CN116605237A

CN116605237A - Lane keeping method, lane keeping device, vehicle and computer readable storage medium

Info

Publication number: CN116605237A
Application number: CN202310779326.8A
Authority: CN
Inventors: 左子心; 翁江林
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-06-28
Filing date: 2023-06-28
Publication date: 2023-08-18

Abstract

The invention relates to a lane keeping method, a lane keeping device, a vehicle and a computer readable storage medium, belonging to the technical field of lane keeping, wherein the method can comprise the following steps: acquiring a viewpoint position and an attention state acquired for a driver when the vehicle is to deviate from a current lane; the attentiveness state includes a concentrated state and a dispersed state; when the attention state is a distraction state, triggering a lane keeping function; when the attention state is the concentrated state, the lane keeping function is in the dormant state; wherein triggering the lane keeping function includes: judging whether the viewpoint position matches an area set for the deviation direction of the vehicle; when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle. By the embodiment of the invention, the lane keeping function can be triggered only when actually needed, so that the interference on the normal driving behavior of a driver is reduced.

Description

Lane keeping method, lane keeping device, vehicle and computer readable storage medium

Technical Field

The present invention relates to the field of lane keeping technology, and in particular, to a lane keeping method, apparatus, vehicle, and computer readable storage medium.

Background

Lane keeping is an auxiliary driving function, and if the vehicle deviates under the condition of no intention of the driver during the driving of the vehicle, the system will remind the driver and automatically correct the vehicle back into the lane.

In practical application, whether a driver intentionally controls the vehicle to deviate can be judged by identifying whether wheels are pressed or whether a steering lamp is turned on; although this approach may achieve lane keeping to some extent, if the driver does not turn a turn signal when shifting the vehicle, or is traveling on a line, it may cause the lane keeping system to be false triggered, thereby interfering with the driver's normal driving.

Disclosure of Invention

In view of the above, a lane keeping method, apparatus, vehicle and computer readable storage medium are proposed to provide a lane keeping method, apparatus, vehicle and computer readable storage medium that overcome or at least partially solve the above problems, comprising:

a method of lane keeping, the method comprising:

acquiring a viewpoint position and an attention state acquired for a driver when the vehicle is to deviate from a current lane; the attentiveness state includes a concentrated state and a dispersed state;

When the attention state is a distraction state, triggering a lane keeping function;

when the attention state is a concentrated state, placing the lane keeping function in a dormant state;

wherein the triggering lane keeping function includes:

judging whether the viewpoint position matches an area set for the direction of deviation of the vehicle;

when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle.

Optionally, the method further comprises:

judging whether the driver has a need to transversely control the vehicle;

placing the lane keeping function in a dormant state when the driver has a need to laterally control the vehicle;

when the driver does not have a need to laterally control the vehicle, it is determined whether the attentiveness state is a distraction state.

Optionally, the determining whether the driver has a requirement for laterally controlling the vehicle includes:

acquiring a steering lamp state of the vehicle;

when the state of the turn signal lamp is consistent with the deviation direction of the vehicle, judging that the driver has the requirement of transversely controlling the vehicle;

And when the state of the turn signal lamp is inconsistent with the deviation direction of the vehicle, judging that the driver does not have the requirement of transversely controlling the vehicle.

acquiring a moment direction of a steering wheel of the vehicle;

when the moment direction of the steering wheel is consistent with the deviation direction of the vehicle, judging that the driver has the requirement of transversely controlling the vehicle;

when the torque direction of the steering wheel is inconsistent with the deviation direction of the vehicle, it is determined that the driver does not have a need to laterally control the vehicle.

acquiring a moment value currently applied by a driver to a steering wheel of the vehicle;

when the moment value is larger than a preset target moment threshold value, judging that the driver has the requirement of transversely controlling the vehicle;

and when the moment value is not greater than a preset target moment threshold value, judging that the driver does not have the requirement of transversely controlling the vehicle.

Optionally, the method further comprises:

acquiring a target running speed of the vehicle;

And determining the target moment threshold according to the target running speed.

Optionally, the method further comprises:

collecting current road environment information of a road where the vehicle is currently located and current motion state information of the vehicle;

judging whether the vehicle is about to leave a current lane or not according to the current road environment information and the current motion state information;

determining that the vehicle is about to deviate from a current lane when the vehicle is about to deviate from the current lane;

when the vehicle is not about to drive away from the current lane, it is determined that the vehicle is not about to deviate from the current lane.

Optionally, the controlling the lane keeping of the vehicle when the viewpoint position does not match the area set for the direction of departure of the vehicle includes:

when the viewpoint position does not match with the area set for the deviation direction of the vehicle, determining a target area to which the viewpoint position belongs;

determining correction opportunities preset for the target area;

and at the correction timing, controlling the lane keeping of the vehicle.

Optionally, the controlling the lane keeping of the vehicle when the viewpoint position does not match the area set for the vehicle deviation direction includes:

When the viewpoint position does not match with the area set for the vehicle deviation direction, determining a first time when the vehicle starts to travel away from the current lane, and controlling a second time required for the vehicle to continue to travel in the current lane;

and when the first time is not greater than the second time, controlling the lane keeping of the vehicle.

