Vehicle control method, device and equipment and vehicle

Abstract

The invention relates to the technical field of vehicle automatic control, and relates to a vehicle control method, device and equipment and a vehicle, and the method comprises the steps: when a preset parameter meets a preset threshold value, calculating a reference preview distance in front of the vehicle according to a current vehicle speed and preset preview time; according to the standard preview distance determined by the reference preview distance and the effective distances corresponding to the left lane line and the right lane line of the current lane and the obtained lane line parameters of the left lane line and the right lane line, respectively calculating the transverse offsets of the vehicle with the left lane line and the right lane line when the vehicle is in the standard preview distance by respectively utilizing a lane line curve equation; according to the transverse offset of the left and right lane lines, the vehicle width and the current road environment, determining a lane changing target direction and whether the vehicle meets lane changing conditions or not; and when the lane changing conditions are met, the vehicle is controlled to advance towards the lane changing target direction according to the planned lane changing track, and the lane departure prevention system function of the vehicle is restrained. Therefore, the problem that an existing driving assistance system is low in safety is solved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle automatic control, and in particular to a vehicle control method, device, equipment and vehicle. Background Art

[0002] When driving on the road, you often encounter lane merging scenes. When the ICA (Integrated Cruise Assist) and TJA (Traffic Jam Assist) functions are turned on in the driver assistance system (ADAS), when encountering such a lane merging scene, the ICA and TJA functions will be exited, affecting the driving experience. At the same time, if the driver is not careful, it is easy to cause a safety accident in such a scene, reducing the safety of autonomous driving.

[0003] LDP (Lane Departure Prevention) mainly relies on the camera installed on the front of the vehicle to work. The camera continuously scans the road in front of the vehicle and identifies lane markings, including solid lines, dashed lines, and curbs. The LDP system analyzes the offset between the vehicle's front wheels and the lane lines. When the vehicle begins to deviate from the lane and the turn signal is not turned on, the LDP system will intervene in the steering wheel and guide the vehicle to center and return to the center by controlling the steering wheel. When encountering a lane merging scenario, the vehicle needs to change lanes urgently. At this time, the LDP system will be triggered by mistake, forcing the vehicle to return to the center, thereby further reducing driving safety. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle control method, device, equipment and vehicle, which can effectively solve the problem of low safety of existing driving assistance systems.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, including:

[0006] When the preset parameters meet the preset thresholds, the reference preview distance in front of the vehicle is calculated according to the current vehicle speed and the preset preview time;

[0007] Determine a standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane;

[0008] According to the standard preview distance, using the lane line curve equations corresponding to the left and right lane lines and the acquired corresponding lane line parameters, respectively calculating the lateral offsets of the vehicle from the left and right lane lines at the standard preview distance;

[0009] Determining a lane-changing target direction and whether the vehicle meets lane-changing conditions according to the lateral offsets of the left and right lane lines, the vehicle width, and the current road environment;

[0010] If the lane changing conditions are met, the vehicle is controlled to move toward the lane changing target direction according to the planned lane changing trajectory, and the lane departure prevention system function of the vehicle is suppressed.

[0011] In some embodiments, controlling the vehicle to move according to the planned lane change trajectory includes:

[0012] Using the obtained X value of the lane change end point coordinate and the X value of the lane change start point coordinate, according to the lane line curve equation corresponding to the second lane line in the lane change target direction, respectively calculate a first lateral offset corresponding to the lane change start point coordinate and a second lateral offset corresponding to the lane change end point;

[0013] Calculating a Y value of the lane change endpoint coordinate according to the first lateral offset and the second lateral offset;

[0014] The lane changing trajectory is determined using a quintic polynomial function according to the lane changing starting point coordinates, the lane changing end point coordinates, a target speed and an acceleration.

[0015] In some embodiments, the lane changing trajectory is determined using a quintic polynomial function according to the lane changing starting point coordinates, the lane changing end point coordinates, the target speed and the acceleration, including:

[0016] The coefficients of the quintic polynomial are calculated according to the lane change starting point coordinates, the lane change end point coordinates, the target starting point speed, the target end point speed, the starting point acceleration and the end point acceleration, and the lane change trajectory is obtained by substituting time into the quintic polynomial with known coefficients.

[0017] In some embodiments, the quintic polynomial is:

[0018] f(t)=a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5

[0019] Wherein, t is time, and a0, a1, a2, a3, a4 and a5 are coefficients of the quintic polynomial function.

