Lane change and straightening assistance control method, device, and storage medium

Abstract

The application provides a lane-changing back-to-normal auxiliary control method and device and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: after detecting that the vehicle speed is greater than a preset speed, activating a back-to-normal auxiliary function, obtaining driving state information of the vehicle, obtaining a lateral movement distance of the vehicle when changing lanes according to the driving state information when the driver operates the vehicle to change lanes, obtaining back-to-normal auxiliary torque information according to the driving state information if the lateral movement distance is large, and inputting the back-to-normal auxiliary torque information to the motor end of the steering system, so that the steering system outputs a corresponding back-to-normal auxiliary torque, and the driver is reminded to control the vehicle to return to normal in time when the driver operates the vehicle to change lanes at high speed, so as to avoid collision or scratching with other vehicles on the adjacent lane.

Description

Technical Field

[0001] This application relates to vehicle control technology, and more particularly to a lane change return assist control method, device and storage medium. Background Technology

[0002] With social development and technological progress, the steering system of modern vehicles has become increasingly sophisticated. However, when driving at high speeds, drivers may apply excessive force when changing lanes, resulting in a longer steering time and an excessively large steering angle. This can cause the vehicle to cross the adjacent lane lines and generate a large yaw rate, leading to a collision with other vehicles in the adjacent lanes and potentially causing a traffic accident.

[0003] Existing traditional steering systems assist the steering wheel based on the driver's steering behavior. However, when the vehicle is traveling at high speed, due to insufficient driver experience or fatigue, the driver may exert too much force, resulting in an excessive steering angle. Furthermore, the system cannot provide timely reminders to the driver, and therefore cannot assist the driver in returning to the correct position when changing lanes. This can lead to collisions with vehicles in adjacent lanes, endangering the lives of the driver and passengers.

[0004] Therefore, existing technologies still have shortcomings in assisting drivers to straighten the steering wheel when changing lanes. Summary of the Invention

[0005] This application provides a lane change return assist control method, device, and storage medium to solve the problem that the prior art still has deficiencies in assisting the driver to return the steering wheel to center when the vehicle changes lanes.

[0006] Firstly, this application provides a lane change return assist control method, including:

[0007] When the vehicle speed exceeds the first preset speed, the return-to-center assist function is activated;

[0008] After the return-to-center assist function is activated, the lateral movement distance of the vehicle is obtained based on the vehicle's first driving status information;

[0009] The distance deviation between the lateral movement distance and the lane width is obtained, and it is determined whether a straightening operation is needed based on the distance deviation.

[0010] If it is determined that a return-to-center operation is required, the return-to-center assist torque information is obtained based on the vehicle's second driving status information, and the return-to-center assist torque information is output to the steering system so that the steering system outputs return-to-center assist torque according to the return-to-center assist torque information to remind the driver to return to center.

[0011] In one possible design, the first driving state information includes at least one of the vehicle's wheelbase, steering angle transmission ratio, steering wheel angle, or lateral acceleration; obtaining the lateral movement distance of the vehicle based on the first driving state information includes:

[0012] If the vehicle is in a straight lane change state, the lateral speed is obtained based on the lateral acceleration of the vehicle, and the lateral movement distance is obtained based on the lateral speed.

[0013] If the vehicle is in a lane-changing state while turning, the wheel angle is obtained based on the steering wheel angular velocity and the steering angle transmission ratio, the turning radius is obtained based on the wheelbase and the wheel angle, the turning deviation at different times is obtained based on the turning radius at different times, the turning deviation at different times is processed, and the lateral movement distance is obtained.

[0014] In one possible design, the second driving state information includes vehicle speed, steering wheel angle, and driver's hand torque. The step of obtaining the return-to-center assist torque information based on the vehicle's second driving state information includes:

[0015] Based on the steering wheel angle, the direction of the return-to-center assist torque is obtained;

[0016] The magnitude of the return-to-center assist torque is obtained based on the driver's hand torque and vehicle speed, wherein the magnitude of the return-to-center assist torque is proportional to the driver's hand torque when the vehicle speed is constant.

[0017] The return-to-center auxiliary torque information is obtained based on the direction and magnitude of the return-to-center auxiliary torque.

