CN110203206B - Vehicle running deviation detection method and device - Google Patents

Vehicle running deviation detection method and device Download PDF

Info

Publication number
CN110203206B
CN110203206B CN201910486038.7A CN201910486038A CN110203206B CN 110203206 B CN110203206 B CN 110203206B CN 201910486038 A CN201910486038 A CN 201910486038A CN 110203206 B CN110203206 B CN 110203206B
Authority
CN
China
Prior art keywords
vehicle
preset
detected
tested
running
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910486038.7A
Other languages
Chinese (zh)
Other versions
CN110203206A (en
Inventor
董文龙
万里明
魏晓磊
刘巍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingwei Hirain Tech Co Ltd
Original Assignee
Beijing Jingwei Hirain Tech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingwei Hirain Tech Co Ltd filed Critical Beijing Jingwei Hirain Tech Co Ltd
Priority to CN201910486038.7A priority Critical patent/CN110203206B/en
Publication of CN110203206A publication Critical patent/CN110203206A/en
Application granted granted Critical
Publication of CN110203206B publication Critical patent/CN110203206B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a vehicle running deviation detection method and device, which are applied to the technical field of automobiles. If the deviation direction of the vehicle to be detected represented by the transverse displacement is opposite to the deviation direction of the vehicle represented by the steering control torque, and the absolute value of the transverse displacement is greater than a first preset distance threshold value, the running deviation of the vehicle to be detected is judged.

