CN110341707B - Lane keeping control system, lane keeping control method, and vehicle - Google Patents

Lane keeping control system, lane keeping control method, and vehicle Download PDF

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Publication number
CN110341707B
CN110341707B CN201910726416.4A CN201910726416A CN110341707B CN 110341707 B CN110341707 B CN 110341707B CN 201910726416 A CN201910726416 A CN 201910726416A CN 110341707 B CN110341707 B CN 110341707B
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China
Prior art keywords
lane
vehicle
module
lane keeping
control
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CN110341707A (en
Inventor
赵兴臣
王圣元
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Priority to CN201910726416.4A priority Critical patent/CN110341707B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10Path keeping
    • B60W30/12Lane keeping

Abstract

The invention provides a lane keeping control system, a lane keeping control method and a vehicle, and relates to the technical field of automatic driving of vehicles. Wherein, lane keeping control system includes: the lane keeping auxiliary module is used for controlling the vehicle to keep running at the middle position of a lane; and the transverse control module is used for controlling the vehicle to transversely move towards the middle position of the lane to keep the vehicle running in the lane when the lane keeping auxiliary module fails to execute an error command so that the real-time transverse offset of the vehicle relative to the middle position of the lane is greater than a preset value. According to the lane keeping auxiliary module, the transverse control module is added on the basis of the lane keeping auxiliary module, so that the phenomenon that the lane keeping auxiliary module of the vehicle deviates due to misoperation and then runs to other lanes to cause danger is avoided, and the safety performance of the vehicle is improved.

Description

Lane keeping control system, lane keeping control method, and vehicle
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a lane keeping control system, a lane keeping control method and a vehicle.
Background
With the development of intelligent driving technology, various international and domestic automobile enterprises develop and release an active safety function, in particular a lane keeping assist system (LKA), which is composed of three character functions: the lane departure early warning system comprises functions of lane departure early warning, lane departure prevention, lane keeping assistance and the like, wherein the functions can have different functional expressions according to the types of the functions and the current state and are mainly realized by a camera and a front radar.
The lane departure warning warns the driver when the vehicle has an unintentional lane departure.
Lane departure prevention provides steering assistance to the driver to prevent the vehicle from departing from the lane without the driver being aware of it. Lane keeping assistance provides steering control for the driver and assists the driver in keeping the vehicle in the middle of the lane in real time. In many functional application processes, risks are caused by failure of internal electronic and electrical components, and a situation causing harm on the whole vehicle level, namely a functional safety problem, is caused.
Disclosure of Invention
An object of the present invention is to provide a lane keeping control system, which solves the problem that the lane keeping auxiliary device in the prior art ensures that the vehicle runs in the lane without triggering or executing a wrong command, and avoids the risk of the vehicle deviating from the lane.
Another object of the present invention is to solve the problem of insufficient safety of the lane keeping assist device in the prior art.
Another object of the present invention is to provide a vehicle having the lane keep control system.
It is still another object of the present invention to provide the lane keeping control method.
In particular, the present invention provides a lane keeping control system comprising:
the lane keeping auxiliary module is used for controlling the vehicle to keep running at the middle position of a lane; and
and a lateral control module for controlling the vehicle to move laterally towards the lane middle position … to keep the vehicle running in the lane when the lane keeping assist module fails or executes a wrong command so that the real-time lateral offset of the vehicle relative to the lane middle position is larger than a preset value.
Optionally, the method further comprises:
a state detection unit for detecting a state of the lane keeping assist module, the state of the lane keeping assist module including an on state and an off state; and
a state control unit for controlling the lateral control module to be turned on when the lane keeping assist module is in the on state and to be turned off when the lane keeping assist module is in the off state.
Optionally, the vehicle further comprises a lateral offset detection module, configured to detect the real-time lateral offset of the vehicle in real time;
the transverse control module is configured to control the vehicle to keep running in the lane when the state detection unit detects that the lane keeping assist module is in an on state and the transverse offset detection module detects that the real-time transverse offset of the vehicle is greater than the preset value.
