CN112677964B - Obstacle avoidance method, apparatus, device and medium based on lane keeping auxiliary function - Google Patents
Obstacle avoidance method, apparatus, device and medium based on lane keeping auxiliary function Download PDFInfo
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- CN112677964B CN112677964B CN202110293188.3A CN202110293188A CN112677964B CN 112677964 B CN112677964 B CN 112677964B CN 202110293188 A CN202110293188 A CN 202110293188A CN 112677964 B CN112677964 B CN 112677964B
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Abstract
The embodiment of the application discloses an obstacle avoidance method, device, equipment and medium based on a lane keeping auxiliary function, and relates to the technical field of intelligent driving. The method comprises the following steps: under the condition that the lane keeping auxiliary function is started, when an obstacle in front of a vehicle is detected, acquiring a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length; determining the type of the steering torque according to the change curve and the road condition; and if the steering torque is in the driving category, applying the steering torque to a control execution system of the vehicle in real time, and not exiting the lane keeping function, so that the control execution system can adjust the driving direction. According to the embodiment, under the condition that the lane keeping auxiliary function is started, the type of the steering torque is accurately identified, and the obstacle is avoided in time.
Description
Technical Field
The embodiment of the application relates to an intelligent driving technology, in particular to an obstacle avoidance method, an obstacle avoidance device, obstacle avoidance equipment and an obstacle avoidance medium based on a lane keeping auxiliary function.
Background
The lane keeping auxiliary system belongs to one of intelligent driving auxiliary systems, and in the driving process of a vehicle, a marking line of a driving lane is identified based on a visual sensor, and meanwhile, the vehicle can keep the vehicle to drive in the center of the vehicle according to the distance value between the vehicle and lane lines on two sides.
When the lane keeping assist function is turned on while the vehicle is running, if the torque applied to the steering wheel by the driver is smaller than a set threshold value, the vehicle is not kept in a lane center form in response to the torque; if the torque applied to the steering wheel by the driver is greater than or equal to the set threshold, the lane keeping assist function is exited and the vehicle is taken over by the driver.
At present, when an obstacle exists in front of a lane, a user needs to finely adjust the driving direction of a vehicle, namely, applies a torque which is not larger than a set threshold, the torque which finely adjusts the driving direction of the vehicle cannot be transmitted to a vehicle system, and cannot effectively avoid obstacles and collisions, at the moment, a driver needs to apply a torque which is larger than the set threshold to quit a lane keeping function, then finely adjust the vehicle to avoid the obstacle in front, when the torque which is required by quitting the lane keeping function is larger than a steering torque which is required by the vehicle to avoid the obstacle in front, the driver needs to reduce the steering torque immediately after applying the torque to quit the lane keeping function, and the posture of a vehicle body is unstable due to the inertia of the steering torque of the driver. After passing through the front obstacle road section, the driver needs to reactivate and start the lane keeping function again, which is very inconvenient, affects the function comfort, affects the road traffic safety, and reduces the customer satisfaction.
Disclosure of Invention
The embodiment of the application provides an obstacle avoidance method, device, equipment and medium based on a lane keeping auxiliary function, so that under the condition that the lane keeping auxiliary function is started, the type of steering torque is accurately identified, obstacles are avoided in time, the comfort level of the lane keeping auxiliary function is improved, the function quitting frequency during normal operation of the function is reduced, the driving safety is ensured, and the satisfaction degree of consumers on the function is improved.
In a first aspect, an embodiment of the present application provides an obstacle avoidance method based on a lane keeping assist function, including:
under the condition that the lane keeping auxiliary function is started, when an obstacle in front of a vehicle is detected, obtaining a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length;
determining the type of the steering torque according to the change curve and the road condition;
if the steering torque is in a driving category, applying the steering torque to a control execution system of the vehicle in real time, and not quitting a lane keeping function, so that the control execution system can adjust the driving direction;
the control execution system for applying the steering torque to the vehicle in real time comprises:
predicting the running track of the vehicle according to the change curve of the steering torque along with time;
judging whether the driving track can avoid the obstacle or not;
and if the driving track can avoid the obstacle, applying the steering torque to a control execution system of the vehicle in real time, and after passing through the road section where the obstacle in front is located, continuously keeping the lane keeping function to operate without being activated again.
