CN113753067B - Lane departure intervention control method and device - Google Patents
Lane departure intervention control method and device Download PDFInfo
- Publication number
- CN113753067B CN113753067B CN202111177921.1A CN202111177921A CN113753067B CN 113753067 B CN113753067 B CN 113753067B CN 202111177921 A CN202111177921 A CN 202111177921A CN 113753067 B CN113753067 B CN 113753067B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- intervention
- lane
- lane departure
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 208000003443 Unconsciousness Diseases 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The application discloses a lane departure intervention control method and device, wherein the method comprises the following steps: acquiring the actual speed of the vehicle when the vehicle deviates from the current lane; if the actual vehicle speed is greater than or equal to the first preset vehicle speed and the vehicle deviates to the intervention position, after the actual vehicle speed is reduced to the second preset vehicle speed according to the preset deceleration strategy, the steering wheel of the vehicle is controlled to execute the lane departure intervention action, otherwise, the lane departure intervention action is directly executed, so that the vehicle returns to the current lane. According to the method and the device for controlling the vehicle, when the vehicle is detected to deviate from the current lane, the vehicle is subjected to layered intervention according to the actual speed and the deviation position of the vehicle, driving experience is not influenced, meanwhile, accuracy and reliability of control and safety of the vehicle are guaranteed, and therefore the problems that an alarm mode of a related technology is too simple, accuracy is low, the vehicle is in high-speed running, the direction is corrected through intervention of a driver after the alarm is noticed, accidents cannot be effectively avoided, reliability is low and the like are solved.
Description
Technical Field
The application relates to the technical field of intelligent control of vehicles, in particular to a lane departure intervention control method and device.
Background
In the course of driving a vehicle, if the driver is not focused on or is tired, the vehicle is likely to deviate from the driving lane, and therefore, when lane departure occurs under non-driver control, it is necessary to prompt the driver.
In the related art, when the lane departure of the vehicle is detected, a driver is directly reminded of manual intervention in an audible and visual alarm mode.
However, the alarm mode of the related art is too simple, the accuracy is low, and the direction is modified by intervention of a driver after the alarm is sounded in high-speed running of the vehicle, so that accidents cannot be effectively avoided, the reliability is low, and the problem needs to be solved.
Disclosure of Invention
The application provides a lane departure intervention control method and device, which are used for solving the problems that an alarm mode of a related technology is too simple, the accuracy is low, a vehicle runs at a high speed, the direction is modified by intervention of a driver after an alarm is sounded, accidents cannot be effectively avoided, the reliability is low and the like.
An embodiment of a first aspect of the present application provides a lane departure intervention control method, including the steps of: detecting whether the vehicle deviates from the current lane; acquiring an actual speed of the vehicle when the vehicle is detected to deviate from the current lane; and if the actual vehicle speed is greater than or equal to a first preset vehicle speed and the vehicle deviates to an intervention position, after the actual vehicle speed is reduced to a second preset vehicle speed according to a preset deceleration strategy, controlling a steering wheel of the vehicle to execute a lane departure intervention action, otherwise, directly executing the lane departure intervention action to enable the vehicle to return to the current lane.
Optionally, in one embodiment of the present application, before the vehicle deviates to the intervention position, further comprising: detecting whether the vehicle deviates to an early warning position; when the vehicle is detected to deviate to the early warning position, the steering wheel is controlled to vibrate at a preset frequency, and acoustic and/or optical early warning reminding is sent out.
Optionally, in one embodiment of the present application, the detecting whether the vehicle deviates from the current lane includes: when the actual vehicle speed is greater than a third preset vehicle speed, controlling the vehicle to enter a lane departure intervention mode, and calculating the distance between the inner line of the lane line and the outer side of the front wheel of the vehicle; and when the distance is smaller than a preset threshold value, determining that the current lane is deviated.
