Lane keeping controller, control method and system, storage medium

Abstract

The present disclosure relates to a lane keeping controller, a control method and system, and a storage medium. The lane keeping control system includes: a front view camera for detecting information about the lane lines ahead; a blind spot camera for detecting the lane lines and obstacles in the blind spot of the current vehicle; a lane keeping controller for determining the position of the current vehicle between the lane lines based on the information provided by the front view camera and the blind spot camera, and sending a cornering demand command to an execution module; and an execution module for controlling the current vehicle to perform an angular turn according to the cornering demand command. The present disclosure provides a lane keeping control system with a blind spot camera, which can make up for the defect that the front camera detection has a short-distance blind spot.

Description

Technical Field

[0001] The present disclosure relates to the field of lane control, and particularly to a lane keeping controller, a control method and system, and a storage medium. Background Art

[0002] In the related art, a lane keeping system detects the lane lines ahead through a camera. After the lane keeping system detects that the vehicle deviates from the lane lines, it controls the steering angle of the EHPS (Electronic Hydrostatic Power Steering) controller to correct the deviation and keep the vehicle running within the lane lines. Summary of the Invention

[0003] The inventors found through research that: in the related art, due to the good detection of the lane lines in the open field ahead by the environmental perception module (mostly a front view camera) of the lane keeping system, the effect is not good when the lane lines are unclear or partially discontinuous.

[0004] In view of at least one of the above technical problems, the present disclosure provides a lane keeping controller, a control method and system, and a storage medium, and provides a lane keeping control system with a blind area camera, which can compensate for the defect of the front camera detecting a close-range blind area.

[0005] According to one aspect of the present disclosure, a lane keeping control system is provided, which includes an environmental perception module, a lane keeping controller and an execution module. The environmental perception module includes a front view camera and a blind area camera, wherein:

[0006] The front view camera is used to detect the lane line information ahead;

[0007] The blind area camera is used to detect the lane lines and obstacle conditions in the blind area of the current vehicle;

[0008] The lane keeping controller is used to determine the position of the current vehicle between the lane lines according to the information provided by the front view camera and the blind area camera, and issue a corner demand command to the execution module;

[0009] The execution module is used to control the current vehicle to perform an angle turn according to the corner demand command.

[0010] In some embodiments of the present disclosure, the blind area camera includes a left blind area camera and a right blind area camera, wherein:

[0011] The front view camera is installed at the center of the windshield. The left blind area camera is mechanically connected to the left bumper through a transition bracket, and the right blind area camera is mechanically connected to the right bumper through a transition bracket;

[0012] Left blind spot camera, used to detect the lane lines and obstacles in the left front blind spot in front of the cab;

[0013] Right blind spot camera, used to detect the lane lines and obstacles in the right front blind spot in front of the cab.

[0014] In some embodiments of the present disclosure, the lane keeping controller is installed at the right side beam of the cab.

[0015] In some embodiments of the present disclosure, the lane keeping controller is in CAN (Controller Area Network) communication connection with the front view camera, the blind spot camera and the execution module.

[0016] In some embodiments of the present disclosure, the execution module includes an electronic hydraulic power steering control module, a steering motor and a steering mechanism, wherein:

[0017] The electronic hydraulic power steering control module is connected to the steering motor, and the steering motor is connected to the steering mechanism;

[0018] When receiving a cornering demand command, the electronic hydraulic power steering control module completes the steering of the steering angle through the steering motor and the steering mechanism, wherein the cornering demand command includes the steering angle that the current vehicle needs to turn.

[0019] In some embodiments of the present disclosure, the execution module further includes a steering angle sensor and a steering torque sensor, wherein:

[0020] The electronic hydraulic power steering control module is connected to the steering angle sensor and the steering torque sensor;

[0021] Steering angle sensor, used to collect the steering angle signal of the current vehicle;

[0022] Steering torque sensor, used to collect the steering torque signal of the current vehicle;

[0023] Electronic hydraulic power steering control module, used to forward the steering angle signal and the steering torque signal fed back by the steering angle sensor and the steering torque sensor to the lane keeping controller;

[0024] Lane keeping controller, used to perform closed-loop correction on the current steering angle and the current steering torque according to the real-time feedback steering angle signal and steering torque signal.

[0025] In some embodiments of the present disclosure, the lane keeping control system further includes an engine control module, a transmission control module and a vehicle body stability control module, wherein:

[0026] The lane keeping controller maintains a CAN communication connection with the engine control module, the transmission control module, and the vehicle stability control module;

[0027] An electro-hydraulic power steering control module, configured to maintain the stability of vehicle steering according to the torque information of the engine control module, the gear information of the transmission control module, and the vehicle lateral angular velocity value of the vehicle stability control module.