[0020] In some embodiments, when the preset parameter meets the preset threshold, calculating the reference preview distance in front of the vehicle according to the current vehicle speed and the preset preview time includes:

[0021] If the road curvature parameter in the lane curve equation is less than or equal to the preset threshold, multiplying the current speed of the vehicle by the preview time to obtain a reference preview distance in front of the vehicle;

[0022] Determining the standard preview distance according to the reference preview distance and the effective distances respectively corresponding to the left and right lane lines of the current lane includes:

[0023] Determine the minimum effective distance among the effective distances corresponding to the left and right lane lines of the current lane;

[0024] If the reference preview distance is less than or equal to the minimum effective distance, the standard preview distance is equal to the reference preview distance; otherwise, the standard preview distance is equal to the minimum effective distance.

[0025] In some embodiments, determining the lane change target direction and whether the vehicle meets the lane change condition according to the lateral offsets of the left and right lane lines, the vehicle width, and the current road environment includes:

[0026] If one of the lateral offsets of the left and right lane lines is within a normal offset range and the other lateral offset is less than or equal to half of the vehicle width, lane merging is determined, and the lane change target direction is the lane line direction corresponding to the lateral offset within the normal offset range;

[0027] If it is determined that the lanes are merged, and it is determined that there are no obstacles in the first lane in the lane change target direction, it is determined that the lane change condition is met;

[0028] If the lanes are determined to be merged, and if it is determined that there is an obstacle on the first lane in the lane change target direction, it is determined that the lane change condition is not met.

[0029] In some embodiments, the method further includes: if the lane changing condition is not met, determining to remind the driver to take over the vehicle and inhibiting the lane departure prevention system function of the vehicle.

[0030] In a second aspect, an embodiment of the present application provides a vehicle control device, including:

[0031] A reference distance calculation module, used to calculate a reference preview distance in front of the vehicle according to the current vehicle speed and a preset preview time when the preset parameters meet the preset threshold;

[0032] A standard distance calculation module, used to determine a standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane;

[0033] a lateral offset calculation module, for calculating the lateral offsets of the vehicle from the left and right lane lines at the standard preview distance, respectively, using lane line curve equations corresponding to the left and right lane lines and the acquired corresponding lane line parameters according to the standard preview distance;

[0034] A lane-changing judgment module is used to determine the lane-changing target direction and whether the vehicle meets the lane-changing conditions according to the lateral offsets of the left and right lane lines, the vehicle width and the current road environment;

[0035] The lane change control module is used to control the vehicle to move toward the lane change target direction according to the planned lane change trajectory when the lane change conditions are met, and to suppress the lane departure prevention system function of the vehicle.

[0036] In a third aspect, an embodiment of the present application provides an assisted driving device, which includes a processor and a memory, the memory stores a computer program, and the processor is used to execute the computer program to implement a vehicle control method provided in the first aspect of the present application.

[0037] In a fourth aspect, an embodiment of the present application provides a vehicle, which travels using a vehicle control method provided in the first aspect of the present application.

[0038] The embodiments of the present application have the following beneficial effects:

[0039] When the preset parameters meet the preset thresholds, the present application calculates the reference preview distance in front of the vehicle according to the current vehicle speed and the preset preview time; determines the standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane; calculates the lateral offset of the vehicle from the left and right lane lines at the standard preview distance according to the lane line curve equations corresponding to the left and right lane lines and the corresponding lane line parameters obtained; determines the lane change target direction and whether the vehicle meets the lane change conditions according to the lateral offset of the left and right lane lines, the vehicle width and the current road environment; if the lane change conditions are met, controls the vehicle to move in the lane change target direction according to the planned lane change trajectory, and suppresses the lane departure prevention system function of the vehicle. The present application first detects whether the lane lines are merged, and when the lane lines are merged, suppresses the function of the lane departure prevention system, and automatically provides a lane change trajectory, thereby avoiding accidents caused by the driver's failure to take over the vehicle in time when the lanes merge, and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 An application scenario diagram of a merging road involved in the vehicle control method of an embodiment of the present application is shown;

[0042] Figure 2 A schematic diagram of the sensor configuration on a vehicle according to an embodiment of the present application is shown;

[0043] Figure 3 A flow chart showing a vehicle control method according to an embodiment of the present application is shown;

[0044] Figure 4 A schematic diagram of lanes in a vehicle control method according to an embodiment of the present application is shown;

[0045] Figure 5 Another flow chart of the vehicle control method according to the embodiment of the present application is shown;

[0046] Figure 6 A structural schematic diagram of a vehicle control device according to an embodiment of the present application is shown.

