and right view respectively on this vehicle
Camera come identify this vehicle related lane in the road.Specifically, forward sight camera can be mounted on front windshield
On, by left view camera and it is right be embedded in respectively depending on camera inside the rearview mirror of left and right, in other examples, can also will
Above-mentioned camera is installed on other positions, or installs single wide-angle camera in car light, can satisfy realization identification pair
Answer the lane line of road.
The Adjacent vehicles are the vehicle that this vehicle of distance is nearest on corresponding lane.Due to having many vehicles on each lane
, and usually, the vehicle nearest apart from this vehicle just has larger impact to the traveling of this vehicle, it is therefore desirable to recognize adjacent
The information of vehicles of vehicle.
The information of vehicles of the identification Adjacent vehicles is to be known by being respectively arranged in the millimetre-wave radar of front and back side
Not, specifically, millimetre-wave radar can be respectively arranged on the bumper of front and back side, specific installation site is with no restrictions.?
In other embodiments, it can also be identified using other common identification equipment.
In the embodiment, to the lane line information in lane before being obtained by forward sight camera, obtained by left and right depending on camera
The lane line information for obtaining left and right related lane, obtains the information of vehicles on forward and backward lane by front and back millimetre-wave radar,
And it is obtained by detection, identification and tracking away from each lane information of vehicles of the nearest forward direction of this vehicle and backward each lane information of vehicles.
In the embodiment, by the lane line information recognized, the quantity of lane line locating for available vehicle
To obtain the related lane situation in present road where this vehicle, lane line is not detected depending on camera Ru left and right, then is determined
Present road only has a lane I；Left and right related lane line information is detected depending on camera as left and right, then by left and right vehicle
Road and this three lane markings of current lane are the lane I II III.
According to the information of vehicles of the vehicle on each related lane of detections of radar forward and backward, the information of vehicles is in the reality
Apply the distance, course angle and relative velocity specifically included in example Adjacent vehicles apart from this vehicle.In other examples, the vehicle
Information also may include other contents, and content is set according to the demand of subsequent calculating.
S2: the security level in the related lane where it, the security level are judged according to the information of vehicles of Adjacent vehicles
Including safety and danger.
As shown in figure 3, the determination method of lane security level are as follows: according to the nearest vehicle of the distance of forward and backward this vehicle
The distance of relationship and forward and backward this vehicle at a distance from this vehicle between safe relative distance nearest vehicle and this vehicle
Relationship between relative velocity and safe relative velocity determines.It can be determined that front truck and this by relative distance and relative velocity
Whether vehicle, rear car and Ben Che can have the case where collision.
The determination method of lane security level in the embodiment specifically:
Three security level Saf in the lane I II IIII、SafII、SafIIIIt is defined as follows:
Wherein, SafI,SafII,SafIIIThe respectively security level of I II III, 0,1 respectively represents dangerous, two kinds of safety
Grade, SFI,SFII,SFIII,SBI,SBII,SBIII,VFI,VFII,VFIII,VBI,VBII,VBIIIRespectively represent before the lane I II III to
The nearest vehicle of distance this vehicle at a distance from this vehicle, vehicle that backward this vehicle of distance is nearest is at a distance from this vehicle, forward direction
The relative velocity of the vehicle nearest apart from this vehicle and this vehicle, it is backward at a distance from the nearest vehicle and this vehicle of this vehicle relative velocity,
SSAnd VSFor safe relative distance and safe relative velocity.In addition, vehicle is all not detected before and after lane, then it represents that sagittal
The distance of this vehicle of vehicle distances is far.The value of safe relative distance and safe relative velocity is set in the embodiment as SS=
70m,VS=0m/s, the setting value are to count to obtain by experience and experimental data, can also be set in other examples
For other numerical value, it is not limited here.
S3: judging the type in the forward direction lane of this vehicle according to the information of vehicles of Adjacent vehicles, the type include straight way and
Bend, as shown in Figure 4.
The judgment method of the type in the forward direction lane are as follows: setting change rate threshold value, according to lane yaw angular rate of change with
The size relation of the course angular rate of change of the size relation of change rate threshold value and opposite forward direction vehicle and change rate threshold value judges.
In the embodiment specifically includes the following steps:
S31: the course angular rate of change of lane yaw angular rate of change and opposite forward direction vehicle is calculated.
Specific formula for calculation are as follows:
Wherein,The moment lane respectively T-2t, T-t, T, T+t yaw angle,The lane of respectively T-t, T, T+t moment and previous moment yaws angular rate of change.
Wherein,Carving copy lane is with respect to forward direction vehicle when respectively T-2t, T-t, T, T+t
Course angle,The course angular rate of change of respectively T-t, T, T+t and previous moment.