[0028] In some embodiments of the present disclosure, the engine control module is arranged at the chassis along with the engine assembly, the transmission control module is arranged at the chassis along with the transmission assembly, the vehicle stability control module is arranged at the centroid position of the chassis, and the electro-hydraulic power steering control module is installed on the chassis steering gear.

[0029] In some embodiments of the present disclosure, the lane keeping control system further includes a vehicle body attitude sensor, wherein:

[0030] The vehicle body attitude sensor is connected to the vehicle stability control module;

[0031] The vehicle body attitude sensor is configured to collect the vehicle lateral angular velocity value and send the collected vehicle lateral angular velocity value to the vehicle stability control module.

[0032] In some embodiments of the present disclosure, the lane keeping control system further includes a driver operation switch, wherein:

[0033] The driver operation switch maintains a CAN communication connection with the lane keeping controller;

[0034] The driver operation switch is a self-resetting push-button switch and is installed on the cab instrument panel;

[0035] The lane keeping control system is configured to enter a standby state after self-checking without faults after the vehicle is powered on; and enter a working activation state when the driver operation switch is pressed.

[0036] In some embodiments of the present disclosure, the lane keeping control system further includes a voice reminder module, wherein:

[0037] The voice reminder module maintains a CAN communication connection with the lane keeping controller;

[0038] The voice reminder module is configured to work to remind the driver of the current working state when the lane keeping system enters the working activation state.

[0039] According to another aspect of the present disclosure, there is provided a lane keeping control method, including:

[0040] Receiving the information of the front lane line fed back by the front view camera, and the lane line and obstacle conditions of the current vehicle blind area fed back by the blind area camera;

[0041] Based on the information fed back by the front view camera and the blind spot camera, determine the position of the current vehicle between the lane lines, and generate a cornering demand command according to the position of the current vehicle between the lane lines;

[0042] Send the cornering demand command to the execution module, instructing the execution module to control the current vehicle to perform an angular turn.

[0043] In some embodiments of the present disclosure, the blind spot camera includes a left blind spot camera and a right blind spot camera;

[0044] The determining the position of the current vehicle between the lane lines based on the information fed back by the front view camera and the blind spot camera, and generating a cornering demand command according to the position of the current vehicle between the lane lines includes:

[0045] Fuse the left and right lane line information, and the lane line acquisition information of the left and right blind spot cameras to form a driving situation trend map;

[0046] Plan a path based on the fused lane line information and generate a cornering demand command.

[0047] In some embodiments of the present disclosure, the determining the position of the current vehicle between the lane lines based on the information fed back by the front view camera and the blind spot camera, and generating a cornering demand command according to the position of the current vehicle between the lane lines includes:

[0048] According to the position information of the vehicle between the lane lines, perform calculation and verification on the lateral distance between the vehicle position information and the lane edge line, and the trend of the included angle between the vehicle driving path and the lane line;

[0049] If the lateral distance exceeds a predetermined threshold and there is a tendency for the driving path to intersect the lane lines, generate a cornering demand command.

[0050] In some embodiments of the present disclosure, the lane keeping control method further includes:

[0051] Receive the steering angle signal fed back by the steering angle sensor and the steering torque signal fed back by the steering torque sensor;

[0052] Perform closed-loop correction on the current steering angle and the current steering torque according to the real-time fed-back steering angle signal and steering torque signal.

[0053] According to another aspect of the present disclosure, there is provided a lane keeping controller, including:

[0054] An environmental information receiving unit for receiving the front lane line information fed back by the front view camera and the lane line and obstacle conditions of the current vehicle blind spot fed back by the blind spot camera;

[0055] A path planning unit, configured to determine the position of the current vehicle between lane lines according to the information fed back by the front-view camera and the blind-spot camera, and generate a corner demand command according to the position of the current vehicle between lane lines;

[0056] A corner command issuing unit, configured to issue a corner demand command to an execution module, instructing the execution module to control the current vehicle to perform an angular turn.

[0057] In some embodiments of the present disclosure, the lane keeping controller is configured to perform operations for implementing the lane keeping control method described in any one of the above embodiments.

[0058] According to another aspect of the present disclosure, there is provided a lane keeping controller, including:

[0059] A memory, configured to store instructions;

[0060] A processor, configured to execute the instructions, so that the lane keeping controller performs operations for implementing the lane keeping control method described in any one of the above embodiments.

[0061] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium, characterized in that the non-transitory computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the lane keeping control method described in any one of the above embodiments is implemented.

[0062] The present disclosure provides a lane keeping control system with a blind-spot camera, which can compensate for the defect that the front camera detection has a short-distance blind spot. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 It is a schematic diagram of some embodiments of the lane keeping control system of the present disclosure.

[0065] Figure 2 It is a schematic diagram of some other embodiments of the lane keeping control system of the present disclosure.

