CN111703373B - Involute-based rearview mirror follow-up algorithm - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/02—Rear-view mirror arrangements
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Abstract
The invention discloses an involute-based rearview mirror follow-up algorithm, which solves the problem of change of a field of vision blind area of an automobile in the turning process, obtains the edge line movement speed of an involute type field of vision blind area of the rearview mirror in the turning process of the automobile by adopting the involute algorithm, and obtains corresponding rearview mirror adjusting angles according to different turning angles, so that when the edge of the involute type blind area is enlarged, left and right outer rearview mirrors are adjusted in a follow-up manner, and the blind area is adjusted to be a proper size. Different from a method for averagely dividing the turning angle of the automobile into a plurality of parts according to the turning angle data obtained by a steering wheel turning angle sensor and then linearly adjusting the turning angle of the rearview mirror, the algorithm divides the outer rearview mirror into 3 parts according to different intersecting positions of edge lines and road sections of involute blind areas of the left outer rearview mirror and the right outer rearview mirror during turning, calculates the change length of the edge lines of the involute blind areas, and nonlinearly adjusts the turning angle of the rearview mirror according to the change length, so that the size of the blind areas and the influence change on drivers are more uniform, and the safety of the automobile during turning is improved.
Description
Technical Field
The invention relates to the field of automobile safety, in particular to an involute-based rearview mirror follow-up algorithm.
Background
In the active safety technology of vehicles, the follow-up rearview mirror has some mature schemes. However, the existing scheme does not even have a definite algorithm, only data are measured by testing the driving condition under a certain road condition, a table is established to correspond the angle adjustment of the rearview mirror, the scheme has no continuity, and the angle change can show obvious jump in the angle adjustment process of the rearview mirror. Or the steering angle data which is directly transmitted by the steering wheel angle sensor without considering the road condition is input into the singlechip after A/D conversion, and the rotating speed of the motor is controlled by combining a pre-programmed program, thereby achieving the purpose of adjusting the angle of the rearview mirror. The program of the scheme has weak initiative, and the rearview mirror on many road conditions is easy to deflect in wrong directions or the deflection angle is insufficient.
By consulting the data, at present, no relevant report exists on an algorithm for adopting the involute-based rearview mirror follow-up when a vehicle turns.
Disclosure of Invention
The invention aims to provide an involute-based rearview mirror follow-up algorithm, which solves the problem of change of a blind area of an automobile vision in the turning process. The algorithm is different from a method for averagely dividing the automobile turning angle into a plurality of parts according to the turning angle data obtained by a steering wheel turning angle sensor so as to linearly adjust the turning angle of the rearview mirror, the algorithm divides the outer rearview mirror into 3 parts according to the difference of the intersection positions of the edge lines of the involute blind areas of the left outer rearview mirror and the right outer rearview mirror and road sections during turning, calculates the length of the intersection point change of the edge lines of the involute blind areas and roads, and nonlinearly adjusts the turning angle of the rearview mirror according to the changed length, so that the size of the blind areas and the influence on drivers are more uniform, and the safety of the automobile during turning is improved.
Algorithm of the invention
1. The invention solves the problem of the change of the automobile vision blind area in the turning process, obtains the edge line movement speed of the gradually-opened vision blind area of the rearview mirror in the turning process of the automobile by adopting an involute algorithm, and obtains the corresponding rearview mirror adjusting angle according to different turning angles, so that when the edge of the gradually-opened blind area is expanded, the left outer rearview mirror and the right outer rearview mirror are adjusted in a follow-up manner, and the blind area is adjusted to be in a proper size.
2. The invention is different from the method of dividing the automobile turning angle into a plurality of parts averagely according to the turning angle data obtained by a steering wheel turning angle sensor and then adjusting the turning angle of the rearview mirror linearly, the invention divides the outer rearview mirror into 3 parts along with the following according to the different intersection positions of the edge lines of the involute blind areas of the left outer rearview mirror and the right outer rearview mirror and the road section during turning, calculates the length of the intersection point change of the edge lines of the involute blind areas and the road, and adjusts the turning angle of the rearview mirror nonlinearly according to the changed length, so that the size of the blind areas and the influence on drivers are changed more uniformly, and the safety of the automobile during turning is improved.