Optionally, the lateral control module further comprises:
a first lateral offset value obtaining unit, configured to connect with the lane keeping assist module to obtain a first lateral offset value of the lane keeping assist module, where the first lateral offset value is a maximum lateral offset value set inside the lane keeping assist module;
a second lateral offset value obtaining unit, configured to obtain a second lateral offset value, where the second lateral offset value is a lateral distance between the lane line and the side of the vehicle; and
and the preset value setting unit is used for automatically setting the preset value in advance, wherein the preset value is larger than the first transverse deviation value and smaller than the second transverse deviation value.
Optionally, the lateral control module further includes a preset value setting unit configured to manually preset the preset value, where the preset value is half of a difference between the lane width and the vehicle width.
Optionally, the lateral control module further comprises:
the comparison and judgment unit is used for receiving the preset value of the preset value setting unit and the real-time transverse offset of the transverse offset detection module and judging whether the real-time transverse offset of the vehicle is larger than the preset value or not; and
and the control unit is used for controlling the transverse offset action of the vehicle when the comparison and judgment unit judges that the real-time transverse offset of the vehicle is greater than the preset value.
In particular, the invention also provides a vehicle comprising a lane keeping control system as described above.
Particularly, the present invention also provides a lane keeping control method comprising:
controlling the vehicle to run at the middle position of the lane by a lane keeping auxiliary module;
when the lane keeping auxiliary module fails or executes a wrong command so that the real-time transverse offset of the vehicle relative to the middle position of the lane is larger than a preset value, controlling the vehicle to transversely move towards the middle position of the lane to keep the vehicle running in the lane.
Optionally, before the lane keeping assist module controls the vehicle to drive at the middle position of the lane, the method further comprises:
detecting the state of the lane keeping auxiliary module, judging the state of the lane keeping auxiliary module, and simultaneously controlling to open or close the transverse control module according to the state; the states of the lane keeping assist module include an on state and an off state, and the lateral control module is turned on when the lane keeping assist module is in the on state and turned off when the lane keeping assist module is in the off state.
Optionally, before controlling the lateral offset action of the vehicle, the method further comprises:
setting the preset value;
detecting real-time lateral offset of the vehicle in real time;
judging whether the real-time transverse offset of the vehicle is larger than the preset value;
wherein the preset value is manually or automatically set;
when the preset value is automatically set, a first transverse deviation value and a second transverse deviation value need to be acquired, wherein the first transverse deviation value is a maximum transverse deviation value set inside the lane keeping auxiliary module, the second transverse deviation value is a transverse distance between the lane line and the side edge of the vehicle, and the preset value is larger than the first transverse deviation value and smaller than the second transverse deviation value;
when the preset value is manually set, the preset value is half of the difference value between the lane width and the vehicle width.
According to the lane keeping auxiliary module, the transverse control module is added on the basis of the lane keeping auxiliary module, when the lane keeping auxiliary module of the vehicle fails or executes a wrong command to cause that the transverse offset of the vehicle relative to the middle position of the lane is larger than the preset value, the vehicle is controlled to transversely move towards the middle position of the lane, the vehicle is kept to run in the original lane, the vehicle is prevented from deviating due to misoperation of the lane keeping auxiliary module of the vehicle, and then the vehicle runs to other lanes to cause danger, and the safety performance of the vehicle is improved.
Further, the lane keeping auxiliary system comprises the lane keeping auxiliary module and the transverse control module, so that the lane keeping auxiliary system of the vehicle has double insurance, and the safety performance of the vehicle using the lane keeping auxiliary system is improved.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic block diagram of a lane keeping control system according to one embodiment of the present invention;
FIG. 2 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 3 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 4 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 5 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 6 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 7 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 8 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention;
FIG. 9 is a schematic block diagram of a vehicle according to another embodiment of the invention;
fig. 10 is a schematic diagram of a travel locus of a vehicle within a lane using the lane keep control system of the present embodiment according to one embodiment of the present invention;
fig. 11 is a schematic diagram of a travel locus of a vehicle within a lane using a lane keep control system of the present embodiment according to another embodiment of the present invention;
FIG. 12 is a schematic block diagram of a lane keeping control method according to one embodiment of the present invention;
FIG. 13 is a schematic block diagram of a lane keeping control method according to another embodiment of the present invention;
fig. 14 is a schematic block diagram of a lane keeping control method according to another embodiment of the present invention.
