Vehicle control method, vehicle, readable medium, and computer program product

Abstract

The embodiment of the present invention provides a vehicle control method, a vehicle, a readable medium, and a computer program product. The method includes determining the lateral distance between the front corner point and the lane line based on the position coordinates of the lane line and the front corner point of the vehicle; wherein the lateral distance is the distance from the front corner point to the lane line along the lateral axis of the vehicle; determining the collision distance of the front corner point according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction at the marking point of the lane line corresponding to the lateral distance and the driving direction of the vehicle; and controlling the vehicle according to the collision distance. The collision distance can better express the risk of the vehicle colliding with the edge of the lane, and has high accuracy, and can be applied to both straight road scenes and curved road scenes to improve vehicle safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, a computer-readable medium, and a computer program product. Background Art

[0002] In the existing technology, vehicles can be provided with an Emergency Lane Keeping Assist (ELKA) function, which can identify lane lines, curbs and information about other vehicles in adjacent lanes on the road ahead. When there is a risk of collision and the function activation conditions are met, it can assist the driver in steering to prevent the vehicle from deviating from the lane.

[0003] The vehicle usually determines whether to execute the emergency lane keeping assist function by analyzing the distance to collision (DTC) or time to collision (TTC). If the error in the distance to collision or time to collision is large, it is easy to cause the emergency lane keeping assist function of the vehicle to be missed or falsely triggered, thus affecting vehicle safety. Summary of the invention

[0004] An embodiment of the present invention provides a vehicle control method, a vehicle, a computer-readable medium, and a computer program product to reduce the risk of missed triggering or false triggering of the vehicle's emergency lane keeping assist function.

[0005] An embodiment of the present invention discloses a vehicle control method, including:

[0006] Based on the position coordinates of the lane line and the front corner point of the vehicle, determine the lateral distance between the front corner point and the lane line; wherein the lateral distance is the distance from the front corner point to the lane line along the transverse axis direction of the vehicle;

[0007] Determine the collision distance of the front corner point according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction of the lateral distance at the marking point of the lane line and the driving direction of the vehicle;

[0008] The vehicle is controlled according to the collision distance.

[0009] Optionally, the collision distance, and controlling the vehicle, comprises:

[0010] determining a collision time according to the collision distance;

[0011] The vehicle is controlled according to the collision distance and / or the collision time.

[0012] Optionally, the collision distance and the collision time are determined by:

[0013] Based on the vehicle speed, determine the speed of the vehicle in a first direction as the collision speed; wherein the first direction is the normal direction of the tangent line from the vehicle head corner point to the marking point;

[0014] A collision time is determined based on the collision distance and the collision speed.

[0015] Optionally, the collision speed includes a lateral speed and a longitudinal speed, respectively, along the first direction; wherein the lateral speed is the speed component of the vehicle parallel to the direction of the vehicle's transverse axis, and the longitudinal speed is the speed component of the vehicle perpendicular to the direction of the vehicle's transverse axis.

[0016] Optionally, the collision distance includes a first collision distance, and the collision time includes a first collision time;

[0017] The controlling the vehicle according to the collision distance and / or the collision time comprises:

[0018] Based on a preset first preview time and the current speed of the vehicle, predicting a first preview position of the vehicle after the vehicle maintains the current speed and current driving direction and travels straight for the first preview time;

[0019] Based on the lane line and a first preview position of the vehicle after a first preview time, determining a first lateral distance between the vehicle head corner point and the lane line and a first deviation angle of the vehicle relative to the lane line after the first preview time;

[0020] Determining a first collision distance of the vehicle front corner point according to the first lateral distance and the first deflection angle;

[0021] determining a first collision time according to the first collision distance;

[0022] The vehicle is controlled according to the first collision distance and / or the first collision time.

[0023] Optionally, the collision distance includes a second collision distance, and the collision time includes a second collision time;

[0024] The controlling the vehicle according to the collision distance and / or the collision time comprises:

[0025] Based on a preset second preview time and the current speed of the vehicle, predicting a second preview position of the vehicle after the vehicle maintains the current speed and the current turning radius to travel in a circle for the second preview time;

[0026] Determine, based on the lane line and a second preview position of the vehicle after the second preview time, a second lateral distance between the vehicle head corner point and the lane line and a second deviation angle of the vehicle relative to the lane line after the second preview time;

[0027] Determining a second collision distance of the vehicle front corner point according to the second lateral distance and the second deflection angle;

[0028] determining a second collision time according to the second collision distance;

[0029] The vehicle is controlled according to the second collision distance and / or the second collision time.

[0030] Optionally, the lane line is a straight line or a curve.

[0031] Optionally, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0032] The vehicle is controlled to avoid a lane edge according to a collision distance at a current moment and the first collision distance, and / or according to a collision time at a current moment and the first collision time.

[0033] Optionally, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0034] The vehicle is controlled to avoid a lane edge according to a collision distance at a current moment and the second collision distance, and / or according to a collision time at a current moment and the second collision time.

[0035] Optionally, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0036] If the collision distance and / or the collision time satisfies a preset avoidance condition, determining at least one deviation control position located on the center line of the lane based on at least one preset deviation control time and the current speed of the vehicle;

[0037] Determine respectively the heading angle deviation and / or distance deviation of the center of mass of the vehicle relative to the deviation control position; wherein the distance deviation is the distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle; the heading angle deviation is the angle between the center line of the vehicle at the deviation control position and the driving direction of the vehicle;

[0038] Determine a first torque compensation based on a mean value of the heading angle deviation, and / or determine a second torque compensation based on a mean value of the distance deviation;

[0039] The current torque of the vehicle is adjusted based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

[0040] An embodiment of the present invention further provides a vehicle control device, the device comprising:

[0041] A lateral distance determination module, used to determine the lateral distance between the front corner point of the vehicle and the lane line based on the position coordinates of the lane line and the front corner point of the vehicle; wherein the lateral distance is the distance from the front corner point to the lane line along the transverse axis direction of the vehicle;

[0042] A collision distance determination module, used to determine the collision distance of the front corner point of the vehicle according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction of the lateral distance at the marking point of the lane line and the driving direction of the vehicle;

[0043] A vehicle control module is used to control the vehicle according to the collision distance.

[0044] Optionally, the vehicle control module includes:

[0045] A collision time determination submodule, used to determine the collision time according to the collision distance;

[0046] The vehicle control submodule is used to control the vehicle according to the collision distance and / or the collision time.

[0047] Optionally, the collision time determination submodule includes:

[0048] A collision speed determination unit, configured to determine, based on the vehicle speed, the speed of the vehicle in a first direction as the collision speed; wherein the first direction is the normal direction of the tangent line from the vehicle head corner point to the marking point;

[0049] The collision time determination unit is used to determine the collision time based on the collision distance and the collision speed.

[0050] Optionally, the collision speed includes a lateral speed and a longitudinal speed, respectively, along the first direction; wherein the lateral speed is the speed component of the vehicle parallel to the direction of the vehicle's transverse axis, and the longitudinal speed is the speed component of the vehicle perpendicular to the direction of the vehicle's transverse axis.

[0051] Optionally, the collision distance includes a first collision distance, and the collision time includes a first collision time;

[0052] The vehicle control submodule comprises:

[0053] A first preview position prediction unit, configured to predict, based on a preset first preview time and a current vehicle speed, a first preview position of the vehicle after the vehicle maintains the current vehicle speed and drives in a straight line in the current driving direction for a first preview time;

[0054] A first deflection angle determination unit is used to determine, based on the lane line and a first preview position of the vehicle after the first preview time, a first lateral distance between the vehicle head corner point and the lane line and a first deflection angle of the vehicle relative to the lane line after the first preview time;

[0055] A first collision distance determining unit, configured to determine a first collision distance of the vehicle head corner point according to the first lateral distance and the first deflection angle;

[0056] a first collision time determining unit, configured to determine a first collision time according to the first collision distance;

[0057] The first vehicle control subunit is used to control the vehicle according to the first collision distance and / or the first collision time.

