Lane keeping assist device, method, system and storage medium

Abstract

The present invention relates to a lane keeping assist device, method, system, and storage medium. The lane keeping assist device includes: a state machine unit configured to trigger an LKA torque intervention mode in response to vehicle information; a path planning unit configured to plan a vehicle path in the triggered LKA torque intervention mode and generate instructions for adjusting the torque intervention intensity based on the planned vehicle path. The lane keeping assist method includes: receiving vehicle information and triggering the LKA torque intervention mode in response to the vehicle information; planning a vehicle path in response to the triggered LKA torque intervention mode, and generating instructions for adjusting the torque intervention intensity based on the planned vehicle path.

Description

Technical Field

[0001] The present invention relates to the technical field of advanced driver assistance systems (ADAS), and more particularly to a closed-loop lane keeping assist device, method, system, and storage medium. Background Art

[0002] As cars become increasingly intelligent, driver-assistance technology is gaining traction. This technology can proactively control a vehicle's speed and steering when necessary, relieving drivers of the stress of driving while also reducing or eliminating human-caused traffic accidents, making cars safer.

[0003] Lane Keeping Assist (LKA) is a key component of driver assistance technology. It proactively applies steering force to the steering wheel to return the vehicle to the center of the road when the vehicle is about to deviate from its lane.

[0004] Most of the existing patents related to LKA use open-loop LKA, which has more than a dozen adjustable parameters, is difficult to calibrate, and is sensitive to disturbances such as road slope and bumps. Summary of the Invention

[0005] One or more embodiments of the device, method, system, and storage medium according to the present invention can automatically adjust the torque intervention strength of the LKA, reduce adjustment parameters, and stably and reliably complete the LKA action.

[0006] To achieve one or more of the above objectives, the present invention provides the following technical solutions. Specifically:

[0007] According to one aspect of the present invention, a lane keeping assist device is provided, comprising: a state machine unit configured to trigger a lane keeping assist (LKA) torque intervention mode in response to vehicle information; and a path planning unit configured to plan a vehicle path in the triggered LKA torque intervention mode and generate instructions for adjusting the torque intervention intensity based on the planned vehicle path.

[0008] According to an apparatus of an embodiment of the present invention, the vehicle information includes road obstacle information, lane line information, and motion information of the own vehicle.

[0009] According to another embodiment of the present invention or an apparatus of any one of the above embodiments, the path planning unit is further configured to: generate a first instruction for increasing the torque intervention intensity when the vehicle approaches an obstacle; and generate a second instruction for reducing the torque intervention intensity when the vehicle moves away from the obstacle.

[0010] According to another embodiment of the present invention or the device of any one of the above embodiments, the obstacle includes a barrier, a fence, a curb, or a ditch.

[0011] According to another embodiment of the present invention or an apparatus of any one of the above embodiments, the path planning unit is further configured to: generate a first instruction for increasing the torque intervention intensity when the vehicle deviates toward the side of the lane line where the lane line is a solid line; and generate a second instruction for reducing the torque intervention intensity when the vehicle deviates away from the side of the lane line where the lane line is a solid line.

[0012] In the apparatus according to another embodiment of the present invention or any one of the above embodiments, the path planning unit is further configured to generate the LKA path using a basic curve.

[0013] In the apparatus according to another embodiment of the present invention or any one of the above embodiments, the state machine unit is further configured to exit the LKA torque intervention mode in response to vehicle information.

[0014] According to a second aspect of the present invention, a lane keeping assist method is provided, comprising: receiving vehicle information and triggering a lane keeping assist torque intervention mode in response to the vehicle information; planning a vehicle path in response to the triggered lane keeping assist torque intervention mode, and generating an instruction for adjusting the torque intervention intensity based on the planned vehicle path.

[0015] According to a method of an embodiment of the present invention, the method further includes: generating a first instruction for increasing the torque intervention strength when the vehicle approaches an obstacle; and generating a second instruction for reducing the torque intervention strength when the vehicle moves away from the obstacle.

[0016] According to another embodiment of the present invention or a method of any of the above embodiments, the method further includes: when the vehicle deviates toward the side of the lane line where the lane line is a solid line, generating a first instruction for increasing the torque intervention intensity; when the vehicle deviates away from the side of the lane line where the lane line is a solid line, generating a second instruction for reducing the torque intervention intensity.

[0017] According to another embodiment of the present invention or a method of any of the above embodiments, the vehicle information includes road obstacle information, lane line information and movement information of the vehicle itself; the obstacles include isolation belts, fences, curbs or ditches.

