CN114379648B - Transverse assistant driving method and device - Google Patents
Transverse assistant driving method and device Download PDFInfo
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- CN114379648B CN114379648B CN202210055737.8A CN202210055737A CN114379648B CN 114379648 B CN114379648 B CN 114379648B CN 202210055737 A CN202210055737 A CN 202210055737A CN 114379648 B CN114379648 B CN 114379648B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application relates to a transverse assistant driving method and a device, which relate to the technical field of automobiles, and the method comprises the following steps: identifying whether an unconscious lane departure situation occurs in the target vehicle; when the target vehicle has an unconscious lane departure situation and the real-time speed of the target vehicle is greater than a first vehicle speed threshold value, giving an alarm on lane departure; and when the target vehicle has an unconscious lane departure condition and the real-time vehicle speed of the target vehicle is not greater than the first vehicle speed threshold value, giving a lane departure alarm and controlling the target vehicle to carry out vehicle correction. When the vehicle has the unconscious lane departure situation, the corresponding vehicle auxiliary control operation is carried out by combining different current vehicle conditions, the vehicle correction or lane departure warning is carried out in time, and the vehicle driving safety of a driver is guaranteed to a certain extent.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a transverse assistant driving method and device.
Background
In the technical field of automobiles at present, a driver can be in a fatigue driving state after driving for a long time, and the lane departure condition is very easy to occur under the unconscious condition of the driver, so that traffic accidents occur, and even serious casualties can be caused when the driver drives on a highway.
Therefore, there is a need to assist the driver in driving when an unintentional lane departure situation occurs in the vehicle, so as to avoid an accident. However, the existing transverse driving assistance technology has a single function, cannot cope with complex vehicle driving conditions, and cannot meet various driving assistance requirements of drivers.
A novel transverse driving assistance technology is provided, the modes are various, and different driving assistance requirements can be met.
Disclosure of Invention
The application provides a transverse driving assisting method and device, when an unconscious lane departure situation occurs to a vehicle, corresponding vehicle assisting control operation is carried out by combining different current vehicle conditions, vehicle correction or lane departure warning is carried out in time, and the vehicle driving safety of a driver is guaranteed to a certain extent.
In a first aspect, the present application provides a lateral assist driving method, comprising the steps of:
identifying whether an unconscious lane departure situation occurs in the target vehicle;
when the target vehicle has the unconscious lane departure situation and the real-time speed of the target vehicle is greater than a first vehicle speed threshold value, giving a lane departure alarm;
when the target vehicle has the unconscious lane departure situation and the real-time speed of the target vehicle is not greater than a first vehicle speed threshold value, giving a lane departure alarm and controlling the target vehicle to carry out vehicle correction;
the control of the target vehicle for vehicle centering includes the steps of:
acquiring the real-time speed and the real-time driving direction of the target vehicle;
calculating and obtaining a real-time transverse distance between the target vehicle and the current road center line after the first pre-aiming time and a real-time track included angle between the target vehicle and the current road center line based on the real-time vehicle speed and the real-time driving direction and in combination with a preset first pre-aiming time;
calculating to obtain a steering wheel control target angle based on the real-time transverse distance and the real-time track included angle;
and controlling the target vehicle to perform vehicle alignment based on the steering wheel control target angle.
Specifically, the method for recognizing whether the target vehicle has an unintentional lane departure situation includes the following steps:
identifying an operating state of a turn signal of the target vehicle;
monitoring a first moment average value and a first moment maximum value of a steering wheel steering moment of the target vehicle;
when the steering lamp is in an on state or the torque mean value or the torque maximum value is larger than a first torque threshold value, judging that the target vehicle does not have an unconscious lane departure condition;
and when the target vehicle has a lane departure situation, the steering lamp is in a closed state, and the mean moment value and the maximum moment value are not larger than a first moment threshold value, judging that the target vehicle has an unconscious lane departure situation.
Further, the method further comprises an anti-deviation control process, wherein the anti-deviation control process comprises the following steps:
identifying the current road center line of the target vehicle according to a preset period;
and controlling the target vehicle to run along the current road center line.
