A lateral control method and control system for improving assisted driving comfort

Abstract

The present invention relates to the field of vehicle assisted driving control technology, and specifically to a lateral control method and control system for improving assisted driving comfort. The present invention monitors the road conditions ahead through a forward-looking camera. When it is recognized that there are vehicles / isolation guardrails in the adjacent lanes on both sides ahead, the target centerline position of the lane centering assistance of the assisted driving is adjusted in combination with the lane line / curb information obtained by the camera and the torque direction actually applied by the driver on the steering wheel, and the lateral position of the vehicle is controlled within a certain range, deviating to the lane line on the other side or keeping it between the vehicle and the guardrail, and the lateral distance between the vehicle and the vehicle / isolation guardrail and the predicted time of overtaking the adjacent vehicle are displayed through a visual device; the present invention can significantly reduce the visual sense of oppression when a large vehicle or isolation guardrail appears in the adjacent lane, enhance the driver's confidence, and effectively relieve the driver's anxiety.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle assisted driving control, and in particular to a lateral control method and a control system for improving assisted driving comfort. Background Art

[0002] When a vehicle is driving on the road and there is a vehicle (especially a large truck) or a barrier in front of the adjacent lane, due to visual pressure, the driver often controls the vehicle to slightly deviate to the other lane to maintain a safe distance from the vehicle / barrier in the adjacent lane. However, if the lane centering assistance of the assisted driving is turned on, the system will control the lane back to the middle of the lane line, or when there are vehicles / barriers in the adjacent lanes on both sides, the driver does not know which side to slightly avoid, and the driver's visual pressure and anxiety cannot be relieved.

[0003] The vehicle assisted driving control method in the prior art does not take into account the visual and psychological pressure on the driver when a large vehicle or isolation guardrail appears in the adjacent lane, and is not friendly to the driving comfort experience. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the shortcomings of the existing technology, a lateral control method and control system for improving the comfort of assisted driving is provided, which can adjust the target center line position of lane centering assistance during assisted driving in combination with current lane information and the driver's actual steering intention, and control the lateral position of the vehicle, while displaying corresponding distance information and overtaking information, thereby reducing the driver's visual and psychological pressure and improving driving comfort.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A lateral control method for improving assisted driving comfort includes the following control strategies:

[0007] The first step is to determine the actual road conditions of the left and right lanes through the confidence of the lateral distance between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides;

[0008] The specific process is:

[0009] Compare the confidence α0 of the lateral distance between the left isolation guardrail and the centerline of the vehicle and the confidence α1 of the lateral distance between the nearest truck on the left and the centerline of the vehicle. If α0≥0.5 or α1≥0.5, it is judged that there is a guardrail or a truck in the left lane; if α0<0.5 and α1<0.5, it is judged that there is no guardrail or truck in the left lane.

[0010] At the same time, compare the confidence β0 of the lateral distance between the right isolation guardrail and the centerline of the vehicle and the confidence β1 of the lateral distance between the nearest truck on the right and the centerline of the vehicle. If β0≥0.5 or β1≥0.5, it is judged that there is a guardrail or a truck in the left lane; if β0<0.5 and β1<0.5, it is judged that there is no guardrail or truck in the left lane.

[0011] The second step is to determine the lateral distance between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides according to the actual road conditions of the left lane and the right lane;

[0012] The specific process of determining the lateral distance between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides is as follows:

[0013] When α0≥0.5, the left lane is confirmed to be a guardrail. At this time, the lateral distance value L0 between the left isolation guardrail and the center line of the vehicle is equal to the actual distance value of the left isolation guardrail recognized by the front camera, and the lateral distance value L1 between the nearest truck on the left and the center line of the vehicle is set to 0;

[0014] When α1≥0.5, the left lane is confirmed to be a truck. At this time, the lateral distance value L1 between the nearest truck on the left and the center line of the vehicle is equal to the actual distance value of the nearest truck on the left identified by the front camera, and the lateral distance value L0 between the left isolation guardrail and the center line of the vehicle is set to 0;