Description

Vehicle running deviation detection method and device
Technical Field
The invention belongs to the technical field of intelligent automobiles, and particularly relates to a method and a device for detecting running deviation of a vehicle.
Background
The running deviation of the vehicle refers to the phenomenon that the vehicle automatically deviates to one side direction when running along a straight line. The running deviation of the vehicle is caused by various reasons, such as the positioning error of four wheels of the vehicle, uneven left and right brake pressure, interference between a chassis suspension system and a steering system and the like.
The intelligent driving automobile with the transverse control function can acquire lane line information of a driving road of the automobile through the front-view camera system, and then drive along a lane central line under the action of the transverse control function according to the lane line information. If the intelligent driving automobile has running deviation, the controller continuously applies steering control torque to the steering system through a transverse control function to correct the running direction of the automobile so as to keep the automobile running along the center line of the lane as far as possible, if the deviation is serious, the automobile can be deviated to one side to run, and great potential safety hazard is brought.
Therefore, how to detect whether the vehicle has a running deviation fault, provide reference information for a driver or a maintenance worker to remove the fault in time and ensure the running safety becomes one of the technical problems to be solved urgently by the technical staff in the field.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for detecting running deviation of a vehicle, which are used for detecting whether the vehicle runs deviation, and providing reference information for a driver or a maintenance worker to remove a fault in time and ensure driving safety, and the specific scheme is as follows:
in a first aspect, the invention provides a vehicle running deviation detection method, which is applied to a vehicle provided with a front-view camera system, and the method comprises the following steps:
under the condition that the transverse control function of a vehicle to be tested is on line and the vehicle to be tested is in a straight line running state, acquiring transverse displacement of the vehicle to be tested within a first preset time and steering control torque output by the transverse control function; the transverse displacement is the position movement of the vehicle to be detected, which is vertical to the center line of the lane;
and if the vehicle deviation direction represented by the transverse displacement is opposite to the vehicle deviation direction represented by the steering control torque, and the absolute value of the transverse displacement is greater than a first preset distance threshold, judging that the vehicle to be detected runs off the track.
Optionally, the obtaining of the lateral displacement of the vehicle to be measured within the first preset time period includes:
within a first preset time, acquiring the offset of the vehicle to be detected, which is perpendicular to the center line of the lane, according to a preset period; the offset is provided with positive and negative directions according to a first preset rule;
calculating the average offset value of all the offsets within the first preset time;
and determining the average offset value as the transverse displacement of the vehicle to be detected within a first preset time.
Optionally, the obtaining of the steering control torque output by the lateral control function of the vehicle to be tested within the first preset time period includes:
within a first preset time, acquiring steering control torque output by the transverse control function of the vehicle to be tested according to the preset period; the steering control torque is provided with positive and negative directions according to a second preset rule;
calculating the torque average value of all the steering control torques in the first preset time period;
and determining the torque average value as the steering control torque output by the transverse control function of the vehicle to be tested within a first preset time.
Optionally, the vehicle to be detected is provided with a steering wheel torque sensor, and the method for detecting running deviation of a vehicle according to the first aspect of the present invention further includes:
under the condition that the transverse control function is off-line and the vehicle to be tested is in a straight running state, acquiring the steering hand moment applied by a driver of the vehicle to be tested within a second preset time period;
and if the steering hand torque is larger than a preset hand torque threshold value, judging that the vehicle to be detected runs off the track.
Optionally, the method for detecting running deviation of a vehicle according to the first aspect of the present invention further includes:
under the condition that the transverse control function is off-line and the vehicle to be tested is in a straight running state, calculating course angle variation within a third preset time length;
and if the course angle variation is larger than a preset angle threshold, judging that the vehicle to be detected runs and deviates.
Optionally, the method for detecting running deviation of a vehicle according to the first aspect of the present invention further includes:
under the condition that the transverse control function is off-line and the vehicle to be tested is in a straight running state, acquiring the transverse position variation perpendicular to the running direction after the vehicle to be tested runs for a preset running distance;
and if the transverse position variation is larger than a second preset distance threshold, judging that the vehicle to be detected runs off the track.
Optionally, the method for detecting running deviation of a vehicle according to the first aspect of the present invention further includes:
under the condition that the transverse control function is offline and the vehicle to be tested is in a straight running state, acquiring the steering hand moment applied by a driver of the vehicle to be tested in a second preset time period and the transverse position variable quantity perpendicular to the running direction after running for a preset running distance, and calculating the course angle variable quantity in a third preset time period;
and if the steering hand moment is greater than a preset hand moment threshold value, or the transverse position variation is greater than a second preset distance threshold value, or the course angle variation is greater than a preset angle threshold value, judging that the vehicle to be detected runs off the track.
Optionally, if the determination results in the various determination modes are the running deviation of the vehicle to be detected, sending a detection result for determining the running deviation of the vehicle to be detected.
Optionally, the method for detecting running deviation of a vehicle according to any one of the first aspect of the present invention further includes:
saving the judgment result obtained by each judgment under each judgment mode;
and if the judgment results exceeding the preset number in the judgment results of the preset continuous times in at least one judgment mode are the running deviation of the vehicle to be detected, sending a detection result for judging the running deviation of the vehicle to be detected.
In a second aspect, the present invention provides a vehicle running deviation detecting device, including:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the transverse displacement of a vehicle to be tested within a first preset time length and the steering control torque output by the transverse control function under the condition that the transverse control function of the vehicle to be tested is on line and the vehicle to be tested is in a straight running state; the transverse displacement is the position movement of the vehicle to be detected, which is vertical to the center line of the lane;
and the first judging unit is used for judging the running deviation of the vehicle to be detected if the vehicle deviation direction represented by the transverse displacement is opposite to the vehicle deviation direction represented by the steering control torque, and the absolute value of the transverse displacement is greater than a first preset distance threshold value.
Optionally, the first obtaining unit is configured to obtain a lateral displacement of the vehicle to be measured within a first preset time period, and specifically includes:
within a first preset time, acquiring the offset of the vehicle to be detected, which is perpendicular to the center line of the lane, according to a preset period; the offset is provided with positive and negative directions according to a first preset rule;
calculating the average offset value of all the offsets within the first preset time;
and determining the average offset value as the transverse displacement of the vehicle to be detected within a first preset time.