[0058] Optionally, the collision distance includes a second collision distance, and the collision time includes a second collision time;

[0059] The vehicle control submodule comprises:

[0060] A second preview position prediction unit, configured to predict, based on a preset second preview time and a current speed of the vehicle, a second preview position of the vehicle after the vehicle maintains the current speed and the current turning radius for a second preview time;

[0061] A second deflection angle determination unit is used to determine, based on the lane line and a second preview position of the vehicle after a second preview time, a second lateral distance between the vehicle head corner point and the lane line and a second deflection angle of the vehicle relative to the lane line after a second preview time;

[0062] A second collision distance determining unit, configured to determine a second collision distance of the vehicle head corner point according to the second lateral distance and the second deflection angle;

[0063] a second collision time determining unit, configured to determine a second collision time according to the second collision distance;

[0064] A second vehicle control unit is used to control the vehicle according to the second collision distance and / or the second collision time.

[0065] Optionally, the lane line is a straight line or a curve.

[0066] Optionally, the vehicle control submodule includes:

[0067] The first avoidance unit is used to control the vehicle to avoid the lane edge according to the collision distance at a current moment and the first collision distance, and / or according to the collision time at a current moment and the first collision time.

[0068] Optionally, the vehicle control submodule includes:

[0069] The second avoidance unit is used to control the vehicle to avoid the lane edge according to the collision distance at a current moment and the second collision distance, and / or according to the collision time at a current moment and the second collision time.

[0070] Optionally, the vehicle control submodule includes:

[0071] a deviation control position determining unit, configured to determine at least one deviation control position located on a lane centerline based on at least one preset deviation control time and a current vehicle speed of the vehicle if the collision distance and / or the collision time satisfies a preset avoidance condition;

[0072] a deviation determination unit, for respectively determining a heading angle deviation and / or a distance deviation of the center of mass of the vehicle relative to the deviation control position; wherein the distance deviation is a distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle; and the heading angle deviation is an angle between the center line of the vehicle at the deviation control position and the driving direction of the vehicle;

[0073] a compensation unit, configured to determine a first torque compensation based on a mean value of the heading angle deviation, and / or to determine a second torque compensation based on a mean value of the distance deviation;

[0074] The third avoidance unit is used to adjust the current torque of the vehicle based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

[0075] The embodiment of the present invention further discloses a vehicle, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0076] The memory is used to store computer programs;

[0077] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0078] The embodiment of the present invention further discloses one or more computer-readable media on which instructions are stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0079] An embodiment of the present invention provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, the steps of the method described in the embodiment of the present invention are implemented.

[0080] The embodiments of the present invention include the following advantages:

[0081] The vehicle control method provided by the embodiment of the present invention determines the lateral distance between the front corner point and the lane line based on the position coordinates of the lane line and the front corner point of the vehicle; wherein the lateral distance is the distance from the front corner point to the lane line along the lateral axis of the vehicle; the collision distance of the front corner point is determined according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction at the marking point of the lane line corresponding to the lateral distance and the driving direction of the vehicle; the vehicle is controlled according to the collision distance. The collision distance can better express the risk of the vehicle colliding with the edge of the lane, and has high accuracy, and can be applied to both straight road scenes and curved road scenes to improve vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 is a flow chart of steps of a vehicle control method provided in an embodiment of the present invention;

[0083] Figure 2 is a schematic diagram of a method for determining a collision distance and a collision time in a straight road scenario provided in an embodiment of the present invention;

[0084] Figure 3 is a schematic diagram of a method for determining a collision distance and a collision time in a curve scenario provided in an embodiment of the present invention;

[0085] Figure 4 is a schematic diagram of a method for determining a first preview collision distance and a first preview collision time provided in an embodiment of the present invention;

[0086] Figure 5 is a schematic diagram of a method for determining a second preview collision distance and a second preview collision time provided in an embodiment of the present invention;

[0087] Figure 6 is a schematic diagram of a vehicle performing uniform circular motion provided in an embodiment of the present invention;

[0088] Figure 7 is a schematic diagram of a vehicle control method provided in an embodiment of the present invention;

[0089] Figure 8is a schematic diagram of a method for determining a heading angle deviation and a distance deviation provided in an embodiment of the present invention;

[0090] Fig. 9 is a structural block diagram of a vehicle control device provided in an embodiment of the present invention;

[0091] Fig.10 is a block diagram of a vehicle provided in an embodiment of the present invention;

[0092] Fig.11 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0093] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0094] In the prior art, the outer edge of the front wheel of the vehicle or the midpoint of the front bumper of the vehicle can usually be used as the collision position or the crossing position to determine whether the vehicle has the risk of collision or crossing the lane line. Alternatively, the outer edge of the rear wheel of the vehicle can be used instead of the outer edge of the front wheel as the collision position or the crossing position to determine whether the vehicle has the risk of collision or crossing the lane line. However, in the curved road scenario, the position where the collision with the road edge occurs is usually not the outer edge of the front wheel of the vehicle or the midpoint of the front bumper of the vehicle, which leads to a large error in the collision distance of the lane line.

[0095] At the same time, in the prior art, the judgment of whether a vehicle has a risk of collision or crossing a lane line is usually based on the distance the vehicle deviates from the center of the lane, and the collision time is further calculated. Such a calculation method is not very accurate.

[0096] Furthermore, in a curved road scenario, since the vehicle and the lane are not parallel, when judging whether the vehicle has the risk of colliding or crossing the lane line, the existing technology may also use a two-dimensional coordinate system centered on the vehicle itself, and regard the deviation distance and vehicle speed as the lateral and longitudinal deviation distance and vehicle speed respectively, and then mainly consider the lateral deviation distance and vehicle speed to calculate the collision time. However, in actual situations, the vehicle can collide with the lane line in both the lateral and longitudinal directions relative to itself, which further causes errors.

[0097] Based on this, an embodiment of the present invention provides a vehicle control method, which determines the collision distance through the corner point of the front of the vehicle. Whether in a straight scene or a curved scene, if the vehicle is at risk of collision, the corner point of the front of the vehicle can have a shorter distance from the lane line relative to other points in the vehicle. At the same time, the method for determining the collision distance through the corner point of the front of the vehicle is specifically to determine the distance from the corner point of the front of the vehicle to the lane line along the normal of the lane line. This distance can be considered as the shorter distance from the corner point of the front of the vehicle to the lane line. Therefore, the collision distance determined by the embodiment of the present invention can better reflect the risk of the vehicle colliding with the lane line and has higher accuracy. At the same time, it can be applied to both straight scenes and curved scenes, making the determination of the collision distance easier.

[0098] Reference Figure 1 , shows a flow chart of the steps of a vehicle control method provided in an embodiment of the present invention, which may specifically include the following steps:

[0099] Step 101, based on the lane line and the position coordinates of the front corner point of the vehicle, determine the lateral distance between the front corner point and the lane line; wherein the lateral distance is the distance from the front corner point to the lane line along the lateral axis direction of the vehicle;

[0100] In an embodiment of the present invention, a road can generally be divided into multiple lanes, and a vehicle can travel in a certain lane. If a vehicle deviates from the current lane without the driver's intention, there may be a risk of collision with a road curb, a vehicle traveling in another lane, or other facilities on the road. In order to avoid the risk of vehicle collision, it is generally necessary to maintain the vehicle in the current lane, and the collision distance of the vehicle touching the lane line at the edge of the lane can be calculated to determine whether the vehicle has a collision risk of deviating from the current lane.

[0101] In the embodiment of the present invention, the lane line can be a straight line or a curve. That is, in the process of determining the collision distance, the embodiment of the present invention does not need to distinguish between straight road scenes and curved road scenes, and both straight road scenes and curved road scenes can achieve high-precision collision distance determination.

[0102] Specifically, a one-dimensional and two-dimensional coordinate system can be established, and position coordinates can be used in the two-dimensional coordinate system to represent any point on the vehicle and the lane line. In order to improve the calculation accuracy of the collision distance, the collision distance can be calculated based on the front corner point of the vehicle. The front corner point can have a shorter distance from the lane line relative to other points in the vehicle, whether in a straight road scene or a curved road scene. Thus, the position coordinates of the front corner point can be obtained, and based on the position coordinates of the lane line, the collision distance from the front corner point to the lane line can be determined.