Detailed Description
Fig. 1 is a schematic block diagram of a lane keeping control system 100 according to one embodiment of the present invention. As shown in fig. 1, the present embodiment provides a lane keeping control system 100, and the lane keeping control system 100 may include a lane keeping assist module 10 and a lateral control module 20. The lane keeping assist module 10 is used for controlling the vehicle to keep driving in the middle of the lane. The lateral control module 20 is configured to control the lateral movement of the vehicle toward the center position of the lane to keep the vehicle running in the lane when the lane keeping assist module 10 fails or executes a wrong command such that the real-time lateral offset of the vehicle with respect to the center position of the lane is greater than a preset value.
The lane keeping control system 100 of the present embodiment includes a lane keeping assist module 10 and a lateral control module 20, and the lane keeping assist module 10 may keep the vehicle running at a middle position of the lane as much as possible, similar to the lane keeping system of the related art, and of course, the middle position does not refer to the right middle of the lane where the vehicle runs, but refers to a lateral swing of a small arc at the middle position. In the embodiment, when some functions in the lane keeping assist module 10 are missing, malfunctioning or triggered by mistake at some time, for example, the camera in the lane keeping assist module 10 is broken or the position is moved, or the radar is malfunctioning, the lane keeping assist module 10 is disabled, and thus the vehicle may continuously shift laterally during the driving process. At this time, if the driver does not find it, or finds it later, the vehicle is likely to shift to another lane, resulting in occurrence of danger.
The embodiment adds the transverse control module 20 on the basis of the lane keeping auxiliary module 10, controls the vehicle to transversely move towards the middle position of the lane when the transverse offset of the vehicle relative to the middle position of the lane is larger than a preset value due to the fact that the lane keeping auxiliary module 10 of the vehicle fails or a wrong command is executed, keeps the vehicle running in the original lane, avoids danger caused by the fact that the vehicle runs to other lanes, and improves the safety performance of the vehicle.
In addition, the lane keeping control system 100 of the present embodiment includes both the lane keeping assist module 10 and the lateral control module 20, so that the lane keeping control system 100 of the vehicle has double insurance, and the safety performance of the vehicle using the lane keeping control system 100 is increased.
FIG. 2 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention; as a specific example, the lane keeping control system 100 of the present embodiment may further include a state detecting unit 31 and a state control unit 30, the state detecting unit 31 may be used to detect the state of the lane keeping assist module 10, and the state of the lane keeping assist module 10 includes an on state and an off state. In particular, the state control unit 30 may be configured to control the lateral control module 20 to be turned on when the lane keeping assist module 10 is in an on state and to be turned off when the lane keeping assist module 10 is in an off state.
Specifically, the lateral control module 20 in the present embodiment is a further assistance of the lane keeping assist module 10, and when the lane keeping assist module 10 starts to operate in an on state, the lateral control module 20 starts to operate, so as to prevent the lane keeping assist module 10 from causing the vehicle to laterally shift because of the execution of a wrong command, thereby improving the safety performance of the vehicle in the case where the lane keeping assist module 10 is on. When the lane keeping assist module 10 is in the off state, it indicates that the vehicle is a vehicle autonomously controlled by the driver, and the lane change and the like often occur during the autonomous control of the driver, so that the transverse control module 20 is not required to participate in the work, and the transverse control module 20 is turned off at this time, so that the vehicle is driven more smoothly.
FIG. 3 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention; as a specific embodiment, the lane keeping control system 100 of the present embodiment may further include a lateral shift amount detection module 40. The lateral offset detection module 40 may be used to detect the real-time lateral offset of the vehicle in real-time. The lateral control module 20 is configured to control the vehicle to keep running in the lane when the state detection unit 31 detects that the lane keeping assist module 10 is in the on state and the lateral offset detection module 40 detects that the real-time lateral offset of the vehicle is greater than the preset value.
Since the lane keeping assist module 10 also needs to detect the real-time lateral offset of the vehicle during the operation process, the lateral offset detection module 40 of this embodiment may be the same as the detection device used for detecting the real-time lateral offset of the vehicle in the lane keeping assist module 10, so as to meet the requirement of the vehicle for detecting the real-time lateral offset and save the cost.
