Emergency lane keeping assist control method, device, equipment and storage medium

Abstract

The present application discloses an emergency lane keeping assist control method, device, equipment and storage medium, which relates to the field of autonomous driving technology. The emergency lane keeping assist control method includes: obtaining road user information of the lane and two adjacent lanes; when the driver deviates from the lane, judging the driver's intention according to the road user information; when the driver intends to avoid the collision risk of the lane, triggering the emergency lane keeping assist according to the collision risk of the deviated side; when there is a road boundary on the deviated side, judging whether triggering the emergency lane keeping assist will result in the inability to avoid the collision risk of the lane, and obtaining a judgment result; when the judgment result is yes, performing deviation correction control according to the road boundary information. The present application avoids the collision risk of emergency lane keeping assist, effectively improves the driving safety of the vehicle in complex road environments, and provides more intelligent and reliable driving assistance.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to emergency lane keeping assist control methods, devices, equipment and storage media. Background Art

[0002] With the development of autonomous driving and advanced driver assistance systems, vehicle safety has been greatly improved. Emergency lane keeping assist system is one of the key technologies, which aims to prevent vehicles from accidentally leaving the lane and thus reduce traffic accidents. Especially in scenarios such as highways, timely and effective lane keeping assist is crucial to protecting the safety of drivers and passengers. However, the current system needs to consider not only the safety of a single lane, but also comprehensively evaluate the conditions of adjacent lanes and road boundaries to ensure comprehensive safety in emergency situations.

[0003] Currently, most emergency lane keeping assist systems monitor lane markings and road boundaries in real time through vehicle-mounted sensors such as cameras, radars, and lidars. When the vehicle is detected to have deviated from the lane, the system will immediately perform auxiliary control to guide the vehicle back to the original lane or a safe area.

[0004] Although the existing system can provide effective lane keeping assistance in most cases, it lacks the ability to judge whether the driver intentionally deviates from the lane, does not consider the risk of collision on the deviation correction side, cannot solve the problem of false triggering, and cannot provide more precise assistance in emergency situations. Therefore, how to avoid the risk of collision in emergency lane keeping assistance has become an urgent problem to be solved.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The purpose of this application is to provide an emergency lane keeping assist control method, device, equipment and storage medium, aiming to solve the technical problem of how to avoid the collision risk of emergency lane keeping assist.

[0007] To achieve the above objectives, the present application proposes an emergency lane keeping assist control method, the method comprising:

[0008] Obtain road user information of the lane and the two adjacent lanes;

[0009] When the driver deviates from the lane, judging the driver's intention according to the road user information;

[0010] When the driver intends to avoid the collision risk in the own lane, triggering the emergency lane keeping assist according to the collision risk on the deviation side;

[0011] When there is a road boundary on the deviating side, determining whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and obtaining a determination result;

[0012] When the judgment result is yes, deviation correction control is performed according to the road boundary information.

[0013] In one embodiment, when the judgment result is yes, the step of performing deviation correction control according to the road boundary information includes:

[0014] When the judgment result is yes, stopping the emergency lane keeping assist;

[0015] When the driver deviates from the lane and the distance between the vehicle and the road boundary is less than a second preset boundary distance, determining whether the road boundary is traversable;

[0016] When the road boundary is crossable, the driver is warned via an onboard speaker and an onboard display screen;

[0017] When the road boundary is not crossable, the road boundary line is used as the reference line, the distance between the vehicle and the road boundary is used as the offset, and a control torque is applied for a preset time so that the angle difference between the vehicle's heading and the road boundary line is less than a preset angle value, thereby completing the deviation correction control.

[0018] In one embodiment, when there is a road boundary on the departure side, determining whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and obtaining the determination result comprises:

[0019] Obtaining a non-departure side road user boundary according to the road user information;

[0020] Get road information and vehicle width;

[0021] Obtaining lane line position, road width and curve radius according to the road information;

[0022] According to the road width, the curve radius and the vehicle width, adjusting the first preset boundary distance to obtain a target boundary distance;

[0023] Obtaining the distance between the non-departure side road user boundary and the lane line according to the lane line position;

[0024] When the distance is less than the target boundary distance, it is determined that triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and a judgment result is yes; otherwise, a judgment result is no.

[0025] In one embodiment, the step of triggering emergency lane keeping assist according to the collision risk of the departure side includes:

[0026] Obtaining a road user boundary on the departure side according to the road user information;

[0027] When the lateral distance between the road user boundary on the deviating side and the boundary of the vehicle is less than the preset lateral distance and the longitudinal distance is less than the preset longitudinal distance, the lane line on the deviating side is used as the reference line, and the distance between the vehicle and the lane line on the deviating side is used as the offset, and a control torque is applied for a preset time so that the angle difference between the heading of the vehicle and the lane line on the deviating side is less than the preset angle value, thereby completing emergency lane keeping assist.

[0028] In one embodiment, the step of obtaining the road user information of the lane and the two adjacent lanes includes:

[0029] Obtain vehicle environment information;

[0030] Obtaining vehicle information, pedestrian information, and obstacle information of the lane and two adjacent lanes according to the vehicle environment information;

[0031] Road user information is obtained according to the vehicle information, the pedestrian information and the obstacle information.

[0032] In one embodiment, the step of determining the driver's intention based on the road user information includes:

[0033] determining whether there is a collision risk in the lane according to the road user information;

[0034] When there is a collision risk, it is determined that the driver intends to avoid the collision risk.

[0035] In one embodiment, the step of determining whether there is a collision risk in the lane according to the road user information includes:

[0036] Obtaining a road user boundary of the lane according to the road user information;

[0037] When the lateral distance between the road user boundary and the vehicle boundary of the lane is less than a preset lateral distance, it is determined that there is a collision risk in the lane.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes an emergency lane keeping assist control device, the device comprising:

[0039] An information acquisition module is used to obtain road user information of the lane and two adjacent lanes;

[0040] an intention judgment module, used to judge the driver's intention according to the road user information when the driver deviates from the lane;

[0041] An emergency assistance module, configured to trigger emergency lane keeping assistance according to the collision risk of the deviation side when the driver intends to avoid the collision risk of the own lane;

[0042] An auxiliary risk judgment module, used to judge whether triggering the emergency lane keeping assist will lead to an unavoidable collision risk in the lane when there is a road boundary on the deviation side, and obtain a judgment result;

[0043] A deviation correction control module is used to perform deviation correction control according to the road boundary information when the judgment result is yes.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes an emergency lane keeping assist control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the emergency lane keeping assist control method as described above.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the emergency lane keeping assist control method described above are implemented.