Optionally, in one embodiment of the present application, before performing the lane departure intervention action, the method further comprises: judging whether the vehicle receives a corresponding side turn signal, a dangerous alarm lamp starting signal, a vehicle door switching signal and/or a brake pedal signal; and if any one of the corresponding side steering lamp starting signal, the dangerous alarm lamp starting signal, the vehicle door opening and closing signal and/or the brake pedal signal is received, exiting the lane departure intervention mode.
Optionally, in one embodiment of the present application, before detecting whether the vehicle deviates from the current lane, further includes: identifying the two side identification lines of the current lane; and determining the intervention position and the early warning position based on the two side mark lines.
An embodiment of a second aspect of the present application provides a lane departure intervention control apparatus including: the first detection module is used for detecting whether the vehicle deviates from the current lane; the acquisition module is used for acquiring the actual speed of the vehicle when the vehicle is detected to deviate from the current lane; and the first control module is used for controlling the steering wheel of the vehicle to execute lane departure intervention action after the actual vehicle speed is reduced to a second preset vehicle speed according to a preset deceleration strategy if the actual vehicle speed is greater than or equal to a first preset vehicle speed and the vehicle deviates to an intervention position, otherwise, directly executing the lane departure intervention action to enable the vehicle to return to the current lane.
Optionally, in one embodiment of the present application, further includes: the second detection module is used for detecting whether the vehicle deviates to the early warning position before the vehicle deviates to the intervention position; and the second control module is used for controlling the steering wheel to vibrate at a preset frequency and sending out acoustic and/or optical early warning reminding when detecting that the vehicle deviates to the early warning position.
Optionally, in one embodiment of the present application, the first detection module includes: a calculating unit for controlling the vehicle to enter a lane departure intervention mode when the actual vehicle speed is greater than a third preset vehicle speed, and calculating the distance between the inner line of the lane line and the outer side of the front wheel of the vehicle; and the judging unit is used for judging that the current lane is deviated when the distance is smaller than a preset threshold value.
An embodiment of a third aspect of the present application provides a vehicle, including: the lane departure intervention control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the lane departure intervention control method according to the embodiment.
An embodiment of the fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the lane departure intervention control method as described in the above embodiment.
When the vehicle is detected to deviate from the current lane, the vehicle is subjected to layered intervention according to the actual speed and the deviation position of the vehicle, the driving experience is not influenced, the control accuracy and reliability are ensured, and the safety of the vehicle is effectively ensured. Therefore, the technical problems that the alarm mode of the related technology is too simple, the accuracy is low, the direction is modified by intervention of a driver after the alarm is sounded in high-speed running of the vehicle, accidents can not be effectively avoided, the reliability is low and the like are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a lane departure intervention control method provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic illustration of an intervention location and lane lines provided in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of a lane departure intervention control architecture provided in accordance with an embodiment of the present application;
FIG. 4 is a logic diagram of a lane departure intervention control method provided in accordance with an embodiment of the present application;
FIG. 5 is an example diagram of a lane departure intervention control arrangement in accordance with an embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Reference numerals illustrate: the device comprises a first detection module-100, an acquisition module-200, a first control module-300, a memory-601, a processor-602 and a communication interface-603.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The lane departure intervention control method and apparatus of the embodiment of the present application are described below with reference to the accompanying drawings. The method is characterized in that when the vehicle is detected to deviate from the current lane, the vehicle is subjected to layered intervention according to the actual speed and the deviation position of the vehicle, the driving experience is not influenced, and meanwhile, the control accuracy and the reliability are ensured to be higher, and the safety of the vehicle is effectively ensured. Therefore, the problems that an alarm mode of the related technology is too simple, the accuracy is low, the direction is modified by intervention of a driver after the alarm is sounded in high-speed running of a vehicle, accidents cannot be effectively avoided, the reliability is low and the like are solved.
Specifically, fig. 1 is a flowchart of a lane departure intervention control method according to an embodiment of the present application.
As shown in fig. 1, the lane departure intervention control method includes the steps of:
in step S101, it is detected whether the vehicle deviates from the current lane.