[0018] In one possible design, the second driving state information further includes: steering wheel angular velocity and vehicle yaw rate; before obtaining the return-to-center assist torque information based on the direction and magnitude of the return-to-center assist torque, the method further includes:

[0019] The return speed of the return-to-center assist torque is determined based on the steering wheel angular velocity, wherein the steering wheel angular velocity is directly proportional to the return speed.

[0020] The timing of intervention of the return-to-center auxiliary torque is determined based on the yaw rate, wherein the greater the yaw rate, the earlier the return-to-center auxiliary torque intervenes.

[0021] The step of obtaining the return-to-center auxiliary torque information based on the direction and magnitude of the return-to-center auxiliary torque includes:

[0022] The return-centering auxiliary torque information is obtained based on the direction, magnitude, return-centering speed, and intervention timing of the return-centering auxiliary torque.

[0023] In one possible design, after outputting the return-to-center assist torque information to the steering system, the method further includes:

[0024] The vehicle centering assist function is turned off to stop assisting in centering the vehicle when at least one of the following conditions is met;

[0025] When the vehicle speed is less than the second preset vehicle speed, the first preset vehicle speed is greater than the second preset vehicle speed;

[0026] When the steering wheel angle passes the zero position after changing lanes;

[0027] When the driver's reverse hand torque is greater than the first preset torque.

[0028] In one possible design, determining whether a straightening operation is needed based on the distance deviation includes:

[0029] If the distance deviation is less than the preset deviation value, then it is determined that a straightening operation is required;

[0030] If the distance deviation is greater than the preset deviation value, no correction operation will be performed.

[0031] In one possible design, outputting the return-to-center assist torque information to the steering system includes:

[0032] Determine whether the return-to-center auxiliary torque in the return-to-center auxiliary torque information is less than the second preset torque;

[0033] If so, the return-to-center assist torque information is output to the steering system;

[0034] If not, the return-to-center assist torque information is updated using the second preset torque, and the updated return-to-center assist torque information is output to the steering system; wherein, the second preset torque is less than the first preset torque.

[0035] Secondly, this application provides a lane change return assist control device, comprising:

[0036] The activation module is used to activate the centering assist function when the vehicle speed is greater than the first preset speed.

[0037] The acquisition module is used to acquire the lateral movement distance of the vehicle based on the first driving state information of the vehicle after the return-to-center assist function is activated.

[0038] The processing module is used to obtain the distance deviation between the lateral movement distance and the lane width, and to determine whether a straightening operation is needed based on the distance deviation.

[0039] The execution module is used to, if it is determined that a return-to-center operation is required, obtain the return-to-center auxiliary torque information based on the second driving state information of the vehicle, and output the return-to-center auxiliary torque information to the steering system, so that the steering system outputs the return-to-center auxiliary torque according to the return-to-center auxiliary torque information to remind the driver to return to center.

[0040] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0041] The memory stores computer-executed instructions;

[0042] The processor executes computer execution instructions stored in the memory to implement the lane change return auxiliary control method.

[0043] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a lane change return auxiliary control method.

[0044] This application provides a lane change return-to-center assist control method, device, and storage medium. By detecting that the vehicle speed is greater than a preset speed, the return-to-center assist function is activated. The system acquires the vehicle's driving status information. When the driver operates the vehicle to change lanes, the system obtains the lateral movement distance of the vehicle during the lane change based on the driving status information. If the lateral movement distance is large, the system obtains the return-to-center assist torque information based on the driving status information and inputs the return-to-center assist torque information to the motor end of the steering system. The steering system then outputs an appropriate return-to-center assist torque. Thus, when the driver operates the vehicle to change lanes at high speeds, the system reminds the driver to control the vehicle to return to center in time to avoid collisions or scrapes with other vehicles in adjacent lanes. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 Flowchart of the lane change return auxiliary control method provided in the embodiments of this application Figure 1 ;

[0047] Figure 2 Flowchart of the lane change return auxiliary control method provided in the embodiments of this application Figure 2 ;

[0048] Figure 3A schematic diagram of turning deviation provided for an embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the structure of the lane change return auxiliary control device provided in the embodiments of this application;

[0050] Figure 5 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0051] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0052] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0053] With the advancement of technology, the development of electronic appliances and steering system technology has also made continuous progress. The steering system functions of modern vehicles have become increasingly sophisticated. However, at high speeds, due to insufficient driving skills, drivers may exert too much force and take too long to turn, resulting in excessive steering angles that exceed the adjacent lane lines, which can easily cause traffic accidents. Therefore, when changing lanes at high speeds, how to avoid collisions or scrapes with vehicles in adjacent lanes due to excessive operation by the driver has placed higher demands on modern automobiles.