[0066] Figure 3 It is a schematic diagram of the detection area of the lane keeping system in some embodiments of the present disclosure.

[0067] Figure 4 It is a schematic diagram of some embodiments of the lane keeping control method of the present disclosure.

[0068] Figure 5 Schematic diagram of some embodiments of the lane keeping controller of the present disclosure.

[0069] Figure 6 Structural schematic diagram of some other embodiments of the lane keeping controller of the present disclosure. Detailed implementation manners

[0070] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way restrictive of the present disclosure and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0071] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present disclosure.

[0072] Meanwhile, it should be understood that, for the sake of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship.

[0073] Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and devices should be regarded as part of the authorization specification.

[0074] In all the examples shown and discussed here, any specific value should be construed as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0075] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0076] The inventors have found through research that: due to the installation position and field of view angle limitations of the related technology environmental perception module, there are near-side detection blind spots for the lane lines on the left and right sides. When these working conditions occur, they affect the operation and performance of the lane keeping system, such as the lane keeping system repeatedly exiting or the lane keeping system being unable to work properly.

[0077] In view of at least one of the above technical problems, the present disclosure provides a lane keeping controller, a control method and system, and a storage medium. The present disclosure will be described below through specific embodiments.

[0078] Figure 1Schematic diagram of some embodiments of the lane keeping control system disclosed herein. Figure 1 As shown, the lane keeping control system of the present disclosure may include an environment perception module 100, a lane keeping controller 200, and an execution module 300. The environment perception module 100 includes a front-view camera 110 and a blind spot camera 120, wherein:

[0079] The front-view camera 110 is used to detect lane line information ahead.

[0080] The blind spot camera 120 is used to detect lane lines and obstacles in the current blind spot of the vehicle.

[0081] The lane keeping controller 200 is used to determine the current position of the vehicle between lane lines based on the information provided by the front-view camera 110 and the blind spot camera 120, and to send a turning angle requirement command to the execution module 300.

[0082] The execution module 300 is used to control the current vehicle to perform angular steering according to the turning angle requirement command.

[0083] The lane keeping control system disclosed herein may be a lane keeping control system for a commercial vehicle.

[0084] Figure 2 Schematic diagram of some other embodiments of the lane keeping control system disclosed herein. Figure 2 As shown, the blind spot camera 120 may include a left blind spot camera 121 and a right blind spot camera 122, wherein:

[0085] The front-view camera 110 is installed at the center of the windshield, the left blind spot camera 120 is mechanically connected to the left bumper through a transition bracket, and the right blind spot camera 120 is mechanically connected to the right bumper through a transition bracket.

[0086] Figure 3 Schematic diagram of the detection area of the lane keeping system in some embodiments of the present disclosure. Figure 3 As shown:

[0087] The front-view camera 110 is used to detect lane line information ahead, such as length, width, curvature, etc.

[0088] The left blind spot camera 121 is used to detect lane lines and obstacles in the left front blind spot in front of the cab.

[0089] The right blind spot camera 122 is used to detect lane lines and obstacles in the right front blind spot in front of the cab.

[0090] In some embodiments of the present disclosure, the lane keeping controller 200 is installed at the right side pipe beam of the cab.

[0091] In some embodiments of the present disclosure, as Figure 1 shown, the lane keeping controller 200 maintains a CAN communication connection with the front view camera 110, the blind spot camera 120, and the execution module 300.

[0092] In some embodiments of the present disclosure, the lane keeping controller 200 can be used to receive the information of the front lane lines fed back by the front view camera 110, and the lane lines and obstacle conditions in the current vehicle's blind spot fed back by the blind spot camera 120; determine the position of the current vehicle between the lane lines according to the information fed back by the front view camera 110 and the blind spot camera 120, generate a cornering demand command according to the position of the current vehicle between the lane lines; issue the cornering demand command to the execution module 300, instructing the execution module 300 to control the current vehicle to perform an angular turn.

[0093] In some embodiments of the present disclosure, the lane keeping controller 200 can be used to fuse the left and right lane line information, and the lane line acquisition information of the left and right blind spot cameras, to form a driving situation trend map; plan a path according to the fused lane line information, and generate a cornering demand command.

[0094] In some embodiments of the present disclosure, the lane keeping controller 200 can be used to calculate and verify the lateral distance between the vehicle position information and the lane edge line, and the trend of the included angle between the vehicle driving path and the lane line according to the position information of the vehicle between the lane lines; if the lateral distance exceeds a predetermined threshold and there is a trend of intersection between the driving path and the lane lines, generate a cornering demand command.

