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Vehicle emergency lane keeping method and device

An emergency lane and vehicle technology, applied in the field of autonomous driving, can solve problems such as low level of intelligence, danger of vehicle collision, and vehicle deviation from the own lane, etc., to achieve the effect of improving accuracy, avoiding collision, and controlling smoothly.

Active Publication Date: 2020-12-04
知行汽车科技(苏州)股份有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] The present application provides a vehicle emergency lane keeping method and device, which can solve the problem of the low level of intelligence when the manual steering control is used to keep the vehicle emergency lane, and the possible deviation of the vehicle caused by the existing lane departure keeping and lane centering keeping functions. car lanes, leading to problems with vehicle collision hazards

Method used

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  • Vehicle emergency lane keeping method and device
  • Vehicle emergency lane keeping method and device

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Embodiment Construction

[0056] The specific implementation manners of the present application will be further described in detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0057] First, the nouns involved in this application are introduced.

[0058] Preview point: The automatic driving of a vehicle is a complex control process. For the convenience of research, it is divided into longitudinal control and lateral control according to the direction. The lateral control is mainly to control the driving direction of the vehicle to ensure that the vehicle is automatically kept near the center of the lane. Driving, in the study of vehicle lateral control, sometimes the vehicle is equivalent to a mass point at the center of mass of the vehicle to ensure that the mass point is near the center of the lane, but the vehicle in motion is controlled according to the position...

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Abstract

The invention relates to a vehicle emergency lane keeping method and device, and belongs to the technical field of automatic driving, and the method comprises the steps: obtaining lane line information of a current driving environment where a vehicle is located; obtaining a preview distance; determining the distance between a front wheel of the current vehicle and the lane sideline of the currentlane based on the preview distance and the lane line information; determining whether to trigger an emergency lane keeping mode based on the distance from the sideline, the pre-collision time with thevehicle on the adjacent lane and the pre-collision distance; performing emergency lane keeping control by taking a lane center line as a control track; calculating a vehicle course angle based on a lane center line track and an own vehicle running track; and judging the exit time of the emergency lane keeping function based on the vehicle heading angle and the distance from the center line. The problem that an existing lane keeping mode is prone to causing vehicle collision danger can be solved. By triggering the emergency lane keeping mode, the risk that the vehicle deviates and collides canbe reduced.

Description

technical field [0001] The present application relates to a vehicle emergency lane keeping method and device, and belongs to the technical field of automatic driving. Background technique [0002] Emergency lane keeping is an extension of the existing vehicle assisted driving function. It is a technology to control the vehicle in the presence of relevant side lane lines to avoid collisions between the own vehicle and adjacent lane vehicles or curbs. [0003] At present, the lane departure warning function only warns the driver when it deviates from the lane, and the driver needs to actively intervene to control the steering. However, the lane departure keeping and lane centering keeping functions sometimes have insufficient control torque and the vehicle deviates from its own lane. . Contents of the invention [0004] The present application provides a vehicle emergency lane keeping method and device, which can solve the problem of the low level of intelligence when the m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B60W40/06
CPCB60W30/12B60W40/06
Inventor 曹杰李鹏
Owner 知行汽车科技(苏州)股份有限公司
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