S32: judge before to lane be straight way or bend, specific judgment method are as follows:
(1) when it is preceding have vehicle to lane when, pass through that lane yaws angular rate of change and the course angle of opposite forward direction vehicle changes
Rate judges carriageway type.
Lane yaw angular rate of change is that the detection data based on camera is judged, the course angle of opposite forward direction vehicle becomes
Rate is that the detection data based on millimetre-wave radar is judged.
Straight way
Bend
Wherein, ψSFor change rate threshold value.
When lane, yaw angular rate of change is less than change rate threshold value ψS, and the course angular rate of change of opposite forward direction vehicle is less than threshold
Value ψSAs straight way；When lane, yaw angular rate of change is less than threshold value ψS, and the course angular rate of change of opposite forward direction vehicle is more than or equal to
Change rate threshold value ψS, also it is judged as straight way, eliminating front vehicles lane change bring influences；When lane yaw angular rate of change be greater than etc.
In change rate threshold value ψS, and opposite forward direction vehicle course angular rate of change is more than or equal to change rate threshold value ψSAs bend.The embodiment
Middle setting change rate threshold value ψS=5 °, which is to count to obtain by experience and experimental data, in other examples
Also other numerical value be can be set as, it is not limited here.
(2) work as appearanceAnd
In the case of, there is disagreement in the data of camera and millimetre-wave radar detection, need to introduce the information of vehicles of adjacent lane to assist
Identify lane line type.
Straight way
Bend
Respectively before T-t, T, T+t adjacent lane opposite with this vehicle of previous moment
To the course angular rate of change of vehicle, calculation method respectively withCalculation method it is identical, VFIFor
To the relative velocity of vehicle, V before this vehicle and current laneFIIFor the relative velocity of Ben Che and the forward direction vehicle of adjacent lane.Currently
It is pressed in vehicle when travelled on lane line, this vehicle camera detection lane line yaw angle will appear certain error, lead at this time
The relative speed relationship of the forward direction vehicle of this vehicle and current lane and adjacent lane is crossed to determine carriageway type.The adjacent lane
It can be left side adjacent lane, or right side Adjacent vehicles, herein with no restrictions.
(3) when the forward direction of adjacent lane all without vehicle or three lanes before to when all there is no vehicle, for vehicle
The type judgement of diatom only yaws angular rate of change by camera detection lane to identify.
Straight way
Bend
S4: this vehicle is controlled according to the security level in related lane and the type in forward direction lane according to corresponding target rotation angle
It is travelled.
It is controlled, i.e., is cut-off according to the type in different forward direction lanes, mutually in the following several ways in the embodiment
Road, lane security level are come using lane shift value, lane course angle, lane curvature, curvature variation and braking response coefficient
Deviation angle model is established, mainly includes following several situations:
(1): being straight way to the type in lane but when related lane only has one when preceding, the deviation angle model of foundation is such as
Shown in table 1:
Table 1
| Detect lane | Security level | Braking system | Double flashing lights |
| I | 0 | Apply brake force | It opens |
| I | 1 | Apply brake force | It closes |
If only detecting the channel I, and security level is in the case of 0 (danger), system opens double flashing lights at this time, before prompting
There are lane shift situations for this vehicle of rear car, they do corresponding safety operation, avoid colliding with this vehicle.If only detected
The channel I, and security level is in the case of 1 (safety), system does not open double flashing lights at this time.Double flashing lights are in order to further right
Adjacent vehicles are reminded, and Adjacent vehicles Reduced Speed Now is made, which can also be carried out using other light prompting modes
Substitution.
Due to there was only a lane, this vehicle is allowed strictly to be maintained at the safety that just can guarantee vehicle in this lane.Therefore this vehicle
It needs to take certain braking to slow down deviation speed, and controls vehicle and turned to accordingly so that this vehicle is maintained at the lane I.
Specially control vehicle is with target rotation angle θ1It is travelled, target rotation angle θ1Calculation formula are as follows:
θ1=kdd0+kφφ+kRR+kLLC
Wherein, d0Transversal displacement for this vehicle relative to place lane,For lane yaw angle, R is the curvature in lane,
LCFor the wheelbase of this vehicle, kd,kRIt is corresponding proportionality coefficient, kLFor the related system such as braking system, steering moment, wheelbase
Dynamic system response coefficient.
(2): being straight way to the type in lane but when related lane has two when preceding, the deviation angle model such as table of foundation
Shown in 2:
Table 2
If detecting two channels I II, in the case of security level is all 0 (danger), calculate required for lane at this time
Target rotation angle above situation (1) similar with auxiliary system operation, i.e. control vehicle is with target rotation angle θ1It is travelled.
