Vehicle emergency lane keeping assistance function control method and system

Abstract

A vehicle emergency lane keeping auxiliary function control method and system. The method comprises: determining the driving scene in which the vehicle is currently located according to the front camera of the vehicle; acquiring the yaw angle, lateral velocity and lateral acceleration of the vehicle, and determining whether the vehicle has the risk of deviating outward; if the vehicle has the risk of deviating outward, performing driving preview analysis on the vehicle for a preset time according to the yaw angle, lateral velocity and lateral acceleration of the vehicle to obtain the preview position of the vehicle after the preset time; determining whether the preview position of the vehicle exceeds the trigger line calibrated in advance, the trigger line corresponding to the driving scene in which the vehicle is currently located; if the preview position of the vehicle exceeds the trigger line calibrated in advance, triggering the emergency lane keeping function corresponding to the driving scene in which the vehicle is currently located to open, so as to correct the driving direction of the vehicle and make the vehicle return to the lane. The present application can solve the technical problem of lane correction in emergency situations which cannot be met by the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, in particular to a vehicle emergency lane keeping assistance function control method and system. BACKGROUND

[0002] The advanced driving assistance system (ADAS) is to use the sensor (such as radar) installed on the car to sense the environment around the car at any time during driving, collect data, identify, detect and track static and dynamic objects, and combine with navigation map data to perform system operation and analysis, so as to let the driver know the possible danger in advance, effectively increase the comfort and safety of car driving.

[0003] At present, most of the cars equipped with ADAS system can realize lane keeping assistance function, which can provide lateral control when deviating from solid or dashed line, but this function cannot meet the correction of lane in emergency. SUMMARY

[0004] Therefore, an embodiment of the present application provides a vehicle emergency lane keeping assistance function control method to solve the technical problem that the prior art cannot meet the correction of lane in emergency.

[0005] The vehicle emergency lane keeping assistance function control method according to an embodiment of the present application comprises:

[0006] determining the driving scene where the vehicle currently locates according to the front camera of the vehicle;

[0007] obtaining the yaw angle, lateral speed and lateral acceleration of the vehicle, and determining whether the vehicle has the risk of deviating outward according to the yaw angle, lateral speed and lateral acceleration of the vehicle;

[0008] if the vehicle has the risk of deviating outward, performing driving preview analysis on the vehicle for a preset time according to the yaw angle, lateral speed and lateral acceleration of the vehicle to obtain the preview position of the vehicle after the preset time;

[0009] determining whether the preview position of the vehicle exceeds the trigger line pre-marked, the trigger line corresponding to the driving scene where the vehicle currently locates;

[0010] if the preview position of the vehicle exceeds the trigger line pre-marked, triggering the emergency lane keeping function corresponding to the driving scene where the vehicle currently locates to be turned on to correct the driving direction of the vehicle and make the vehicle return to the lane.

[0011] The vehicle emergency lane keeping auxiliary function control method provided by the embodiment of the application can analyze the driving preview of the driving behavior of the vehicle according to the current driving state (the yaw angle, the lateral speed, the lateral acceleration) and the traffic condition (the driving scene in which the vehicle is currently located), and when the preview position of the vehicle after a preset time exceeds the preset trigger line, the emergency lane keeping function is triggered to correct the driving direction of the vehicle, so that the vehicle returns to the lane, thereby realizing the lane correction in an emergency, and the lane correction can be performed on various scenes such as a solid line, a road edge and an oncoming vehicle, thereby improving the driving safety.

[0012] In addition, the vehicle emergency lane keeping auxiliary function control method provided by the embodiment of the application further has the following technical features.

[0013] Further, the front camera at least includes a front monocular camera and a front millimeter wave radar, and the driving scene is a solid line scene or a road edge scene or an oncoming vehicle scene.