[0046] One or more technical solutions proposed in this application have at least the following technical effects:

[0047] This application obtains the road user information of the lane and the two adjacent lanes; when the driver deviates from the lane, the driver's intention is judged according to the road user information; when the driver intends to avoid the collision risk of the lane, the emergency lane keeping assist is triggered according to the collision risk of the deviated side; when there is a road boundary on the deviated side, it is judged whether triggering the emergency lane keeping assist will lead to the inability to avoid the collision risk of the lane, and a judgment result is obtained; when the judgment result is yes, correction control is performed according to the road boundary information. This application collects information such as vehicles, pedestrians and obstacles in the lane and the left and right adjacent lanes in real time through sensors (such as cameras, radars, and lidars) to form complete road user data, which can fully understand the surrounding environment and improve the accuracy of judgment; monitor the driving trajectory of the vehicle, and when it is detected that the vehicle deviates from the lane, combined with the road user information, it is judged whether the driver intends to avoid the collision risk in the current lane, such as avoiding the vehicle or obstacle in front. By analyzing the driver's behavior of deviating from the lane, the system can judge whether it is to avoid the collision risk, so as to make more reasonable auxiliary decisions; if the system determines that the driver deviates from the lane to avoid the collision risk in the lane, the system will evaluate the collision risk on the deviated side. If there is a risk, the system will Trigger the emergency lane keeping assist function to avoid collision. When the emergency lane keeping assist is triggered, the system checks whether there is a vehicle collision risk on the deviating side. It not only evaluates the collision risk of the lane, but also considers the risk of the deviating side to ensure the best safety protection in complex road environments. When there is an impassable road boundary or other collision risk on the deviating side, the emergency lane keeping assist will be triggered. At this time, if it is detected that the emergency lane keeping assist will cause a collision risk by correcting the vehicle back to the lane, the emergency lane keeping assist will be stopped and the vehicle will no longer be corrected to the lane. Instead, the vehicle will be straightened along the road boundary, avoiding the collision risk of the emergency lane keeping assist, effectively improving the vehicle's driving safety in complex road environments, and providing more intelligent and reliable driving assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1 A flowchart diagram of the first embodiment of the emergency lane keeping assist control method of the present application;

[0051] Figure 2 A schematic diagram of an emergency lane keeping assist scenario provided in Embodiment 1 of the emergency lane keeping assist control method of the present application;

[0052] Figure 3 An emergency lane keeping assist flow chart provided for the first embodiment of the emergency lane keeping assist control method of the present application;

[0053] Figure 4 A flowchart diagram of the second embodiment of the emergency lane keeping assist control method of the present application is provided;

[0054] Figure 5 A schematic diagram of a deviation correction control scenario provided in Embodiment 2 of the emergency lane keeping auxiliary control method of this application;

[0055] Figure 6 A brief flowchart of the emergency lane keeping assist control method provided in Embodiment 2 of the present application;

[0056] Figure 7 This is a schematic diagram of the module structure of the emergency lane keeping auxiliary control device according to an embodiment of the present application;

[0057] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the emergency lane keeping assist control method in the embodiment of the present application.

[0058] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0060] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0061] Currently, most emergency lane keeping assistance systems use sensors to monitor lane markings and road boundaries in real time. When the vehicle is detected to have deviated from the lane, the system will immediately perform auxiliary control to guide the vehicle back to the original lane or a safe area. Although existing systems are effective in most cases, they lack the ability to determine whether the driver intentionally deviates from the lane, do not consider the risk of collision on the correction side, have false triggering problems, and cannot provide more precise assistance in emergency situations.

[0062] The main solution of the embodiment of the present application is: through sensors (such as cameras, radars, and lidars) to collect information such as vehicles, pedestrians, and obstacles in the lane and the left and right adjacent lanes in real time, the system can fully understand the surrounding environment and improve the accuracy of judgment; monitor the vehicle's driving trajectory, and when it is detected that the vehicle deviates from the lane, combine the road user information to determine whether the driver intends to avoid the collision risk in the current lane. By analyzing the driver's behavior of deviating from the lane, the system can make reasonable auxiliary decisions; if it is determined that the driver deviates from the lane to avoid the risk of collision, the system will evaluate the collision risk on the deviated side. If there is a risk, the emergency lane keeping assist function will be triggered to avoid the collision, and the risk on the deviated side will be considered to ensure the best safety protection; when there is an uncrossable road boundary or other collision risk on the deviated side, the emergency lane keeping assist will be triggered. If it is detected that correcting the current lane will cause a collision risk, the system will stop the emergency lane keeping assist and straighten the vehicle along the road boundary, avoiding the collision risk of the emergency lane keeping assist, effectively improving the driving safety of the vehicle in a complex road environment, and providing more intelligent and reliable driving assistance.

[0063] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle system, an automatic driving system, etc. that can realize the above functions. The automatic driving system is taken as an example to illustrate this embodiment and the following embodiments.

[0064] Based on this, the embodiment of the present application provides an emergency lane keeping assist control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the emergency lane keeping assist control method of the present application.

[0065] In this embodiment, the emergency lane keeping assist control method includes steps S10 to S50:

[0066] Step S10, obtaining road user information of the lane and two adjacent lanes;

[0067] It should be noted that road user information refers to the relevant data of all dynamic and static objects in the current lane and the two adjacent lanes, including but not limited to: the position, speed, direction, acceleration, boundaries, etc. of other vehicles; the position, movement direction, speed, boundaries, etc. of pedestrians; the position and boundaries, etc. of obstacles; road signs and traffic signals.

[0068] It is understandable that the data of all dynamic and static objects in the current lane and the two adjacent lanes are collected in real time through sensors installed on the vehicle (such as cameras, radars, and lidars). This data includes the position, speed, direction, and acceleration of other vehicles; the position, direction of movement, and speed of pedestrians; information about cyclists (such as bicycles and motorcycles); and obstacles on the road (such as roadblocks, traffic cones, and parked vehicles). In addition, it also includes the recognition of road signs and traffic signals (such as speed limit signs, stop signs, and traffic light status). After processing and analysis, this information is used to fully understand and evaluate the current driving environment and potential collision risks, thereby providing accurate environmental perception and decision support for the emergency lane keeping assist system.