If detecting two channels I II, the lane II security level is calculating lane holding at this time in the case of 1 (safety)
Required target rotation angle θ2.Judge target rotation angle θ2Whether lane change corner threshold θ is greater thanC, if it does, vehicle can be turned with target
Angle θ2Lane change is travelled to the lane II, and is maintained at II lanes, has not only ensured vehicle safety, but also support vehicles is comfortable
Property.Due to needing lane change, it is not required to apply brake force.For the safety of support vehicles lane change, steering light can be opened and mentioned
It wakes up, such as opens left steering lamp.
Target rotation angle θ2Calculation formula are as follows:
θ2=kdd0+kφφ+kRR-θC
Due to working as target rotation angle θ2Greater than lane change corner threshold θC, at this point, if forcing vehicle being maintained at lane I, vehicle
Interior driver will receive strong side knock sense, and can reduce the side knock sense by lane change processing, promote driving
Comfort.
The case where detecting two channels I III is similar with the case where detecting two channels I II, and this will not be repeated here.
The case where detecting tri- channels III I II:
In the case of three channel security grades are 0 (danger), target rotation angle and auxiliary required for lane is calculated at this time
Auxiliary system operates similar above situation (1), i.e. control vehicle is with target rotation angle θ1It is travelled.
In the case of the security level in the channel II or III is 1 (safety), and two channels I II or I III are detected
The security level in the middle channel II is that 1 (safety) situation is consistent, this vehicle is made to carry out left side lane change or right side lane change.
(3): when it is preceding to the type in lane be bend when, due to not can be carried out lane change on bend according to traffic rules, such as
Fruit vehicle occurs deviateing situation.Vehicular system should keep vehicle to drive safely in current lane.Either only detect I vehicle
Road still detects the lane I II or I III, and Vehicular system can assist a lane of the vehicle on current lane, with straight line
Situation is identical.The deviation angle model of foundation is as shown in table 3:
Table 3
| Detect lane | Safety deciding grade and level | Braking system | Double flashing lights |
| I | 0 | Apply brake force | It opens |
| I | 1 | Apply brake force | It closes |
Vehicle is controlled with target rotation angle θ3It is travelled:
θ3=kdd0+kφφ+kRR+2kR'R'2+kLLC
Wherein, kR'For proportionality coefficient, R' is the change rate of curvature,.
When detection before to lane be bend when, deviation is the thing of a danger close on bend, in order to guarantee vehicle
Safety, answers strict control vehicle in current lane.Because steering can bring very big load force to steering system and mechanism, because
This, which will be added, formulates corresponding proportionality coefficient.Simultaneously because vehicle, in negotiation of bends, the curvature variation of bend can make lane
Target rotation angle needed for keeping is changing always, so to consider that curvature variation influences target rotation angle bring, such as Fig. 5 institute
Show, which can assist vehicle to realize that lane is kept in bend, guarantee the safety of vehicle.
The embodiment of the present invention one passes through the type for identifying related lane and forward direction lane, in conjunction with the adjacent vehicle on related lane
, corresponding vehicle control is carried out for different road situations, so that vehicle driving is more safe and comfortable.
Embodiment two:
The present invention also provides a kind of lane identifications and lane to keep terminal device, as shown in fig. 6, including memory, processing
Device and bus, the memory are stored with an at least Duan Chengxu, and described program is executed by the processor to realize such as the present invention
Lane identification described in embodiment one and lane keeping method.
The processor includes one or more processing cores, and processor is connected by bus with memory, is stored
Device realizes lane described in the embodiment of the present invention one when executing the program instruction in memory for storing program instruction, processor
Identification and lane keeping method.
Further, as an executable scheme, it is vehicle-mounted that the lane identification and lane keep terminal device can be
Computer, cloud server etc. calculate equipment.The lane identification and lane holding terminal device may include, but be not limited only to, and locate
Manage device, memory.It will be understood by those skilled in the art that above-mentioned lane identification and lane keep the composed structure of terminal device only
It is only the example that lane identification and lane keep terminal device, does not constitute the limit for keeping terminal device to lane identification and lane
It is fixed, it may include perhaps combining certain components or different components, such as the vehicle than above-mentioned more or fewer components
It can also include input-output equipment, network access equipment etc., the embodiment of the present invention pair that road identification and lane, which keep terminal device,
This is without limitation.
