CN112937569A

CN112937569A - Emergency steering auxiliary method and device facing lane boundary

Info

Publication number: CN112937569A
Application number: CN202110194481.4A
Authority: CN
Inventors: 潘浩; 孙道远; 黄世健; 孟昭亮; 曹润滋
Original assignee: Freetech Intelligent Systems Co Ltd
Current assignee: Freetech Intelligent Systems Co Ltd
Priority date: 2021-02-20
Filing date: 2021-02-20
Publication date: 2021-06-11
Anticipated expiration: 2041-02-20
Also published as: CN112937569B

Abstract

The invention discloses an emergency steering auxiliary method and device facing lane boundaries, which comprises the following steps: planning a target running track of a current vehicle in a lane; determining a traveling parameter according to the target traveling track and the current position; splitting the target running track according to the acceleration change rate to obtain N sections of segmented running tracks, wherein the acceleration change rate of two adjacent sections of running tracks is zero; selecting a section closest to the current position as a current driving path; calculating the distance and the angle between the current position and the current driving path end point, and controlling the current vehicle to move according to the current driving path; and when the current vehicle reaches the end point of the current driving path, selecting the next section of subsection driving path as the current driving path, and repeating the steps until the current vehicle moves to the end point of the last section of subsection driving path. According to the invention, the target driving track is split according to the acceleration change rate, so that the vehicle can be ensured to be more stable in the driving process, and the good feeling of a driver is improved.

Description

Emergency steering auxiliary method and device facing lane boundary

Technical Field

The invention relates to the technical field of vehicle control, in particular to an emergency steering auxiliary method and device facing lane boundaries.

Background

In recent years, the active safety electric control technology of the automobile and the related control strategy thereof are developed rapidly, the automatic driving technology is developed rapidly, the emergency steering auxiliary function is applied to more vehicles, the emergency steering auxiliary function can remind a driver of the vehicle before the vehicle deviates from a lane, and safety measures are automatically taken under the emergency condition, so that the occurrence of the vehicle deviating from the lane can be effectively reduced. Emergency steering assistance techniques exist to automatically initiate emergency braking and emergency steering intervention measures in emergency situations through dynamic intervention. In practice, since the position, the traveling direction, the speed, and the like of the target object around the host vehicle change at any time, the above-described techniques detect a small amount of content, and make the steering assistance path planning unreasonable, and cannot ensure the safety of the vehicle to the maximum extent in a high-speed traveling state of the vehicle.

Disclosure of Invention

In order to solve the above technical problem, the present invention provides an emergency steering assist method for a lane boundary, including:

s102, when the time distance between the current position of the current vehicle and the boundary line on one side of the lane is smaller than a preset time distance threshold value, planning a target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the boundary lines on two sides of the lane;

s104, determining a traveling parameter of the current vehicle traveling according to the target traveling track and the current position, wherein the traveling parameter comprises: rate of change of acceleration;

s106, splitting the target running track according to the acceleration change rate to obtain N sections of segmented running tracks, wherein the acceleration change rate of two adjacent sections of running tracks is zero;

s108, selecting a section closest to the current position from the N sections of segmented driving tracks as a current driving path;

s110, calculating the distance and the angle between the current position of the current vehicle and the end point of the current running path, and controlling the current vehicle to travel according to the current running path according to the distance and the angle;

and S112, when the current vehicle reaches the end point of the current running path, selecting the next section of the segmented running track of the current running path as the current running path, and repeating the steps S108-S112 until the current vehicle moves to the end point of the last section of the segmented running track.

Further, when the time distance between the current position of the current vehicle and the boundary line on one side of the lane where the current vehicle is located is less than a preset time distance threshold, planning a target driving track of the current vehicle in the lane according to the current position of the current vehicle, the posture information, the motion information and the boundary lines on two sides of the lane where the current vehicle is located, including:

acquiring the current position, the posture information and the motion information of a current vehicle in a lane and the boundary lines of two sides of the lane;

determining the time distance of the current vehicle exiting from the boundary line on one side of the lane according to the current position, the attitude information, the motion information and the boundary lines on the two sides;

judging whether the time distance is smaller than a preset time distance threshold value or not;

and when the time distance is smaller than a preset time distance threshold value, planning a target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the boundary lines of the two sides of the lane where the current vehicle is located.

