Road edge avoiding method and system in intelligent cruise

Abstract

The invention provides a road edge avoidance method and system in intelligent cruise, and the method comprises the steps: calculating the deviation direction of a vehicle when the vehicle runs on a specific road and the curvature radius of the road exceeds a preset threshold value, and judging whether the road edge meets a deviation condition or not; if the deviation condition is met, target vehicle information in the deviation direction is obtained, and whether the target vehicle influences self-vehicle deviation or not is judged according to the target vehicle position, the relative distance and the relative speed; if the target vehicle does not affect self-vehicle deviation, calculating a deviation target of the self-vehicle in the current scene, planning a deviation path based on the deviation target, and controlling the self-vehicle to run in a deviation manner; in the shifting process or the shifting driving state, whether the vehicle meets the centering condition or not is continuously judged, and if the vehicle meets the centering condition, the vehicle is controlled to be driven in the middle of the lane. According to the scheme, the vehicle can be controlled to properly deviate towards the opposite direction of the road edge in the intelligent cruise, the psychological pressure of a driver is reduced, the user experience is improved, and the utilization rate of the intelligent cruise is increased.

Description

technical field [0001] The invention belongs to the field of intelligent driving, and in particular relates to a road edge avoidance method and system in intelligent cruise. Background technique [0002] With the rapid development of smart car technology, L2-level intelligent driving systems have been applied on a large scale in mass-produced vehicles. The more typical L2 horizontal and vertical coupling control systems, such as TJA (traffic jam assist) and ICA (intelligent cruise assist), can control the vehicle to drive in the center of the lane very well. But in practice, because these functions are too mechanized, they are still seldom used by ordinary users in driving. For example, when the vehicle is driving at high speed in a lane close to the road edge or guardrail on a highway or an urban expressway, the intelligent cruise function is still "mechanized". Driving in the center of the lane, close to the edge of the road or the guardrail, puts a lot of psychological p...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiments of the present invention provide a method and system for avoiding road edges in intelligent cruise, which are used to solve the problem that users rarely use intelligent cruise in specific scenarios.

Images