CN112477857A - Lane keeping device, control method thereof and vehicle with lane keeping device - Google Patents
Lane keeping device, control method thereof and vehicle with lane keeping device Download PDFInfo
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- CN112477857A CN112477857A CN201910866977.4A CN201910866977A CN112477857A CN 112477857 A CN112477857 A CN 112477857A CN 201910866977 A CN201910866977 A CN 201910866977A CN 112477857 A CN112477857 A CN 112477857A
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- 238000001514 detection method Methods 0.000 claims abstract description 84
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- 238000000605 extraction Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a lane keeping device, a control method thereof and a vehicle with the same, wherein the lane keeping device comprises: a lane information detecting component for collecting the position relation between the vehicle and the lane boundary, a vehicle information detecting component for collecting the steering torque, and a lane keeping control component for judging whether the vehicle deviates from the lane according to the feedback information of the lane information detecting component and the vehicle information detecting component, by using the two components of the lane information detection component and the vehicle information detection component to jointly monitor the vehicle running information, and the lane keeping control component adjusts the steering parameters of the vehicle, improves the safety of the overall running of the vehicle, thereby improving the reliability, stability and adaptability of the lane keeping device, avoiding the phenomenon that when one component is in failure, the lane keeping control assembly makes wrong instructions, so that potential safety hazards appear when the vehicle runs, and the safety of a driver is damaged.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a lane keeping device and a control method thereof.
Background
In the related art, after the lane keeping system receives the lane keeping switch on signal, the lane recognition device collects the road condition information, the lane keeping control device controls the active steering system to adjust the traveling direction of the vehicle according to the road condition information and the vehicle body information, but when the driver needs to actively change the traveling direction, the electric power steering system controller controls the steering motor to offset the torque, so that the control of the vehicle may violate the subjective intention of the driver, and the driver may conflict with the psychology and even turn off the lane keeping system, which cannot adapt to most drivers.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the invention to provide a lane keeping device which can improve the driving safety of a vehicle.
The invention also provides a control method of the lane keeping device.
The invention also provides a vehicle with the lane keeping device.
A lane keeping apparatus according to an embodiment of a first aspect of the invention includes: a lane information detection component for acquiring lane information and a positional relationship of a vehicle and a lane boundary, the vehicle information detection module is used for acquiring the running state information of the vehicle and the steering torque T1, the lane keeping control component is in signal connection with the lane information detection component and the vehicle information detection component and controls the steering parameters of the vehicle, the lane keeping control component judges whether the vehicle deviates from the lane according to the feedback information of the lane information detection component and the vehicle information detection component, when the vehicle deviates from the lane, the vehicle information detecting component detects the steering torque T1 of the vehicle, when the steering torque is smaller than a preset torque threshold value T0, the lane keeping control component adjusts the steering parameters of the vehicle according to the lane information fed back by the lane information detection component.
According to the lane keeping device provided by the embodiment of the invention, the lane keeping device provided by the embodiment of the invention has the advantages that the position relation between the vehicle and the lane boundary is judged through the lane information detection component, the steering torque is collected through the vehicle information detection component, the vehicle information is integrally monitored and controlled, the vehicle driving information is monitored through the lane information detection component and the vehicle information detection component, when the vehicle deviates from the lane, the lane keeping control component adjusts the vehicle to return to the lane, so that the safety accident caused by the fact that a driver does not make corresponding adjustment when the road turns can be prevented, and the driving safety of the vehicle is improved.
According to some embodiments of the invention, the lane information detecting component is formed as a camera that detects the road condition image information in real time.
According to some embodiments of the present invention, the lane information detecting component acquires an offset angle of a vehicle traveling direction and a lane line, a distance between the vehicle and the lane lines on both sides, and a radius of curvature of the lane line.
A control method of a lane keeping device according to an embodiment of a second aspect of the present invention includes the steps of: s1, activating the lane keeping function of the lane keeping device; s2, the lane keeping control component acquires whether the vehicle deviates from the lane according to the feedback information of the lane information detection component and the vehicle information detection component, and when the vehicle does not deviate from the lane, the lane keeping device does not act; when the vehicle deviates from the lane, step S3 is performed; s3, the vehicle information detection module detects the steering torque T1 of the vehicle steering wheel, and when the T1 is greater than or equal to a preset torque threshold value T0, the lane keeping function is not effective; performing step S4 when T1 is less than a preset torque threshold T0; s4, the lane keeping control component adjusts the steering parameters of the vehicle according to the lane information fed back by the lane information detection component; and S5, the lane keeping control component acquires whether the vehicle returns to the lane according to the feedback information of the lane information detection component and the vehicle information detection component, when the vehicle returns to the lane, the lane keeping control component releases the control of the vehicle steering mechanism, and when the vehicle does not return to the lane, the step S4 is repeated.