3. According to different positions of the vehicle in road driving, the invention adopts an off-line test method to determine the adjustment coefficient k in the involute follow-up algorithm n And different values are set according to different conditions, so that the modeling precision is improved.
The flow designed according to the algorithm is as follows:
(1) Obtaining steering wheel angle data and vehicle speed data by using a steering wheel angle sensor and a vehicle speed sensor;
(2) Calculating the length of the change of the intersection point of the edge line of the involute and the road by using an involute algorithm;
(3) And firstly, according to the length of the intersection point change of the edge line of the involute and the road section, making an intersection point graph of the edge line of the involute and the road section when the rearview mirror is not adjusted in a rotation angle of 0-45 degrees. Dividing the 0-45 degree corner interval into four sections, making a cross-point diagram which makes the length change of the intersection point of the involute edge line and the road section between each section of the vehicle continuous, and comparing the cross-point diagram with the cross-point diagram to determine the follow-up angle of each section of the left rear-view mirror and the right rear-view mirror;
(4) And testing the vehicle at different relative distances from the lane lines on the two sides to determine the adjustment coefficient k at various relative distances n 。
The technical scheme of the invention is as follows:
specifically, the technical scheme of the present invention is further explained by combining the flow of the algorithm of the present invention with specific numerical values as follows:
(1) Obtaining steering wheel angle data and vehicle speed data by using a steering wheel angle sensor and a vehicle speed sensor;
(2) Calculating the length of the intersection point change of the edge line of the involute and the road section by using an involute algorithm;
(3) Firstly, according to the length of the intersection point change of the edge line of the involute and the road, making an intersection point diagram of the edge line of the involute and the road section when the rearview mirror is not adjusted in a 0-45-degree corner. Dividing the 0-45 degree corner interval into four sections, making a cross-point diagram which makes the length change of the intersection point of the involute edge line and the road section between each section of the vehicle continuous, and comparing the cross-point diagram with the cross-point diagram (as shown in figure 2) to determine the follow-up angle of each section of the left rear-view mirror and the right rear-view mirror;
the condition is that the left and right outer rearview mirrors of a common passenger car can provide 30-degree visual fields respectively, and the inner and outer rotation limits of the outer rearview mirrors are 15 degrees respectively inside and outside. The involute edge line of the blind area of the rearview mirror at each position is drawn when the vehicle turns through the intersection with an angle of 90 degrees. As shown in fig. 3.
Firstly, an involute is given according to geometric relationshipLength change distance delta S between blind zone edge line and road intersection point r 、ΔS l The algorithm of (1):
wherein, Δ S r 、ΔS l : the distance of the edge lines of the left involute blind area and the right involute blind area moving relative to the starting point;
Rr、R L : the distance from the outside of the vehicle to the edge of the road is long;
v 1 : the vehicle speed;
t: the time elapsed for the vehicle to travel from 0 °;
θ: the angle of rotation the vehicle has traveled from the 0 ° position (derived from the steering wheel angle, with a typical conversion of 10;
k n : adjustment factor
Then, a deflection control strategy of the left rear-view mirror and the right rear-view mirror is formulated according to the intersection point change length of the edge line of the involute blind area and the road section, which is obtained by an involute algorithm, as shown in table 1:
TABLE 1
Between 0 and 45 degrees, because the inner and outer limit deflection angles of the outer rearview mirror are 15 degrees, the visual field provided by the normal position of the outer rearview mirror is respectively 30 degrees at the left and the right, when the outer rearview mirror deflects to the limit position of 15 degrees, and the visual field range can be improved to 45 degrees by adding the 30-degree visual field of the outer rearview mirror. Because the range of vision provided by the rearview mirror is certain, when the outside vision is improved, the vision close to the vehicle body is correspondingly reduced, but because the 15-degree vision blind area is thin and long, the blind area which is large enough to accommodate the vehicle can be formed at a long distance behind the vehicle, and the blind area can be ignored within the rotation angle of 0-45 degrees. When the vehicle turns to 45 degrees, the rearview mirror also deflects to the limit position, the edge line of the involute blind area of the right side outer rearview mirror is in a horizontal relation with the right side r1 road, the whole view field of the r1 road can be covered, the edge line of the involute view field blind area of the left side outer rearview mirror is in a horizontal relation with the left side r2 road, the view field of most of the l2 road can be provided, and the phenomenon that the vehicle is positioned in the blind area of the outer rearview mirror in the left side l2 lane is avoided.