Further, still include:

and when the time distance is greater than a preset time distance threshold value, generating prompt information to prompt the driver.

Further, the travel parameters include: a speed of travel;

the calculating the distance and the angle between the current position of the current vehicle and the end point of the current driving path, and controlling the current vehicle to travel according to the current driving path according to the distance and the angle comprises the following steps:

calculating the distance and the angle between the current position of the current vehicle and the current driving path end point;

judging whether the vehicle speed corresponding to the current position is greater than the traveling speed of the current traveling path terminal;

when the vehicle speed corresponding to the current position is greater than the traveling speed of the current traveling path terminal, generating a steering braking request from the current position to the current traveling path terminal according to the distance and the angle;

and controlling the current vehicle to travel according to the current running path according to the steering brake request.

Further, the determining of the traveling parameter of the current vehicle traveling according to the target traveling track and the current position includes:

obtaining status data of an emergency steering assist control assembly, the status data comprising: an open state;

and when the state data is in an opening state, determining the traveling parameters of the current vehicle traveling according to the target traveling track and the current position.

Further, the splitting the target driving track according to the acceleration change rate to obtain N sections of segmented driving tracks, where the acceleration change rate of two adjacent sections of driving tracks is zero, includes:

judging whether the motion information corresponding to the target running track is smaller than a preset limit threshold value or not;

if the motion information corresponding to the target running track is smaller than a preset limit threshold value, splitting the target running track according to the acceleration change rate to obtain N sections of segmented running tracks, wherein the acceleration change rate of two adjacent sections of running tracks is zero.

Further, when the current vehicle reaches the end point of the current driving path, selecting a next segment of the segmented driving track of the current driving path as the current driving path, including:

when the current vehicle reaches the end point of the current running path, judging whether the motion information of the current position is smaller than a preset limit threshold value;

and if the motion information corresponding to the target running track is smaller than a preset limit threshold, selecting the next section of the segmented running track of the current running path as the current running path.

In another aspect, the present invention provides an emergency steering assist device facing a lane boundary, including:

the target running track planning module is configured to plan a target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the two side boundary lines of the lane when the time distance between the current position of the current vehicle and the boundary line on one side of the lane is smaller than a preset time distance threshold value;

a traveling parameter determination module configured to determine a traveling parameter of the current vehicle traveling according to the target traveling track and the current position, where the traveling parameter includes: rate of change of acceleration;

the splitting module is configured to split the target running track according to the acceleration change rate to obtain N sections of segmented running tracks, and the acceleration change rate of two adjacent sections of running tracks is zero;

the current driving path selection module is configured to select a section closest to the current position from the N sections of segmented driving tracks as a current driving path;

the calculation execution module is configured to execute calculation of the distance and the angle between the current position of the current vehicle and the end point of the current driving path, and control the current vehicle to travel according to the current driving path according to the distance and the angle;

and the repeated execution module is configured to select the next section of the segmented running track of the current running path as the current running path when the current vehicle reaches the end point of the current running path, and return to the current running path selection module, the calculation execution module and the repeated execution module until the current vehicle travels to the end point of the last section of the segmented running track.

In yet another aspect, the present invention provides an apparatus for lane boundary-oriented emergency steering assist, the apparatus comprising a processor and a memory, the memory having at least one instruction or at least one program stored therein, the at least one instruction or at least one program being loaded and executed by the processor to implement the lane boundary-oriented emergency steering assist method as described above.

In yet another aspect, the present invention provides a computer-readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the lane boundary oriented emergency steering assist method as described above.

In a further aspect, the invention provides a vehicle comprising an apparatus for emergency steering assistance towards a lane boundary, the apparatus comprising an emergency steering assistance device as described above towards a lane boundary.

The lane boundary-oriented emergency steering auxiliary method and the lane boundary-oriented emergency steering auxiliary device have the following beneficial effects:

the method can be adaptively applied to various types of lane boundaries, and boundary information is represented by a unified mathematical model. A safe driving track planning method based on vehicle dynamics information and lane boundary lines is designed. The target trajectory is designed as a concept with respect to the road boundary, facilitating the implementation of follow-up control with the road boundary.