According to some embodiments of the invention, said step S1 comprises; s11, detecting lane information by a lane information detection component; s12, the vehicle information detection module detects the vehicle running speed V1 and the steering torque T1 of the steering wheel, and when the vehicle running speed V1 is larger than or equal to a preset vehicle speed threshold value V0 and the steering torque T1 is smaller than or equal to a preset torque threshold value T0, the lane keeping device activates a lane keeping function.
According to some embodiments of the invention, the step S2 includes: s21, the vehicle information detection component acquires the running speed V1 of the vehicle, and the lane information detection component acquires the distance L1 between the vehicle and the lane and the vehicle crossing time T1; s22, judging the relation between the running speed V1 and a preset speed threshold Vd, and when V1 is less than Vd, executing a step S23; when V1 is greater than or equal to Vd, go to step S24; s23, judging the relation between the distance L1 between the vehicle and the lane and a preset distance threshold Ld, and when L1 is larger than or equal to Ld, the lane keeping device does not act; when L1 < Ld, performing step S25; s24, judging the relation between the vehicle lane crossing time T1 and a preset time threshold Td, and when T1 is larger than or equal to Td, the lane keeping device does not act; when T1 > Td, go to step S25; s25, the vehicle deviates from the lane, and step S3 is performed.
According to some embodiments of the invention, the step S5 includes: s51, the lane information detection component acquires the distance L1 between the vehicle and the lane and the included angle alpha between the vehicle advancing direction and the lane line; s52, judging the relation between the included angle alpha and a preset included angle a, and repeating the step S4 when alpha is larger than a; when alpha is less than or equal to a, the step S53 is carried out; s53, judging the relation between the distance L1 between the vehicle and the lane and a preset distance threshold Ld, and repeating the step S4 when L1 is larger than Ld; when L1 is less than or equal to Ld, go to step S54; and S54, the vehicle returns to the lane, and the lane keeping control component releases the control of the vehicle steering mechanism.
According to some embodiments of the invention, between the step S2 and the step S3, further comprising: and S26, sending a vehicle lane departure warning prompt to the driver.
According to some embodiments of the invention, the interval between the step 27 and the step S3 is 0.5S.
A vehicle according to an embodiment of a third aspect of the invention includes the lane keeping apparatus according to the above-described embodiment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a lane keeping system according to an embodiment of the present invention;
FIG. 2 is a flowchart of the detailed operation of the lane keeping system according to an embodiment of the present invention;
FIG. 3 is a flowchart of step S1 according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating the detailed operation of step S1 according to an embodiment of the present invention;
FIG. 5 is a flowchart of step S2 according to an embodiment of the present invention;
fig. 6 is a flowchart of the detailed operation of step S2 according to an embodiment of the present invention;
FIG. 7 is a flowchart of step S5 according to an embodiment of the present invention;
fig. 8 is a flowchart of the detailed operation of step S5 according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a lane keeping apparatus according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the invention.
Reference numerals:
100: a vehicle; 10: a vehicle body; 20: a lane keeping device; 21: a lane information detection component; 22: a vehicle information detection component; 23: a lane keeping control assembly.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
The lane keeping device 20 and the control method thereof according to the embodiment of the present invention will be described below with reference to fig. 1 to 10.
As shown in fig. 9, the lane keeping device 20 according to the embodiment of the invention includes: a lane information detecting component 21, a vehicle information detecting component 22, and a lane keeping control component 23.
The lane information detection component 21 is configured to obtain lane information and a position relationship between the vehicle 100 and a lane boundary, further obtain information about whether the vehicle 100 turns during driving through the lane information detection component 21, transmit the information to the vehicle 100, and control driving parameters of the vehicle 100 through processing of the information by the vehicle 100.