For intervention when the vehicle deviates from the current lane, it is first detected whether the current driving track of the vehicle deviates from the current lane. According to the embodiment of the application, the vehicle radar system can be used for positioning the position of the vehicle, and whether the vehicle deviates from the current lane or not can be judged according to the positioning and the map of the driving road. Or the camera is arranged on the vehicle, the road image is collected, and whether the vehicle deviates from the current lane or not is judged through lane line information in the image, and the vehicle is not particularly limited.
Optionally, in one embodiment of the present application, detecting whether the vehicle deviates from the current lane includes: when the actual vehicle speed is greater than a third preset vehicle speed, controlling the vehicle to enter a lane departure intervention mode, and calculating the distance between the inner line of the lane line and the outer side of the front wheels of the vehicle; and when the distance is smaller than a preset threshold value, determining that the current lane is deviated.
It will be appreciated that when the vehicle speed is low, the correction is performed in a short time after the vehicle deviates from the current lane, so that the occurrence of an accident can be avoided. But when the vehicle is traveling at high speed, once it deviates from the current lane, serious consequences can occur. Therefore, when the running speed of the vehicle is greater than a certain value, the embodiment of the application controls the vehicle to enter a lane departure intervention mode so as to intervene in the vehicle when the lane departure occurs.
As a specific embodiment, the embodiment of the present application determines whether the vehicle deviates from the current lane according to the distance between the inner line of the lane line and the outer side of the front wheel of the vehicle.
For example, a front wheel of the vehicle and a road image are acquired by a camera provided on the vehicle, lane line features are extracted by the road image, a distance between an inner line of the lane line and an outer side of the front wheel of the vehicle is calculated, and when the distance is smaller than a certain value, it can be determined that the vehicle deviates from the current lane.
In step S102, when it is detected that the vehicle deviates from the current lane, the actual vehicle speed of the vehicle is acquired.
By the method, the vehicle is detected to deviate from the current lane, early warning or intervention is needed, but when the vehicle speed is too fast, the vehicle is directly interfered with the vehicle to easily cause danger, so that the actual speed of the vehicle is detected, and the intervention mode is determined according to the actual speed.
As a possible implementation manner, the actual vehicle speed may be obtained directly through the speed displayed on the in-vehicle display screen, or the actual vehicle speed may be obtained through the rotation speed of the driving motor or the like, without being particularly limited.
In step S103, if the actual vehicle speed is greater than or equal to the first preset vehicle speed and the vehicle deviates to the intervention position, after the actual vehicle speed is reduced to the second preset vehicle speed according to the preset deceleration strategy, the steering wheel of the vehicle is controlled to execute the lane departure intervention action, otherwise, the lane departure intervention action is directly executed, so that the vehicle returns to the current lane.
During the running of the vehicle, the driver may deviate from the lane to run due to the technical problem of driving, and if the driver does not deviate to the position where the driver needs to intervene, the embodiment of the application may not intervene.
In the embodiment of the application, the vehicle reaches the position needing to be intervened, the current actual vehicle speed of the vehicle is obtained through the steps, and when the vehicle speed is greater than a certain speed, the vehicle is directly intervened to possibly cause danger. If the actual speed of the vehicle is not greater than a certain speed, the vehicle can be directly interfered, so that the vehicle returns to the current lane.
Optionally, in one embodiment of the present application, before performing the lane departure intervention action, the method further comprises: judging whether the vehicle receives a corresponding side steering lamp starting signal, a dangerous alarm lamp starting signal, a vehicle door opening and closing signal and/or a brake pedal signal; and if any one of a corresponding side turn signal, a dangerous alarm signal, a vehicle door switch signal and/or a brake pedal signal is received, exiting the lane departure intervention mode.