The invention also provides a lane keeping device, comprising:

the collecting module is used for acquiring the viewpoint position and the attention state acquired by the driver when the vehicle deviates from the current lane; the attentiveness state includes a concentrated state and a dispersed state;

the triggering module is used for triggering a lane keeping function when the attention state is a distraction state;

the restraining module is used for setting the lane keeping function to be in a dormant state when the attention state is a concentrated state;

the triggering module is used for judging whether the viewpoint position is matched with a region set for the deviation direction of the vehicle or not; when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle.

Optionally, the apparatus further comprises:

the first judging module is used for judging whether the driver has the requirement of transversely controlling the vehicle or not; placing the lane keeping function in a dormant state when the driver has a need to laterally control the vehicle; when the driver does not have a need to laterally control the vehicle, it is determined whether the attentiveness state is a distraction state.

Optionally, the first judging module is configured to obtain a turn signal state of the vehicle; when the state of the turn signal lamp is consistent with the deviation direction of the vehicle, judging that the driver has the requirement of transversely controlling the vehicle; and when the state of the turn signal lamp is inconsistent with the deviation direction of the vehicle, judging that the driver does not have the requirement of transversely controlling the vehicle.

Optionally, the first judging module is configured to obtain a moment direction of a steering wheel of the vehicle; when the moment direction of the steering wheel is consistent with the deviation direction of the vehicle, judging that the driver has the requirement of transversely controlling the vehicle; when the torque direction of the steering wheel is inconsistent with the deviation direction of the vehicle, it is determined that the driver does not have a need to laterally control the vehicle.

Optionally, the first judging module is used for acquiring a moment value currently applied by a driver to a steering wheel of the vehicle; when the moment value is larger than a preset target moment threshold value, judging that the driver has the requirement of transversely controlling the vehicle; and when the moment value is not greater than a preset target moment threshold value, judging that the driver does not have the requirement of transversely controlling the vehicle.

Optionally, the apparatus further comprises:

the threshold value determining module is used for acquiring the target running speed of the vehicle; and determining the target moment threshold according to the target running speed.

Optionally, the apparatus further comprises:

the second judging module is used for collecting current road environment information of a road where the vehicle is currently located and current motion state information of the vehicle; judging whether the vehicle is about to leave a current lane or not according to the current road environment information and the current motion state information; determining that the vehicle is about to deviate from a current lane when the vehicle is about to deviate from the current lane; when the vehicle is not about to drive away from the current lane, it is determined that the vehicle is not about to deviate from the current lane.

Optionally, the triggering module is configured to determine, when the viewpoint position does not match an area set for the direction of deviation of the vehicle, a target area to which the viewpoint position belongs; determining correction opportunities preset for the target area; and at the correction timing, controlling the lane keeping of the vehicle.

Optionally, the triggering module is configured to determine a first time when the vehicle starts to travel away from a current lane when the viewpoint position does not match an area set for the vehicle deviation direction, and control a second time required for the vehicle to continue to travel in the current lane; and when the first time is not greater than the second time, controlling the lane keeping of the vehicle.

The invention also provides a vehicle characterized by comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which computer program, when executed by the processor, implements the lane keeping method as above.

The present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the lane keeping method as above.

The invention has the beneficial effects that:

in the invention, when a vehicle deviates from a current lane, the viewpoint position and the attention state which are acquired by a driver are acquired; the attentiveness state includes a concentrated state and a dispersed state; when the attention state is a distraction state, triggering a lane keeping function; when the attention state is the concentrated state, the lane keeping function is in the dormant state; wherein triggering the lane keeping function includes: judging whether the viewpoint position matches an area set for the deviation direction of the vehicle; when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle. By the embodiment of the invention, the lane keeping function can be triggered only when actually needed, so that the interference on the normal driving behavior of a driver is reduced.

Drawings

FIG. 1 is a flow chart of steps of a lane keeping method according to an embodiment of the present invention;

FIG. 2 is a flow chart of steps of another lane keeping method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of different regions to which a viewpoint position belongs in an embodiment of the present invention;

fig. 4 is a schematic view of a partial structure of a vehicle according to an embodiment of the present invention;

FIG. 5 is a flow chart of the steps of a lane keeping in an embodiment of the present invention;

fig. 6 is a schematic structural view of a lane keeping apparatus according to an embodiment of the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order to enable the lane keeping function to be triggered when the lane keeping function is really needed, so that interference on normal driving behaviors of a driver is reduced, the embodiment of the invention provides a lane keeping method, which can acquire the viewpoint position and the attention state acquired by the driver when the vehicle is detected to deviate from the current lane; the viewpoint position may be used to represent where the driver's line of sight is looking, and the attention state may include a concentrated state and a dispersed state; the concentrated state may refer to the driver being attentive to driving, and the dispersed state may refer to the driver being distracted and not being attentive to driving.