[0054] Existing traditional steering systems assist the steering wheel based on the driver's steering behavior. However, at high speeds, due to insufficient driver experience or driver fatigue, the driver may exert excessive force, resulting in an excessive steering angle. Furthermore, traditional steering systems cannot provide timely reminders to the driver, thus failing to assist the driver in correcting the steering wheel when changing lanes and avoiding collisions or scrapes with vehicles in adjacent lanes. Therefore, there is a need for an auxiliary control method that can remind the driver to correct the steering wheel when changing lanes at high speeds to avoid collisions or scrapes with vehicles in adjacent lanes.

[0055] This application provides a lane change return-to-center assist control method. By detecting that the vehicle speed is greater than a preset speed, the return-to-center assist function is activated. The method acquires the vehicle's driving status information. When the driver operates the vehicle to change lanes, the method obtains the lateral movement distance of the vehicle during the lane change based on the driving status information. If the lateral movement distance is large, the method obtains the return-to-center assist torque information based on the driving status information and inputs the return-to-center assist torque information to the motor end of the steering system. The steering system then outputs an appropriate return-to-center assist torque. Thus, when the driver operates the vehicle to change lanes at high speeds, the method reminds the driver to control the vehicle to return to center in time to avoid collisions or scrapes with other vehicles in adjacent lanes.

[0056] The technical solutions of this application and how they solve the aforementioned technical problems are described in detail below using specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0057] Example 1

[0058] Figure 1 Flowchart of the lane change return auxiliary control method provided in the embodiments of this application Figure 1 .like Figure 1 As shown, the method includes:

[0059] S101. When the vehicle speed is greater than the first preset speed, activate the return-to-center assist function;

[0060] The first preset speed is used to determine whether the vehicle is traveling at high speed. When the vehicle speed is greater than the first preset speed, it can be determined that the vehicle is traveling at high speed.

[0061] The first preset speed is set to 60 kilometers per hour. Of course, it can also be set to 65 kilometers per hour or other vehicle speeds as the first preset speed. As long as the vehicle speed reaches the set speed, the return-to-center assist function can be activated.

[0062] Specifically, when the vehicle is in motion, the current vehicle speed is obtained, and based on the current vehicle speed, it is determined whether it is greater than the calibrated first preset speed. When the current vehicle speed is detected to be greater than the calibrated first preset speed, the return-to-center assist function is activated. After the return-to-center assist function is activated, it will assist the vehicle in returning to center.

[0063] S102. After the return-to-center assist function is activated, the lateral movement distance of the vehicle is obtained according to the first driving status information of the vehicle.

[0064] The first driving status information is used to obtain the lateral movement distance of the vehicle, which refers to the distance the vehicle moves laterally when changing lanes while traveling along the lane.

[0065] This embodiment can obtain the lateral movement distance during straight lane changes and also the lateral movement distance during curve lane changes. Specifically, the lateral movement distance can be obtained based on the first driving state information, and this embodiment does not impose any particular restrictions on the method of obtaining the lateral movement distance.

[0066] For example, when the current vehicle speed is detected to be greater than the calibrated first preset speed and the return-to-center assist function is activated, the first driving state information of the vehicle is obtained, namely wheelbase, steering angle transmission ratio, steering wheel angle or lateral acceleration. When the driver controls the vehicle to change lanes on a straight lane, the lateral speed of the vehicle when changing lanes is obtained based on the lateral acceleration in the first driving state information of the vehicle, and then the lateral movement distance is obtained based on the lateral speed. When the driver controls the vehicle to change lanes on a curve, the lateral movement distance is obtained based on the wheelbase, steering wheel angle and steering angle transmission ratio in the first driving state information of the vehicle.

[0067] S103. Obtain the distance deviation between the lateral movement distance and the lane width, and determine whether a straightening operation is needed based on the distance deviation;

[0068] The distance deviation is the difference between the lane width and the lateral movement distance. If the obtained distance deviation is less than the preset deviation value, it is determined that a straightening operation is required. If the obtained distance deviation is greater than the preset deviation value, a straightening operation is not performed.