It will be appreciated that if there is an obstacle in front of the vehicle or the vehicle is faulty or the vehicle is changing lanes during the running process of the vehicle, the vehicle may deviate from the current lane, and at this time, the mode of the embodiment of the present application still detects that the vehicle deviates from the current lane, in order to avoid misoperation of the vehicle, a preset time, for example, 3 seconds, is set, and before the vehicle is interfered, whether a control signal for controlling the lane change of the vehicle exists in 3 seconds is detected, for example, whether the vehicle receives a corresponding side steering lamp on signal, a hazard warning lamp on signal, a door switch signal, a brake pedal signal, or the like is detected, and if the signal is detected in 3 seconds, the embodiment of the present application may identify that the vehicle is operating at this time, and exit from the lane departure interference mode without the intervention of the vehicle. If none of the above signals is received within 3 seconds, the vehicle is tampered with.
The preset time may be set according to actual situations, for example, when the vehicle speed is greater than a certain value, the preset time is reduced, and when the vehicle speed is less than a certain value, the preset time is increased, which is not limited.
Optionally, in one embodiment of the present application, before the vehicle deviates to the intervention position, further comprising: detecting whether the vehicle deviates to an early warning position; when the deviation of the vehicle to the early warning position is detected, the steering wheel is controlled to vibrate at a preset frequency, and acoustic and/or optical early warning reminding is sent out.
In the embodiment of the application, before the vehicle reaches the intervention position, the vehicle passes through the early warning position, and when the vehicle reaches the early warning position, the vehicle is controlled to early warn the driver, so that the driver can timely find that the vehicle deviates from the current lane, and the vehicle is controlled to return to the current lane.
As a possible implementation manner, the embodiment of the application can control the steering wheel to vibrate at a certain frequency, and simultaneously, sound and light signal alarm is carried out, and if a vehicle deviates from a lane due to fatigue of a driver, the reminding manner can effectively remind the driver. The acoustic and optical early warning reminding can be a vehicle indicator lamp or sound and the like to send out sound and light so as to remind a driver, and the method is not particularly limited.
It will be appreciated that the preset frequency of the steering wheel vibration may be adjusted according to practical situations, for example, the vibration frequency is set according to the deviation distance, and the larger the deviation distance is, the higher the vibration frequency is, without specific limitation.
Optionally, in one embodiment of the present application, before detecting whether the vehicle deviates from the current lane, the method further includes: identifying the two side identification lines of the current lane; and determining an intervention position and an early warning position based on the two side mark lines.
Through the intervention position and the early warning position of the embodiment, different intervention modes can be performed, such as controlling the vehicle to slow down or sending out a prompt and the like. As shown in fig. 2, as a possible implementation manner, the embodiment of the present application determines the intervention position and the early warning position through the two side identification lines of the current lane. For example, road images are acquired through a camera to obtain lane line characteristics, and intervention positions and early warning positions are set according to lane widths and vehicle widths. Those skilled in the art can set the configuration according to the actual situation, and are not particularly limited.
The lane departure intervention control method of the present application is described below with reference to the drawings and the specific embodiments.
As shown in fig. 3, the lane departure intervention system receives four-door switching signals, turn signal light signals and danger alarm light signals of a vehicle body controller on a CAN network; vehicle speed, gear, accelerator pedal and brake pedal signals on the whole vehicle controller; the front camera system detects lane line information and the like, after logic judgment and analysis, the vehicle is judged to be in an unconscious lane departure state, the lane departure early warning system is started to trigger the steering wheel to vibrate and sound warning, the lane departure intervention system is started after a certain time, the departure intervention function of the lane departure intervention system is started, and an instruction is sent to control the electronic power steering system to intervene in the running steering of the vehicle, so that the vehicle returns to the center of the original lane line to run.
When the vehicle runs on a road with clear lane lines, the lane departure intervention system can monitor the mark lines on two sides of the lane in real time, has the function of actively intervening in lane steering when the vehicle deviates, and simultaneously the combination instrument sends out text, animation and sound reminding and gives out danger early warning to a driver.