And setting a target track duration concept for adjusting an intervention threshold of the emergency steering auxiliary system, avoiding excessive dependence on a single dynamic parameter, and improving the robustness of an applicable scene.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic flowchart of an emergency steering assistance method facing a lane boundary according to an embodiment of the present application;

fig. 2 is a schematic diagram of a target driving trajectory splitting result provided in an embodiment of the present application;

FIG. 3 is a schematic flow chart of another emergency steering assistance method facing a lane boundary according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of an emergency steering assist apparatus facing a lane boundary according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

710-a target driving track planning module, 720-a traveling parameter determining module, 730-a splitting module, 740-a current driving path selecting module, 750-a calculation executing module and 760-a repeated executing module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

As shown in fig. 1, fig. 1 is a schematic flow chart of an emergency steering assistance method facing a lane boundary provided in an embodiment of the present application, and an embodiment of the present application provides an emergency steering assistance method facing a lane boundary, where an execution main body of the method may be an Electronic Control Unit (ECU) of an automobile (e.g., a pure electric vehicle, a hybrid vehicle, a conventional fuel vehicle), and the method includes:

s102, when the time distance between the current position of the current vehicle and the boundary line on one side of the lane is smaller than a preset time distance threshold value, planning a target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the boundary lines on two sides of the lane.

In a specific implementation process, when the time distance between the current position of the current vehicle and the boundary line on one side of the lane is smaller than the preset time distance threshold, it can be characterized that the vehicle deviates from the current lane according to the current driving state. The current position may be a current relative position of the current vehicle with respect to the boundary lines on both sides of the current lane, such as a lateral distance of the current vehicle from the boundary lines on both sides. The attitude information may include a longitudinal velocity, a yaw rate, and the like, which are used to characterize the running locus of the current vehicle. The motion information may include lateral position, lateral velocity, lateral acceleration, etc. that are used to characterize the current vehicle's predicted relative position with respect to the two side boundary lines. The boundary lines of two sides of the lane can be obtained by image processing, wherein the boundary comprises two types of a span type and a non-span type, the span road boundary comprises grassland, gravel and the like, and the non-span road boundary comprises a road shoulder, a road sill, a fence and the like.

If the vehicle is in the driving process, when the lawn is on the right side, and when a road boundary line exists on the left side, the two side boundary lines of the lane can be the line which is matched with the preset distance between the left road boundary line and the lawn far away from the left road boundary line and is parallel to the left road boundary line.

When the time distance between the current position of the current vehicle and the boundary line on one side of the lane is smaller than the preset time distance threshold value, the electronic control unit can plan the target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the boundary lines on the two sides of the lane. It will be appreciated that the planned trajectory may be planned according to the bezier curve method.

S104, determining a traveling parameter of the current vehicle traveling according to the target traveling track and the current position, wherein the traveling parameter comprises: rate of change of acceleration.

On the basis of the above embodiments, in one embodiment of the present specification, the traveling parameters may include: acceleration rate, lateral acceleration, lateral velocity, lateral displacement, travel duration, and the like. It is understood that the target travel path is only a travel path, and in order to better control the travel of the vehicle, the change of each position with respect to the attitude information, the motion information, and the like when the vehicle travels along the target travel path may be calculated in advance, and the changed information may be fitted to a curve corresponding to the target travel path.

S106, splitting the target running track according to the acceleration change rate to obtain N sections of segmented running tracks, wherein the acceleration change rate of two adjacent sections of running tracks is zero.

In a specific implementation process, the lateral speed, the lateral acceleration and the like of the vehicle are changed in real time during the steering process of the vehicle, in order to better control the vehicle and reduce the influence of the vehicle on a driver during an emergency steering process, the target driving track can be split relative to the lateral acceleration of a lane line, at least one 5-segment form can be included, and fig. 2 is a schematic diagram of a target driving track splitting result provided by an embodiment of the application, as shown in fig. 2, the unit of displacement in fig. 2 is m, and the lateral speed in fig. 2 is mThe unit of degree is m/s, and the unit of lateral acceleration is m/s²The unit of jerk is m/s³The jerk at the node of each curve segment may be 0 to ensure smooth transition of each curve segment. And setting limit thresholds for the transverse speed, the transverse acceleration and the transverse jerk corresponding to all track points in the complete target track, determining that the track exceeding the preset limit threshold is invalid, and iterating again by the electronic control unit to obtain a more optimal track. Wherein N is greater than or equal to 2.

