Emergency lane keeping control method, system, electronic device and medium

Abstract

The present invention discloses an emergency lane keeping control method, system, electronic device, and medium. The method includes the following steps: S1: obtaining the front wheel speed of a vehicle from a preset vehicle state sensing system; S2: classifying the vehicle's bumpiness level based on the front wheel speed; S3: classifying the road type based on the road curvature radius; obtaining the steering wheel angle, and adjusting the triggering conditions of the emergency lane keeping function when the vehicle is bumpy based on the vehicle bumpiness level, road type, and steering wheel angle, and issuing a reverse torque opposite to the steering wheel angle. The present invention adjusts the triggering conditions of the emergency lane keeping function when the vehicle is bumpy based on the vehicle bumpiness level, road type, and steering wheel angle, issues a reverse torque opposite to the steering wheel angle, corrects the vehicle in the corresponding torque direction, reduces steering wheel angle offset, makes the emergency lane keeping function triggering more accurately, reduces false triggering, and improves driving comfort.

Description

Technical Field

[0001] The present invention relates to the field of automobile safety technology, and in particular to an emergency lane keeping control method, system, electronic equipment and medium. Background Art

[0002] With the gradual popularization of automobile driving assistance control systems, the safety, stability and comfort of automobile driving assistance control systems continue to receive attention. As a component of automobile driving assistance control systems, the emergency lane keeping function plays an important role in automobile driving assistance control systems. The emergency lane keeping function is implemented by the lane departure control system. When the vehicle is in danger of colliding with the road boundary or when the vehicle is deviating from the road edge and there is a risk of collision with a "rearward vehicle", the vehicle's lateral motion intervention control is performed by applying a steering counter-torque to avoid or reduce the damage caused by the vehicle collision. When the vehicle is in a bumpy state, the steering wheel angle is easily offset, causing the emergency lane keeping function to be triggered. However, in the related art, there is no detailed judgment logic for triggering the emergency lane keeping function when the vehicle is in a bumpy state, resulting in the inaccurate triggering of the emergency lane keeping function. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the present invention provides an emergency lane keeping control method, system, electronic device and medium, which adjust the triggering conditions of the emergency lane keeping function when the vehicle is bumpy according to the vehicle bump level, road type and steering wheel angle, so that the emergency lane keeping function is triggered more accurately.

[0004] To achieve the above effects, the technical solutions of the present invention are as follows:

[0005] In a first aspect, the present invention provides an emergency lane keeping control method, comprising the following steps:

[0006] S1: Obtain the front wheel speed of the vehicle from a preset vehicle state perception system;

[0007] S2: Classify the vehicle bump level according to the front wheel speed of the vehicle;

[0008] S3, classifies the road type according to the road curvature radius; obtains the steering wheel angle, and adjusts the triggering conditions of the emergency lane keeping function when the vehicle is bumpy based on the vehicle bump level, road type, and steering wheel angle, and issues a reverse torque opposite to the steering wheel angle.

[0009] Furthermore, the vehicle state perception system in step S1 includes an integrated electronic parking brake system and an electric power steering system; the integrated electronic parking brake system is used to output the vehicle's wheel speed and lateral acceleration information to the gateway in real time; the electric power steering system is used to output the vehicle's steering wheel angle information to the gateway in real time; the gateway transmits the vehicle's wheel speed, lateral acceleration, and steering wheel angle information to the lane departure warning controller preset by the lane assistance system.

[0010] Furthermore, step S2 specifically comprises determining the difference in front wheel speed within a set time interval, setting |maximum front wheel speed - minimum front wheel speed| = front wheel speed difference, where the maximum front wheel speed refers to the maximum wheel speed when the front wheel is airborne, and the minimum front wheel speed refers to the critical wheel speed before the front wheel is airborne; and classifying the vehicle's bumpiness level according to the front wheel speed;

[0011] The maximum front wheel speed minus the minimum front wheel speed is the maximum left front wheel speed minus the minimum left front wheel speed, or,

[0012] Maximum right front wheel speed - minimum right front wheel speed.

[0013] Furthermore, the classification of vehicle bump levels according to the front wheel speed of the vehicle is specifically as follows:

[0014] Setting a first preset wheel speed difference and a second preset wheel speed difference for the front wheel speed;

[0015] If the front wheel speed difference is less than or equal to the first preset wheel speed difference, the vehicle bump level is set to level 0; if the vehicle bump level is level 0, the vehicle is considered to be in a non-bumping state; if the vehicle bump level is greater than level 0, the vehicle is considered to be in a bumping state;

[0016] If the first preset wheel speed difference is less than the front wheel speed difference and less than the second preset wheel speed difference, the vehicle bump level is set to level 1.

