CN114802234A

CN114802234A - Road edge avoiding method and system in intelligent cruise

Info

Publication number: CN114802234A
Application number: CN202210436948.6A
Authority: CN
Inventors: 凃圣偲; 付斌; 刘继峰; 罗俊涛; 张成才
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-07-29

Abstract

The invention provides a road edge avoiding method and a system in intelligent cruise, wherein the method comprises the following steps: when the vehicle runs on a specific road and the curvature radius of the road exceeds a preset threshold value, calculating the deviation direction of the vehicle and judging whether the edge of the road meets the deviation condition or not; if the deviation condition is met, acquiring the information of the target vehicle in the deviation direction, and judging whether the target vehicle influences the deviation of the vehicle according to the position, the relative distance and the relative speed of the target vehicle; if the target vehicle does not influence the self vehicle offset, calculating an offset target of the self vehicle in the current scene, planning an offset path based on the offset target, and controlling the self vehicle to drive in an offset manner; and in the process of deviation or in the state of deviation driving, continuously judging whether the vehicle meets a centering condition, and if so, controlling the vehicle to be converted into lane centering driving. Through this scheme can be in intelligent cruise, the control vehicle suitably to the opposite direction skew of road edge, reduces driver psychological pressure, promotes the user and uses experience, improves intelligent cruise's the rate of utilization.

Description

Road edge avoiding method and system in intelligent cruise

Technical Field

The invention belongs to the field of intelligent driving, and particularly relates to a road edge avoiding method and system in intelligent cruising.

Background

With the rapid development of intelligent automobile technology, the L2-level intelligent driving system has been applied to mass production automobiles on a large scale. Compared with typical L2-level transverse and longitudinal coupling control systems, such as TJA (traffic jam assistance) and ICA (intelligent cruise assistance), the system can well control the vehicle to run centrally in the lane. However, in practice, these functions are too mechanized, so that they are still used less frequently in driving by ordinary users, for example, when a vehicle is running on a highway or an urban expressway at a high speed near the edge of a road or a guardrail, the intelligent cruise function is still "mechanized" to run centrally in the lane, and is close to the edge of the road or the guardrail, so that the psychological stress on the driver is large, and the driver feels that the vehicle may hit the guardrail at any time, thereby causing the user to exit the intelligent cruise in these scenes.

Disclosure of Invention

In view of this, the embodiment of the invention provides a method and a system for avoiding road edges in intelligent cruise, which are used for solving the problem that users rarely use intelligent cruise in a specific scene.

In a first aspect of the embodiments of the present invention, a method for avoiding road edges in intelligent cruise is provided, including:

when the vehicle runs on a specific road and the curvature radius of the road exceeds a preset threshold value, calculating the deviation direction of the vehicle, and if the deviation direction of the vehicle is not 0, judging whether the edge of the road meets the deviation condition;

if the road edge meets the offset condition, acquiring information of a target vehicle in the offset direction, and judging whether the target vehicle affects the offset of the vehicle according to the position of the target vehicle, the distance between the target vehicle and the relative speed of the target vehicle;

if the target vehicle does not influence the self vehicle offset, calculating an offset target of the self vehicle in the current scene, planning an offset path based on the offset target, and controlling the self vehicle to drive in an offset manner;

and in the process of deviation or in the state of deviation driving, continuously judging whether the vehicle meets a centering condition, and if so, controlling the vehicle to be converted into lane centering driving.

In a second aspect of an embodiment of the present invention, there is provided a system for road edge avoidance in smart cruise, including:

the map positioning module is used for positioning the vehicle and acquiring the type of the road where the vehicle is located;

the fusion sensing module is used for acquiring environment sensing information through a sensor, wherein the environment sensing information at least comprises a road curvature radius, a distance between a vehicle and a road edge, vehicle information, target vehicle information and a distance between the vehicle and lane lines on two sides;

the behavior decision module is used for judging whether to carry out deviation or centering according to the environment perception information and calculating a corresponding deviation target or centering target;

if the road edge meets the offset condition, acquiring information of a target vehicle in the offset direction, and judging whether the target vehicle affects the offset of the vehicle according to the position of the target vehicle, the distance between the target vehicle and the relative speed of the target vehicle; if the target vehicle does not influence the self vehicle offset, calculating the offset target of the self vehicle in the current scene;

continuously judging whether the vehicle meets a centering condition or not in the process of deviation or in the state of deviation driving, and if so, calculating a centering target of the vehicle;

the path planning module is used for planning an offset path according to the offset target or a return path according to the return target;

the motion control module is used for controlling the vehicle to run in an offset mode or in a centering mode according to the offset path or the centering path;

in a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.