Between 45 DEG and 60 DEG, the edge line of the involute blind area of the right side outer rear view mirror begins to leave from a r1 road and turns to a l1 road, the edge line of the involute blind area of the left side outer rear view mirror begins to leave from a l2 section and turns to a l3 section, and the vehicle is positioned in the center of the intersection, so the increasing part of the visual field of the section is still important, and therefore the left and right outer rear view mirrors keep the limit angle unchanged at the stage.
Between 60 DEG and 90 DEG, the vehicle starts to drive into a right r2 lane, the view field of the right outer rearview mirror starts to be blocked by an obstacle at the intersection, and at the moment, the increased view field area does not need to influence the observation of the condition of the road behind, so that the right outer rearview mirror starts to rotate to a normal position at a constant speed. Since the left side outside rear view mirror is already able to provide a safe view of the l2 road when the vehicle turns to 45 deg., and the rear view mirror can provide a view of the l3 road as the turning angle of the vehicle further increases to 60 deg., which is not necessary for the driver, at this stage, both the left and right rear view mirrors start to turn to the normal position at a uniform speed.
A specific 0 ° to 45 ° deflection algorithm is given by the involute algorithm, dividing 0 to 45 ° into segments, as shown in table 2:
TABLE 2
From the above table 2, it is shown that the following deflection of the left and right rear-view mirrors is as follows for the vehicle at the rotation angle of 0 ° to 45 °:
(1) if the automobile corner is 0-10 degrees, the left rearview mirror rotates 1 degree at a constant speed, and the right rearview mirror rotates 2 degrees at a constant speed;
(2) if the automobile corner is 10-20 degrees, then the left rearview mirror rotates at a constant speed for 2 degrees and the right rearview mirror rotates at a constant speed for 3 degrees on the basis of (1);
(3) if the automobile corner is 20-30 degrees, then the left rearview mirror rotates 3 degrees at a constant speed on the basis of the angle (2), and the right rearview mirror rotates 4 degrees at a constant speed;
(4) if the automobile corner is 30-45 degrees, then the left rearview mirror rotates at a constant speed for 9 degrees and the right rearview mirror rotates at a constant speed for 6 degrees on the basis of the step (3);
(4) For Δ S r ：
Testing is carried out under different relative distances between the vehicle and the lane lines on two sides to determine the adjustment coefficient k under various relative distances n 。
When the automobile is in the right middle of the lane k n ＝1。
When the automobile is positioned at the opposite left sides of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-2 (when the vehicle is at the leftmost side of the lane, k) n = 2), the distance change of the intersection point of the right involute blind area edge line and the road can be increased, and the purpose that the distance change of the intersection point of the blind area edge line and the road section is more accurate is achieved.
When the automobile is positioned at the relative right side of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-0 (k when the vehicle is at the rightmost side of the lane) n = 0), the distance change of the intersection point of the edge line of the gradually-opened blind area on the right side and the road can be reduced, and the purpose that the distance change of the intersection point of the edge line of the blind area and the road section is more accurate is achieved.
For Δ S l ：
When the automobile is in the middle of the lane, k n ＝1。
When the automobile is positioned at the relative left side of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-0.8 (k when the vehicle is at the leftmost side of the lane) n = 0.8), the distance change of the intersection point of the left involute blind area edge line and the road can be reduced, and the purpose that the distance change of the intersection point of the blind area edge line and the road section is more accurate is achieved.
When the automobile is positioned at the opposite right sides of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-1.2 (when the vehicle is at the rightmost side of the lane, k) n = 1.2), the change distance of the left involute blind area edge line from the intersection point of the road can be increasedThe distance change between the edge line of the blind area and the intersection point of the road section is more accurate.