[0069] As an example, the step of obtaining road user information of the lane and two adjacent lanes includes: obtaining vehicle environment information; obtaining vehicle information, pedestrian information and obstacle information of the lane and two adjacent lanes based on the vehicle environment information; and obtaining road user information based on the vehicle information, the pedestrian information and the obstacle information.

[0070] Vehicle environment information refers to all data about the vehicle's surroundings collected by sensors. These data include road conditions, surrounding objects and vehicles and pedestrians, weather conditions, road surface conditions and obstacles, etc.; vehicle information refers to data related to other vehicles in the lane and the adjacent two lanes, including the position (coordinates), speed (driving speed), direction (driving direction), acceleration (acceleration and deceleration), vehicle type (sedans, trucks, etc.), vehicle size, driving trajectory prediction, etc. of other vehicles; pedestrian information refers to data related to pedestrians in the lane and the adjacent two lanes, including the position (coordinates), movement direction (walking direction), speed (walking speed), number of pedestrians, pedestrian trajectory prediction, etc. of pedestrians; obstacle information refers to data related to static or dynamic obstacles in the lane and the adjacent two lanes, including the position (coordinates), size (dimensions), type (such as traffic cones, roadblocks, parked vehicles, etc.), whether they are moving (dynamic or static), shape, color, etc. of obstacles. First, vehicle environmental information is collected through sensors, which covers surrounding road conditions, weather conditions, lighting conditions, etc.; then, specific vehicle information (such as the position, speed, direction, etc. of other vehicles), pedestrian information (such as the position, movement direction, speed, etc. of pedestrians) and obstacle information (such as the position, size, type, etc. of obstacles) are extracted based on this environmental information; finally, the above vehicle information, pedestrian information and obstacle information are comprehensively processed to obtain complete road user information, so as to fully understand all dynamic and static objects in the current lane and adjacent lanes, and provide accurate data support for the emergency lane keeping assist system.

[0071] Step S20, when the driver deviates from the lane, judging the driver's intention according to the road user information;

[0072] It should be noted that driver intention refers to the driver's actual intention when deviating from the lane, including active avoidance of collision risks, lane changing, and unintentional deviation (due to reasons such as the driver's lack of concentration, causing the vehicle to unintentionally deviate from the lane).

[0073] It is understandable that when the driver deviates from the lane, the system will analyze and determine whether the driver's intention is to actively avoid the vehicle, pedestrian or obstacle in front or beside, change lanes (such as overtaking or entering an exit), emergency avoidance (such as responding to emergencies), or unintentional deviation due to inattention, fatigue driving, etc., based on the road user information around the vehicle (including the location, speed, direction and other data of other vehicles, pedestrians and obstacles). Through this analysis, the system can more accurately understand the driver's true intention and provide a reliable basis for the subsequent emergency lane keeping assistance measures.

[0074] As an example, the step of determining the driver's intention based on the road user information includes: determining whether there is a collision risk in the lane based on the road user information; and when there is a collision risk, determining that the driver's intention is to avoid the collision risk.

[0075] First, the system determines whether there is a collision risk by analyzing the information of road users in the current lane (such as the position, speed and direction of other vehicles, pedestrians and obstacles); if a collision risk is detected, the system further analyzes the driver's behavior and vehicle dynamics to determine whether the driver deviates from the lane to avoid the collision risk, thereby inferring that the driver's intention is to actively avoid potential danger. In this way, the system can accurately understand the driver's true intention and provide a basis for emergency lane keeping assistance.

[0076] As an example, the step of determining whether there is a collision risk in the lane based on the road user information includes: obtaining a road user boundary of the lane based on the road user information; and determining that there is a collision risk in the lane when a lateral distance between the road user boundary of the lane and the vehicle boundary is less than a preset lateral distance.

[0077] The road user boundary of this lane refers to the outermost boundary of all other road users in this lane (including other vehicles, pedestrians and obstacles). For example, if there is a car and a pedestrian in this lane, the road user boundary of this lane is the outermost boundary of the car and the pedestrian on the side closest to this car; the vehicle boundary refers to the outermost boundary of the vehicle itself, which includes the outermost edges of the front, rear, left and right boundaries of the vehicle, usually referring to the body outline of the vehicle; the lateral distance refers to the horizontal distance between the vehicle boundary and the road user boundary of this lane. For example, if there is a car in front of the right side of this vehicle, the lateral distance refers to the horizontal distance between the right boundary of this vehicle and the left boundary of the vehicle; the preset lateral distance refers to a safety distance threshold pre-set in the system. When the actual lateral distance is less than this threshold, the system considers that there is a collision risk. For example, the preset lateral distance can be set to 0.5 meters. When the lateral distance between this vehicle and other road users is less than 0.5 meters, it is judged that there is a collision risk. First, by analyzing the road user information, the outermost boundaries of all other vehicles, pedestrians and obstacles in the lane, that is, the road user boundary of the lane, are determined; then, the lateral distance between the boundary of the vehicle and these road user boundaries is calculated (for example, the horizontal distance between the right boundary of the vehicle and the left boundary of the right front vehicle); finally, when this lateral distance is less than the safety distance threshold preset by the system, the system determines that there is a collision risk in the lane, thereby providing a basis for taking further safety measures.

[0078] Step S30, when the driver intends to avoid the collision risk of the own lane, triggering emergency lane keeping assist according to the collision risk of the departure side;

[0079] It should be noted that the deviating side refers to the lane to which the vehicle deviates when it deviates from the original lane. For example, if the vehicle deviates from the left lane to the right lane, the deviating side is the right lane; if the vehicle deviates from the right lane to the left lane, the deviating side is the left lane. Emergency lane keeping assist refers to a driving assistance system that automatically helps the driver keep the vehicle in the original lane or a safe lane in an emergency. When the system detects that the vehicle deviates from the lane and may cause a collision, the emergency lane keeping assist will quickly guide the vehicle back to the original lane or adjust it to a safe position through automatic steering, braking and other control measures to avoid a collision.

[0080] It is understandable that when the driver intends to avoid the risk of collision in the lane, the system will evaluate whether there is a new collision risk in the direction of vehicle deviation (i.e., the deviation side); if there is a collision risk in the lane or area on the deviation side, the system will automatically trigger emergency lane keeping assistance and guide the vehicle back to the original lane or safe area through automatic steering or braking, thereby avoiding potential collision accidents. This process ensures that the vehicle not only considers the safety of the current lane during emergency avoidance, but also effectively avoids new risks caused by deviation from the lane.

