A lane keeping assist driving method, system and electronic device

Abstract

The present invention provides a lane keeping assisted driving method, system and electronic device. The method includes: obtaining lane line information, the movement information of the host vehicle, and the movement information of all target vehicles around the host vehicle, and calculating the discrete movement trajectory information of all target vehicles relative to the host vehicle; screening out the final target vehicle based on the discrete movement trajectory information of all target vehicles relative to the host vehicle; determining the target driving trajectory information of the host vehicle based on the discrete movement trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information; and generating an initial trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state. The present invention can provide comprehensive assisted driving functions and complete intelligent driving safety work.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle driving, and more particularly, to a lane keeping assisted driving method, system and electronic device. Background Art

[0002] Intelligent driving vehicles use sensors, controllers and actuators to assist or even replace drivers to complete a series of driving actions, and ensure the safety, stability, comfort and economy goals during the driving process. During the whole implementation process, it generally includes several steps such as environmental perception, positioning recognition, behavior prediction, decision-making and control execution. Environmental perception is to identify lane lines, traffic signs, vehicles, etc. through various sensors such as cameras and radars carried by the vehicle; positioning recognition is to determine the current position of the vehicle through a map module or visual SLAM, etc.; behavior prediction is to estimate the future position and motion state of pedestrians or vehicles based on their positions and motion states within a period of time; decision-making control is to calculate an optimal execution target in combination with the current driving environment; control execution is to control the throttle, brakes and steering gear according to the execution target to complete intelligent driving work.

[0003] Currently, there are various specific problems described for the lane keeping assisted driving function, but they are all relatively single and one-sided, and there is no comprehensive and systematic solution. Summary of the Invention

[0004] The present invention aims at the technical problems existing in the prior art, and provides a lane keeping assisted driving method, system and electronic device.

[0005] According to a first aspect of the present invention, there is provided a lane keeping assisted driving method, including:

[0006] Obtain lane line information, the motion information of the host vehicle and the motion information of all target vehicles around the host vehicle, and calculate the discrete motion trajectory information of all target vehicles relative to the host vehicle;

[0007] Based on the discrete motion trajectory information of all target vehicles relative to the host vehicle, screen out the final target vehicle;

[0008] Based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information, determine the target driving trajectory information of the host vehicle;

[0009] When the host vehicle is in a specified state, generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory.

[0010] Based on the above technical solutions, the present invention can also be improved as follows.

[0011] Optionally, the obtaining of lane line information, the movement information of the host vehicle, and the movement information of all target vehicles around the host vehicle includes:

[0012] Based on the vehicle coordinate system, on-vehicle sensors obtain lane line information and the movement information of all target vehicles, and convert the lane line information and the movement information of all target vehicles into the host vehicle coordinate system. The movement information of the target vehicle includes the longitudinal position, lateral position, longitudinal speed information, and lateral speed information of the target vehicle.

[0013] The vehicle's own sensors collect the movement information of the host vehicle. The movement information of the host vehicle includes the yaw rate, steering wheel angle, host vehicle speed, and sampling time interval of the host vehicle.

[0014] The calculating of the discrete movement trajectory information of all target vehicles relative to the host vehicle includes:

[0015] Based on the movement information of all target vehicles and the movement information of the host vehicle, calculate the discrete movement trajectory information of each target vehicle relative to the host vehicle.

[0016] Optionally, the screening of the final target vehicle based on the discrete movement trajectory information of all target vehicles relative to the host vehicle includes:

[0017] According to the host vehicle speed information, steering wheel angle information, yaw rate information, and lane line information, calculate the effective selection area of the host vehicle. The effective selection area represents the area where the host vehicle can drive safely.

[0018] According to the effective selection area and the movement information of all target vehicles, screen out the final target vehicle from all target vehicles.