In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.

In the embodiment of the invention, under the condition of permission of the road and surrounding vehicles, the vehicle is driven by properly deviating towards the direction of the edge of the road, so that the condition that the vehicle is too close to the edge of the road is avoided, the psychological pressure of a driver can be reduced, the use experience of the intelligent cruise function is improved, and the use rate of a user is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a method for avoiding road edges in intelligent cruise according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of an offset driving of a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating a transition between driving states of a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a road edge avoidance system for intelligent cruise according to an embodiment of the present invention;

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

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the 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 invention.

It should be understood that the terms "comprises" and "comprising," when used in this specification or claims and in the accompanying drawings, are intended to cover a non-exclusive inclusion, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.

Referring to fig. 1, a schematic flow chart of a method for avoiding road edges in intelligent cruise provided by an embodiment of the present invention includes:

s101, when a vehicle runs on a specific road and the curvature radius of the road exceeds a preset threshold value, calculating the offset direction of the vehicle, and if the offset direction of the vehicle is not 0, judging whether the edge of the road meets an offset condition;

the special road is generally a road which needs to be passed at a high speed, such as an expressway, an urban expressway and the like, and psychological stress is brought to a driver when the vehicle runs at a high speed and is close to the edge of the road under the condition of intelligent cruising. The road curvature radius is used for measuring the degree of curvature of a road, road edge data can be collected through vehicle-mounted sensors such as a laser point cloud and a camera, the road curvature radius is calculated and determined, and the road curvature radius is determined according to guardrails, lane lines and the like. The predetermined threshold is a calibration amount, and generally needs to be set in advance, and once the curvature radius of the road exceeds the threshold, it is determined that the curvature radius of the current road meets the offset condition.

Generally, when a vehicle approaches the edge of a road, the vehicle needs to be subjected to offset control so as to relieve the psychological stress of a driver. Therefore, it is first necessary to determine whether the vehicle is in a high-speed running condition and whether the degree of curve of the road is in a certain range.

In some embodiments, whether the road on which the current vehicle is traveling belongs to an expressway or an urban expressway is obtained through map positioning. In order to avoid frequent switching between the centered running and the offset running of the vehicle on the urban road, the vehicle is allowed to run in the offset mode only when the vehicle runs on the expressway or the urban expressway.

Specifically, the current road Curvature radius R _ Curvature is obtained, and in order to avoid the safety risk caused by the vehicle running in a road with an excessively small Curvature radius in an offset manner, only when R _ Curvature > C _ R _ Curvature, the offset condition is satisfied. Where C _ R _ Curvature is a scalar quantity representing the minimum radius of Curvature supported by the offset.

The offset direction refers to the current driving direction of the vehicle, and includes, for example, right offset and left offset. Generally, the vehicle is controlled to perform the offset travel only when the vehicle is offset to the left or offset to the right.

Specifically, when the distance between the vehicle and the left side edge of the lane is smaller than the trigger threshold of the distance between the vehicle and the left side edge of the lane, and the distance between the vehicle and the right side edge of the lane is larger than the trigger threshold of the distance between the vehicle and the right side edge of the lane, the deviation direction is a first set value, and the vehicle is represented to run on the left side of the road and deviate to the right;

when the distance between the vehicle and the left side edge of the lane is larger than the trigger threshold of the distance between the vehicle and the left side edge of the lane, and the distance between the vehicle and the right side edge of the lane is smaller than the trigger threshold of the distance between the vehicle and the right side edge of the lane, the deviation direction is a second set value, and the vehicle is represented to run on the right side of the road and deviate leftwards;

and when the distance between the vehicle and the left side edge of the lane is smaller than the trigger threshold of the distance between the vehicle and the left side edge of the lane, and the distance between the vehicle and the right side edge of the lane is smaller than the trigger threshold of the distance between the vehicle and the right side edge of the lane, or when the distance between the vehicle and the left side edge of the lane is larger than the trigger threshold of the distance between the vehicle and the right side edge of the lane, and the distance between the vehicle and the right side edge of the lane is larger than the trigger threshold of the distance between the vehicle and the right side edge of the right side edge, the deviation direction is a third set value, and the deviation is not generated.