Further, the method further comprises a steering monitoring process, wherein the steering monitoring process comprises the following steps:
when the steering machine of the target vehicle controls the target vehicle to carry out vehicle turning based on the steering machine target steering angle corresponding to the steering wheel control target angle, identifying the actual steering angle of the steering machine;
and comparing the target steering angle of the steering engine with the actual steering angle of the steering engine, and judging whether the steering engine breaks down.
In a second aspect, the present application provides a lateral driving assist apparatus, the apparatus comprising:
the vehicle monitoring module is used for identifying whether an unconscious lane departure situation occurs in the target vehicle;
the deviation warning module is used for giving a lane deviation warning when the target vehicle has the unconscious lane deviation condition;
the vehicle aligning module is used for controlling the target vehicle to perform vehicle aligning when the target vehicle has the unconscious lane departure situation and the real-time vehicle speed of the target vehicle is not greater than a first vehicle speed threshold value;
the vehicle aligning module is also used for acquiring the real-time speed and the real-time running direction of the target vehicle;
the vehicle aligning module is further used for calculating and obtaining a real-time transverse distance between the target vehicle and the current road center line after the first pre-aiming time and a real-time track included angle between the target vehicle and the current road center line based on the real-time vehicle speed and the real-time driving direction and in combination with a preset first pre-aiming time;
the vehicle aligning module is also used for calculating and obtaining a steering wheel control target angle based on the real-time transverse distance and the real-time track included angle;
the vehicle aligning module is also used for controlling the target vehicle to perform vehicle aligning based on the steering wheel control target angle.
Further, the vehicle monitoring module is also used for identifying the working state of a steering lamp of the target vehicle;
the vehicle monitoring module is further used for monitoring a first moment average value and a first moment maximum value of the steering wheel steering moment of the target vehicle;
the vehicle monitoring module is further used for judging that the target vehicle does not have an unconscious lane departure condition when the steering lamp is in an on state or the moment average value or the moment maximum value is greater than a first moment threshold value;
the vehicle monitoring module is further used for judging that the target vehicle has an unconscious lane departure situation when the target vehicle has a lane departure situation, the steering lamp is in a closed state, and the mean moment value and the maximum moment value are not larger than a first moment threshold value.
Further, the apparatus further comprises:
and the deviation prevention control module is used for identifying the current road center line of the target vehicle according to a preset period and controlling the target vehicle to run along the current road center line.
Further, the apparatus further comprises:
the steering monitoring module is used for identifying the actual steering angle of the steering machine when the steering machine of the target vehicle controls the target vehicle to carry out vehicle turning based on the target steering angle of the steering machine corresponding to the target steering wheel control angle;
the steering monitoring module is further used for comparing the target steering angle of the steering engine with the actual steering angle of the steering engine and judging whether the steering engine breaks down or not.
The beneficial effect that technical scheme that this application provided brought includes:
when the vehicle has the unconscious lane departure situation, the corresponding vehicle auxiliary control operation is carried out by combining different current vehicle conditions, the vehicle correction or lane departure warning is carried out in time, and the vehicle driving safety of a driver is guaranteed to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart illustrating steps of a lateral assist driving method provided in an embodiment of the present application;
FIG. 2 is a functional schematic diagram of a lateral assist driving method provided in an embodiment of the present application;
FIG. 3 is a functional schematic diagram of a lateral assist driving method provided in an embodiment of the present application;
fig. 4 is a schematic diagram of a lane departure suppression correspondence of the lateral assist driving method provided in the embodiment of the present application;
fig. 5 is a functional framework structure diagram of a lateral assistant driving method provided in the embodiment of the present application;
FIG. 6 is a graph of steering wheel rotation angle for a lateral assist driving method provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a lateral assist driving method provided in an embodiment of the present application;
fig. 8 is a block diagram showing the structure of the lateral driving assist apparatus provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a transverse assistant driving method and device, when an unconscious lane departure situation occurs to a vehicle, corresponding vehicle assistant control operation is carried out by combining different current vehicle conditions, vehicle correction or lane departure warning is carried out in time, and the vehicle driving safety of a driver is guaranteed to a certain extent.