[0014] Further, the method further includes:

[0015] When it is judged according to the front camera of the vehicle that the driving scene in which the vehicle is currently located is an oncoming vehicle scene, it is judged in real time whether the trigger logic of the oncoming vehicle is established;

[0016] When it is judged that the trigger logic of the oncoming vehicle is established, the yaw angle, the lateral speed and the lateral acceleration of the vehicle are acquired, and it is judged according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle whether the vehicle has the risk of approaching the target vehicle;

[0017] If the vehicle has the risk of approaching the target vehicle, the yaw angle, the lateral speed and the lateral acceleration of the vehicle are used to analyze the driving preview of the vehicle for a preset time, so as to acquire the preview position of the vehicle after a preset time;

[0018] It is judged whether the preview position of the vehicle exceeds the preset trigger line;

[0019] If the preview position of the vehicle exceeds the preset trigger line, the emergency lane keeping function of the oncoming vehicle scene is triggered to correct the driving direction of the vehicle, so that the vehicle returns to the lane.

[0020] Further, the trigger logic of the oncoming vehicle is specifically:

[0021] When X_ego+X_target+X_headway

[0022] X_ego=(V_ego+a_ego*t) 2(2 * a_ego max) + V_ego * t + 0.5 * a_ego * t 2

[0023] Wherein, X_ego is the maximum deceleration reserve distance, a_egomax is the maximum deceleration of the vehicle, a_ego is the actual deceleration of the vehicle, V_ego is the vehicle speed of the vehicle, t is the collision time, X_ego, a_egomax, t are all calibration values;

[0024] X_target = (V_target + a_target * t) 2 (2 * a_target max) + V_target * t + 0.5 * a_target * t 2

[0025] Wherein, X_target represents the distance required for the oncoming vehicle to brake at the actual deceleration a_target from the current time, and then brake at the maximum deceleration a_targetmax to stop, V_target is the vehicle speed of the oncoming vehicle, a_targetmax is the maximum deceleration of the oncoming vehicle, a_target is the actual deceleration of the oncoming vehicle;

[0026] X_headway = V_ego * t_headway + V_target * t_headway

[0027] Wherein, X_headway is the safety distance, and t_headway is the calibrated time.

[0028] Further, the yaw angle, lateral velocity and lateral acceleration of the vehicle are measured by a yaw angle sensor and transmitted to the ADAS controller through a CAN signal.

[0029] Another embodiment of the application provides a vehicle emergency lane keeping auxiliary function control system to solve the technical problem that the prior art cannot meet the lane correction in an emergency.

[0030] The vehicle emergency lane keeping auxiliary function control system according to the embodiment of the application comprises:

[0031] The first judging module is configured to determine the driving scene in which the vehicle is currently located according to the front camera of the vehicle.

[0032] The second judging module is configured to acquire the yaw angle, lateral velocity and lateral acceleration of the vehicle, and determine whether the vehicle has the risk of deviating outward according to the yaw angle, lateral velocity and lateral acceleration of the vehicle.

[0033] The pre-view analysis module is configured to, if the vehicle has a risk of deviating outward, perform a driving pre-view analysis on the vehicle for a preset time according to a yaw angle, a lateral speed and a lateral acceleration of the vehicle, to obtain a pre-view position of the vehicle after the preset time.

[0034] The third judging module is configured to judge whether the pre-view position of the vehicle exceeds a pre-labeled trigger line corresponding to the driving scene currently where the vehicle is located.

[0035] The trigger correction module is configured to, if the pre-view position of the vehicle exceeds the pre-labeled trigger line, trigger an emergency lane keeping function corresponding to the driving scene currently where the vehicle is located to be turned on, to correct a driving direction of the vehicle, so that the vehicle returns to the lane.

[0036] The vehicle emergency lane keeping auxiliary function control system provided by the embodiment of the present application can perform a driving pre-view analysis on a driving behavior of the vehicle according to a current driving state (a yaw angle, a lateral speed and a lateral acceleration) and a traffic condition (a driving scene currently where the vehicle is located), and when a pre-view position of the vehicle after a preset time exceeds a pre-labeled trigger line, an emergency lane keeping function is triggered to be turned on, so as to correct a driving direction of the vehicle, so that the vehicle returns to the lane, thereby realizing lane correction in an emergency, and the present application can correct lanes in various scenes such as a solid line, a road edge and an oncoming vehicle, thereby improving driving safety.