The invention has the beneficial effects that:
in order to reduce the influence of the change of the visual field blind area of the automobile on a driver to the minimum degree in the turning process, the outer rearview mirrors are divided into 3 parts in a follow-up mode according to the different intersecting positions of the edge lines of the involute blind areas of the left outer rearview mirror and the right outer rearview mirror and the road section, the changing length of the edge lines of the involute blind areas is calculated, the rotation angle of the rearview mirrors is adjusted in a non-linear mode according to the length changing trend, and the size of the blind areas and the influence on the driver are changed more uniformly. The safety of the automobile during turning is improved.
Drawings
FIG. 1 is a flow chart of the algorithm of the present invention.
FIG. 2 is a diagram of the effect of the algorithm of adjusting the angle involute dead zone of the rearview mirror.
FIG. 3 is a schematic diagram of an algorithm of the present invention during a road turn.
Detailed Description
The invention will be further explained with reference to the drawings.
The flow chart designed according to the algorithm is shown in fig. 1, and the following further description is made according to the flow chart shown in fig. 1 and in combination with the attached drawings:
(1) Acquiring steering wheel angle data and vehicle speed data by using a steering wheel angle sensor and a vehicle speed sensor;
(2) Calculating the length of the change of the intersection point of the edge line of the involute and the road section by using an involute algorithm;
(3) Firstly, according to the length of the intersection point change of the edge line of the involute and the road, making an intersection point diagram of the edge line of the involute and the road section when the rearview mirror is not adjusted in a 0-45-degree corner. Then dividing the 0-45 degree corner interval into four segments, making a cross-point diagram which makes the length change of the cross point of the involute edge line and the road segment between each segment of the vehicle continuous, and comparing with the cross-point diagram (as shown in figure 2) to determine the follow-up angle of each segment of the left rear-view mirror and the right rear-view mirror.
The condition is that the left and right outer rearview mirrors of a common passenger car can provide 30-degree visual fields respectively, and the inner and outer rotation limits of the outer rearview mirrors are 15 degrees respectively inside and outside. The involute edge line of the blind area of the rearview mirror at each position is drawn when the vehicle turns through the intersection with an angle of 90 degrees. As shown in fig. 3.
Firstly, the length change distance delta S of the intersection point of the edge line of the involute blind area and the road is given according to the geometric relationship r 、ΔS l The algorithm of (1):
wherein, delta S r 、ΔS l : the distance of the edge lines of the left involute blind area and the right involute blind area moving relative to the starting point;
Rr、R L : the length of the vehicle outside from the edge of the road;
v 1 : the vehicle speed;
t: the time elapsed for the vehicle to travel from 0 °;
θ: the angle of rotation that the vehicle has traveled through from the 0 ° position (derived from the steering wheel angle, generally in a 10;
k n : adjustment factor
Then, a deflection control strategy of the left rear-view mirror and the right rear-view mirror is formulated according to the length change trend of the involute blind area edge line obtained by an involute algorithm, as shown in table 1:
TABLE 1
Between 0 and 45 degrees, because the inner and outer limit deflection angles of the outer rearview mirror are 15 degrees, the visual field provided by the normal position of the outer rearview mirror is 30 degrees respectively at the left and the right, when the outer rearview mirror deflects to the limit position of 15 degrees, and the visual field range can be improved to 45 degrees by adding the 30 degrees of the visual field of the outer rearview mirror. Because the range of vision provided by the rearview mirror is certain, when the outside vision is improved, the vision close to the vehicle body is correspondingly reduced, but because the 15-degree vision blind area is thin and long, the blind area which is large enough to accommodate the vehicle can be formed at a long distance behind the vehicle, and the blind area can be ignored within the rotation angle of 0-45 degrees. When the vehicle turns to 45 degrees, the rearview mirror also deflects to the limit position, the edge line of the involute blind area of the right side outer rearview mirror is in a horizontal relation with the right side r1 road, the whole view field of the r1 road can be covered, the edge line of the involute view field blind area of the left side outer rearview mirror is in a horizontal relation with the left side r2 road, the view field of most of the l2 road can be provided, and the phenomenon that the vehicle is positioned in the blind area of the outer rearview mirror in the left side l2 lane is avoided.