[0015] When α0<0.5 and α1<0.5, it is confirmed that there is no guardrail and no truck in the left lane, and at this time, L0 and L1 are both set to 0;

[0016] At the same time, when β0 ≥ 0.5, the right lane is confirmed to be a guardrail. At this time, the lateral distance value R0 between the right isolation guardrail and the center line of the vehicle is equal to the actual distance value of the right isolation guardrail recognized by the front camera, and the lateral distance value R1 between the nearest truck on the right and the center line of the vehicle is set to 0;

[0017] When β1≥0.5, the right lane is confirmed to be a truck. At this time, the lateral distance value R1 between the nearest truck on the right and the center line of the vehicle is equal to the actual distance value of the nearest truck on the right recognized by the front camera, and the lateral distance value R0 between the right isolation guardrail and the center line of the vehicle is set to 0;

[0018] When β0<0.5 and β1<0.5, it is confirmed that there is no guardrail and no truck in the right lane, and at this time, R0 and R1 are both set to 0.

[0019] The third step is to determine the driver's expected steering intention based on the direction of the torque actually applied to the steering wheel by the driver, and to classify the occupancy of the left and right lanes;

[0020] The specific classification method is:

[0021] When (α0≥0.5 or α1≥0.5) and (β0<0.5 and β1<0.5) are satisfied, it is judged that there is a guardrail or a truck on one side of the left lane;

[0022] When (β0≥0.5 or β1≥0.5) and (α0<0.5 and α1<0.5) are satisfied, it is judged that there is a guardrail or a truck on one side of the right lane;

[0023] When (α0≥0.5 or α1≥0.5) and (β0≥0.5 or β1≥0.5) are satisfied, it is judged that there are guardrails or trucks on both sides of the left and right lanes;

[0024] When (α0<0.5 and α1<0.5) and (β0<0.5 and β1<0.5) are satisfied, it is determined that there are no guardrails or trucks on both sides of the left and right lanes.

[0025] Step 4: According to the type of left and right lane occupancy, the driver's expected steering intention, and the lateral distance between the center line of the vehicle and the left and right isolation guardrails and trucks, the electronic power steering system is controlled to drive the vehicle to move laterally.

[0026] The specific control logic is:

[0027] If it is determined that there is a guardrail or a truck on one side of the right lane and the driver intends to turn left, the vehicle is controlled to move sideways to the left by a preset distance;

[0028] If it is determined that there is a guardrail or a truck on one side of the left lane and the driver intends to turn right, the vehicle is controlled to move sideways to the right by a preset distance;

[0029] When it is determined that there are guardrails or trucks on both sides of the left and right lanes, the size of max(L0, L1) and max(R0, R1) are compared. If max(L0, L1)>max(R0, R1) and the driver intends to turn left, the vehicle is controlled to move laterally to the left by a preset distance; if max(L0, L1)<max(R0, R1) and the driver intends to turn right, the vehicle is controlled to move laterally to the right by a preset distance; if max(L0, L1)=max(R0, R1), the vehicle does not move laterally;

[0030] When it is determined that there are no guardrails or trucks on both sides of the left and right lanes, the vehicle will not move sideways.

[0031] Step 5: The electronic control unit generates graphic display information of the vehicle and the adjacent lane barriers and trucks based on the lateral distance between the center line of the vehicle and the barriers and trucks on the left and right sides. At the same time, the electronic control unit calculates the time required for the vehicle to overtake the vehicle in front based on the speed of the vehicle and the vehicle in front and the longitudinal distance between the vehicle and the vehicle in front.