[0069] Specifically, this preset deviation value can be determined based on experience. This preset deviation value indicates that the vehicle is about to reach the width of one lane when changing lanes. When the distance deviation is less than the preset deviation value, it means the vehicle is about to reach the width of one lane, and a lane straightening operation should be performed promptly to avoid exceeding the planned lane change range. When the distance deviation is greater than the preset deviation value, it means the vehicle has not yet reached the width of one lane when changing lanes, and no lane straightening operation is required.

[0070] S104. If it is determined that a return-to-center operation is required, the return-to-center auxiliary torque information is obtained based on the second driving state information of the vehicle, and the return-to-center auxiliary torque information is output to the steering system so that the steering system outputs the return-to-center auxiliary torque according to the return-to-center auxiliary torque information to remind the driver to return to center.

[0071] The second driving status information is used to obtain the return-to-center assist torque information, such as the direction and magnitude of the return-to-center assist torque, the return-to-center speed, and the intervention timing.

[0072] For example, the second driving state information includes vehicle speed, steering wheel angle, driver's hand torque, steering wheel angular velocity, and vehicle yaw rate, etc. Based on the steering wheel angle, driver's hand torque, and vehicle speed, the direction and magnitude of the return-to-center assist torque can be obtained. Based on the steering wheel angular velocity and vehicle yaw rate, the return-to-center speed and intervention timing of the return-to-center assist torque can be obtained. Based on the direction, magnitude, return-to-center speed, and intervention timing of the positive assist torque, the positive assist torque information is obtained.

[0073] This embodiment provides a lane change return-to-center assist control method. When the vehicle speed exceeds a first preset speed, the return-to-center assist function is activated. After the return-to-center assist function is activated, the lateral movement distance of the vehicle is obtained based on the vehicle's first driving state information. The distance deviation between the lateral movement distance and the lane width is obtained, and it is determined whether a return-to-center operation is required based on the distance deviation. If a return-to-center operation is determined, the return-to-center assist torque information is obtained based on the vehicle's second driving state information, and the return-to-center assist torque information is output to the steering system. This allows the steering system to output return-to-center assist torque based on the return-to-center assist torque information, timely reminding the driver to return to center without affecting the driver's driving safety. Thus, when the driver is changing lanes at high speed, collisions or scrapes with vehicles in adjacent lanes are avoided.

[0074] Example 2

[0075] Figure 2 Flowchart of the lane change return auxiliary control method provided in the embodiments of this application Figure 2 . Figure 3 This is a diagram illustrating the turning deviation, combined with... Figure 2 and Figure 3 As shown, the method includes:

[0076] S201. When the vehicle speed is greater than the first preset speed, activate the return-to-center assist function;

[0077] The implementation of step S201 is similar to that of step S101, and will not be described in detail here.

[0078] S202. If the vehicle is in a straight lane change state, obtain the lateral speed based on the lateral acceleration of the vehicle, and obtain the lateral movement distance based on the lateral speed.

[0079] When the current vehicle speed is detected to be greater than the calibrated first preset speed, i.e., when the current vehicle speed is greater than 60 kilometers per hour, the return-to-center assist function is activated. The lateral acceleration information in the first driving state information of the vehicle is obtained. When the driver controls the vehicle to change lanes in a straight lane, the lateral acceleration in the first driving state information of the vehicle is integrated once to obtain the lateral speed of the vehicle when changing lanes laterally. The lateral speed is then integrated again to obtain the lateral movement distance of the vehicle when it is in a straight lane change state.

[0080] S203. If the vehicle is in a lane-changing state on a curve, the wheel angle is obtained according to the steering wheel angle and the steering angle transmission ratio, the turning radius is obtained according to the wheelbase and the wheel angle, the turning deviation at different times is obtained according to the turning radius at different times, the turning deviation at different times is processed, and the lateral movement distance is obtained.

[0081] Specifically, when a vehicle is detected changing lanes while curving, such as Figure 3 As shown, the ratio of the steering wheel angle to the steering angle transmission ratio is used as the wheel angle, i.e., the wheel angle is obtained. The product of the trigonometric tangent function of the wheel angle and the wheelbase is used as the turning radius, i.e., the turning radius is obtained. The turning deviation at different times is obtained based on the turning radius at different times, and the turning deviation at different times is integrated to obtain the lateral movement distance of the vehicle when it is in a lane change state in a curve.