In a second aspect, an embodiment of the present application further provides an obstacle avoidance device based on a lane keeping assist function, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length when an obstacle in front of a vehicle is detected under the condition that a lane keeping auxiliary function is started;
the determining module is used for determining the type of the steering torque according to the change curve and the road condition;
the applying module is used for applying the steering torque to a control execution system of the vehicle in real time to enable the control execution system to adjust the driving direction if the steering torque is in the driving category and does not exit the lane keeping function;
the applying module is specifically configured to, when applying the steering torque to a control execution system of the vehicle in real time: predicting the running track of the vehicle according to the change curve of the steering torque along with time; judging whether the driving track can avoid the obstacle or not; and if the driving track can avoid the obstacle, applying the steering torque to a control execution system of the vehicle in real time, and after passing through the road section where the obstacle in front is located, continuously keeping the lane keeping function to operate without being activated again.
In a third aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the obstacle avoidance method based on the lane keeping assist function according to any of the embodiments.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the obstacle avoidance method based on the lane keeping assist function according to any embodiment.
The embodiment provides an obstacle avoidance method executed by a driver under the condition that a lane keeping auxiliary function is started, which comprises the steps of obtaining a change curve of steering torque of a steering wheel along with time within a set time length and a road condition within the set time length by detecting that an obstacle exists in front of a vehicle, further determining the type of the steering torque according to the change curve and the road condition, fully considering the actual driving condition and improving the accuracy of type determination; when the steering torque is determined to be the driving category, the steering torque is applied to a control execution system of the vehicle in real time, so that obstacles are avoided in time, the comfort level of a lane keeping auxiliary function is improved, the function quitting frequency during normal operation of the function is reduced, the driving safety is ensured, and the satisfaction degree of a consumer on the function is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an obstacle avoidance method based on a lane keeping assist function according to an embodiment of the present invention;
FIG. 2 is a steering torque graph for a driving category provided by an embodiment of the present invention;
FIG. 3 is a steering torque graph of the supervisory category provided by embodiments of the present invention;
fig. 4 is a flowchart of another obstacle avoidance method based on a lane keeping assist function according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle kinematics model provided by an embodiment of the invention;
FIG. 6 is a schematic illustration of a future travel path of a vehicle provided by an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an obstacle avoidance device based on a lane keeping auxiliary function according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the application provides an obstacle avoidance method based on a lane keeping assist function, and a flow chart of the obstacle avoidance method is shown in fig. 1, and the obstacle avoidance method is suitable for the situation of avoiding an obstacle under the condition that the lane keeping assist function is started. The embodiment improves the application software of the intelligent driving industry, namely the intelligent driving assistance system, and modifies the software judgment and execution logic on the basis of the existing intelligent driving assistance system so as to solve the problems in the prior art.
The method may be performed by an obstacle avoidance device based on a lane keeping assist function, which may be constituted by software and/or hardware, and is generally integrated in an electronic device. With reference to fig. 1, the method provided in this embodiment specifically includes:
s110, under the condition that the lane keeping auxiliary function is started, when an obstacle in front of the vehicle is detected, obtaining a change curve of the steering torque of the steering wheel along with time within a set time length and a road condition within the set time length.
The vehicle of the embodiment is provided with a lane keeping auxiliary system, and the lane keeping auxiliary system provides a lane keeping auxiliary function, namely, during the running process of the vehicle, the identification line of the running lane is identified based on the sensing system, and meanwhile, the vehicle can keep running in the center of the vehicle according to the distance value between the vehicle and the lane lines on two sides.
At present, an automatic driving system screens out main targets, such as selection of target vehicles of a system and a vehicle according to scene information and target object information transmitted by a sensing system. The automatic driving system has high precision for detecting and identifying a vehicle-level target, but has insufficient sensing capability for smaller-size targets, such as waste tires on a lane, an ice cream cone, or a pothole on the ground, and the like, and cannot automatically avoid smaller-size obstacles through the current automatic driving function, but the detection and identification precision of the sensing system is improved to a certain extent as the vehicle gradually approaches the smaller-size obstacles in front. Based on this, in the case where the lane keeping assist function is turned on, the environmental information of the lane in front of the vehicle is detected by the vehicle-mounted sensing system, the vision sensor, the radar sensor, and the like. When an obstacle with a size smaller than a set main target size threshold value exists in front of the vehicle, a change curve of the steering torque of the steering wheel along with time in a set time length and a road condition in the set time length are obtained. Wherein the set size threshold may be determined by a size that is not recognized by the system as a primary target.