In order to achieve the technical effects, the general idea of the application is as follows:
a method of lateral assist driving, the method comprising the steps of:
s1, identifying whether an unconscious lane departure situation occurs in a target vehicle;
s2, when the target vehicle has an unconscious lane departure situation and the real-time speed of the target vehicle is greater than a first vehicle speed threshold value, giving a lane departure alarm;
and S3, when the target vehicle has an unconscious lane departure situation and the real-time speed of the target vehicle is not greater than the first vehicle speed threshold value, giving a lane departure alarm and controlling the target vehicle to carry out vehicle correction.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
In a first aspect, referring to fig. 1 to 7, an embodiment of the present application provides a lateral assistant driving method, including the following steps:
s1, identifying whether an unconscious lane departure situation occurs in a target vehicle;
s2, when the target vehicle has an unconscious lane departure situation and the real-time speed of the target vehicle is greater than a first vehicle speed threshold value, giving a lane departure alarm;
and S3, when the target vehicle has an unconscious lane departure situation and the real-time speed of the target vehicle is not greater than the first vehicle speed threshold value, giving a lane departure alarm and controlling the target vehicle to carry out vehicle correction.
In the embodiment of the application, when the vehicle has an unconscious lane departure situation, the corresponding vehicle auxiliary control operation is carried out by combining different current vehicle conditions, the vehicle correction or lane departure alarm is carried out in time, and the vehicle driving safety of a driver is ensured to a certain extent.
Specifically, the control of the target vehicle to perform vehicle centering includes the steps of:
acquiring the real-time speed and the real-time driving direction of the target vehicle;
calculating and obtaining a real-time transverse distance between the target vehicle and the current road center line after the first pre-aiming time and a real-time track included angle between the target vehicle and the current road center line based on the real-time vehicle speed and the real-time driving direction and in combination with a preset first pre-aiming time;
calculating to obtain a steering wheel control target angle based on the real-time transverse distance and the real-time track included angle;
and controlling the target vehicle to perform vehicle alignment based on the steering wheel control target angle.
Specifically, the method for recognizing whether the target vehicle has an unintentional lane departure situation includes the following steps:
identifying an operating state of a turn signal of the target vehicle;
monitoring a first moment average value and a first moment maximum value of a steering wheel steering moment of the target vehicle;
when the steering lamp is in an on state or the torque mean value or the torque maximum value is larger than a first torque threshold value, judging that the target vehicle does not have an unconscious lane departure condition;
and when the target vehicle has a lane departure situation, the steering lamp is in an off state, and the moment mean value and the moment maximum value are not larger than a first moment threshold value, judging that the target vehicle has an unconscious lane departure situation.
During specific operation, the corresponding judgment of the operation in the step has two bases, and the conscious deviation is determined when the following condition is met:
1. whether the driver turns on the turn signal light;
2. the steering hand torque of the driver is monitored, the average value and the maximum value of the steering wheel torque are monitored in a period of 1s-2s, and the driver is considered to be consciously deviated when the average value and the maximum value are larger than a certain threshold value.
Further, the method further comprises an anti-deviation control process, wherein the anti-deviation control process comprises the following steps:
identifying the current road center line of the target vehicle according to a preset period;
and controlling the target vehicle to run along the current road center line.
Further, the method further comprises a steering monitoring process, wherein the steering monitoring process comprises the following steps:
when the steering machine of the target vehicle controls the target vehicle to carry out vehicle turning based on the steering machine target steering angle corresponding to the steering wheel control target angle, identifying the actual steering angle of the steering machine;
and comparing the target steering angle of the steering engine with the actual steering angle of the steering engine, and judging whether the steering engine breaks down.
As shown in figures 2 to 4 of the attached drawings, based on the technical scheme of the embodiment of the application, the method comprises the following three implementation operations:
(1) Lane departure early warning: when the speed of the vehicle exceeds a certain threshold value, the driver quickly presses the lane line in an unconscious state or sends out audible and visual alarm when the lane line is pressed, and the vehicle is not controlled.