[0082] That is, it can be achieved through the following formula:

[0083]

[0084] Where d is the lateral movement distance, l is the wheelbase, t is the steering wheel angle at different times, and b is the steering angle transmission ratio.

[0085] S204. Obtain the distance deviation between the lateral movement distance and the lane width, and determine whether a straightening operation is needed based on the distance deviation;

[0086] The implementation of step S204 is similar to that of step S103, and will not be described in detail here.

[0087] S205. If it is determined that a return-to-center operation will be performed, the return-to-center auxiliary torque information is obtained based on the second driving state information of the vehicle.

[0088] The second driving status information includes vehicle speed, steering wheel angle, and driver's hand torque.

[0089] Based on the steering wheel angle, the direction of the return-to-center assist torque is obtained. The steering wheel angle serves as a vector indicator of the current steering wheel rotation direction, which in turn indicates the direction of the vehicle's lane change. The opposite amount is obtained based on the steering wheel angle, and the direction of the return-to-center assist torque is indicated based on the obtained opposite amount to correct the current vehicle's driving direction.

[0090] The magnitude of the return-to-center assist torque is obtained based on the driver's hand torque and vehicle speed. The magnitude of the return-to-center assist torque is related to the magnitude of the driver's hand torque. The greater the driver's hand torque, the greater the return-to-center assist torque. Optionally, at a constant vehicle speed, the return-to-center assist torque is positively correlated with the driver's hand torque.

[0091] Furthermore, the magnitude of the return-to-center assist torque is confirmed through the assist torque indicator table, as shown in Table 1. The assist torque indicator table stores the correspondence between vehicle speed, driver's hand torque and return-to-center assist torque, indicating that when the vehicle speed is constant, the magnitude of the return-to-center assist torque is proportional to the driver's hand torque. The return-to-center assist torque information is obtained based on the direction and magnitude of the return-to-center assist torque.

[0092] Table 1

[0093]

[0094] Furthermore, the second driving status information also includes the steering wheel angular velocity and the vehicle yaw rate. Further, the return speed of the return-to-center assist torque is determined based on the steering wheel angular velocity, wherein the steering wheel angular velocity is directly proportional to the return speed. The intervention timing of the return-to-center assist torque is determined based on the yaw rate, wherein the larger the yaw rate, the earlier the return-to-center assist torque intervenes. Return-to-center assist torque information is obtained based on the direction and magnitude of the return-to-center assist torque. The return-to-center assist torque information is obtained based on the direction, magnitude, return speed, and intervention timing of the return-to-center assist torque.

[0095] S206. Determine whether the return-to-center auxiliary torque in the return-to-center auxiliary torque information is less than the second preset torque. If the second preset torque is less than the first preset torque, then execute S207; otherwise, execute S208.

[0096] Among them, the first preset torque is one of the judgment conditions for exiting the return-to-center assist function. When the reverse hand torque output by the driver through the steering wheel is greater than the preset value, i.e., the first preset torque, it means that the driver has performed the return-to-center operation and exited the return-to-center assist function.

[0097] The second preset torque serves as an output reminder limit to prevent the magnitude of the output return-to-center torque in the return-to-center torque information from exceeding the safety threshold, thus avoiding the steering system outputting excessive torque and causing a collision with vehicles in other lanes. The second preset torque, which serves as the output limit, is slightly less than the first preset torque to remind the user to perform the return-to-center operation.

[0098] Specifically, to ensure functional safety, when the return-to-center assist torque in the return-to-center assist torque information is detected to be less than the second preset torque, the acquired return-to-center assist torque information is output to the steering system; when the return-to-center assist torque in the return-to-center assist torque information is detected to be greater than or equal to the second preset torque, the return-to-center assist torque information is updated using the second preset torque.

[0099] S207. Output the return-to-center assist torque information to the steering system, so that the steering system outputs return-to-center assist torque according to the return-to-center assist torque information to remind the driver to return to center.

[0100] The system outputs the acquired return-to-center torque information to the motor end of the steering system. This information includes the direction, magnitude, return speed, and intervention timing of the return-to-center torque. The motor end of the steering system determines the output time of the return-to-center torque based on the intervention timing. The motor end of the steering system outputs the return-to-center torque based on the direction, magnitude, and return speed of the return-to-center torque to control the vehicle to return to center. At the same time, the return-to-center torque output by the motor end of the steering system is synchronized with the steering wheel rotation to remind and guide the driver to perform the return-to-center operation.