And S108, selecting one section which is closest to the current position from the N sections of segmented driving tracks as a current driving path.

For example, the driving computer may select the first left-side segmented driving trajectory as the current parking path.

In some possible embodiments, after obtaining N segmented driving trajectories, the method further includes:

and storing the obtained segmented running tracks in a two-dimensional vector mode one by one.

Specifically, the vehicle computer can split the target driving track into N segments of segmented driving tracks according to the acceleration change rate, and store each segment of segmented driving track in the ECU in the form of a two-dimensional vector.

And S110, calculating the distance and the angle between the current position of the current vehicle and the end point of the current running path, and controlling the current vehicle to travel according to the current running path according to the distance and the angle.

In a specific implementation, the electronic control unit may calculate the distance and the angle between the current position and the current travel path end point based on the coordinates of the current position of the current vehicle and the coordinates of the current travel path end point in the current coordinate system of the current vehicle. And controlling the current vehicle to travel according to the current running path according to the distance and the angle. It can be understood that a coordinate system is established during the driving process of the current vehicle, the coordinate system may use the vehicle as an origin, a long axis of the vehicle as a Y-axis, and a wide axis of the vehicle as an X-axis, and the angle may be an included angle between the end point of the current driving path and the Y-axis. When the next segment of the segmented travel track is traveled, the current position and the current travel path end point need to be determined again.

On the basis of the above embodiments, in one embodiment of the present specification, the traveling parameters include: a speed of travel;

In a specific implementation process, when the vehicle is controlled to travel according to the current travel path, the magnitude relation between the vehicle speed corresponding to the current position and the travel speed of the current travel path end point can be judged in advance, and when the vehicle speed corresponding to the current position is large, the speed of the vehicle can be controlled in a short pulse mode so as to achieve the effect that the speed of the vehicle traveling to the current travel path end point is consistent with the corresponding speed.

When the traveling speed of the current driving path end point is large or the vehicle speed corresponding to the current position is equal, a steering request from the current position to the current driving path end point can be generated according to the distance and the angle so as to drive the vehicle to the current driving path end point.

In the lane boundary-oriented emergency steering assist method provided in the embodiment of the present description, when it is determined that the current vehicle is about to deviate from the lane, the target driving trajectory may be planned, and the target driving trajectory is split into a plurality of segments of segmented driving trajectories according to the acceleration change rate, so as to control the current vehicle to travel according to each segment of the segmented driving trajectory until the current vehicle reaches the end point of the last segment of the segmented driving trajectory. And a target driving track duration concept is established, and the duration of the current position planning entering a target safe transverse area can be expressed. The duration is used as a characteristic quantity of the degree of the target safety transverse area far away from the current moment, and the scenes under different transverse speeds and transverse accelerations can be considered. Furthermore, the intervention threshold of the emergency steering auxiliary system can be adjusted by adjusting the lowest target track threshold, so that the excessive dependence on a single dynamic parameter is avoided, and the robustness of an applicable scene is improved.

On the basis of the foregoing embodiment, in an embodiment of this specification, fig. 3 is a schematic flowchart of another emergency steering assistance method facing a lane boundary according to an embodiment of the present application, and as shown in fig. 3, when a time distance between a current position of a current vehicle and a boundary line on one side of a lane where the current vehicle is located is less than a preset time distance threshold, planning a target driving trajectory of the current vehicle in the lane according to the current position of the current vehicle, posture information, motion information, and boundary lines on two sides of the lane where the current vehicle is located includes:

s202, acquiring the current position, the attitude information, the motion information and the boundary lines on two sides of the lane where the current vehicle is located.

In a specific implementation process, the current position and the two side boundary lines of the lane can be obtained through radar, camera equipment and the like, and the attitude information and the motion information can be obtained through corresponding sensors.

And S204, determining the time distance of the boundary line on one side of the current vehicle exiting the lane according to the current position, the attitude information, the motion information and the boundary lines on the two sides.

In a specific implementation process, the electronic control unit may sequentially calculate the time distance of the current vehicle exiting from the boundary line on one side of the lane, and use the minimum time distance as the time distance of the current vehicle exiting from the boundary line on one side of the lane. The time distance from the boundary line on the side close to the vehicle may be directly calculated from the attitude information, the motion information, and the like of the vehicle.