[0037] In addition, the vehicle emergency lane keeping auxiliary function control system provided by the embodiment of the present application has the following technical features.

[0038] Further, the front camera at least includes a front monocular camera and a front millimeter wave radar, and the driving scene is a solid line scene, a road edge scene or an oncoming vehicle scene.

[0039] Further, the system further includes:

[0040] The fourth judging module is configured to, when it is judged according to the front camera of the vehicle that the driving scene currently where the vehicle is located is an oncoming vehicle scene, judge in real time whether a trigger logic of the oncoming vehicle is established.

[0041] The fifth judging module is configured to, when it is judged that the trigger logic of the oncoming vehicle is established, obtain a yaw angle, a lateral speed and a lateral acceleration of the vehicle, and judge whether the vehicle has a risk of approaching the oncoming vehicle according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle.

[0042] The pre-view analysis module is specifically configured to, if the vehicle has a risk of approaching the oncoming vehicle, perform a driving pre-view analysis on the vehicle for a preset time according to a yaw angle, a lateral speed and a lateral acceleration of the vehicle, to obtain a pre-view position of the vehicle after the preset time.

[0043] Further, the trigger logic for the oncoming vehicle is specifically:

[0044] When X_ego+X_target+X_headway<S, the trigger logic for the oncoming vehicle is determined to be true, wherein S is the distance between the vehicle and the oncoming vehicle:

[0045] X_ego=(V_ego+a_ego*t) 2 / (2*a_egomax)+V_ego*t+0.5a_ego*t 2

[0046] Wherein X_ego is the maximum deceleration reserve distance, a_egomax is the maximum deceleration of the vehicle, a_ego is the actual deceleration of the vehicle, V_ego is the vehicle speed of the vehicle, t is the collision time, X_ego, a_egomax, t are all calibration values;

[0047] X_target=(V_target+a_target*t) 2 / (2*a_targetmax)+V_target*t+0.5a_target*t 2

[0048] Wherein X_target represents the distance required for the oncoming vehicle to brake at the actual deceleration a_target from the current time, and then brake at the maximum deceleration a_targetmax to stop, V_target is the vehicle speed of the oncoming vehicle, a_targetmax is the maximum deceleration of the oncoming vehicle, and a_target is the actual deceleration of the oncoming vehicle;

[0049] X_headway=V_ego*t_headway+V_target*t_headway

[0050] Wherein X_headway is the safety distance, and t_headway is the calibrated time.

[0051] Further, the yaw angle, lateral speed and lateral acceleration of the vehicle are measured by a yaw angle sensor and transmitted to the ADAS controller through a CAN signal. BRIEF DESCRIPTION OF DRAWINGS

[0052] The above and / or additional aspects and advantages of embodiments of the present application will become apparent and be readily appreciated from the following description, including the references to the figures, in which:

[0053] Figure 1 is a flowchart of a vehicle emergency lane keeping assistance function control method according to an embodiment of the present application;

[0054] Figure 2 is a structural block diagram of a vehicle emergency lane keeping assistance function control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0056] Referring to Figure 1 The vehicle emergency lane keeping assistance function control method according to an embodiment of the present application includes steps S101-S105.

[0057] S101, determining a driving scene in which the vehicle currently locates according to a front camera of the vehicle.

[0058] The front camera includes at least a front monocular camera and a front millimeter wave radar, and the driving scene is a solid line scene, a road edge scene or an oncoming vehicle scene. In a specific implementation, the front monocular camera and the front millimeter wave radar can be used to distinguish whether the driving scene in which the vehicle currently locates is the solid line scene, the road edge scene or the oncoming vehicle scene.

[0059] S102, acquiring a yaw angle, a lateral speed and a lateral acceleration of the vehicle, and determining whether the vehicle has a risk of deviating outward according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle.