The set duration can be calibrated through testing, and the duration with the accuracy meeting the requirement is obtained as the set duration, for example, 2 seconds, through carrying out obstacle avoidance testing under a plurality of durations. Within a set duration, acquiring a change curve of the steering torque of the steering wheel along with time in real time; meanwhile, a driving path of the vehicle within a set time length is obtained through a Global Positioning System (GPS) and vehicle inertial navigation, and the road condition is determined according to an electronic map and the driving path. Optionally, the road conditions include straight running, turning, head dropping, and the like. For example, the vehicle is driven on the road section a within the set time length obtained through the GPS, and the road condition is a turn if the road section a belongs to a turn road section obtained according to the electronic map.
And S120, determining the type of the steering torque according to the change curve and the road condition.
The category of the steering torque includes a driving category and a supervision category. Fig. 2 is a steering torque graph of a driving category provided by an embodiment of the present invention, and fig. 3 is a steering torque graph of a supervision category provided by an embodiment of the present invention. In fig. 2 and 3, the abscissa represents time, and the ordinate represents steering torque. If the category of the steering torque is a driving category, indicating that the driver desires to drive the vehicle with the steering torque; if the type of the steering torque is a supervision type, it indicates that the driver desires to control the vehicle by using the steering torque provided by the lane keeping assist function, and the steering torque applied to the steering wheel at this time is used for proving that the driver does not get out of driving behavior, so as to ensure that the driver continuously supervises the vehicle during the function operation.
It should be noted that, compared with the prior art in which the threshold is used to distinguish the type of the torque, the present embodiment fully considers the actual situation, and the physiological characteristics of different drivers are different, and the road conditions where the drivers are located are different, so that some torques applied to the steering wheel are large, and some torques are small, and the accuracy can be reduced by distinguishing through the threshold. Based on this, the present embodiment creatively improves the accuracy of the category determination according to the driving habits and road conditions of the driver.
And S130, judging the type of the steering torque as a driving type or a supervision type. If the steering torque is in the driving category, jumping to S140; if the steering torque is in the supervision category, the process jumps to S150.
And S140, applying the steering torque to a control execution system of the vehicle in real time, and not exiting the lane keeping function, so that the control execution system can adjust the driving direction.
Specifically, the steering torque within the set time period is applied in real time. And the control execution system controls the wheels to steer according to the steering torque so as to adjust the running direction of the vehicle. Meanwhile, as the recognition and detection precision of the sensing system on the front obstacle is improved, the vehicle system can detect whether the steering torque applied by the current driver can effectively avoid the front obstacle, if not, the vehicle system carries out reasonable and effective compensation based on the size and the position of the front obstacle fed back by the sensing system and the steering torque applied by the driver, so that the vehicle can safely and smoothly pass through the front obstacle section.
And S150, applying the steering torque provided by the lane keeping auxiliary function to a control execution system of the vehicle so that the control execution system can control the driving direction of the vehicle.
In this case, only the steering torque provided by the lane keeping assist function is applied to the control execution system of the vehicle, and no longer in response to the steering torque applied by the driver.
The embodiment provides an obstacle avoidance method executed by a driver under the condition that a lane keeping auxiliary function is started, and solves the problems that when the current lane keeping function is started, fine-tuning steering torque applied by the driver cannot be transmitted to a control execution system of a vehicle, the driver steering torque can be applied to the vehicle control execution system only when the driver needs to quit the lane keeping function, and when certain obstacles in front of the vehicle are avoided, the driver can apply the steering torque for avoiding the obstacles in front to a control execution mechanism of the vehicle only when the driver needs to quit the lane keeping function, wherein the time is delayed from normal driving behaviors, so that traffic safety is influenced, and the function dissatisfaction of the driver is increased. Specifically, when an obstacle in front of a vehicle is detected, a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length are obtained, the category of the steering torque is determined according to the change curve and the road condition, the actual driving condition is fully considered, and the accuracy of category determination is improved; when the steering torque is determined to be the driving category, the steering torque is applied to a control execution system of the vehicle in real time, so that obstacles are avoided in time, the comfort level of a lane keeping auxiliary function is improved, the function quitting frequency during normal operation of the function is reduced, the driving safety is ensured, and the satisfaction degree of a consumer on the function is improved.