[0018] According to a third aspect of the present invention, a lane keeping assist system is provided. The system includes the lane keeping assist device according to the first aspect of the present invention.

[0019] According to a system according to an embodiment of the present invention, the system further includes: an environment perception module, which is configured to obtain vehicle information and send it to a state machine unit; a human-machine interface module, which is configured to set LKA torque intervention mode information and display system status; and a vehicle control module, which is configured to receive instructions from a path planning unit and control the vehicle to travel along a planned vehicle path.

[0020] In the system according to another embodiment of the present invention or any one of the above embodiments, the LKA torque intervention mode information includes an LKA mode, an LKA path type, and an LKA enabling condition.

[0021] According to another embodiment of the present invention or a system of any one of the above embodiments, the vehicle control module includes: a steering wheel angle command calculation unit, used to calculate a steering wheel angular velocity command based on vehicle information; an integrator unit, used to integrate the steering wheel angular velocity command to obtain a steering wheel angle command; an angle closed-loop unit, used to calculate a steering torque command based on the steering wheel angle command and the currently measured steering wheel angle, and control the vehicle to travel along a planned vehicle path.

[0022] According to a fourth aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions. When the instructions are executed by a processor, the processor executes the method according to the second aspect of the present invention.

[0023] One or more aspects of the present invention enable the LKA torque intervention strength to be set via a human-machine interface, enhancing system flexibility. The LKA torque intervention strength can also be automatically adjusted based on the threat posed by surrounding vehicles to the host vehicle or the lane markings or barriers in the lane. Furthermore, one or more aspects of the present invention utilize a closed-loop control approach that first plans a target path and then controls the vehicle along it. This reduces adjustable parameters and improves LKA's stability against road slopes, bumps, and other factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are denoted by the same reference numerals.

[0025] Figure 1 A lane keeping assist device according to an embodiment of the present invention is shown.

[0026] Figure 2 A lane keeping assist system according to an embodiment of the present invention is shown.

[0027] Figure 3 FIG. 4 shows a schematic diagram of an LKA path according to an embodiment of the present invention.

[0028] Figure 4 FIG. 4 is a schematic diagram showing the moment intervention strength of an LKA according to an embodiment of the present invention.

[0029] Figure 5 A flowchart of adjusting the LKA torque intervention strength according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] In this specification, the present invention is described more fully with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. However, the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided to make this disclosure thorough and complete, and to more fully convey the scope of the present invention to those skilled in the art.

[0031] Terms such as "comprising" and "including" indicate that, in addition to the units and steps directly and explicitly stated in the specification and claims, the technical solution of the present invention does not exclude the presence of other units and steps not directly or explicitly stated. Terms such as "first" and "second" do not indicate the order of units in terms of time, space, size, etc., but are merely used to distinguish between units.

[0032] The present invention is described hereinafter with reference to the flow chart explanation, block diagram and / or flow chart of the method and system according to an embodiment of the present invention.It will be understood that each frame of these flow chart explanations and / or block diagrams and the combination of flow chart explanations and / or block diagrams can be realized by computer program instructions.These computer program instructions can be provided to the processor of general-purpose computer, special-purpose computer or other programmable data processing equipment to form a machine, so that these instructions performed by the processor of computer or other programmable data processing equipment create the parts for implementing the function / operation specified in these flow charts and / or frame and / or one or more flow chart blocks.It should also be noted that in some alternative implementations, the function / operation shown in the frame can not occur in the order shown in the flow chart.For example, the two frames shown in sequence can actually be performed substantially simultaneously or these frames can sometimes be performed in reverse order, specifically depending on the function / operation involved.

[0033] Where applicable, hardware, software, or a combination of hardware and software may be used to implement the various embodiments provided by the present disclosure. Additionally, where applicable, without departing from the scope of the present disclosure, the various hardware components and / or software components set forth herein may be combined into composite components comprising software, hardware, and / or both. Where applicable, without departing from the scope of the present disclosure, the various hardware components and / or software components set forth herein may be separated into subcomponents comprising software, hardware, or both. Additionally, where applicable, it is contemplated that software components may be implemented as hardware components, and vice versa.

[0034] Figure 1 A lane keeping assist device 100 according to an embodiment of the present invention is shown; Figure 2 1 shows a lane keeping assist system 200 according to an embodiment of the present invention. As shown in the figure, the lane keeping assist device 100 (in Figure 2 The lane keeping assist device 210 in FIG. 1 includes a state machine unit 101 (in Figure 2 The state machine unit 211) and the path planning unit 102 (for example, Figure 2 Path planning unit 212).