[0032] Displaying the graphic display information and the time required for the vehicle to overtake the preceding vehicle through a display medium;

[0033] The graphic display information specifically includes: position display information of the vehicle and the isolation guardrails and trucks on the left and right sides, distance display information, and lane line display information;

[0034] The time required for the vehicle to overtake the preceding vehicle is t=max(LOG_L, LOG_R) / (V0-V),

[0035] Where LOG_L is the longitudinal distance between the front of the nearest truck on the left and the rear of the vehicle, LOG_R is the longitudinal distance between the front of the nearest truck on the right and the rear of the vehicle, V0 is the speed of the vehicle, and V is the speed of the nearest truck.

[0036] Based on the same inventive concept, the present invention also provides a vehicle assisted driving control system for implementing the control method as described above, which mainly includes:

[0037] 1) ADAS camera, used to identify the isolation guardrails and adjacent vehicles on the left and right lanes in front of the vehicle, determine the model and speed of the nearest target vehicle in the adjacent lane in front, the lateral distance between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides, and the longitudinal distance between the front of the vehicle and the rear of the vehicle;

[0038] 2) Steering wheel torque direction sensor, used to determine the driver's intended steering intention;

[0039] 3) ECU electronic control unit, used for numerical calculation and logical judgment of the system, and outputs vehicle lateral displacement control information and graphic display information;

[0040] 4) EPS electronic power steering system, used to respond to and execute the vehicle lateral displacement control information to drive the vehicle to perform lateral displacement;

[0041] 5) Display media, such as instrument / HUD / MP5, is used to display the graphic display information.

[0042] Compared with the prior art, the present invention has the following main advantages:

[0043] 1. The present invention provides a lateral control method for improving the comfort of assisted driving. The front road conditions are monitored by a front-view camera. When it is recognized that there are vehicles / isolation guardrails in the adjacent lanes on both sides of the front, the target center line position of the lane centering assistance of the assisted driving is adjusted in combination with the lane line / curb information obtained by the camera and the torque direction actually applied by the driver on the steering wheel. The lateral position of the vehicle is controlled within a certain range, deviating to the lane line on the other side or keeping it between the vehicle and the guardrail. The lateral distance between the vehicle and the vehicle / isolation guardrail and the predicted time of overtaking the adjacent vehicle are displayed through a visual device, thereby significantly reducing the visual pressure when a large vehicle or isolation guardrail appears in the adjacent lane, enhancing the driver's confidence, and effectively alleviating the driver's anxiety.

[0044] 2. The control system provided by the present invention adopts the intelligent driving forward monocular ADAS camera commonly used in L2 level assisted driving in coordination with the vehicle's existing EPS electronic power steering system, ECU electronic control unit, instrument / HUD / MP5 and other equipment to obtain the information of vehicles / isolation guardrails and lane lines / curb in the adjacent lane in front of the vehicle, and can adjust the target center line position of lane centering assistance during assisted driving, and intelligently control the lateral position of the vehicle. It has low R&D investment, low cost, short production cycle, broad application prospects, and can adapt to most highways / urban expressway elevated roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic flow chart of a lateral control method for improving assisted driving comfort in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of a situation where there is a vehicle on one side in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of a case where there is an isolation guardrail on one side in an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of a situation where there are vehicles and isolation guardrails on both sides in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of a situation where there are vehicles on both sides in an embodiment of the present invention;

[0050] Figure 6 A schematic diagram of a vehicle assisted driving control system in an embodiment of the present invention;

[0051] Figure 7 Schematic diagram of a display interface of a display medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0053] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0054] Embodiment 1. This embodiment provides a lateral control method for improving the comfort of assisted driving. It uses the intelligent driving forward-looking monocular camera commonly used in L2-level assisted driving to identify vehicles / isolation guardrails in the adjacent lanes on both sides of the front. Combined with the lane line / curb information obtained by the camera and the direction of the torque actually applied by the driver on the steering wheel, the target center line position of the lane centering assistance of the assisted driving is adjusted. At the same time, the lateral position of the vehicle is controlled within a certain range, deviating to the lane line on the other side or keeping it between the vehicle and the guardrail, and the lateral distance between the vehicle and the vehicle / isolation guardrail and the predicted time of overtaking the adjacent vehicle are displayed to the driver through a display medium (instrument / HUD / MP5, etc.).