[0081] As an example, according to the collision risk on the departure side, the step of triggering emergency lane keeping assist includes: obtaining a road user boundary on the departure side according to the road user information; when the lateral distance between the road user boundary on the departure side and the boundary of the vehicle is less than a preset lateral distance and the longitudinal distance is less than a preset longitudinal distance, taking the lane line on the departure side as a reference line and the distance between the vehicle and the lane line on the departure side as an offset, applying a control torque for a preset time so that the angle difference between the vehicle's heading and the lane line on the departure side is less than a preset angle value, thereby completing the emergency lane keeping assist.

[0082] The deviating road user boundary refers to the outermost boundary of road users (such as other vehicles, pedestrians and obstacles) in the direction of deviation from the current lane (deviating side). For example, if the vehicle deviates from the current lane to the right, the deviating road user boundary is the outermost boundary of all road users in the right lane closest to the vehicle; the longitudinal distance refers to the distance in the vertical (longitudinal) direction between the current position of the vehicle and the deviating road user boundary, that is, the front-to-rear distance difference between the current position of the vehicle and the deviating road user boundary; the preset longitudinal distance refers to a pre-set safety distance threshold, within which the risk of collision is considered to exist. For example, the preset longitudinal distance can be 1 meter, indicating that when the longitudinal distance between the vehicle and the deviating road user boundary is less than 1 meter, the system considers that there is a risk of collision; the deviating lane line refers to the boundary line of the deviating lane, that is, the dividing line of the target lane that the vehicle may enter or has deviated from. For example, if the vehicle deviates from the current lane to the right, the deviating lane line is the left boundary line of the right lane; the reference line refers to the standard line that the vehicle refers to when performing emergency lane keeping assistance; the distance between the vehicle and the deviating lane line refers to the distance between the vehicle and the deviating lane line. The lateral distance between the vehicle's current position and the lane line on the side it is deviating from. For example, if the vehicle deviates from the current lane to the right, this distance is the horizontal distance between the right boundary of the vehicle and the left boundary of the right lane. The offset refers to the horizontal distance between the center point of the vehicle and the lane line on the side it is deviating from when the vehicle deviates from the original lane. This distance is used to calculate the control torque that needs to be applied to guide the vehicle back to the lane. The control torque refers to the force used to turn the steering wheel or apply braking force to correct the vehicle's heading to keep it on a safe driving trajectory. The preset time refers to the set time to continue applying the control force. The time period of the torque, for example, the preset time can be 2 seconds, indicating that the system will continue to apply the torque until the angle difference between the vehicle's heading and the lane line on the deviation side is less than the preset angle value; the angle difference refers to the angular deviation between the current heading of the vehicle and the lane line on the deviation side. If the vehicle's deviation side is the right lane, the angle difference is the angle between the current vehicle heading and the right lane line; the preset angle value refers to the preset maximum allowable heading angle difference, for example, the preset angle value can be 5 degrees, indicating that the system hopes to adjust the vehicle's heading to an angle difference of less than 5 degrees from the lane line on the deviation side within the preset time.

[0083] First, the system uses the road user information to determine the road user boundary on the deviating side, which includes the outermost position of other vehicles, pedestrians or obstacles in the deviating direction. Secondly, the system detects the lateral and longitudinal distances between the road user boundary on the deviating side and the boundary of the vehicle, ensuring that these distances are less than the preset safety distance threshold to confirm the existence of a potential collision risk. When the risk is confirmed, the system uses the lane line on the deviating side as a reference line and calculates the lateral distance between the center point of the vehicle and the lane line on the deviating side as an offset. Subsequently, the system applies a control torque, which is a force designed to adjust the direction of the vehicle, usually achieved through a steering control system. This control torque lasts for a preset period of time, and its goal is to reduce the angle difference between the vehicle's heading and the lane line on the deviating side to below the preset safety angle value as soon as possible. In this way, the system completes emergency lane keeping assistance, ensuring that the vehicle can safely return to the original lane or an appropriate safe position, thereby effectively avoiding possible collision risks.

[0084] Please refer to Figure 2 , Figure 2 Schematic diagram of the emergency lane keeping assist scenario provided for Example 1 of the emergency lane keeping assist control method of the present application; when there is a low-speed two-wheeled vehicle, pedestrian, or vehicle occupying the road in front of the ego vehicle, the driver may take the approach of deviating from the lane and crossing the line to overtake the low-speed vehicle in front or vulnerable road users (Vulnerable Road User, VRU). If a vehicle approaches from behind the ego vehicle at this time, the system determines that there is a risk of collision from the rear. If the emergency lane keeping assist is activated to control the vehicle within the ego lane, the ego vehicle is at risk of colliding with the vehicle in front or VRU, causing panic to the driver. Therefore, it is necessary to judge the risk of front collision in this scenario, so as to delay or not trigger the emergency steering assist function.

[0085] First, it is necessary to determine whether there is a collision risk in the front of the self-lane. If there is a VRU or vehicle in front, and the VRU or vehicle is between the two lane lines of the self-lane, or is driving on the lane line, it is considered that there is a collision risk in front; if there is no lane line, the lateral distance from the edge of the self-vehicle to the edge of the VRU or the edge of the vehicle is determined. If the lateral distance is less than the threshold, it is considered that there is a collision risk in front; when the minimum distance from the edge of the self-vehicle to the edge of the target vehicle is less than a preset value (for example, 0.5 meters), and the longitudinal distance is less than a preset value (for example, 1 meter), the lane line on the deviated side is used as the reference line, and the current distance from the lane line is used as the offset, and a control torque is applied urgently to urgently straighten the vehicle, that is, the difference between the vehicle heading angle and the lane line direction is controlled to be less than 2 degrees for 2 seconds, to prevent the vehicle from continuing to deviate from the lane, but not to correct the vehicle back to the original lane.

[0086] Please refer to Figure 3 , Figure 3Emergency lane keeping assist flow chart provided for Embodiment 1 of the emergency lane keeping assist control method of the present application; first, the system obtains information on vehicles, pedestrians, and obstacles in the lane and the two adjacent lanes through sensors. When it is detected that the vehicle deviates from the lane, the system determines whether the driver is trying to avoid the risk of collision in the lane based on the road user information. If so, the system will further evaluate the collision risk on the deviating side and determine whether there is a road boundary on the deviating side. When there is an uncrossable road boundary on the deviating side and the emergency lane keeping assist cannot avoid the risk of collision in the lane, the system will stop the emergency lane keeping assist and perform correction control; if the road boundary on the deviating side is traversable, the system will warn the driver through the on-board speakers and display. Through these steps, the system can provide safe and effective driving assistance in complex road environments.