[0047] Description of main component symbols:

[0048] 610 - reference distance calculation module; 620 - standard distance calculation module; 630 - lateral offset calculation module; 640 - lane change judgment module; 650 - lane change control module. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0050] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0051] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0052] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0053] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0054] In order to improve vehicle driving safety, the present application provides a vehicle control method, device, equipment and vehicle.

[0055] When facing a lane merging scenario, Figure 1 As shown, first determine the coordinates of the starting point and the end point of the lane change, then use the quintic polynomial to plan the lane change path and perform lane change control, which improves the safety of the driving assistance system and the driving experience. At the same time, if the lane change conditions are not met, the application informs the driver in advance to take over the vehicle through sound alarms and other methods. In addition, the application adopts a pre-aiming method to suppress the LDP function in advance when changing lanes, improve the driver's functional experience, effectively reduce the probability of false triggering of LDP, and further improve driving safety.

[0056] The present application provides a vehicle, and the vehicle is driven by a vehicle control method of the present application. The sensor configuration of the vehicle of the present application is 1V4R, and the configuration of the overall sensor on the vehicle is as follows Figure 2 As shown, Figure 2 The middle 1 is the front view camera; Figure 2 2 and 3 in the middle are lateral radars; Figure 2 4 and 5 are side and rear radars. Figure 2 Middle 1 front-view camera, used to sense lane lines and vehicles ahead; Figure 2 The side radars 2 and 3 are used to sense vehicles in the adjacent left and right lanes; Figure 2 The side rear radars 4 and 5 are used to sense the vehicles behind.

[0057] The vehicle control method is described below in conjunction with some specific embodiments.

[0058] Figure 3 A flow chart of a vehicle control method according to an embodiment of the present application is shown. Exemplarily, the vehicle control method comprises the following steps:

[0059] S100, when the preset parameters meet the preset thresholds, a reference preview distance in front of the vehicle is calculated according to the current vehicle speed and the preset preview time.

[0060] The preset parameters are the parameters in the lane curve equation. The reference preview distance in front of the vehicle is as follows: Figure 4 The distance shown in d.

[0061] S200: Determine a standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane, wherein the current lane is the lane in which the vehicle is currently traveling.

[0062] S300, according to the standard preview distance, using lane line curve equations corresponding to the left and right lane lines respectively and the corresponding lane line parameters obtained, respectively calculate the lateral offset of the vehicle from the left and right lane lines at the standard preview distance.

[0063] S400: Determine a lane-changing target direction and whether the vehicle satisfies a lane-changing condition according to the lateral offsets of the left and right lane lines, the vehicle width, and the current road environment.

[0064] S500: If the lane changing condition is met, the vehicle is controlled to move toward the lane changing target direction according to the planned lane changing trajectory, and the lane departure prevention system function of the vehicle is suppressed.

[0065] In one embodiment, in step S100, when the preset parameter meets the preset threshold, the reference preview distance in front of the vehicle is calculated according to the current vehicle speed and the preset preview time, including:

[0066] If the road curvature parameter in the lane curve equation is less than or equal to the preset threshold, the current speed of the vehicle is multiplied by the preview time to obtain the reference preview distance in front of the vehicle. The reference preview distance is the longitudinal coordinate of the vehicle at the preview time. The reference preview distance of the vehicle at the preview time is calculated using the following formula:

[0067] x=v*t

[0068] Among them, v is the current vehicle speed and t is the preview time.

[0069] The lane curve equation is:

[0070] y=c0+c1x+c2x 2 +c3x 3 Formula (1)

[0071] Where y represents the lateral offset between the center point of the vehicle's rear axle and a lane line (the left lane line or the right lane line) when the longitudinal coordinate value of the vehicle is x, that is, the lateral offset between the vehicle and a lane line x meters in front of the center point of the vehicle's rear axle. c0 represents the real-time lateral offset between the center point of the vehicle's rear axle and a lane line at the origin, c1 is the heading angle of the lane line, c2 is the road curvature, c3 is the rate of change of road curvature, and x is the longitudinal coordinate value of the vehicle.