[0055] The present invention uses different control and display strategies for different road barrier and vehicle conditions, adds signal filtering and display buffer logic, and introduces barrier confidence / front truck target confidence to ensure the accuracy and stability of lateral control and display.

[0056] The display strategy is specifically to always use the center line of the vehicle as the reference to control the lateral displacement of the vehicle, and the front vehicle and left and right isolation guardrails are displayed according to the lateral distance from the center line of the vehicle (the vehicle remains stationary in the display medium, and the isolation guardrails and the front vehicle move according to the situation of the vehicle).

[0057] Further, such as Figure 1 As shown, the specific control and display strategies of the present invention are as follows:

[0058] Step 1: The actual road conditions are judged by the confidence of the left and right isolation guardrails and vehicles, and the left lane and the right lane of the actual road are divided into two situations: with guardrails or trucks, and without guardrails or trucks;

[0059] Specifically, the confidence α0 of the lateral distance between the left isolation guardrail and the centerline of the vehicle and the confidence α1 of the lateral distance between the nearest truck on the left and the centerline of the vehicle are compared. If α0≥0.5 or α1≥0.5, it is determined that there is a guardrail or a truck in the left lane; if α0<0.5 and α1<0.5, it is determined that there is no guardrail or truck in the left lane.

[0060] At the same time, compare the confidence β0 of the lateral distance between the right isolation guardrail and the centerline of the vehicle and the confidence β1 of the lateral distance between the nearest truck on the right and the centerline of the vehicle. If β0≥0.5 or β1≥0.5, it is judged that there is a guardrail or a truck in the left lane; if β0<0.5 and β1<0.5, it is judged that there is no guardrail or truck in the left lane.

[0061] Step 2: Further process the guardrails and trucks in the left and right lanes identified in the first step. If one side is confirmed to be a guardrail, the lateral distance of the truck is set to 0; if one side is confirmed to be a truck, the lateral distance of the guardrail is set to 0. By default, trucks and guardrails cannot appear on one side at the same time;

[0062] Specifically, when α0≥0.5, the left lane is confirmed to be a guardrail. At this time, the lateral distance value L0 between the left isolation guardrail and the center line of the vehicle identified by the front camera is equal to the actual value, and the lateral distance value L1 between the nearest truck on the left and the center line of the vehicle is set to 0;

[0063] When α1≥0.5, it is confirmed that the left lane is a truck. At this time, the lateral distance value L1 between the nearest truck on the left and the center line of the vehicle identified by the front camera is equal to the actual value, and the lateral distance value L0 between the left isolation guardrail and the center line of the vehicle is set to 0;

[0064] When α0<0.5 and α1<0.5, it is confirmed that there is no guardrail and no truck in the left lane, and at this time, L0 and L1 are both set to 0;

[0065] Furthermore, when β0≥0.5, the right lane is confirmed to be a guardrail. At this time, the lateral distance value R0 between the right isolation guardrail and the center line of the vehicle recognized by the front camera is equal to the actual value, and the lateral distance value R1 between the nearest truck on the right and the center line of the vehicle is set to 0;

[0066] When β1≥0.5, the right lane is confirmed to be a truck. At this time, the lateral distance R1 between the nearest truck on the right and the center line of the vehicle identified by the front camera is equal to the actual value, and the lateral distance R0 between the right isolation guardrail and the center line of the vehicle is set to 0;

[0067] When β0<0.5 and β1<0.5, it is confirmed that there is no guardrail and no truck in the right lane, and at this time, R0 and R1 are both set to 0.