The sensor is a forward intelligent camera, and when the speed of the vehicle is higher than the working speed of the system, the camera recognizes that the transverse distance between the outer edge of the tire of the vehicle and the inner line edge of the lane line of the corresponding side is smaller than a certain distance threshold, and the angle of the vehicle relative to the lane line on a straight lane is larger than a certain angle threshold, and the driver is unconsciously deviated, an alarm is given;
the distance threshold corresponding to the transverse distance between the outer edge of the tire of the vehicle and the inner line edge of the corresponding side lane line is mainly related to the vehicle speed, the angle of the vehicle relative to the lane line, the lane width and the radius of the road curve, and a real-time threshold can be obtained by looking up a table, wherein the real-time vehicle speed is from a vehicle bus, the angle of the vehicle relative to the lane line, the lane width and the radius of the road curve are from a forward camera, the four factors have no linear relation with the threshold, and the general rule is that the three factors all have positive correlation with the threshold;
the curve is considered to be normally driven, the curve is easy to approach a lane line and is close to the lane line, and the line pressing can give an alarm when the curve is curved in order to avoid too frequent alarm.
(2) Lane keeping: when the driver selects to start the function, and when the state of the lane line and the state of the vehicle (including a steering execution component) both meet the condition for starting the function, the controller can always control the steering of the vehicle to ensure that the vehicle automatically runs along the vicinity of the center line until the driver closes the function or the state of the lane line and the state condition of the vehicle do not meet the working condition of the system.
(3) Lane departure suppression: when the driver selects to start the function, when the lane line state and the vehicle state both meet the condition of starting the function, as long as the driver is unconsciously in the state that the vehicle has the risk of deviating from the lane, the controller can send out sound and light alarm and control the vehicle to turn to enable the vehicle to return to the vicinity of the center line of the lane, and the automatic control can not be released until the driver is judged to take over the vehicle successfully (the brake pedal is stepped on to exceed a certain threshold value, the steering lamp is turned, and the hand moment exceeds a certain threshold value).
The algorithm corresponding to lane departure suppression is basically similar to the algorithm of lane keeping, mainly the real-time dynamic planning curve design has some differences, the triggering moment of the lane departure suppression is generally when the vehicle is far away from the center line, the planned curve is complex at the moment, a fourth-order curve is generally used, and after the vehicle is controlled to slowly approach the center line to a certain distance, the planned curve is simplified into a third-order curve and then the algorithm is the same as the algorithm of lane keeping.
Wherein, calculating the steering wheel control target angle corresponds to a first calculation formula:
SteerAg1＝Dst*K1*Q1+Φ*K2*Q2；
dst is the transverse distance between the central line and the predicted track after a certain pre-aiming time when no target track is planned, and the transverse distance between the target track and the predicted track after a certain pre-aiming time when the target track is planned;
phi is an included angle between a central line and a predicted track after a certain preview time when no target track is planned, and the included angle between the target track and the predicted track after the certain preview time when the target track is planned;
k1 and K2 are both preset control coefficients;
q1 and Q2 are weights preset by the distance control quantity and the angle control quantity respectively.
In addition, when the method is implemented, the method further comprises the following function degradation operation:
when the environment state, the lane line state, a part of signals in the vehicle state and the state do not meet the necessary conditions for the current starting function to work, the system can automatically shield part of functions and only start available functions;
if the problems that a steering machine sends a fault message, a vehicle longitudinally sends the fault message, or the response time lag of a steering system exceeds a threshold value, the response capability of the steering system is reduced (for example, the target steering is 100 degrees, the steering machine only rotates 50 degrees) and the like do not meet the automatic control of the vehicle are monitored in the working process of the lane keeping function, the system configured with the method can send out function degradation reminding to a driver for warning the deviation of the vehicle after a certain time without controlling the vehicle.
The functional architecture diagram and principle flow chart of the embodiments of the present application are shown in figures 5 to 7 of the drawings:
state monitoring and fault diagnosis: taking a steering engine as an example, the state monitoring comprises response time lag monitoring, automatic control request feedback monitoring, angle response degree monitoring and working mode response state monitoring;
the fault diagnosis comprises fault signals fed back by a steering gear controller and information of the fault judged by the state monitoring, and fault codes/fault prompts are provided for instruments when the fault is diagnosed to be a serious fault;
in addition, condition monitoring and fault diagnosis are also important bases for function degradation.