The first, second and third setting values correspond to a specific value, such as 1, 2 and 0,1 and 2 represent an offset, and 0 represents no offset. When the deviation direction is the third set value, it generally indicates that the road edges on both sides are too far or too close, and therefore, it is not suitable for deviation driving.

Illustratively, the distance between the vehicle and the left road edge is Dy _ edge _ left, and the distance between the vehicle and the right road edge is Dy _ edge _ right;

when Dy _ edge _ left is less than or equal to C _ edge _ left and Dy _ edge _ right is more than C _ edge _ right, the vehicle runs on the left side of the road and is shifted to the right, and Offset _ Direction is 1;

c _ edge _ left is a calibration quantity and represents a trigger threshold value of the distance between a vehicle and the edge of the left road when the vehicle runs on the leftmost side in a high-speed or urban expressway scene; c _ edge _ right is a calibration quantity, which represents a trigger threshold of the distance between the vehicle and the right road edge when the vehicle runs on the rightmost side in a high-speed or city expressway scene.

When Dy _ edge _ left is larger than C _ edge _ left and Dy _ edge _ right is smaller than or equal to C _ edge _ right, the vehicle runs on the right side of the road and is shifted leftwards, and Offset _ Direction is 2;

when Dy _ edge _ left is not more than C _ edge _ left and Dy _ edge _ right is not more than C _ edge _ right, the two sides are closer to the road edge, no Offset occurs, and Offset _ Direction is 0;

when Dy _ edge _ left > C _ edge _ left and Dy _ edge _ right > C _ edge _ right, both sides are far from the road edge, no Offset occurs, and Offset _ Direction is 0.

The road edge generally refers to a specific boundary on both sides of a road, and is generally a guardrail or the like, and a road edge curve is a curve constructed based on a road edge (such as a guardrail), and a certain processing is required because the road edge curve may have a discontinuity and a curve segment may be short.

Optionally, obtaining a curve equation of the road edge and a starting point and an end point of the curve; combining the acceptable discontinuous road edge curve segments within the preset range; filtering the curve segment of which the distance between the starting point and the end point is less than a preset value; and if the longitudinal distance between the coordinates of the starting point of the combined curve segment and the vehicle is smaller than a preset threshold value, judging that the road edge meets the offset condition.

Illustratively, a road-edge curve equation corresponding to the Offset Direction Offset _ Direction, and a start point and an end point thereof are obtained. If the road edge has a short break condition and can keep the curve trend, sensing and fusing to output a curve equation corresponding to a plurality of curve segments, and then having a plurality of starting points and end points. The starting point and the ending point of the curve are (Dx _ start _ p1, Dx _ stop _ p1), (Dx _ start _ p2, Dx _ stop _ p2), (Dx _ start _ p3, and Dx _ stop _ p3) … from the near to the far, respectively.

And combining discontinuous road edge curve segments within an acceptable range, if the distance between the end point of the current curve segment and the start point of the next curve segment is less than a certain threshold value, namely | Dx _ start _ p (n +1) -Dx _ stop _ p (n) | < C _ Dx _ edge _ interrupt, considering that the discontinuous distance between the curve segment n and the curve segment n +1 is within the acceptable range, combining the curve segment n and the curve segment n +1 into a road edge curve, and the like. Wherein, C _ Dx _ edge _ interrupt is a standard quantity, which represents an acceptable road edge break distance.

And after the combination is finished, obtaining a combined road edge starting point and a combined road edge ending point. Further, shorter road edge curve segments are filtered. If the distance between the starting point and the ending point of the curve segment is less than a certain threshold value, namely | Dx _ start _ p (n +1) -Dx _ stop _ p (n) | < C _ Dx _ edge _ Length, filtering the road edge curve of the segment. Wherein, C _ Dx _ edge _ Length is a longitudinal distance filtering threshold value of the starting point and the ending point of the road edge curve.