[0068] Step 3: Classify the occupancy of the left and right lanes into three categories: guardrail or truck on one side, guardrail or truck on both sides, and no guardrail or truck on both sides;

[0069] Specifically, when (α0≥0.5 or α1≥0.5) and (β0<0.5 and β1<0.5), it is judged that there is a guardrail or a truck on one side of the left lane;

[0070] When (β0≥0.5 or β1≥0.5) and (α0<0.5 and α1<0.5), it is judged that there is a guardrail or a truck on one side of the right lane;

[0071] When (α0≥0.5 or α1≥0.5) and (β0≥0.5 or β1≥0.5), it is judged that there are guardrails or trucks on both sides of the left and right lanes;

[0072] When (α0<0.5 and α1<0.5) and (β0<0.5 and β1<0.5), it is determined that there are no guardrails or trucks on both sides of the left and right lanes.

[0073] Step 4: According to the occupancy of the left and right lanes, the EPS electronic power steering system is controlled to drive the vehicle to move laterally;

[0074] Specifically, Figures 2-3 As shown, when it is determined that there is a guardrail or a truck on one side of the right lane, the vehicle is controlled to move laterally to the left by a preset distance; when it is determined that there is a guardrail or a truck on one side of the left lane, the vehicle is controlled to move laterally to the right by a preset distance;

[0075] like Figures 4-5 As shown, when it is determined that there are guardrails or trucks on both sides of the left and right lanes, the size of max(L0, L1) and max(R0, R1) are compared. If max(L0, L1)>max(R0, R1), the vehicle is controlled to move laterally to the left by a preset distance; if max(L0, L1)<max(R0, R1), the vehicle is controlled to move laterally to the right by a preset distance; if max(L0, L1)=max(R0, R1), the vehicle does not move laterally;

[0076] When it is determined that there are no guardrails or trucks on both sides of the left and right lanes, the vehicle will not move sideways.

[0077] Step 5: The ECU generates the position and distance display information of the isolation guardrail and the truck in front of the vehicle based on L0, L1, R0, and R1, and calculates the time required for the vehicle to overtake the vehicle in front, and sends it to the display media for display;

[0078] The time required for the vehicle to overtake the preceding vehicle is t=max(LOG_L, LOG_R) / (V0-V).

[0079] The variables used in the above steps have the following meanings:

[0080] L0: The lateral distance between the left guardrail and the centerline of the vehicle as recognized by the ADAS camera;

[0081] R0: The lateral distance between the right guardrail and the centerline of the vehicle as recognized by the ADAS camera;

[0082] L1: The lateral distance between the nearest truck on the left and the centerline of the vehicle as identified by the ADAS camera;

[0083] R1: The lateral distance between the nearest truck on the right and the centerline of the vehicle as identified by the ADAS camera;

[0084] α0: The confidence of the lateral distance between the left isolation guardrail and the centerline of the vehicle as recognized by the ADAS camera;

[0085] β0: The confidence of the lateral distance between the right guardrail and the centerline of the vehicle as recognized by the ADAS camera;

[0086] α1: The confidence of the lateral distance between the nearest truck on the left and the centerline of the vehicle as identified by the ADAS camera;

[0087] β1: The confidence of the lateral distance between the nearest truck on the right and the centerline of the vehicle as identified by the ADAS camera;

[0088] LOG_L: The longitudinal distance between the front of the nearest truck on the left and the rear of the vehicle as detected by the ADAS camera;

[0089] LOG_R: The longitudinal distance between the front of the nearest truck on the right and the rear of the vehicle as detected by the ADAS camera;

[0090] V: speed of the truck ahead;

[0091] V0: Vehicle speed.

[0092] Embodiment 2: The principle and technical solution of this embodiment are basically the same as those of embodiment 1. This embodiment provides a lateral control method for improving the comfort of assisted driving, which mainly includes the following solutions:

[0093] 1) Combine the lane line / curb information obtained by the camera with the driver's actual steering wheel torque direction (left / right) to adjust the target center line of the assisted driving lane centering assist, rather than simply looking at the lane line information obtained by the camera.