[0095] In some embodiments of the present disclosure, as Figure 2 shown, the execution module 300 includes an electronic hydraulic power steering control module 310, a steering motor 320, and a steering mechanism ( Figure 2 not shown in the figure), where:

[0096] The electronic hydraulic power steering control module 310 is connected to the steering motor 320, and the steering motor 320 is connected to the steering mechanism.

[0097] When the electronic hydraulic power steering control module 310 receives a cornering demand command, it completes the steering of the steering angle through the steering motor 320 and the steering mechanism, where the cornering demand command includes the steering angle that the current vehicle needs to turn.

[0098] In some embodiments of the present disclosure, as Figure 2 shown, the execution module 300 may further include a steering angle sensor 330 and a steering torque sensor 340, where:

[0099] The electronic hydraulic power steering control module 310 is connected to the steering angle sensor 330 and the steering torque sensor 340.

[0100] The steering angle sensor 330 is used to collect the steering angle signal of the current vehicle.

[0101] The steering torque sensor 340 is used to collect the steering torque signal of the current vehicle.

[0102] The electronic hydraulic power steering control module 310 is used to forward the steering angle signal and the steering torque signal fed back by the steering angle sensor 330 and the steering torque sensor 340 to the lane keeping controller 200.

[0103] The lane keeping controller 200 is used to perform closed-loop correction on the current steering angle and the current steering torque according to the real-time fed-back steering angle signal and steering torque signal.

[0104] In some embodiments of the present disclosure, as Figure 2 shown, the lane keeping control system may further include an engine control module 400, a transmission control module 500, and a vehicle body stability control module 600, wherein:

[0105] The lane keeping controller 200 maintains a CAN communication connection with the engine control module 400, the transmission control module 500, and the vehicle body stability control module 600.

[0106] The electronic hydraulic power steering control module 310 is used to maintain the stability of vehicle steering according to the torque information of the engine control module 400, the gear position information of the transmission control module 500, and the vehicle body lateral angular velocity value of the vehicle body stability control module 600.

[0107] In some embodiments of the present disclosure, the engine control module 400 is arranged at the chassis along with the engine assembly, the transmission control module 500 is arranged at the chassis along with the transmission assembly, the vehicle body stability control module 600 is arranged at the centroid position of the chassis, and the electronic hydraulic power steering control module 310 is installed on the chassis steering gear.

[0108] In some embodiments of the present disclosure, as Figure 2 shown, the lane keeping control system may further include a vehicle body attitude sensor 700, wherein:

[0109] The vehicle body attitude sensor 700 is connected to the vehicle body stability control module 600.

[0110] The vehicle body attitude sensor 700 is used to collect the vehicle body lateral angular velocity value and send the collected vehicle body lateral angular velocity value to the vehicle body stability control module 600.

[0111] In some embodiments of the present disclosure, asFigure 2 As shown, the lane keeping control system may further include a driver operation switch 800, where:

[0112] The driver operation switch 800 maintains a CAN communication connection with the lane keeping controller 200.

[0113] The driver operation switch 800 is a self - reset push - button switch and is installed on the cab instrument panel.

[0114] The lane keeping control system is used to enter the standby state after self - checking without faults when the vehicle is powered on; and enter the working activation state when the driver operation switch 800 is pressed.

[0115] In some embodiments of the present disclosure, the lane keeping controller 200 is used to detect the position information of its own vehicle, the width between the left and right lane lines, and the angle trend of the vehicle driving trajectory intersecting with the lane edge line through the front - view camera, the left - blind - spot camera, and the right - blind - spot camera after the system is activated; fuse the lane line information collected from the left and right lane lines and the lane line acquisition information of the left and right blind - spot cameras to form a driving situation trend map; plan a path according to the fused lane line information, and send an angle control signal to the electronic hydraulic power steering control module 310, and the electronic hydraulic power steering control module 310 executes after receiving it.

[0116] In some embodiments of the present disclosure, the lane keeping controller 200 is used to correct the current steering angle and torque according to the PID (Proportional Integral Differential) control method through sensor feedback.

[0117] In some embodiments of the present disclosure, the lane keeping controller 200 is used to fit and calculate the lane line parameter information of the front - view camera, the left - blind - spot camera, and the right - blind - spot camera to calculate the position of the vehicle between the lane lines when the lane keeping system enters the working activation state; calculate and verify the lateral distance between the vehicle position information and the lane edge line, and the angle trend between the vehicle driving path and the lane line according to the position information of the vehicle between the lane lines; if the lateral distance exceeds the threshold set by the path planning module and there is a trend of the driving path intersecting with the lane line, a corner demand command is sent to the electronic hydraulic power steering control module 310.

[0118] In some embodiments of the present disclosure, the electronic hydraulic power steering control module 310 is configured to execute the controller angle and implement the instruction through the steering motor and the steering mechanism to complete the angle steering; while executing the steering angle, it will receive the torque information of the vehicle engine module, the gear information of the transmission control module, and the vehicle lateral angular velocity value of the vehicle body stability control module to maintain the stability of vehicle steering and prevent the vehicle from rolling over during sharp turns.