Monitoring steering time lag: after the steering machine enters the automatic control mode, the target angle wave crest/trough sent to the steering machine controller by the monitoring controller and the actual angle time difference fed back by the steering machine are judged to have a fault when delta t is greater than a certain threshold value within a certain time as shown in fig. 6 of the attached drawing of the specification.
Automatic control request feedback monitoring: and continuously monitoring the response condition of the steering machine after the controller sends the steering machine controller an automatic control instruction, and if the steering machine does not quickly feed back the steering machine to enter the automatic control state after the controller sends the automatic control instruction for multiple times within a certain time, determining that the current steering machine state has a fault.
Monitoring the angular response degree: and after the steering machine enters an automatic control mode, calculating a difference value between a target angle instruction sent to the steering machine by the controller at the moment and an actual angle of a steering wheel in a fixed period, accumulating the calculated mean value, variance and maximum value of the difference value within a certain time, judging the response condition of the steering machine, and considering that the current state of the steering machine has a fault when the mean value, the variance and the maximum value are greater than a certain threshold value.
Monitoring the response state of the working mode: when the steering engine works in the automatic control mode, if the automatic controller mode is frequently and automatically exited, the current state of the steering engine is considered to have a fault.
It should be noted that the steering gear is configured with a corresponding controller, the default is a non-automatic control mode, when receiving an automatic control instruction of the driving assistance/automatic driving control device on the vehicle, the steering gear responds/interacts to enter the corresponding mode, and feeds back the state of the steering gear (the mode, the actual angle, the actual angular velocity, etc. to the driving assistance/automatic driving control device) in real time.
The steering wheel zero self-learning can be understood as similar to the idle stroke of a vehicle, namely, the steering wheel acts in the range, and the steering wheel does not have steering action. The value corresponding to the steering wheel null will change due to mechanical wear during vehicle use. In order to ensure the control performance, the value needs to be calibrated and obtained when the steering engine is used for the first time, and whether the value changes obviously or not is monitored in the subsequent use process of the steering engine.
It should be noted that the embodiment of the present application has the multi-mode lateral driving assistance function, and has the advantages of high integration level, complete functions, and high cost performance;
on the basis of realizing the functions, factors influencing the running performance (such as component performance reduction, component failure, environment state unsatisfied requirements and the like) are fully considered, and countermeasures (function degradation, audible and visual alarm, deceleration parking and the like) are designed for the functions, so that the control stability is good, the running is safe and the reliability is high.
In a second aspect, referring to fig. 8, an embodiment of the present application provides a lateral driving assistance apparatus, including:
the vehicle monitoring module is used for identifying whether an unconscious lane departure situation occurs in the target vehicle;
the deviation alarming module is used for giving a lane deviation alarm when the target vehicle has the unconscious lane deviation condition;
and the vehicle aligning module is used for controlling the target vehicle to perform vehicle aligning when the target vehicle has the unconscious lane departure situation and the real-time vehicle speed of the target vehicle is not greater than a first vehicle speed threshold value.
In the embodiment of the application, when the vehicle has an unconscious lane departure situation, the corresponding vehicle auxiliary control operation is carried out by combining different current vehicle conditions, the vehicle correction or lane departure alarm is carried out in time, and the vehicle driving safety of a driver is ensured to a certain extent.
Further, the vehicle aligning module is further configured to obtain a real-time vehicle speed and a real-time driving direction of the target vehicle;
the vehicle aligning module is further used for calculating and obtaining a real-time transverse distance between the target vehicle and the current road center line after the first pre-aiming time and a real-time track included angle between the target vehicle and the current road center line based on the real-time vehicle speed and the real-time driving direction and in combination with a preset first pre-aiming time;
the vehicle aligning module is also used for calculating and obtaining a steering wheel control target angle based on the real-time transverse distance and the real-time track included angle;
the vehicle aligning module is also used for controlling the target vehicle to perform vehicle aligning based on the steering wheel control target angle.