[0103] In order to improve the analysis efficiency of the collision distance, the lateral distance between the front corner point and the lane line can be determined first. The lateral distance is the distance from the front corner point to the lane line along the horizontal axis of the vehicle.

[0104] Specifically, in a two-dimensional coordinate system, a marking point on the lane line can be obtained by taking the front corner point as the starting point and extending along the transverse axis of the vehicle to the lane line. The distance between the marking point and the front corner point is the transverse distance between the front corner point and the lane line. The transverse axis direction of the vehicle can be a direction parallel to the front axle or the rear axle of the vehicle.

[0105] In a specific implementation, a two-dimensional coordinate system can be first established with the vehicle as the center. The two-dimensional coordinate system with the vehicle as the center can more easily calculate the collision distance and improve the calculation efficiency.

[0106] A representative base point can be selected in the vehicle as the origin of the coordinate system of the two-dimensional coordinate system. The base point can be the center point of the rear axle of the vehicle, the center point of the front axle of the vehicle, the center point of the front of the vehicle, the center point of the rear of the vehicle, the center of mass of the vehicle, the center point of the entire vehicle, etc., and the present invention does not limit this. In order to facilitate the description of the embodiments of the present invention, the center point of the rear axle of the vehicle can be used as the base point in the subsequent description.

[0107] The X-axis direction in the two-dimensional coordinate system may be perpendicular to the transverse axis of the vehicle, and the Y-axis direction in the two-dimensional coordinate system may be parallel to the transverse axis of the vehicle. The transverse axis of the vehicle may refer to the front axle or the rear axle of the vehicle.

[0108] In a specific implementation, the lane lines on both sides of the lane where the vehicle is located can be fitted into a lane line equation to represent the lane line mathematically. Afterwards, the position coordinates of any point on the lane line in the two-dimensional coordinate system can be obtained based on the lane line equation and the two-dimensional coordinate system.

[0109] As a specific example of the present invention, the lane line equation may be a cubic polynomial equation, which may be expressed as follows:

[0110] y = C0 + C1x + C2x 2 + C3x 3

[0111] Among them, C0, C1, C2, and C3 are constants, which can be adjusted during the fitting process so that the lane line equation can fit the lane edge line with higher accuracy. x is the horizontal coordinate of any point on the lane edge line in the two-dimensional coordinate system, and y is the vertical coordinate of any point on the lane edge line in the two-dimensional coordinate system.

[0112] In a specific implementation, the vehicle can be simplified into a rectangle. Since the size of the rectangle is known, the coordinates of any point on the vehicle in the two-dimensional coordinate system can be determined.

[0113] When the base point is the center point of the rear axle of the vehicle, the value of the horizontal coordinate of the center point of the front of the vehicle can be the distance between the center of the front of the vehicle and the center of the rear axle. The front corner point and the center point of the front of the vehicle are also located on the front line, and the value of the horizontal coordinate of the front corner point can be the same as that of the center point of the front of the vehicle. The value of the vertical coordinate of the front corner point can be the distance between the front corner point and the center point of the front of the vehicle, and the distance between the front corner point and the center point of the front of the vehicle can be half of the length of the rear axle of the vehicle. Thus, the position coordinates of the front corner point can be known.

[0114] At the same time, the front corner point extends along the vehicle's horizontal axis, that is, the Y-axis direction of the two-dimensional coordinate system, to the marking point determined by the lane line, and its horizontal coordinate value is the same as that of the front corner point, that is, the horizontal coordinate value of the marking point is the distance between the center of the front of the vehicle and the center of the rear axle. Substituting this value into the lane line equation, the vertical coordinate of the marking point can be obtained, and thus the position coordinates of the marking point can be obtained.

[0115] Since the horizontal coordinates of the position coordinates of the vehicle head corner point and the marking point are the same, the difference between the two vertical coordinates is the distance between the vehicle head corner point and the marking point, which is also the horizontal distance between the vehicle head corner point and the lane line.

[0116] Step 102, determining the collision distance of the front corner point of the vehicle according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction at the marking point of the lane line corresponding to the lateral distance and the driving direction of the vehicle;

[0117] In the embodiment of the present invention, the collision distance between the front corner point of the vehicle and the lane line can be the distance from the front corner point to the lane line along the normal direction. The collision distance can be obtained by decomposing the lateral distance along the normal direction. It can be considered as the shorter distance from the front corner point to the lane line, so that it can better show the risk of the vehicle colliding with the lane edge and has higher accuracy. Whether it is a straight line or a curve, the collision distance can be calculated in the same way, making the calculation of the collision distance easier.

[0118] Specifically, in order to decompose the lateral distance along the normal direction, it is necessary to know the deflection angle of the vehicle relative to the lane line to determine the normal direction. The deflection angle can be the angle between the tangent direction at the marking point of the lane line corresponding to the lateral distance and the driving direction of the vehicle.

[0119] In a specific implementation, when a two-dimensional coordinate system is established with the vehicle as the center, the deflection angle can be the angle between the tangent direction at the lane mark point and the vehicle's X-axis direction. C1 in the lane line equation represents the linear change rate of the lane line, so the angle between the tangent direction at the mark point and the X-axis direction can be directly calculated based on the linear change rate of the lane line.

[0120] As a specific example of the present invention, Figure 2 is a schematic diagram of a method for determining collision distance and time in a straight road scenario provided in an embodiment of the present invention. s1 is the lane line on the left side of the lane in the straight road scenario, L s1 is the lane line on the right side of the lane in the straight road scene. When the front corner point is the left corner point, the marking distance y(L1) from the center point O1 of the vehicle to the marking point P1 can be expressed as follows:

[0121] y(L1) == C0 + C1L1 + C2L1 2 + C3L1 3

[0122] Among them, L1 is the distance from the center of the rear axle O0 to the center of the front of the vehicle O1.

[0123] The distance L1 from the rear axle center O0 to the front center O1 can be the value of the horizontal coordinate of the identification point P1, and the identification distance y(L1) from the front center O1 of the vehicle to the identification point P1 can be the value of the vertical coordinate of the identification point P1, thereby obtaining the position coordinates of the identification point P1.

[0124] C1 in the lane line equation represents the linear rate of change of the lane edge, and the angle between the tangent direction of the identification point and the X-axis direction is the deviation angle θ1=atanC1.

[0125] The collision distance d1 can be expressed as follows:

[0126] d1=(y(L1)-0.5×L2)×cos(θ1)

[0127] Where L2 is the length of the rear axle of the vehicle, and half of the length of the rear axle is the distance from the center point of the front of the vehicle to the corner point of the front of the vehicle. Subtract the distance from the center point of the front of the vehicle to the corner point of the front of the vehicle from the marked distance to get the lateral distance from the corner point of the front of the vehicle to the marked point.

[0128] The distance from the front corner point to the marking point is multiplied by the cosine function of θ1, that is, the lateral distance can be decomposed according to the normal direction of the marking point, and the distance from the front corner point of the vehicle to the lane line along the normal direction of the lane line is obtained as the collision distance.

[0129] It can be seen that in the calculation process of the collision distance, the distance L1 from the rear axle center O0 to the front center O1 and the rear axle length L2 of the vehicle are both known parameters of the vehicle. The lane line equation is also pre-established, and the marked distance y (L1) from the front center O1 of the vehicle to the marked point P1 and the deflection angle θ1 can also be quickly obtained based on the lane line equation, so that the present invention can achieve a relatively simple and rapid determination of the collision distance, and the accuracy of the collision distance is relatively high.

[0130] Step 103, controlling the vehicle according to the collision distance.

[0131] After determining the collision distance, it is possible to determine whether the vehicle is at risk of hitting the lane line based on the collision distance. If the collision distance is significantly smaller, it can be considered that the vehicle may hit the lane line at this time, and the vehicle can be controlled to avoid the lane edge to improve vehicle driving safety.