The lane information detection component 21 is an important link in an intelligent vehicle driving assistance system, the lane information detection component 21 mainly performs segmentation and processing on subsequent images by using the difference between lane boundaries and physical characteristics of a road environment to highlight lane boundary characteristics, so that the detection of the distance between the vehicle 100 and the lane boundaries is realized, and according to different extracted characteristics, the lane information detection component 21 can be divided into detection of color characteristics of the vehicle boundaries, detection of texture characteristics of the vehicle boundaries and detection of multi-characteristic fusion, the distance between the vehicle 100 and the lane boundaries can be quickly and effectively detected through the lane information detection component 21, so that the lane information detection component is beneficial to assisting path planning, performing functions of road deviation early warning, traffic flow analysis and the like, and providing reference for accurate navigation.
The vehicle information detection component 22 is configured to obtain the operating state information of the vehicle 100 and the steering torque T1, assist the driver in driving by collecting the state information of the vehicle 100 during driving, and collect the steering torque T1 to monitor whether the driver has an intention to turn, so as to make the lane keeping device 20 turned off or not, and the driver autonomously performs steering control on the vehicle 100.
The lane keeping control module 23 is connected with the lane information detecting module 21 and the vehicle information detecting module 22, and controls the steering parameter of the vehicle 100, the lane keeping control module 23 acquires whether the vehicle 100 deviates from the lane according to whether the feedback information of the lane information detecting module 21 and the vehicle information detecting module 22 is consistent, the vehicle information detecting module 22 detects the steering torque T1 of the vehicle 100 when the vehicle 100 deviates from the lane, the lane keeping control module 23 adjusts the steering parameter of the vehicle 100 according to the lane information fed back by the lane information detecting module 21 when the steering torque is smaller than a preset torque threshold T0, and the lane keeping control module 23 is disabled when the steering torque is larger than a preset torque threshold T0 so as not to interfere with the operation of the vehicle 100 by the driver, and the control of the vehicle 100 by the driver can be assisted by the lane keeping control module 23.
Thus, according to the lane keeping apparatus 20 of the embodiment of the present invention, the lane information detection component 21 determines the position relationship between the vehicle 100 and the lane boundary, and the vehicle information detection component 22 collects the steering torque, so as to monitor and control the vehicle information as a whole, the lane keeping control component 23 adjusts the vehicle 100 to return to the lane when the vehicle 100 deviates from the lane, thereby preventing a safety accident caused by the driver not making corresponding adjustment when the road is steered, and improving the driving safety of the vehicle 100.
Specifically, the lane information detecting component 21 is formed as a camera for detecting the image information of the road condition in real time, and the extraction of the color of the vehicle boundary or the extraction of the texture of the vehicle boundary, or the extraction of the color and the texture of the vehicle boundary, can be realized by extracting the color and the texture of the vehicle boundary, and the accurate extraction of the lane boundary information can be realized by using the camera, so that the information between the vehicle 100 and the lane boundary can be judged by the lane information detecting component 21.
The lane information detection component 21 obtains the offset included angle between the traveling direction of the vehicle 100 and the lane line, the distance between the vehicle 100 and the lane lines on the two sides and the curvature radius of the lane line, and can more accurately judge whether the vehicle 100 has the intention of steering through the collection of the above three types of vehicle information.
As shown in fig. 1, a lane keeping device control method according to an embodiment of a second aspect of the present invention includes the steps of:
s1, activating the lane keeping function of the lane keeping device, and ensuring that the vehicle keeping function is in an open state by activating the lane keeping function of the lane keeping device, so that the control of the lane keeping device on the vehicle can be realized;
s2, the lane keeping control component acquires whether the vehicle deviates from the lane according to the feedback information of the lane information detection component and the vehicle information detection component, and when the vehicle does not deviate from the lane, the vehicle normally runs and the lane keeping device does not act; when the vehicle deviates from the lane, step S3 is performed;
s3, the vehicle information detection module detects the steering torque T1 of the vehicle steering wheel, and when the T1 is greater than or equal to a preset torque threshold value T0, the lane keeping function is not effective; performing step S4 when T1 is less than a preset torque threshold T0;
s4, the lane keeping control component adjusts the steering parameters of the vehicle according to the lane information fed back by the lane information detection component;
and S5, the lane keeping control component acquires whether the vehicle returns to the lane according to the feedback information of the lane information detection component and the vehicle information detection component, when the vehicle returns to the lane, the lane keeping control component releases the control of the vehicle steering mechanism, and when the vehicle does not return to the lane, the step S4 is repeated.