[0101] S208. Update the return-to-center assist torque information using the second preset torque, and output the updated return-to-center assist torque information to the steering system, so that the steering system outputs return-to-center assist torque according to the return-to-center assist torque information to remind the driver to return to center.

[0102] Specifically, after obtaining the return-to-center assist torque information, the magnitude of the return-to-center assist torque in the return-to-center assist torque information is further judged to ensure functional safety. When the return-to-center assist torque in the return-to-center assist torque information is detected to be greater than or equal to the second preset torque, the updated return-to-center assist torque information is output to the motor end of the steering system. That is, the magnitude of the return-to-center assist torque in the return-to-center assist torque information is the second preset torque, so as to remind and guide the driver to perform the return-to-center operation to ensure functional safety.

[0103] Furthermore, the vehicle centering assist function is turned off to stop assisting the vehicle centering when at least one of the following conditions is met: when the vehicle speed is less than the second preset speed, wherein the first preset speed is greater than the second preset speed; when the steering wheel angle turns past zero after changing lanes; when the driver's reverse hand torque is greater than the first preset torque.

[0104] Specifically, when the acquired vehicle speed is less than the second preset vehicle speed, where the first preset vehicle speed is greater than the second preset vehicle speed, it indicates that the vehicle is not traveling at high speed. The driver can control the steering wheel in time to drive the vehicle safely. The vehicle speed is relatively slow, and the driver has enough reaction time to take effective control actions in time, thereby avoiding collisions or scrapes with other vehicles in adjacent lanes.

[0105] When the steering wheel angle obtained after changing lanes crosses the zero position, it indicates that the driver is aware of the danger of colliding with vehicles in other lanes and promptly adjusts the steering wheel to keep the vehicle in the current lane and avoid collisions or scrapes with other vehicles in adjacent lanes.

[0106] When the measured reverse hand torque of the driver is greater than the first preset torque, it indicates that the driver is aware of the danger of colliding with vehicles in other lanes and has taken timely steering wheel control actions, applying sufficient reverse hand torque to control the vehicle to drive normally in the current lane.

[0107] Therefore, the centering assist function is turned off when at least one of the above conditions is met.

[0108] This embodiment provides a lane change return-to-center assist control method. When the vehicle speed exceeds a first preset speed, the return-to-center assist function is activated. After the return-to-center assist function is activated, the lateral movement distance of the vehicle is obtained based on the vehicle's first driving state information. The distance deviation between the lateral movement distance and the lane width is obtained, and it is determined whether a return-to-center operation is required based on the distance deviation. If a return-to-center operation is determined, the return-to-center assist torque information is obtained based on the vehicle's second driving state information, and the return-to-center assist torque information is output to the steering system. This allows the steering system to output return-to-center assist torque based on the return-to-center assist torque information, timely reminding the driver to return to center without affecting the driver's driving safety. Thus, when the driver is changing lanes at high speed, collisions or scrapes with vehicles in adjacent lanes are avoided.

[0109] In this embodiment of the invention, electronic devices or main control devices can be divided into functional modules according to the above method examples. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional module. It should be noted that the module division in this embodiment of the invention is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0110] Figure 4 This is a schematic diagram of the structure of the lane change return assist control device provided in an embodiment of this application. Figure 4 As shown, the device 40 includes:

[0111] Activation module 401 is used to activate the return-to-center assist function when the vehicle speed is greater than the first preset speed;

[0112] The acquisition module 402 is used to acquire the lateral movement distance of the vehicle based on the first driving state information of the vehicle after the return-to-center assist function is activated.

[0113] The processing module 403 is used to obtain the distance deviation between the lateral movement distance and the lane width, and to determine whether a straightening operation is needed based on the distance deviation.

[0114] The execution module 404 is used to obtain the return-to-center auxiliary torque information based on the second driving state information of the vehicle if it is determined that a return-to-center operation is required, and output the return-to-center auxiliary torque information to the steering system so that the steering system outputs the return-to-center auxiliary torque according to the return-to-center auxiliary torque information to remind the driver to return to center.