[0119] In some embodiments of the present disclosure, the steering angle sensor 330 and the steering torque sensor 340 are configured to, after the system completes an angle control instruction of the lane keeping system, feedback the collected signals to the electronic hydraulic power steering control module 310, and the electronic hydraulic power steering control module 310 sends them to the lane keeping controller 200 through CAN. The lane keeping controller 200 receives the real-time feedback steering angle for closed-loop correction to ensure dynamic real-time correction.

[0120] In some embodiments of the present disclosure, as Figure 2 shown, the lane keeping control system may further include a voice reminder module 900, where:

[0121] The voice reminder module 900 maintains a CAN communication connection with the lane keeping controller 200.

[0122] The voice reminder module 900 is configured to work to remind the driver of the current working state when the lane keeping system enters the working activation state.

[0123] In some embodiments of the present disclosure, the voice reminder module 900 is installed at the left position of the cab instrument panel.

[0124] In some embodiments of the present disclosure, the driver operation switch, the front view camera, the left blind area camera, the right blind area camera, the voice reminder module, the engine module, the transmission control module, the vehicle body stability control module, and the EHPS control module maintain communication connections with the lane keeping controller through the CAN communication method. Among them, the vehicle body attitude sensor is electrically connected to the vehicle body stability control module, and the steering angle sensor, the steering torque sensor, and the steering motor are electrically connected to the EHPS control module.

[0125] The above embodiments of the present disclosure provide a lane keeping control system for commercial vehicles, specifically a lane keeping control system with blind area cameras, which can compensate for the defect of the front camera detecting a short-distance blind area. The above embodiments of the present disclosure can fuse the parameters of the front view camera and the blind area cameras to enable the lane keeping controller to accurately obtain the information of the lane lines and perform steering control on the vehicle.

[0126] In the above embodiments of the present disclosure, when the lane lines are unclear or partially discontinuous, and there are blind spots in the near area detection of the left and side lane lines due to the installation position and field of view angle limitations of the environmental perception module, the lane keeping system can work more stably, thereby improving the vehicle's performance.

[0127] Figure 4 It is a schematic diagram of some embodiments of the lane keeping control method of the present disclosure. Preferably, this embodiment can be executed by the lane keeping control system or the lane keeping controller of the present disclosure. The method may include at least one of steps 41-step 43, where:

[0128] Step 41, receiving the information of the front lane lines fed back by the front view camera 110 and the lane line and obstacle conditions in the blind area of the current vehicle fed back by the blind area camera 120.

[0129] In some embodiments of the present disclosure, the blind area camera 120 includes a left blind area camera 121 and a right blind area camera 122.

[0130] Step 42, determining the position of the current vehicle between the lane lines according to the information fed back by the front view camera 110 and the blind area camera 120, and generating a cornering demand command according to the position of the current vehicle between the lane lines.

[0131] In some embodiments of the present disclosure, step 42 may include: fusing the left and right lane line information and the lane line acquisition information of the left and right blind area cameras to form a driving situation trend map; planning a path according to the fused lane line information, and generating a cornering demand command.

[0132] In some embodiments of the present disclosure, step 42 may include: calculating and verifying the lateral distance between the vehicle position information and the lane edge line, and the trend of the included angle between the vehicle driving path and the lane line according to the position information of the vehicle between the lane lines; if the lateral distance exceeds a predetermined threshold and there is a trend of intersection between the driving path and the lane lines, generating a cornering demand command.

[0133] Step 43, sending the cornering demand command to the execution module 300, instructing the execution module 300 to control the current vehicle to perform an angle turn.

[0134] In some embodiments of the present disclosure, the lane keeping control method may further include: receiving the steering angle signal fed back by the steering angle sensor 330 and the steering torque signal fed back by the steering torque sensor 340; performing closed-loop correction on the current steering angle and the current steering torque according to the real-time fed-back steering angle signal and steering torque signal.

[0135] Based on the commercial vehicle lane keeping control method provided in the above embodiments of the present disclosure, a lane keeping control method with a blind area camera is specifically provided, which can compensate for the defect that the front camera detection has a short-distance blind area. The above embodiments of the present disclosure can fuse the parameters of the front view camera and the blind area camera, so that the lane keeping controller can accurately obtain the information of the lane line and perform steering control on the vehicle.

[0136] When the lane line is unclear or partially discontinuous in the above embodiments of the present disclosure, and when there are blind area detection blind areas in the near areas of the left and right lane lines due to the installation position and field of view angle limitations of the environmental perception module, the lane keeping system can work more stably, thereby improving the vehicle's performance.