[0060] The yaw angle, the lateral speed and the lateral acceleration of the vehicle are measured by a yaw angle sensor and transmitted to an ADAS controller through a CAN signal.

[0061] S103, if the vehicle has the risk of deviating outward, performing driving preview analysis on the vehicle according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle for a preset time to acquire a preview position of the vehicle after the preset time.

[0062] For example, the driving preview analysis on the vehicle is performed for 2s according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle.

[0063] S104, determining whether the preview position of the vehicle exceeds a trigger line corresponding to the driving scene in which the vehicle currently locates.

[0064] If the current driving scene of the vehicle is a solid line scene, it is determined whether the preview position of the vehicle exceeds the trigger line corresponding to the solid line scene; if the current driving scene of the vehicle is a road edge scene, it is determined whether the preview position of the vehicle exceeds the trigger line corresponding to the road edge scene; if the current driving scene of the vehicle is an oncoming vehicle scene, it is determined whether the preview position of the vehicle exceeds the trigger line corresponding to the oncoming vehicle scene.

[0065] The value of the trigger line is a calibration value, which can be different according to the curvature and the road width in actual implementation. The curvature moves the trigger line inward in a curve, and the road width moves the trigger line outward as the road width increases. The preview position is determined by the yaw angle, the lateral velocity, the lateral acceleration and the like.

[0066] If the preview position of the vehicle exceeds the trigger line, the emergency lane keeping function corresponding to the current driving scene of the vehicle is triggered to correct the driving direction of the vehicle and return the vehicle to the lane.

[0067] If the preview position of the vehicle exceeds the trigger line, a torque for correcting the deviation of the vehicle back to the lane is automatically applied, and the vehicle returns to the lane by the same amount of deviation.

[0068] It should be noted that when it is determined according to the front camera of the vehicle that the current driving scene of the vehicle is an oncoming vehicle scene, it is necessary to determine in real time whether the trigger logic of the oncoming vehicle is established.

[0069] When it is determined that the trigger logic of the oncoming vehicle is established, the yaw angle, the lateral velocity and the lateral acceleration of the vehicle are obtained, and it is determined according to the yaw angle, the lateral velocity and the lateral acceleration of the vehicle whether the vehicle has a risk of approaching the object vehicle.

[0070] If the vehicle has a risk of approaching the object vehicle, the driving preview analysis of the vehicle is performed for a preset time according to the yaw angle, the lateral velocity and the lateral acceleration of the vehicle to obtain the preview position of the vehicle after the preset time.

[0071] It is determined whether the preview position of the vehicle exceeds the trigger line.

[0072] If the preview position of the vehicle exceeds the trigger line, the emergency lane keeping function of the oncoming vehicle scene is triggered to correct the driving direction of the vehicle and return the vehicle to the lane.

[0073] The trigger logic of the oncoming vehicle is specifically as follows:

[0074] When X_ego+X_target+X_headway<S, it is determined that the trigger logic of the oncoming vehicle is established, wherein S is the distance between the vehicle and the oncoming vehicle:

[0075] X_ego=(V_ego+a_ego*t) 2 / (2*a_egomax)+V_ego*t+0.5a_ego*t 2

[0076] Wherein X_ego is the maximum deceleration reserved distance, a_egomax is the maximum deceleration of the vehicle, a_ego is the actual deceleration of the vehicle, V_ego is the vehicle speed of the vehicle, t is the collision time, X_ego, a_egomax, t are all calibration values;

[0077] X_target=(V_target+a_target*t) 2 / (2*a_targetmax)+V_target*t+0.5a_target*t 2

[0078] Wherein X_target represents the distance required for the oncoming vehicle to brake at the actual deceleration a_target from the current time, and then brake at the maximum deceleration a_targetmax to stop, V_target is the vehicle speed of the oncoming vehicle, a_targetmax is the maximum deceleration of the oncoming vehicle, and a_target is the actual deceleration of the oncoming vehicle;

[0079] X_headway=V_ego*t_headway+V_target*t_headway

[0080] Wherein X_headway is a safety distance, which is equivalent to a forced effective distance, which prolongs the distance threshold of triggering, and t_headway is a calibrated time.