[0072] The preset parameter of the lane curve equation is the road curvature c2 of the lane curve equation, which is obtained from the vehicle perception module. The perception module extracts features from the lane image obtained by the camera to obtain the road curvature c2. It can be understood that the lane parameters c0, c1 and c3 are all obtained by the perception module. Exemplarily, the preset threshold is 0.001 (to ensure that the current road is a straight road).

[0073] Furthermore, in step S200, determining the standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane respectively includes:

[0074] Determine the minimum effective distance among the effective distances corresponding to the left and right lane lines of the current lane;

[0075] If the reference preview distance is less than or equal to the minimum effective distance, the standard preview distance is equal to the reference preview distance; otherwise, the standard preview distance is equal to the minimum effective distance.

[0076] Further, in step S300, according to the standard preview distance, using the lane line curve equations corresponding to the left and right lane lines and the acquired corresponding lane line parameters, respectively calculating the lateral offsets of the vehicle from the left and right lane lines at the standard preview distance, including:

[0077] Fill the obtained left lane line parameters c0, c1, c2 and c3 into the corresponding positions in the left lane line curve equation, and substitute the standard preview distance as x into the left lane line curve equation y=c0+c1x+c2x 2 +c3x 3 , when the longitudinal coordinate value of the vehicle is x, the lateral offset y between the center point of the rear axle of the vehicle and the lane line on the left side of the current lane is obtained 左 ,like Figure 4 The distance y between point e and the left lane line左 .

[0078] Fill in the right lane line parameters c0, c1, c2 and c3 of the current lane into the corresponding positions of the right lane line curve equation. Substitute the standard preview distance as x into the right lane line curve equation y=c0+c1x+c2x 2 +c3x 3 , when the longitudinal coordinate value of the vehicle is x, the lateral offset y between the center point of the rear axle of the vehicle and the lane line on the right side of the current lane is obtained 右 ,like Figure 4 The distance y between point e and the left lane line 右 .

[0079] Further, in step S400, determining the lane change target direction and whether the vehicle meets the lane change condition according to the lateral offsets of the left and right lane lines, the vehicle width and the current road environment includes:

[0080] If one of the lateral offsets of the left and right lane lines is within the normal offset range and the other lateral offset is less than or equal to half of the vehicle width, then lane merging is determined, and the lane change target direction is the direction of the lane line corresponding to the lateral offset within the normal offset range. For example, the lateral offset y corresponding to the lane line on the left side of the current driving lane is 左 The lateral offset y corresponding to the lane line on the right is within the normal offset range. 右 If the lateral offset y of the lane line on the right is less than or equal to half of the vehicle width, the phenomenon is determined to be a typical lane merging phenomenon, and the lane merging is determined. 右 Abnormal, indicating that the right lane line merges to the left, so you should change lanes to the left, and the lane change target direction is the left direction.

[0081] If it is determined that the lanes are merging and it is determined that there is no obstacle on the first lane in the lane change target direction, it is determined that the lane change condition is met.

[0082] If it is determined that the lanes are merging, and it is determined that there is an obstacle on the first lane in the target direction of the lane change, it is determined that the lane changing condition is not met. In the present application, when the lane merging is sensed by previewing at x meters ahead, and it is determined that there are no obstacles in the road environment in the target direction of the lane change, that is, there are mainly no other moving vehicles, the lane change planning is triggered, and then the lane change control is performed, and the vehicle will change lanes to the lane on the safe side. Furthermore, the camera is used to determine whether there are other moving vehicles in front, on the side, and behind the vehicle. When the lane merging is identified at x meters ahead, combined with the sensor information, it is determined whether the lane change scenario is met, and the vehicle is automatically controlled to change lanes to another lane when the lane change scenario is met.

[0083] In one implementation, in step S500, controlling the vehicle to move according to the planned lane change trajectory includes:

[0084] S510, using the obtained X value of the lane change end point coordinate and the X value of the lane change start point coordinate, according to the lane line curve equation corresponding to the second lane line in the lane change target direction, respectively calculate the first lateral offset corresponding to the lane change start point coordinate and the second lateral offset corresponding to the lane change end point. end ) can be determined based on the current speed of the vehicle. The faster the current speed, the higher the X end The larger the vehicle is, the center of the rear axle (0,0) is the starting point for lane change. The lane curve equation corresponding to the second lane line on the left is:

[0085] y ll =c 0ll +c 1ll x+c 2ll x 2 +c 3ll x 3 Formula (2)

[0086] X end Substituting into equation (1) and equation (2) respectively, we can get the first lateral offset y l , the second lateral offset y ll .