[0137] Figure 5 It is a schematic diagram of some embodiments of the lane keeping controller of the present disclosure. As Figure 2 shown, the lane keeping controller of the present disclosure (for example Figure 2 or Figure 2 the lane keeping controller 200 of the embodiment) may include an environmental information receiving unit 210, a path planning unit 220, and a corner command issuing unit 230, where:

[0138] The environmental information receiving unit 210 is configured to receive the information of the front lane line fed back by the front view camera 110, and the lane line and obstacle conditions in the blind area of the current vehicle fed back by the blind area camera 120.

[0139] In some embodiments of the present disclosure, the blind area camera 120 includes a left blind area camera 121 and a right blind area camera 122.

[0140] The path planning unit 220 is configured to determine the position of the current vehicle between the lane lines according to the information fed back by the front view camera 110 and the blind area camera 120, and generate a corner demand command according to the position of the current vehicle between the lane lines.

[0141] In some embodiments of the present disclosure, the path planning unit 220 may be configured to fuse the left and right lane line information and the lane line acquisition information of the left and right blind area cameras to form a driving situation trend map; plan a path according to the fused lane line information, and generate a corner demand command.

[0142] In some embodiments of the present disclosure, the path planning unit 220 may be configured to calculate and verify the lateral distance between the vehicle position information and the lane edge line, and the trend of the included angle between the vehicle driving path and the lane line according to the position information of the vehicle between the lane lines; if the lateral distance exceeds a predetermined threshold and there is a trend that the driving path intersects the lane line, a corner demand command is generated.

[0143] The corner command sending unit 230 is configured to send a corner requirement command to the execution module 300, instructing the execution module 300 to control the current vehicle to perform an angular turn.

[0144] In some embodiments of the present disclosure, the lane keeping controller may also be configured to receive a steering angle signal feedback by the steering angle sensor 330 and a steering torque signal feedback by the steering torque sensor 340; and perform closed-loop correction on the current steering angle and the current steering torque according to the real-time feedback steering angle signal and steering torque signal.

[0145] In some embodiments of the present disclosure, the lane keeping controller may be configured to execute operations for implementing the lane keeping control method as described in any of the above embodiments (for example Figure 4 the embodiment).

[0146] Based on the lane keeping controller provided in the above embodiments of the present disclosure, the defect that the front camera detection has a short-distance blind area can be remedied. The above embodiments of the present disclosure can fuse the parameters of the front view camera and the blind area camera, so that the lane keeping controller can accurately obtain the information of the lane line and perform steering control on the vehicle.

[0147] Figure 6 It is a schematic structural diagram of some other embodiments of the lane keeping controller of the present disclosure. As Figure 6 shown, the lane keeping controller includes a memory 61 and a processor 62.

[0148] The memory 61 is used for storing instructions. The processor 62 is coupled to the memory 61, and the processor 62 is configured to execute the method involved in the above embodiments based on the instructions stored in the memory.

[0149] As Figure 6 shown, the lane keeping controller further includes a communication interface 63 for information interaction with other devices. At the same time, the lane keeping controller further includes a bus 64, and the processor 62, the communication interface 63, and the memory 61 complete mutual communication through the bus 64.

[0150] [[ID=!28]]The memory 61 may include a high-speed RAM memory, and may also further include a non-volatile memory, such as at least one disk memory. The memory 61 may also be a memory array. The memory 61 may also be partitioned, and the partitions may be combined into virtual volumes according to certain rules.

[0151] In addition, the processor 62 may be a central processing unit CPU, or may be a special integrated circuit ASIC, or may be one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0152] In the above embodiments of the present disclosure, when lane lines are unclear or partially discontinuous, and when there are blind spots in the near area detection of left and side lane lines due to the installation position and field of view angle limitations of the environmental perception module, the lane keeping system can work more stably, thereby improving the vehicle's performance.

[0153] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium, characterized in that the non-transitory computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the lane keeping control method as described in any of the above embodiments (for example Figure 4 the embodiment) is implemented.

[0154] Based on the non-transitory computer-readable storage medium provided by the above embodiments of the present disclosure, the defect of the front camera detection having a close-range blind spot can be compensated. The above embodiments of the present disclosure can fuse the parameters of the front view camera and the blind spot camera, so that the lane keeping controller can accurately obtain the information of the lane lines and perform steering control on the vehicle.

[0155] In the above embodiments of the present disclosure, when lane lines are unclear or partially discontinuous, and when there are blind spots in the near area detection of left and side lane lines due to the installation position and field of view angle limitations of the environmental perception module, the lane keeping system can work more stably, thereby improving the vehicle's performance.

[0156] Embodiments of the present disclosure can be provided as a method, an apparatus, or a computer program product. Therefore, the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0157] The present disclosure is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0158] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in one or more blocks or multiple blocks.