[0035] According to an embodiment of the present invention, a system 200 includes a lane keeping assist device 210, an environment perception module 220, a human-machine interface module 230, and a vehicle control module 240. The environment perception module 220 is used to obtain obstacle information, lane information, and vehicle motion information.

[0036] In one embodiment according to the present invention, Figure 2 As shown, the environmental perception module 220 includes an obstacle detection unit 221, which may include one or more of a millimeter-wave radar, a lidar, a camera, or an ultrasonic sensor to detect one or more obstacles (such as medians, fences, curbs, and ditches) within a certain distance in front of or behind the vehicle. The detected obstacle information includes the obstacle's size, type, distance, speed, acceleration, and direction of movement. A lane detection unit 222, which includes one or more of a millimeter-wave radar, a lidar, a camera, or a high-precision map and positioning module to detect lane markings in front of or behind the vehicle. A lane filtering unit 223 filters lane markings to eliminate missed or incorrect recognition by the lane detection module. The environmental perception module 220 can transmit the acquired information to the lane keeping assist device 210, the human-machine interface module 230, and the vehicle control module 240.

[0037] Human-machine interface module 230 can be configured for human-machine interaction, including driver information input and system information output. Human-machine interface module 230 can display the current system status. The driver can also use this module to configure system settings. System status displayed by the module includes, but is not limited to, the current LKA system status, obstacle and lane information, and the planned LKA path. Furthermore, driver input settings for the LKA system through human-machine interface module 230 may include:

[0038] (1) LKA mode. Specifically, the LKA mode can be divided into several levels from conservative to aggressive. The more conservative the LKA mode, the looser the conditions for triggering LKA and the longer it takes for the vehicle to return to the center of the lane. The more aggressive the LKA mode, the stricter the conditions for triggering LKA and the shorter the time it takes for the vehicle to return to the center of the lane due to the intervention of the LKA torque. The driver can select his or her preferred LKA mode through the human-machine interface module, and the lane keeping assist device 210 can also trigger the LKA mode based on information provided by the environment perception module 220.

[0039] (2) LKA path type. The basic curves used in the LKA path include, but are not limited to, polynomials, straight lines, circular arcs, clothoids, sine curves, etc. The driver can select the basic curve type of his or her preference through the human-machine interface module, or the path planning unit 212 can automatically select the basic curve type used in the LKA path type based on information provided by the environment perception module 220 to reduce the time required for the vehicle to return to the center of the lane or ensure driving safety;

[0040] (3) Enabling conditions for the LKA system, wherein the driver can disable the LKA system through the human-machine interface module 230 or set the enabling conditions for the system, such as minimum vehicle speed, maximum road curvature, etc., through the display device of the human-machine interface module 230. In one embodiment of the present invention, the driver can also set whether the LKA system actively adjusts the LKA torque intervention intensity based on surrounding vehicles.

[0041] The state machine unit 211 of the lane keeping assist device 210 can be configured to trigger the LKA torque intervention mode in response to vehicle information provided by the environment perception module 220, thereby further triggering the path planning unit 212 and the vehicle control module 240. The state machine unit 211 can also actively adjust the intensity of the LKA torque intervention based on the surrounding environment. When the tendency of the vehicle to deviate from the lane is eliminated, LKA steering intervention is terminated.

[0042] The path planning unit 212 of the lane keeping assist device 210 can be configured to plan a vehicle path in the LKA torque intervention mode triggered by the state machine unit 211 and generate instructions for adjusting the torque intervention intensity based on the planned vehicle path. The path planning unit 212 can also be configured to generate the LKA path using a basic curve. According to another example of the present invention, when the vehicle deviates toward a solid lane line, the path planning unit 212 can generate an instruction to increase the torque intervention intensity; when the vehicle deviates away from the solid lane line, the path planning unit 212 can generate an instruction to decrease the torque intervention intensity. According to another example of the present invention, when the vehicle approaches an obstacle (including but not limited to a median, fence, curb, or ditch), the path planning unit 212 can generate an instruction to increase the torque intervention intensity; when the vehicle moves away from the obstacle, the path planning unit 212 can generate an instruction to decrease the torque intervention intensity.