[0081] In summary, according to the vehicle emergency lane keeping auxiliary function control method provided by the application, the vehicle driving behavior can be analyzed according to the current driving state (yaw angle, lateral speed, lateral acceleration) and traffic conditions (the driving scene in which the vehicle is currently located), when the pre-sighting position of the vehicle after a preset time exceeds the pre-calibrated trigger line, the emergency lane keeping function is triggered to open, so as to correct the driving direction of the vehicle and return the vehicle to the lane, thereby realizing the correction of the lane in an emergency. The application can correct the lane in various scenes such as solid line, road edge and oncoming vehicle, thereby improving the driving safety.

[0082] Please refer to Figure 2The vehicle emergency lane keeping auxiliary function control system provided by an embodiment of the present application comprises:

[0083] A first judging module is configured to judge a driving scene in which the vehicle is currently located according to a front camera of the vehicle.

[0084] A second judging module is configured to acquire a yaw angle, a lateral speed and a lateral acceleration of the vehicle, and judge whether the vehicle has a risk of deviating outward according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle.

[0085] A pre-view analysis module is configured to, if the vehicle has the risk of deviating outward, perform driving pre-view analysis on the vehicle for a preset time according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle, so as to acquire a pre-view position of the vehicle after the preset time.

[0086] A third judging module is configured to judge whether the pre-view position of the vehicle exceeds a pre-labeled trigger line, the trigger line corresponding to the driving scene in which the vehicle is currently located.

[0087] A trigger correction module is configured to, if the pre-view position of the vehicle exceeds the pre-labeled trigger line, trigger opening of an emergency lane keeping function corresponding to the driving scene in which the vehicle is currently located, so as to correct a driving direction of the vehicle and make the vehicle return to a lane.

[0088] In the embodiment, the front camera at least comprises a front monocular camera and a front millimeter wave radar, and the driving scene is a solid line scene, a road edge scene or an oncoming vehicle scene.

[0089] In the embodiment, the system further comprises:

[0090] A fourth judging module is configured to, when it is judged according to the front camera of the vehicle that the driving scene in which the vehicle is currently located is an oncoming vehicle scene, judge in real time whether a trigger logic of the oncoming vehicle is established.

[0091] A fifth judging module is configured to, when it is judged that the trigger logic of the oncoming vehicle is established, acquire the yaw angle, the lateral speed and the lateral acceleration of the vehicle, and judge whether the vehicle has a risk of approaching the oncoming vehicle according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle.

[0092] The pre-view analysis module is specifically configured to, if the vehicle has the risk of approaching the oncoming vehicle, perform driving pre-view analysis on the vehicle for a preset time according to the yaw angle, the lateral speed and the lateral acceleration of the vehicle, so as to acquire a pre-view position of the vehicle after the preset time.

[0093] In the embodiment, the trigger logic of the oncoming vehicle is specifically:

[0094] When X_ego+X_target+X_headway<S, the trigger logic for the oncoming vehicle is determined to be true, wherein S is the distance between the vehicle and the oncoming vehicle:

[0095] X_ego=(V_ego+a_ego*t) 2 / (2*a_egomax)+V_ego*t+0.5a_ego*t 2

[0096] Wherein X_ego is the maximum deceleration reserve distance, a_egomax is the maximum deceleration of the vehicle, a_ego is the actual deceleration of the vehicle, V_ego is the vehicle speed of the vehicle, t is the collision time, X_ego, a_egomax, t are all calibration values;

[0097] X_target=(V_target+a_target*t) 2 / (2*a_targetmax)+V_target*t+0.5a_target*t 2

[0098] Wherein X_target represents the distance required for the oncoming vehicle to brake at the actual deceleration a_target from the current time, and then brake at the maximum deceleration a_targetmax to stop, V_target is the vehicle speed of the oncoming vehicle, a_targetmax is the maximum deceleration of the oncoming vehicle, a_target is the actual deceleration of the oncoming vehicle;

[0099] X_headway=V_ego*t_headway+V_target*t_headway

[0100] Wherein X_headway is the safety distance, and t_headway is the calibrated time.