Between 45 DEG and 60 DEG, the edge line of the involute blind area of the right side outer rear view mirror begins to leave from a r1 road and turns to a l1 road, the edge line of the involute blind area of the left side outer rear view mirror begins to leave from a l2 section and turns to a l3 section, and the vehicle is positioned in the center of the intersection, so the increasing part of the visual field of the section is still important, and therefore the left and right outer rear view mirrors keep the limit angle unchanged at the stage.
Between 60 DEG and 90 DEG, the vehicle starts to drive into a right r2 lane, the view field of the right outer rearview mirror starts to be blocked by an obstacle at the intersection, and at the moment, the increased view field area does not need to influence the observation of the condition of the road behind, so that the right outer rearview mirror starts to rotate to a normal position at a constant speed. Since the left side outside rear view mirror is already able to provide a safe view of the l2 road when the vehicle turns to 45 deg., and the rear view mirror can provide a view of the l3 road as the turning angle of the vehicle further increases to 60 deg., which is not necessary for the driver, at this stage, the left and right rear view mirrors start to turn to the normal position at a uniform speed.
A specific 0 ° to 45 ° deflection algorithm is given by the involute algorithm, dividing 0 to 45 ° into segments, as shown in table 2:
TABLE 2
(4) To, forΔS r ：
Testing is carried out under different relative distances between the vehicle and the lane lines on two sides to determine the adjustment coefficient k under various relative distances n 。
When the automobile is in the right middle of the lane k n ＝1。
When the automobile is positioned at the relative left side of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-2 (when the vehicle is at the leftmost side of the lane, k) n = 2), the distance change of the intersection point of the right involute blind area edge line and the road can be increased, and the purpose that the distance change of the intersection point of the blind area edge line and the road section is more accurate is achieved.
When the automobile is positioned at the opposite right sides of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-0 (k when the vehicle is at the rightmost side of the lane) n = 0), the distance change of the intersection point of the edge line of the gradually-opened blind area on the right side and the road can be reduced, and the purpose that the distance change of the intersection point of the edge line of the blind area and the road section is more accurate is achieved.
For Δ S l ：
When the automobile is in the right middle of the lane k n ＝1。
When the automobile is positioned at the relative left side of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-0.8 (k when the vehicle is at the leftmost side of the lane) n = 0.8), the distance change of the intersection point of the left involute blind area edge line and the road can be reduced, and the purpose that the distance change of the intersection point of the blind area edge line and the road section is more accurate is achieved.
When the automobile is positioned at the relative right side of the lane lines at the two sides, the adjustment coefficient k is adjusted n = 1-1.2 (when the vehicle is at the rightmost side of the lane, k) n = 1.2), the change distance of the left involute blind area edge line and the intersection point of the road can be increased, and the purpose that the change of the distance of the intersection point of the blind area edge line and the road section is more accurate is achieved.
The above-listed series of detailed descriptions are merely specific illustrations of possible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent means or modifications that do not depart from the technical spirit of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A rear-view mirror follow-up algorithm based on an involute is characterized in that the length of the intersection point change of the edge line of the involute of a rear-view mirror and a road section in the turning process of an automobile is obtained at first, and then a corresponding rear-view mirror adjusting angle is obtained according to different turning angles, so that when the edge of an involute blind area is enlarged, left and right outer rear-view mirrors are adjusted in a follow-up mode, and the blind area is adjusted to be in a proper size;
the algorithm is realized by the following steps:
s1, acquiring steering wheel angle data and vehicle speed data;
s2, calculating the length of the change of the intersection point of the edge line of the involute and the road section by using an involute algorithm;
s3, making deflection control strategies of the left rearview mirror and the right rearview mirror according to the length of the intersection point change of the edge line of the involute and the road section obtained by the involute algorithm;