S206, judging whether the time distance is smaller than a preset time distance threshold value or not;

and S208, when the time distance is smaller than a preset time distance threshold value, planning a target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the two side boundary lines of the lane where the current vehicle is located.

The embodiment of the specification calculates the time distance of the current vehicle exiting from the boundary line on one side of the lane in advance, provides preprocessing time for the vehicle to deviate from the lane, avoids traffic accidents caused by the vehicle directly deviating from the lane, and improves the safety of the vehicle.

On the basis of the above embodiments, in an embodiment of the present specification, the method further includes:

and when the time distance is larger than a preset time distance threshold value, generating prompt information to prompt a driver.

In a specific implementation process, the prompt information is used for prompting a driver to take over the vehicle or start the emergency steering auxiliary control component when the time distance is greater than a preset time distance threshold, and a specific prompt mode is not specifically limited in this specification and may be sound, light, vibration, and the like.

The embodiment of the specification can prompt the driver when the vehicle is about to send lane departure, and ensures safe driving of the vehicle.

On the basis of the foregoing embodiments, in an embodiment of the present specification, the determining a traveling parameter of the current vehicle according to the target travel track and the current position includes:

In a specific implementation, the emergency steering assist control component may be classified into an off state, an unavailable state, an enabled state, an activated state, an interrupted state, a completed state, and the like. Each state has a respective corresponding transition condition to ensure that the emergency steering auxiliary control assembly operates reasonably. Meanwhile, the arbitration between the emergency steering assistance and other different driving assistance functions of the vehicle provided by the invention is fully considered, and the arbitration comprises but is not limited to the triggering priority design of each function, the design of the transverse and longitudinal function coordination function mode and the like.

The component closing state: the component is in a closed state including, but not limited to, the driver closing the component via a meter button or a car machine configuration.

Component unavailable status: the assembly is turned on and unavailable due to certain constraints being met, including but not limited to vehicle speed not within operating range, driver active take-over of steering wheel, etc.

Enabling state: the assembly is turned on and no suppression condition is met, and once it is determined that the vehicle is in danger of rushing out of the road boundary, the assembly can jump to an activated state.

An active state: the component is normally activated, and can be divided into two sub-states of only steering intervention and steering brake intervention, the brake intervention is in a short pulse form reasonably appearing at the early stage of the component activation, and emergency steering intervention is implemented after a vehicle is subjected to certain speed reduction in a high-speed scene, so that the safety and the road holding capacity are improved.

An interruption state: the component activation action is interrupted due to the satisfaction of certain interruption conditions, the auxiliary function is exited and the vehicle is fully taken over by the driver. Including but not limited to loss of functional road boundary information, yaw rate overrun, etc.

And (4) completion state: the complete and effective component activation is finished once due to the satisfaction of certain completion conditions, the danger of rushing out the road boundary disappears, the auxiliary function is quitted, and the vehicle is completely taken over by the driver. Including but not limited to vehicles to stably travel into safe areas following a target trajectory, etc.

On the basis of the foregoing embodiment, in an embodiment of this specification, the splitting the target driving trajectory according to the acceleration change rate to obtain N segmented driving trajectories, where the acceleration change rate of two adjacent driving trajectories is zero includes:

In a specific implementation, the motion information may include: the predetermined limit threshold may include a predetermined lateral position limit threshold, a predetermined lateral velocity limit threshold, and a predetermined lateral acceleration limit threshold corresponding to the motion information. Illustratively, the target driving track can be split according to the lateral acceleration, and at least comprises a 5-segment form, and the jerk at the node of the adjacent segment driving track is designed to be 0 so as to ensure that each segment curve is smoothly excessive. And setting limit thresholds for the transverse speed, the transverse acceleration and the transverse jerk corresponding to all track points in the target running track, determining that the track exceeding the preset limit threshold is invalid, and iterating again by the system to obtain a more optimal track.