[0019] Optionally, before determining the target driving trajectory information of the host vehicle based on the discrete movement trajectory information of the final target vehicle, the discrete trajectory information of the lane centerline, and the current driving environment information, it includes:

[0020] Use the Kalman filter algorithm to smooth the discrete movement trajectory information of the final target vehicle; and, according to the left and right lane lines of the lane where the host vehicle is located, perform discrete sampling on the left and right lane lines to obtain discrete trajectory points of the left and right lane lines, and merge the discrete trajectory points of the left and right lane lines into the discrete trajectory information of the lane centerline.

[0021] Optionally, determining the target driving trajectory information of the host vehicle based on the discrete movement trajectory information of the final target vehicle, the discrete trajectory information of the lane centerline, and the current driving environment information:

[0022] If the current vehicle speed of the host vehicle is greater than the set speed threshold and the discrete trajectory information of the lane center line is not empty, determine the discrete trajectory information of the lane center line as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the lane center line is empty, output invalid target trajectory information;

[0023] If the current vehicle speed of the host vehicle is less than or equal to the set speed threshold and the discrete trajectory information of the final target vehicle is not empty, determine the discrete trajectory information of the final target vehicle as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the final target vehicle is empty, output invalid target trajectory information.

[0024] Optionally, before the step of generating an initial trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state, it includes:

[0025] According to the host vehicle motion information, driver driving operation information, and discrete trajectory information of the final target vehicle, calculate the conditions for each driving state transition of the host vehicle respectively. Among them, each driving state of the host vehicle includes off state, standby state, override state, passive state, and active state, and the active state includes initializeActive sub - state and activeNormalOperation sub - state.

[0026] Optionally, the step of generating an initial trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state includes:

[0027] Obtain the current driving state of the host vehicle. If the current driving state of the host vehicle is the standby state, generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory based on the current position point of the host vehicle and the starting point of the target trajectory. The initial trajectory line is the connection line between the current position point of the host vehicle and the starting point of the target trajectory.

[0028] Optionally, the step of generating an initial trajectory line from the current trajectory of the host vehicle to the target trajectory based on the current position point of the host vehicle and the starting point of the target trajectory includes:

[0029] Calculate the initial trajectory according to the actual position, actual longitudinal speed, actual lateral speed, and actual yaw rate of the host vehicle. The actual position and yaw rate of the end point of the initial trajectory are the same as those of the starting point of the target trajectory, and the lateral speed is 0. The initial trajectory is composed of multiple arc trajectories spliced together.

[0030] According to the second aspect of the present invention, there is provided a lane - keeping assist driving system, including:

[0031] A calculation module, configured to obtain lane line information, the movement information of the host vehicle, and the movement information of all target vehicles around the host vehicle, and calculate the discrete movement trajectory information of all target vehicles relative to the host vehicle;

[0032] A screening module, configured to screen out the final target vehicles based on the discrete movement trajectory information of all target vehicles relative to the host vehicle;

[0033] A determination module, configured to determine the target driving trajectory information of the host vehicle based on the discrete movement trajectory information of the final target vehicles, the discrete trajectory information of the lane center line, and the current driving environment information;

[0034] A generation module, configured to generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state.

[0035] According to the third aspect of the present invention, there is provided an electronic device, including a memory and a processor, and the processor is configured to implement the steps of the lane keeping assist driving method when executing a computer management program stored in the memory.

[0036] According to the fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer management program is stored, and the computer management program implements the steps of the lane keeping assist driving method when executed by a processor.