In the above embodiment and the following embodiments, determining the category of the steering torque according to the change curve and the road condition includes: inputting the change curve and the road condition into a classification model to obtain the category of the steering torque output by the classification model; the classification model is obtained by training a change curve sample of steering torque belonging to a driving category and a change curve sample of steering torque belonging to a supervision category under different road conditions; the different road conditions include straight road conditions and turning road conditions.
Optionally, the classification model may be a neural network model based on deep learning, or may be a binary classification model such as a Support Vector Machine (SVM). The method comprises the steps of collecting a change curve sample of steering torque belonging to a driving category and a change curve sample of steering torque belonging to a supervision category in a straight road condition and a turning road condition respectively in advance. And inputting the change curve sample and the road condition into a pre-established classification model, and training the classification model by taking the torque type corresponding to the change curve sample as a target output.
And then, inputting the change curve and the road condition into a trained classification model to obtain the category of the output steering torque.
The classification of the steering torque is realized through the classification model, the influence principle of a change curve and road conditions on the classification result does not need to be concerned, and meanwhile, the classification accuracy is improved.
Fig. 4 is a flowchart of another obstacle avoidance method based on a lane keeping assist function according to an embodiment of the present invention, which is further optimized for each embodiment, and specifically includes the following steps:
s210, under the condition that the lane keeping auxiliary function is started, when an obstacle in front of the vehicle is detected, obtaining a change curve of the steering torque of the steering wheel along with time within a set time length and a road condition within the set time length.
And S220, determining the type of the steering torque according to the change curve and the road condition.
And S230, judging the type of the steering torque as a driving type or a supervision type. If the steering torque is in the driving category, jumping to S240; if the steering torque is in the supervision category, the process goes to S260.
S240, predicting the running track of the vehicle according to the change curve of the steering torque along with time. Execution continues with S241.
At present, the steering of a vehicle mostly depends on an electronic power steering system of the vehicle, and the future driving track of the vehicle can be predicted by sensing the steering torque applied to a steering wheel by a driver and the current steering angle of the steering wheel. Specifically, the steering angle and the future trajectory are calculated according to a vehicle kinematics MODEL (BICYCLE mode), as follows:
fig. 5 is a schematic diagram of a vehicle kinematics model provided by an embodiment of the invention. As shown in FIG. 5, assume that the vehicle has only front and rear wheels A and B, and C is the vehicle center of mass; the vehicle movement only considers plane movement, and does not consider the influence of the Z direction, such as vehicle bump and the like; the vehicle moves at low speed, when the influence of the slip angle does not need to be considered.
δ on the assumption of the abover、δfThe steering angle of the rear wheels and the front wheels relative to the longitudinal axis of the vehicle is respectively represented and is determined by the steering wheel, and particularly is comprehensively determined by the steering torque and the current steering angle of the steering wheel. In general, the vehicle is steered only by the front wheels, so the practical application is deltar0. Distance from C to front and rear tires A and B is lfAnd lrThe linear velocity vector of the centroid C is denoted V, the direction β is the angle to the longitudinal axis of the vehicle body, and ψ is the angle to the longitudinal axis of the vehicle body. Note that: the X axis here refers to the set straight ahead direction, and β here refers to the slip angle within the assumed conditions, and β is usually small and may be ignored as 0 at low speed. O is the instantaneous center of rotation of A, B, C three points (i.e., the vehicle body), and R is the distance between O and C.
Δ OCA and Δ OCB are derived from the sine theorem:
the two can be obtained in combination:
the angular velocity of the centroid C (i.e., the vehicle body) is obtained according to the above formula:
the final equation of state of the vehicle is:
from the above calculation of the vehicle state, the future trajectory can be predicted from the steering torque and the steering angle of the steering wheel. Fig. 6 is a schematic diagram of a future driving track of a vehicle according to an embodiment of the present invention. The predicted future travel trajectory obviously cannot avoid obstacles.
And S241, judging whether the driving track can avoid the obstacle. And jumping to S242 if the driving track can avoid the obstacle, or jumping to S243 if the driving track can avoid the obstacle.