Fig. 4 is a schematic block diagram of a lane keeping control system 100 according to another embodiment of the present invention. As a specific embodiment, the lateral control module 20 of the present embodiment may further include a first lateral offset value acquiring unit 21, a second lateral offset value acquiring unit 22, and a preset value setting unit 23. The first lateral offset value obtaining unit 21 is configured to be connected to the lane keeping assist module 10 to obtain a first lateral offset value of the lane keeping assist module 10, where the first lateral offset value is a maximum lateral offset value set inside the lane keeping assist module 10. The second lateral offset value obtaining unit 22 is configured to obtain a second lateral offset value, which is a lateral distance between the lane line and the side of the vehicle. The preset value setting unit 23 is configured to automatically set a preset value in advance, where the preset value is greater than the first lateral offset value and smaller than the second lateral offset value.
Specifically, in general, in order to ensure that the vehicle always travels in the center of the lane with the lane keeping assist module 10 turned on, the maximum lateral offset is set to a relatively small value, approximately 5-20cm inside the lane keeping assist module 10. That is, when the lane keeping assist module 10 of the vehicle is turned on, the vehicle should be in the middle of the lane and swing on both sides by a distance of not more than 5-20cm in case of normal driving. That is, the first lateral offset value in this embodiment does not exceed 5-20 cm. Furthermore, since the present embodiment is intended to keep the vehicle running in the lane, the position of the lane line cannot be exceeded at most when the vehicle is laterally offset in the event of failure of the lane keeping assist module 10. Thus, in this embodiment, the second lateral offset value is the lateral distance of the side of the vehicle from the lane in which the side is located. In this embodiment, the first lateral offset value is a fixed value or a dynamic value, and the second lateral offset value is a dynamic value. In the preset value setting unit 23, since the second lateral offset value is a dynamic value, the preset value automatically takes the minimum value of the dynamic value of the second lateral offset value under normal conditions. The value taking method can ensure that the vehicle runs in the lane without deviating from the lane, and ensures the safety of the vehicle.
FIG. 5 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention; specifically, the lane keeping control system 100 of the present embodiment may further include a camera module 50 and an analysis calculation module 60. The camera module 50 is used for receiving and transmitting image signals of vehicles and road conditions. The analysis and calculation module 60 analyzes and calculates the lateral distance between the lane line and the side of the vehicle according to the recognized image signals of the vehicle and the road condition. The lateral distance between the side of the vehicle and the lane line obtained by the camera module 50 and the analysis and calculation module 60 is the second lateral offset.
FIG. 6 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention; as another specific embodiment, the lateral control module 20 of the present embodiment may further include a preset value setting unit 24 for manually presetting a preset value, which is a half of a difference between the lane width and the vehicle width. Of course, this embodiment is more accurate when the vehicle is kept running in the middle of the lane at all times. Of course, since the lane keeping control system 100 of the present embodiment includes the lane keeping assist module 10, the lane keeping assist module 10 generally controls the vehicle to travel in the middle of the lane, and the range is not too large even if there is a certain error. In addition, the lane line has a certain width, so the preset value set by the method of the embodiment can also ensure that the vehicle runs in the lane and hardly exceeds the lane line.
More specifically, in general, it is assumed that the width of a vehicle is w, the distance between the side edge of the vehicle and a lane line is d, and the width of a lane is L, in this scenario, the width of the vehicle is set to 2m, the width of the lane is L, and according to the < highway engineering standard >, when the design vehicle speed is less than 20km/h, the width of the lane is 3m, when the design vehicle speed is 20km/h, the width of the lane is 3.25m, when the design vehicle speed is 40km/h-60km/h, the width of the lane is 3.5m, and when the design vehicle speed is 60km/h-120km/h, the width of the lane is 3.75 m. The vehicle speed interval of the lane keeping assist module 10 is 60km/h to 180 km/h. For all reasons, the lane width is set to 3.5m, i.e., L is 3.5m, and d is (3.5-2)/2 is 0.75 m. The preset value of this embodiment is required to be set to 0.75 m. In other words, when the vehicle lateral shift amount is greater than 0.75m, the lateral control module 20 starts to control the lateral shift action of the vehicle to avoid the vehicle from entering another lane.