[0101] In this embodiment, the yaw angle, lateral velocity and lateral acceleration of the vehicle are measured by a yaw angle sensor and transmitted to the ADAS controller through a CAN signal.

[0102] The vehicle emergency lane keeping auxiliary function control system provided by the application can analyze the driving behavior of the vehicle according to the current driving state (yaw angle, lateral speed, lateral acceleration) and the traffic condition (the driving scene where the vehicle is currently located), and when the vehicle is at the pre-sight position after the preset time and exceeds the pre-marked trigger line, the emergency lane keeping function is triggered to start, so as to correct the driving direction of the vehicle and return the vehicle to the lane, thereby realizing the lane correction in the emergency situation. The application can correct the lane in various scenes such as solid line, road edge and oncoming vehicle, thereby improving the driving safety.

[0103] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered a list of executable instructions for implementing logic functions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination of both. In the context of this specification, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

[0104] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use by the instruction execution system, apparatus, or device, and stored in computer memory.

[0105] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, any of the following technologies known in the art or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits (ASICs) having appropriate combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0106] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in an appropriate manner.

[0107] Although embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, alternatives, and variations can be made thereto without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method of a vehicle emergency lane keeping assist function, characterized by, The method comprises the following steps: determining the driving scene in which the vehicle is currently located according to the front camera of the vehicle; acquiring the yaw angle, lateral speed and lateral acceleration of the vehicle, and determining whether the vehicle has the risk of deviating outward according to the yaw angle, lateral speed and lateral acceleration of the vehicle; if the vehicle has the risk of deviating outward, performing driving preview analysis on the vehicle according to the yaw angle, lateral speed and lateral acceleration of the vehicle for a preset time to obtain the preview position of the vehicle after the preset time; determining whether the preview position of the vehicle exceeds the trigger line previously calibrated, the trigger line corresponding to the driving scene in which the vehicle is currently located; if the preview position of the vehicle exceeds the trigger line previously calibrated, triggering the emergency lane keeping function corresponding to the driving scene in which the vehicle is currently located to open, so as to correct the driving direction of the vehicle and return the vehicle to the lane; the front camera comprises at least a forward monocular camera and a front millimeter wave radar, and the driving scene is a solid line scene, a road edge scene or an oncoming vehicle scene; the method further comprises the following steps: when it is determined according to the front camera of the vehicle that the driving scene in which the vehicle is currently located is an oncoming vehicle scene, determining in real time whether the trigger logic of the oncoming vehicle is established; when it is determined that the trigger logic of the oncoming vehicle is established, acquiring the yaw angle, lateral speed and lateral acceleration of the vehicle, and determining whether the vehicle has the risk of approaching the oncoming vehicle according to the yaw angle, lateral speed and lateral acceleration of the vehicle; if the vehicle has the risk of approaching the oncoming vehicle, performing driving preview analysis on the vehicle according to the yaw angle, lateral speed and lateral acceleration of the vehicle for a preset time to obtain the preview position of the vehicle after the preset time; determining whether the preview position of the vehicle exceeds the trigger line previously calibrated; if the preview position of the vehicle exceeds the trigger line previously calibrated, triggering the emergency lane keeping function of the oncoming vehicle scene to open, so as to correct the driving direction of the vehicle and return the vehicle to the lane; the trigger logic of the oncoming vehicle is specifically: when X_ego+X_target+X_headway X ego = (V ego + a ego *t) 2 (2*a_ego max )+V_ego*t+0.5a_ego*t 2 wherein, X_ego is the maximum deceleration reserve distance, a_egomax is the maximum deceleration of the vehicle, a_ego is the actual deceleration of the vehicle, V_ego is the vehicle speed of the vehicle, and t is the collision time, all of which are calibration values; X_target = (V_target + a_target * t) 2 (2 * a_target max) + V_target * t + 0.5 a_target * t 2 wherein, X_target represents the distance required for the oncoming vehicle to brake at the actual deceleration a_target and then brake at the maximum deceleration a_targetmax to stop from the current time, V_target is the vehicle speed of the oncoming vehicle, a_targetmax is the maximum deceleration of the oncoming vehicle, and a_target is the actual deceleration of the oncoming vehicle; X_headway=V_ego*t_headway+V_target*t_headway wherein, X_headway is the safety distance, and t_headway is the calibrated time.