[0132] The vehicle control method provided by the embodiment of the present invention determines the lateral distance between the front corner point and the lane line based on the position coordinates of the lane line and the front corner point of the vehicle; wherein the lateral distance is the distance from the front corner point to the lane line along the lateral axis of the vehicle; the collision distance of the front corner point is determined according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction at the marking point of the lane line corresponding to the lateral distance and the driving direction of the vehicle; the vehicle is controlled according to the collision distance. The collision distance can better express the risk of the vehicle colliding with the edge of the lane, and has high accuracy, and can be applied to both straight road scenes and curved road scenes to improve vehicle safety.

[0133] In one embodiment of the present invention, controlling the vehicle according to the collision distance includes:

[0134] S11, determining the collision time according to the collision distance;

[0135] S12, controlling the vehicle according to the collision distance and / or collision time.

[0136] In a specific implementation, after calculating the collision distance, the collision time can be further determined based on the collision distance, so that when determining whether to intervene in vehicle control, the collision distance and / or collision time can be comprehensively considered to analyze whether the vehicle has approached the lane line and / or whether the vehicle will soon touch the lane line, resulting in a collision risk. This can further improve the comprehensiveness of the collision risk analysis and further improve vehicle driving safety.

[0137] In one embodiment of the present invention, the collision distance and the collision time are determined, including:

[0138] S21, based on the vehicle speed, determining the speed of the vehicle in a first direction as the collision speed; wherein the first direction is the normal direction of the tangent line from the vehicle head corner point to the marking point;

[0139] S22, determining the collision time based on the collision distance and the collision speed.

[0140] In the prior art, when considering the risk of vehicle collision, the vehicle speed can usually be decomposed based on the horizontal axis and the vertical axis of the vehicle. The speed component in the horizontal axis direction is used as the collision speed. However, in most scenarios, the vehicle and the vehicle line are not parallel. At this time, both the speed component in the horizontal axis direction and the speed component in the vertical axis direction have speed components pointing to the lane line. Analyzing the risk of vehicle collision based only on the speed component in the horizontal axis direction is not accurate enough.

[0141] Therefore, in order to further improve the analysis accuracy of the collision time, the embodiment of the present invention can first collect the vehicle speed, and decompose the vehicle speed along the first direction to obtain the collision speed. The first direction can be the normal direction of the tangent line at the marking point pointed by the front corner point of the vehicle. By decomposing the vehicle speed along the normal direction, in the process of considering the vehicle collision risk, compared with decomposing the vehicle speed based on the horizontal axis and the vertical axis of the vehicle, the component of the vehicle speed pointing to the lane line can be more comprehensively considered, thereby further improving the calculation accuracy of the collision time.

[0142] When the collision distance and collision speed are known, the collision time can be directly determined based on the collision distance / collision speed.

[0143] In a specific implementation, in the process of determining the collision speed, the vehicle speed can be decomposed along the direction parallel to the vehicle's transverse axis to obtain the speed component parallel to the vehicle's transverse axis, i.e., the transverse speed. At the same time, the vehicle speed can be decomposed along the direction perpendicular to the vehicle's transverse axis to obtain the speed component perpendicular to the vehicle's transverse axis, i.e., the longitudinal speed. Thereafter, the speed components along the first direction in the transverse speed and the longitudinal speed are analyzed to obtain the collision speed in a comprehensive manner.

[0144] As a specific example of the present invention, the collision speed V1 can be calculated in the following way:

[0145] V1 = V x × sin(θ1) + V y × cos(θ1)

[0146] Among them, V x is the velocity in the X-axis direction, i.e. the longitudinal velocity, V y is the velocity in the Y-axis direction, i.e. the lateral velocity. θ1 is the deviation angle of the vehicle relative to the lane line.

[0147] The collision time TTC1 is calculated as:

[0148] TTC1= d1 / V1

[0149] Among them, d1 is the collision distance and V1 is the collision speed.

[0150] As a specific example of an embodiment of the present invention, Figure 3 is a schematic diagram of a method for determining collision distance and time in a curve scenario provided in an embodiment of the present invention. c1 is the lane line on the left side of the lane in the curve scene, L c2 It is the lane line on the right side of the lane in the curve scene. When the front corner point is the left corner point, the calculation method of the collision distance and collision time in the curve scene is:

[0151] The marking distance y(L1) from the center point O1 of the vehicle's front to the marking point P1 can be expressed as follows:

[0152] y(L1) == C0 + C1L1 + C2L1 2 + C3L1 3

[0153] Among them, L1 is the distance from the center of the rear axle O0 to the center of the front of the vehicle O1.

[0154] The collision distance d1 can be expressed as follows:

[0155] d1= (y(L1)-0.5 × L2) × cos(θ1)

[0156] Among them, L2 is the length of the rear axle of the vehicle, and half of the length of the rear axle is the distance from the center point of the vehicle to the corner point of the vehicle. Subtract the distance from the center point of the vehicle to the corner point of the vehicle from the marked distance to obtain the distance from the corner point of the vehicle to the marked point. θ1 is the angle between the tangent direction of the marked point and the X-axis direction. In actual situations, C1 in the lane line equation represents the linear rate of change of the lane edge, so the angle θ1=atanC1 between the tangent direction of the marked point and the X-axis direction. The distance from the corner point of the vehicle to the marked point is multiplied by the cosine function of θ1, that is, the distance from the corner point of the vehicle to the marked point can be quickly decomposed along the normal direction of the marked point, and the distance from the corner point of the vehicle to the edge of the lane along the normal direction of the lane edge is obtained as the collision distance.

[0157] The collision velocity V1 can be calculated as follows:

[0158] V1 = V x × sin(θ1) + V y × cos(θ1)

[0159] Among them, V x is the speed in the X-axis direction, V y is the speed in the Y-axis direction.

[0160] Thereafter, the collision time TTC1 is calculated as:

[0161] TTC1= d1 / V1

[0162] It can be seen that the calculation method of the collision distance and collision time in the curved scene is exactly the same as that in the straight scene, and both can calculate relatively accurate collision distance and collision time.

[0163] In one embodiment of the present invention, the collision distance includes a first collision distance, and the collision time includes a first collision time;

[0164] Control of the vehicle based on the distance and / or time of impact, including:

[0165] S31, based on a preset first preview time and a current speed of the vehicle, predicting a first preview position of the vehicle after the vehicle maintains the current speed and current driving direction and travels in a straight line for the first preview time;

[0166] Specifically, in the embodiment of the present invention, in order to better judge the collision risk, it is possible to further predict the position that the vehicle may reach in the future and judge whether the vehicle may collide in the future.

[0167] Thus, a first preview time can be preset to predict the position that the vehicle may reach after the first preview time. The first preview time can be determined according to actual needs, and the present invention does not limit this.

[0168] Generally speaking, if the driver unintentionally deviates from the lane, the vehicle can usually maintain the current speed and the current driving direction and drive straight. It can be assumed that the vehicle maintains the current speed and the current driving direction and drives straight, and the first preview position of the vehicle after the first preview time is predicted.

[0169] In a specific implementation, any point in the vehicle can be selected, and the position of the point after the first preview time can be determined as the first preview position. Since the size of the vehicle is known, based on the first preview position of the point after the first preview time, the position of any point on the vehicle after the first preview time can be known.

[0170] S32, determining a first lateral distance between a front corner of the vehicle and the lane line and a first deviation angle of the vehicle relative to the lane line after the first preview time based on the lane line and a first preview position of the vehicle after the first preview time;

[0171] S33, determining a first collision distance of the front corner point of the vehicle according to the first lateral distance and the first deflection angle;

[0172] Afterwards, the position of the vehicle's front corner after the first preview time can be determined based on the first preview position, and the first lateral distance and the first deflection angle can be further calculated based on the lane line and the position of the vehicle's front corner after the first preview time. The first collision distance of the vehicle's front corner after the first preview time is further analyzed based on the first lateral distance and the first deflection angle to determine whether the vehicle has a collision risk after the first preview time.

[0173] As a specific example of the present invention, Figure 4 Schematic diagram of a first preview collision distance and time determination method provided in an embodiment of the present invention. A two-dimensional coordinate system is constructed with the vehicle base point at the current moment as the origin, the longitudinal axis direction of the vehicle at the current moment as the X-axis direction, and the horizontal axis direction of the vehicle at the current moment as the Y-axis direction. Assuming that the vehicle maintains the current speed V x The vehicle travels in a straight line at a constant speed in the current driving direction for the first preview time T0 to reach the first preview position, and the first preview position is L3 away from the current position. The front corner point extends along the horizontal axis of the vehicle to the lane line at the first preview position to obtain a marking point P2 located on the lane line.