Further, the vehicle monitoring module is also used for identifying the working state of a steering lamp of the target vehicle;
the vehicle monitoring module is further used for monitoring a first moment average value and a first moment maximum value of the steering wheel steering moment of the target vehicle;
the vehicle monitoring module is further used for judging that the target vehicle does not have an unconscious lane departure condition when the steering lamp is in an on state or the moment average value or the moment maximum value is greater than a first moment threshold value;
the vehicle monitoring module is further used for judging that the target vehicle has an unconscious lane departure situation when the target vehicle has a lane departure situation, the turn signal lamp is in an off state, and the torque mean value and the torque maximum value are not larger than a first torque threshold value.
During specific operation, the corresponding judgment of the operation in the step has two bases, and the conscious deviation is determined when the following condition is met:
1. whether the driver turns on the turn signal light;
2. the steering hand torque of the driver is monitored, the average value and the maximum value of the steering wheel torque are monitored in a period of 1s-2s, and the driver is considered to be consciously deviated when the average value and the maximum value are larger than a certain threshold value.
Further, the lateral direction driving assist apparatus further includes:
and the deviation prevention control module is used for identifying the current road center line of the target vehicle according to a preset period and controlling the target vehicle to run along the current road center line.
Further, the lateral direction driving assist apparatus further includes:
the steering monitoring module is used for identifying the actual steering angle of the steering machine when the steering machine of the target vehicle controls the target vehicle to carry out vehicle turning based on the target steering angle of the steering machine corresponding to the target steering wheel control angle;
the steering monitoring module is further used for comparing the target steering angle of the steering engine with the actual steering angle of the steering engine and judging whether the steering engine breaks down or not.
Based on the technical scheme of the embodiment of the application, the method comprises the following three implementation operations:
(1) Lane departure early warning: when the speed of the vehicle exceeds a certain threshold value, the driver quickly presses the lane line in an unconscious state or sends out audible and visual alarm when the lane line is pressed, and the vehicle is not controlled.
The sensor is a forward intelligent camera, and when the speed of the vehicle is higher than the working speed of the system, the camera recognizes that the transverse distance between the outer edge of the tire of the vehicle and the inner line edge of the lane line of the corresponding side is smaller than a certain distance threshold, and the angle of the vehicle relative to the lane line on a straight lane is larger than a certain angle threshold, and the driver is unconsciously deviated, an alarm is given;
the distance threshold corresponding to the transverse distance between the outer edge of the tire of the vehicle and the inner line edge of the corresponding side lane line is mainly related to the vehicle speed, the angle of the vehicle relative to the lane line, the lane width and the radius of the road curve, and a real-time threshold can be obtained by looking up a table, wherein the real-time vehicle speed is from a vehicle bus, the angle of the vehicle relative to the lane line, the lane width and the radius of the road curve are from a forward camera, the four factors have no linear relation with the threshold, and the general rule is that the three factors all have positive correlation with the threshold;
considering that the curve normally runs, the vehicle is easy to approach the lane line and close, and in order to avoid frequent alarm, the line pressing can alarm during the curve.
(2) Lane keeping: when the driver selects to start the function, and when the state of the lane line and the state of the vehicle (including a steering execution component) both meet the condition for starting the function, the controller can always control the steering of the vehicle to ensure that the vehicle automatically runs along the vicinity of the center line until the driver closes the function or the state of the lane line and the state condition of the vehicle do not meet the working condition of the system.
(3) Lane departure suppression: when the driver selects to start the function, when the lane line state and the vehicle state both meet the condition of starting the function, as long as the driver is unconsciously in the state that the vehicle has the risk of deviating from the lane, the controller can send out sound and light alarm and control the vehicle to turn to enable the vehicle to return to the vicinity of the center line of the lane, and the automatic control can not be released until the driver is judged to take over the vehicle successfully (the brake pedal is stepped on to exceed a certain threshold value, the steering lamp is turned, and the hand moment exceeds a certain threshold value).
The algorithm corresponding to the lane departure suppression is basically similar to that of lane keeping, mainly the real-time dynamic planning curve design has some differences, the triggering moment of the lane departure suppression is generally when the vehicle is far away from the center line, the planned curve is complex at the moment, a fourth-order curve is generally used, and after the vehicle is controlled to slowly approach the center line to a certain distance, the planned curve is simplified into a third-order curve and then the algorithm is the same as the lane keeping.