When the vehicle is in a ready state and the gear is in a D gear, the front camera system can identify a lane line, when the speed of the vehicle is above 60km/h, the lane departure intervention system starts to work, the distance between the inner side line of the lane line and the outer side of the front wheel is continuously identified, when the lane departure warning system reaches the warning line, the lane departure warning function is started, the lane departure warning system controller sends out a command to control the electronic steering power-assisted control steering wheel to send out vibration, and meanwhile, the combination instrument sends out an alarm prompt tone. After a period of time, the lane departure intervention system does not detect a corresponding side turn signal, a dangerous alarm lamp starting signal and a vehicle door opening and closing signal sent by the vehicle body controller; and a brake pedal signal and the like sent by the whole vehicle controller determine that the vehicle is in an unconscious deviation state, the lane departure intervention system intervenes, the lane departure intervention system controller sends a command to control the electronic steering power to control the steering of the steering wheel, and meanwhile, the vehicle body controller is controlled to turn on a dangerous alarm lamp until the vehicle returns to the center of a road, and at the moment, the lane departure intervention system exits and does not intervene. In addition, when the vehicle is in a high-speed state, the electronic power-assisted braking system is controlled to slow down the vehicle so that the vehicle is in a controllable speed range due to short operable time, and then intervention is performed.
As shown in fig. 4, a logic flow of a lane departure intervention control method according to an embodiment of the present application is shown, first, when a lane departure intervention system is started, the system self-checks; when the system is determined to be started, the lane departure intervention system receives a vehicle speed signal sent by the whole vehicle controller, and when the vehicle speed of the vehicle is greater than a preset vehicle speed (60 km/h), the front camera system starts to monitor the road surface information in real time.
When the trend of the vehicle deviating from the lane is monitored, and the front wheel of the vehicle reaches the warning line of the lane departure warning system, the lane departure warning system starts to work when the turn-on signal of the steering lamp, the dangerous warning lamp signal and the vehicle door opening signal sent by the vehicle body controller are not detected by the lane departure intervention system controller, and the lane departure warning system control module sends out an instruction to control the electronic steering power to enable the steering wheel to vibrate and control the combination instrument to send out sound warning.
If the driver does not have operation feedback after the early warning is continued for a period of time, the vehicle is judged to be in an unintentional deviation state, and when the vehicle is pressed to the lane line to reach the intervention line of the lane departure intervention system, the lane departure intervention system intervenes. At the moment, the lane departure intervention system controller sends out a command to control the electronic steering power to control the steering wheel to steer, and the deviation rectifying operation is executed.
When the vehicle speed is relatively low, directly controlling the steering wheel to turn and intervening in the running direction; when the vehicle speed is higher, the lane departure intervention system sends out instructions to control the electronic power-assisted braking system to reduce the vehicle speed to a controllable range firstly due to short operability time, and then deviation correction is executed.
After the correction is completed, the vehicle returns to the original lane to run, and the intervention is completed.
In the above embodiment, the lane departure intervention system determines whether the vehicle unintentionally deviates from the lane according to the lane departure status information and the self-vehicle driving information sent by the high-definition camera, and if the vehicle deviates, the lane departure intervention system intervenes in driving steering by controlling the electronic steering assistance and the electronic power-assisted braking system control, and corrects the driving steering to the center of the road. The automobile driving system has the advantages that better driving experience and higher safety can be provided, meanwhile, the automobile speed is reduced at a high speed, more time can be provided for interference correction, and the safety risk caused by the fact that the operability time is short and the driver is insufficient to interfere with lane departure in the high-speed running state of the automobile is avoided.
According to the lane departure intervention control method provided by the embodiment of the application, when the vehicle is detected to deviate from the current lane, the vehicle is subjected to layered intervention according to the actual speed and the departure position of the vehicle, the driving experience is not influenced, the control accuracy and reliability are ensured, and the safety of the vehicle is effectively ensured. Therefore, the technical problems that the alarm mode of the related technology is too simple, the accuracy is low, the direction is modified by intervention of a driver after the alarm is sounded in high-speed running of the vehicle, accidents can not be effectively avoided, the reliability is low and the like are solved.
Next, a lane departure intervention control apparatus according to an embodiment of the present application is described with reference to the accompanying drawings.