[0094] 2) The distance between the vehicle and the vehicle / guardrail in the adjacent lane is displayed through a display medium.

[0095] 3) When the vehicle speed is compared with the speed of the vehicle in the adjacent lane, it is determined that the vehicle intends to overtake the adjacent vehicle, and the predicted time of overtaking the adjacent vehicle in X seconds is displayed through the display medium.

[0096] Embodiment 3: The principle and technical solution of this embodiment are basically the same as those of Embodiment 1 and Embodiment 2, except that:

[0097] The direction of the torque applied by the driver on the steering wheel is used to determine the driver's actual directional intention, which can be replaced by:

[0098] 1) The detection sensor is a front-view camera, which can be replaced by radar (millimeter wave / laser, etc.) or a combination of camera + radar;

[0099] 2) The driver presses a composite switch on the instrument;

[0100] 3) Voice confirmation from the driver in the car;

[0101] 4) The driver’s in-car facial recognition camera confirms through face / head recognition.

[0102] The lateral distance between the vehicle and the adjacent vehicle / guardrail, and the predicted time to pass the vehicle in the adjacent lane, can be displayed visually (instrument / HUD / MP5, etc.) or announced auditorily.

[0103] Embodiment 4: Based on the same inventive concept, this embodiment also provides a vehicle assisted driving control system for implementing the control method as described above. Figure 6 As shown, it mainly includes: vehicle front camera (ADAS camera), electronic power steering system (EPS), electronic control unit (ECU), display media (instrument screen or vehicle screen or HUD);

[0104] in:

[0105] 1) ADAS camera: detects the isolation guardrails and adjacent vehicles in the left and right lanes of the road ahead, and provides the system with the distances L0 / R0 / L1 / R1 between the left and right isolation guardrails and the truck and the center line of the vehicle; detects vehicle information on the road ahead (model and speed of the nearest target vehicle in the adjacent lane ahead), and identifies the longitudinal distance LOG between the front of the vehicle and the rear of the vehicle;

[0106] 2) EPS electronic power steering system: responds to the lateral position deviation to the left or right issued by the execution system;

[0107] 3) ECU electronic control unit: provides specific calculation logic and judgment for the system, and outputs the final display result signal (position signals of the left and right front vehicles / isolation guardrails relative to the vehicle, and position signals of the lane lines relative to the vehicle);

[0108] 4) Display media: used to display lane lines and the front vehicle / guardrail, as well as the predicted time to overtake the neighboring vehicle, and to show the actual road conditions to the driver, such as Figure 7 shown.

[0109] Embodiment 5: Based on the same inventive concept, this embodiment also provides a manual-automatic vehicle, which is provided with the vehicle assisted driving control system as described above.

[0110] In summary:

[0111] 1. The present invention provides a lateral control method for improving the comfort of assisted driving. The front road conditions are monitored by a front-view camera. When it is recognized that there are vehicles / isolation guardrails in the adjacent lanes on both sides of the front, the target center line position of the lane centering assistance of the assisted driving is adjusted in combination with the lane line / curb information obtained by the camera and the torque direction actually applied by the driver on the steering wheel. The lateral position of the vehicle is controlled within a certain range, deviating to the lane line on the other side or keeping it between the vehicle and the guardrail. The lateral distance between the vehicle and the vehicle / isolation guardrail and the predicted time of overtaking the adjacent vehicle are displayed through a visual device, thereby significantly reducing the visual pressure when a large vehicle or isolation guardrail appears in the adjacent lane, enhancing the driver's confidence, and effectively alleviating the driver's anxiety.

[0112] 2. The control system provided by the present invention adopts the intelligent driving forward monocular camera commonly used in L2 level assisted driving in conjunction with the vehicle's existing instruments / HUD / MP5 and other equipment to obtain the information of vehicles / isolation guardrails and lane lines / curb in the adjacent lane in front of the vehicle, and can adjust the target center line position of lane centering assistance during assisted driving, and intelligently control the lateral position of the vehicle. It has low R&D investment, low cost, short production cycle, broad application prospects, and can adapt to most highways / urban expressway elevated roads.