Specifically, as shown in fig. 2, after the vehicle is started, the lane keeping function of the lane keeping device is activated, and then whether the vehicle deviates from the lane is judged according to the feedback information of the lane information detection component and the vehicle information detection component, if the vehicle does not deviate from the lane, the lane keeping device does not act, and the vehicle runs normally; if the vehicle deviates from a lane, the lane keeping control component judges the steering torque of the steering wheel of the vehicle, at the moment, the vehicle information detection component detects the steering torque T1 of the steering wheel of the vehicle, the preset torque threshold value of the vehicle is T0, and if the steering torque of the steering wheel is larger than the torque threshold value T0, the reaction of a driver according to road steering is shown when the steering wheel turns, the driver controls the vehicle to run, and the lane keeping device does not need to make interference. If the steering torque of the steering wheel is less than or equal to the torque threshold T0, the driver is not aware of the steering of the road, and an accident occurs if the driver continues to move forward, at the moment, the lane keeping device takes corresponding measures, and the lane keeping control component adjusts the steering parameters of the vehicle according to the lane information fed back by the lane information detection component.
After the vehicle turns, the lane keeping control component judges whether the vehicle returns to the lane according to the information fed back by the lane information detection component and the vehicle information detection component, if the vehicle returns to the lane, the lane keeping control component does not adjust the vehicle any more, the vehicle continues to run, if the vehicle does not return to the lane, the lane keeping control component continues to adjust the vehicle according to the information fed back by the lane information detection component, then the vehicle is repeatedly detected whether the vehicle returns to the lane, and therefore the vehicle can repeatedly know that the vehicle returns to the lane.
Therefore, according to the lane keeping device control method provided by the embodiment of the invention, when the vehicle needs to be adjusted due to the fact that the lane turns, the lane keeping device is used for judging whether the driver takes corresponding adjustment measures according to the lane conditions according to the information of the vehicle and the lane, and under the condition that the driver does not take corresponding adjustment measures, the lane information detection component and the vehicle information detection component are used for monitoring the vehicle driving information, and the vehicle is adjusted to return to the lane according to the turning conditions of the lane, so that safety accidents caused by the fact that the driver does not take corresponding adjustment when the road turns can be prevented, and the driving safety of the vehicle is improved.
As shown in fig. 3 and 4, the step S1 of the control method of the lane keeping device according to some embodiments of the present invention includes the following specific steps:
s11, detecting lane information by the lane information detection component, and acquiring the offset included angle between the vehicle advancing direction and the lane line, the distance between the vehicle and the lane lines on the two sides and the curvature radius of the lane line;
s12, detecting the vehicle running speed V1 and the steering torque T1 of the steering wheel by the vehicle information detection component, and when the vehicle running speed V1 is larger than or equal to a preset vehicle speed threshold value V0, namely, when the vehicle speed is larger, the lane keeping function of the lane keeping device can be turned on, because the vehicle speed is larger, the vehicle is difficult to adjust and return in a short time, and when the vehicle speed is smaller, the vehicle is convenient to adjust; when the steering torque T1 is less than or equal to the preset torque threshold value T0, the lane keeping device activates the lane keeping function, and the fact that the steering torque of the vehicle is small means that the driver does not operate the steering wheel of the vehicle, so that safety accidents are easy to happen.
The vehicle information detection component detects the vehicle running speed V1, whether the vehicle is in a normal running state can be judged, when the vehicle running speed V1 is larger than or equal to a preset vehicle speed threshold value V0, the steering torque T1 of the steering wheel is detected, and when the steering torque T1 is smaller than or equal to a preset torque threshold value T0, the driver can be judged not to actively change the running direction of the vehicle, namely, the vehicle speed is high, and when the driver does not control the steering wheel, the vehicle danger degree is high, the safety risk coefficient is high, the lane keeping device can activate the lane keeping function, and safety accidents are prevented.
As shown in fig. 5 and 6, according to some embodiments of the present invention, the step S2 of the control method of the lane keeping device includes the following specific steps:
s21, the vehicle information detection component acquires the running speed V1 of the vehicle, and the lane information detection component acquires the distance L1 between the vehicle and the lane and the vehicle crossing time T1;
s22, judging the relation between the running speed V1 and a preset speed threshold Vd, and when V1 is less than Vd, executing a step S23; when V1 is greater than or equal to Vd, go to step S24;
s23, judging the relation between the distance L1 between the vehicle and the lane and a preset distance threshold Ld, when L1 is larger than or equal to Ld, the lane keeping device does not act, and when L1 is smaller than Ld, the step S25 is carried out;
s24, judging the relation between the vehicle lane crossing time T1 and a preset time threshold Td, and when T1 is larger than or equal to Td, the lane keeping device does not act; when T1 > Td, go to step S25;
s25, the vehicle deviates from the lane, and step S3 is performed.