[0037] A lane keeping assist driving method, system and electronic device provided by the present invention screen out the final target vehicles that are most likely to affect the movement of the host vehicle according to the recognized lane line information, the movement information of the host vehicle, and the movement information of all surrounding target vehicles, and determine the target driving trajectory information of the host vehicle according to the movement trajectory information of the final target vehicles and the lane center line information, and generate an initial trajectory line based on the current trajectory information and the target driving trajectory information of the host vehicle for connection, which can provide comprehensive assist driving functions and complete intelligent driving safety work. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flowchart of a lane keeping assist driving method provided by the present invention;

[0039] Figure 2 It is a schematic diagram of the relative position information between the host vehicle and the target vehicle;

[0040] Figure 3 It is a schematic flowchart of determining the target driving trajectory information of the host vehicle;

[0041] Figure 4 It is a schematic diagram of the initial trajectory;

[0042] Figure 5 It is a schematic structural diagram of a lane keeping assist driving system provided by the present invention;

[0043] Figure 6 Schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0044] Figure 7 Schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Specific embodiments

[0045] The following combines the accompanying drawings and embodiments to further describe in detail the specific embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0046] Figure 1 Flowchart of a lane keeping assist driving method provided by the present invention, as Figure 1 shown, the method mainly includes the following steps:

[0047] S1, obtain lane line information, the movement information of the host vehicle, and the movement information of all target vehicles around the host vehicle, and calculate the discrete movement trajectory information of all target vehicles relative to the host vehicle.

[0048] As an embodiment, the obtaining of lane line information, the movement information of the host vehicle, and the movement information of all target vehicles around the host vehicle includes: based on the vehicle coordinate system, on-vehicle sensors obtain lane line information and the movement information of all target vehicles, and convert the lane line information and the movement information of all target vehicles to the host vehicle coordinate system, and the target vehicle movement information includes the longitudinal position, lateral position, longitudinal speed information, and lateral speed information of the target vehicle; vehicle own sensors collect the movement information of the host vehicle, and the movement information of the host vehicle includes the yaw angular velocity, steering wheel angle, host vehicle speed, and sampling time interval of the host vehicle; the calculation of the discrete movement trajectory information of all target vehicles relative to the host vehicle includes: based on the movement information of all target vehicles and the movement information of the host vehicle, calculate the discrete movement trajectory information of each target vehicle relative to the host vehicle.

[0049] It can be understood that based on the vehicle coordinate system (longitudinal is x, lateral is y), on-vehicle sensors identify environmental information such as lane lines and target vehicles around the host vehicle, and convert the position information of lane lines and target vehicles to the host vehicle coordinate system to obtain lane line information, the movement information and position information of target vehicles, etc. Vehicle own sensors collect information such as the vehicle speed, lateral speed, longitudinal speed, steering wheel angle, steering wheel angular speed, yaw angular velocity of the vehicle, that is, vehicle own sensors collect the movement information of the host vehicle, etc. The HMI system of the vehicle collects driver input information, and the driver information mainly includes the driving operation information of the driver, such as the operation information of the steering wheel, the throttle pedal information, etc.

[0050] Calculate the discrete trajectory point information of all target vehicles in the ego-vehicle coordinate system based on the yaw rate, steering wheel angle, ego-vehicle speed, sampling time interval of the ego-vehicle, and the longitudinal position, lateral position, longitudinal speed, and lateral speed information of the target vehicles, that is, the discrete trajectory information of each target vehicle relative to the ego-vehicle.

[0051] S2. Based on the discrete motion trajectory information of all target vehicles relative to the ego-vehicle, screen out the final target vehicles.

[0052] As an embodiment, the screening of the final target vehicles based on the discrete motion trajectory information of all target vehicles relative to the ego-vehicle includes: calculating the effective selection area of the ego-vehicle according to the ego-vehicle speed information, steering wheel angle information, yaw rate information, and lane line information, where the effective selection area represents the area where the ego-vehicle can drive safely; screening out the final target vehicles from all target vehicles according to the effective selection area and the motion information of all target vehicles.

[0053] It can be understood that, according to the position information and motion information of the ego-vehicle, as well as the position information and motion information of all target vehicles, the target vehicle that has the greatest impact on the ego-vehicle's driving is screened out from all target vehicles. As Figure 2 shown, target vehicle A is the target closest to the ego-vehicle in the ego-vehicle lane, target vehicle B is the second closest target to the ego-vehicle in the ego-vehicle lane, target vehicle C is the target closest to the ego-vehicle in the left lane of the ego-vehicle, and target vehicle D is the target closest to the ego-vehicle in the right lane of the ego-vehicle. The final target vehicle that affects the ego-vehicle's driving is screened out from vehicles A, B, C, and D.