Optionally, the first obtaining unit, when obtaining the steering control torque output by the lateral control function of the vehicle to be tested within a first preset time period, specifically includes:
within a first preset time, acquiring steering control torque output by the transverse control function of the vehicle to be tested according to the preset period; the steering control torque is provided with positive and negative directions according to a second preset rule;
calculating the torque average value of all the steering control torques in the first preset time period;
and determining the torque average value as the steering control torque output by the transverse control function of the vehicle to be tested within a first preset time.
Optionally, the vehicle to be detected is provided with a steering wheel torque sensor, and the vehicle running deviation detecting device provided by the second aspect of the invention further includes:
the second acquisition unit is used for acquiring the steering hand moment applied by a driver within a second preset time length by the vehicle to be tested under the condition that the transverse control function is offline and the vehicle to be tested is in a straight running state;
and the second judgment unit is used for judging the running deviation of the vehicle to be detected if the steering hand torque is greater than a preset hand torque threshold value.
Optionally, the vehicle running deviation detecting device provided by the second aspect of the present invention further includes:
the third obtaining unit is used for calculating course angle variation within a third preset time length under the condition that the transverse control function is offline and the vehicle to be detected is in a straight-line running state;
and the third judging unit is used for judging the running deviation of the vehicle to be detected if the course angle variation is larger than a preset angle threshold value.
Optionally, the vehicle running deviation detecting device provided by the second aspect of the present invention further includes:
the fourth obtaining unit is used for obtaining the transverse position variation perpendicular to the running direction of the vehicle to be tested after the vehicle to be tested runs for a preset running distance under the condition that the transverse control function is offline and the vehicle to be tested is in a straight running state;
and the fourth judging unit is used for judging the running deviation of the vehicle to be detected if the transverse position variation is larger than a second preset distance threshold.
Optionally, the vehicle running deviation detecting device provided by the second aspect of the present invention further includes:
the multi-parameter acquisition unit is used for acquiring the moment of a steering hand applied by a driver of the vehicle to be tested in a second preset time period and the transverse position variation perpendicular to the driving direction after the vehicle to be tested drives for a preset driving distance under the condition that the transverse control function is offline and the vehicle to be tested is in a linear driving state, and calculating the course angle variation in a third preset time period;
and the multi-parameter judgment unit is used for judging the running deviation of the vehicle to be detected if the steering hand torque is greater than a preset hand torque threshold value, or the transverse position variation is greater than a second preset distance threshold value, or the course angle variation is greater than a preset angle threshold value.
Optionally, the vehicle running deviation detecting device provided by the second aspect of the present invention further includes:
and the first sending unit is used for sending a detection result for judging the running deviation of the vehicle to be detected if the judgment results in the various judgment modes are the running deviation of the vehicle to be detected.
Optionally, the vehicle running deviation detecting device provided by any one of the above second aspects of the present invention further includes:
a storage unit for storing the judgment result obtained by each judgment under each judgment mode;
and the second sending unit is used for sending a detection result for judging the running deviation of the vehicle to be detected if the judgment result exceeding the preset number is the running deviation of the vehicle to be detected in the judgment results of the preset continuous times in at least one judgment mode.
The method and the device for detecting the running deviation of the vehicle are realized based on a forward-looking camera system which can obtain the course angle of the vehicle to be detected and the distance between the vehicle to be detected and a lane line, and under the condition that the transverse control function of the vehicle to be detected is on line and the vehicle to be detected is in a straight running state, the transverse displacement of the vehicle to be detected within a first preset time length and the steering control torque output by the transverse control function are obtained. The method and the device for detecting the running deviation of the vehicle can detect whether the running deviation fault exists in the vehicle, and provide reference information for a driver or a maintainer to eliminate the fault in time and ensure the running safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for detecting running deviation of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for detecting running deviation of a vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of another method for detecting running deviation of a vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart of another method for detecting running deviation of a vehicle according to an embodiment of the present invention;
FIG. 5 is a logic block diagram of a method for generating a driving deviation detection result of a vehicle according to an embodiment of the present invention;
FIG. 6 is a logic diagram of another method for generating a driving deviation detection result of a vehicle according to an embodiment of the present invention;
fig. 7 is a block diagram of a first vehicle running deviation detecting device according to an embodiment of the present invention;
fig. 8 is a block diagram of a second vehicle running deviation detecting device according to an embodiment of the present invention;
fig. 9 is a block diagram of a third vehicle running deviation detecting device according to an embodiment of the present invention;
fig. 10 is a block diagram illustrating a fourth vehicle running deviation detecting device according to an embodiment of the present invention;
fig. 11 is a block diagram of a fifth vehicle running deviation detecting device according to an embodiment of the present invention;
fig. 12 is a block diagram of a sixth vehicle running deviation detecting device according to an embodiment of the present invention;
fig. 13 is a block diagram of a seventh vehicle running deviation detecting device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The front view camera system may acquire various parameter information of the front of the vehicle, such as pedestrian information, obstacle information, and distance information to a pedestrian or an obstacle in the front of the vehicle. More importantly, the forward-looking camera system can also acquire the distance between the vehicle and lane lines on two sides of the lane and the course angle in the driving process, and provide important control parameters for intelligent driving functions such as lane centering keeping and super cruising.
In addition, as an advanced driving assistance function which is extremely important in the smart driving technology, a lateral control function is also widely used. Particularly, the transverse control function of lane centering keeping can be realized, the steering control torque can be output according to parameters such as the distance between the forward-looking camera system and lane lines on two sides of the lane, the course angle and the like, the driving direction of the vehicle is continuously corrected in the driving process of the vehicle, the vehicle is kept to drive along the center line of the lane as much as possible under the condition that the normal driving of other vehicles is not influenced, and the driving safety of the vehicle is improved.
Further, the transverse control function comprises an online state and an offline state, and a driver selects whether to start the transverse control function according to own needs.
Based on the above premises, an embodiment of the present invention provides a method for detecting vehicle running deviation, which is shown in fig. 1, where fig. 1 is a flowchart of the method for detecting vehicle running deviation provided in the embodiment of the present invention, and the method may be applied to a controller with data processing capability, such as a vehicle controller or a vehicle computer of a vehicle equipped with a front-view camera system, and obviously, may also be implemented by using a server on a network side in some cases; referring to fig. 1, a method for detecting running deviation of a vehicle according to an embodiment of the present invention may include:
step S100, determining whether the lateral control function is on-line, if yes, executing step S110.