[0087] Step S40, when there is a road boundary on the departure side, determining whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and obtaining a determination result;

[0088] It should be noted that the road boundary refers to the physical limit edge of the road, usually including shoulders, guardrails, curbs, green belts or other obstacles. These elements constitute the physical boundary of the road and limit the possibility of the vehicle continuing to deviate in that direction; the collision risk of this lane refers to the potential danger of the vehicle colliding with other road users (such as vehicles ahead, pedestrians, obstacles, etc.) in the current lane.

[0089] It is understandable that when there is a road boundary on the deviating side, the system first identifies and confirms the existence of the boundary, such as a guardrail, shoulder or other physical obstacle, and then evaluates whether triggering the emergency lane keeping assist will cause the vehicle to be unable to effectively avoid the risk of collision in the current lane or whether it will cause great psychological pressure on the driver after being triggered. Specifically, the system needs to determine whether the vehicle will be unable to completely avoid other vehicles, pedestrians or obstacles in the lane due to the existence of the boundary if it deviates to the direction with a boundary due to avoidance, and thus still face the risk of collision. Based on this comprehensive evaluation, the system comes to a judgment result to decide whether and how to trigger the emergency lane keeping assist to ensure that the risk of collision is minimized.

[0090] As an example, when there is a road boundary on the deviating side, it is determined whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the lane, and the steps for obtaining the determination result include: obtaining a road user boundary on the non-deviating side according to the road user information; acquiring road information and vehicle width; obtaining a lane line position, road width and curve radius according to the road information; adjusting a first preset boundary distance according to the road width, the curve radius and the vehicle width to obtain a target boundary distance; obtaining the distance between the road user boundary on the non-deviating side and the lane line according to the lane line position; when the distance is less than the target boundary distance, it is determined that triggering the emergency lane keeping assist will result in an unavoidable collision risk in the lane, and the determination result is yes; otherwise, the determination result is no.

[0091] The non-departure side road user boundary refers to the outermost boundary of road users (such as other vehicles, pedestrians or obstacles) in the opposite direction of the lane from which the vehicle deviates. For example, if the vehicle deviates to the right, the non-departure side road user boundary is the outermost boundary of all road users in the left lane closest to the vehicle; road information refers to data related to road structure and characteristics, including lane line position, road width, curve radius, etc., which are used to calculate and evaluate the vehicle's driving conditions on the road and possible deviation behavior; vehicle width refers to the lateral distance between the left and right sides of the vehicle. For example, the total width of the vehicle (including side-view mirrors) may be 2 meters; lane line position refers to the specific position of the lane divider marked on the road, which is used to determine the width of the lane and the specific position of the vehicle in the lane; road width refers to The total width of the road from one side to the other, including all lanes and shoulders. For example, the total width of a two-way four-lane road may be 15 meters; the curve radius refers to the radius of curvature of the road curve, that is, the distance from the center of the curve to the center line of the road. For example, the radius of a curve may be 100 meters, indicating that the curve is relatively wide; the first preset boundary distance is a safety distance pre-set in the system, which is used to preliminarily assess the safety interval between the vehicle and road users. For example, the system may set this distance to 0.5 meters as an initial reference for the safety boundary; the target boundary distance is a safety distance adjusted according to the road width, curve radius and vehicle width, which is used to accurately assess the safety situation when the vehicle deviates. The more accurate safety distance obtained by calculation, such as 0.2 meters, is used to assess whether the vehicle can safely avoid.

[0092] When there is a road boundary on the deviating side, the system first determines the road user boundary on the non-deviating side through road user information, which includes the outermost position of other vehicles, pedestrians or obstacles in the non-deviating direction. Then, the system obtains detailed road information and vehicle width, including data such as lane line position, road width and curve radius. Next, the system adjusts the initial preset safety boundary distance based on the road width, curve radius and vehicle width to calculate a more accurate target boundary distance. Subsequently, the system calculates the distance between the road user boundary on the non-deviating side and the lane line. If the distance is less than the target boundary distance, the system determines that triggering emergency lane keeping assist will result in an unavoidable collision risk in the lane, so the judgment result is "yes"; otherwise, the judgment result is "no". Through these steps, the system can comprehensively evaluate the road and vehicle information when there is a road boundary on the deviating side to ensure that emergency lane keeping assist can be performed safely and effectively when necessary. The calculation steps of the target boundary distance are as follows: (1) Obtain basic parameters: road width (W), curve radius (R), vehicle width (V); (2) Consider the influence of the curve: in a curve, the vehicle needs more space to turn safely. A smaller curve radius (R) will increase the lateral offset of the vehicle when turning. Therefore, it is necessary to consider the influence of the curve to adjust the preset boundary distance; an adjustment coefficient (K) can be used to adjust according to the curve radius. This coefficient is usually an empirical value or calculated through a vehicle dynamics model; (3) Adjust the first preset boundary distance: The first preset boundary distance (D1): This is an initially set safety distance used to ensure that the vehicle maintains a certain safety interval during driving; the adjustment coefficient (K): is calculated based on the curve radius and the vehicle width and is used to adjust the safety distance; the calculation formula is: K = f (R, V), where f is a function that represents the relationship between the curve radius and the vehicle width; (4) Calculate the target boundary distance: Apply the adjustment coefficient (K) to the first preset boundary distance (D1) to obtain the final target boundary distance (D2), formula: D2 = D1*K. For example: the road width (W) is 12 meters, the curve radius (R) is 50 meters, the vehicle width (V) is 2 meters, the first preset boundary distance (D1) is set to 0.5 meters, and the adjustment coefficient (K) of the curve radius and the vehicle width is determined to be 0.5 through the vehicle dynamics model or empirical values. The final target boundary distance (D2) is calculated as: D2 = 0.5 meters * 0.5 = 0.25 meters. This target boundary distance (D2) will be used to evaluate whether the vehicle can maintain a sufficient safety distance during the emergency lane keeping assist process, thereby deciding whether to stop the emergency lane keeping assist and perform correction control.This embodiment adjusts the first preset boundary distance according to the vehicle type and the curve radius; when the distance between the edge of the current vehicle and the lane line is less than the first preset boundary distance, the first preset boundary distance is adjusted accordingly according to the curve radius. The curveder the curve, the larger the first preset boundary distance. At the same time, the adjustment is made according to the vehicle type. The wider the vehicle, the larger the first preset boundary distance.