FIG. 7 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention; fig. 8 is a schematic block diagram of a lane keeping control system according to another embodiment of the present invention. As another embodiment, as shown in fig. 7 and 8, the lateral control module 20 in this embodiment further includes a comparison determination unit 25 and a control unit 26. The comparison and judgment unit 25 is configured to receive the preset value of the preset value setting unit 24 and the real-time lateral offset of the lateral offset detection module 40, and judge whether the real-time lateral offset of the vehicle is greater than the preset value. The control unit 26 is used for controlling the lateral deviation action of the vehicle when the comparison and judgment unit 25 judges that the real-time lateral deviation amount of the vehicle is larger than the preset value. Specifically, the control unit 26 may control the lateral offset action of the vehicle by applying a torque to the steering wheel of the vehicle such that the vehicle remains in the lane. More intelligently, the control unit 26 may also control the vehicle to continue traveling to a lane neutral position. Generally, during actual operation, the lane keeping assist module 10 may exist for several seconds or less from a certain time to a time when a wrong command is executed so that the vehicle is laterally offset all the time. After the time for the error has elapsed, the lane keeping assist module 10 continues to control the vehicle to travel in the middle of the lane. Or, if the error is permanent, the transverse control module 20 will always control the vehicle to run in the lane to prevent the vehicle from entering other lanes, so as to ensure the safety performance of the vehicle. Of course, after a while, the driver may also intervene actively in the driving of the vehicle due to the large lateral offset of the vehicle.
Fig. 9 is a schematic block diagram of a vehicle according to another embodiment of the invention. As a specific embodiment, as shown in fig. 9, the present invention also provides a vehicle 200, and the vehicle 200 may include the above lane keep control system 100.
Fig. 10 is a schematic diagram of a travel locus of a vehicle within a lane using the lane keep control system of the present embodiment according to one embodiment of the present invention; as a specific example, the vehicle 200 using the lane keep control system 100 in the present embodiment, the moving process of the vehicle 200 includes:
at time t1, the vehicle 200 keeps driving at the middle position of the lane under the action of the lane keeping auxiliary module 10;
at time t2, at some point, the lane keeping assist module 10 has executed the wrong command to cause the vehicle 200 to shift to one side, e.g., to the right in this embodiment;
at time t3, the vehicle 200 has shifted to one side by the maximum lateral shift amount (the position near the lane line of the shift-value lane in general);
at time t4, the lateral control module 20 may impart a torque in a reverse direction to the vehicle 200 such that the vehicle 200 may no longer continue to drift and remain traveling in the lane.
Fig. 11 is a schematic diagram of a travel locus of a vehicle 200 within a lane using the lane keep control system 100 of the present embodiment according to another embodiment of the present invention. As another example, at time t5, the lateral control module 10 gives the vehicle 200 an instruction to drive to the center of the lane, or the lane keeping assist module 100 executes a wrong command to return to normal, and at time t5, the vehicle 200 will again drive to the center of the lane, ensuring that the vehicle 200 continues to drive in the center of the lane.
The vehicle 200 of the embodiment using the lane keeping control system 100 can ensure that the vehicle 200 runs in the lane and does not enter other lanes in the event of failure of the lane keeping assist module 10 of the vehicle 200, thereby ensuring the safety performance of the vehicle 200.
The lane keeping control system 100 of the present embodiment includes both the lane keeping assist module 10 and the lateral control module 20, so that the lane keeping control system 100 of the vehicle has a double insurance, which increases the safety of the vehicle in using the lane keeping control system 100.
Fig. 12 is a schematic block diagram of a lane keeping control method according to one embodiment of the present invention. As a specific embodiment, the present embodiment also provides a lane keeping control method, which may include the steps of:
s10 controlling the vehicle to run at the middle position of the lane through the lane keeping auxiliary module 10;
s20 controls the vehicle to move laterally toward the middle position of the lane to keep the vehicle running in the lane when the lane keeping assist module 10 fails or executes a wrong command so that the real-time lateral offset of the vehicle with respect to the middle position of the lane is greater than a preset value.
The lane keeping control method of the present embodiment enables the vehicle to keep driving in the lane, without laterally offsetting other lanes due to the execution of a wrong command by the lane keeping assist module 10, ensuring the safety of the vehicle driving.