In addition, when the method is implemented, the method further comprises the following function degradation operation:
when the environment state, the lane line state, a part of signals in the vehicle state and the state do not meet the necessary conditions for the current starting function to work, the system can automatically shield part of functions and only start available functions;
for example, in the working process of the lane keeping function, when the problems that a steering machine sends a fault message, a vehicle longitudinally sends a fault message, or the response time lag of a steering system exceeds a threshold value, the response capability of the steering system is reduced (for example, the steering machine only rotates by 50 degrees when the target steers by 100 degrees), and the like do not meet the automatic control of the vehicle are monitored, the system configured with the method can send a function degradation prompt to a driver for reminding the driver of the vehicle deviation early warning and not controlling the vehicle after a certain time.
In order to guarantee the reliability and the safety of the system operation, the embodiment of the application designs state judgment and management, state monitoring and fault diagnosis, so that when the states of a sensing component, a control component, an execution component, a driver and a driving environment do not meet the system operation requirement, function degradation, audible and visual alarm and deceleration parking can be carried out.
The transverse driving assisting device monitors the states of a sensing component, a control component, an execution component, a driver and a driving environment in real time, wherein the states include but are not limited to a component fault state, a driver consciousness state, a component response state and the like;
the state judgment and management mainly judges the state of each module at the current moment according to real-time messages and real-time operation of a driver, and the state monitoring and fault diagnosis can focus on tracking the performance maintenance condition of each component within a period of time.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present application and are presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method of laterally assisted driving, characterized in that the method comprises the steps of:
identifying whether the target vehicle has an unconscious lane departure condition;
when the target vehicle has the unconscious lane departure situation and the real-time speed of the target vehicle is greater than a first vehicle speed threshold value, giving a lane departure alarm;
when the target vehicle has the unconscious lane departure situation and the real-time speed of the target vehicle is not greater than a first vehicle speed threshold value, giving a lane departure alarm and controlling the target vehicle to carry out vehicle correction;
the control of the target vehicle for vehicle centering includes the steps of:
acquiring the real-time speed and the real-time driving direction of the target vehicle;
calculating and obtaining a real-time transverse distance between the target vehicle and the current road center line after the first pre-aiming time and a real-time track included angle between the target vehicle and the current road center line based on the real-time vehicle speed and the real-time driving direction and in combination with a preset first pre-aiming time;
calculating to obtain a steering wheel control target angle based on the real-time transverse distance and the real-time track included angle;
and controlling the target vehicle to perform vehicle alignment based on the steering wheel control target angle.
2. The lateral assist driving method according to claim 1, wherein the identifying whether the target vehicle has an unintentional lane departure situation, comprises:
identifying an operating state of a turn signal of the target vehicle;
monitoring a first moment average value and a first moment maximum value of a steering moment of a steering wheel of the target vehicle;
when the steering lamp is in an on state or the torque mean value or the torque maximum value is larger than a first torque threshold value, judging that the target vehicle does not have an unconscious lane departure condition;
and when the target vehicle has a lane departure situation, the steering lamp is in a closed state, and the mean moment value and the maximum moment value are not larger than a first moment threshold value, judging that the target vehicle has an unconscious lane departure situation.
3. The lateral assist driving method according to claim 1, further comprising an anti-deviation control routine including the steps of:
identifying the current road center line of the target vehicle according to a preset period;
and controlling the target vehicle to run along the current road center line.
4. The lateral assist driving method according to claim 1, characterized in that the method further includes a steering monitoring process that includes the steps of:
when the steering machine of the target vehicle controls the target vehicle to carry out vehicle turning based on the steering machine target steering angle corresponding to the steering wheel control target angle, identifying the actual steering angle of the steering machine;
and comparing the target steering angle of the steering engine with the actual steering angle of the steering engine, and judging whether the steering engine breaks down.
