Emergency lane keeping method, electronic equipment, emergency lane keeping system and vehicle

Abstract

The invention provides an emergency lane keeping method, electronic equipment, an emergency lane keeping system and a vehicle. The emergency lane keeping method comprises the following steps: judging whether a target vehicle triggers an emergency lane keeping function on a target lane or not; if yes, acquiring current driving information of the target vehicle and current position information of the target vehicle on the target lane; executing a risk avoidance action according to the current driving information and the current position information; wherein the current driving information comprises the current transverse acceleration of the target vehicle and the current transverse speed of the target vehicle. The technical problems that when the emergency lane keeping function is implemented, a control system generally performs path planning directly based on the transverse deviation distance between the vehicle and the lane, the transverse deviation force generated in the transverse movement of the vehicle cannot be predicted, the transverse deviation force is easily caused to be too large, the comfort of passengers in the vehicle is reduced, and the driving safety of the vehicle is improved are solved. And the risk of rollover of the vehicle is even caused.

Description

Technical Field

[0001] The present application relates to the field of electronic information technology, and in particular to an emergency lane keeping method, electronic equipment, an emergency lane keeping system and a vehicle. Background Art

[0002] With the growth of traffic volume and the increasing complexity of the traffic environment, the requirements for vehicle safety are also continuously rising. In this context, emergency lane keeping technology has become a key area of ​​research in active safety and intelligent transportation systems for automobiles. This technology collects information about the surrounding environment through sensors. When it detects that the vehicle may collide with the curb or vehicles in adjacent lanes due to deviation from the lane, the control system will actively intervene and control the steering wheel to prevent the collision. This is of great significance for the prevention of long-distance driving and fatigue driving.

[0003] However, there is at least one of the following technical problems in the related technology: when implementing the emergency lane keeping function, the control system usually directly plans the path based on the lateral offset distance between the vehicle and the lane, and cannot predict the lateral offset force generated by the vehicle during lateral movement, which can easily lead to excessive lateral offset force, thereby reducing the comfort of the passengers in the car and even bringing the risk of vehicle rollover. Summary of the invention

[0004] The technical problem to be solved by the present application is that when implementing the emergency lane keeping function, the control system usually directly plans the path based on the lateral offset distance between the vehicle and the lane, and is unable to predict the lateral offset force generated by the vehicle during lateral movement, which can easily lead to excessive lateral offset force, thereby reducing the comfort of the passengers in the vehicle and even bringing the risk of vehicle rollover.

[0005] To solve the above problems, the present application provides an emergency lane keeping method, including: determining whether a target vehicle in a target lane triggers an emergency lane keeping function; if so, obtaining current driving information of the target vehicle and current position information of the target vehicle in the target lane; performing risk avoidance actions according to the current driving information and current position information; wherein the current driving information includes the current lateral acceleration of the target vehicle and the current lateral speed of the target vehicle.

[0006] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: compared with the path planning based on the lateral offset distance between the target vehicle and the target lane in the related technology, it is impossible to predict the lateral offset force generated by the target vehicle in the lateral movement, which easily leads to excessive lateral offset force; while the present application performs risk avoidance actions according to the current lateral acceleration of the target vehicle in the current driving information, the current lateral speed of the target vehicle and the current position information, and can obtain the size of the lateral offset force according to the size of the lateral acceleration, thereby improving the comfort of the passengers in the target vehicle when executing the emergency lane keeping function and reducing the risk of vehicle rollover.

[0007] In one example of the present application, a risk avoidance action is performed based on current driving information and current position information, including: obtaining a steering wheel angle of a target vehicle based on current driving information and current position information; and controlling the target vehicle to run to a first position of a target lane based on the steering wheel angle.

[0008] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: by obtaining the steering wheel angle of the target vehicle based on the current driving information and the current position information, the movement of the target vehicle can be accurately controlled through the steering wheel angle, ensuring that the target vehicle can smoothly return to the first position of the target lane in an emergency.

[0009] In one example of the present application, the steering wheel angle of the target vehicle is obtained according to the current driving information and the current position information, including: constructing a Bezier curve according to the current driving information and the current position information; executing a first processing strategy on the Bezier curve to obtain a lateral displacement curve; and obtaining the steering wheel angle according to the lateral displacement curve.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: a Bezier curve is constructed according to current driving information and current position information. From the characteristics of the Bezier curve, it can be seen that the Bezier curve is a smooth and continuous curve, so that the lateral displacement curve obtained after executing the first processing strategy on the Bezier curve is also a smooth and continuous curve, so that the change of the steering wheel angle is relatively smooth, thereby providing a more comfortable driving experience and reducing the risk of vehicle rollover.

[0011] In one example of the present application, a Bezier curve is constructed based on current driving information and current position information, including: obtaining a control point column based on the current lateral acceleration, the current lateral speed, the current position information and preset conditions; constructing a Bezier curve based on the control point column; wherein the preset conditions include the final lateral acceleration of the target vehicle and the final lateral speed of the target vehicle.

[0012] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: by obtaining a control point sequence according to the current lateral acceleration, the current lateral speed, the current position information and preset conditions, the Bezier curve can more accurately reflect the actual driving conditions of the vehicle, thereby improving the accuracy of emergency lane keeping, so as to achieve safer and more effective emergency lane keeping.