[0017] If the front wheel speed difference is greater than the second preset wheel speed difference, the vehicle bump level is set to level 2.

[0018] Furthermore, the road type classification according to the road curvature radius described in step S3 is specifically as follows: the lane departure warning controller identifies the road curvature radius and classifies the road type into a curve, a straight road, or a straight road according to the road curvature radius.

[0019] Furthermore, step S3 is specifically as follows:

[0020] If the road curvature radius is less than or equal to the curvature radius threshold, the current road type is considered to be a curve;

[0021] 1) When the vehicle's turbulence level is at level 0 and the steering wheel angle S is greater than a first preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K1 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0022] 2) When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the second preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K2 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0023] 3) If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered;

[0024] If the road curve radius is greater than the curvature radius threshold, the current road type is considered to be a quasi-straight road or a straight road;

[0025] 1) When the vehicle's turbulence level is at level 0 and the steering wheel angle S is greater than a first preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K3 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0026] 2) When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the third preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K4 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0027] 3) If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered.

[0028] Furthermore, the triggering of the emergency lane keeping function also includes the following conditions:

[0029] 1) 40km / h < vehicle speed < 130km / h;

[0030] 2) The front wheel edge crosses the line of action after a preset time; the line of action is a virtual line that is a preset distance from the inner edge of the lane boundary line;

[0031] 3) The TTC of the vehicle rear-ending the preceding or following vehicle is less than 1s;

[0032] 4) The lateral acceleration of the vehicle is ≥ 0.2m / s.

[0033] In a second aspect, the present invention provides an emergency lane keeping control system, comprising:

[0034] The front wheel speed acquisition module is used to obtain the front wheel speed of the vehicle from a preset vehicle state perception system; and obtain the vehicle speed through the vehicle wheel speed;

[0035] A vehicle bump level classification module is used to classify the vehicle bump level according to the front wheel speed of the vehicle;

[0036] The emergency lane keeping function module is triggered to classify road types according to the road curvature radius; the steering wheel angle is obtained, and the triggering conditions of the emergency lane keeping function when the vehicle is bumpy are adjusted according to the vehicle bump level, road type, and steering wheel angle, and the reverse torque opposite to the steering wheel angle is given to the electric power steering system.

[0037] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the emergency lane keeping control method through the computer program.

[0038] In a fourth aspect, the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein the emergency lane keeping control method is executed when the computer program is running.

[0039] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0040] The present invention obtains the front wheel speed of the vehicle from a preset vehicle state perception system, classifies the vehicle's bumpiness level according to the vehicle's front wheel speed, and classifies the road type according to the road curvature radius; obtains the steering wheel angle, and adjusts the triggering conditions of the emergency lane keeping function when the vehicle is bumpy based on the vehicle's bumpiness level, road type, and steering wheel angle, so that the emergency lane keeping function is triggered more accurately, false triggering is reduced, and driving comfort and vehicle safety performance are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of an emergency lane keeping control method provided by an embodiment of the present invention;

[0042] Figure 2 1 is a schematic structural diagram of a driving assistance control system of an emergency lane keeping control method provided by an embodiment of the present invention;

[0043] Figure 3 Schematic diagram of the lane assist system LAS provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0045] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0046] Example

[0047] This embodiment proposes an emergency lane keeping control method. Figure 1 , based on the triggering of vehicle bumps, including the following steps:

[0048] S1: Obtain the front wheel speed of the vehicle from a preset vehicle state perception system;

[0049] As a preferred technical solution, in this embodiment, the vehicle state perception system described in step S1 includes an integrated electronic parking brake system and an electric power steering system; the integrated electronic parking brake system is used to output the vehicle's wheel speed and lateral acceleration information to the gateway in real time; the electric power steering system is used to output the vehicle's steering wheel angle information to the gateway in real time; the gateway transmits the vehicle's wheel speed, lateral acceleration, and steering wheel angle information to the lane departure warning controller preset by the lane assistance system.

[0050] S2: Classify the vehicle bump level according to the front wheel speed of the vehicle;

[0051] As a preferred technical solution, in this embodiment, when driving on a bumpy road, the wheels may lift off the ground, causing the front wheels to spin, rapidly increasing their speed before touching the ground. Step S2 specifically involves determining the difference in front wheel speed within a set time interval, setting |maximum front wheel speed - minimum front wheel speed| = front wheel speed difference, where the maximum front wheel speed refers to the maximum wheel speed when the front wheels lift off the ground, and the minimum front wheel speed refers to the critical wheel speed before the front wheels lift off the ground. The vehicle's bumpiness level is then classified based on the front wheel speeds.

