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Control method, device, equipment and medium for L2 level autonomous driving

A technology of automatic driving and control methods, which is applied in the direction of control devices, transportation and packaging, and external condition input parameters, etc., can solve the problems that the driver's psychological expectations cannot be fully met, the driver is in danger, etc., and achieve the improvement of human-machine co-driving Performance, effect of active lane keeping function optimization

Active Publication Date: 2021-07-30
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the realization of the LKA function and the LCA function cannot fully meet the driver's psychological expectations for the assisted driving function, especially when there are large trucks or guardrails on the side of the driving lane, blindly keeping the lane may also make the driver in danger

Method used

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  • Control method, device, equipment and medium for L2 level autonomous driving
  • Control method, device, equipment and medium for L2 level autonomous driving
  • Control method, device, equipment and medium for L2 level autonomous driving

Examples

Experimental program
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Embodiment 1

[0030] figure 1 It is a flowchart of a control method for L2-level automatic driving provided by Embodiment 1 of the present invention, which is applicable to the adjustment when there is a target avoidance object (for example, a guardrail, a large truck, etc.) in front of the target vehicle. The situation of the target vehicle’s driving trajectory in the current driving lane, the method can be executed by the control device for L2 automatic driving provided by the embodiment of the present invention, the device can be implemented in the form of software and / or hardware, and generally can be integrated in the in vehicle equipment.

[0031] Such as figure 1 As shown, the control method for L2-level automatic driving provided in this embodiment specifically includes:

[0032] S110, acquiring road condition information and obstacle information in front of the target vehicle through the camera.

[0033] The target vehicle refers to a vehicle that supports L2 autonomous driving....

Embodiment 2

[0070] Figure 4 It is a flow chart of a control method for L2-level automatic driving provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments, wherein, when it is determined according to the obstacle information that the current driving lane of the target vehicle is adjacent to the target avoidance object, if a driving intervention event triggered by the driver of the target vehicle is detected, And the driving intervention event causes the target vehicle to leave the current lane keeping boundary, then the driver's current moment driving intervention factor is obtained; wherein, the driving intervention factor is used to indicate the driver's suspicion of L2 automatic driving; the driving intervention factor at the current moment is greater than When the first factor threshold is set, the lane keeping boundary of the target vehicle is expanded within a preset range, and the lane keeping function is implem...

Embodiment 3

[0094] Figure 7 It is a flow chart of a control method for L2-level automatic driving provided by Embodiment 3 of the present invention. This embodiment provides a specific implementation manner on the basis of the foregoing embodiments.

[0095] Such as Figure 7 As shown, the control method for L2-level automatic driving provided in this embodiment specifically includes:

[0096] S710. Obtain road condition information and obstacle information in front of the target vehicle through the camera.

[0097] S720. Determine at least two trajectories to be driven in the current driving lane of the target vehicle according to the road condition information.

[0098] S730. When it is determined according to the obstacle information that the current driving lane of the target vehicle is adjacent to the target avoidance object, select one of the at least two to-be-traveled trajectory lines as the target driving trajectory line.

[0099] Optionally, one of the at least two trajecto...

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Abstract

The embodiment of the present invention discloses a control method, device, equipment and medium for L2 automatic driving. The method includes: obtaining road condition information and obstacle information in front of the target vehicle through a camera; determining at least two trajectory lines to be driven in the current driving lane of the target vehicle according to the road condition information; determining the current driving path of the target vehicle according to the obstacle information When the lane is adjacent to the object to avoid, one of the at least two trajectories to be driven is selected as the target trajectory, and the target vehicle is controlled to automatically drive according to the target trajectory to increase the distance between the target vehicle and the target avoidance. The lateral distance of the object; wherein, the lateral direction is a direction perpendicular to the traveling direction of the target vehicle. The above technical solution realizes the optimization of the active lane keeping function for L2-level automatic driving, and improves the performance of man-machine co-driving for L2-level automatic driving.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of assisted driving, and in particular to a control method, device, device and medium for L2 automatic driving. Background technique [0002] NHTSA (National Highway Safety Administration) and SAE (International Association for Automatic Engineering) divide autonomous driving into L0-L5 levels. Among them, L2-level automatic driving can realize the operation of multiple functions of the vehicle, and the remaining few functions need to be driven. personnel to operate. Common L2-level automatic driving includes functions such as: full-speed adaptive cruise, automatic parking, active lane keeping, automatic lane change, speed limit recognition and other functions. [0003] With the continuous increase of car ownership, the problem of traffic pressure is increasing, and the safety accidents caused by driver negligence are also on the rise. LKA (Lane Keeping Assist, Lane Keeping Assist) fu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W30/095B60W30/12B60W30/18B60W40/04B60W60/00
CPCB60W30/09B60W30/0956B60W30/12B60W30/18163B60W40/04B60W60/0017B60W60/0027B60W2552/50B60W2554/4041B60W2554/80B60W2754/20
Inventor 宇文超
Owner CHINA FIRST AUTOMOBILE