[0043] refer to Figure 3 , Figure 3 Figure 2 shows a schematic diagram of an LKA path according to an embodiment of the present invention. The LKA path connects the vehicle's starting point A and target point B, where starting point A is the vehicle's starting position when the LKA intervention mode is triggered, and target point B is located on the lane centerline marked by the environment perception module 220. The longitudinal distance between target point B and point A is an adjustable parameter L. The adjustable parameter L can be expressed as the vehicle speed V when LKA is triggered. p Multiply by the time parameter T p , that is, L = V p ×T p The adjustable parameter L determines the torque intervention strength of the LKA.

[0044] refer to Figure 4 , Figure 4 A schematic diagram shows the torque intervention strength of the LKA according to one embodiment of the present invention. When the adjustable parameter L is large, the target point (e.g., B2) is farther from the starting point A, resulting in a weaker LKA torque intervention strength. When the adjustable parameter L is small, the target point (e.g., B1) is closer to the starting point A, resulting in a stronger LKA torque intervention strength.

[0045] In the following three situations, lane keeping assist device 210 may issue corresponding instructions to reduce adjustable parameter L and increase LKA torque intervention intensity, thereby returning the vehicle to the center of the lane as quickly as possible:

[0046] (1) When the driver sets the LKA system to the aggressive gear (or relatively aggressive gear) through the human interface module 230;

[0047] (2) When the vehicle information provided by the environment perception module 220 indicates that there is an obstacle in the adjacent lane and it poses a threat to the vehicle, the specific process is as follows: Figure 5 (described in detail below);

[0048] (3) When the lane line on the side that the main vehicle deviates from is a single solid line or double solid line where lane change is not allowed by law, or when there is an obstacle such as a median, fence, curb or gully on the side that the main vehicle deviates from.

[0049] Lane keeping assist device 210 (or path planning unit 212) can send instructions for increasing or decreasing the torque intervention intensity, such as the above-mentioned instructions, to vehicle control module 240, so that vehicle control module 240 can control the vehicle to travel along the planned vehicle path according to the instructions. In one or more embodiments of the present invention, vehicle control module 240 may include the following units:

[0050] (1) Steering angle command calculation unit. The steering angle command calculation unit can calculate the steering wheel angular velocity command based on vehicle information such as the target path, vehicle speed, yaw rate, and current steering wheel angle, and send the steering wheel angular velocity command to the integrator unit.

[0051] (2) Integrator unit. The integrator unit can integrate the steering wheel angular velocity command to obtain the steering wheel angle command. The integrator unit can send the steering wheel angle command to the angle closed-loop unit.

[0052] (3) Angle closed-loop unit. This angle closed-loop unit can calculate the steering torque command based on the steering wheel angle command and the current measured steering wheel angle. The steering torque command can be used to drive the EPS power assist motor to control the vehicle to complete the LKA torque intervention action.

[0053] refer to Figure 5 , Figure 5 A flowchart of adjusting the LKA torque intervention strength according to an embodiment of the present invention is shown.

[0054] At S501 , as described above, the environment perception module 220 detects information about one or more obstacles within a certain distance in front of or behind the vehicle, lane line information in front of or behind the vehicle, the vehicle's speed, and the current steering wheel angle, and sends the above information to the lane keeping assist device 210 .

[0055] At S502, the state machine unit 211 determines whether the vehicle has deviated from the lane or is approaching an obstacle based on the information from the environment perception module 220. If the vehicle is determined to be approaching an obstacle or deviating toward the solid lane line, the state machine unit 211 triggers the LKA torque intervention adjustment mode.

[0056] In S503, the path planning unit 212 determines whether the obstacle poses a risk of collision with the vehicle based on the vehicle information. If it is determined that the vehicle is approaching the obstacle or deviating toward the solid lane line and there is a risk, the path planning unit 212 may generate an instruction to increase the torque intervention strength (i.e., select a larger adjustable parameter L, as described in S505). If the vehicle is moving away from the obstacle, the path planning unit 212 may generate an instruction to decrease the torque intervention strength (i.e., select a smaller adjustable parameter L, as described in S504).

[0057] In S506, the path planning unit 212 may generate an LKA path using the basic curve (e.g., according to Figure 3 Detailed description), and the human-machine interface module 230 displays the generated LKA path on a display device such as a display screen;

[0058] In S507 , the steering torque command may be used to drive the EPS power assist motor to control the vehicle to complete the LKA torque intervention action and implement closed-loop path following of the LKA path.

[0059] According to a fourth aspect of the present invention, there is provided a tangible non-transitory computer-readable storage medium having computer program code stored thereon, which, when executed, implements the steps of the method according to the second aspect of the present invention.