[0052] The maximum front wheel speed minus the minimum front wheel speed is the maximum left front wheel speed minus the minimum left front wheel speed, or,

[0053] Maximum right front wheel speed - minimum right front wheel speed.

[0054] As a preferred technical solution, in this embodiment, the vehicle bump level classification based on the front wheel speed of the vehicle is specifically as follows:

[0055] Setting a first preset wheel speed difference and a second preset wheel speed difference for the front wheel speed;

[0056] If the front wheel speed difference is less than or equal to the first preset wheel speed difference, the vehicle bump level is set to level 0; if the vehicle bump level is level 0, the vehicle is considered to be in a non-bumping state; if the vehicle bump level is greater than level 0, the vehicle is considered to be in a bumping state;

[0057] If the first preset wheel speed difference is less than the front wheel speed difference and less than the second preset wheel speed difference, the vehicle bump level is set to level 1;

[0058] If the front wheel speed difference is greater than the second preset wheel speed difference, the vehicle bump level is set to level 2.

[0059] In this embodiment, the first preset wheel speed difference is set to 1.3 kph, the second preset wheel speed difference is set to 3 kph, and the preset time interval is 100 ms.

[0060] S3 classifies roads according to their curvature radius. The system then obtains the steering wheel angle and adjusts the triggering conditions for the emergency lane keeping function during bumps based on the vehicle's bump level, road type, and steering wheel angle. The system then applies a reverse torque corresponding to the steering wheel angle, improving the comfort of the emergency lane keeping function during bumps.

[0061] As a preferred technical solution, in this embodiment, the road type classification based on the road curvature radius described in step S3 is specifically as follows: the triggering of the emergency lane keeping function is implemented by the lane departure warning controller, and the lane departure warning controller identifies the road curvature radius and classifies the road type into a curve, a quasi-straight road, or a straight road based on the road curvature radius.

[0062] As a preferred technical solution, in this embodiment, step S3 is specifically as follows:

[0063] If the road curvature radius is less than or equal to the curvature radius threshold, the current road type is considered to be a curve;

[0064] 1) When the vehicle's turbulence level is at level 0 and the steering wheel angle S is greater than the first preset steering wheel angle by 5°, the emergency lane keeping function is triggered, applying a reverse torque K1 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0065] 2) When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the second preset steering wheel angle of 15°, the emergency lane keeping function is triggered, applying a reverse torque K2 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0066] 3) If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered;

[0067] If the road curve radius is greater than the curvature radius threshold, the current road type is considered to be a quasi-straight road or a straight road;

[0068] 1) When the vehicle's turbulence level is at level 0 and the steering wheel angle S is greater than the first preset steering wheel angle by 5°, the emergency lane keeping function is triggered, applying a reverse torque K3 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0069] 2) When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the third preset steering wheel angle of 10°, the emergency lane keeping function is triggered, applying a reverse torque of K4 N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque;

[0070] 3) If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered.

[0071] In this embodiment, the curvature radius threshold is 2000 m, the first preset steering wheel angle is 5°, the second preset steering wheel angle is 15°, and the third preset steering wheel angle is 10°.

[0072] K2>K1, indicating the torque request sent by the lane departure warning controller to the electric power steering system when the emergency lane keeping function is triggered;

[0073] K4>K3, indicating the torque request sent by the lane departure warning controller to the electric power steering system when the emergency lane keeping function is triggered.

[0074] It's important to note that the steering wheel is equipped with a torque sensor for real-time monitoring of steering control status and torque. Based on the triggering conditions of the emergency lane keeping function when the vehicle is jolted, a corresponding reverse torque is applied, corresponding to the steering wheel angle. This corrects the vehicle in the direction of the torque, minimizing steering wheel angle deviation and improving the accuracy of the emergency lane keeping function.

[0075] As a preferred technical solution, in this embodiment, the triggering of the emergency lane keeping function further includes the following conditions:

[0076] 1) 40km / h < vehicle speed < 130km / h;

[0077] 2) The front wheel edge crosses the line of action after a preset time of 0.6 seconds; the line of action is a virtual line that is a preset distance of approximately 28 cm from the inner edge of the lane boundary line;

[0078] 3) The TTC (time to collision) between the vehicle and the preceding / following vehicle is less than 1s;

[0079] As a preferred technical solution, in this embodiment, TTC is calculated as follows:

[0080] Time to collision TTC = relative distance between the front and rear vehicles / (speed of the rear vehicle - speed of the front vehicle)

[0081] It should be noted that if the TTC between this car and the car in front is calculated, this car is the rear car and the car in front is the front car. If the TTC between the rear car and this car is calculated, the rear car is the rear car and this car is the front car. When the speed of the rear car is less than or equal to the speed of the front car, the TTC is infinite.