firstly, according to the length of the change of the edge line of the involute and the intersection point of the road, making the follow-up adjustment of the rearview mirror of the vehicle in the rotation angles of 0-45 degrees, 45-60 degrees and 60-90 degrees;
dividing the 0-45 degree corner interval into four sections, and determining the angle value of each section for adjusting the follow-up of the left rearview mirror and the right rearview mirror;
the specific method of the step S2 includes the following steps:
the conditions that the left outer rear-view mirror and the right outer rear-view mirror of a passenger vehicle can provide each 30-degree visual field and the inner and outer rotation limits of the outer rear-view mirrors are each 15-degree inner and outer are met, and the condition of the involute edge line of the blind zone of the rear-view mirror at each position when the vehicle rotates through a crossing with an angle of 90 degrees is obtained, specifically:
giving out the length change distance delta S between the edge line of the involute blind area and the intersection point of the road according to the geometric relation of an involute algorithm r 、ΔS l The algorithm of (1):
wherein, delta S r 、ΔS l : the moving distance of the edge lines of the left and right involute dead zones relative to the starting point;
Rr、R L : the length of the vehicle outside from the edge of the road;
v 1 : the vehicle speed;
t: the time elapsed for the vehicle to travel from 0 °;
θ: the corner through which the vehicle has traveled from the 0 ° position;
k n : adjusting the coefficient;
the control strategy of S3 comprises the following steps:
when the vehicle turns between 0-45 degrees, the left and right rearview mirrors gradually deflect to the maximum limit in the direction away from the vehicle body;
when the vehicle turns to 45 degrees, the rearview mirror deflects to the limit position, the edge line of the involute blind area of the right side outer rearview mirror is in a horizontal relation with the right side r1 of the road, and the edge line of the involute visual field blind area of the left side outer rearview mirror is in a horizontal relation with the left side l2 of the road;
between 45 degrees and 60 degrees, the edge line of the involute blind area of the right outer rearview mirror begins to leave from a r1 road and turns to a l1 road, the edge line of the involute blind area of the left outer rearview mirror begins to leave from a l2 section and turns to a l3 section, the vehicle is positioned in the center of the intersection, and the left outer rearview mirror and the right outer rearview mirror both keep the limit angle unchanged at the stage;
between 60 degrees and 90 degrees, the vehicle starts to drive into a r2 lane at the right side, and the left rear view mirror and the right rear view mirror start to rotate to normal positions at constant speed;
in the S3, the corner interval of 0-45 degrees is divided into four sections, wherein the four sections are specifically 0-10 degrees, 10-20 degrees, 20-30 degrees and 30-45 degrees;
the four-section rearview mirror follow-up control strategy is as follows:
(1) if the automobile corner is 0-10 degrees, the left rearview mirror rotates 1 degree at a constant speed, and the right rearview mirror rotates 2 degrees at a constant speed;
(2) if the automobile corner is 10-20 degrees, then the left rearview mirror rotates at a constant speed for 2 degrees and the right rearview mirror rotates at a constant speed for 3 degrees on the basis of (1);
(3) if the automobile corner is 20-30 degrees, then the left rearview mirror rotates 3 degrees at a constant speed on the basis of the angle (2), and the right rearview mirror rotates 4 degrees at a constant speed;
(4) if the automobile turning angle is 30-45 degrees, the left rearview mirror rotates at a constant speed for 9 degrees and the right rearview mirror rotates at a constant speed for 6 degrees on the basis of (3).
2. An involute-based mirror following algorithm according to claim 1, wherein the adjustment factor k is n The vehicle lane line testing device is obtained by testing the vehicle and the lane lines on two sides at different relative distances.
3. An involute-based mirror following algorithm according to claim 2, wherein the adjustment factor k is n The specific values of (a) are as follows:
for Δ S r K in the algorithm formula n ：
When the automobile is in the right middle of the lane k n ＝1，
When the automobile is positioned at the opposite left sides of the lane lines at the two sides, the coefficient k is adjusted n ＝1～2，
When the automobile is positioned at the opposite right sides of the lane lines at the two sides, the coefficient k is adjusted n ＝1～0；
For Δ S l K in the algorithm formula n ：
When the automobile is in the right middle of the lane k n ＝1，
When the automobile is positioned at the opposite left sides of the lane lines at the two sides, the coefficient k is adjusted n ＝1～0.8，
When the automobile is positioned at the opposite right sides of the lane lines at the two sides, the coefficient k is adjusted n ＝1～1.2。
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