[0113] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lateral control method for improving assisted driving comfort, characterized in that: The control strategies include: The actual road conditions of the left and right lanes are judged by the lateral distance confidence between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides; According to the actual road conditions of the left lane and the right lane, determine the lateral distance value between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides, and classify the occupancy of the left and right lanes; Determine the driver's expected steering intention based on the direction of the torque actually applied by the driver on the steering wheel; According to the type of left and right lane occupancy, the driver's expected steering intention, and the lateral distance between the centerline of the vehicle and the left and right isolation guardrails and trucks, the target centerline position of the lane centering assistance in the assisted driving function is adjusted to control the electronic power steering system to drive the lateral displacement of the vehicle within a certain range; The electronic control unit generates graphic display information of the vehicle and the adjacent lane barriers and trucks based on the lateral distance between the center line of the vehicle and the left and right isolation barriers and trucks. At the same time, it calculates the time required for the vehicle to overtake the vehicle ahead based on the speed of the vehicle and the vehicle ahead and the longitudinal distance between the vehicle and the vehicle ahead. The display medium displays the graphic display information and the time required for the vehicle to overtake the vehicle ahead; The specific process of determining the lateral distance between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides is as follows: When the confidence α0 of the lateral distance between the left isolation guardrail and the centerline of the vehicle is ≥ 0.5, the left lane is confirmed to be a guardrail. At this time, the lateral distance value L0 between the left isolation guardrail and the centerline of the vehicle is equal to the actual distance value of the left isolation guardrail recognized by the front camera, and the lateral distance value L1 between the nearest truck on the left and the centerline of the vehicle is set to 0; When the confidence α1 of the lateral distance between the nearest truck on the left and the center line of the vehicle is ≥ 0.5, the left lane is confirmed to be a truck. At this time, the lateral distance value L1 between the nearest truck on the left and the center line of the vehicle is equal to the actual distance value of the nearest truck on the left recognized by the front camera, and the lateral distance value L0 between the left isolation guardrail and the center line of the vehicle is set to 0; When α0<0.5 and α1<0.5, it is confirmed that there is no guardrail and no truck in the left lane, and at this time, L0 and L1 are both set to 0; At the same time, when the confidence β0 of the lateral distance between the right isolation guardrail and the center line of the vehicle is ≥ 0.5, the right lane is confirmed to be a guardrail. At this time, the lateral distance value R0 between the right isolation guardrail and the center line of the vehicle is equal to the actual distance value of the right isolation guardrail recognized by the front camera, and the lateral distance value R1 between the nearest truck on the right and the center line of the vehicle is set to 0; When the confidence β1 of the lateral distance between the nearest truck on the right and the center line of the vehicle is ≥ 0.5, the right lane is confirmed to be a truck. At this time, the lateral distance value R1 between the nearest truck on the right and the center line of the vehicle is equal to the actual distance value of the nearest truck on the right recognized by the front camera, and the lateral distance value R0 between the right isolation guardrail and the center line of the vehicle is set to 0; When β0<0.5 and β1<0.5, it is confirmed that there is no guardrail and no truck in the right lane, and at this time, R0 and R1 are both set to 0; The control logic of the electronic power steering system to drive the lateral displacement of the vehicle is as follows: If it is determined that there is a guardrail or a truck on one side of the right lane and the driver intends to turn left, the vehicle is controlled to move sideways to the left by a preset distance; If it is determined that there is a guardrail or a truck on one side of the left lane and the driver intends to turn right, the vehicle is controlled to move sideways to the right by a preset distance; When it is determined that there are guardrails or trucks on both sides of the left and right lanes, the size of max(L0, L1) and max(R0, R1) are compared. If max(L0, L1)>max(R0, R1) and the driver intends to turn left, the vehicle is controlled to move laterally to the left by a preset distance; if max(L0, L1)<max(R0, R1) and the driver intends to turn right, the vehicle is controlled to move laterally to the right by a preset distance; if max(L0, L1)=max(R0, R1), the vehicle does not move laterally; When it is determined that there are no guardrails or trucks on both sides of the left and right lanes, the vehicle will not move sideways.