If the attention state of the driver is recognized as the concentrated state, the driver can be considered to be concentrated and the situation of the lane departure is within the observation range of the driver, and the driver is conscious; at this time, the lane keeping function may be put in a sleep state to avoid the influence of the normal driving behavior of the driver due to the automatic lane keeping.

Conversely, if the driver's attentiveness state is recognized as the distraction state, the driver may be considered not to be attentive to driving; for example, a passenger at a co-pilot location may be talking to the passenger. At this time, it is further considered that the lane departure occurred is not within the observation range of the driver, and is not intended by the driver; thus, in order to avoid a deviation of the vehicle due to an unintended situation of the driver, the lane keeping function may be triggered in order to control the lane keeping of the vehicle.

When the lane keeping function is triggered, whether the viewpoint position matches with an area set in advance for the departure direction of the vehicle can be continuously determined; if the viewpoint position does not match the region set in advance for the direction of deviation of the vehicle, it can be considered that the driver is not paying attention to the situation of the vehicle deviation; at this time, the lane keeping function may perform lane keeping control on the vehicle to ensure that the vehicle continues to travel in the current lane.

And if the viewpoint position matches an area set in advance for the direction of deviation of the vehicle, it can be considered that the driver has focused on the situation of the vehicle deviation at present; at this time, the control of lane keeping of the vehicle may not be performed.

Specifically, referring to fig. 1, a step flowchart of a lane keeping method according to an embodiment of the present invention is shown, and the method may include the following steps:

step 101, when a vehicle deviates from a current lane, acquiring a viewpoint position and an attention state acquired for a driver; the attentiveness states include a concentrated state and a dispersed state.

In practical applications, upon detecting that the vehicle is going to deviate from the current lane in which it is currently traveling, the viewpoint position and the attention state acquired for the driver may be acquired so as to make more accurate lane keeping of the vehicle based on the viewpoint position and the attention state.

After the attention state collected for the driver is obtained, it may be determined whether the attention state is a concentrated state or a dispersed state.

Step 102, triggering the lane keeping function when the attention state is the distraction state.

If it is determined that the driver's attentiveness is in a distraction state, it can be considered that the driver is not focusing on driving; for example, a passenger at a co-pilot location may be talking to the passenger. In this case, it is further considered that the lane departure is not within the observation range of the driver, and is not intended by the driver.

Thus, in order to avoid a deviation of the vehicle due to an unintended situation of the driver, the lane keeping function may be triggered in order to control the lane keeping of the vehicle.

In an embodiment of the present invention, triggering the lane keeping function may include the sub-steps of:

substep 11, judging whether the viewpoint position matches the area set for the direction of deviation of the vehicle.

When the lane keeping function is triggered, it may be continued to determine whether the viewpoint position matches an area set in advance for the direction of departure of the vehicle, so as to determine whether lane keeping of the vehicle is required based on the viewpoint position.

A substep 12 of performing control of lane keeping on the vehicle when the viewpoint position does not match the area set for the vehicle deviation direction.

If the viewpoint position does not match the region set in advance for the direction of deviation of the vehicle, it can be considered that the driver is not paying attention to the situation of the vehicle deviation; at this time, the lane keeping function may perform lane keeping control on the vehicle to ensure that the vehicle continues to travel in the current lane.

And if the viewpoint position matches an area set in advance for the direction of deviation of the vehicle, it can be considered that the driver has focused on the situation of the vehicle deviation at present; at this time, the control of the lane keeping of the vehicle may not be performed to avoid interference with the normal driving of the driver.

Step 103, when the attention state is the concentrated state, the lane keeping function is in the dormant state.

In practical application, if the attention state of the driver is judged to be the concentrated state, the driver can be considered to be concentrated on driving, and the situation of departure from the lane is in the observation range of the driver, which belongs to the driver and is intended; at this time, the lane keeping function may be put in a sleep state to avoid the influence of the normal driving behavior of the driver due to the automatic lane keeping.

In the embodiment of the invention, when a vehicle deviates from a current lane, the viewpoint position and the attention state which are acquired for a driver are acquired; the attentiveness state includes a concentrated state and a dispersed state; when the attention state is a distraction state, triggering a lane keeping function; when the attention state is the concentrated state, the lane keeping function is in the dormant state; wherein triggering the lane keeping function includes: judging whether the viewpoint position matches an area set for the deviation direction of the vehicle; when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle. By the embodiment of the invention, the lane keeping function can be triggered only when actually needed, so that the interference on the normal driving behavior of a driver is reduced.

Referring to fig. 2, a flowchart illustrating steps of another lane keeping method according to an embodiment of the present invention may include the steps of:

step 201, when the vehicle is to deviate from the current lane, the viewpoint position and the attention state acquired for the driver are acquired.

In one embodiment of the present invention, it may be determined whether the vehicle is about to deviate from the current lane by:

collecting current road environment information of a road where a vehicle is currently located and current motion state information of the vehicle; judging whether the vehicle is about to leave the current lane or not according to the current road environment information and the current motion state information; determining that the vehicle is about to deviate from the current lane when the vehicle is about to deviate from the current lane; when the vehicle is not about to travel away from the current lane, it is determined that the vehicle is not about to deviate from the current lane.