[0159] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in one or more blocks or multiple blocks.

[0160] The lane keeping controller described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described in this application.

[0161] So far, the present disclosure has been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0162] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a non-transitory computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk, an optical disk, or the like.

[0163] The description of the present disclosure is given for purposes of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the form disclosed. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the present disclosure and its practical application, and to enable those of ordinary skill in the art to understand the present disclosure and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A lane keeping control system, characterized in that: It includes an environment perception module, a lane keeping controller and an execution module. The environment perception module includes a front view camera and a blind spot camera. The blind spot camera includes a left blind spot camera and a right blind spot camera, wherein: Front-view camera, used to detect lane line information ahead; Blind spot camera, used to detect lane lines and obstacles in the current vehicle's blind spot; A lane keeping controller is configured to determine the current vehicle position between lane lines based on information provided by the front-view camera and the blind spot camera, and to issue a turn angle request command to the execution module. The lane keeping controller is configured to fuse the left and right lane line information with the lane line information collected by the left and right blind spot cameras to form a driving situation trend map, plan a path based on the fused lane line information, and generate a turn angle request command. Alternatively, the lane keeping controller is configured to calculate and verify the lateral distance between the vehicle position information and the lane edge line, as well as the angle trend between the vehicle's driving path and the lane line, based on the vehicle's position information between the lane lines. If the lateral distance exceeds a predetermined threshold and the driving path has a tendency to intersect the lane lines, a turn angle request command is generated. An execution module, configured to control the current vehicle to perform an angle steering according to the turning angle requirement command; The execution module includes an electronic hydraulic power steering control module, a steering motor, a steering mechanism, an engine control module, a transmission control module, a body stability control module, a steering angle sensor, and a steering torque sensor, wherein: The electronic hydraulic power steering control module is further configured to, upon receiving a desired steering angle command, control the steering angle via the steering motor and steering mechanism, wherein the desired steering angle command includes the desired steering angle of the vehicle; and maintain vehicle steering stability based on torque information from the engine control module, gear information from the transmission control module, and vehicle lateral angular velocity from the body stability control module. The electronic hydraulic power steering control module is used to forward the steering angle signal and steering torque signal fed back by the steering angle sensor and steering torque sensor to the lane keeping controller; The lane keeping controller is used to perform closed-loop correction on the current steering angle and current steering torque based on the real-time feedback steering angle signal and steering torque signal.

2. The lane keeping control system according to claim 1, characterized in that: The blind spot camera includes a left blind spot camera and a right blind spot camera, wherein: The front-view camera is installed in the center of the windshield. The left blind spot camera is mechanically connected to the left bumper through a transition bracket. The right blind spot camera is mechanically connected to the right bumper through a transition bracket. The left blind spot camera is used to detect lane lines and obstacles in the left front blind spot in front of the cab; The right blind spot camera is used to detect lane lines and obstacles in the right front blind spot in front of the cab.

3. The lane keeping control system according to claim 1 or 2, characterized in that: The lane keeping controller is installed on the right side of the cab pipe beam; The lane keeping controller maintains communication with the front view camera, blind spot camera and execution module.

4. The lane keeping control system according to claim 1 or 2, characterized in that: The electronic hydraulic power steering control module is connected to the steering motor, and the steering motor is connected to the steering mechanism.

5. The lane keeping control system according to claim 1 or 2, characterized in that: The electronic hydraulic power steering control module is connected to the steering angle sensor and the steering torque sensor; Steering angle sensor, used to collect the steering angle signal of the current vehicle; The steering torque sensor is used to collect the steering torque signal of the current vehicle.

6. The lane keeping control system according to claim 1 or 2, characterized in that: The lane keeping controller maintains communication connections with the engine control module, transmission control module and body stability control module.

7. The lane keeping control system according to claim 1 or 2, characterized in that: The engine control module is arranged on the chassis with the engine assembly, the transmission control module is arranged on the chassis with the transmission assembly, the body stability control module is arranged at the center of mass of the chassis, and the electronic hydraulic power steering control module is installed on the chassis steering gear.

8. The lane keeping control system according to claim 1 or 2, characterized in that: Also includes body posture sensors, including: The body posture sensor is connected to the body stability control module; The body posture sensor is used to collect the lateral angular velocity value of the whole vehicle and send the collected lateral angular velocity value of the whole vehicle to the body stability control module.

9. The lane keeping control system according to claim 1 or 2, characterized in that: Also included are driver-operated switches, wherein: The driver-operated switch maintains communication connection with the lane keeping controller; The driver's operating switch is a self-resetting push-button switch installed on the dashboard of the cab; The lane keeping control system is used to enter the standby state after the vehicle is powered on and self-checks and no faults are found; it enters the working activation state when the driver's operation switch is pressed.