On the basis of the foregoing embodiment, in an embodiment of this specification, when the current vehicle reaches the end point of the current driving route, selecting a next segment of the segmented driving track of the current driving route as the current driving route includes:

In a specific implementation process, in order to ensure that the vehicle travels according to the current travel path, when the vehicle travels to the end point of the current travel path, whether the motion information of the current position is smaller than a preset limit threshold value or not may be determined, and only when the motion information corresponding to the target travel path is smaller than the preset limit threshold value, the next segment of the segmented travel path of the current travel path may be selected as the current travel path. Thereby ensuring accurate control of the vehicle.

On the other hand, fig. 4 is a schematic structural diagram of an emergency steering assist device facing a lane boundary according to an embodiment of the present invention, and as shown in fig. 4, the present invention provides an emergency steering assist device facing a lane boundary, including:

the target running track planning module 710 is configured to plan a target running track of the current vehicle in the lane according to the current position, the posture information, the motion information and the two side boundary lines of the lane when the time distance between the current position of the current vehicle and the one side boundary line of the lane is smaller than a preset time distance threshold;

a travel parameter determination module 720, configured to determine a travel parameter of the current vehicle according to the target travel track and the current position, where the travel parameter includes: rate of change of acceleration;

the splitting module 730 is configured to split the target driving track according to the acceleration change rate to obtain N segments of segmented driving tracks, wherein the acceleration change rate of two adjacent segments of driving tracks is zero;

a current driving path selecting module 740 configured to select a section closest to the current position from the N sections of segmented driving trajectories as a current driving path;

a calculation execution module 750 configured to execute calculating a distance and an angle between the current position of the current vehicle and the end point of the current driving path, and control the current vehicle to travel according to the current driving path according to the distance and the angle;

and the repeated execution module 760 is configured to select the next section of the segmented running track of the current running path as the current running path when the current vehicle reaches the end point of the current running path, and return to the current running path selection module, the calculation execution module and the repeated execution module until the current vehicle travels to the end point of the last section of the segmented running track.

It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.

On the other hand, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the present invention provides a lane boundary-oriented emergency steering assist device, which includes a processor and a memory, where the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the lane boundary-oriented emergency steering assist method as described above.

The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.

The embodiment of the present invention further provides a storage medium, where at least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the instruction set may be executed by a processor of an electronic device to implement the lane boundary-oriented emergency steering assist method described above.

Optionally, in an embodiment of the present invention, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, the electronic device and the storage medium embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The implementation principle and the generated technical effect of the testing method provided by the embodiment of the invention are the same as those of the system embodiment, and for the sake of brief description, the corresponding contents in the system embodiment can be referred to where the method embodiment is not mentioned.

In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the above claims.

Claims

1. An emergency steering assist method for a lane boundary, comprising:

2. The lane-boundary-oriented emergency steering assist method according to claim 1, wherein when a time distance between a current position of a current vehicle and a boundary line on one side of a lane where the current vehicle is located is less than a preset time distance threshold, a target driving trajectory of the current vehicle in the lane is planned according to the current position of the current vehicle, attitude information, motion information and boundary lines on two sides of the lane where the current vehicle is located, and the method comprises the following steps:

3. The lane boundary-oriented emergency steering assist method according to claim 2, characterized by further comprising:

4. The lane-boundary-oriented emergency steering assist method according to claim 1, wherein the traveling parameter includes: a speed of travel;

5. The method of claim 1, wherein the determining of the travel parameters of the current vehicle according to the target driving track and the current position comprises:

6. The lane boundary-oriented emergency steering assist method according to claim 1, wherein the splitting the target driving trajectory according to the acceleration change rate to obtain N segmented driving trajectories, and the acceleration change rate of two adjacent driving trajectories is zero, and the method comprises:

7. The lane boundary-oriented emergency steering assist method according to claim 1, wherein when the current vehicle reaches the end point of the current driving path, selecting a next segment of the segmented driving track of the current driving path as the current driving path comprises:

8. An emergency steering assist device that faces a lane boundary, comprising:

9. An apparatus for lane-boundary oriented emergency steering assist, comprising a processor and a memory, wherein the memory has stored therein at least one instruction or at least one program, which is loaded and executed by the processor to implement the lane-boundary oriented emergency steering assist method according to any one of claims 1-7.

10. A vehicle, characterized in that the vehicle comprises a lane-boundary-facing emergency steering assist apparatus comprising a lane-boundary-facing emergency steering assist device according to claim 8.