Firstly, current road environment information of a road where a vehicle is currently located and current motion state information of the vehicle can be collected; the current road environment information can comprise the direction of a lane dividing line, the existence of the lane dividing line, the direction of an intersection guiding line, the direction of a guiding lane line and the like; the current operating state information may include information of a speed, acceleration, yaw rate, yaw angle, steering wheel angle speed, and the like of the vehicle.

After the current road environment information and the current movement state information are obtained, it can be determined whether the vehicle is about to leave the current lane based on the two information.

If it is determined that the vehicle is about to drive away from the current lane, it may be determined that the vehicle is about to deviate from the current lane; conversely, if it is determined that the vehicle is not about to travel away from the current lane, it may be determined that the vehicle is not about to travel away from the current lane.

In practical applications, the subsequent steps may be performed only when the vehicle is about to deviate from the current lane, which is not limiting in the embodiment of the invention.

Step 202, determining whether the driver has a need for lateral control of the vehicle.

In practice, it may also be that the vehicle deviates from the current lane for the user to intentionally do so; therefore, when the vehicle is detected to deviate from the current lane, whether the driver has the requirement of transversely controlling the vehicle can be judged; that is, it can be determined whether the driver has a need to control the vehicle to be deviated, for example: requiring overtaking, requiring cornering, etc.

In one embodiment of the present invention, it may be determined whether the driver has a need to laterally control the vehicle by the following sub-steps:

and a substep 21, acquiring the state of a turn signal lamp of the vehicle.

In practical applications, when the driver has a need to control the vehicle laterally, the turn signal may be activated, for example: when the driver needs to control the vehicle to shift left, a left turn light may be activated; when the driver needs to control the vehicle to shift to the right, the right turn light may be activated.

Therefore, when judging whether the driver has a need to laterally control the vehicle, the state of the steering lamp of the vehicle can be acquired first; the turn signal status may be used to indicate an activated turn signal to determine the driver's offset demand based on the activated turn signal, for example: when the driver needs to control the vehicle to shift leftwards, a left turn light may be activated, and the state of the turn light may be "left turn light is activated", which is not limited by the embodiment of the invention.

After the turn signal lamp state of the vehicle is obtained, whether the direction corresponding to the turn signal lamp started corresponding to the turn signal lamp state is consistent with the deviation direction of the vehicle or not can be judged.

In the substep 22, when the state of the turn signal is consistent with the deviation direction of the vehicle, it is determined that the driver has a need to control the vehicle laterally.

If the direction corresponding to the turn signal state enabled is consistent with the deviation direction of the vehicle, the deviation of the current vehicle can be considered to be the driver's intention; at this time, it can be determined that the driver has a need to laterally control the vehicle.

And a substep 23 of determining that the driver does not have the requirement of transversely controlling the vehicle when the state of the turn signal is inconsistent with the deviation direction of the vehicle.

Conversely, if the direction corresponding to the turn signal enabled is not consistent with the deviation direction of the vehicle, the deviation of the current vehicle can be considered not to be the driver's intention but to be; at this time, it may be determined that the driver does not have a need to laterally control the vehicle.

In another embodiment of the present invention, it is also possible to determine whether the driver has a need to control the vehicle laterally by the following sub-steps:

substep 31, acquiring the torque direction of the steering wheel of the vehicle.

In practical applications, when the driver has a need to control the vehicle laterally, the steering wheel may be rotated; for example: when the driver needs to control the vehicle to shift left, the steering wheel may be rotated left; when the driver needs to control the vehicle to shift to the right, the steering wheel may be rotated to the right.

Therefore, when judging whether the driver has the requirement of transversely controlling the vehicle, the moment direction of the steering wheel of the vehicle can be acquired first; the moment direction may include left or right.

After the moment direction of the steering wheel of the vehicle is obtained, it can be judged whether the moment direction coincides with the deviation direction of the vehicle.

In the substep 32, when the torque direction of the steering wheel coincides with the deviation direction of the vehicle, it is determined that the driver has a need to control the vehicle laterally.

If the torque direction of the steering wheel coincides with the deviation direction of the vehicle, the current vehicle's deviation can be considered to be the driver's intention; at this time, it can be determined that the driver has a need to laterally control the vehicle.

In the substep 33, when the torque direction of the steering wheel is not consistent with the deviation direction of the vehicle, it is determined that the driver does not have the need to control the vehicle laterally.

Conversely, if the torque direction of the steering wheel does not coincide with the direction of deviation of the vehicle, it can be considered that the current vehicle deviation is not intended by the driver; at this time, it may be determined that the driver does not have a need to laterally control the vehicle.

In another embodiment of the present invention, it is also possible to determine whether the driver has a need to laterally control the vehicle by the following sub-steps:

substep 41, obtaining a torque value currently applied by the driver to the steering wheel of the vehicle.