FIG. 13 is a schematic block diagram of a lane keeping control method according to another embodiment of the present invention;
as a specific embodiment, before the lane keeping assist module 10 controls the vehicle to drive at the lane middle position, the method further includes:
s30 detecting the state of the lane keeping assist module 10, determining the state of the lane keeping assist module 10, and turning on or off the lateral control module 20 according to the state control; the states of the lane keeping assist module 10 include an on state and an off state, and the lateral control module 20 is turned on when the lane keeping assist module 10 is in the on state and turned off when the lane keeping assist module 10 is in the off state.
The lateral control module 20 in the present embodiment is further assisted by the lane keeping assist module 10, and when the lane keeping assist module 10 starts to operate in an on state, the lateral control module 20 starts to operate, so as to prevent the lane keeping assist module 10 from causing the vehicle to laterally shift due to the execution of a wrong command, thereby improving the safety performance of the vehicle in the case that the lane keeping assist module 10 is on. When the lane keeping assist module 10 is in the off state, it indicates that the vehicle is a vehicle autonomously controlled by the driver, and the lane change and the like often occur during the autonomous control of the driver, so that the transverse control module 20 is not required to participate in the work, and the transverse control module 20 is turned off at this time, so that the vehicle is driven more smoothly.
Fig. 13 is a schematic block diagram of a lane keeping control method according to another embodiment of the present invention. As another specific embodiment, before controlling the lateral offset action of the vehicle, the method further includes:
s40, setting a preset value;
s50, detecting the real-time lateral offset of the vehicle in real time;
s60, judging whether the real-time transverse offset of the vehicle is larger than a preset value;
wherein the preset value is set manually or automatically.
Specifically, when the preset value is automatically set, a first lateral offset value and a second lateral offset value need to be obtained, where the first lateral offset value is a maximum lateral offset value set inside the lane keeping assist module 10, the second lateral offset value is a lateral distance between a lane line and a side of the vehicle, and the preset value is greater than the first lateral offset value and smaller than the second lateral offset value.
Specifically, in general, in order to ensure that the vehicle always travels in the center of the lane with the lane keeping assist module 10 turned on, the maximum lateral offset is set to a relatively small value, approximately 5-20cm inside the lane keeping assist module 10. That is, when the lane keeping assist module of the vehicle is turned on, the vehicle should be in the middle of the lane and the distance of the two sides swing is not more than 5-20cm in the case of normal driving. That is, the first lateral offset value in this embodiment does not exceed 5-10 cm. Furthermore, since the present embodiment is designed to keep the vehicle running in the lane, the position of the lane line cannot be exceeded at most when the vehicle is laterally offset in the event of failure of the lane keeping assist module 10. Thus, in this embodiment, the second lateral offset value is the lateral distance of the side of the vehicle from the lane in which the side is located. In this embodiment, the first lateral offset value is a fixed value or a dynamic value, and the second lateral offset value is a dynamic value. Since the second lateral offset value is a dynamic value in the preset value setting unit 24, the preset value is a minimum value of the dynamic value of the second lateral offset value automatically under normal conditions. The value taking method can ensure that the vehicle runs in the lane without deviating from the lane, and ensures the safety of the vehicle.
When the preset value is manually set, the preset value is half of the difference between the lane width and the vehicle width. Of course, this embodiment is more accurate when the vehicle is kept running in the middle of the lane at all times. Of course, since the lane keeping control system 100 of the present embodiment includes the lane keeping assist module 10, the lane keeping assist module 10 generally controls the vehicle to travel in the middle of the lane, and the range is not too large even if there is a certain error. In addition, the lane line has a certain width, so the preset value set by the method of the embodiment can also ensure that the vehicle runs in the lane and hardly exceeds the lane line.
More specifically, in general, it is assumed that the width of a vehicle is w, the distance between the side edge of the vehicle and a lane line is d, and the width of a lane is L, in this scenario, the width of the vehicle is set to 2m, the width of the lane is L, and according to the < highway engineering standard >, when the design vehicle speed is less than 20km/h, the width of the lane is 3m, when the design vehicle speed is 20km/h, the width of the lane is 3.25m, when the design vehicle speed is 40km/h-60km/h, the width of the lane is 3.5m, and when the design vehicle speed is 60km/h-120km/h, the width of the lane is 3.75 m. The vehicle speed interval of the lane keeping assist module 10 is 60km/h to 180 km/h. For all reasons, the lane width is set to 3.5m, i.e., L is 3.5m, and d is (3.5-2)/2 is 0.75 m. The preset value of this embodiment is required to be set to 0.75 m. In other words, when the vehicle lateral shift amount is greater than 0.75m, the lateral control module 20 starts to control the lateral shift action of the vehicle to avoid the vehicle from entering another lane.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.