[0060] The various operations and configurations involved in the storage medium according to the fourth aspect of the present invention and the device according to the first aspect of the present invention correspond to the steps of the method 100 according to the second aspect of the present invention and the system according to the third aspect of the present invention, and therefore are not described repeatedly.

[0061] The foregoing disclosure is not intended to limit the present disclosure to the precise form disclosed or to the particular field of use. Therefore, it is contemplated that various alternative embodiments and / or modifications of the present disclosure are possible in light of the present disclosure, whether explicitly described or implied herein. While embodiments of the present disclosure have been described thus, those skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the present disclosure. Therefore, the present disclosure is limited only by the claims.

Claims

1. A lane keeping assist device, characterized in that: The device comprises: a state machine unit configured to trigger an LKA torque intervention mode in response to vehicle information; A path planning unit configured to: receiving LKA torque intervention mode information, wherein the LKA torque intervention mode information includes an LKA mode, an LKA path type, and an LKA enabling condition; planning a vehicle path in the triggered LKA torque intervention mode based at least on the LKA torque intervention mode information, and generating a command for adjusting the torque intervention intensity based on the planned vehicle path and the LKA torque intervention mode information, The path planning unit is further configured to generate a first instruction for increasing the torque intervention intensity when one of the following conditions is met: the LKA system is set to an aggressive gear, the vehicle information indicates that there is an obstacle in the adjacent lane and it poses a threat to the vehicle, or the vehicle deviates toward the side of the solid lane line.

2. The device according to claim 1, characterized in that The vehicle information includes road obstacle information, lane line information and vehicle movement information.

3. The device according to claim 2, characterized in that The path planning unit is further configured to: When the vehicle moves away from the obstacle, a second instruction for reducing the torque intervention intensity is generated.

4. The device according to claim 3, characterized in that The obstacles include isolation strips, fences, curbs or ditches.

5. The device according to claim 4, characterized in that The path planning unit is further configured to: When the vehicle deviates from the solid lane line, a second instruction for reducing the torque intervention intensity is generated.

6. The device according to claim 5, characterized in that The path planning unit is further configured to generate an LKA path using the basic curve.

7. The device according to claim 6, characterized in that The state machine unit is further configured to exit the LKA torque intervention mode in response to vehicle information.

8. A lane keeping assist method, characterized in that: The method comprises: receiving vehicle information and triggering an LKA torque intervention mode in response to the vehicle information; receiving LKA torque intervention mode information, wherein the LKA torque intervention mode information includes an LKA mode, an LKA path type, and an LKA enabling condition; In response to the triggered LKA torque intervention mode, a vehicle path is planned based at least on the LKA torque intervention mode information, and an instruction for adjusting the torque intervention intensity is generated based on the planned vehicle path and the LKA torque intervention mode information, wherein a first instruction for increasing the torque intervention intensity is generated when one of the following conditions is met: the LKA system is set to an aggressive gear, the vehicle information indicates that there is an obstacle in an adjacent lane that poses a threat to the vehicle, or the vehicle deviates toward a side where the lane line is a solid line.

9. The method according to claim 8, characterized in that The method further comprises: When the vehicle moves away from the obstacle, a second instruction for reducing the torque intervention intensity is generated.

10. The method according to claim 9, characterized in that The method further comprises: When the vehicle deviates from the solid lane line, a second instruction for reducing the torque intervention intensity is generated.

11. The method according to claim 10, characterized in that The vehicle information includes road obstacle information, lane line information and vehicle motion information; The obstacles include isolation strips, fences, curbs or ditches.

12. A lane keeping assist system, characterized in that: The system includes the lane keeping assist device according to any one of claims 1 to 7.

13. The system according to claim 12, wherein: The system further comprises: an environment perception module configured to obtain vehicle information and send the information to the state machine unit; a human-machine interface module configured to set the LKA torque intervention mode information and display the system status; A vehicle control module is configured to receive the instruction from the path planning unit and control the vehicle to travel along the planned vehicle path.

14. The system according to claim 12, wherein: The vehicle control module includes: a steering angle command calculation unit, configured to calculate a steering wheel angular velocity command based on the vehicle information; an integrator unit, configured to integrate the steering wheel angular velocity command to obtain a steering wheel angle command; The steering angle closed-loop unit is used to calculate a steering torque command based on the steering wheel angle command and the currently measured steering wheel angle, and control the vehicle to travel along the planned vehicle path.

15. A computer-readable storage medium storing instructions, characterized in that: When the instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 8 to 11.

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