2. A lateral control method for improving assisted driving comfort according to claim 1, characterized in that: The specific process of judging the actual road conditions of the left lane and the right lane is as follows: Compare the confidence α0 of the lateral distance between the left isolation guardrail and the centerline of the vehicle and the confidence α1 of the lateral distance between the nearest truck on the left and the centerline of the vehicle. If α0≥0.5 or α1≥0.5, it is judged that there is a guardrail or a truck in the left lane; if α0<0.5 and α1<0.5, it is judged that there is no guardrail or truck in the left lane. At the same time, compare the confidence β0 of the lateral distance between the right isolation guardrail and the centerline of the vehicle and the confidence β1 of the lateral distance between the nearest truck on the right and the centerline of the vehicle. If β0≥0.5 or β1≥0.5, it is judged that there is a guardrail or a truck in the left lane; if β0<0.5 and β1<0.5, it is judged that there is no guardrail or truck in the left lane.

3. The lateral control method for improving assisted driving comfort according to claim 1, characterized in that: The classification of the left and right lane occupancy conditions is specifically as follows: When (α0≥0.5 or α1≥0.5) and (β0<0.5 and β1<0.5) are satisfied, it is judged that there is a guardrail or a truck on one side of the left lane; When (β0≥0.5 or β1≥0.5) and (α0<0.5 and α1<0.5) are satisfied, it is judged that there is a guardrail or a truck on one side of the right lane; When (α0≥0.5 or α1≥0.5) and (β0≥0.5 or β1≥0.5) are satisfied, it is judged that there are guardrails or trucks on both sides of the left and right lanes; When (α0<0.5 and α1<0.5) and (β0<0.5 and β1<0.5) are satisfied, it is determined that there are no guardrails or trucks on both sides of the left and right lanes.

4. The lateral control method for improving assisted driving comfort according to claim 1, characterized in that: The graphic display information specifically includes: position display information of the vehicle and the isolation guardrails and trucks on the left and right sides, distance display information, and lane line display information.

5. The lateral control method for improving assisted driving comfort according to claim 1, characterized in that: The time required for the vehicle to overtake the preceding vehicle is t=max(LOG_L, LOG_R) / (V0-V), Where LOG_L is the longitudinal distance between the front of the nearest truck on the left and the rear of the vehicle, LOG_R is the longitudinal distance between the front of the nearest truck on the right and the rear of the vehicle, V0 is the speed of the vehicle, and V is the speed of the nearest truck.

6. A vehicle assisted driving control system, used to implement the control method according to any one of claims 1 to 5, characterized in that: include: The front camera of the vehicle is used to identify the isolation guardrails and adjacent vehicle information on the left and right lanes of the road ahead of the vehicle, determine the model and speed of the nearest target vehicle in the adjacent lane ahead, the lateral distance between the center line of the vehicle and the isolation guardrails and trucks on the left and right sides, and the longitudinal distance between the front of the vehicle and the rear of the vehicle; Steering wheel torque direction sensor to determine the driver's intended steering intention; Electronic control unit, used for numerical calculation and logic judgment of the system, and outputs vehicle lateral displacement control information and graphic display information; An electronic power steering system, used for responding to and executing the vehicle lateral displacement control information to drive the vehicle to perform lateral displacement; The display medium is used to display the graphic display information.

7. A non-transitory readable storage medium having a program stored thereon, characterized in that: When the program is executed by a vehicle assisted driving control system, the control method as described in any one of claims 1 to 5 is implemented.

8. A manual-automatic vehicle, characterized in that: Including the vehicle assisted driving control system as described in claim 6.

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