[0174] The first marking distance y(L1+L3) from the center of the vehicle head O2 to the marking point P2 at the first preview position, that is, the ordinate of the marking point P2 can be expressed as:

[0175] y(L1+L3) = C0+ C1(L1+L3) + C2(L1+L3) 2 + C3 (L1+L3) 3

[0176] Among them, C0, C1, C2, and C3 are constants, which can be adjusted during the fitting process so that the lane line equation can fit the lane edge line with higher accuracy. L1 is the distance from the rear axle center O0 to the center point O1 of the front of the vehicle at the current moment.

[0177] The first preview collision distance d2 can be expressed as:

[0178] d2= (y (L1+L3)- 1 / 2 × L2) × cos (θ2)

[0179] Wherein, L2 is the length of the rear axle of the vehicle, and half of the length of the rear axle is the distance from the center point of the vehicle head to the corner point of the vehicle head. Subtract the distance from the center point of the vehicle head to the corner point of the vehicle head from the first marked distance y (L1+L3) to obtain the first lateral distance from the corner point of the vehicle head to the marked point P2 at the first preview position.

[0180] θ2 is the angle between the tangent direction of the marked point P2 and the vehicle's driving direction after the first preview time, that is, the first deflection angle, which can be expressed as:

[0181] θ2 = atan [y' (L1 + L3)]

[0182] Among them, atan is the inverse tangent function, y'(L1+L3) is the derivative of the lane line equation at the marking point P2, which represents the tangent slope at the marking point P2.

[0183] S34, determining a first collision time according to the first collision distance;

[0184] After determining the first collision distance, the speed at which the vehicle's front corner points point to the normal of the lane line after the first preview time can be further determined based on the current vehicle speed as the first collision speed. The first collision time is determined according to the first collision distance and the first collision speed.

[0185] As a specific example of the present invention, the first preview speed V2 is:

[0186] V2 = V x × sin(θ2) + V y × cos(θ2)

[0187] The first preview collision time TTC2 is:

[0188] TTC2= DTC2 / V2

[0189] Among them, V x is the component of the vehicle's current speed perpendicular to the vehicle's horizontal axis, i.e., the longitudinal speed, V y It is the velocity component of the vehicle's current speed parallel to the vehicle's transverse axis, that is, the lateral velocity.

[0190] S35: Control the vehicle according to the first collision distance and / or the first collision time.

[0191] In a specific implementation, the first collision distance and / or the first collision time can be comprehensively considered to analyze whether the vehicle has approached the lane line after the first preview time, and / or whether the vehicle touches the lane line soon after the first preview time, resulting in a collision risk. By considering the collision risk at a future moment, the vehicle collision risk can be more comprehensively predicted, further improving the vehicle driving safety.

[0192] In one embodiment of the present invention, the collision distance includes a second collision distance, and the collision time includes a second collision time;

[0193] Control of the vehicle based on the distance and / or time of impact, including:

[0194] S41, based on a preset second preview time and the current speed of the vehicle, predicting a second preview position of the vehicle after the vehicle maintains the current speed and the current turning radius and travels in a circle for the second preview time;

[0195] Specifically, in the embodiment of the present invention, in order to better judge the collision risk, it is possible to further predict the position that the vehicle may reach in the future and judge whether the vehicle may collide in the future.

[0196] Thus, a second preview time can be preset to predict the position that the vehicle may reach after the second preview time. Wherein, the second preview time can be determined according to actual needs, and the present invention does not limit this.

[0197] Generally speaking, in a curved road scenario, if the driver consciously deviates from the lane, the vehicle can usually maintain uniform circular motion. It can be assumed that the vehicle maintains the current speed and current turning radius to perform uniform circular motion, and the second preview position of the vehicle after the second preview time is predicted.

[0198] In a specific implementation, any point in the vehicle can be selected, and the position of the point after the second preview time is determined as the second preview position. Since the size of the vehicle is known, based on the second preview position of the point after the second preview time, the position of any point on the vehicle after the second preview time can be known.

[0199] S42, determining a second lateral distance between a front corner of the vehicle and the lane line and a second deviation angle of the vehicle relative to the lane line after the second preview time based on the lane line and a second preview position of the vehicle after the second preview time;

[0200] S43, determining a second collision distance of the vehicle front corner point according to the second lateral distance and the second deflection angle;

[0201] Thereafter, the position of the vehicle's front corner after the second preview time can be determined based on the second preview position, and the second lateral distance and the second deflection angle can be further calculated based on the lane line and the position of the vehicle's front corner after the second preview time. The second collision distance of the vehicle's front corner after the second preview time can be further analyzed based on the second lateral distance and the second deflection angle to determine whether the vehicle has a collision risk after the second preview time.

[0202] As a specific example of the present invention, Figure 5 4 is a schematic diagram of a second preview collision distance and time determination method provided in an embodiment of the present invention. Figure 6 It is a schematic diagram of a vehicle performing uniform circular motion provided in an embodiment of the present invention.

[0203] A two-dimensional coordinate system is constructed with the vehicle base point at the current moment as the origin, the vehicle longitudinal axis direction at the current moment as the X-axis direction, and the vehicle transverse axis direction at the current moment as the Y-axis direction. Assume that the vehicle will move approximately in uniform circular motion at the future moment, the vehicle base point is the vehicle center of mass, and the vehicle moves from the current position at a speed V c The second preview time T1 of the uniform circular motion reaches the second preview position. Knowing that the turning radius of the vehicle is R, we can get:

[0204] Vehicle rotation angular velocity Ω=V c / R;

[0205] Vehicle rotation angle α = Ω × T1;

[0206] The longitudinal distance between the vehicle's current position and the second preview position is L4 = L BC = R × sinα;

[0207] The lateral distance between the vehicle's current position and the second preview position is L6 = L CD = R − R × cosα;

[0208] The longitudinal distance L5 between the second preview position and the corner point of the vehicle head is L9× cos(α+β); wherein L9 is the straight-line distance between the second preview position and the corner point of the vehicle head, and β is the angle between the straight-line distance L9 and the left side of the vehicle;

[0209] The lateral distance between the second preview position and the front corner point is L7 = L9 × sin (α + β);

[0210] The second lateral distance L8 from the front corner to the lane edge = y(L4+L5) - L7- L6; wherein y(L4+L5) is the ordinate of the identification point P2 calculated based on the lane line equation.

[0211] The second preview collision distance D2 = L8 × cos(θ2)

[0212] Among them, θ2 is the angle between the tangent direction of the mark point P2 and the direction of the vehicle's front face θ2 = atan [y' (L4 + L5)]

[0213] Among them, atan is the inverse tangent function, and y'(L4+L5) is the derivative of the lane line equation at the marking point P2, which represents the tangent slope at the marking point P2.

[0214] S44, determining a second collision time according to the second collision distance;

[0215] After determining the second collision distance, the speed at which the vehicle's front corner points point to the normal of the lane line after the second preview time can be further determined based on the current vehicle speed as the second collision speed. The second collision time can be determined based on the second collision distance and the second collision speed.

[0216] As a specific example of the present invention, the second preview speed V2 is:

[0217] V2 = V x × sin(θ2) + V y × cos(θ2)

[0218] The second preview collision time TTC2 is:

[0219] TTC2= DTC2 / V2

[0220] Among them, V x is the component of the vehicle's current speed perpendicular to the vehicle's horizontal axis, i.e., the longitudinal speed, V y It is the velocity component of the vehicle's current speed parallel to the vehicle's transverse axis, that is, the lateral velocity.

[0221] S45: Control the vehicle according to the second collision distance and / or the second collision time.

[0222] In a specific implementation, the second collision distance and / or the second collision time can be comprehensively considered to analyze whether the vehicle has approached the lane line after the second preview time, and / or whether the vehicle touches the lane line soon after the second preview time, resulting in a collision risk. By considering the collision risk at a future moment, the vehicle collision risk can be more comprehensively predicted, further improving vehicle driving safety.