[0093] Step S50: When the judgment result is yes, deviation correction control is performed according to the road boundary information.

[0094] It should be noted that road boundary information refers to specific data and features related to the edge of the road, including the physical location of the road edge (such as shoulders, guardrails, curbs, etc.), road type and characteristics (such as urban roads, highways, etc.), and whether these boundaries are traversable, such as whether there are physical obstacles blocking vehicles from passing.

[0095] It is understandable that when the system determines that triggering the emergency lane keeping assist will result in an unavoidable risk of collision in this lane, it will perform corrective control based on whether the road boundary is crossable. Corrective control means stopping the emergency lane keeping assist and straightening the vehicle along the road boundary.

[0096] The present embodiment provides an emergency lane keeping assist control method, which obtains road user information of the lane and two adjacent lanes; when the driver deviates from the lane, the driver's intention is judged according to the road user information; when the driver intends to avoid the collision risk of the lane, the emergency lane keeping assist is triggered according to the collision risk of the deviated side; when there is a road boundary on the deviated side, it is judged whether triggering the emergency lane keeping assist will result in the inability to avoid the collision risk of the lane, and a judgment result is obtained; when the judgment result is yes, correction control is performed according to the road boundary information. The system of this embodiment collects information such as vehicles, pedestrians and obstacles in the lane and the left and right adjacent lanes in real time through sensors (such as cameras, radars, and lidars) to form complete road user data, which can fully understand the surrounding environment and improve the accuracy of judgment; monitor the vehicle's driving trajectory, and when it is detected that the vehicle deviates from the lane, combine the road user information to determine whether the driver intends to avoid the collision risk in the current lane, such as avoiding the vehicle or obstacle in front. By analyzing the driver's behavior of deviating from the lane, the system can determine whether it is to avoid the risk of collision, so as to make more reasonable auxiliary decisions; if the system determines that the driver deviates from the lane to avoid the risk of collision in the lane, the system will evaluate the collision risk on the deviated side. If there is a risk, the system will The system will trigger the emergency lane keeping assist function to avoid a collision. When the emergency lane keeping assist is triggered, the system checks whether there is a vehicle collision risk on the deviating side. It not only evaluates the collision risk of the lane, but also considers the risk of the deviating side to ensure the best safety protection in complex road environments. When there is an impassable road boundary or other collision risk on the deviating side, the emergency lane keeping assist will be triggered. At this time, if it is detected that the emergency lane keeping assist will correct the vehicle back to the lane, which will cause a collision risk, the emergency lane keeping assist will be stopped and the vehicle will no longer be corrected to the lane. Instead, the vehicle will be straightened along the road boundary, avoiding the collision risk of the emergency lane keeping assist, effectively improving the vehicle's driving safety in complex road environments, and providing more intelligent and reliable driving assistance.

[0097] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 4 , Figure 4 This is a flow chart of the second embodiment of the emergency lane keeping assist control method of the present application. Step S50 of the emergency lane keeping assist control method includes steps S51 to S54:

[0098] Step S51, when the judgment result is yes, stopping the emergency lane keeping assist;

[0099] It should be noted that the judgment result means that the system determines that triggering emergency lane keeping assist will result in an unavoidable collision risk in this lane.

[0100] It is understandable that when the system determines that triggering the emergency lane keeping assist will result in an unavoidable risk of collision in the lane, that is, when the judgment result is yes, the system will immediately stop the emergency lane keeping assist function. This means that after evaluating the risks of the road boundary and surrounding vehicles, the system determines that continuing to correct the vehicle back to the lane will result in a collision risk, so it chooses to stop this safety assistance measure to ensure driving safety and avoid potential collision events.

[0101] Step S52, when the driver deviates from the lane and the distance between the vehicle and the road boundary is less than a second preset boundary distance, determining whether the road boundary is traversable;

[0102] It should be noted that the distance between the vehicle and the road boundary refers to the horizontal distance from the current position of the vehicle to the road boundary (such as the edge of the road or a dividing line); the second preset boundary distance refers to a pre-set safety boundary used to determine the distance between the vehicle and the road boundary. Specifically, when the driver deviates from the lane, the system will measure the horizontal distance from the current position of the vehicle to the road boundary, and compare this distance with the second preset boundary distance. If the distance between the vehicle and the road boundary is less than the second preset boundary distance, the system will further determine whether it is safe to cross the road boundary.

[0103] It is understood that the system will detect whether the driver has deviated from the lane and measure the horizontal distance from the current position of the vehicle to the nearest road boundary. The system will then compare this distance with a pre-set second preset boundary distance. If the actual distance between the vehicle and the road boundary is less than the second preset boundary distance, the system will further evaluate whether the road boundary is safe enough to allow the vehicle to cross, thereby deciding whether further corrective measures need to be taken or the driver needs to be reminded of the safety of the road boundary.

[0104] Step S53, when the road boundary is crossable, the driver is warned via the vehicle speaker and the vehicle display;

[0105] It should be noted that early warning refers to sending sound or visual signals to the driver through the on-board speakers and on-board displays to remind him that the current vehicle has deviated from the boundary of the traversable road, helping the driver to realize potential dangerous situations and prompting him to take necessary driving operations or corrective behaviors.

[0106] It is understandable that the system will detect that the driver has deviated from the traversable road boundary, even if the boundary itself allows the vehicle to cross. The system will issue a warning to the driver through the vehicle speakers or a visual prompt through the vehicle display. The purpose of this warning is to remind the driver of the current driving status and help him correct the deviation behavior to ensure the safe driving of the vehicle in a complex road environment.

[0107] Step S54, when the road boundary is not crossable, the road boundary line is used as a reference line, the distance between the vehicle and the road boundary is used as an offset, and a control torque is applied for a preset time so that the angle difference between the vehicle heading and the road boundary line is less than a preset angle value, thereby completing the deviation correction control.

[0108] It should be noted that the vehicle's heading refers to the vehicle's current driving direction or heading angle, that is, the direction of the front of the vehicle, and deviation control refers to straightening the vehicle along the road boundary, rather than being pulled back into the vehicle's lane by emergency lane keeping assist.

[0109] It is understandable that when the system detects that the vehicle has deviated from an insurmountable road boundary (such as a guardrail or wall), it will use the road boundary line as a reference point. Then, based on the vehicle's current lateral distance from the road boundary (offset), the system will apply a control torque to adjust the vehicle's direction. This control torque will last for a predetermined period of time to ensure that the vehicle's driving direction is gradually adjusted so that the angle difference between its heading angle and the road boundary line is less than a preset threshold. Through this deviation correction control, the system can effectively guide the vehicle back to the correct driving trajectory, avoid collisions and accidents, and improve driving safety.