If the unfiltered road edge curve segment still exists, the distance between the starting point of the road edge curve and the own vehicle is further judged

And if the starting point coordinate of the road edge curve is judged to be less than C _ Dx _ start, the offset condition is met. Wherein, C _ Dx _ start is a longitudinal distance trigger threshold value between the starting point of the road edge curve and the self-vehicle. Namely after merging, when the longitudinal distance between the starting point coordinate of the road edge curve segment and the vehicle is smaller than a certain value, judging that the road edge meets the offset condition.

S102, if the road edge meets the offset condition, acquiring information of a target vehicle in the offset direction, and judging whether the target vehicle affects the self-vehicle offset or not according to the position of the target vehicle, the distance between the target vehicle and the self-vehicle and the relative speed;

after the driving environment of the vehicle is judged, namely whether the vehicle meets the offset-based condition, whether the vehicle can affect the offset of the vehicle needs to be judged so as to avoid safety accidents caused by the offset.

The target vehicle is other vehicles relative to the self vehicle, the target vehicle information can be detected through a vehicle-mounted camera, a laser radar and the like, the position and the distance of the target vehicle are included, and the speed of the target vehicle can be obtained through calculation.

Specifically, if the transverse distance or the longitudinal distance between the own vehicle and the target vehicle is greater than a set value, it is determined that the target vehicle does not affect the own vehicle offset;

if the target vehicle is in front of the vehicle and the speed of the target vehicle is greater than the speed of the vehicle, determining that the target vehicle does not influence the deviation of the vehicle;

if the target vehicle is in front of the vehicle and the speed of the target vehicle is less than the speed of the vehicle, calculating the time when the target vehicle will influence the deviation of the vehicle, if the time when the target vehicle will influence the deviation of the vehicle is greater than a preset time threshold value, the target vehicle does not influence the deviation of the vehicle, otherwise, the target vehicle influences the deviation of the vehicle;

if the target vehicle is behind the self-vehicle and the speed of the target vehicle is less than the speed of the self-vehicle, judging that the target vehicle does not influence the self-vehicle offset;

if the target vehicle is behind the self-vehicle and the speed of the target vehicle is greater than the speed of the self-vehicle, calculating the time when the target vehicle will influence the self-vehicle offset, if the time when the target vehicle will influence the self-vehicle offset is greater than a preset time threshold value, the target vehicle does not influence the self-vehicle offset, and otherwise, the target vehicle influences the self-vehicle offset.

For example, the target vehicle lateral distance is Dy _ target, the longitudinal distance is Dx _ target, the relative longitudinal speed is Vx _ target, and the relative longitudinal acceleration Ax _ target.

When Dy _ target is larger than C _ Dy _ target, the target is not considered to influence the self-vehicle offset. Wherein, C _ Dy _ target is a calibration amount and represents a lateral distance threshold value for determining whether the target vehicle affects the own vehicle offset.

If the above condition is met, further judgment can be made. If | Dx _ target | is greater than C _ Dx _ target, the vehicle is considered to be longitudinally farther. C _ Dy _ target is a calibration amount and represents a longitudinal distance threshold value for determining whether the target vehicle affects the own vehicle offset.

When Dx _ target is larger than 0, the target vehicle is in front of the vehicle, and the speed of the target vehicle is further judged.

If Vx _ target is larger than 0, the target vehicle is faster than the vehicle speed of the vehicle, and the vehicle deviation is not influenced;

and if Vx _ target is less than 0, the target vehicle is slower than the speed of the self vehicle, further calculating TTC _ target, and when the TTC _ target is more than C _ TTC _ target, not influencing the self vehicle offset.

And the TTC _ target is solved according to an equation to obtain | Vx _ target | TTC _ target +1/2 | Ax _ target | (TTC _ target) ^2 | Dx _ target |, and C _ TTC _ target is a standard quantity and is used for representing a time threshold for judging that the target vehicle is about to influence the self-vehicle to deviate.