In practical applications, when a driver has a need to control the vehicle laterally, a certain force may be applied to the steering wheel; if the driver does not have the need to control the vehicle laterally, a certain force may be applied to the steering wheel, but the moment value of this force may be smaller than the intended moment value. Therefore, in the embodiment of the invention, whether the driver has the requirement of transversely controlling the vehicle can also be judged through the moment value of the steering wheel of the vehicle, which is applied by the driver.

And a sub-step 42 of judging that the driver has the requirement of transversely controlling the vehicle when the moment value is larger than the preset target moment threshold value.

Specifically, the relationship between the torque value currently applied by the driver to the steering wheel of the vehicle and a preset target torque threshold value can be determined to determine whether the driver has a requirement for transversely controlling the vehicle.

If the torque value currently applied by the driver to the steering wheel of the vehicle is greater than the preset target torque threshold value, the driver can be considered to be currently intentionally applying a force to the steering wheel that can offset the vehicle; further, it may be determined that the driver is provided with a need to laterally control the vehicle.

And step 43, when the torque value is not greater than the preset target torque threshold value, judging that the driver does not have the requirement of transversely controlling the vehicle.

Conversely, if the torque value currently applied by the driver to the steering wheel of the vehicle is not greater than the preset target torque threshold, it may be considered that the driver is not currently intentionally applying a force to the steering wheel that may cause the vehicle to deflect; further, it may be determined that the driver is not provided with a need to laterally control the vehicle.

As an example, the target torque threshold may be determined by:

Acquiring a target running speed of a vehicle; and determining a target moment threshold according to the target running speed.

In practical application, when the vehicle is at different running speeds, the moment value for controlling the vehicle to deviate is different; for example: the faster the vehicle speed is, the smaller the moment value of the offset of the control vehicle is; therefore, the above-described target torque threshold for determining whether the driver has a need to laterally control the vehicle may be determined based on the current target running speed of the vehicle.

Specifically, the corresponding relation between different running speeds and different moment thresholds can be preset; then, in the process of running the vehicle, the current target running speed of the vehicle can be obtained, and a moment threshold corresponding to the target running speed is determined from the determined corresponding relation; after the moment threshold value corresponding to the target running speed is obtained, the moment threshold value may be set as the target moment threshold value.

Step 203, when the driver has a need to laterally control the vehicle, the lane keeping function is in a dormant state.

If the driver is determined to have the requirement of transversely controlling the vehicle, the lane keeping function can be put into a dormant state so as to avoid the lane keeping function from interfering with the normal driving of the driver.

Step 204, when the driver does not have the requirement of transversely controlling the vehicle, judging whether the attention state is a distraction state.

On the contrary, if it is determined that the driver does not have a need to laterally control the vehicle, it can be further determined whether the driver's attentiveness state is a distraction state.

Step 205, when the attentiveness state is the distraction state, it is determined whether the viewpoint position matches the area set for the departure direction of the vehicle.

If it is determined that the driver's attentiveness is in a distraction state, it can be considered that the driver is not focusing on driving; in this case, it is further considered that the lane departure is not within the observation range of the driver, and is not intended by the driver.

Specifically, it may be determined first whether the viewpoint position matches an area set for the direction of departure of the vehicle, so as to determine whether lane keeping of the vehicle is required based on the viewpoint position.

Step 206, when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle.

In one embodiment of the present invention, lane keeping of a vehicle may be achieved by:

in the substep 51, when the viewpoint position does not match the area set for the direction of deviation of the vehicle, the target area to which the viewpoint position belongs is determined.

In practical application, when the viewpoint position does not match the area set for the direction of deviation of the vehicle, the area to which the viewpoint position belongs may be determined first; as shown in fig. 3, a plurality of areas may be divided in advance; it is then determined to which region 1-12 the viewpoint position belongs.

The area 1 may be an area in front of the main driver; the region 2 may be a region in front of the secondary drive; region 3 may be the region to the left of the vehicle; region 4 may be the region to the right of the vehicle; the area 5 may be an area of an interior rear view mirror; the area 6 may be the area of a left outside rear view mirror; the area 7 may be the area of a right exterior rear view mirror; the area 8 may be the area of the meter and steering wheel; the area 9 may be an area of a central control screen area; the region 10 may be that of a central armrest region; the region 11 may be a main driving region; region 12 may be a secondary driving region and region 13 may be another region.

Substep 52, determining a correction timing set in advance for the target area.

Because the driver focuses on different areas, the corresponding attention recall times are different; therefore, after the target area to which the viewpoint position belongs is determined, the correction timing set in advance for the target area can be determined. The correction timing may refer to timing of correction in the deviating process; for example: at a current time of 17:00:00, the vehicle is offset to the left, the left front wheel is expected to press against the lane line on the left side of the vehicle at 17:00:04, and then a correction time can be set: 17:00:01, 17:00:02, or 17:00:03.

In the substep 53, the lane keeping control is performed on the vehicle at the correction timing.

After the correction time is determined, the vehicle can be controlled to keep the lane when the correction time is reached; if the correction time is not reached, the driver can be reminded first, so that the driver can control the lane keeping of the vehicle by himself.