[0087] S520, calculating the Y value (abbreviated as y value) of the lane change end point coordinate according to the first lateral offset and the second lateral offset. end ). Specifically, the Y value of the lane change endpoint coordinate is calculated using the following formula:

[0088] y end =y l +(y ll -y l )*0.5 Formula (3)

[0089] S530: Determine the lane changing trajectory using a quintic polynomial function according to the lane changing starting point coordinates, the lane changing end point coordinates, the target speed and the acceleration.

[0090] Further, in step S530, the lane changing trajectory is determined using a quintic polynomial function according to the lane changing starting point coordinates, the lane changing end point coordinates, the target speed and the acceleration, including:

[0091] The coefficients of the fifth-order polynomial are calculated according to the lane-changing starting point coordinates, the lane-changing end point coordinates, the target starting point speed, the target end point speed, the starting point acceleration and the end point acceleration, and the lane-changing operation time is substituted into the fifth-order polynomial with known coefficients to obtain the lane-changing trajectory. The center of the rear axle of the vehicle (0,0) is the lane-changing starting point, and the lane-changing end point is (x end ,y end ).

[0092] Furthermore, the fifth-order polynomial is:

[0093] f(t)=a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5 Formula (4)

[0094] Wherein, t is the lane-changing operation time, the value range of t is {0, lane-changing end time}, and a0, a1, a2, a3, a4 and a5 are all coefficients of the quintic polynomial function.

[0095] Specifically, the process of calculating the coefficients of the quintic polynomial includes:

[0096] The initial position condition can be obtained:

[0097] f(0)= a0=x0 Formula (5)

[0098] End position condition:

[0099] f(T)=a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5 =x T Formula (6)

[0100] The formula for the first derivative of a quintic polynomial is:

[0101]

[0102] From the initial velocity we can get:

[0103]

[0104] From the velocity at the end point, we can get:

[0105]

[0106] The second derivative of the quintic polynomial is:

[0107]

[0108] From the initial acceleration condition, we can get:

[0109]

[0110] From the acceleration condition at the end point, we can get:

[0111]

[0112] In the above formula, T is the planned termination time, x0, x T ,v0,v T , a0 and aT are respectively the position of the starting point, the position of the end point, the speed of the starting point, the speed of the end point, the acceleration of the starting point and the acceleration of the end point, which are known. Combining formulas (5)(6)(8)(9)(11)(12), the coefficients of the quintic polynomial can be solved, and the lane change trajectory can be planned, such as Figure 4 shown.

[0113] When the system detects that the lanes are merging at x meters ahead (preview distance d), it determines whether the lane change scenario is met based on the sensor information, and then automatically controls the vehicle to change lanes to another lane.

[0114] The vehicle control method of the present application is specifically described below with an example. In this example, the current lane merges into the left lane. Figure 5 As shown, the following steps are included:

[0115] S610, obtaining road curvature from a perception module.

[0116] S620, determine whether the road curvature is less than or equal to 0.001. If the road curvature is less than or equal to 0.001, execute step S630 to calculate the reference preview distance, otherwise, do not suppress the LDP function. When the road curvature c2<=0.001 (to ensure that the current road is a straight road), perform preview judgment.

[0117] S630, calculating a reference preview distance x. Specifically, the reference preview distance is calculated using x=v*t.

[0118] S640, determine whether the reference preview distance x is less than or equal to the minimum effective distance L. The minimum effective distance L is the smallest of the effective distances between the lane lines on the left and right sides of the current lane. If the reference preview distance x is less than or equal to the minimum effective distance L, the standard preview distance is equal to the reference preview distance x. If the reference preview distance x is greater than the minimum effective distance L, the standard preview distance is equal to the minimum effective distance L. The calculated x≤(minimum effective distance L) is valid. If x≥L, then L is output.

[0119] S650, calculate the lateral offset between the vehicle and the lane lines on the left and right sides of the current lane according to the standard preview distance and the lane line curve equation. Substitute the standard preview distance into the lane line equations on the left and right sides, y = c0 + c1x + c2x 2 +c3x 3 (The lane line parameters on the left and right sides are different), the lateral offset y between the left lane line and the center point of the rear axle of the vehicle at the front xm can be calculated 左 ; The lateral offset y between the right lane line and the center point of the vehicle's rear axle at xm ahead 右 .