And when the Dx _ target is less than 0, the target vehicle is behind the own vehicle, and the speed of the target vehicle is further judged.

And if Vx _ target is greater than 0, the target vehicle is faster than the speed of the self vehicle, further calculating longitudinal TTC _ target, and when the TTC _ target is greater than C _ TTC _ target, not influencing the self vehicle offset.

If Vx _ target is less than 0, the target vehicle is slower than the speed of the self vehicle, and the deviation of the self vehicle is not influenced.

S103, if the target vehicle does not influence the self vehicle offset, calculating an offset target of the self vehicle in the current scene, planning an offset path based on the offset target, and controlling the self vehicle to drive in an offset manner;

the offset target is a target position of the vehicle offset, and can be generally determined according to the vehicle speed and the distance between the lane line and the lane edge.

Specifically, a corresponding offset target is obtained according to the current speed of the vehicle, the distance between the vehicle and a lane line and a driving behavior map; and setting the offset target as the transverse offset distance of the vehicle, and solving the PID control parameter of the offset process to control the vehicle to run in an offset manner.

Exemplarily, a distance Dy _ line _ left between the vehicle and the left lane line is obtained, and a distance Dy _ edge _ line between the current road edge and the lane edge is calculated.

And calculating the offset target of the current scene, specifically calculating the offset target offset _ distance of the current scene according to the current vehicle speed V, Dy _ edge _ line and MAP _ left of the vehicle. MAP _ left is a MAP standard quantity, and is a driving behavior MAP of an offset target of a vehicle running at a high speed or on the left side of an urban expressway main road, and in the MAP, a corresponding offset _ distance can be queried according to V, Dy _ edge _ line.

Planning a path according to the offset target, and then controlling the lane to change from the lane centering driving to the lane driving according to the planned path.

At the initial moment of the offset process, the lateral offset distance is 0 and the lateral velocity is 0, i.e.

At the end of the offset process, the lateral offset distance is offset _ distance, the lateral speed is 0, and the longitudinal distance of travel is x ₁ Then, then

The longitudinal distance traveled by the offset process may be approximately calculated from the current vehicle speed and the time constant of the offset process: x is the number of ₁ ＝V·C_τ ₁ 。

Solving a cubic equation y ═ a according to the above conditions ₀ +a ₁ x+a ₂ x ² +a ₃ x ³ ；

Where x represents the longitudinal distance, y represents the lateral distance, V is the current vehicle speed, C _ τ ₁ The time constant of the migration process is indicated for calibration quantities.

Solving to obtain:

and controlling the vehicle to run in a deviation mode according to the planned path by adopting a PID control algorithm.

And S104, continuously judging whether the vehicle meets a centering condition or not in the process of deviation or in the state of deviation driving, and if so, controlling the vehicle to be converted into lane centering driving.

As shown in fig. 2 and 3, in the vehicle deviation process or in the deviation driving state, whether the centering condition is met or not can be judged according to the real-time environment perception, and if the centering condition is met, the vehicle is controlled to be turned into the centered driving.

The centering conditions include road type, road curvature radius, or influence of the target vehicle, etc.

Specifically, if the type of the current road is about to change, or the curvature radius of the road is not larger than a preset threshold value, or the target vehicle is about to influence the deviation of the current road, the vehicle is controlled to run in the middle.

In one embodiment, the distance between the vehicle and the lane lines on two sides of the lane is obtained, and the vehicle is judged to return to the right or to return to the left according to the distance between the vehicle and the lane lines on two sides of the lane;

and calculating the centering distance, planning a centering path, and controlling the vehicle to be changed into lane centering driving by solving the PID control parameter in the centering process.

Exemplarily, a distance Dy _ line _ left of the vehicle from the left lane line and a distance Dy _ line _ right of the vehicle from the right lane line are obtained;

judging the vehicle centering direction, and if Dy _ line _ left is less than Dy _ line _ right, driving to the right centering; if Dy _ line _ left > Dy _ line _ right, then the vehicle travels to the left side and returns to the center.

Calculating the centering distance:

replacing offset _ distance with offset _ back, C _ τ ₁ Replacement by C _ τ ₂ The return path is calculated by the method of the embodiment in step S103, and the vehicle is controlled to change from the off-target running to the lane centering running.