When the lane keeping function is activated, the vehicle information detection component acquires the driving speed V1 of the vehicle, the lane information detection component acquires the distance L1 between the vehicle and the lane and the vehicle lane crossing time T1, when the vehicle driving speed V1 is less than the preset vehicle speed threshold V0, the vehicle can be judged whether to shift through the relation between the distance L1 between the vehicle and the lane and the preset distance threshold Ld, when the vehicle driving speed V1 is larger than or equal to the preset vehicle speed threshold V0, the vehicle can be judged whether to shift through the relation between the vehicle crossing time T1 and the preset time threshold Td, the vehicle can be judged whether to shift through the two coefficients of the distance L1 between the vehicle and the lane and the vehicle crossing time T1, and therefore whether the warning lamp needs to be turned on to prompt the driver is judged, and the safety of vehicle driving can be improved.
As shown in fig. 7 and 8, the step S5 of the control method of the lane keeping device according to some embodiments of the present invention includes the following specific steps:
s51, the lane information detection component acquires the distance L1 between the vehicle and the lane and the included angle alpha between the vehicle advancing direction and the lane line, namely the yaw angle is alpha;
s52, judging the relation between the included angle alpha and a preset included angle a, and repeating the step S4 when alpha is larger than a; when alpha is less than or equal to a, the step S53 is carried out;
s53, judging the relation between the distance L1 between the vehicle and the lane and a preset distance threshold Ld, and repeating the step S4 when L1 is larger than Ld; when L1 is less than or equal to Ld, go to step S54;
and S54, the vehicle returns to the lane, and the lane keeping control component releases the control of the vehicle steering mechanism.
The lane information detection assembly can acquire the distance L1 between the vehicle and the lane and the included angle alpha between the vehicle advancing direction and the lane line, judge whether the vehicle is off the steering through the included angle alpha between the vehicle advancing direction and the lane line, judge whether the vehicle runs in the lane through the distance L1 between the vehicle and the lane, and judge whether the vehicle occupies the lane, so that the vehicle can continue to run safely and stably after being re-steered.
Further, between step S2 and step S3, the method further includes: and S26, sending a warning prompt of the vehicle deviating from the lane to the driver, and when the vehicle deviates from the lane, sending a warning to the driver so as to determine whether the lane deviating condition is caused by the driver subjectively, further whether the driving of the vehicle is corrected through the lane keeping control component, and reminding the driver to adjust the vehicle according to the lane condition.
Further, the interval between the step S26 and the step S3 is 0.5S, a certain reaction time can be given to the driver after the driver sends out the warning of the vehicle deviating from the lane, and then whether the step S3 is the operation of the driver can be judged, so that the safety and the reliability of the vehicle running are ensured.
As shown in fig. 9, a vehicle 100 according to an embodiment of the third aspect of the invention includes: the vehicle body 10 and the lane keeping device 20 described in the above embodiments, the lane information detecting component 21 of the lane keeping device 20 is provided at the front end of the vehicle body 10, and the vehicle information detecting component 22 and the lane keeping control component 23 are provided in the vehicle body 10.
According to the vehicle 100 of the embodiment of the invention, by adopting the lane keeping device 20, the safety accident of the vehicle 100 caused by the fact that the driver does not make corresponding adjustment when the road turns can be prevented, and the driving safety of the vehicle 100 is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features. In the description of the present invention, "a plurality" means two or more. In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween. In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A lane keeping apparatus, comprising:
a lane information detection component for acquiring lane information and a positional relationship of a vehicle and a lane boundary,
a vehicle information detection component for acquiring running state information of a vehicle and a steering torque T1;
the lane keeping control component is in signal connection with the lane information detection component and the vehicle information detection component and controls the steering parameters of the vehicle, the lane keeping control component judges whether the vehicle deviates from the lane according to feedback information of the lane information detection component and the vehicle information detection component, the vehicle information detection component detects the steering torque T1 of the vehicle when the vehicle deviates from the lane, and the lane keeping control component adjusts the steering parameters of the vehicle according to the lane information fed back by the lane information detection component when the steering torque T1 is smaller than a preset torque threshold value T0.