Fig. 5 is a block schematic diagram of a lane departure intervention control apparatus of an embodiment of the present application.
As shown in fig. 5, the lane departure intervention control apparatus 10 includes: the device comprises a first detection module 100, an acquisition module 200 and a first control module 300.
Wherein, the first detection module 100 is configured to detect whether the vehicle deviates from the current lane. The acquiring module 200 is configured to acquire an actual vehicle speed of the vehicle when the vehicle is detected to deviate from the current lane. The first control module 300 is configured to control a steering wheel of the vehicle to perform a lane departure intervention action after the actual vehicle speed is reduced to a second preset vehicle speed according to a preset deceleration strategy if the actual vehicle speed is greater than or equal to a first preset vehicle speed and the vehicle deviates to an intervention position, and otherwise, directly perform the lane departure intervention action so that the vehicle returns to a current lane.
Optionally, in one embodiment of the present application, the lane departure intervention control apparatus 10 further includes: the second detection module is used for detecting whether the vehicle deviates to the early warning position before the vehicle deviates to the intervention position; and the second control module is used for controlling the steering wheel to vibrate at a preset frequency and sending out acoustic and/or optical early warning reminding when detecting that the vehicle deviates to the early warning position.
Optionally, in one embodiment of the present application, the first detection module 100 includes: the calculating unit is used for controlling the vehicle to enter a lane departure intervention mode when the actual vehicle speed is greater than a third preset vehicle speed, and calculating the distance between the inner line of the lane line and the outer side of the front wheel of the vehicle; and the judging unit is used for judging that the current lane is deviated when the distance is smaller than a preset threshold value.
Optionally, in one embodiment of the present application, before performing the lane departure intervention action, the lane departure intervention control apparatus 10 further comprises: the second detection module is used for judging whether the vehicle receives a corresponding side steering lamp starting signal, a dangerous alarm lamp starting signal, a vehicle door opening and closing signal and/or a brake pedal signal or not; and the exit module is used for exiting the lane departure intervention mode when any one of a corresponding side turn signal, a dangerous alarm signal, a vehicle door switch signal and/or a brake pedal signal is received.
Optionally, in one embodiment of the present application, the lane departure intervention control apparatus 10 further includes: the identifying module is used for identifying the two side identification lines of the current lane before detecting whether the vehicle deviates from the current lane; and the determining module is used for determining the intervention position and the early warning position based on the two side mark lines.
It should be noted that the foregoing explanation of the embodiment of the lane departure intervention control method is also applicable to the lane departure intervention control apparatus of this embodiment, and will not be repeated here.
According to the lane departure intervention control device provided by the embodiment of the application, when the vehicle is detected to deviate from the current lane, the vehicle is subjected to layered intervention according to the actual speed and the departure position of the vehicle, the driving experience is not influenced, the control accuracy and reliability are ensured, and the safety of the vehicle is effectively ensured. Therefore, the technical problems that the alarm mode of the related technology is too simple, the accuracy is low, the direction is modified by intervention of a driver after the alarm is sounded in high-speed running of the vehicle, accidents can not be effectively avoided, the reliability is low and the like are solved.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The electronic device may include:
a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.
The processor 602 implements the lane departure intervention control method provided in the above embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 603 for communication between the memory 601 and the processor 602.
A memory 601 for storing a computer program executable on the processor 602.
The memory 601 may comprise a high-speed RAM memory or may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may perform communication with each other through internal interfaces.