In the embodiment, by simulating the driving habits of the driver, under the condition that conditions such as roads, road edges and surrounding vehicles allow, the driver does not keep driving in the center completely, but properly shifts to the opposite direction of the road edges, so that the psychological pressure of the driver is reduced, the use experience of the intelligent cruise function is improved, and the intelligent cruise function has the personifying characteristic.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 4 is a schematic structural diagram of a system for road edge avoidance in smart cruise, according to an embodiment of the present invention, where the system includes:

the map positioning module 410 is used for positioning the vehicle and acquiring the type of the road where the vehicle is located;

the fusion sensing module 420 is used for acquiring environment sensing information through a sensor, wherein the environment sensing information at least comprises a road curvature radius, a distance between a vehicle and a road edge, vehicle information, target vehicle information and a distance between the vehicle and lane lines on two sides;

a behavior decision module 430, configured to determine whether to perform deviation or centering according to the environment sensing information, and calculate a corresponding deviation target or centering target;

when the vehicle runs on a specific road and the curvature radius of the road exceeds a preset threshold value, calculating the deviation direction of the vehicle, and if the deviation direction of the vehicle is not 0, judging whether the edge of the road meets the deviation condition or not;

a path planning module 440, configured to plan an offset path according to the offset target, or plan a loop path according to the loop target;

and the motion control module 450 is used for controlling the vehicle to run in an offset mode or in a centering mode according to the offset path or the centering path.

Optionally, the calculating the vehicle offset direction includes:

when the distance between the vehicle and the left side edge of the lane is smaller than the trigger threshold of the distance between the vehicle and the left side edge of the lane, and the distance between the vehicle and the right side edge of the lane is larger than the trigger threshold of the distance between the vehicle and the right side edge of the lane, the deviation direction is a first set value, and the vehicle is represented to run on the left side of the road and deviate rightwards;

Optionally, the determining whether the road edge satisfies the offset condition includes:

acquiring a curve equation of a road edge and a starting point and an end point of a curve;

combining the acceptable discontinuous road edge curve segments within the preset range;

filtering the curve segment of which the distance between the starting point and the end point is less than a preset value;

and if the longitudinal distance between the coordinates of the starting point of the curve segment of the road edge after combination and the vehicle is less than a preset threshold value, judging that the road edge meets the offset condition.

Specifically, the obtaining information of the target vehicle in the offset direction, and according to the position of the target vehicle, the distance between the target vehicle and the own vehicle, and the relative speed, determining whether the target vehicle affects the offset of the own vehicle includes:

if the transverse distance or the longitudinal distance between the self vehicle and the target vehicle is larger than a set value, judging that the target vehicle does not influence the self vehicle offset;

if the target vehicle is in front of the vehicle and the speed of the target vehicle is less than the speed of the vehicle, calculating the time when the target vehicle will influence the deviation of the vehicle, if the time when the target vehicle will influence the deviation of the vehicle is greater than a preset time threshold value, the target vehicle does not influence the deviation of the vehicle, otherwise, judging that the target vehicle influences the deviation of the vehicle;

if the target vehicle is behind the self-vehicle and the speed of the target vehicle is greater than the speed of the self-vehicle, calculating the time when the target vehicle will influence the self-vehicle offset, if the time when the target vehicle will influence the self-vehicle offset is greater than a preset time threshold value, not influencing the self-vehicle offset by the target vehicle, and otherwise, judging that the target vehicle influences the self-vehicle offset.

Wherein the path planning module 440 comprises:

the offset target acquisition unit is used for acquiring a corresponding offset target according to the current speed of the vehicle, the distance between the vehicle and a lane line and a driving behavior map;

and the control parameter calculation unit is used for setting the offset target as the transverse offset distance of the self-vehicle and solving the PID control parameter of the offset process so as to control the self-vehicle to run in an offset manner.

Wherein, in the skew process or the skew driving state, whether the vehicle satisfies the centering condition continuously judges to include:

and if the current road type is about to change, or the curvature radius of the road is not more than a preset threshold value, or the target vehicle is about to influence the deviation of the vehicle, controlling the vehicle to run in the middle.