2. The lane keeping apparatus of claim 1, wherein the lane information detecting component is formed as a camera that detects image information of the road condition in real time.
3. The lane keeping apparatus of claim 1, wherein the lane information detecting component acquires an offset angle of a vehicle traveling direction from a lane line, a distance between the vehicle and the lane lines on both sides, and a radius of curvature of the lane line.
4. A control method of a lane keeping apparatus according to any one of claims 1 to 3, characterized by comprising the steps of:
s1, activating the lane keeping function of the lane keeping device;
s2, the lane keeping control component acquires whether the vehicle deviates from the lane according to the feedback information of the lane information detection component and the vehicle information detection component, and when the vehicle does not deviate from the lane, the lane keeping device does not act; when the vehicle deviates from the lane, step S3 is performed;
s3, the vehicle information detection module detects the steering torque T1 of the vehicle steering wheel, and when the T1 is greater than or equal to a preset torque threshold value T0, the lane keeping function is not effective; performing step S4 when T1 is less than a preset torque threshold T0;
s4, the lane keeping control component adjusts the steering parameters of the vehicle according to the lane information fed back by the lane information detection component;
and S5, the lane keeping control component acquires whether the vehicle returns to the lane according to the feedback information of the lane information detection component and the vehicle information detection component, when the vehicle returns to the lane, the lane keeping control component releases the control of the vehicle steering mechanism, and when the vehicle does not return to the lane, the step S4 is repeated.
5. The control method of the lane keeping apparatus according to claim 4, wherein said step S1 includes;
s11, detecting lane information by a lane information detection component;
s12, the vehicle information detection module detects the vehicle running speed V1 and the steering torque T1 of the steering wheel, and when the vehicle running speed V1 is larger than or equal to a preset vehicle speed threshold value V0 and the steering torque T1 is smaller than or equal to a preset torque threshold value T0, the lane keeping device activates a lane keeping function.
6. The control method of the lane keeping apparatus according to claim 4, wherein the step S2 includes:
s21, the vehicle information detection component acquires the running speed V1 of the vehicle, and the lane information detection component acquires the distance L1 between the vehicle and the lane and the vehicle crossing time T1;
s22, judging the relation between the running speed V1 and a preset speed threshold Vd, and when V1 is less than Vd, executing a step S23; when V1 is greater than or equal to Vd, go to step S24;
s23, judging the relation between the distance L1 between the vehicle and the lane and a preset distance threshold Ld, and when L1 is larger than or equal to Ld, the lane keeping device does not act; when L1 < Ld, performing step S25;
s24, judging the relation between the vehicle lane crossing time T1 and a preset time threshold Td, and when T1 is larger than or equal to Td, the lane keeping device does not act; when T1 > Td, go to step S25;
s25, the vehicle deviates from the lane, and step S3 is performed.
7. The control method of the lane keeping apparatus according to claim 4, wherein the step S5 includes:
s51, the lane information detection component acquires the distance L1 between the vehicle and the lane and the included angle alpha between the vehicle advancing direction and the lane line;
s52, judging the relation between the included angle alpha and a preset included angle a, and repeating the step S4 when alpha is larger than a; when alpha is less than or equal to a, the step S53 is carried out;
s53, judging the relation between the distance L1 between the vehicle and the lane and a preset distance threshold Ld, and repeating the step S4 when L1 is larger than Ld; when L1 is less than or equal to Ld, go to step S54;
and S54, the vehicle returns to the lane, and the lane keeping control component releases the control of the vehicle steering mechanism.
8. The control method of a lane keeping apparatus according to claim 4, characterized by further comprising, between the step S2 and the step S3:
and S26, sending a vehicle lane departure warning prompt to the driver.
9. The control method of a lane keeping apparatus according to claim 8, wherein an interval of 0.5S is provided between the step S26 and the step S3.
10. A vehicle, characterized in that it comprises a lane keeping apparatus according to any one of claims 1-3.
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| CN201910866977.4A CN112477857A (en) | 2019-09-12 | 2019-09-12 | Lane keeping device, control method thereof and vehicle with lane keeping device |
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| CN201910866977.4A CN112477857A (en) | 2019-09-12 | 2019-09-12 | Lane keeping device, control method thereof and vehicle with lane keeping device |
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