[0082] 4) There is a tendency to deviate toward the target side, and the vehicle's lateral acceleration is ≥ 0.2m / s.

[0083] like Figure 2 As shown, the lane assistance system of the embodiment of the present invention is arranged in a driving assistance control system, which includes: ACC (Adaptive Cruise Control); LAS (Lane Assistant System); CDC (Cabin domain controller); GW (GateWay); EPS (Electronic Power Steering); TCU (Transmission Control Unit); EMS (Engine Management System); EPBI (Integrated Electric Parking Brake); APA (Auto Parking Assistant) and an intelligent surround view system.

[0084] Among them, the cockpit domain controller CDC includes the instrument IP and the vehicle computer HU; the EPBI, ECU, and EMS are respectively connected to the gateway GW through PCAN (PowerTrain CAN, powertrain CAN bus); the LAS, APA, surround view system, and ACC are connected through private CAN lines, and are all connected to the driving domain controller assembly through private CAN; the driving domain controller assembly is connected to the ADSCAN bus; the electric power steering EPS, instrument IP, and vehicle computer HU are respectively connected to the infoCAN bus, and the ADSCAN bus, InfoCAN bus, and PCAN bus interact through the gateway GW respectively. The lane assistance system LAS is equipped with a lane departure warning controller.

[0085] like Figure 3 As shown, the lane assistance system LAS of an embodiment of the present invention is connected to a cockpit domain controller CDC. The cockpit domain controller CDC includes an instrument IP and a vehicle computer HU, and is used to receive vehicle speed values ​​and lateral acceleration signals in real time. The cockpit domain controller CDC is a domain controller that supports both CAN communication and Ethernet communication. Depending on the E / E architecture, the CDC can also be a vehicle computer HU that only supports the CAN bus.

[0086] In another embodiment of the present invention, an emergency lane keeping control system is provided, comprising:

[0087] The front wheel speed acquisition module is used to obtain the front wheel speed of the vehicle from a preset vehicle state perception system; and obtain the vehicle speed through the vehicle wheel speed;

[0088] A vehicle bump level classification module is used to classify the vehicle bump level according to the front wheel speed of the vehicle;

[0089] The emergency lane keeping function module is triggered to classify road types according to the road curvature radius; the steering wheel angle is obtained, and the triggering conditions of the emergency lane keeping function when the vehicle is bumpy are adjusted according to the vehicle bump level, road type, and steering wheel angle, and the reverse torque opposite to the steering wheel angle is given to the electric power steering system.

[0090] In another embodiment of the present invention, an electronic device is also provided, including: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, enables a car to implement the emergency lane keeping control method in any of the above embodiments.

[0091] In this embodiment, the computer system suitable for implementing the electronic device of the embodiment of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage portion into the random access memory (RAM), such as the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM, and RAM are connected to each other via a bus. The input / output (I / O) interface is also connected to the bus.

[0092] The following components are connected to the I / O interface: an input section including a keyboard, mouse, etc.; an output section including a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section including a hard disk; and a communication section including a network interface card such as a LAN (Local Area Network) card and a modem. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc. are installed in the drive as needed so that computer programs read from them can be installed in the storage section as needed.

[0093] According to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication portion, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), various functions defined in the system of the present invention are performed.

[0094] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0095] In this embodiment, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer program causes the computer to perform the emergency lane keeping control method provided in any of the aforementioned embodiments. The computer-readable storage medium may be included in the electronic device described in the aforementioned embodiments, or may exist independently and not be incorporated into the electronic device.

[0096] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present invention.

[0097] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An emergency lane keeping control method, characterized in that: The following steps are involved: S1: Obtain the front wheel speed of the vehicle from a preset vehicle state perception system; S2: Classify the vehicle bump level according to the front wheel speed of the vehicle; S3: Classify the road type based on the road curvature radius; obtain the steering wheel angle, and adjust the triggering conditions of the emergency lane keeping function when the vehicle is bumpy based on the vehicle bump level, road type, and steering wheel angle. The reverse torque opposite to the steering wheel angle is issued. Specifically: If the road curvature radius is less than or equal to the curvature radius threshold, the current road type is considered to be a curve; When the vehicle's turbulence level is level 0 and the steering wheel angle S is greater than the first preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K1N·m opposite to the steering wheel angle to the electric power steering system to correct the vehicle in the direction of the corresponding torque. When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the second preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K2N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque. If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered; If the road curve radius is greater than the curvature radius threshold, the current road type is considered to be a quasi-straight road or a straight road; When the vehicle's turbulence level is at level 0 and the steering wheel angle S is greater than the first preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K3N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque. When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the third preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K4N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque. If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered.