The determination of whether the lateral control function is on-line can be realized by technical means in the prior art, for example, the vehicle controller or the vehicle computer can determine by reading a state identifier preset in the lateral control function, or can determine by reading a connection state of switch hardware for controlling whether the lateral control function is on. In short, any manner capable of judging whether the lateral control function is online in the prior art is optional, and the manner for judging whether the lateral control function is online is not limited in the application of the present invention.
It should be noted that, in the case that the lateral control function is on-line, it may be further determined whether the vehicle to be tested is in the straight-driving state, that is, step S110 is executed. In the case where the lateral control function is offline, the present application provides further embodiments, which will not be described in detail herein.
Step S110, determining whether the vehicle to be tested is in a straight-line driving state, if so, executing step S120.
And under the condition that the transverse control function of the vehicle to be tested is on line, further judging whether the vehicle to be tested is in a straight line driving state, if so, driving step S120.
As mentioned above, the forward-looking camera system can obtain the course angle of the vehicle, obtain the course angle of the vehicle to be measured under the condition that the transverse control function is on line, and preset the course angle deviation range, if the obtained course angle of the vehicle to be measured is in the preset course angle deviation range, the vehicle to be measured can be judged to be in the straight line running state. Correspondingly, if the course angle of the vehicle to be detected is not in the deviation range of the preset course angle, the vehicle to be detected is judged not to be in the straight line running state.
Optionally, it may also be determined whether the vehicle to be detected is in the straight-line driving state through other manners, for example, the forward-looking camera system may further obtain a distance between the vehicle and the lane line, so that the distance between the vehicle to be detected and any one side lane line may be selected as a determination standard to obtain a distance between the vehicle to be detected and the side lane line, and if the distance between the vehicle to be detected and the side lane line is within a preset reference distance range within a preset time duration or a preset driving distance, it may also be determined that the vehicle to be detected is in the straight-line driving state. Conceivably, the distance between the vehicle to be detected and the center line of the lane can be selected as a judgment standard.
It should be noted that if it is determined that the vehicle to be detected is not in the straight-driving state according to the currently acquired parameters, the subsequent driving deviation detection step cannot be performed, and the relevant parameters can be continuously acquired until it is determined that the vehicle to be detected is in the straight-driving state, and the subsequent steps are continuously performed.
And step S120, acquiring the transverse displacement of the vehicle to be tested within a first preset time length and the steering control torque output by the transverse control function.
In the embodiment of the invention, the transverse displacement is the position movement of the vehicle to be detected, which is vertical to the central line of the lane, and the transverse displacement has a preset positive direction and a preset negative direction. Optionally, facing the forward direction of the vehicle to be detected, the corresponding lateral displacement of the vehicle to be detected when the vehicle to be detected is located on the left side of the center line of the lane may be marked as a positive value, and correspondingly, the corresponding lateral displacement of the vehicle to be detected when the vehicle to be detected is located on the right side of the center line of the lane may be marked as a negative value. Thus, the lateral displacement may be used to characterize the offset direction of the vehicle under test. Specifically, if the obtained transverse displacement is a positive value, it indicates that the vehicle to be tested deviates to the left side of the center line of the lane, and correspondingly, if the obtained transverse displacement is a negative value, it indicates that the vehicle to be tested deviates to the right side of the center line of the lane.
The steering control torque output by the lateral control function is used for adjusting the running direction of the vehicle to be tested and can be used for representing the deviation direction of the vehicle to be tested. Optionally, facing the forward direction of the vehicle to be tested, the steering control torque that can control the vehicle to be tested to shift to the left side of the lane center line is marked as a positive value, and the steering control torque that can control the vehicle to be tested to shift to the right side of the lane center line is marked as a negative value. In the process of straight-line running of the vehicle to be tested, the transverse control function keeps the lane centered, and the steering control torque is continuously output to adjust the running direction of the vehicle to be tested, so that the deviation direction of the vehicle to be tested can be judged according to the obtained condition of the steering control torque output by the transverse control function.
Optionally, in order to improve the accuracy of the determination result, the embodiment of the invention provides a method for obtaining the lateral displacement of the vehicle to be measured within the first preset time period and the steering control torque output by the lateral control function.
Specifically, within a first preset time period, the offset of the vehicle to be detected, which is perpendicular to the center line of the lane, is obtained according to a preset period. It is conceivable that, within the first preset duration, the selection of the preset period will determine the specific number of the obtained offsets, if the selection of the preset period is shorter, a greater number of offsets will be obtained within the first preset duration, and correspondingly, if the selection of the preset period is longer, the obtained offsets will be fewer within the first preset duration. And after the first preset time length is reached, calculating the average value of the offset of all the offsets in the first preset time length, and determining the average value of the offset as the transverse displacement of the vehicle to be detected in the first preset time length.
Similarly, within a first preset time period, the steering control torque output by the lateral control function of the vehicle to be tested is obtained according to a preset period, the torque average value of all the steering control torques within the first preset time period is calculated, and the obtained torque average value is determined as the steering control torque output by the lateral control function of the vehicle to be tested within the first preset time period.
Step S130, determining whether: the vehicle offset direction represented by the lateral displacement is opposite to the vehicle offset direction represented by the steering control torque, and the absolute value of the lateral displacement is greater than the first preset distance threshold, if so, step S140 is executed, and if not, step S150 is executed.
Under the condition that the transverse control function capable of realizing lane centering keeping is on line, if the vehicle to be tested has a running deviation fault, such as leftward deviation, in the straight running process of the vehicle to be tested, the vehicle to be tested can continuously deviate leftward, and the transverse control function can continuously output steering control torque for realizing lane centering keeping, so that the vehicle to be tested is controlled to correct rightward so as to overcome the left deviation caused by the deviation of the vehicle to be tested.
Therefore, whether the vehicle to be tested runs and deviates can be judged according to the obtained directions of the transverse displacement and the steering control torque and by combining the actual transverse displacement distance of the vehicle to be tested, namely the absolute value of the transverse deviation. If the vehicle deviation direction represented by the transverse displacement is opposite to the vehicle deviation direction represented by the steering control torque, and the absolute value of the transverse displacement is greater than the first preset distance threshold, step S140 can be executed to determine that the vehicle to be detected runs off the track, otherwise, step S150 is executed to determine that the vehicle to be detected does not run off the track.