[0223] In one embodiment of the present invention, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0224] S51, controlling the vehicle to avoid the lane edge according to the current collision distance and the first collision distance, and / or according to the current collision time and the first collision time.

[0225] In a specific implementation, after calculating the collision distance and collision time at the current moment, and the first collision distance and first collision time after the first preview time, in addition to judging whether the vehicle has a collision risk based on the collision distance, collision time, first collision distance, and first collision time, the collision distance at the current moment can be further compared with the first collision distance, and / or the collision time at the current moment can be compared with the first collision time to determine whether it is necessary to control the vehicle to avoid the lane edge.

[0226] Specifically, if the first collision distance is smaller than the collision distance at the current moment or the first collision time is smaller than the collision time at the current moment, it can be considered that the vehicle is approaching the lane edge at this time. In order to avoid the vehicle touching the lane line, the vehicle can be controlled to avoid the lane edge, thereby further improving the vehicle driving safety.

[0227] In one embodiment of the present invention, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0228] S61, controlling the vehicle to avoid the lane edge according to the current collision distance and the second collision distance, and / or according to the current collision time and the second collision time.

[0229] In a specific implementation, after calculating the collision distance and collision time at the current moment, and the second collision distance and second collision time after the second preview time, in addition to judging whether the vehicle has a collision risk based on the collision distance, collision time, second collision distance, and second collision time, the collision distance at the current moment can be further compared with the second collision distance, and / or the collision time at the current moment and the second collision time can be compared to determine whether the vehicle needs to be controlled to avoid the lane edge.

[0230] Specifically, if the second collision distance is smaller than the collision distance at the current moment or the second collision time is smaller than the collision time at the current moment, it can be considered that the vehicle is approaching the lane edge at this time. In order to avoid the vehicle touching the lane line, the vehicle can be controlled to avoid the lane edge, thereby further improving the vehicle driving safety.

[0231] In one embodiment of the present invention, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0232] S71, if the collision distance and / or the collision time satisfies a preset avoidance condition, determining at least one deviation control position located on the center line of the lane based on at least one preset deviation control time and a current speed of the vehicle;

[0233] In a specific implementation, when the collision distance and / or collision time controls the vehicle to avoid the lane edge, the vehicle can usually be controlled to turn in a direction away from the lane edge so that the vehicle is away from the lane edge. This method can usually control the vehicle to perform the avoidance function under the condition that the future position of the vehicle is close to the center line of the lane.

[0234] As a specific example of the present invention, Figure 7It is a schematic diagram of a lane departure control method provided in an embodiment of the present invention. The vehicle can first determine whether it is necessary to activate the lane edge avoidance function based on any one of the collision distance, collision time, first preview collision distance, first preview collision time, second preview collision distance, and second preview collision time. If the lane edge avoidance function needs to be activated, the emergency deviation control process is entered at this time. The vehicle executes the lane edge avoidance function to move it away from the edge of the road. If the distance deviation d between the center of mass of the vehicle and the center line of the lane is less than 0.4m, and the heading angle deviation θ is less than 0.6° and stabilized for 0.5s, the lane edge avoidance function is exited to complete the emergency deviation correction.

[0235] As a specific example of the present invention, it can be set that when the collision time TTC1 is less than or equal to the trigger threshold T1, the first preview collision time or the second preview collision time TTC2 is less than or equal to the trigger threshold T2, the vehicle is controlled to perform the lane edge avoidance function, where T2=T1-T0.

[0236] Specifically, the trigger threshold T1 can be set to 0.7s, and the preview time T0 can be set to 0.2s (calibrated according to actual working conditions), that is, TTC1 is less than or equal to 0.7s or TTC2 is less than or equal to 0.5s, to control the vehicle to perform the lane edge avoidance function.

[0237] The collision distance d1 is less than or equal to the trigger threshold D1, and the first preview collision distance or the second preview collision distance d2 is less than or equal to the trigger threshold D2, and the vehicle is controlled to perform the lane edge avoidance function.

[0238] Where D2 = D1-D0. Set the trigger threshold D1 to 0.3m and D0 to 0.1m (calibrated according to actual working conditions), that is, d1 is less than or equal to 0.3m or d2 is less than or equal to 0.2m, and control the vehicle to perform the lane edge avoidance function.

[0239] By using a deviation control position located on the center line of the lane, the lane edge can be avoided, improving vehicle driving safety.

[0240] Optionally, multiple deviation control positions may be further set on the lane centerline, and the vehicle may be controlled based on the deviation control positions to further improve the accuracy of the avoidance function and improve the comfort of the passengers.

[0241] Specifically, the vehicle can first determine whether the collision distance and / or collision time meets the preset avoidance condition to determine whether the avoidance function needs to be activated at present. Among them, any one of the collision distance, collision time, first preview collision distance, first preview collision time, second preview collision distance, and second preview collision time can meet its corresponding avoidance condition. It can also be comparing the collision distance at the current moment with the first collision distance, comparing the collision time at the current moment with the first collision time, comparing the collision distance at the current moment with the second collision distance, comparing the collision time at the current moment with the second collision time, and any one of the comparison results meets the corresponding avoidance condition. The present invention is not limited to this.

[0242] The avoidance condition may be to set a threshold value to determine whether any one of the collision distance, collision time, first preview collision distance, first preview collision time, second preview collision distance, and second preview collision time satisfies its corresponding threshold value. The avoidance condition may also be to compare the collision distance at the current moment with the first collision distance, the collision time at the current moment with the first collision time, the collision distance at the current moment with the second collision distance, and the collision time at the current moment with the second collision time, and any one of the comparison results satisfies the corresponding threshold value.

[0243] In order to improve the accuracy of vehicle deviation correction, the center of mass of the vehicle can be used as a reference point, and at least one deviation control position located on the center line of the lane can be selected for deviation correction. Specifically, at least one deviation control time can be pre-set. If there is no less than one deviation control time, the deviation control times are set differently. Assuming that the vehicle continues to travel at a constant speed and the center of mass of the vehicle is located on the center line of the lane, the position that the center of mass of the vehicle can reach is calculated to obtain at least one deviation control position located on the center line of the lane.

[0244] S72, respectively determining a heading angle deviation and / or a distance deviation of the center of mass of the vehicle relative to the deviation control position; wherein the distance deviation is a distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle; and the heading angle deviation is an angle between a center line of the vehicle at the deviation control position and a driving direction of the vehicle;

[0245] Thereafter, in order to determine the torque compensation of the vehicle, the heading angle deviation and / or distance deviation of the center of mass of the vehicle relative to the deviation control position may be further calculated.

[0246] The distance deviation may be the distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle, which represents the distance that the vehicle deviates from the center line of the lane in the transverse direction at a certain moment in the future.

[0247] The heading angle deviation is the angle between the center line of the vehicle at the deviation control position and the direction of the vehicle's travel. It represents the deviation between the vehicle's travel direction and the direction pointed by the center line of the vehicle at a certain moment in the future.

[0248] Thus, the degree of deviation of the vehicle from the lane centerline during at least one deviation control time can be known, and torque compensation can be applied to the vehicle so that the vehicle can get closer to the lane centerline.

[0249] S73, determining a first torque compensation based on a mean value of the heading angle deviation, and / or determining a second torque compensation based on a mean value of the distance deviation;

[0250] In a specific implementation, in order to prevent the vehicle's avoidance function from being executed too aggressively, the torque compensation for the vehicle can be determined based on the mean of the heading angle deviation and / or the mean of the distance deviation, so that the vehicle can gradually approach the vehicle centerline relatively smoothly, thereby improving the ride comfort of the vehicle.

[0251] Specifically, the first torque compensation may be determined based on the mean value of the heading angle deviation, and / or the second torque compensation may be determined based on the mean value of the distance deviation, so that different torque compensations may be obtained based on the mean value of the heading angle deviation and the mean value of the distance deviation.

[0252] S74: Adjust the current torque of the vehicle based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

[0253] Thereafter, the current torque of the vehicle may be adjusted with comprehensive consideration of the first torque compensation and / or the second torque compensation, so that the vehicle avoids the lane edge, and the vehicle avoidance process may be relatively smooth.