5. A lateral driving assistance apparatus, characterized in that the apparatus comprises:
the vehicle monitoring module is used for identifying whether an unconscious lane departure situation occurs in the target vehicle;
the deviation warning module is used for giving a lane deviation warning when the target vehicle has the unconscious lane deviation condition;
the vehicle aligning module is used for controlling the target vehicle to perform vehicle aligning when the target vehicle has the unconscious lane departure situation and the real-time vehicle speed of the target vehicle is not greater than a first vehicle speed threshold value;
the vehicle aligning module is also used for acquiring the real-time speed and the real-time driving direction of the target vehicle;
the vehicle aligning module is further used for calculating and obtaining a real-time transverse distance between the target vehicle and the current road center line after the first pre-aiming time and a real-time track included angle between the target vehicle and the current road center line based on the real-time vehicle speed and the real-time driving direction and in combination with a preset first pre-aiming time;
the vehicle aligning module is also used for calculating and obtaining a steering wheel control target angle based on the real-time transverse distance and the real-time track included angle;
the vehicle aligning module is also used for controlling the target vehicle to perform vehicle aligning based on the steering wheel control target angle.
6. The lateral driving assist apparatus according to claim 5, characterized in that:
the vehicle monitoring module is also used for identifying the working state of a steering lamp of the target vehicle;
the vehicle monitoring module is further used for monitoring a first moment average value and a first moment maximum value of the steering wheel steering moment of the target vehicle;
the vehicle monitoring module is further used for judging that the target vehicle does not have an unconscious lane departure condition when the steering lamp is in an on state or the moment average value or the moment maximum value is greater than a first moment threshold value;
the vehicle monitoring module is further used for judging that the target vehicle has an unconscious lane departure situation when the target vehicle has a lane departure situation, the turn signal lamp is in an off state, and the torque mean value and the torque maximum value are not larger than a first torque threshold value.
7. The lateral driver assist device according to claim 5, further comprising:
and the deviation prevention control module is used for identifying the current road center line of the target vehicle according to a preset period and controlling the target vehicle to run along the current road center line.
8. The lateral driving assist apparatus according to claim 5, further comprising:
the steering monitoring module is used for identifying the actual steering angle of the steering machine when the steering machine of the target vehicle controls the target vehicle to carry out vehicle turning based on the target steering angle of the steering machine corresponding to the target steering wheel control angle;
the steering monitoring module is further used for comparing the target steering angle of the steering engine with the actual steering angle of the steering engine and judging whether the steering engine breaks down or not.
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| CN202210055737.8A CN114379648B (en) | 2022-01-18 | 2022-01-18 | Transverse assistant driving method and device |
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| CN202210055737.8A CN114379648B (en) | 2022-01-18 | 2022-01-18 | Transverse assistant driving method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3986683B2 (en) * | 1998-08-25 | 2007-10-03 | 本田技研工業株式会社 | Vehicle travel safety device |
| KR101219730B1 (en) * | 2010-10-29 | 2013-01-08 | 재단법인대구경북과학기술원 | Driver distraction warning system using rear view camera and method of thereof |
| CN102785661B (en) * | 2012-08-20 | 2015-05-13 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
| DE102013009424A1 (en) * | 2013-06-04 | 2014-12-04 | Volkswagen Aktiengesellschaft | Emergency assistance without activated lateral guidance assistance |
| CN105711588B (en) * | 2016-01-20 | 2018-05-11 | 奇瑞汽车股份有限公司 | A kind of track keeps auxiliary system and track to keep householder method |
| CN108466617B (en) * | 2018-02-27 | 2020-05-22 | 金龙联合汽车工业（苏州）有限公司 | Lane keeping system and lane keeping control method |
| CN108819940B (en) * | 2018-06-26 | 2020-04-21 | 北京新能源汽车股份有限公司 | Control method and system of lane departure auxiliary braking system and automobile |
| CN111717204B (en) * | 2019-03-18 | 2022-05-17 | 毫末智行科技有限公司 | Lateral control method and system for automatic driving vehicle |
| CN109835334B (en) * | 2019-03-22 | 2021-05-18 | 北京经纬恒润科技股份有限公司 | Performance evaluation method and device of lane keeping system |
| CN112172829B (en) * | 2020-10-23 | 2022-05-17 | 科大讯飞股份有限公司 | Lane departure warning method and device, electronic equipment and storage medium |
| CN113753067B (en) * | 2021-10-09 | 2024-01-26 | 奇瑞新能源汽车股份有限公司 | Lane departure intervention control method and device |
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