In an embodiment of the present invention, lane keeping of a vehicle may also be achieved by:

a substep 61 of determining a first time at which the vehicle starts to travel away from the current lane and a second time required to control the vehicle to continue traveling in the current lane when the viewpoint position does not match the area set for the vehicle deviation direction.

In practical application, when the viewpoint position does not match the area set for the departure direction of the vehicle, it may be determined first when the vehicle will start to travel away from the current lane, and the time at which the vehicle will start to travel away from the current lane may be taken as the first time; for example: when the vehicle is offset to the left, the time when the left front wheel of the vehicle contacts the lane dividing line on the left side of the vehicle may be determined based on the current running speed, and the time may be taken as the first time.

In addition, a second time required for controlling the vehicle to resume from the offset state to continue to keep the current lane travel may also be determined; i.e. the second time required to control the vehicle and to make the vehicle no longer deviate from the current lane.

Substep 62, when the first time is not longer than the second time, controlling the lane keeping of the vehicle.

If the first time is greater than the second time, then it is considered that there is enough time for the vehicle to resume from the offset state to continue to remain in the current lane; at this time, the control of the lane keeping of the vehicle may not be performed first, and the driver may be alerted so that the driver may autonomously perform the lane keeping of the vehicle.

Conversely, if the first time is not greater than the second time, it may be considered that there is insufficient time for the vehicle to resume from the offset state to continue to keep the current lane travel; at this time, the vehicle can be directly and automatically controlled to perform the control of lane keeping, so as to avoid the situation that the vehicle is driven into an adjacent lane and the vehicle is deviated.

Step 207, when the attention state is the focusing state, the lane keeping function is in the sleep state.

In practical application, if the attention state of the driver is judged to be the concentrated state, the driver can be considered to be concentrated on driving, and the situation of departure from the lane is in the observation range of the driver, which belongs to the driver and is intended; at this time, the lane keeping function may be continuously put in a sleep state to avoid the influence of the normal driving behavior of the driver due to the automatic lane keeping.

In the embodiment of the invention, when a vehicle deviates from a current lane, the viewpoint position and the attention state which are acquired for a driver are acquired; judging whether a driver has a requirement of transversely controlling the vehicle; when the driver has the requirement of transversely controlling the vehicle, the lane keeping function is in a dormant state; when the driver does not have the requirement of transversely controlling the vehicle, judging whether the attention state is a decentralised state or not; when the attentiveness state is the dispersed state, judging whether the viewpoint position matches with the area set for the deviated direction of the vehicle; when the viewpoint position does not match with the area set for the vehicle deviation direction, the vehicle is controlled for lane keeping; when the attentiveness state is the concentrated state, the lane keeping function is in the sleep state. By the embodiment of the invention, the lane keeping function can be triggered only when actually needed, so that the interference on the normal driving behavior of a driver is reduced.

The following further describes, by way of example, the lane keeping method described above:

as shown in fig. 4, the vehicle may include a first sensor for identifying a road environment (lane line), a second sensor for identifying a vehicle state, a third sensor for identifying a driver state, a lane keeping function controller, a driver attention monitoring function controller, an HMI (Human Machine Interface, human-machine interface) interaction system, a steering actuator, and the like.

As shown in fig. 5, vehicle and road environment information may be collected by the first sensor and the second sensor and transmitted to the lane keeping function controller; the lane keeping function controller processes and analyzes to obtain whether the vehicle is about to deviate from the lane; collecting the facial information of the driver through a third sensor and transmitting the facial information to a driver attention monitoring function controller; the driver attention monitoring function controller processes and analyzes to obtain the current sight line position and the attention state of the driver, and transmits the current sight line position and the attention state to the lane keeping function controller; the lane keeping function controller is combined with the driver sight line position information sent by the driver attention monitoring function controller to judge whether the vehicle is deviated intentionally by an unintended driver, and transmits an early warning instruction to the HMI interaction system, and transmits an instruction for executing deviation correction to the steering actuator; after receiving the instruction, the HMI interaction system sends out early warning to the driver; and after receiving the instruction, the steering actuator executes a deviation rectifying action to control the vehicle to keep the lane.

The first sensor for collecting the information of the road environment can be a camera, the camera is generally arranged above the inside of a front windshield of a vehicle, after a picture is transmitted to a lane keeping function controller, a lane line is identified through a deep learning sensing algorithm, and then the lane line is projected to a horizontal plane through reverse perspective transformation, so that the shape, curvature, width, line type, color of the lane line, the distance from the vehicle to the lane lines at two sides and the like can be obtained.

The second sensor for acquiring the motion state of the vehicle is more in variety, and can acquire information such as the speed, acceleration, yaw rate, yaw angle, steering wheel angle speed and the like of the vehicle. In combination with the above information, the lane keeping function controller may calculate a first time when the outer edge of the front wheel of the vehicle deviates from the lane line in the current movement state, and a second time required for the lane keeping function to prevent the vehicle from deviating from the lane line in this state. When the first time equals the second time, the lane keeping function should be triggered.

Meanwhile, a steering wheel hand torque sensor is introduced; when it is detected that the torque applied by the driver is greater than the threshold, the system determines that the current departure behavior is intended by the driver, and the lane keeping function enters a suppressed state.