Claims (8)

1. A lane keep control system, comprising:
the lane keeping auxiliary module is used for controlling the vehicle to keep running at the middle position of a lane; and
the transverse control module is used for controlling the vehicle to transversely move towards the middle position of the lane so as to keep the vehicle running in the lane when the lane keeping auxiliary module fails or executes an error command so that the real-time transverse offset of the vehicle relative to the middle position of the lane is larger than a preset value;
the lateral control module further comprises:
a first lateral offset value obtaining unit, configured to connect with the lane keeping assist module to obtain a first lateral offset value of the lane keeping assist module, where the first lateral offset value is a maximum lateral offset value set inside the lane keeping assist module;
a second lateral offset value obtaining unit, configured to obtain a second lateral offset value, where the second lateral offset value is a lateral distance between a lane line and a side of the vehicle; and
and the preset value setting unit is used for automatically setting a preset value in advance, wherein the preset value is larger than the first transverse deviation value and smaller than the second transverse deviation value.
2. The lane keep control system of claim 1, further comprising:
a state detection unit for detecting a state of the lane keeping assist module, the state of the lane keeping assist module including an on state and an off state; and
a state control unit for controlling the lateral control module to be turned on when the lane keeping assist module is in the on state and to be turned off when the lane keeping assist module is in the off state.
3. The lane keep control system of claim 2,
the system also comprises a transverse offset detection module used for detecting the real-time transverse offset of the vehicle in real time;
the transverse control module is configured to control the vehicle to keep running in the lane when the state detection unit detects that the lane keeping assist module is in an on state and the transverse offset detection module detects that the real-time transverse offset of the vehicle is greater than the preset value.
4. The lane keep control system of claim 3,
the lateral control module further comprises:
the comparison and judgment unit is used for receiving the preset value of the preset value setting unit and the real-time transverse offset of the transverse offset detection module and judging whether the real-time transverse offset of the vehicle is larger than the preset value or not; and
and the control unit is used for controlling the transverse offset action of the vehicle when the comparison and judgment unit judges that the real-time transverse offset of the vehicle is greater than the preset value.
5. A vehicle characterized by comprising a lane keeping control system according to any one of claims 1-4.
6. A lane keep control method characterized by comprising:
controlling the vehicle to run at the middle position of the lane by a lane keeping auxiliary module;
when the lane keeping auxiliary module fails or executes a wrong command so that the real-time transverse offset of the vehicle relative to the middle position of a lane is larger than a preset value, controlling the vehicle to transversely move towards the middle position of the lane to keep the vehicle running in the lane;
wherein the preset value is automatically set;
when the preset value is automatically set, a first lateral deviation value and a second lateral deviation value need to be acquired, the first lateral deviation value is a maximum lateral deviation value set inside the lane keeping assisting module, the second lateral deviation value is a lateral distance between the lane line and the side of the vehicle, and the preset value is larger than the first lateral deviation value and smaller than the second lateral deviation value.
7. The lane keep control method according to claim 6,
the method further comprises the following steps before the lane keeping auxiliary module controls the vehicle to run at the middle position of the lane:
detecting the state of the lane keeping auxiliary module, judging the state of the lane keeping auxiliary module, and simultaneously controlling to open or close the transverse control module according to the state; the states of the lane keeping assist module include an on state and an off state, and the lateral control module is turned on when the lane keeping assist module is in the on state and turned off when the lane keeping assist module is in the off state.
8. The lane keep control method according to claim 7,
before controlling the lateral offset action of the vehicle, the method further comprises the following steps:
setting the preset value;
detecting real-time lateral offset of the vehicle in real time;
and judging whether the real-time transverse offset of the vehicle is greater than the preset value.
CN201910726416.4A 2019-08-07 2019-08-07 Lane keeping control system, lane keeping control method, and vehicle Active CN110341707B (en)

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