It should be noted that the same reference mark is selected for the lateral displacement and the steering control torque, and the positive and negative directions are preset. For example, facing the forward direction of the vehicle to be tested, the lateral displacement of the vehicle to be tested, which is shifted to the left relative to the lane center line, is marked as a positive value, and similarly, the steering control torque, which can control the vehicle to be tested to be shifted to the left of the lane center line, is also marked as a positive value, but cannot be marked as a negative value. On the premise, it is meaningful to judge whether the vehicle to be detected runs and deviates by comparing the directions of the transverse displacement and the steering control torque.
And step S140, judging the running deviation of the vehicle to be detected.
And when the determination condition of the step S130 is met, determining that the vehicle to be tested is running off the track.
And S150, judging that the vehicle to be detected does not run off the track.
And when the judging condition of the step S130 is not met, judging that the vehicle to be tested is not running off the track.
In summary, the method for detecting the running deviation of the vehicle provided by the embodiment of the invention can detect whether the vehicle has the running deviation fault, and provide reference information for a driver or a maintenance worker to remove the fault in time and ensure the running safety.
Optionally, the embodiment of the invention further provides a method for determining whether the vehicle to be measured runs off the track under the condition that the transverse control function is off-line. Referring to fig. 2, fig. 2 is a flowchart of another method for detecting vehicle running deviation according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 1, the method further includes:
step S200, judging whether the vehicle to be detected is in a straight line driving state, if so, executing step S210.
Optionally, an optional implementation of step S200 may be as shown in step S110 in fig. 1, and is not described here again.
And step S210, acquiring the steering hand moment applied by the driver of the vehicle to be tested within a second preset time.
The vehicle to be detected is provided with a steering wheel torque sensor, and the steering hand torque applied by a driver in the driving process of the vehicle to be detected can be acquired through the steering wheel torque sensor, namely the detection method is realized under the condition of driver intervention. If the vehicle to be tested is actually running off tracking, when the vehicle to be tested is in a straight running state and runs continuously, the vehicle to be tested can automatically deviate to one side, and in order to ensure that the vehicle runs along a straight line, a driver can apply steering hand torque continuously to correct the running direction of the vehicle to be tested. Therefore, whether the vehicle to be tested runs and deviates can be judged according to the steering hand moment.
Optionally, the steering hand torque value applied by the driver may be obtained according to a preset period within a second preset time period, and after the second preset time period is reached, the average value of the hand torques of all the steering hand torques obtained is calculated, and the average value of the hand torques obtained is used as the steering hand torque applied by the driver within the second preset time period. Of course, other statistical methods can be selected to determine the steering hand torque finally used for judging whether the vehicle to be detected runs off the track.
Step S220, determining whether the steering hand torque is greater than a preset hand torque threshold, if so, performing step S140, and if not, performing step S150.
And if the obtained steering hand torque is larger than the preset hand torque threshold value, executing a step S140 to judge that the vehicle to be tested runs off the track, and if the obtained steering hand torque is not larger than the preset hand torque threshold value, executing a step S150 to judge that the vehicle to be tested does not run off the track.
Optionally, the deviation direction of the vehicle to be detected can be judged according to the obtained steering hand moment. Specifically, the vehicle to be tested is faced to the advancing direction of the vehicle to be tested, if the obtained steering hand moment is applied by the driver along the counterclockwise direction, the vehicle to be tested always deviates to the right, namely deviates to the right; correspondingly, if the obtained steering hand torque is applied by the driver in the clockwise direction, the vehicle to be detected can be judged to be deviated leftwards.
Optionally, referring to fig. 3, fig. 3 is a flowchart of another method for detecting vehicle running deviation according to an embodiment of the present invention, where on the basis of the embodiment shown in fig. 1, the method further includes:
step S300, judging whether the vehicle to be detected is in a straight line driving state, if so, executing step S310.
Optionally, an optional implementation of step S300 may be as shown in step S110 in fig. 1, and is not described here again.
Step S310, calculating a course angle variation within a third preset time period.
As described above, the heading angle of the vehicle to be measured can be obtained by the forward-looking camera system, in this embodiment, after the vehicle to be measured enters the straight-line running state, the driver does not interfere with the running process of the vehicle to be measured, and if the vehicle to be measured actually runs off the track, the heading angle fed back by the forward-looking camera system tends to be in an increasing trend, so that whether the vehicle to be measured runs off the track can be judged according to the change of the heading angle of the vehicle to be measured.
Specifically, a third preset time length is appointed, when timing starts, an initial course angle of the vehicle to be measured is recorded, an ending course angle of the vehicle to be measured when the timing time length reaches the third preset time length is obtained, the difference between the ending course angle and the initial course angle is calculated, and the obtained difference is recorded as the course angle variation of the vehicle to be measured in the third preset time length.
Step S320, determining whether the heading angle variation is greater than a preset angle threshold, if so, performing step S140, and if not, performing step S150.
If the obtained course angle variation is larger than the preset angle threshold, executing the step S140, and judging that the vehicle to be detected runs and deviates, wherein the larger the course angle variation is, the more serious the vehicle to be detected deviates; and if the obtained course angle variation is not larger than the preset angle threshold, executing the step S150, and judging that the vehicle to be detected is not running off tracking.
Optionally, referring to fig. 4, fig. 4 is a flowchart of another vehicle driving deviation detecting method provided in the embodiment of the present invention, and on the basis of the embodiment shown in fig. 1, the deviation detecting method further includes:
step S400, judging whether the vehicle to be detected is in a straight line driving state, if so, executing step S410.
Optionally, an optional implementation of step S400 may be as shown in step S110 in fig. 1, and is not described here again.
Step S410, obtaining a lateral position variation perpendicular to the driving direction after the vehicle to be tested drives for the preset driving distance.
If the vehicle to be detected is actually running off tracking, the vehicle to be detected in the straight running state can continuously deviate to one side under the condition of no driver intervention, namely a certain transverse position variation is generated in the direction perpendicular to the running direction of the vehicle, so that whether the vehicle to be detected runs off tracking can be judged according to the transverse position variation.
Optionally, as mentioned above, the forward-looking camera system may not only feed back the course angle of the vehicle to be detected, but also feed back the distance between the vehicle to be detected and the lane line, so that the forward-looking camera system may obtain the lateral position variation of the vehicle to be detected. Specifically, the initial distance from the reference lane line when the vehicle to be measured is located at the starting point is recorded, after the vehicle to be measured runs for a preset running distance without intervention of a driver, the end distance of the vehicle to be measured relative to the reference side lane line is obtained through the forward-looking camera system, the difference between the end distance and the initial distance is calculated, and the obtained distance difference value is the transverse position variation.
It should be noted that, the reference lane line may be any lane line located on both sides of the vehicle, and similarly, the center line of the lane may also be selected.
Step S420, determining whether the lateral position variation is greater than a second predetermined distance threshold, if so, performing step S140, and if not, performing step S150.