However, the speed range of the lane keeping function is such that the vehicle speed is 60 km/h or more, and in a high-speed state, even if the driver is actively changing lanes, the general torque is small, and in practice, is often smaller than the threshold value set by the function. And part of bad habits that the drivers turn lane and do not turn on the lamps are added, so that functions are triggered by mistake, and user experience is reduced.

According to the driving habits of most people, before the driver intentionally changes lanes, the rearview mirror can be observed to ensure the safety of the driver even if the driver does not turn on a lamp. Therefore, in order to more accurately determine "unintended lane departure", the driver's face image may be transmitted to the driver's attention monitoring function controller using a third sensor (mainly, a camera) that recognizes the driver's state, and the driver's attention state and the driver's line-of-sight attention area (i.e., the viewpoint position) may be obtained through a deep learning sensing algorithm.

The driver's attention monitoring function controller transmits the above-described driver's attention state and driver's line-of-sight attention area information to the lane keeping function controller.

After receiving the information, the lane keeping function controller firstly judges based on the attention state of the driver:

1.1, if the driver's attention state is "concentrated", the vehicle is not considered to be "unintended driver consciously deviated", and the lane keeping function enters the restrained state;

1.2 if the driver's attentiveness status is "distraction", it is assumed that the vehicle may be "unintended driver consciously deviated", and the lane keeping function may be triggered.

Then, based on the driver sight line attention area, judgment is made:

2.1, when the driver sight line attention area is the area 6 in fig. 3, the lane keeping function correction on the left side is not triggered.

2.2, when the driver sight line attention area is the area 7 in fig. 3, the lane keeping function correction on the right side is not triggered.

Meanwhile, since the driver's line of sight focuses on different areas, the corresponding recall times of attention are different, for example:

3.1, when the driver focuses on the front of the main driving or the front of the auxiliary driving, the target focused by the driver may be still on the road surface, only the vehicle is not noticed to deviate from the lane, and only the driver needs to refocus on the lane after receiving the prompt, and the head is not required to rotate, so that the attention recall time is relatively short;

3.2, if the vision of the driver focuses on the left side, the right side, the left rearview mirror, the right rearview mirror and other areas, the driver may focus on the road environment related to driving, the head needs to be turned after the driver receives the prompt, the vision is focused on the road environment in front, and the time required for the recall of the attention is long;

3.3 if the driver focuses on the co-driving area, the central control area or the central armrest area, the driver may be processing other matters not related to driving, after the driver receives the prompt, the driver needs to switch attention back to the driving state, then rotate the head to adjust the sight line, and the sight line is re-focused on the road surface, so that the potential danger is found, and the attention recall time is relatively longest.

Therefore, if the driver does not start the lane keeping auxiliary deviation correcting function, but only keeps the lane departure warning function, different function triggering opportunities can be set according to the area where the driver's sight line is located:

4.1, when the driver sight line attention area is the area 1 or the area 2 in fig. 3, the attention recall time is shortest, the lane keeping function trigger timing is the latest, and the lane keeping function trigger timing is defined as Level1.

4.2, when the driver's line of sight attention area is area 3, 4, 5, 6, 7, or 8 of fig. 3, the attention recall time is medium, the power lane keeping can trigger the timing is medium, defined as Level2.

4.3 when the driver's line of sight area of interest is area 9, 10, 11, 12, or 13 of fig. 3, the attention recall time is the latest, the lane keep function trigger timing is the earliest, defined as Level3

According to the logic, after determining whether the function is triggered or not and the triggering time, the lane keeping auxiliary function controller transmits a triggering signal to the HMI interaction system to provide acoustic, optical or touch alarm for a driver; meanwhile, a trigger signal is transmitted to a steering actuator to control the steering of the vehicle, so that the vehicle is prevented from deviating from a lane.

As shown in fig. 5, after the road environment information, the vehicle state information, and the driver state information are collected, it may be determined whether the vehicle is about to deviate from the lane based on the road environment information and the vehicle state information.

If it is determined that the vehicle is not about to deviate from the lane, the lane keeping function may not be triggered; on the contrary, if it is determined that the vehicle is about to deviate from the lane, it may be determined whether the hand torque applied to the steering wheel by the driver is greater than a preset torque threshold value based on the vehicle state information.

If the moment applied to the steering wheel by the driver is larger than the preset moment threshold value, the lane keeping function can be continuously not triggered; on the contrary, if it is determined that the torque applied to the steering wheel by the driver is not greater than the preset torque threshold, it may be further determined whether the driver's attentiveness state is a "distraction" state according to the driver's attentiveness state information.

If the driver's attentiveness status is not a "distraction" status, the lane keeping function may continue to be not triggered; in contrast, if the driver's state is the "dispersed" state, it can be determined whether the driver's line-of-sight attention area is focused on the off-side rearview mirror based on the driver's state information.

If the sight line concerned area of the driver is deviated from the side rearview mirror, the lane keeping function is still not triggered; otherwise, lane keeping is performed at the corresponding trigger timing (i.e., the correction timing of the foregoing).