[0115] Furthermore, the acquisition module 402 is specifically used for: the first driving state information including at least one of the vehicle's wheelbase, steering angle transmission ratio, steering wheel angle, or lateral acceleration; if the vehicle is in a straight lane change state, obtaining the lateral speed based on the vehicle's lateral acceleration, and obtaining the lateral movement distance based on the lateral speed; if the vehicle is in a curve lane change state, obtaining the wheel angle based on the steering wheel angle velocity and the steering angle transmission ratio, obtaining the turning radius based on the wheelbase and the wheel angle, obtaining the turning deviation at different times based on the turning radius at different times, processing the turning deviation at different times, and obtaining the lateral movement distance.

[0116] Furthermore, the acquisition module 402 is specifically used for: obtaining the direction of the return-to-center assist torque based on the steering wheel angle, obtaining the magnitude of the return-to-center assist torque based on the driver's hand torque and the vehicle speed, wherein it indicates that when the vehicle speed is constant, the magnitude of the return-to-center assist torque is proportional to the driver's hand torque, and obtaining the return-to-center assist torque information based on the direction and magnitude of the return-to-center assist torque.

[0117] Furthermore, the acquisition module 402 is specifically used for: the second driving state information further includes: steering wheel angular velocity and vehicle yaw rate; before obtaining the return-to-center auxiliary torque information based on the direction and magnitude of the return-to-center auxiliary torque, determining the return-to-center speed of the return-to-center auxiliary torque based on the steering wheel angular velocity, wherein the steering wheel angular velocity is proportional to the return-to-center speed; determining the intervention timing of the return-to-center auxiliary torque based on the yaw rate, wherein the larger the yaw rate, the earlier the return-to-center auxiliary torque intervenes; and obtaining the return-to-center auxiliary torque information based on the direction, magnitude, return-to-center speed, and intervention timing of the return-to-center auxiliary torque.

[0118] Furthermore, the execution module 404 is specifically used to: turn off the return-to-center assist function to stop assisting the vehicle in returning to center when at least one of the following conditions is met: when the vehicle speed is less than the second preset vehicle speed, wherein the first preset vehicle speed is greater than the second preset vehicle speed; when the steering wheel angle turns past zero after changing lanes; and when the driver's reverse hand torque is greater than the first preset torque.

[0119] Furthermore, the processing module 403 is specifically used for: determining whether a straightening operation is needed based on the distance deviation includes: if the distance deviation is less than a preset deviation value, then determining to perform a straightening operation; if the distance deviation is greater than the preset deviation value, then not performing a straightening operation.

[0120] Furthermore, the execution module 404 is specifically used to: determine whether the return-to-center assist torque in the return-to-center assist torque information is less than the second preset torque; if so, output the return-to-center assist torque information to the steering system; if not, update the return-to-center assist torque information through the second preset torque, and output the updated return-to-center assist torque information to the steering system; wherein, the second preset torque is less than the first preset torque.

[0121] The lane change return assist control device provided in this embodiment can execute the lane change return assist control method of the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0122] In the specific implementation of the aforementioned device, each module can be implemented as a processor. The processor can execute computer execution instructions stored in the memory, causing the processor to execute the aforementioned lane change and return-to-center auxiliary control method.

[0123] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5As shown, the electronic device 50 includes at least one processor 501 and a memory 502. The electronic device 50 also includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0124] In the specific implementation process, at least one processor 501 executes the computer execution instructions stored in the memory 502, causing at least one processor 501 to execute the lane change return auxiliary control method as executed on the electronic device side.

[0125] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0126] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0127] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0128] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0129] The above description of the functions implemented by electronic devices and main control devices has introduced the solutions provided by the embodiments of the present invention. It is understood that, in order to implement the above functions, the electronic device or main control device includes hardware structures and / or software modules corresponding to the execution of each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present invention.

[0130] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-mentioned lane change return auxiliary control method.

[0131] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0132] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC).

[0133] This application also provides a computer program product, comprising: a computer program stored in a readable storage medium, wherein at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the scheme provided in any of the above embodiments.

[0134] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lane change return assist control method, applied to vehicles, characterized in that, include: When the vehicle speed exceeds the first preset speed, the return-to-center assist function is activated; After the return-to-center assist function is activated, when the driver operates the vehicle to change lanes, the lateral movement distance of the vehicle is obtained based on the first driving state information of the vehicle. The distance deviation between the lateral movement distance and the lane width is obtained, and it is determined whether a straightening operation is needed based on the distance deviation. If it is determined that a return-to-center operation is required, the return-to-center assist torque information is obtained based on the vehicle's second driving status information, and the return-to-center assist torque information is output to the steering system so that the steering system outputs return-to-center assist torque according to the return-to-center assist torque information to remind the driver to return to center.