[0120] S660, determine the lateral offset y on the left side 左 and the lateral offset y on the right 右 Is there a less than or equal Where H is the vehicle width.

[0121] If the lateral offset y corresponding to the left lane line 左 The lateral offset y corresponding to the right lane line 右 A lateral offset Established, another lateral bias If not, execute step S670, i.e. determine whether the current lane merges with the adjacent lane and determine the target direction of lane change; otherwise, continue to execute steps S610-S660.

[0122] S670: Determine that the current lane merges with the adjacent lane, and determine that the side with the lateral offset within the normal range is the lane change target direction. Established, lateral offset If it is not true, the road is confirmed to be merged. The lateral offset y on the right side 右 Abnormal, lateral offset y on the left 左 If normal, the target lane changing direction is determined to be the left direction, that is, changing lanes to the left lane.

[0123] S680, determine whether there is an obstacle on the first lane on the left. If there is an obstacle, execute step S690, that is, suppress the LDP function in advance and remind the driver to take over the vehicle. If there is no obstacle, execute step S700, that is, suppress the LDP function and combine the fifth-order polynomial to determine the lane change trajectory to change lanes to the left.

[0124] S690, suppresses the LDP function in advance and reminds the driver to take over the vehicle. Established, lateral offset If this is not true and there is an obstacle in the left lane, the LDP function will be suppressed in advance and the driver will be reminded to take over the vehicle.

[0125] S700, suppress the LDP function, and control the vehicle to move to the left adjacent lane according to the lane change trajectory. Established, lateral offset If the condition is not true and there is no obstacle on the left lane, the LDP function is suppressed and the vehicle is controlled to move to the left adjacent lane according to the lane change trajectory. end , substitute y ll =c 0ll +c 1ll x+c 2ll x 2 +c 3ll x 3 , get the lane change end point (x end ,y end ). Using the lane change starting point (0,0) and lane change end point (x end ,y end ), and use the known expected starting speed (target starting speed), expected terminal speed (target terminal speed), starting acceleration and terminal acceleration to solve the coefficients of the quintic polynomial.

[0126] Figure 6 A schematic diagram of the structure of a vehicle control device according to an embodiment of the present application is shown. Exemplarily, the vehicle control device includes: a reference distance calculation module 610 , a standard distance calculation module 620 , a lateral offset calculation module 630 , a lane change judgment module 640 and a lane change control module 650 .

[0127] A reference distance calculation module 610 is used to calculate a reference preview distance in front of the vehicle according to the current vehicle speed and a preset preview time when a preset parameter meets a preset threshold;

[0128] A standard distance calculation module 620 is used to determine a standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane;

[0129] A lateral offset calculation module 630 is used to calculate the lateral offsets of the vehicle from the left and right lane lines at the standard preview distance, respectively, using the lane line curve equations corresponding to the left and right lane lines and the acquired corresponding lane line parameters according to the standard preview distance;

[0130] A lane change determination module 640 is used to determine a lane change target direction and whether the vehicle meets the lane change conditions according to the lateral offsets of the left and right lane lines, the vehicle width and the current road environment;

[0131] The lane change control module 650 is used to control the vehicle to move toward the lane change target direction according to the planned lane change trajectory when the lane change conditions are met, and inhibit the lane departure prevention system function of the vehicle.

[0132] It can be understood that the device of this embodiment corresponds to the vehicle control method of the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described repeatedly here.

[0133] The present application also provides an assisted driving device. Exemplarily, the assisted driving device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the assisted driving device to execute the functions of each module in the above-mentioned vehicle control method or the above-mentioned vehicle control device.

[0134] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU) and a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0135] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0136] The present application also provides a computer-readable storage medium for storing the computer program used in the above-mentioned assisted driving device. For example, the computer-readable storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0139] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.

[0140] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: When the preset parameters meet the preset thresholds, the reference preview distance in front of the vehicle is calculated according to the current vehicle speed and the preset preview time; Determine a standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane; According to the standard preview distance, using the lane line curve equations corresponding to the left and right lane lines and the acquired corresponding lane line parameters, respectively calculating the lateral offsets of the vehicle from the left and right lane lines at the standard preview distance; Determining a lane-changing target direction and whether the vehicle meets lane-changing conditions according to the lateral offsets of the left and right lane lines, the vehicle width, and the current road environment; If the lane changing conditions are met, the vehicle is controlled to move toward the lane changing target direction according to the planned lane changing trajectory, and the lane departure prevention system function of the vehicle is suppressed.