And if the transverse position variation is larger than the second preset distance threshold, executing step S140 to judge that the vehicle to be detected runs off the track, and if the transverse position variation is not larger than the second preset distance threshold, executing step S150 to judge that the vehicle to be detected does not run off the track.
Optionally, the embodiments shown in fig. 2 to 4 respectively provide a method for detecting whether the vehicle to be detected runs off the lane when the lateral control function is off-line, and on the basis of the foregoing content, the detection methods provided in the embodiments may be simultaneously applied to detect the vehicle to be detected.
Specifically, under the condition that the transverse control function is offline and the vehicle to be tested is in a straight running state, firstly, the steering hand torque applied by a driver of the vehicle to be tested in a second preset time period and the transverse position variation perpendicular to the running direction after running for a preset running distance are obtained, the course angle variation in a third preset time period is calculated, and if the steering hand torque is greater than a preset hand torque threshold value, or the transverse position variation is greater than a second preset distance threshold value, or the course angle variation is greater than a preset angle threshold value, the running deviation of the vehicle to be tested is judged.
It should be noted that, the method for acquiring the torque of the steering hand, the lateral position variation, and the course angle variation in the above embodiments, and performing detection and determination according to each parameter is the same as the acquisition and determination processes in the embodiments shown in fig. 2 to fig. 4, and details thereof are not repeated here.
Optionally, by comprehensively using the detection methods provided in the above embodiments and combining with related statistical methods, a more accurate detection result can be provided for a driver or a detector. Referring to fig. 5, fig. 5 is a logic block diagram of a method for generating a driving deviation detection result of a vehicle according to an embodiment of the present invention.
As shown in fig. 5, the deviation detection 1 to the deviation detection 4 in the logic block diagram represent four deviation detection methods provided in the above embodiments, respectively, and if the determination results in various determination manners are all the running deviations of the vehicle to be detected, the determination results are sent to determine the running deviations of the vehicle to be detected after the and logic operation.
Or, each deviation detection method from the deviation detection 1 to the deviation detection 4 is adopted to carry out a plurality of tests, the judgment result obtained by each judgment in each judgment mode is stored, and after the judgment of preset continuous times is finished (in the example of judgment after 5 times in fig. 5), if the judgment results in at least one judgment mode exceed the preset number and are the deviation of the vehicle to be detected, the detection result for judging the deviation of the vehicle to be detected is sent.
Correspondingly, referring to fig. 6, fig. 6 is a logic block diagram of another method for generating a vehicle driving deviation detection result according to an embodiment of the present invention. And if the judgment results in the various judgment modes are that the running deviation of the vehicle to be detected does not occur, sending a detection result for judging that the vehicle to be detected does not deviate after the AND logical operation.
Or, each deviation detection method from the deviation detection 1 to the deviation detection 4 is adopted to carry out a plurality of tests, the judgment result obtained by each judgment in each judgment mode is stored, and after the judgment of preset continuous times is finished (in the example of judgment after 5 times in fig. 6), if the judgment results smaller than or equal to the other preset number in at least one judgment mode are the deviation of the vehicle to be detected, the detection result for judging that the vehicle to be detected does not deviate is sent.
The vehicle running deviation detection method provided by the embodiment of the invention comprehensively applies various judgment modes and combines a statistical method to carry out statistical analysis on the judgment result, so that the accuracy of the detection result can be obviously improved.
In the following, the vehicle driving deviation detecting device provided by the embodiment of the present invention is introduced, and the vehicle driving deviation detecting device described below may be regarded as a functional module architecture that needs to be set in a central device (such as a vehicle controller or a driving computer of a vehicle to be detected) to implement the vehicle driving deviation detecting method provided by the embodiment of the present invention; the following description may be cross-referenced with the above.
Referring to fig. 7, fig. 7 is a block diagram of a first vehicle running deviation detecting device according to an embodiment of the present invention, where the device includes:
the first obtaining unit 10 is configured to obtain, when the lateral control function of the vehicle to be tested is on line and the vehicle to be tested is in a straight-line driving state, a lateral displacement of the vehicle to be tested within a first preset time period and a steering control torque output by the lateral control function; the transverse displacement is the position movement of the vehicle to be detected, which is vertical to the center line of the lane;
the first determination unit 20 is configured to determine that the vehicle to be measured runs off the track if the vehicle deviation direction represented by the lateral displacement is opposite to the vehicle deviation direction represented by the steering control torque, and the absolute value of the lateral displacement is greater than a first preset distance threshold.
Optionally, the first obtaining unit 10 is configured to, when obtaining the lateral displacement of the vehicle to be measured within a first preset time period, specifically include:
within a first preset time, acquiring the offset of the vehicle to be detected, which is perpendicular to the center line of the lane, according to a preset period; the offset is provided with positive and negative directions according to a first preset rule;
calculating the average offset value of all offsets in a first preset time;
and determining the average value of the offset as the transverse displacement of the vehicle to be measured within a first preset time length.
Optionally, the first obtaining unit 10 is configured to, when obtaining the steering control torque output by the lateral control function of the vehicle to be tested within a first preset time period, specifically include:
within a first preset time, acquiring steering control torque output by a transverse control function of the vehicle to be tested according to a preset period; the steering control torque is provided with positive and negative directions according to a second preset rule;
calculating the torque average value of all steering control torques within a first preset time period;
and determining the average torque value as the steering control torque output by the transverse control function of the vehicle to be tested within a first preset time.
Optionally, referring to fig. 8, fig. 8 is a structural block diagram of a second vehicle running deviation detecting device according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 7, the device further includes:
the second obtaining unit 30 is configured to obtain a steering hand moment applied by a driver of the vehicle to be tested within a second preset time period when the lateral control function is offline and the vehicle to be tested is in a straight-line driving state;
and the second judging unit 40 is used for judging the running deviation of the vehicle to be detected if the steering hand moment is greater than the preset hand moment threshold value.
Optionally, referring to fig. 9, fig. 9 is a structural block diagram of a third vehicle running deviation detecting device provided in the embodiment of the present invention, and on the basis of the embodiment shown in fig. 7, the device further includes:
the third obtaining unit 50 is configured to calculate a course angle variation within a third preset time period when the lateral control function is offline and the vehicle to be measured is in a straight-line driving state;
and the third judging unit 60 is used for judging the running deviation of the vehicle to be detected if the change amount of the course angle is larger than the preset angle threshold value.
Optionally, referring to fig. 10, fig. 10 is a block diagram of a fourth vehicle running deviation detecting device according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 7, the device further includes:
a fourth obtaining unit 70, configured to obtain, when the lateral control function is offline and the vehicle to be detected is in a straight-line driving state, a lateral position variation perpendicular to the driving direction after the vehicle to be detected drives for a preset driving distance;