10. The lane keeping control system according to claim 8, characterized in that: It also includes a voice reminder module, which: The voice reminder module maintains communication connection with the lane keeping controller; The voice reminder module is used to work when the lane keeping system enters the active working state to remind the driver of the current working status.

11. A lane keeping control method, characterized in that: include: The lane keeping controller receives the lane line information ahead from the front camera and the lane line and obstacle conditions in the current vehicle's blind spot from the blind spot camera. The lane keeping controller determines the current position of the vehicle between the lane lines based on information fed back by the front-view camera and the blind spot camera, and generates a turn angle requirement command based on the current position of the vehicle between the lane lines, wherein the blind spot camera includes a left blind spot camera and a right blind spot camera, and the determining the current position of the vehicle between the lane lines based on the information fed back by the front-view camera and the blind spot camera, and generating the turn angle requirement command based on the current position of the vehicle between the lane lines includes: fusing the left and right lane line information and the lane line collected information of the left and right blind spot cameras to form a driving situation trend map, planning a path based on the fused lane line information, and generating a turn angle requirement command; or, calculating and verifying the lateral distance between the vehicle position information and the lane edge line, and the angle trend between the vehicle's driving path and the lane line based on the vehicle's position information between the lane lines, and generating a turn angle requirement command if the lateral distance exceeds a predetermined threshold and the driving path has a tendency to intersect the lane lines; The lane keeping controller sends a turning angle request command to the execution module, instructing the execution module to control the current vehicle to perform an angle steering operation, wherein the execution module includes an electronic hydraulic power steering control module, a steering motor, a steering mechanism, an engine control module, a transmission control module, and a vehicle stability control module; The lane keeping control method further includes: The lane keeping controller receives a steering angle signal fed back by a steering angle sensor and a steering torque signal fed back by a steering torque sensor; The lane keeping controller performs closed-loop correction on the current steering angle and steering torque based on the real-time feedback of the steering angle signal and steering torque signal; The electronic hydraulic power steering control module completes the steering angle through the steering motor and the steering mechanism when receiving the steering angle demand command, wherein the steering angle demand command includes the steering angle that the vehicle currently needs to turn; The electronic hydraulic power steering control module maintains the vehicle's steering stability based on the torque information from the engine control module, the gear information from the transmission control module, and the vehicle's lateral angular velocity value from the body stability control module.

12. A lane keeping controller, characterized in that: include: An environmental information receiving unit is used to receive the front lane line information fed back by the front-view camera, and the lane line and obstacle conditions in the current vehicle blind spot fed back by the blind spot camera; a path planning unit, configured to determine the current position of the vehicle between the lane lines based on information fed back by the front-view camera and the blind spot camera, and to generate a turn angle requirement command based on the current position of the vehicle between the lane lines, wherein the blind spot cameras include a left blind spot camera and a right blind spot camera; the path planning unit is configured to fuse the left and right lane line information and the lane line information collected by the left and right blind spot cameras to form a driving situation trend map, plan a path based on the fused lane line information, and generate a turn angle requirement command; or, based on the position information of the vehicle between the lane lines, calculate and verify the lateral distance between the vehicle position information and the lane edge line, as well as the angle trend between the vehicle's driving path and the lane lines; and generate a turn angle requirement command if the lateral distance exceeds a predetermined threshold and the driving path has a tendency to intersect the lane lines; a steering angle command issuing unit, configured to issue a steering angle demand command to an execution module, instructing the execution module to control the current vehicle to perform angular steering, wherein the execution module includes an electronic hydraulic power steering control module, a steering motor, a steering mechanism, an engine control module, a transmission control module, and a body stability control module; the electronic hydraulic power steering control module is configured to complete steering angle steering via the steering motor and the steering mechanism upon receiving the steering angle demand command, wherein the steering angle demand command includes the steering angle required for the current vehicle to be turned, and maintain vehicle steering stability based on torque information from the engine control module, gear information from the transmission control module, and a vehicle lateral angular velocity value from the body stability control module; Among them, the lane keeping controller is also used to receive the steering angle signal fed back by the steering angle sensor and the steering torque signal fed back by the steering torque sensor; and perform closed-loop correction on the current steering angle and current steering torque based on the real-time feedback steering angle signal and steering torque signal.

13. The lane keeping controller according to claim 12, characterized in that: The lane keeping controller is used to implement the lane keeping control method as claimed in claim 11.

14. A lane keeping controller, characterized in that: include: a memory for storing instructions; A processor is configured to execute the instructions so that the lane keeping controller implements the lane keeping control method as claimed in claim 11.

15. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores computer instructions, which, when executed by a processor, implement the lane keeping control method according to claim 11.

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