2. The vehicle control method according to claim 1, characterized in that: The controlling the vehicle to move according to the planned lane-changing trajectory includes: Using the obtained X value of the lane change end point coordinate and the X value of the lane change start point coordinate, according to the lane line curve equation corresponding to the second lane line in the lane change target direction, respectively calculate a first lateral offset corresponding to the lane change start point coordinate and a second lateral offset corresponding to the lane change end point; Calculating a Y value of the lane change endpoint coordinate according to the first lateral offset and the second lateral offset; The lane changing trajectory is determined using a quintic polynomial function according to the lane changing starting point coordinates, the lane changing end point coordinates, a target speed and an acceleration.

3. The vehicle control method according to claim 2, characterized in that: The determining the lane changing trajectory by using a quintic polynomial function according to the lane changing starting point coordinates, the lane changing end point coordinates, the target speed and the acceleration includes: The coefficients of the quintic polynomial are calculated according to the lane change starting point coordinates, the lane change end point coordinates, the target starting point speed, the target end point speed, the starting point acceleration and the end point acceleration, and the lane change trajectory is obtained by substituting time into the quintic polynomial with known coefficients.

4. The vehicle control method according to claim 3, characterized in that: The quintic polynomial function is: f(t)=a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5 Wherein, t is time, and a0, a1, a2, a3, a4 and a5 are coefficients of the quintic polynomial function.

5. The vehicle control method according to claim 1, characterized in that: When the preset parameter meets the preset threshold, the reference preview distance in front of the vehicle is calculated according to the current vehicle speed and the preset preview time, including: If the road curvature parameter in the lane curve equation is less than or equal to the preset threshold, multiplying the current speed of the vehicle by the preview time to obtain a reference preview distance in front of the vehicle; Determining the standard preview distance according to the reference preview distance and the effective distances respectively corresponding to the left and right lane lines of the current lane includes: Determine the minimum effective distance among the effective distances corresponding to the left and right lane lines of the current lane; If the reference preview distance is less than or equal to the minimum effective distance, the standard preview distance is equal to the reference preview distance; otherwise, the standard preview distance is equal to the minimum effective distance.

6. The vehicle control method according to claim 1, characterized in that: The determining of the lane changing target direction and whether the vehicle meets the lane changing condition according to the lateral offsets of the left and right lane lines, the vehicle width and the current road environment includes: If one of the lateral offsets of the left and right lane lines is within a normal offset range and the other lateral offset is less than or equal to half of the vehicle width, lane merging is determined, and the lane change target direction is the lane line direction corresponding to the lateral offset within the normal offset range; If it is determined that the lanes are merged, and it is determined that there are no obstacles in the first lane in the lane change target direction, it is determined that the lane change condition is met; If the lanes are determined to be merged, and if it is determined that there is an obstacle on the first lane in the lane change target direction, it is determined that the lane change condition is not met.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: Also includes: If the lane change condition is not met, it is determined to remind the driver to take over the vehicle and inhibit the lane departure prevention system function of the vehicle.

8. A vehicle control device, characterized in that: include: A reference distance calculation module, used to calculate a reference preview distance in front of the vehicle according to the current vehicle speed and a preset preview time when the preset parameters meet the preset threshold; A standard distance calculation module, used to determine a standard preview distance according to the reference preview distance and the effective distances corresponding to the left and right lane lines of the current lane; a lateral offset calculation module, for calculating the lateral offsets of the vehicle from the left and right lane lines at the standard preview distance, respectively, using lane line curve equations corresponding to the left and right lane lines and the acquired corresponding lane line parameters according to the standard preview distance; A lane-changing judgment module is used to determine the lane-changing target direction and whether the vehicle meets the lane-changing conditions according to the lateral offsets of the left and right lane lines, the vehicle width and the current road environment; The lane change control module is used to control the vehicle to move toward the lane change target direction according to the planned lane change trajectory when the lane change conditions are met, and to suppress the lane departure prevention system function of the vehicle.

9. A driving assistance device, characterized in that: The auxiliary driving device comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the vehicle control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle travels using the vehicle control method according to any one of claims 1 to 7.

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