and a fourth determination unit 80, configured to determine that the vehicle to be detected runs off the track if the lateral position variation is greater than the second preset distance threshold.
Optionally, referring to fig. 11, fig. 11 is a block diagram of a fifth vehicle running deviation detecting device according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 7, the device further includes:
the multi-parameter obtaining unit 90 is configured to, when the lateral control function is offline and the vehicle to be tested is in a straight-line driving state, obtain a steering hand moment applied by a driver of the vehicle to be tested within a second preset time period and a lateral position variation perpendicular to a driving direction after the vehicle to be tested travels a preset driving distance, and calculate a course angle variation within a third preset time period;
the multi-parameter determination unit 100 is configured to determine that the vehicle to be measured runs off the track if the steering hand moment is greater than a preset hand moment threshold, or the lateral position variation is greater than a second preset distance threshold, or the course angle variation is greater than a preset angle threshold.
Optionally, referring to fig. 12, fig. 12 is a block diagram of a sixth vehicle running deviation detecting device according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 11, the device further includes:
and the first sending unit 110 is configured to send a detection result for determining the driving deviation of the vehicle to be detected if the determination results in the various determination manners are all the driving deviation of the vehicle to be detected.
Optionally, referring to fig. 13, fig. 13 is a block diagram of a seventh vehicle running deviation detecting device according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 8, the device further includes:
a storage unit 120 for storing the determination result obtained by each determination in each determination mode;
and a second sending unit 130, configured to send a detection result for determining the driving deviation of the vehicle to be detected if the determination result exceeding the preset number is the driving deviation of the vehicle to be detected in the determination results of the preset consecutive times in at least one determination mode.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A vehicle running deviation detection method is characterized by being applied to a vehicle provided with a forward-looking camera system, and comprises the following steps:
under the condition that the transverse control function of a vehicle to be tested is on line and the vehicle to be tested is in a straight line running state, acquiring transverse displacement of the vehicle to be tested within a first preset time and steering control torque output by the transverse control function; the transverse displacement is the position movement of the vehicle to be detected, which is vertical to the center line of the lane;
and if the vehicle deviation direction represented by the transverse displacement is opposite to the vehicle deviation direction represented by the steering control torque, and the absolute value of the transverse displacement is greater than a first preset distance threshold, judging that the vehicle to be detected runs off the track.
2. The vehicle running deviation detecting method according to claim 1, wherein the obtaining of the lateral displacement of the vehicle to be detected within a first preset time period comprises:
within a first preset time, acquiring the offset of the vehicle to be detected, which is perpendicular to the center line of the lane, according to a preset period; the offset is provided with positive and negative directions according to a first preset rule;
calculating the average offset value of all the offsets within the first preset time;
and determining the average offset value as the transverse displacement of the vehicle to be detected within a first preset time.
3. The vehicle running deviation detecting method according to claim 1, wherein the obtaining of the steering control torque output by the lateral control function of the vehicle to be detected within a first preset time period comprises:
within a first preset time, acquiring steering control torque output by the transverse control function of the vehicle to be tested according to the preset period; the steering control torque is provided with positive and negative directions according to a second preset rule;
calculating the torque average value of all the steering control torques in the first preset time period;
and determining the torque average value as the steering control torque output by the transverse control function of the vehicle to be tested within a first preset time.
4. The vehicle running deviation detecting method according to claim 1, wherein the vehicle to be tested is provided with a steering wheel torque sensor, the method further comprising:
under the condition that the transverse control function is off-line and the vehicle to be tested is in a straight running state, acquiring the steering hand moment applied by a driver of the vehicle to be tested within a second preset time period;
and if the steering hand torque is larger than a preset hand torque threshold value, judging that the vehicle to be detected runs off the track.
5. The vehicle running deviation detecting method according to claim 1, further comprising:
under the condition that the transverse control function is off-line and the vehicle to be tested is in a straight running state, calculating course angle variation within a third preset time length;
and if the course angle variation is larger than a preset angle threshold, judging that the vehicle to be detected runs and deviates.
6. The vehicle running deviation detecting method according to claim 1, further comprising:
under the condition that the transverse control function is off-line and the vehicle to be tested is in a straight running state, acquiring the transverse position variation perpendicular to the running direction after the vehicle to be tested runs for a preset running distance;
and if the transverse position variation is larger than a second preset distance threshold, judging that the vehicle to be detected runs off the track.
7. The vehicle running deviation detecting method according to claim 1, further comprising:
under the condition that the transverse control function is offline and the vehicle to be tested is in a straight running state, acquiring the steering hand moment applied by a driver of the vehicle to be tested in a second preset time period and the transverse position variable quantity perpendicular to the running direction after running for a preset running distance, and calculating the course angle variable quantity in a third preset time period;
and if the steering hand moment is greater than a preset hand moment threshold value, or the transverse position variation is greater than a second preset distance threshold value, or the course angle variation is greater than a preset angle threshold value, judging that the vehicle to be detected runs off the track.
8. The method for detecting the running deviation of the vehicle according to claim 7, wherein if the determination results in the various determination modes are that the vehicle to be detected runs deviation, a detection result for determining the running deviation of the vehicle to be detected is sent.
9. The vehicle running deviation detecting method according to any one of claims 4 to 7, characterized by further comprising:
saving the judgment result obtained by each judgment under each judgment mode;
and if the judgment results exceeding the preset number in the judgment results of the preset continuous times in at least one judgment mode are the running deviation of the vehicle to be detected, sending a detection result for judging the running deviation of the vehicle to be detected.
10. A vehicle running deviation detecting device is characterized by comprising:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the transverse displacement of a vehicle to be tested within a first preset time length and the steering control torque output by the transverse control function under the condition that the transverse control function of the vehicle to be tested is on line and the vehicle to be tested is in a straight running state; the transverse displacement is the position movement of the vehicle to be detected, which is vertical to the center line of the lane;
and the first judging unit is used for judging the running deviation of the vehicle to be detected if the vehicle deviation direction represented by the transverse displacement is opposite to the vehicle deviation direction represented by the steering control torque, and the absolute value of the transverse displacement is greater than a first preset distance threshold value.
CN201910486038.7A 2019-06-05 2019-06-05 Vehicle running deviation detection method and device Active CN110203206B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910486038.7A CN110203206B (en) 2019-06-05 2019-06-05 Vehicle running deviation detection method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910486038.7A CN110203206B (en) 2019-06-05 2019-06-05 Vehicle running deviation detection method and device