Optionally, the distance between the vehicle and the obstacle is obtained in real time; when the distance is smaller than a set distance, detecting visual information of the obstacle through a perception detection system, and judging whether the driving track can avoid the obstacle or not according to the visual information; wherein the set distance is determined according to the identification accuracy requirement of the perception detection system.
Specifically, the sensing and detecting system comprises a radar, a camera and the like, and when the distance between the vehicle and the obstacle is different, the sensing and detecting system has different obstacle identification accuracy. Illustratively, the identification accuracy of the laser radar is 10% when the laser radar is 300m away from the obstacle, and the identification accuracy is 95% when the laser radar is 150m away from the obstacle. The recognition accuracy requirement may be set to 95%, and the corresponding set distance is 150 m. The visual information of the obstacle includes, but is not limited to, the shape and size of the obstacle.
If the driving track passes through the obstacle, the obstacle cannot be avoided; if the travel locus bypasses the obstacle, it is considered that the obstacle can be avoided.
And S242, applying the steering torque to a control execution system of the vehicle in real time, and after the vehicle passes through the road section where the front obstacle is located, keeping the lane keeping function to be operated continuously without being activated again. Execution continues with S250.
And if the driving track can avoid the obstacle according to the visual information, applying the steering torque to a control execution system of the vehicle in real time.
And S243, compensating the steering torque and then applying the compensated steering torque to a control execution system of the vehicle in real time. Execution continues with S250.
If the driving track can not avoid the obstacle, the shortest track bypassing the obstacle is taken as a target, and a steering angle needing to be compensated is calculated on the basis of the current driving track; then, a torque to be compensated is calculated based on the steering angle, so that the obstacle can be avoided from the travel locus predicted from the change curve of the compensated steering torque.
In this case, the steering torque applied by the driver and the compensated steering torque are jointly applied to the control execution system of the vehicle, so that the control execution system adjusts the driving track of the vehicle. As shown in fig. 6, the compensated travel track can avoid an obstacle.
After passing through the front obstacle section, the compensation torque automatically disappears, and the function continues to operate normally without being activated again.
The embodiment detects the visual information of the barrier when the distance between the vehicle and the barrier is smaller than the set distance, and performs torque compensation when the steering torque cannot avoid the barrier, but not directly quits the function, so that the quitting function is softened, and the problem that when a lane keeping auxiliary function is started in the prior art, the system cannot automatically avoid a small barrier in a non-vehicle and the steering torque of the vehicle operated by the driver slightly can be avoided is solved.
And S250, if it is detected that no obstacle exists in front of the vehicle, acquiring a change curve of the steering torque of the steering wheel along with time and a road condition within a set time length.
The environmental information of a lane in front of the vehicle is detected in real time through a vehicle-mounted sensing system, a vision sensor, a radar sensor and the like, and when the fact that no obstacle exists in front of the vehicle is detected, a change curve of the steering torque of a steering wheel along with time and road conditions within a set duration are continuously obtained.
And S251, determining the type of the steering torque according to the change curve and the road condition.
And S252, if the steering torque is in the supervision category, neglecting the steering torque provided by the driver, and applying the steering torque provided by the lane keeping assist function to a control execution system of the vehicle. And finishing the operation.
Specifically, in the case where the lane keeping assist function is exited, if the steering torque is of the supervision category, the lane keeping assist function is restarted, the steering torque provided by the driver is ignored, and only the steering torque provided by the lane keeping assist function is applied to the control execution system of the vehicle; under the condition of supplementing the lane keeping auxiliary function, if the steering torque is in a supervision type, the lane keeping auxiliary function takes over the vehicle comprehensively to shield the steering torque of the steering wheel.
And S260, applying the steering torque provided by the lane keeping auxiliary function to a control execution system of the vehicle so that the control execution system can control the driving direction of the vehicle.
On the basis of the above embodiments, the present embodiment adds an automatic restart operation of the lane keeping assist function after bypassing the obstacle, without manual start by the user.
Fig. 7 is a schematic structural diagram of an obstacle avoidance device based on a lane keeping assist function according to an embodiment of the present application, which is suitable for an obstacle avoidance situation when the lane keeping assist function is turned on. With reference to fig. 7, the obstacle avoidance device based on the lane keeping assist function includes: an acquisition module 310, a determination module 320, and an application module 330.