The processor 602 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the lane departure intervention control method as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Claims (4)
1. A lane departure intervention control method characterized by comprising the steps of:
detecting whether the vehicle deviates from the current lane;
acquiring an actual speed of the vehicle when the vehicle is detected to deviate from the current lane; and
if the actual vehicle speed is greater than or equal to a first preset vehicle speed and the vehicle deviates to an intervention position, after the actual vehicle speed is reduced to a second preset vehicle speed according to a preset deceleration strategy, controlling a steering wheel of the vehicle to execute a lane departure intervention action, otherwise, directly executing the lane departure intervention action to enable the vehicle to return to the current lane;
before the vehicle deviates to the intervention position, further comprising: detecting whether the vehicle deviates to an early warning position; when the vehicle is detected to deviate to the early warning position, the steering wheel is controlled to vibrate at a preset frequency, and acoustic and/or optical early warning reminding is sent out;
the detecting whether the vehicle deviates from the current lane includes: when the actual vehicle speed is greater than a third preset vehicle speed, controlling the vehicle to enter a lane departure intervention mode, and calculating the distance between the inner line of the lane line and the outer side of the front wheel of the vehicle; when the distance is smaller than a preset threshold value, determining that the current lane is deviated;
before performing the lane departure intervention action, further comprising: judging whether the vehicle receives a corresponding side turn signal, a dangerous alarm lamp starting signal, a vehicle door switching signal and/or a brake pedal signal;
if any one signal of the corresponding side turn signal, the dangerous alarm signal, the vehicle door switch signal and/or the brake pedal signal is received, exiting the lane departure intervention mode;
before detecting whether the vehicle deviates from the current lane, further comprising: identifying the two side identification lines of the current lane; and determining the intervention position and the early warning position based on the two side mark lines.
2. A lane departure intervention control apparatus characterized by comprising:
the first detection module is used for detecting whether the vehicle deviates from the current lane;
the acquisition module is used for acquiring the actual speed of the vehicle when the vehicle is detected to deviate from the current lane; and
the first control module is used for controlling a steering wheel of the vehicle to execute lane departure intervention action after the actual vehicle speed is reduced to a second preset vehicle speed according to a preset deceleration strategy if the actual vehicle speed is greater than or equal to a first preset vehicle speed and the vehicle deviates to an intervention position, otherwise, directly executing the lane departure intervention action to enable the vehicle to return to the current lane;
the second detection module is used for detecting whether the vehicle deviates to the early warning position before the vehicle deviates to the intervention position;
the second control module is used for controlling the steering wheel to vibrate at a preset frequency and sending out acoustic and/or optical early warning reminding when detecting that the vehicle deviates to the early warning position;
the first detection module includes: a calculating unit for controlling the vehicle to enter a lane departure intervention mode when the actual vehicle speed is greater than a third preset vehicle speed, and calculating the distance between the inner line of the lane line and the outer side of the front wheel of the vehicle; the judging unit is used for judging that the current lane is deviated when the distance is smaller than a preset threshold value;
the second detection module is used for judging whether the vehicle receives a corresponding side steering lamp starting signal, a dangerous alarm lamp starting signal, a vehicle door opening and closing signal and/or a brake pedal signal before the lane departure intervention action is executed; the exit module is used for exiting the lane departure intervention mode when any one of the corresponding side turn lamp starting signal, the dangerous alarm lamp starting signal, the vehicle door opening and closing signal and/or the brake pedal signal is received;
the identifying module is used for identifying the two side identification lines of the current lane before detecting whether the vehicle deviates from the current lane; and determining the intervention position and the early warning position based on the two side mark lines.
3. A vehicle, characterized by comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the lane departure intervention control method as recited in claim 1.
4. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the lane departure intervention control method according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111177921.1A CN113753067B (en) | 2021-10-09 | 2021-10-09 | Lane departure intervention control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111177921.1A CN113753067B (en) | 2021-10-09 | 2021-10-09 | Lane departure intervention control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113753067A CN113753067A (en) | 2021-12-07 |
| CN113753067B true CN113753067B (en) | 2024-01-26 |
Family
ID=78799086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111177921.1A Active CN113753067B (en) | 2021-10-09 | 2021-10-09 | Lane departure intervention control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113753067B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379648B (en) * | 2022-01-18 | 2023-04-07 | 襄阳达安汽车检测中心有限公司 | Transverse assistant driving method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012221650A1 (en) * | 2012-11-27 | 2014-05-28 | Bayerische Motoren Werke Aktiengesellschaft | Lane departure warning system for motor vehicle, has warning which is activated basically at risk of unintentional lane departure and is suppressed in detection of intended lane change for predetermined time |
| CN106828308A (en) * | 2017-01-24 | 2017-06-13 | 桂林师范高等专科学校 | Lane departure warning device |
| CN108082285A (en) * | 2017-12-21 | 2018-05-29 | 奇瑞汽车股份有限公司 | The method and apparatus for controlling vehicle traveling |
| CN108583573A (en) * | 2018-03-30 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of lane departure prevention system |
| CN109080536A (en) * | 2018-08-28 | 2018-12-25 | 格陆博科技有限公司 | A kind of Lane Departure Warning System |
| CN111137284A (en) * | 2020-01-04 | 2020-05-12 | 长安大学 | Early warning method and early warning device based on driving distraction state |
-
2021
- 2021-10-09 CN CN202111177921.1A patent/CN113753067B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012221650A1 (en) * | 2012-11-27 | 2014-05-28 | Bayerische Motoren Werke Aktiengesellschaft | Lane departure warning system for motor vehicle, has warning which is activated basically at risk of unintentional lane departure and is suppressed in detection of intended lane change for predetermined time |
| CN106828308A (en) * | 2017-01-24 | 2017-06-13 | 桂林师范高等专科学校 | Lane departure warning device |
| CN108082285A (en) * | 2017-12-21 | 2018-05-29 | 奇瑞汽车股份有限公司 | The method and apparatus for controlling vehicle traveling |
| CN108583573A (en) * | 2018-03-30 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of lane departure prevention system |
| CN109080536A (en) * | 2018-08-28 | 2018-12-25 | 格陆博科技有限公司 | A kind of Lane Departure Warning System |
| CN111137284A (en) * | 2020-01-04 | 2020-05-12 | 长安大学 | Early warning method and early warning device based on driving distraction state |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113753067A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7375620B2 (en) | Speed-sensitive rear obstacle detection and avoidance system | |
| US9079571B2 (en) | Method for operating a brake assist device and brake assist device for a vehicle | |
| US9517719B2 (en) | Method and device for automatic direction indication | |
| US11396296B2 (en) | Control system of vehicle, control method of the same, and non-transitory computer-readable storage medium | |
| US11858527B2 (en) | Control system for vehicle and control method for vehicle | |
| US20100217483A1 (en) | Vehicular driving support apparatus | |
| US20230415735A1 (en) | Driving support apparatus, control method of vehicle, and non-transitory computer-readable storage medium | |
| CN109987090B (en) | Driving assistance system and method | |
| CN110239532B (en) | Vehicle lane change assisting method, device, terminal and storage medium | |
| CN110723140B (en) | Vehicle control method and device in lane changing process and computing equipment | |
| JPH11139335A (en) | Vehicular traveling support device | |
| JP3724177B2 (en) | In-vehicle intersection warning device | |
| CN114620075A (en) | Vehicle take-over control method and system for automatic driving vehicle and automatic driving vehicle | |
| CN113753067B (en) | Lane departure intervention control method and device | |
| CN113665584A (en) | Vehicle early warning method and device | |
| CN115366907A (en) | Driver state abnormity prompting method and device, vehicle and storage medium | |
| WO2020017179A1 (en) | Vehicle control device and vehicle control method | |
| CN113246978A (en) | Vehicle rearview mirror blind area detection method and detection device | |
| CN114228716A (en) | Driving auxiliary lane changing method and system, readable storage medium and vehicle | |
| JP2010182148A (en) | Travelling condition recording device | |
| JP2005162189A (en) | Driving assist measure determination method and driving assist device | |
| US20230001946A1 (en) | Driving assistance apparatus | |
| CN115402309A (en) | Vehicle deviation control method, device, vehicle and storage medium | |
| CN115123207A (en) | Driving assistance device and vehicle | |
| US11383716B2 (en) | Vehicle control apparatus, vehicle, operating method of vehicle control apparatus, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |