An assisted driving method, related apparatus and vehicle

Abstract

This application discloses an assisted driving method, related devices, and a vehicle, relating to the field of intelligent driving. The method includes: acquiring surrounding information of the vehicle, and then determining whether a lane-keeping event to be executed by the vehicle exists based on the surrounding information and the vehicle's operating status information. When the existence of the lane-keeping event is determined, and the vehicle's emergency lane-keeping function is simultaneously activated, the emergency lane-keeping function is controlled to intervene and maintain the vehicle's lane. This assisted driving method, by detecting the vehicle's surrounding environment and combining it with the vehicle's operating status information, determines whether there is a risk of collision with an object, thereby triggering a lane-keeping event. Based on this, when the vehicle's emergency lane-keeping function is activated, it can be controlled to intervene and maintain the vehicle's lane, effectively avoiding the risk of collision with objects around the vehicle, thus ensuring driving safety.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to an assisted driving method, related device and vehicle. Background Technology

[0002] Emergency Lane Keeping (ELK), a crucial function of intelligent driving, is a vital guarantee for safe vehicle operation. Currently, most ELK systems monitor vehicles ahead and road markings in real time, assessing the risk of collision due to lane departure and proactively intervening to keep the vehicle within its lane. However, its applicability is limited and no longer fully meets the safety requirements of intelligent driving. Summary of the Invention

[0003] In view of the above problems, this application provides an assisted driving method and related device to avoid collisions with obstacles around the vehicle and ensure vehicle driving safety. The specific solution is as follows:

[0004] The first aspect of this application provides a driving assistance method, including:

[0005] Obtain information about the vehicle's surroundings;

[0006] Based on the surrounding information and the vehicle's operating status information, determine whether there is a lane keeping event to be executed by the vehicle;

[0007] If so, and the vehicle's emergency lane keeping function is active, then control the emergency lane keeping function to intervene and control the vehicle's lane keeping.

[0008] In one possible implementation, determining whether there is a lane-keeping event to be executed by the vehicle based on the surrounding information and the vehicle's operating status information includes:

[0009] If the surrounding information includes a target object, then the existence of the lane keeping event is determined based on the category of the target object and the operating status information.

[0010] In one possible implementation, the operational status information includes: vehicle speed and lateral deviation speed. Based on the type of the target object and the operational status information, determining whether the lane-keeping event exists includes:

[0011] If the target is a fixed target, and the vehicle speed is greater than a first vehicle speed value and the lateral deviation speed is less than a first deviation speed value, then it is determined that the lane keeping event exists.

[0012] In one possible implementation, the operational status information includes: vehicle speed and lateral deviation speed. Based on the type of the target object and the operational status information, determining whether the lane-keeping event exists includes:

[0013] If the target is a moving target, and the vehicle speed is greater than the second vehicle speed value, the lateral deviation speed is within the deviation speed value range, and the speed of the moving target is not less than the vehicle speed, then it is determined that the lane keeping event exists.

[0014] In one possible implementation, the process of determining whether the vehicle's emergency lane keeping function is active includes:

[0015] If the vehicle's status information meets all the activation conditions for the emergency lane keeping function, then the vehicle's emergency lane keeping function is determined to be active. The activation conditions include one or more of the following: the vehicle's speed is within the activation speed range, the vehicle has a lane-changing tendency, and the vehicle's steering torque is less than a fluctuation threshold.

[0016] In one possible implementation, before determining whether the vehicle's emergency lane keeping function is active, the method further includes:

[0017] Determine whether the vehicle meets the activation conditions for the emergency lane keeping function;

[0018] If so, then execute the process of determining whether the emergency lane keeping function of the vehicle is active;

[0019] If not, the determination of whether the vehicle's emergency lane keeping function is active will no longer be performed.

[0020] In one possible implementation, the assisted driving method further includes:

[0021] When the vehicle's status information meets any of the interruption conditions for the emergency lane keeping function, the emergency lane keeping function is deactivated. The interruption conditions include one or more of the following: steering angle rate exceeding a speed threshold, steering torque exceeding a torque threshold, throttle change exceeding a first change threshold, and braking change exceeding a second change threshold.

[0022] A second aspect of this application provides a driver assistance device, comprising:

[0023] The peripheral information acquisition module is used to acquire the peripheral information of the vehicle.

[0024] The lane keeping event determination module is used to determine, based on the surrounding information and the vehicle's operating status information, whether there is a lane keeping event to be executed by the vehicle; and,

[0025] The lane keeping control module is used to control the emergency lane keeping function to intervene and control the vehicle to keep its lane when the lane keeping event determination module determines that the lane keeping event exists and the emergency lane keeping function of the vehicle is activated.

[0026] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the assisted driving method of the first aspect or any implementation thereof.

[0027] A fourth aspect of this application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0028] The memory is used to store computer programs;

[0029] The processor is used to execute the computer program so that the electronic device can implement the assisted driving method of the first aspect or any implementation thereof.

[0030] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the assisted driving method described in the first aspect or any implementation thereof.

[0031] The sixth aspect of this application provides a vehicle, including: a vehicle body and electronic devices as described in the fourth aspect above, disposed in the vehicle body.

[0032] By employing the above technical solution, the assisted driving method provided in this application acquires the vehicle's surrounding information and then determines whether a lane-keeping event to be executed by the vehicle exists based on the surrounding information and the vehicle's operating status information. When the existence of such a lane-keeping event is determined, and the vehicle's emergency lane-keeping function is simultaneously activated, the emergency lane-keeping function is engaged to control the vehicle's lane keeping. This assisted driving method, by detecting the vehicle's surrounding environment and combining it with the vehicle's operating status information, determines whether there is a risk of collision with an object, thereby triggering a lane-keeping event. Based on this, when the vehicle's emergency lane-keeping function is activated, it can intervene to control the vehicle's lane keeping, effectively avoiding the risk of collision with objects around the vehicle and thus ensuring driving safety. Attached Figure Description

[0033] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0034] Figure 1 An architecture diagram of an assisted driving system provided in this application;

[0035] Figure 2 An architecture diagram of a terminal provided in this application;

[0036] Figure 3 An architecture diagram of a server provided for this application;

[0037] Figure 4 A flowchart of an assisted driving method provided in this application;

[0038] Figure 5 A structural diagram of a driver assistance device provided in this application;

[0039] Figure 6 This is a structural diagram of an electronic device provided in this application. Detailed Implementation

[0040] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0041] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0042] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0043] See Figure 1 , Figure 1A schematic diagram of an assisted driving system architecture is shown. The system may include a terminal 100 and a server 200. The server 200 may include one or more servers (…). Figure 1 (The example includes a server), and the server 200 can provide the assisted driving method provided in the embodiments of this application to one or more terminals.

[0044] The terminal 100 may be equipped with an application that acquires information about the vehicle's surrounding environment and sends the acquired information to the server 200. The server 200 can obtain the processing result based on the received parameters and return the processing result to the terminal 100.

[0045] It should be understood that in some optional implementations, the terminal 100 can also complete the action of obtaining the processing result based on the received parameters on its own, without the need for the server to cooperate. This application embodiment is not limited to this.

[0046] The following description Figure 1 The product form of the mid-terminal 100;

[0047] In this application embodiment, the terminal 100 can be an ECU (Electronic Control Unit), a VCU (Vehicle Control Unit), an MCU (Micro Controller Unit), an HCU (Hybrid Control Unit), etc., and this application embodiment does not impose any restrictions on it.

[0048] Figure 2 A schematic diagram of an optional hardware structure for terminal 100 is shown.

[0049] refer to Figure 2 As shown, the terminal 100 may include a radio frequency unit 110, a memory 120, an input unit 130, a display unit 140, a camera 150 (optional), an audio circuit 160 (optional), a speaker 161 (optional), a microphone 162 (optional), a headphone jack 163 (optional), a processor 170, an external interface 180, a power supply 190, and other components. Those skilled in the art will understand that... Figure 2 These are merely examples of terminals or multi-functional devices and do not constitute a limitation on terminals or multi-functional devices. They may include more or fewer components than shown in the illustration, or combine certain components, or use different components.

[0050] The input unit 130 can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of the portable multi-functional device. Specifically, the input unit 130 may include a touchscreen 131 (optional) and / or other input devices 132. The touchscreen 131 can collect touch operations performed by the user on or near it (such as operations performed by the user using fingers, knuckles, styluses, or any suitable object on or near the touchscreen), and drive the corresponding connection devices according to a pre-set program. The touchscreen can detect the user's touch actions, convert the touch actions into touch signals and send them to the processor 170, and can receive and execute commands sent by the processor 170; the touch signal includes at least touch point coordinate information. The touchscreen 131 can provide an input interface and an output interface between the terminal 100 and the user. In addition, various types of touchscreens, such as resistive, capacitive, infrared, and surface acoustic wave, can be used to implement the touchscreen. Besides the touchscreen 131, the input unit 130 may also include other input devices. Specifically, other input devices 132 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0051] The display unit 140 can be used to display information such as the location of obstacles.

[0052] The memory 120 can be used to store instructions and data. The memory 120 may primarily include an instruction storage area and a data storage area. The data storage area can store various types of data, such as multimedia files and text. The instruction storage area can store software units such as operating systems, applications, and instructions required for at least one function, or subsets or extended sets thereof. It may also include non-volatile random access memory. It provides the processor 170 with hardware, software, and data resources for managing the computing device, supporting control software and applications. It is also used for storing multimedia files, as well as storing running programs and applications.

[0053] The processor 170 is the control center of the terminal 100. It connects various parts of the terminal 100 via various interfaces and lines. By running or executing instructions stored in the memory 120 and calling data stored in the memory 120, it performs various functions and processes data of the terminal 100, thereby controlling the terminal device as a whole. Optionally, the processor 170 may include one or more processing units; preferably, the processor 170 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 170. In some embodiments, the processor and memory can be implemented on a single chip; in some embodiments, they can also be implemented separately on independent chips. The processor 170 can also be used to generate corresponding operation control signals, send them to the corresponding components of the computing processing device, read and process data in the software, especially read and process data and programs in the memory 120, so that the various functional modules therein perform corresponding functions, thereby controlling the corresponding components to act according to the instructions.

[0054] The memory 120 can be used to store software code related to the assisted driving method, and the processor 170 can execute the steps of the assisted driving method and can also schedule other units (such as the above-mentioned input unit 130 and display unit 140) to achieve the corresponding functions.

[0055] The radio frequency unit 110 (optional) can be used for receiving and transmitting signals during information transmission or calls. For example, it can receive downlink information from the base station and process it for the processor 170; additionally, it can transmit uplink data to the base station. Typically, the RF circuit includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), a duplexer, etc. Furthermore, the radio frequency unit 110 can also communicate wirelessly with network devices and other devices. This wireless communication can use any communication standard or protocol, including but not limited to Global System for Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), etc.

[0056] In this embodiment of the application, the radio frequency unit 110 can send environmental data around the vehicle to the server 200 and receive the processing result of the emergency lane keeping function call sent by the server 200.

[0057] It should be understood that the radio frequency unit 110 is optional and can be replaced with other communication interfaces, such as a network port.

[0058] The terminal 100 also includes a power supply 190 (such as a battery) that supplies power to various components. Preferably, the power supply can be logically connected to the processor 170 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.

[0059] Terminal 100 also includes an external interface 180, which can be a standard Micro USB interface or a multi-pin connector, which can be used to connect terminal 100 to other devices for communication or to connect a charger to charge terminal 100.

[0060] Although not shown, terminal 100 may also include a flash, a wireless fidelity (WiFi) module, a Bluetooth module, sensors with various functions, etc., which will not be described in detail here. Some or all of the methods described below can be applied to, for example... Figure 2 In the terminal 100 shown.

[0061] The following description Figure 1 The product form of the mid-range server 200;

[0062] Figure 3 A structural diagram of a server 200 is provided, as follows: Figure 3 As shown, server 200 includes bus 201, processor 202, communication interface 203, and memory 204. Processor 202, memory 204, and communication interface 203 communicate with each other via bus 201.

[0063] Bus 201 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0064] The processor 202 can be any one or more of the following processors: central processing unit (CPU), graphics processing unit (GPU), microprocessor (MP), or digital signal processor (DSP).

[0065] Memory 204 may include volatile memory, such as random access memory (RAM). Memory 204 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0066] The memory 204 can be used to store software code related to the driver assistance method, and the processor 202 can execute the steps of the driver assistance method of the chip, and can also schedule other units to achieve the corresponding functions.

[0067] It should be understood that the aforementioned terminal 100 and server 200 can be centralized or distributed devices. The processors (e.g., processor 170 and processor 202) in the aforementioned terminal 100 and server 200 can be hardware circuits (such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), general-purpose processors, digital signal processors (DSPs), microprocessors or microcontrollers, etc.) or combinations of these hardware circuits. For example, the processor can be a hardware system with instruction execution capabilities, such as a CPU or DSP, or a hardware system without instruction execution capabilities, such as an ASIC or FPGA, or a combination of the aforementioned hardware systems without instruction execution capabilities and hardware systems with instruction execution capabilities.

[0068] This application provides a method for assisted driving. The assisted driving method of this application embodiment will be described in detail below with reference to the accompanying drawings.

[0069] Reference Figure 4 , Figure 4 This is a flowchart illustrating an assisted driving method provided in an embodiment of this application, such as... Figure 4 As shown in the embodiment of this application, an assisted driving method may include steps 401 to 403, which are described in detail below.

[0070] 401. Obtain the vehicle's surrounding information.

[0071] In one embodiment, the vehicle's onboard computer can be accessed to obtain images, videos, and information about pedestrians, vehicles, electric bicycles, and other objects around the vehicle, such as the positions of objects, from the vehicle's front-view camera, rear-view camera, lidar, microwave radar, and other safety monitoring devices.

[0072] It is understood that those skilled in the art can also obtain the aforementioned security monitoring information through other devices and methods in the vehicle, which will not be elaborated here.

[0073] 402. Based on the surrounding information and the vehicle's operating status information, determine whether there is a lane keeping event to be executed by the vehicle.

[0074] In one embodiment, based on the above-mentioned vehicle perimeter information, it can be first determined whether the above-mentioned object exists around the vehicle. Here, the vehicle perimeter can be a detection range determined with the vehicle as the center point. For example, the front camera and rear camera of the vehicle can determine the object information within 100 meters in front of and behind the vehicle, and the camera on the rearview mirror can obtain the object information within 5 meters on both sides of the vehicle.

[0075] When an object is detected around the vehicle, the system combines the vehicle's operating status information, such as speed, lateral deviation speed, and direction, to determine whether there is a potential risk of collision with the object. This helps to identify whether a lane-keeping event, such as a lane-keeping event to avoid pedestrians or to avoid vehicles behind, is involved.

[0076] 403. If so, and the vehicle's emergency lane keeping function is active, then activate the emergency lane keeping function to control the vehicle's lane keeping.

[0077] In one embodiment, upon determining the existence of a lane-keeping event, since emergency lane keeping, when activated, directly replaces the driver's control of the vehicle, to avoid interfering with the driver's normal driving, turning, and other driving operations, it is necessary to confirm whether the emergency lane keeping function is activated due to the driver's unconscious behavior, such as distraction or drowsiness. If it is determined that the vehicle's emergency lane keeping function is activated, then the emergency lane keeping function can be directly controlled to intervene and maintain lane control of the vehicle, such as correcting lateral deviations.

[0078] During vehicle correction, the steering wheel angle, torque, and peak lateral acceleration of the vehicle must all be less than the set values ​​to meet the execution conditions of the emergency lane keeping function.

[0079] This assisted driving method generates emergency lane keeping events by combining information about the vehicle's surroundings during operation. When the vehicle's emergency lane keeping function is active, it uses this function to control the vehicle's lane, thereby preventing collisions and ensuring driving safety. This active monitoring approach enhances driving safety.

[0080] In one embodiment, to ensure the accuracy of subsequent calls to the emergency lane keeping function and thus the safety of vehicle lane keeping control, step 402 above, determining whether there is a lane keeping event to be executed by the vehicle based on surrounding information and vehicle operating status information, may specifically include the following processing procedures:

[0081] When the surrounding information includes a target object, the existence of the lane keeping event is determined based on the target object's category and operating status information.

[0082] The target objects here can be pedestrians, curbs, motor vehicles, electric vehicles, etc., on both sides of the road. Image recognition, sound wave recognition, and other technologies can be used to identify the obtained image and sound wave information, thereby determining whether there are target objects around the vehicle, and based on the identification of the target objects, obtaining information such as their specific location and speed.

[0083] It should be noted that the identification of the above-mentioned target objects can be carried out using identification technologies well known in the field, and no restrictions are imposed here.