[0054] Specifically, the effective selection area is calculated by fusing the ego-vehicle speed, steering wheel angle, yaw rate, and lane line information. Among them, the effective selection area represents the area where the ego-vehicle can drive safely. Finally, all or part of the vehicles among A, B, C, and D are screened out through the effective selection area and the motion state of the target vehicles. Among them, the final target vehicles can be screened out according to the lateral position, longitudinal position, longitudinal speed, lateral speed, and target maturity information corresponding to each target vehicle. Among them, the target maturity information can be understood as the degree of influence on the ego-vehicle's driving. For example, it may be screened out that the target vehicle closest to the ego-vehicle in the ego-vehicle lane is the final target vehicle, such as Figure 2 target vehicle A in. Another example is that based on the yaw angle of the ego-vehicle, the target vehicle closest to the ego-vehicle in the adjacent lane of the ego-vehicle is selected as the final target vehicle. For example, Figure 2 when the ego-vehicle in turns to the right, then target vehicle D can be selected as the final target vehicle. After screening out the final target vehicles, obtain the discrete trajectory information of the final target vehicles.

[0055] S3. Determine the target driving trajectory information of the host vehicle based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane centerline, and the current driving environment information.

[0056] As an example, before determining the target driving trajectory information of the host vehicle based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane centerline, and the current driving environment information, it includes: using the Kalman filter algorithm to smooth the discrete motion trajectory information of the final target vehicle; and, according to the left and right lane lines of the lane where the host vehicle is located, performing discrete sampling on the left and right lane lines to obtain discrete trajectory points of the left and right lane lines, and merging the discrete trajectory points of the left and right lane lines into the discrete trajectory information of the lane centerline.

[0057] It can be understood that after screening out the final target vehicle and obtaining its discrete trajectory information, the Kalman filter algorithm is used to smooth the target trajectory information to obtain the smoothed target trajectory information; if the final target vehicle is not screened out, an invalid discrete trajectory information is output.

[0058] According to all the recognized lane lines, select the left and right lane lines of the lane where the host vehicle is located, and determine whether the left and right lane lines are valid based on the lane line information. For example, when recognizing the lane lines, if there are road edges or shadows in the captured road image that cause the recognition of the lane lines to fail, then the lane line information is invalid at this time; based on the algorithm interface definition and the longitudinal sampling distance, perform discrete sampling on the left and right lane lines, and after obtaining the discrete trajectory points of the left and right lane lines, merge the discrete points of the left and right lane lines into a discrete trajectory point located in the middle of the lane, that is, the discrete trajectory information of the lane centerline. If it is determined that the left and right lane lines are invalid, an invalid discrete trajectory information of the lane centerline is output.

[0059] See Figure 3 , for determining the target driving trajectory information of the host vehicle based on the discrete trajectory information of the final target vehicle, the discrete trajectory information of the lane centerline, and combining the current driving environment.

[0060] As an example, based on the discrete motion trajectory information of the target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information, determine the target driving trajectory information of the host vehicle: If the current speed of the host vehicle is greater than the set speed threshold and the discrete trajectory information of the lane center line is not empty, then determine the discrete trajectory information of the lane center line as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the lane center line is empty, then output invalid target trajectory information; if the current speed of the host vehicle is less than or equal to the set speed threshold and the discrete trajectory information of the target vehicle is not empty, then determine the discrete trajectory information of the target vehicle as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the target vehicle is empty, then output invalid target trajectory information.

[0061] S4. When the host vehicle is in a specified state, generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory.