Further, as an executable scheme, alleged processor can be central processing unit (Central
Processing Unit, CPU), it can also be other general processors, digital signal processor (Digital Signal
Processor, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
At programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components etc..General processor can be microprocessor or the processor can also
To be any conventional processor etc., the processor is the control centre that the lane identification and lane keep terminal device,
The various pieces of terminal device are kept using various interfaces and the entire lane identification of connection and lane.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
Lane identification and lane keep the various functions of terminal device.The memory can mainly include storing program area and storing data
Area, wherein storing program area can application program needed for storage program area, at least one function；Storage data area can store
Created data etc. are used according to mobile phone.In addition, memory may include high-speed random access memory, can also include
Nonvolatile memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), safety
Digital (Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or
Other volatile solid-state parts.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (10)
1. a kind of lane identification and lane keeping method, which comprises the following steps:
S1: identify this vehicle related lane in the road, and identify the information of vehicles of the Adjacent vehicles of this vehicle on related lane；
S2: judge that the security level in the related lane where it, the security level include according to the information of vehicles of Adjacent vehicles
Safety and danger；
S3: judge that the type in the forward direction lane of this vehicle, the type include straight way and bend according to the information of vehicles of Adjacent vehicles；
S4: this vehicle is controlled according to the security level in related lane and the type in forward direction lane and is carried out according to corresponding target rotation angle
Traveling.
2. lane identification according to claim 1 and lane keeping method, it is characterised in that: related lane in step S2
The determination method of the security level in each lane are as follows: according to the nearest vehicle of the distance of forward and backward this vehicle at a distance from this vehicle
The relative velocity and peace of the distance of relationship and forward and backward this vehicle between safe relative distance nearest vehicle and this vehicle
Relationship between full relative velocity determines.
3. lane identification according to claim 1 and lane keeping method, it is characterised in that: forward direction vehicle described in step S3
The judgment method of the type in road are as follows: setting change rate threshold value is closed according to the size that lane yaws angular rate of change and change rate threshold value
The size relation of system and this vehicle course angular rate of change and the change rate threshold value of forward direction vehicle relatively judges.
4. lane identification according to claim 3 and lane keeping method, it is characterised in that: the type in forward direction lane
In judgement, when the judging result of the course angular rate of change of the judging result forward direction vehicle opposite with this vehicle of lane yaw angular rate of change
When different, the information of vehicles of the adjacent lane in lane carrys out auxiliary judgment where introducing this vehicle.
5. lane identification according to claim 1 and lane keeping method, it is characterised in that: step S4 is specifically included:
(1): being straight way to the type in lane but when related lane only has a lane when preceding, control vehicle with first object corner
It is travelled；
(2): being straight way to the type in lane but when there are at least two lanes in related lane when preceding, judge left-hand lane or right side vehicle
The security level in road:
When the security level of left-hand lane or right-hand lane is danger, control vehicle is travelled with first object corner；
When the security level of left-hand lane or right-hand lane is safe, the second target rotation angle needed for lane is kept is calculated, is sentenced
Whether disconnected second target rotation angle is greater than lane change corner threshold value, if it is greater, then control vehicle is a left side with the second target rotation angle lane change
Side lane or right-hand lane, and it is maintained at left-hand lane or right lane only；Otherwise, control vehicle with first object corner into
Every trade is sailed；
(3): when it is preceding to the type in lane be bend when, control vehicle travelled with third target rotation angle.
6. lane identification according to claim 5 and lane keeping method, it is characterised in that: the first object corner is logical
This vehicle is crossed to add respectively relative to transversal displacement, lane yaw angle, lane curvature and this axle for being currently located lane away from four
It sums and obtains after power.
7. lane identification according to claim 5 and lane keeping method, it is characterised in that: second target rotation angle is logical
This vehicle is crossed relative to being currently located the transversal displacement in lane, after lane yaw angle, lane curvature three weight and sum respectively
Poor acquisition is asked with lane change corner threshold value.
8. lane identification according to claim 5 and lane keeping method, it is characterised in that: the third target rotation angle
Increase the influence of the change rate of lane curvature in calculating on the basis of first object corner；Become in vehicle with the second target rotation angle
When road is left-hand lane or right-hand lane, opens and turn to light prompting.
9. lane identification according to claim 1 and lane keeping method, it is characterised in that: step S4 further include:
It is right when the preceding type to lane is straight way but to only have the type in a lane or forward direction lane be bend in related lane
This vehicle applies brake force；
It is straight way to the type in lane but when related lane there are at least two lanes when preceding, such as left-hand lane or the peace of right-hand lane
When congruent grade is dangerous, brake force is applied to this vehicle；As the security level of left-hand lane or right-hand lane be it is safe when, to this vehicle
Do not apply brake force.
10. a kind of lane identification and lane keep terminal device, it is characterised in that: including processor, memory and be stored in
The computer program run in the memory and on the processor, the processor execute real when the computer program
Now such as in claim 1~9 the step of any the method.
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