Vehicle emergency lane keeping method and device

An emergency lane and vehicle technology, applied in the field of automatic driving, can solve the problems of vehicles deviating from the own lane, the degree of intelligence is not high, and the danger of vehicle collision, so as to avoid collision, improve accuracy, and control smoothly.

Active Publication Date: 2021-06-18
知行汽车科技(苏州)股份有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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

This application relates to a vehicle emergency lane keeping method and device, which belongs to the field of automatic driving technology. The method includes: obtaining lane line information of the current driving environment of the vehicle; obtaining a preview distance; and determining the current lane line information based on the preview distance and lane line information. The distance between the vehicle's front wheels and the lane edge of the current lane from the edge; determine whether to trigger the emergency lane keeping mode based on the distance from the edge, the pre-collision time and pre-collision distance with the vehicle in the adjacent lane; use the lane centerline as the control trajectory Emergency lane keeping control; calculate the vehicle heading angle based on the lane centerline trajectory and the vehicle's driving trajectory; determine the timing of exiting the emergency lane keeping function based on the vehicle heading angle and distance from the center line. It can solve the problem that the existing lane keeping method easily leads to the risk of vehicle collision; by triggering the emergency lane keeping mode, the risk of vehicle deviation and collision can be 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 Patents(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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