[0254] As a specific example of the present invention, Figure 8 Schematic diagram of a method for determining a heading angle deviation and a distance deviation provided in an embodiment of the present invention.

[0255] The vehicle center of mass is taken as the vehicle base point, and the distance deviation d and the heading angle deviation θ from the vehicle center of mass to the lane centerline are determined. Taking the vehicle's current position as the reference, the deviation control position that the vehicle can reach at three different deviation control moments is determined, and three deviation control positions are obtained.

[0256] Specifically, the deviation control positions P1, P2, and P3 are respectively the current position of the vehicle along the center line of the lane at a uniform speed V x Move the position of the deviation control time t1, t2, t3 (calibrated according to the actual working conditions). At the i-th moment, the distance deviation from the center of mass of the vehicle to the deviation control position P1, P2, P3 is d1(i), d2(i), d3(i), and the heading angle deviation is θ1(i), θ2(i), θ3(i).

[0257] The distance deviations of P1, P2, and P3 are averaged, and the heading deviations of P1, P2, and P3 are averaged at the same time to reduce the impact of sudden changes in the distance deviation or heading deviation of the target trajectory.

[0258] First torque compensation T a It can be expressed as:

[0259] d(i) = (d1(i)+d2(i)+d3(i)) / 3, i=0...t-1, t

[0260] T a =K p ×d(t) + K i ×(d(0)+...+d(t-1)+d(t)) + K d ×(d(t)-d(t-1))

[0261] K p , K i , K d They are the proportional gain coefficient, integral gain coefficient, and differential gain coefficient of the distance deviation controller;

[0262] Second torque compensation T b It can be expressed as:

[0263] θ(i) = (θ1(i)+θ2(i)+θ3(i)) / 3, i = 0...t-1,t

[0264] T b =K ph ×θ(t) + K ih ×(θ(0)+...+θ(t-1)+θ(t)) + K dh ×(θ(t)-θ(t-1))

[0265] K ph , K ih , K dh They are the proportional gain coefficient, integral gain coefficient and differential gain coefficient of the heading deviation controller respectively.

[0266] Thereafter, the current torque of the vehicle may be adjusted based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

[0267] If the current scene is a curve, the weights of the first torque compensation and the second torque compensation can be divided according to the lane line curvature to obtain a comprehensive torque compensation T, which can be expressed as:

[0268] T = (1-k1 / R)T a+ (1+k2 / R)T b

[0269] Among them, k1 and k2 are calibration quantities, and R is the turning radius of the road.

[0270] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0271] Reference Fig. 9 , shows a structural block diagram of a collision distance determination device provided in an embodiment of the present invention, which may specifically include the following modules:

[0272] A lateral distance determination module 901 is used to determine the lateral distance between the front corner point of the vehicle and the lane line based on the position coordinates of the lane line and the front corner point of the vehicle; wherein the lateral distance is the distance from the front corner point to the lane line along the transverse axis of the vehicle;

[0273] A collision distance determination module 902 is used to determine the collision distance of the front corner point of the vehicle according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction of the lateral distance at the marking point of the lane line and the driving direction of the vehicle;

[0274] The vehicle control module 903 is used to control the vehicle according to the collision distance.

[0275] Optionally, the vehicle control module includes:

[0276] A collision time determination submodule, used to determine the collision time according to the collision distance;

[0277] The vehicle control submodule is used to control the vehicle according to the collision distance and / or the collision time.

[0278] Optionally, the collision time determination submodule includes:

[0279] A collision speed determination unit, configured to determine, based on the vehicle speed, the speed of the vehicle in a first direction as the collision speed; wherein the first direction is the normal direction of the tangent line from the vehicle head corner point to the marking point;

[0280] The collision time determination unit is used to determine the collision time based on the collision distance and the collision speed.

[0281] Optionally, the collision speed includes a lateral speed and a longitudinal speed, respectively, along the first direction; wherein the lateral speed is the speed component of the vehicle parallel to the direction of the vehicle's transverse axis, and the longitudinal speed is the speed component of the vehicle perpendicular to the direction of the vehicle's transverse axis.

[0282] Optionally, the collision distance includes a first collision distance, and the collision time includes a first collision time;

[0283] The vehicle control submodule comprises:

[0284] A first preview position prediction unit, configured to predict, based on a preset first preview time and a current vehicle speed, a first preview position of the vehicle after the vehicle maintains the current vehicle speed and drives in a straight line in the current driving direction for a first preview time;

[0285] A first deflection angle determination unit is used to determine, based on the lane line and a first preview position of the vehicle after the first preview time, a first lateral distance between the vehicle head corner point and the lane line and a first deflection angle of the vehicle relative to the lane line after the first preview time;

[0286] A first collision distance determining unit, configured to determine a first collision distance of the vehicle head corner point according to the first lateral distance and the first deflection angle;

[0287] a first collision time determining unit, configured to determine a first collision time according to the first collision distance;

[0288] The first vehicle control subunit is used to control the vehicle according to the first collision distance and / or the first collision time.

[0289] Optionally, the collision distance includes a second collision distance, and the collision time includes a second collision time;

[0290] The vehicle control submodule comprises:

[0291] A second preview position prediction unit, configured to predict, based on a preset second preview time and a current speed of the vehicle, a second preview position of the vehicle after the vehicle maintains the current speed and the current turning radius for a second preview time;

[0292] A second deflection angle determination unit is used to determine, based on the lane line and a second preview position of the vehicle after a second preview time, a second lateral distance between the vehicle head corner point and the lane line and a second deflection angle of the vehicle relative to the lane line after a second preview time;

[0293] A second collision distance determining unit, configured to determine a second collision distance of the vehicle head corner point according to the second lateral distance and the second deflection angle;

[0294] a second collision time determining unit, configured to determine a second collision time according to the second collision distance;

[0295] A second vehicle control unit is used to control the vehicle according to the second collision distance and / or the second collision time.

[0296] Optionally, the lane line is a straight line or a curve.

[0297] Optionally, the vehicle control submodule includes:

[0298] The first avoidance unit is used to control the vehicle to avoid the lane edge according to the collision distance at a current moment and the first collision distance, and / or according to the collision time at a current moment and the first collision time.

[0299] Optionally, the vehicle control submodule includes:

[0300] The second avoidance unit is used to control the vehicle to avoid the lane edge according to the collision distance at a current moment and the second collision distance, and / or according to the collision time at a current moment and the second collision time.

[0301] Optionally, the vehicle control submodule includes:

[0302] a deviation control position determining unit, configured to determine at least one deviation control position located on a lane centerline based on at least one preset deviation control time and a current vehicle speed of the vehicle if the collision distance and / or the collision time satisfies a preset avoidance condition;

[0303] a deviation determination unit, for respectively determining a heading angle deviation and / or a distance deviation of the center of mass of the vehicle relative to the deviation control position; wherein the distance deviation is a distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle; and the heading angle deviation is an angle between the center line of the vehicle at the deviation control position and the driving direction of the vehicle;

[0304] a compensation unit, configured to determine a first torque compensation based on a mean value of the heading angle deviation, and / or to determine a second torque compensation based on a mean value of the distance deviation;

[0305] The third avoidance unit is used to adjust the current torque of the vehicle based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

[0306] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0307] In addition, an embodiment of the present invention further provides a vehicle, such as Fig.10 As shown, it includes a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002, and the memory 1003 communicate with each other through the communication bus 1004.

[0308] Memory 1003, used for storing computer programs;

[0309] The processor 1001 is used to execute the program stored in the memory 1003, and implements the following steps:

[0310] Based on the position coordinates of the lane line and the front corner point of the vehicle, determine the lateral distance between the front corner point and the lane line; wherein the lateral distance is the distance from the front corner point to the lane line along the transverse axis direction of the vehicle;

[0311] Determine the collision distance of the front corner point according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction of the lateral distance at the marking point of the lane line and the driving direction of the vehicle;

[0312] The vehicle is controlled according to the collision distance.

[0313] Optionally, the collision distance, and controlling the vehicle, comprises:

[0314] determining a collision time according to the collision distance;

[0315] The vehicle is controlled according to the collision distance and / or the collision time.