Wherein the path planning module 440 further comprises:

the centering direction judging unit is used for acquiring the distance between the vehicle and the lane lines on the two sides of the lane, and judging that the vehicle is centered to the right side or centered to the left side according to the distance between the vehicle and the lane lines on the two sides of the lane;

and the loop path planning unit is used for calculating a loop distance, planning a loop path, and controlling the vehicle to be changed into lane keeping and center driving by solving the PID control parameter in the loop process.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic equipment is used for avoiding road edges in intelligent cruising. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a memory 510, a processor 520, and a system bus 530, the memory 510 including an executable program 5101 stored thereon, it being understood by those skilled in the art that the electronic device structure shown in fig. 5 does not constitute a limitation of an electronic device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

The following describes each component of the electronic device in detail with reference to fig. 5:

the memory 510 may be used to store software programs and modules, and the processor 520 may execute various functional applications and data processing of the electronic device by operating the software programs and modules stored in the memory 510. The memory 510 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 510 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

Contained on the memory 510 is a executable program 5101 of the network request method, the executable program 5101 may be divided into one or more modules/units, which are stored in the memory 510 and executed by the processor 520 to implement vehicle deviation driving and the like, and the one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution process of the computer program 5101 in the electronic device 5. For example, the computer program 5101 may be partitioned into a map location module, a fusion perception module, a behavior decision module, a path planning module, a motion control module, and the like.

The processor 520 is a control center of the electronic device, connects various parts of the whole electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 510 and calling data stored in the memory 510, thereby performing overall status monitoring of the electronic device. Alternatively, processor 520 may include one or more processing units; preferably, the processor 520 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 520.

The system bus 530 is used to connect functional units inside the computer, and CAN transmit data information, address information, and control information, and may be, for example, a PCI bus, an ISA bus, a CAN bus, etc. The instructions of the processor 520 are transferred to the memory 510 through the bus, the memory 510 feeds data back to the processor 520, and the system bus 530 is responsible for data and instruction interaction between the processor 520 and the memory 510. Of course, other devices, such as network interfaces, display devices, etc., may also be accessed by the system bus 530.

In this embodiment of the present invention, the executable program executed by the process 520 included in the electronic device includes:

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A road edge avoiding method in intelligent cruise is characterized by comprising the following steps:

2. The method of claim 1, wherein the calculating the vehicle offset direction comprises:

3. The method of claim 1, wherein the determining whether the road edge satisfies the offset condition comprises:

4. The method of claim 1, wherein the obtaining of the information of the target vehicle in the offset direction and the determining whether the target vehicle affects the offset of the host vehicle according to the position of the target vehicle, the distance between the target vehicle and the host vehicle and the relative speed of the target vehicle comprises:

if the target vehicle is in front of the vehicle and the speed of the target vehicle is greater than the speed of the vehicle, judging that the target vehicle does not influence the deviation of the vehicle;

5. The method according to claim 1, wherein the calculating of the offset target of the current scene self-vehicle, the planning of the offset path based on the offset target, and the controlling of the self-vehicle to drive in the offset mode comprise:

acquiring a corresponding offset target according to the current speed of the vehicle, the distance between the vehicle and a lane line and a driving behavior map;

and setting the offset target as the transverse offset distance of the vehicle, and solving the PID control parameter of the offset process to control the vehicle to run in an offset manner.

6. The method of claim 1, wherein continuously determining whether the vehicle meets a centering condition during the shifting process or the shifting driving state comprises:

7. The method of claim 6, wherein controlling the vehicle to travel centrally comprises:

acquiring the distance between the vehicle and the lane lines on the two sides of the lane, and judging whether the vehicle returns to the right side or the left side according to the distance between the vehicle and the lane lines on the two sides of the lane;

8. A system for road edge avoidance in smart cruise, comprising:

and the motion control module is used for controlling the vehicle to run in an offset mode or in a centering mode according to the offset path or the centering path.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a method for road edge avoidance in intelligent cruise as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed, carries out the steps of a method for road edge avoidance in intelligent cruise according to any one of claims 1 to 7.