[0110] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the correction control scenario provided in Example 2 of the emergency lane keeping assist control method of the present application. When there is a large truck traveling in the opposite direction in front and the oncoming vehicle is relatively close to the lane line, the vehicle deviates from the lane in the opposite direction to avoid the oncoming vehicle. If there is a road boundary in the avoidance direction, the emergency lane keeping assist is activated to pull the vehicle back to the vehicle's lane. In this working scenario, the driver will misunderstand that the system is controlling the vehicle to crash into the large truck, causing the driver to panic.

[0111] Correction risk judgment: The distance between the edge of the front vehicle and the lane line is less than the threshold. The threshold is adjusted accordingly according to the radius of the curve. The more curved the curve, the larger the threshold. At the same time, it is adjusted according to the type of vehicle. The wider the vehicle, the larger the threshold. Control strategy: When the vehicle deviates from the lane and is about to collide with the road boundary, if it is a traversable road boundary, the system will not work and the system will only warn; if it is an insurmountable road boundary, when it is a certain distance away from the lane line, the road boundary is used as a reference and the current distance is used as the control offset. The steering wheel is urgently controlled to straighten the vehicle. The difference between the vehicle heading and the road boundary direction is less than 2 degrees for 2 seconds to prevent the vehicle from continuing to deviate from the insurmountable road boundary.

[0112] In this embodiment, when the judgment result is yes, the emergency lane keeping assist is stopped; when the driver deviates from the lane and the distance between the vehicle and the road boundary is less than a second preset boundary distance, it is judged whether the road boundary is crossable; when the road boundary is crossable, the driver is warned through the vehicle speaker and the vehicle display; when the road boundary is not crossable, a control torque is applied with the road boundary line as a reference line and the distance between the vehicle and the road boundary as an offset, and the control torque is applied for a preset time so that the angle difference between the vehicle's heading and the road boundary line is less than the preset angle value, thereby completing the deviation correction control. In this embodiment, when the system determines that the triggering of the emergency lane keeping assist will result in an unavoidable collision risk in the lane, the emergency lane keeping assist function is immediately stopped, thereby avoiding new collision risks caused by the erroneous triggering of the emergency lane keeping assist and ensuring the safety of the vehicle in an emergency situation; if it is detected that the vehicle deviates from the lane and the distance between the vehicle and the road boundary is less than the set safety boundary distance (the second preset boundary distance), the system will determine whether the road boundary can be crossed. By determining the crossability of the road boundary, the system can provide accurate information for the subsequent auxiliary decision, thereby avoiding misjudgment and erroneous operation; if the road boundary is crossable, the system will issue a warning to the driver through the on-board speaker and display screen to remind the driver that the vehicle has deviated from the lane and is approaching a crossable road boundary, and promptly warn the driver to help him pay attention to the current driving status, so as to take necessary operations to correct the deviation behavior and reduce the risk of accidents caused by lane deviation; if the road boundary is not crossable, the system will use the road boundary line as a reference line, calculate the lateral distance (offset) between the current vehicle and the boundary, and apply a control torque to adjust the direction of the vehicle. This torque will last for a preset period of time to ensure that the angle difference between the vehicle's heading angle and the road boundary line is less than a preset threshold, thereby completing the correction. Through the correction control, the system can effectively guide the vehicle back to a safe driving trajectory to prevent the vehicle from deviating from an inaccessible boundary, thereby preventing collisions and accidents, and improving overall driving safety and stability. This embodiment determines the intention of the vehicle to deviate from the lane based on the road environment ahead. If it is determined that the driver deliberately deviates to avoid the risk of collision, it determines whether to trigger the correction control based on the risk of collision ahead, and adjusts the control trajectory. This method avoids the risk of collision due to vehicle deviation from the lane, and also reduces the panic of the driver caused by false triggering, which ensures safety and reduces false triggering.

[0113] For example, in order to help understand the implementation process of the emergency lane keeping auxiliary control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 6 , Figure 6 A brief flow chart of an emergency lane keeping assist control method is provided, specifically:

[0114] First, the system obtains the road user information of the lane and the two adjacent lanes; when the driver is detected to deviate from the lane, the system determines whether the driver is trying to avoid the collision risk of the lane based on the road user information. If the judgment result is yes, the system will evaluate the collision risk of the deviated side; if there is a road boundary on the deviated side, the system further determines whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the lane. If the judgment result is yes, the system stops the emergency lane keeping assist; if the judgment result is no, the system continues to trigger the emergency lane keeping assist. When the driver deviates from the lane and the distance between the vehicle and the road boundary is less than the second preset boundary distance, the system determines whether the road boundary can be crossed. If the road boundary can be crossed, the system warns the driver through the on-board speakers and display screen; if the road boundary cannot be crossed, the system applies a control torque and performs deviation correction control.

[0115] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the emergency lane keeping assist control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0116] This application also provides an emergency lane keeping auxiliary control device, please refer to Figure 7 , the emergency lane keeping assist control device comprises:

[0117] The information acquisition module 10 is used to acquire the road user information of the lane and the two adjacent lanes;

[0118] an intention judgment module 20, for judging the driver's intention according to the road user information when the driver deviates from the lane;

[0119] The emergency assistance module 30 is used to trigger the emergency lane keeping assistance according to the collision risk of the departure side when the driver intends to avoid the collision risk of the own lane;

[0120] The auxiliary risk judgment module 40 is used to judge whether triggering the emergency lane keeping assist will lead to an unavoidable collision risk in the lane when there is a road boundary on the departure side, and obtain a judgment result;

[0121] The deviation correction control module 50 is used to perform deviation correction control according to the road boundary information when the judgment result is yes.

[0122] The emergency lane keeping assist control device provided by the present application adopts the emergency lane keeping assist control method in the above embodiment, which can solve the technical problem of how to avoid the collision risk of emergency lane keeping assist. Compared with the prior art, the beneficial effects of the emergency lane keeping assist control device provided by the present application are the same as the beneficial effects of the emergency lane keeping assist control method provided by the above embodiment, and the other technical features in the emergency lane keeping assist control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0123] The present application provides an emergency lane keeping assist control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the emergency lane keeping assist control method in the above-mentioned embodiment one.