2. The method according to claim 1, characterized in that, The first driving state information includes: lateral acceleration or the vehicle's wheelbase, steering angle transmission ratio, and steering wheel angle; obtaining the lateral movement distance of the vehicle based on the first driving state information includes: If the vehicle is in a straight lane change state, the lateral speed is obtained based on the lateral acceleration of the vehicle, and the lateral movement distance is obtained based on the lateral speed. If the vehicle is in a lane-changing state while turning, the wheel angle is obtained based on the steering wheel angular velocity and the steering angle transmission ratio, the turning radius is obtained based on the wheelbase and the wheel angle, the turning deviation at different times is obtained based on the turning radius at different times, the turning deviation at different times is processed, and the lateral movement distance is obtained.

3. The method according to claim 1, characterized in that, The second driving status information includes vehicle speed, steering wheel angle, and driver's hand torque. The step of obtaining the return-to-center assist torque information based on the vehicle's second driving status information includes: Based on the steering wheel angle, the direction of the return-to-center assist torque is obtained; The magnitude of the return-to-center assist torque is obtained based on the driver's hand torque and vehicle speed, wherein it indicates that when the vehicle speed is constant, the magnitude of the return-to-center assist torque is proportional to the driver's hand torque; The return-to-center auxiliary torque information is obtained based on the direction and magnitude of the return-to-center auxiliary torque.

4. The method according to claim 3, characterized in that, The second driving state information also includes: steering wheel angular velocity and vehicle yaw rate; before obtaining the return-to-center assist torque information based on the direction and magnitude of the return-to-center assist torque, the method further includes: The return speed of the return-to-center assist torque is determined based on the steering wheel angular velocity, wherein the steering wheel angular velocity is directly proportional to the return-to-center speed; The timing of intervention of the return-to-center auxiliary torque is determined based on the yaw rate, wherein the greater the yaw rate, the earlier the return-to-center auxiliary torque intervenes. The step of obtaining the return-to-center auxiliary torque information based on the direction and magnitude of the return-to-center auxiliary torque includes: The return-centering auxiliary torque information is obtained based on the direction, magnitude, return-centering speed, and intervention timing of the return-centering auxiliary torque.

5. The method according to claim 1, characterized in that, After outputting the return-to-center assist torque information to the steering system, the method further includes: The vehicle centering assist function is turned off to stop assisting in centering the vehicle when at least one of the following conditions is met; When the vehicle speed is less than the second preset vehicle speed, the first preset vehicle speed is greater than the second preset vehicle speed; When the steering wheel angle passes the zero position after changing lanes; When the driver's reverse hand torque is greater than the first preset torque.

6. The method according to claim 1, characterized in that, The step of determining whether a straightening operation is needed based on the distance deviation includes: If the distance deviation is less than the preset deviation value, then it is determined that a straightening operation is required; If the distance deviation is greater than the preset deviation value, no correction operation will be performed.

7. The method according to claim 5, characterized in that, The step of outputting the return-to-center assist torque information to the steering system includes: Determine whether the return-to-center auxiliary torque in the return-to-center auxiliary torque information is less than the second preset torque; If so, the return-to-center assist torque information is output to the steering system; If not, the return-to-center assist torque information is updated using the second preset torque, and the updated return-to-center assist torque information is output to the steering system; wherein, the second preset torque is less than the first preset torque.

8. A lane change return auxiliary control device, characterized in that, include: The activation module is used to activate the centering assist function when the vehicle speed is greater than the first preset speed. The acquisition module is used to acquire the lateral movement distance of the vehicle based on the vehicle's first driving state information when the driver operates the vehicle to change lanes after the return-to-center assist function is activated. The processing module is used to obtain the distance deviation between the lateral movement distance and the lane width, and to determine whether a straightening operation is needed based on the distance deviation. The execution module is used to, if it is determined that a return-to-center operation is required, obtain the return-to-center auxiliary torque information based on the second driving state information of the vehicle, and output the return-to-center auxiliary torque information to the steering system, so that the steering system outputs the return-to-center auxiliary torque according to the return-to-center auxiliary torque information to remind the driver to return to center.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 7.

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