2. The vehicle emergency lane-keeping assist function control method according to claim 1, characterized by, The yaw angle, lateral velocity, and lateral acceleration of the vehicle are measured by a yaw angle sensor and transmitted to the ADAS controller via a CAN signal.

3. A vehicle emergency lane keeping assist function control system characterized by, The system comprises: a first judging module configured to determine a driving scenario in which the vehicle is currently located according to a front-facing camera of the vehicle; a second judging module configured to acquire the yaw angle, lateral velocity, and lateral acceleration of the vehicle, and determine whether the vehicle has a risk of deviating outward according to the yaw angle, lateral velocity, and lateral acceleration of the vehicle; a pre-look analysis module configured to, if the vehicle has a risk of deviating outward, perform a pre-look analysis on the vehicle for a preset time according to the yaw angle, lateral velocity, and lateral acceleration of the vehicle, to obtain a pre-look position of the vehicle after the preset time; a third judging module configured to determine whether the pre-look position of the vehicle exceeds a pre-labeled trigger line corresponding to the driving scenario in which the vehicle is currently located; a trigger correction module configured to, if the pre-look position of the vehicle exceeds the pre-labeled trigger line, trigger an emergency lane keeping function corresponding to the driving scenario in which the vehicle is currently located to be turned on, to correct the driving direction of the vehicle and return the vehicle to the lane; The front-facing camera comprises at least a forward-looking monocular camera and a front-facing millimeter wave radar, and the driving scenario is a solid line scenario, a road edge scenario, or an oncoming vehicle scenario. The system further comprises: a fourth judging module configured to, when it is determined according to the front-facing camera of the vehicle that the driving scenario in which the vehicle is currently located is an oncoming vehicle scenario, determine in real time whether a trigger logic of the oncoming vehicle is established; a fifth judging module configured to, when it is determined that the trigger logic of the oncoming vehicle is established, acquire the yaw angle, lateral velocity, and lateral acceleration of the vehicle, and determine whether the vehicle has a risk of approaching the oncoming vehicle according to the yaw angle, lateral velocity, and lateral acceleration of the vehicle; The pre-look analysis module is specifically configured to, if the vehicle has a risk of approaching the oncoming vehicle, perform a pre-look analysis on the vehicle for a preset time according to the yaw angle, lateral velocity, and lateral acceleration of the vehicle, to obtain a pre-look position of the vehicle after the preset time. The trigger logic of the oncoming vehicle is specifically: When X_ego+X_target+X_headway<S, it is determined that the trigger logic of the oncoming vehicle is established, where S is a distance between the vehicle and the oncoming vehicle: X ego = (V ego + a ego *t) 2 (2*a_ego max )+V_ego*t+0.5a_ego*t 2 X_ego=a_egomax*t+V_ego*t X_target = (V_target + a_target * t) 2 (2 * a_target max) + V_target * t + 0.5 a_target * t 2 X_target=V_target*(a_targetmax-a_target)+V_ego*t X_headway=V_ego*t_headway+V_target*t_headway Wherein, X_headway is the safety distance, t_headway is the calibrated time.

4. The vehicle emergency lane keeping assist function control system according to claim 3, characterized by, The yaw angle, lateral velocity, and lateral acceleration of the vehicle are measured by a yaw angle sensor and transmitted to the ADAS controller through a CAN signal.

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