[0062] It can be understood that after determining the target driving trajectory information of the host vehicle, calculate the conditions for the transfer of each driving state of the host vehicle according to the motion information of the host vehicle, the driving operation information of the driver, and the discrete trajectory information of the target vehicle. Among them, the various driving states of the host vehicle include the off state, standby state, override state, passive state, and active state, and the active state includes the initializeActive sub-state and the activeNormalOperation sub-state.

[0063] As an example, when the host vehicle is in a specified state, generating an initial trajectory line from the current trajectory of the host vehicle to the target trajectory includes: obtaining the current driving state of the host vehicle. If the current driving state of the host vehicle is the standby state, then generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory based on the current position point of the host vehicle and the starting point of the target trajectory, and the initial trajectory line is the connection line between the current position point of the host vehicle and the starting point of the target trajectory.

[0064] It can be understood that when the current driving state of the host vehicle is in the standby state, an initial trajectory line from the current trajectory of the host vehicle to the target trajectory is generated based on the current position point of the host vehicle and the starting point of the target trajectory. The initial trajectory line is the connecting line between the current position point of the host vehicle and the starting point of the target trajectory. Among them, the initial trajectory is calculated according to the actual position, actual longitudinal speed, actual lateral speed, and actual yaw angular velocity of the host vehicle. When generating the initial trajectory, in order not to make the connection between the initial trajectory and the target trajectory too abrupt, the end point of the initial trajectory is in the same state as the target trajectory, that is, the actual position and yaw angular velocity of the end point of the initial trajectory are the same as the actual position and yaw angular velocity of the starting point of the target trajectory, and the lateral speed at both position points is zero. The initial trajectory can be spliced by multiple arcs. Calculate the starting point and end point of each arc, and obtain the trajectory points through discrete sampling according to the spline interpolation algorithm. As Figure 4 shown, finally, the spliced initial trajectory is output to the control algorithm to control the movement of the host vehicle.

[0065] Among them, Figure 4 in, P0 is the starting point of the initial trajectory, P1 is the insertion point of the initial trajectory, P2 is the parallel point of the initial trajectory, the lateral angle of P2 is the same as the course angle of P3, P3 is the end point of the initial trajectory, R1 is the turning radius calculated according to the actual yaw angular velocity and angle of the host vehicle, R2 is the turning radius obtained by looking up the table according to the actual yaw angular velocity of the host vehicle, R3 is the turning radius obtained by looking up the table according to the actual yaw angle of the vehicle, and R2 = R3.

[0066] Figure 5 This is a structural diagram of a lane keeping assist driving system provided by an embodiment of the present invention. As Figure 5 shown, a lane keeping assist driving system includes a calculation module 51, a screening module 52, a determination module 53, and a generation module 54, where:

[0067] The calculation module 51 is used to obtain lane line information, the movement information of the host vehicle, and the movement information of all target vehicles around the host vehicle, and calculate the discrete movement trajectory information of all target vehicles relative to the host vehicle; the screening module 52 is used to screen out the final target vehicle based on the discrete movement trajectory information of all target vehicles relative to the host vehicle; the determination module 53 is used to determine the target driving trajectory information of the host vehicle based on the discrete movement trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information; the generation module 54 is used to generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state.

[0068] It can be understood that a lane keeping assist driving system provided by the present invention corresponds to the lane keeping assist driving methods provided in the foregoing embodiments. The related technical features of the lane keeping assist driving system can refer to the related technical features of the lane keeping assist driving methods, which will not be elaborated herein.

[0069] Please refer to Figure 6 , Figure 6 which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 6 shown, an embodiment of the present invention provides an electronic device 600, including a memory 610, a processor 620, and a computer program 611 stored in the memory 610 and executable on the processor 620. When the processor 620 executes the computer program 611, the following steps are implemented: obtaining lane line information, the movement information of the vehicle itself, and the movement information of all target vehicles around the vehicle itself, and calculating the discrete movement trajectory information of all target vehicles relative to the vehicle itself; based on the discrete movement trajectory information of all target vehicles relative to the vehicle itself, screening out the final target vehicle; based on the discrete movement trajectory information of the final target vehicle and the discrete trajectory information of the lane center line, as well as the current driving environment information, determining the target driving trajectory information of the vehicle itself; when the vehicle itself is in a specified state, generating an initialization trajectory line from the current trajectory to the target trajectory of the vehicle itself.