The obtaining module 310 is configured to, when the lane keeping assist function is turned on and an obstacle in front of a vehicle is detected, obtain a change curve of a steering torque of a steering wheel over time within a set time period and a road condition within the set time period;
a determining module 320, configured to determine the category of the steering torque according to the variation curve and the road condition;
and an applying module 330, configured to apply the steering torque to a control execution system of the vehicle in real time if the steering torque is of the driving category, and not exit the lane keeping function, so that the control execution system adjusts a driving direction.
The applying module 330 is specifically configured to, when applying the steering torque to the control execution system of the vehicle in real time: predicting the running track of the vehicle according to the change curve of the steering torque along with time; judging whether the driving track can avoid the obstacle or not; and if the driving track can avoid the obstacle, applying the steering torque to a control execution system of the vehicle in real time, and after passing through the road section where the obstacle in front is located, continuously keeping the lane keeping function to operate without being activated again.
The embodiment provides an obstacle avoidance device executed by a driver under the condition that a lane keeping auxiliary function is started, and the obstacle avoidance device solves the problems that when the current lane keeping function is started, fine-tuning steering torque applied by the driver cannot be transmitted to a control execution system of a vehicle, the driver can apply the steering torque to the control execution system of the vehicle only when the driver needs to quit the lane keeping function, and when certain obstacles in front of the vehicle are avoided, the driver can apply the steering torque for avoiding the obstacles in front to a control execution mechanism of the vehicle only when the driver needs to quit the lane keeping function, wherein the time delay is longer than that of normal driving behaviors, so that traffic safety is influenced, and the dissatisfaction of the driver on the functions is increased. Specifically, when an obstacle in front of a vehicle is detected, a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length are obtained, the category of the steering torque is determined according to the change curve and the road condition, the actual driving condition is fully considered, and the accuracy of category determination is improved; when the steering torque is determined to be the driving category, the steering torque is applied to a control execution system of the vehicle in real time, so that obstacles are avoided in time, the comfort level of a lane keeping auxiliary function is improved, the function quitting frequency during normal operation of the function is reduced, the driving safety is ensured, and the satisfaction degree of a consumer on the function is improved.
Optionally, the determining module 320 is specifically configured to input the variation curve and the road condition into a classification model, so as to obtain the category of the steering torque output by the classification model; the classification model is obtained by training a change curve sample of steering torque belonging to a driving category and a change curve sample of steering torque belonging to a supervision category under different road conditions; the different road conditions include straight road conditions and turning road conditions.
Optionally, the apparatus further comprises: the compensation module is used for compensating the steering torque and then applying the compensated steering torque to a control execution system of the vehicle in real time if the driving track cannot avoid the obstacle; the obstacle can be avoided according to the driving track predicted by the change curve of the compensated steering torque, the compensation torque automatically disappears after the vehicle passes through the front obstacle road section, and the function continues to operate normally without being activated again.
Optionally, the applying module 330 is specifically configured to obtain a distance between the vehicle and the obstacle in real time when determining whether the driving trajectory can avoid the obstacle; when the distance is smaller than a set distance, detecting visual information of the obstacle through a perception detection system, and judging whether the driving track can avoid the obstacle or not according to the visual information; wherein the set distance is determined according to the identification accuracy requirement of the perception detection system.
Optionally, the apparatus further includes a restart module, configured to, after the steering torque is applied to the control execution system of the vehicle in real time, obtain a change curve of the steering torque of the steering wheel over time within a set time period and a road condition if it is detected that no obstacle exists in front of the vehicle; determining the type of the steering torque according to the change curve and the road condition; and if the steering torque is in a supervision category, neglecting the steering torque provided by the driver, and applying the steering torque provided by the lane keeping assist function to a control execution system of the vehicle.
Optionally, the obtaining module 310 is specifically configured to, when obtaining the road condition within the set time length: acquiring a running path of the vehicle within a set duration through a global positioning system and vehicle inertial navigation; and determining the road condition according to the electronic map and the driving path.
The obstacle avoidance device based on the lane keeping auxiliary function can execute the obstacle avoidance method based on the lane keeping auxiliary function provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 8, the electronic device includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the device may be one or more, and one processor 40 is taken as an example in fig. 8; the processor 40, the memory 41, the input device 42 and the output device 43 in the apparatus may be connected by a bus or other means, for example in fig. 8.