[0084] When identifying a target, it can be categorized as a stationary target or a moving target based on whether it is moving. Further analysis of vehicle operational status information, such as vehicle speed and lateral deviation speed within the lane, helps to determine potential lane-keeping events.

[0085] The specific judgment process for this lane keeping event may include:

[0086] If the target is a fixed target, and the vehicle speed is greater than the first vehicle speed value and the lateral deviation speed is less than the first deviation speed value, then a lane keeping event is determined to exist.

[0087] For example, when only a fixed target is identified, and the fixed target is the road edge on one side of the road, if a vehicle is detected deviating from the road edge, and the vehicle speed is above 60 km / h and the lateral deviation speed is less than 1 m / s, then a lane keeping event can be determined.

[0088] If the target is a moving target, and the vehicle speed is greater than the second vehicle speed value, the lateral deviation speed is within the deviation speed value range, and the speed of the moving target is not less than the vehicle speed, then a lane keeping event is determined to exist.

[0089] In one embodiment, when the moving target is a vehicle approaching from behind, there is a possibility that the vehicle may be overtaken by the approaching vehicle, such as at high speed, on a curve, or on an urban road. If the speed of the approaching vehicle is greater than the vehicle's own speed, and the vehicle's speed is above 45 km / h, and the lateral deviation speed is between 0.1 m / s and 0.6 m / s, it can be determined that there is a possibility of collision with the approaching vehicle due to the vehicle's deviation, and a lane keeping event is determined to have occurred.

[0090] For example, if a vehicle is detected to be deviating laterally from its lane, and a target vehicle is detected changing lanes behind it in an adjacent lane, then if the vehicle deviates into the target vehicle's lane, it can be determined that a lane keeping event has occurred.

[0091] For example, if a vehicle is detected deviating into the oncoming lane using road markings or other reference points, a lane-keeping event can be determined regardless of whether there is a target vehicle traveling in the oncoming lane. For instance, a lane-keeping event is determined to exist when the vehicle speed is above 45 km / h and the lateral deviation speed is between 0.1 m / s and 0.6 m / s.

[0092] It is understood that those skilled in the art can select and adjust the above-mentioned criteria for determining whether a lane-keeping event exists and the corresponding determination process as needed, without any restrictions.

[0093] In some specific embodiments, to avoid conflicting with the driver's normal driving operations and to ensure the driver's normal driving experience, the process for determining whether the vehicle's emergency lane keeping function is active in the above embodiments includes:

[0094] If the vehicle's status information meets all the activation conditions for the emergency lane keeping function, then the vehicle's emergency lane keeping function is determined to be active. The activation conditions include one or more of the following: the vehicle speed is within the activation speed range, the vehicle has a lane-changing tendency, and the vehicle's steering torque is less than the fluctuation threshold.

[0095] In one embodiment, before any lateral deviation occurs, the vehicle should be traveling stably on the current road surface, such as maintaining a straight line at a speed of not less than 30 km / h. If, at this point, the vehicle exhibits a lateral deviation at a certain speed, and the driver's steering torque is less than 5 Nm, it can be determined that the lateral deviation is due to an unintentional operation by the driver, and the emergency lane keeping function can be activated. The trend of the vehicle's lateral deviation can be characterized by the lateral deviation speed and whether the vehicle enters the correction zone.

[0096] To further ensure driver control of the vehicle, before determining whether the emergency lane keeping function is activated, it is also necessary to determine whether the vehicle meets the conditions for activating the emergency lane keeping function. The specific determination process may include:

[0097] Determine if the vehicle has the conditions to activate the emergency lane keeping function.

[0098] If so, then execute the process of determining whether the vehicle's emergency lane keeping function is active;

[0099] If not, the determination of whether the vehicle's emergency lane keeping function is active will no longer be performed.

[0100] In one embodiment, the emergency lane keeping function can only be activated if at least certain conditions are met for the vehicle to drive safely. For example, the emergency lane keeping function may only be operational if the following conditions are met:

[0101] The vehicle is running, the emergency lane keeping function is on, there are no diagnostic faults on the vehicle, all occupants are wearing seat belts, and the vehicle doors and hood are closed.

[0102] It is understood that those skilled in the art may add or remove the above judgment conditions, and no restrictions are placed on this.

[0103] Based on the above embodiments, in order to meet the driver's control needs of the vehicle during the execution of the emergency lane keeping function and enhance the vehicle's risk avoidance capabilities, the assisted driving method may further include the following processing steps:

[0104] If the vehicle's status information meets any of the interruption conditions for the emergency lane keeping function, the emergency lane keeping function will be disengaged. The interruption conditions include one or more of the following: steering angle rate exceeding a speed threshold, steering torque exceeding a torque threshold, throttle change exceeding a first change threshold, and braking change exceeding a second change threshold.

[0105] In one embodiment, considering that the driver may take various actions to avoid the target, it is necessary to disengage the emergency lane keeping function and hand over control of the vehicle to the driver. For example, disengaging the emergency lane keeping function can be triggered when any of the following conditions are met:

[0106] The steering wheel turning rate exceeds the set value;

[0107] The steering wheel torque exceeds the set value;

[0108] Aggressive acceleration by the driver: accelerator pedal opening exceeds 60%, or the increase in accelerator pedal opening is not less than 50%;

[0109] Aggressive braking by the driver: deceleration exceeding 3 m / s 2 Or the travel of the brake pedal is between 6mm and 24mm, etc.

[0110] The above describes an assisted driving method provided by an embodiment of this application. The following describes the apparatus for performing the above assisted driving method.

[0111] Please see Figure 5 , Figure 5 This is a schematic diagram of a driver assistance device provided in an embodiment of this application. Figure 5 As shown, the driver assistance device includes:

[0112] The peripheral information acquisition module 501 is used to acquire the peripheral information of the vehicle.

[0113] The lane-keeping event determination module 502 is used to determine, based on surrounding information and the vehicle's operating status information, whether there is a lane-keeping event to be executed by the vehicle.

[0114] The lane keeping control module 503 is used to activate the emergency lane keeping function to control the vehicle's lane keeping when the lane keeping event judgment module determines that the lane keeping event exists and the vehicle's emergency lane keeping function is activated.

[0115] In one possible implementation, the process by which the lane keeping event determination module 502 determines whether there is a lane keeping event to be performed by the vehicle based on the surrounding information and the vehicle's operating status information includes:

[0116] When the surrounding information contains a target object, the presence of the lane keeping event is determined based on the target object's category and the operating status information.

[0117] In one possible implementation, the operational status information includes: vehicle speed and lateral deviation speed. The lane keeping event determination module 502 determines whether the lane keeping event exists based on the category of the target object and the operational status information, including:

[0118] If the target is a fixed target, and the vehicle speed is greater than a first vehicle speed value and the lateral deviation speed is less than a first deviation speed value, then it is determined that the lane keeping event exists.

[0119] In one possible implementation, the operational status information includes: vehicle speed and lateral deviation speed. The lane keeping event determination module 502 determines whether the lane keeping event exists based on the category of the target object and the operational status information, including:

[0120] If the target is a moving target, and the vehicle speed is greater than the second vehicle speed value, the lateral deviation speed is within the deviation speed value range, and the speed of the moving target is not less than the vehicle speed, then it is determined that the lane keeping event exists.

[0121] In one possible implementation, the process of determining whether the vehicle's emergency lane keeping function is active in the lane keeping control module 503 includes:

[0122] If the vehicle's status information meets all the activation conditions for the emergency lane keeping function, then the vehicle's emergency lane keeping function is determined to be active. The activation conditions include one or more of the following: the vehicle's speed is within the activation speed range, the vehicle has a lane-changing tendency, and the vehicle's steering torque is less than a fluctuation threshold.

[0123] In one possible implementation, it further includes: a function activation determination module, used to determine whether the vehicle has the conditions for activating the emergency lane keeping function before determining whether the emergency lane keeping function of the vehicle is in an activated state;

[0124] If so, then execute the process of determining whether the emergency lane keeping function of the vehicle is active;

[0125] If not, the determination of whether the vehicle's emergency lane keeping function is active will no longer be performed.

[0126] In one possible implementation, it further includes: a function interruption module, used to exit the emergency lane keeping function when the vehicle's status information meets any interruption condition of the emergency lane keeping function, the interruption condition including one or more of the following: steering angle rate exceeding a rate threshold, steering torque exceeding a torque threshold, throttle change exceeding a first change threshold, and braking change exceeding a second change threshold.