[0124] Reference below Figure 8 , which shows a schematic diagram of the structure of an emergency lane keeping assist control device suitable for implementing the embodiment of the present application. The emergency lane keeping assist control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The emergency lane keeping assist control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0125] like Figure 8As shown, the emergency lane keeping auxiliary control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the emergency lane keeping auxiliary control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the emergency lane keeping assist control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows an emergency lane keeping assist control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0126] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0127] The emergency lane keeping assist control device provided by the present application adopts the emergency lane keeping assist control method in the above embodiment, which can solve the technical problem of how to avoid the collision risk of emergency lane keeping assist. Compared with the prior art, the beneficial effects of the emergency lane keeping assist control device provided by the present application are the same as the beneficial effects of the emergency lane keeping assist control method provided by the above embodiment, and the other technical features in the emergency lane keeping assist control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0128] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0130] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the emergency lane keeping assist control method in the above-mentioned embodiment.

[0131] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0132] The computer-readable storage medium may be included in the emergency lane keeping assist control device; or may exist independently without being assembled into the emergency lane keeping assist control device.

[0133] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the emergency lane keeping assist control device, the emergency lane keeping assist control device: obtains road user information of the lane and the two adjacent lanes; when the driver deviates from the lane, judges the driver's intention based on the road user information; when the driver intends to avoid the collision risk of the lane, triggers the emergency lane keeping assist based on the collision risk of the deviating side; when there is a road boundary on the deviating side, judges whether triggering the emergency lane keeping assist will result in the inability to avoid the collision risk of the lane, and obtains a judgment result; when the judgment result is yes, performs correction control based on the road boundary information.

[0134] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0135] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0136] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0137] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned emergency lane keeping assist control method, and can solve the technical problem of how to avoid the collision risk of emergency lane keeping assist. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the emergency lane keeping assist control method provided in the above-mentioned embodiment, and will not be repeated here.

[0138] The present application also provides a computer program product, including a computer program, which implements the steps of the emergency lane keeping assist control method as described above when executed by a processor.

[0139] The computer program product provided by the present application can solve the technical problem of how to avoid the collision risk of emergency lane keeping assist. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the emergency lane keeping assist control method provided by the above embodiment, which will not be repeated here.

[0140] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An emergency lane keeping assist control method, characterized in that: The method comprises: Obtain road user information of the lane and the two adjacent lanes; When the driver deviates from the lane, judging the driver's intention according to the road user information; When the driver intends to avoid the collision risk in the own lane, triggering the emergency lane keeping assist according to the collision risk on the deviation side; When there is a road boundary on the deviating side, determining whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and obtaining a determination result; When the judgment result is yes, stopping the emergency lane keeping assist; When the driver deviates from the lane and the distance between the vehicle and the road boundary is less than a second preset boundary distance, determining whether the road boundary is traversable; When the road boundary is crossable, the driver is warned via an onboard speaker and an onboard display screen; When the road boundary is not crossable, the road boundary line is used as the reference line, the distance between the vehicle and the road boundary is used as the offset, and a control torque is applied for a preset time so that the angle difference between the vehicle's heading and the road boundary line is less than a preset angle value, thereby completing the deviation correction control.

2. The method according to claim 1, characterized in that When there is a road boundary on the deviating side, determining whether triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and obtaining the determination result comprises: Obtaining a non-departure side road user boundary according to the road user information; Get road information and vehicle width; Obtaining lane line position, road width and curve radius according to the road information; According to the road width, the curve radius and the vehicle width, adjusting the first preset boundary distance to obtain a target boundary distance; Obtaining the distance between the non-departure side road user boundary and the lane line according to the lane line position; When the distance is less than the target boundary distance, it is determined that triggering the emergency lane keeping assist will result in an unavoidable collision risk in the own lane, and a judgment result is yes; otherwise, a judgment result is no.

3. The method according to claim 1, characterized in that The step of triggering emergency lane keeping assist according to the collision risk on the departure side includes: Obtaining a road user boundary on the departure side according to the road user information; When the lateral distance between the road user boundary on the deviating side and the boundary of the vehicle is less than the preset lateral distance and the longitudinal distance is less than the preset longitudinal distance, the lane line on the deviating side is used as the reference line, and the distance between the vehicle and the lane line on the deviating side is used as the offset, and a control torque is applied for a preset time so that the angle difference between the heading of the vehicle and the lane line on the deviating side is less than the preset angle value, thereby completing emergency lane keeping assist.

4. The method according to claim 1, characterized in that The step of obtaining the road user information of the lane and the two adjacent lanes includes: Obtain vehicle environment information; Obtaining vehicle information, pedestrian information, and obstacle information of the lane and two adjacent lanes according to the vehicle environment information; Road user information is obtained according to the vehicle information, the pedestrian information and the obstacle information.

5. The method according to claim 1, characterized in that The step of determining the driver's intention according to the road user information comprises: determining whether there is a collision risk in the lane according to the road user information; When there is a collision risk, it is determined that the driver intends to avoid the collision risk.

6. The method according to claim 5, characterized in that The step of judging whether there is a collision risk in the lane according to the road user information comprises: Obtaining a road user boundary of the lane according to the road user information; When the lateral distance between the road user boundary and the vehicle boundary of the lane is less than a preset lateral distance, it is determined that there is a collision risk in the lane.

7. An emergency lane keeping assist control device, characterized in that: The device comprises: An information acquisition module is used to obtain road user information of the lane and two adjacent lanes; an intention judgment module, used to judge the driver's intention according to the road user information when the driver deviates from the lane; An emergency assistance module, configured to trigger emergency lane keeping assistance according to the collision risk of the deviation side when the driver intends to avoid the collision risk of the own lane; An auxiliary risk judgment module, used to judge whether triggering the emergency lane keeping assist will lead to an unavoidable collision risk in the lane when there is a road boundary on the deviation side, and obtain a judgment result; The correction control module is used to stop the emergency lane keeping assist when the judgment result is yes; when the driver deviates from the lane and the distance between the vehicle and the road boundary is less than a second preset boundary distance, determine whether the road boundary is crossable; when the road boundary is crossable, warn the driver through the vehicle speaker and the vehicle display; when the road boundary is not crossable, use the road boundary line as a reference line and the distance between the vehicle and the road boundary as an offset to apply a control torque for a preset time so that the angle difference between the vehicle's heading and the road boundary line is less than a preset angle value, thereby completing the correction control.

8. An emergency lane keeping assist control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the emergency lane keeping assist control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the emergency lane keeping assist control method according to any one of claims 1 to 6 are implemented.

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