Publications (2)

Publication Number Publication Date
CN110203206A CN110203206A (en) 2019-09-06
CN110203206B true CN110203206B (en) 2021-02-02

Family

ID=67791060

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910486038.7A Active CN110203206B (en) 2019-06-05 2019-06-05 Vehicle running deviation detection method and device

Country Status (1)

Country Link
CN (1) CN110203206B (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110533930B (en) * 2019-10-09 2021-02-02 业成科技（成都）有限公司 Traffic data processing method and device, computer equipment and storage medium
CN110949495A (en) * 2019-10-25 2020-04-03 浙江吉利汽车研究院有限公司 Steering wheel angle correction method and device
CN110834642B (en) * 2019-11-04 2021-03-26 中国第一汽车股份有限公司 Vehicle deviation identification method and device, vehicle and storage medium
CN113282074A (en) * 2020-02-03 2021-08-20 奥迪股份公司 Emergency system and emergency method of automatic driving vehicle based on track self-checking
CN111497871A (en) * 2020-05-14 2020-08-07 上汽通用汽车有限公司 Automobile running deviation warning method, electronic equipment and system
CN114074706B (en) * 2020-08-19 2023-06-30 蜂巢智能转向系统(江苏)有限公司 Electric power steering system, off-tracking compensation arbitration method and equipment
CN112124417B (en) * 2020-08-27 2022-01-18 广州汽车集团股份有限公司 Vehicle deviation identification reminding method and device and electric steering system
CN112050754A (en) * 2020-09-02 2020-12-08 奇瑞商用车（安徽）有限公司 Automobile straight line deviation measuring system based on laser measurement and measurement judging method
CN112945586B (en) * 2021-01-29 2023-10-27 深圳一清创新科技有限公司 Chassis deflection calibration method and device and unmanned automobile
CN112918482B (en) * 2021-03-25 2022-12-27 东风汽车集团股份有限公司 Method, system and storage medium for detecting and analyzing vehicle deviation degree
CN113044048B (en) * 2021-03-31 2023-03-28 东风商用车有限公司 Method, device and equipment for identifying vehicle deviation and readable storage medium
CN116594373B (en) * 2023-05-11 2024-01-12 中山市博测达电子科技有限公司 Automatic driving safety test system and method based on 5G technology

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3763211B2 (en) * 1998-07-10 2006-04-05 日産自動車株式会社 Lane keeping system
JP2000211543A (en) * 1999-01-26 2000-08-02 Mazda Motor Corp Vehicular driving supporting device
US8626391B2 (en) * 2010-03-17 2014-01-07 Mando Corporation Method and system for lane-keeping control
KR20120130652A (en) * 2011-05-23 2012-12-03 현대모비스 주식회사 Method for controlling compensation torque of system for preventing steering pull for vehicle
FR3040348B1 (en) * 2015-09-01 2017-08-11 Renault Sas DEVICE AND METHOD FOR CONTROLLING A DRIVING ASSISTANCE SYSTEM FOR THE TRACK CORRECTION OF A MOTOR VEHICLE.
JP6809023B2 (en) * 2016-08-02 2021-01-06 いすゞ自動車株式会社 Steering assistance device and steering assist method
CN109515517A (en) * 2018-12-11 2019-03-26 芜湖伯特利汽车安全系统股份有限公司 A kind of running out the way identifying system and method

Also Published As

Publication number Publication date
CN110203206A (en) 2019-09-06

Similar Documents

Publication Publication Date Title
CN110203206B (en) Vehicle running deviation detection method and device
CN102015403B (en) Autonomous parking strategy based on available parking space
US7843767B2 (en) Object detection apparatus and method
JP5045374B2 (en) Operating state determination device
US9330061B2 (en) Determination of steering angle for a motor vehicle
US7155325B2 (en) Parking assist apparatus
JP6600995B2 (en) Vehicle control apparatus and program
KR20100101566A (en) Method and device for planning a path when parking a vehicle
US10538269B2 (en) Steering system handwheel angle determination
CN112074445B (en) Method and device for a commercial vehicle with a trailer coupling, and commercial vehicle
JP2000344123A (en) Measuring/control system and method for controlling right/left direction of longitudinally continuously traveling vehicles
KR101827152B1 (en) Method for deciding a road surface using vehicle data
SE1250978A1 (en) Method for detecting faults on the steering and a system for detecting faults on a vehicle's steering system
CN113569666B (en) Method for detecting continuous illegal lane change of vehicle and computer equipment
US20100286866A1 (en) Method for controlling a driver assistance system
CN112937604B (en) Lane changing processing method, device and equipment and vehicle
US8050839B2 (en) Vehicle behavior detection apparatus
CN117083504A (en) Method, system and computer program product for determining yaw-rate offset value
WO2017095300A1 (en) Method and system for facilitating steering of a vehicle during driving along a road
US11403441B2 (en) Method for checking a vehicle dynamics model
CN117970933B (en) Vehicle self-positioning correction method used in low-speed parking straight driving scene
US20220234573A1 (en) Moving object determination device
WO2023176250A1 (en) Reference steering angle determination method and vehicle control device
CN117708515A (en) Information processing apparatus, information processing system, information processing method, vehicle, and non-transitory storage medium
CN117465542A (en) Vehicle control apparatus, method, and non-transitory machine-readable storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020

Applicant after: Beijing Jingwei Hirain Technologies Co.,Inc.

Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101

Applicant before: Beijing Jingwei HiRain Technologies Co.,Ltd.

GR01 Patent grant
GR01 Patent grant