[0070] Please refer to Figure 7 , Figure 7 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 7 shown, this embodiment provides a computer-readable storage medium 700, on which a computer program 711 is stored. When the computer program 711 is executed by a processor, the following steps are implemented: obtaining lane line information, the movement information of the vehicle itself, and the movement information of all target vehicles around the vehicle itself, and calculating the discrete movement trajectory information of all target vehicles relative to the vehicle itself; based on the discrete movement trajectory information of all target vehicles relative to the vehicle itself, screening out the final target vehicle; based on the discrete movement trajectory information of the final target vehicle and the discrete trajectory information of the lane center line, as well as the current driving environment information, determining the target driving trajectory information of the vehicle itself; when the vehicle itself is in a specified state, generating an initialization trajectory line from the current trajectory to the target trajectory of the vehicle itself.

[0071] A lane keeping assist driving method, system and electronic device provided by an embodiment of the present invention screen out the final target vehicle that is most likely to affect the movement of the vehicle itself according to the recognized lane line information, the movement information of the vehicle itself, and the movement information of all target vehicles around it, and determine the target driving trajectory information of the vehicle itself according to the movement trajectory information of the final target vehicle and the lane center line information. Based on the current trajectory information and the target driving trajectory information of the vehicle itself, an initialization trajectory line is generated for connection, which can provide comprehensive assist driving functions and complete intelligent driving safety work.

[0072] It should be noted that in the above embodiments, the descriptions of each embodiment have their own focuses. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0073] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized 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 computer, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0075] 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 specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0077] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0078] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A lane keeping assist driving method, characterized in that, Including: Obtain lane line information, the motion information of the host vehicle, and the motion information of all target vehicles around the host vehicle, and calculate the discrete motion trajectory information of all target vehicles relative to the host vehicle; Based on the discrete motion trajectory information of all target vehicles relative to the host vehicle, screen out the final target vehicle; Based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information, determine the target driving trajectory information of the host vehicle; When the host vehicle is in a specified state, generate an initial trajectory line from the current trajectory of the host vehicle to the target trajectory; The determining the target driving trajectory information of the host vehicle based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information includes: If the current speed of the host vehicle is greater than the set speed threshold and the discrete trajectory information of the lane center line is not empty, then determine the discrete trajectory information of the lane center line as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the lane center line is empty, then output invalid target trajectory information; If the current speed of the host vehicle is less than or equal to the set speed threshold and the discrete trajectory information of the final target vehicle is not empty, then determine the discrete trajectory information of the final target vehicle as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the final target vehicle is empty, then output invalid target trajectory information.

2. The lane keeping assist driving method according to claim 1, wherein The obtaining the lane line information, the motion information of the host vehicle, and the motion information of all target vehicles around the host vehicle includes: Based on the vehicle coordinate system, on-vehicle sensors obtain lane line information and the motion information of all target vehicles, and convert the lane line information and the motion information of all target vehicles to the host vehicle coordinate system, and the target vehicle motion information includes the longitudinal position, lateral position, longitudinal speed information, and lateral speed information of the target vehicle; The vehicle's own sensors collect the motion information of the host vehicle, and the motion information of the host vehicle includes the yaw angular velocity, steering wheel angle, host vehicle speed, and sampling time interval of the host vehicle; The calculating the discrete motion trajectory information of all target vehicles relative to the host vehicle includes: Based on the motion information of all target vehicles and the motion information of the host vehicle, calculate the discrete motion trajectory information of each target vehicle relative to the host vehicle.