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.

Referring to fig. 6, a schematic structural diagram of a lane keeping apparatus according to an embodiment of the present invention may include the following modules:

A collection module 601 for acquiring a viewpoint position and an attention state acquired for a driver when the vehicle is to deviate from a current lane; the attentiveness state includes a concentrated state and a dispersed state;

a triggering module 602, configured to trigger a lane keeping function when the attention state is a distraction state;

a suppression module 603 for placing the lane keeping function in a sleep state when the attentiveness state is a concentrated state;

the triggering module 602 is configured to determine whether the viewpoint position matches an area set for a direction of deviation of the vehicle; when the viewpoint position does not match the area set for the vehicle deviation direction, the control of lane keeping is performed on the vehicle.

In an embodiment of the present invention, the apparatus further includes:

the first judging module is used for judging whether a driver has the requirement of transversely controlling the vehicle or not; when the driver has the requirement of transversely controlling the vehicle, the lane keeping function is in a dormant state; when the driver does not have a need to laterally control the vehicle, it is determined whether the attentiveness state is a distraction state.

In an embodiment of the present invention, a first determining module is configured to obtain a status of a turn signal of a vehicle; when the state of the turn signal lamp is consistent with the deviation direction of the vehicle, judging that the driver has the requirement of transversely controlling the vehicle; when the turn signal state does not coincide with the direction of deviation of the vehicle, it is determined that the driver does not have a need to laterally control the vehicle.

In an embodiment of the present invention, a first determining module is configured to obtain a torque direction of a steering wheel of a vehicle; when the moment direction of the steering wheel is consistent with the deviation direction of the vehicle, judging that the driver has the requirement of transversely controlling the vehicle; when the torque direction of the steering wheel is not consistent with the deviation direction of the vehicle, it is determined that the driver does not have the need to laterally control the vehicle.

In an embodiment of the present invention, a first determining module is configured to obtain a torque value currently applied by a driver to a steering wheel of a vehicle; when the moment value is larger than a preset target moment threshold value, judging that the driver has the requirement of transversely controlling the vehicle; and when the moment value is not greater than the preset target moment threshold value, judging that the driver does not have the requirement of transversely controlling the vehicle.

In an embodiment of the present invention, the apparatus further includes:

the threshold value determining module is used for acquiring the target running speed of the vehicle; and determining a target moment threshold according to the target running speed.

In an embodiment of the present invention, the apparatus further includes:

the second judging module is used for collecting current road environment information of a road where the vehicle is currently located and current motion state information of the vehicle; judging whether the vehicle is about to leave the current lane or not according to the current road environment information and the current motion state information; determining that the vehicle is about to deviate from the current lane when the vehicle is about to deviate from the current lane; when the vehicle is not about to travel away from the current lane, it is determined that the vehicle is not about to deviate from the current lane.

In an embodiment of the present invention, the triggering module 602 is configured to determine, when the viewpoint position does not match the area set for the direction of deviation of the vehicle, a target area to which the viewpoint position belongs; determining correction opportunities preset for the target area; at the time of correcting the timing, the vehicle is controlled to keep the lane.

In an embodiment of the present invention, the triggering module 602 is configured to determine a first time when the vehicle starts to travel away from the current lane and a second time required for controlling the vehicle to continue to travel in the current lane when the viewpoint position does not match the area set for the direction of departure of the vehicle; and when the first time is not longer than the second time, controlling the lane keeping of the vehicle.

The embodiment of the invention also provides a vehicle, which can comprise a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the lane keeping method when being executed by the processor.

The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the lane keeping method when being executed by a processor.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has outlined rather broadly the principles and embodiments of the present invention in order that the detailed description of the invention may be better understood, and in order that the present invention may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

1. A method of lane keeping, the method comprising:

wherein the triggering lane keeping function includes:

2. The method according to claim 1, wherein the method further comprises:

judging whether the driver has a need to transversely control the vehicle;

3. The method of claim 2, wherein said determining whether the driver is provided with a need to laterally control the vehicle comprises:

acquiring a steering lamp state of the vehicle;

4. The method of claim 2, wherein said determining whether the driver is provided with a need to laterally control the vehicle comprises:

Acquiring a moment direction of a steering wheel of the vehicle;

5. The method of claim 2, wherein said determining whether the driver is provided with a need to laterally control the vehicle comprises:

6. The method of claim 5, wherein the method further comprises:

acquiring a target running speed of the vehicle;

7. The method according to claim 1, wherein the method further comprises:

8. The method according to claim 1, wherein the controlling of the lane keeping of the vehicle when the viewpoint position does not match an area set for the direction of departure of the vehicle, includes:

determining correction opportunities preset for the target area;

and at the correction timing, controlling the lane keeping of the vehicle.

9. The method according to claim 1, wherein the controlling of the lane keeping of the vehicle when the viewpoint position does not match the area set for the vehicle deviation direction, includes:

10. A lane keeping device, the device comprising:

11. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the lane keeping method according to any one of claims 1 to 9.

12. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the lane keeping method according to any one of claims 1 to 9.