[0127] This application also provides an electronic device in its embodiments. (See reference...) Figure 6 The diagram illustrates a structural schematic suitable for implementing the electronic devices in the embodiments of this application. The electronic devices in the embodiments of this application may include, but are not limited to, ECU (Electronic Control Unit), VCU (Vehicle Control Unit), MCU (Micro Controller Unit), HCU (Hybrid Control Unit), etc. Figure 6 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0128] like Figure 6 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, the RAM 603 also stores various programs and data required for the operation of the electronic device. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0129] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, memory cards, hard drives, etc.; and communication devices 609. Communication device 609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0130] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the assisted driving methods provided in this application.

[0131] This application also provides a computer-readable storage medium that carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the assisted driving methods provided in this application.

[0132] This application also provides a vehicle, including: a vehicle body and an electronic device as described in the above embodiments disposed in the vehicle body.

[0133] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0135] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0136] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A driving assistance method, characterized in that, include: Obtain information about the vehicle's surroundings; Based on the surrounding information and the vehicle's operating status information, determine whether there is a lane keeping event to be executed by the vehicle; If so, and the vehicle's emergency lane keeping function is active, then the emergency lane keeping function is activated to control the vehicle's lane keeping.

2. The assisted driving method according to claim 1, characterized in that, The step of determining whether there is a lane-keeping event to be executed by the vehicle based on the surrounding information and the vehicle's operating status information includes: When the surrounding information includes a target object, it is determined whether the lane keeping event exists based on the category of the target object and the operating status information.

3. The assisted driving method according to claim 2, characterized in that, The operational status information includes vehicle speed and lateral deviation speed. Based on the type of the target object and the operational status information, it is determined whether the lane-keeping event exists, including: If the target is a fixed target, and the vehicle speed is greater than a first vehicle speed value and the lateral deviation speed is less than a first deviation speed value, then it is determined that the lane keeping event exists.

4. The assisted driving method according to claim 2, characterized in that, The operational status information includes vehicle speed and lateral deviation speed. Based on the type of the target object and the operational status information, it is determined whether the lane-keeping event exists, including: If the target is a moving target, and the vehicle speed is greater than the second vehicle speed value, the lateral deviation speed is within the deviation speed value range, and the speed of the moving target is not less than the vehicle speed, then it is determined that the lane keeping event exists.

5. The assisted driving method according to any one of claims 1 to 4, characterized in that, The process for determining whether the vehicle's emergency lane keeping function is active includes: If the vehicle's status information meets all the activation conditions for the emergency lane keeping function, then the vehicle's emergency lane keeping function is determined to be active. The activation conditions include one or more of the following: the vehicle's speed is within the activation speed range, the vehicle has a lane-changing tendency, and the vehicle's steering torque is less than a fluctuation threshold.

6. The assisted driving method according to any one of claims 1 to 5, characterized in that, Before determining whether the vehicle's emergency lane keeping function is activated, the process also includes: Determine whether the vehicle meets the activation conditions for the emergency lane keeping function; If so, then execute the process of determining whether the emergency lane keeping function of the vehicle is active; If not, the determination of whether the vehicle's emergency lane keeping function is active will no longer be performed.

7. The assisted driving method according to any one of claims 1 to 6, characterized in that, Also includes: When the vehicle's status information meets any of the interruption conditions for the emergency lane keeping function, the emergency lane keeping function is deactivated. The interruption conditions include one or more of the following: steering angle rate exceeding a speed threshold, steering torque exceeding a torque threshold, throttle change exceeding a first change threshold, and braking change exceeding a second change threshold.

8. A driver assistance device, characterized in that, include: The peripheral information acquisition module is used to acquire the peripheral information of the vehicle. The lane keeping event determination module is used to determine whether there is a lane keeping event to be executed by the vehicle based on the surrounding information and the vehicle's operating status information. as well as, The lane keeping control module is used to activate the emergency lane keeping function to control the lane keeping of the vehicle when the lane keeping event determination module determines that the lane keeping event exists and the emergency lane keeping function of the vehicle is activated.

9. A computer program product, characterized in that, It includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to perform the assisted driving method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to enable the electronic device to implement the assisted driving method as described in any one of claims 1 to 7.

11. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the assisted driving method as described in any one of claims 1 to 7.

12. A vehicle, characterized in that, include: The vehicle body and the electronic device as described in claim 10 disposed in the vehicle body.

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