3. The lane keeping assist driving method according to claim 1, wherein The screening out the final target vehicle based on the discrete motion trajectory information of all target vehicles relative to the host vehicle includes: According to the host vehicle speed information, steering wheel angle information, yaw angular velocity information, and lane line information, calculate the effective selection area of the host vehicle, and the effective selection area represents the area where the host vehicle can drive safely; According to the effective selection area and the motion information of all target vehicles, screen out the final target vehicle from all target vehicles.

4. The lane keeping assist driving method according to claim 1, characterized in that Before the determining the target driving trajectory information of the host vehicle based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information, includes: The Kalman filtering algorithm is used to smooth the discrete motion trajectory information of the final target vehicle; and, based on the left and right lane lines of the lane where the host vehicle is located, discrete sampling is performed on the left and right lane lines to obtain discrete trajectory points of the left and right lane lines, and the discrete trajectory points of the left and right lane lines are merged into discrete trajectory information of the lane center line.

5. The lane keeping assist driving method according to claim 1, characterized in that, Before generating the initialization trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state, it includes: According to the motion information of the host vehicle, the driving operation information of the driver, and the discrete trajectory information of the final target vehicle, the conditions for the transfer of each driving state of the host vehicle are calculated respectively. Among them, each driving state of the host vehicle includes the off state, the standby state, the override state, the passive state, and the active state, and the active state includes the initializeActive sub-state and the activeNormalOperation sub-state.

6. The lane keeping assist driving method according to claim 5, characterized in that, When the host vehicle is in a specified state, generating the initialization trajectory line from the current trajectory of the host vehicle to the target trajectory includes: Obtain the current driving state of the host vehicle. If the current driving state of the host vehicle is the standby state, then based on the current position point of the host vehicle and the starting point of the target trajectory, generate the initialization trajectory line from the current trajectory of the host vehicle to the target trajectory, and the initialization trajectory line is the connection line between the current position point of the host vehicle and the starting point of the target trajectory.

7. The lane keeping assist driving method according to claim 6, wherein Then, based on the current position point of the host vehicle and the starting point of the target trajectory, generating the initialization trajectory line from the current trajectory of the host vehicle to the target trajectory includes: Calculate the initialization trajectory according to the actual position, actual longitudinal speed, actual lateral speed, and actual yaw rate of the host vehicle. The actual position and yaw rate of the end point of the initialization trajectory are the same as those of the starting point of the target trajectory, and the lateral speed is 0. The initialization trajectory is composed of multiple arc trajectories spliced together.

8. A lane keeping assist driving system, characterized in that, It includes: A calculation module for obtaining lane line information, the motion information of the host vehicle, and the motion information of all target vehicles around the host vehicle, and calculating the discrete motion trajectory information of all target vehicles relative to the host vehicle; A screening module for screening out the final target vehicle based on the discrete motion trajectory information of all target vehicles relative to the host vehicle; A determination module for determining the target driving trajectory information of the host vehicle based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information; A generation module for generating the initialization trajectory line from the current trajectory of the host vehicle to the target trajectory when the host vehicle is in a specified state; Based on the discrete motion trajectory information of the final target vehicle, the discrete trajectory information of the lane center line, and the current driving environment information, determining the target driving trajectory information of the host vehicle includes: If the current vehicle speed of the host vehicle is greater than the set speed threshold and the discrete trajectory information of the lane center line is not empty, then determine the discrete trajectory information of the lane center line as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the lane center line is empty, then output invalid target trajectory information; If the current vehicle speed of the host vehicle is less than or equal to the set speed threshold and the discrete trajectory information of the final target vehicle is not empty, determine the discrete trajectory information of the final target vehicle as the target driving trajectory information of the host vehicle; if the discrete trajectory information of the final target vehicle is empty, output invalid target trajectory information.

9. An electronic device, characterized in that, It includes a memory and a processor, and when the processor executes the computer management program stored in the memory, it realizes the steps of the lane keeping assisted driving method according to any one of claims 1-7.

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