[0316] Optionally, the collision distance and the collision time are determined by:

[0317] Based on the vehicle speed, determine the speed of the vehicle in a first direction as the collision speed; wherein the first direction is the normal direction of the tangent line from the vehicle head corner point to the marking point;

[0318] A collision time is determined based on the collision distance and the collision speed.

[0319] Optionally, the collision speed includes a lateral speed and a longitudinal speed, respectively, along the first direction; wherein the lateral speed is the speed component of the vehicle parallel to the direction of the vehicle's transverse axis, and the longitudinal speed is the speed component of the vehicle perpendicular to the direction of the vehicle's transverse axis.

[0320] Optionally, the collision distance includes a first collision distance, and the collision time includes a first collision time;

[0321] The controlling the vehicle according to the collision distance and / or the collision time comprises:

[0322] Based on a preset first preview time and the current speed of the vehicle, predicting a first preview position of the vehicle after the vehicle maintains the current speed and current driving direction and travels straight for the first preview time;

[0323] Based on the lane line and a first preview position of the vehicle after a first preview time, determining a first lateral distance between the vehicle head corner point and the lane line and a first deviation angle of the vehicle relative to the lane line after the first preview time;

[0324] Determining a first collision distance of the vehicle front corner point according to the first lateral distance and the first deflection angle;

[0325] determining a first collision time according to the first collision distance;

[0326] The vehicle is controlled according to the first collision distance and / or the first collision time.

[0327] Optionally, the collision distance includes a second collision distance, and the collision time includes a second collision time;

[0328] The controlling the vehicle according to the collision distance and / or the collision time comprises:

[0329] Based on a preset second preview time and the current speed of the vehicle, predicting a second preview position of the vehicle after the vehicle maintains the current speed and the current turning radius to travel in a circle for the second preview time;

[0330] Determine, based on the lane line and a second preview position of the vehicle after the second preview time, a second lateral distance between the vehicle head corner point and the lane line and a second deviation angle of the vehicle relative to the lane line after the second preview time;

[0331] Determining a second collision distance of the vehicle front corner point according to the second lateral distance and the second deflection angle;

[0332] determining a second collision time according to the second collision distance;

[0333] The vehicle is controlled according to the second collision distance and / or the second collision time.

[0334] Optionally, the lane line is a straight line or a curve.

[0335] Optionally, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0336] The vehicle is controlled to avoid a lane edge according to a collision distance at a current moment and the first collision distance, and / or according to a collision time at a current moment and the first collision time.

[0337] Optionally, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0338] The vehicle is controlled to avoid a lane edge according to a collision distance at a current moment and the second collision distance, and / or according to a collision time at a current moment and the second collision time.

[0339] Optionally, the step of controlling the vehicle according to the collision distance and / or the collision time includes:

[0340] If the collision distance and / or the collision time satisfies a preset avoidance condition, determining at least one deviation control position located on the center line of the lane based on at least one preset deviation control time and the current speed of the vehicle;

[0341] Determine respectively the heading angle deviation and / or distance deviation of the center of mass of the vehicle relative to the deviation control position; wherein the distance deviation is the distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle; the heading angle deviation is the angle between the center line of the vehicle at the deviation control position and the driving direction of the vehicle;

[0342] Determine a first torque compensation based on a mean value of the heading angle deviation, and / or determine a second torque compensation based on a mean value of the distance deviation;

[0343] The current torque of the vehicle is adjusted based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

[0344] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0345] The communication interface is used for communication between the above terminal and other devices.

[0346] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0347] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0348] like Fig.11 As shown, in another embodiment provided by the present invention, a computer-readable storage medium 1101 is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the vehicle control method described in the above embodiment.

[0349] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the vehicle control method described in the above embodiment.

[0350] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0351] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0352] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0353] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Based on the position coordinates of the lane line and the front corner point of the vehicle, determine the lateral distance between the front corner point and the lane line; wherein the lateral distance is the distance from the front corner point to the lane line along the transverse axis direction of the vehicle; Determine the collision distance of the front corner point according to the lateral distance and the deflection angle of the vehicle relative to the lane line, wherein the deflection angle is the angle between the tangent direction of the lateral distance at the marking point of the lane line and the driving direction of the vehicle; the collision distance includes a first collision distance or a second collision distance; controlling the vehicle according to the collision distance; The first collision distance is determined by: Based on a preset first preview time and the current speed of the vehicle, predicting a first preview position of the vehicle after the vehicle maintains the current speed and current driving direction and travels straight for the first preview time; Based on the lane line and a first preview position of the vehicle after the first preview time, determining a first lateral distance between the vehicle head corner point and the lane line and a first deviation angle of the vehicle relative to the lane line after the first preview time; Determining a first collision distance of the vehicle front corner point according to the first lateral distance and the first deflection angle; The second collision distance is determined by: Based on a preset second preview time and the current speed of the vehicle, predicting a second preview position of the vehicle after the vehicle maintains the current speed and the current turning radius and travels in a circle for the second preview time; Determine, based on the lane line and a second preview position of the vehicle after the second preview time, a second lateral distance between the vehicle head corner point and the lane line and a second deviation angle of the vehicle relative to the lane line after the second preview time; A second collision distance of the vehicle front corner point is determined according to the second lateral distance and the second deflection angle.

2. The method according to claim 1, characterized in that The collision distance, and controlling the vehicle, comprises: determining a collision time according to the collision distance; The vehicle is controlled according to the collision distance and / or the collision time.

3. The method according to claim 2, characterized in that The collision distance determines the collision time, including: Based on the vehicle speed, determine the speed of the vehicle in a first direction as the collision speed; wherein the first direction is the normal direction of the tangent line from the vehicle head corner point to the marking point; A collision time is determined based on the collision distance and the collision speed.

4. The method according to claim 3, characterized in that The collision speed includes a lateral speed and a longitudinal speed along the first direction, respectively; wherein the lateral speed is the speed component of the vehicle parallel to the vehicle's transverse axis, and the longitudinal speed is the speed component of the vehicle perpendicular to the vehicle's transverse axis.

5. The method according to claim 2, characterized in that: The collision time includes a first collision time; The step of controlling the vehicle according to the collision distance and / or the collision time includes: determining a first collision time according to the first collision distance; The vehicle is controlled according to the first collision distance and / or the first collision time.

6. The method according to claim 2, characterized in that The collision time includes a second collision time; The step of controlling the vehicle according to the collision distance and / or the collision time includes: determining a second collision time according to the second collision distance; The vehicle is controlled according to the second collision distance and / or the second collision time.

7. The method according to any one of claims 1 to 6, characterized in that: The lane line is a straight line or a curve.

8. The method according to claim 5, characterized in that The step of controlling the vehicle according to the collision distance and / or the collision time comprises: The vehicle is controlled to avoid a lane edge according to a collision distance at a current moment and the first collision distance, and / or according to a collision time at a current moment and the first collision time.

9. The method according to claim 6, characterized in that The step of controlling the vehicle according to the collision distance and / or the collision time comprises: The vehicle is controlled to avoid a lane edge according to a collision distance at a current moment and the second collision distance, and / or according to a collision time at a current moment and the second collision time.

10. The method according to claim 2, characterized in that The step of controlling the vehicle according to the collision distance and / or the collision time comprises: If the collision distance and / or the collision time satisfies a preset avoidance condition, determining at least one deviation control position located on the center line of the lane based on at least one preset deviation control time and the current speed of the vehicle; Determine respectively the heading angle deviation and / or distance deviation of the center of mass of the vehicle relative to the deviation control position; wherein the distance deviation is the distance difference between the center of mass and the deviation control position in a direction parallel to the transverse axis of the vehicle; the heading angle deviation is the angle between the center line of the vehicle at the deviation control position and the driving direction of the vehicle; Determine a first torque compensation based on a mean value of the heading angle deviation, and / or determine a second torque compensation based on a mean value of the distance deviation; The current torque of the vehicle is adjusted based on the first torque compensation and / or the second torque compensation so that the vehicle avoids the lane edge.

11. A vehicle, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 10 when executing the program stored in the memory.

12. A computer-readable medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 10.

13. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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