2. The emergency lane keeping control method according to claim 1, characterized in that: In step S1, the vehicle state perception system includes an integrated electronic parking brake system and an electric power steering system; the integrated electronic parking brake system is used to output the vehicle's wheel speed and lateral acceleration information to the gateway in real time; the electric power steering system is used to output the vehicle's steering wheel angle information to the gateway in real time; the gateway transmits the vehicle's wheel speed, lateral acceleration, and steering wheel angle information to the lane departure warning controller preset by the lane assist system.

3. The emergency lane keeping control method according to claim 1, characterized in that: Step S2 specifically comprises determining the difference in front wheel speed within a set time interval, setting |maximum front wheel speed - minimum front wheel speed| = front wheel speed difference, where the maximum front wheel speed refers to the maximum wheel speed when the front wheel is airborne, and the minimum front wheel speed refers to the critical wheel speed before the front wheel is airborne; and classifying the vehicle's bumpiness level based on the vehicle's front wheel speed; The maximum front wheel speed minus the minimum front wheel speed is the maximum left front wheel speed minus the minimum left front wheel speed, or, Maximum right front wheel speed - minimum right front wheel speed.

4. The emergency lane keeping control method according to claim 3, characterized in that: The classification of vehicle bump levels according to the front wheel speed of the vehicle is specifically as follows: Setting a first preset wheel speed difference and a second preset wheel speed difference for the front wheel speed; If the front wheel speed difference is less than or equal to the first preset wheel speed difference, the vehicle bump level is set to level 0; if the vehicle bump level is level 0, the vehicle is considered to be in a non-bumping state; if the vehicle bump level is greater than level 0, the vehicle is considered to be in a bumping state; If the first preset wheel speed difference is less than the front wheel speed difference and less than the second preset wheel speed difference, the vehicle bump level is set to level 1; If the front wheel speed difference is greater than the second preset wheel speed difference, the vehicle bump level is set to level 2.

5. The emergency lane keeping control method according to claim 2, characterized in that: The road type classification according to the road curvature radius described in step S3 is specifically as follows: the lane departure warning controller identifies the road curvature radius and classifies the road type into a curve, a straight road, or a straight road according to the road curvature radius.

6. The emergency lane keeping control method according to claim 1, characterized in that: The triggering of the emergency lane keeping function also includes the following conditions: 1) 40km / h < vehicle speed < 130km / h; 2) The front wheel edge crosses the line of action after a preset time; the line of action is a virtual line that is a preset distance from the inner edge of the lane boundary line; 3) The TTC of the vehicle rear-ending the preceding or following vehicle is less than 1s; 4) The lateral acceleration of the vehicle is ≥ 0.2m / s.

7. An emergency lane keeping control system, characterized in that: include: A front wheel speed acquisition module is used to obtain the front wheel speed of the vehicle from a preset vehicle state perception system; The vehicle speed is obtained by the wheel speed of the vehicle; A vehicle bump level classification module is used to classify the vehicle bump level according to the front wheel speed of the vehicle; Triggering the emergency lane keeping function module to classify road types according to the road curvature radius; Obtain the steering wheel angle and adjust the triggering conditions for the emergency lane keeping function when the vehicle is bumpy based on the vehicle bump level, road type, and steering wheel angle. This applies a reverse torque to the electric power steering system that is opposite to the steering wheel angle. Specifically: If the road curvature radius is less than or equal to the curvature radius threshold, the current road type is considered to be a curve; When the vehicle's turbulence level is level 0 and the steering wheel angle S is greater than the first preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K1N·m opposite to the steering wheel angle to the electric power steering system to correct the vehicle in the direction of the corresponding torque. When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the second preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K2N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque. If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered; If the road curve radius is greater than the curvature radius threshold, the current road type is considered to be a quasi-straight road or a straight road; When the vehicle's turbulence level is at level 0 and the steering wheel angle S is greater than the first preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K3N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque. When the vehicle's turbulence level is level 1 and the steering wheel angle S is greater than the third preset steering wheel angle, the emergency lane keeping function is triggered, applying a reverse torque K4N·m opposite to the steering wheel angle to the electric power steering system, correcting the vehicle in the direction of the corresponding torque. If the vehicle's turbulence level is level 2, the emergency lane keeping function will not be triggered.

8. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the emergency lane keeping control method according to any one of claims 1 to 6 through the computer program.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein the computer program executes the emergency lane keeping control method according to any one of claims 1 to 6 when executed.

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