The memory 41 serves as a computer-readable storage medium, and may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the obstacle avoidance method based on the lane keeping assist function in the embodiment of the present invention (for example, the acquisition module 310, the determination module 320, and the application module 330 in the obstacle avoidance apparatus based on the lane keeping assist function). The processor 40 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 41, that is, implements the above-described obstacle avoidance method based on the lane keeping assist function.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 43 may include a display device such as a display screen.
The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the obstacle avoidance method based on the lane keeping assist function according to any embodiment.
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (9)
1. An obstacle avoidance method based on a lane keeping auxiliary function is characterized by comprising the following steps:
under the condition that the lane keeping auxiliary function is started, when an obstacle in front of a vehicle is detected, obtaining a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length;
determining the type of the steering torque according to the change curve and the road condition;
if the steering torque is in a driving category, applying the steering torque to a control execution system of the vehicle in real time, and not quitting the lane keeping auxiliary function, so that the control execution system can adjust the driving direction;
the control execution system for applying the steering torque to the vehicle in real time comprises:
predicting the running track of the vehicle according to the change curve of the steering torque along with time;
judging whether the driving track can avoid the obstacle or not;
and if the driving track can avoid the obstacle, applying the steering torque to a control execution system of the vehicle in real time, and after passing through the road section where the obstacle in front is located, continuously keeping the lane keeping auxiliary function in operation without being activated again.
2. The method of claim 1, wherein determining the category of the steering torque based on the variation profile and the road condition comprises:
inputting the change curve and the road condition into a classification model to obtain the category of the steering torque output by the classification model;
the classification model is obtained by training a change curve sample of steering torque belonging to a driving category and a change curve sample of steering torque belonging to a supervision category under different road conditions; the different road conditions include straight road conditions and turning road conditions.
3. The method of claim 1, further comprising:
if the driving track can not avoid the obstacle, the steering torque is compensated and then is applied to a control execution system of the vehicle in real time;
and after the vehicle passes through the front obstacle road section, the compensation torque automatically disappears, and the lane keeping auxiliary function continues to normally operate without being activated again.
4. The method of claim 1, wherein said determining whether the travel trajectory avoids the obstacle comprises:
acquiring the distance between the vehicle and the obstacle in real time;
when the distance is smaller than a set distance, detecting visual information of the obstacle through a perception detection system, and judging whether the driving track can avoid the obstacle or not according to the visual information;
wherein the set distance is determined according to the identification accuracy requirement of the perception detection system.
5. The method of claim 1, further comprising, after applying the steering torque to a control execution system of the vehicle in real time:
if the fact that no obstacle exists in front of the vehicle is detected, obtaining a change curve of the steering torque of the steering wheel along with time and a road condition within a set time length;
determining the type of the steering torque according to the change curve and the road condition;
and if the steering torque is in a supervision category, neglecting the steering torque provided by the driver, and applying the steering torque provided by the lane keeping assist function to a control execution system of the vehicle.
6. The method according to any one of claims 1-5, wherein the obtaining the road condition within a set time period comprises:
acquiring a running path of the vehicle within a set duration through a global positioning system and vehicle inertial navigation;
and determining the road condition according to the electronic map and the driving path.
7. The utility model provides a keep away barrier device based on lane keeps supplementary function which characterized in that includes:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a change curve of the steering torque of a steering wheel along with time within a set time length and a road condition within the set time length when an obstacle in front of a vehicle is detected under the condition that a lane keeping auxiliary function is started;
the determining module is used for determining the type of the steering torque according to the change curve and the road condition;
the application module is used for applying the steering torque to a control execution system of the vehicle in real time if the steering torque is in a driving category, and the control execution system does not exit a lane keeping auxiliary function so as to adjust the driving direction;
the applying module is specifically configured to, when applying the steering torque to a control execution system of the vehicle in real time: predicting the running track of the vehicle according to the change curve of the steering torque along with time; judging whether the driving track can avoid the obstacle or not; and if the driving track can avoid the obstacle, applying the steering torque to a control execution system of the vehicle in real time, and after passing through the road section where the obstacle in front is located, continuously keeping the lane keeping auxiliary function in operation without being activated again.
8. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the lane keeping assist function based obstacle avoidance method of any of claims 1-6.
9. A computer-readable storage medium on which a computer program is stored, the program, when being executed by a processor, implementing an obstacle avoidance method based on a lane keeping assist function according to any one of claims 1 to 6.
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