[0013] In an example of the present application, a control point column includes: a starting point, an anchor point and an end point in sequence; constructing a Bezier curve according to the control point column includes: dividing the Bezier curve into a first Bezier curve segment and a second Bezier curve segment through the anchor point; wherein the first Bezier curve segment is from the starting point to the anchor point, and the second Bezier curve segment is from the anchor point to the end point.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: in the prior art, the Bezier curve is simulated and calculated directly through the control point column, which has a large amount of calculation, resulting in more calculation time required when the function is triggered, thereby reducing safety; while this method divides the original Bezier curve into a first Bezier curve and a second Bezier curve through an anchor point. When the emergency lane keeping function is activated, while ensuring the safety of the vehicle in the lateral direction, the calculation amount of the method is reduced, thereby greatly reducing the demand for computing power.

[0015] In an example of the present application, the control point column also includes: a first control point, a second control point, a third control point and a fourth control point in sequence, the first control point and the second control point are located between the starting point and the anchor point, and the third control point and the fourth control point are located between the anchor point and the end point; constructing a Bezier curve according to the control point column also includes: infinitely approaching the first control point to the starting point, infinitely approaching the second control point to the anchor point, infinitely approaching the third control point to the anchor point, and infinitely approaching the fourth control point to the end point.

[0016] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: this method simplifies the Bezier curve by bringing the first control point infinitely close to the starting point, the second control point infinitely close to the anchor point, the third control point infinitely close to the anchor point, and the fourth control point infinitely close to the end point, thereby greatly reducing the amount of calculation, thereby reducing the calculation time and improving the safety of the vehicle in the lateral direction.

[0017] In an example of the present application, a first processing strategy is executed on a Bezier curve to obtain a lateral displacement curve, including: performing an integral operation on the Bezier curve to obtain a lateral velocity curve; performing an integral operation on the lateral velocity curve to obtain a lateral displacement curve.

[0018] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: through two integral operations, a lateral displacement curve of the target vehicle is finally obtained, and the steering wheel angle of the target vehicle obtained according to the lateral displacement curve can provide smooth and accurate control instructions for the vehicle.

[0019] In one example of the present application, an emergency lane keeping system is provided, which can implement any of the emergency lane keeping methods as described above, and the emergency lane keeping system includes: a judgment module, which is used to judge whether the emergency lane keeping function is triggered by a target vehicle in a target lane; a detection module, which is used to obtain the current driving information of the target vehicle and the current position information of the target vehicle in the target lane; a processing module, which is used to obtain the steering wheel angle according to the current driving information and the current position information; and an execution module, which is used to run to the first position of the target lane according to the steering wheel angle.

[0020] In one example of the present application, an electronic device is also provided, which includes a processor and a memory; the memory is used to store data in the emergency lane keeping system, and the processor is used to call the data in the memory. The electronic device can implement any of the emergency lane keeping methods described above.

[0021] In one example of the present application, a vehicle is provided, which can implement any of the emergency lane keeping methods described above.

[0022] After adopting the technical solution of this application, the following technical effects can be achieved: (1) Compared with the path planning based on the lateral offset distance between the target vehicle and the target lane in the related art, it is impossible to predict the lateral offset force generated by the target vehicle in the lateral movement, which easily leads to excessive lateral offset force; while the present application performs risk avoidance actions according to the current lateral acceleration, the current lateral speed and the current position information of the target vehicle in the current driving information, and can obtain the magnitude of the lateral offset force according to the magnitude of the lateral acceleration, thereby improving the comfort of the passengers in the target vehicle when performing the emergency lane keeping function and reducing the risk of vehicle rollover; (2) constructing a Bezier curve according to the current driving information and the current position information. It can be seen from the characteristics of the Bezier curve that the Bezier curve is a smooth and continuous curve. Therefore, the lateral displacement curve obtained after executing the first processing strategy on the Bezier curve is also a smooth and continuous curve, so that the change of the steering wheel angle is relatively gentle, thereby providing a more comfortable driving experience and reducing the risk of vehicle rollover; (3) In the prior art, the Bezier curve is directly simulated and calculated through the control point list, which has a large amount of calculation, resulting in more calculation time required when the function is triggered, which reduces safety. However, this method divides the original Bezier curve into a first Bezier curve and a second Bezier curve through an anchor point. When the emergency lane keeping function is activated, the safety of the vehicle in the lateral direction is guaranteed while reducing the amount of calculation of the method, greatly reducing the demand for computing power. (4) This method simplifies the Bezier curve by bringing the first control point infinitely close to the starting point, the second control point infinitely close to the anchor point, the third control point infinitely close to the anchor point, and the fourth control point infinitely close to the end point, thereby greatly reducing the amount of calculation, thereby reducing the calculation time and improving the safety of the vehicle in the lateral direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 A schematic diagram of a flow chart of an emergency lane keeping method provided in an embodiment of the present application; Figure 2 A schematic diagram of the target vehicle position provided in an embodiment of the present application; Figure 3 A schematic diagram of constructing a Bezier curve provided in an embodiment of the present application; Figure 4 A schematic diagram of a Bezier curve, a lateral velocity curve, and a lateral displacement curve provided in an embodiment of the present application; Figure 5 A schematic diagram of module connections of an emergency lane keeping system provided in an embodiment of the present application.

[0024] Description of reference numerals: 100. Emergency lane keeping system; 10. Judgment module; 20. Detection module; 30. Processing module; 40. Execution module. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0026] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0027] See also Figure 1 , Figure 1 A schematic diagram of a flow chart of an emergency lane keeping method provided in an embodiment of the present application. Figures 2 to 4 Specifically, the present application provides an emergency lane keeping method, the emergency lane keeping method comprising: Step S100, determining whether the target vehicle triggers the emergency lane keeping function in the target lane.

[0028] Step S200: If yes, obtain the current driving information of the target vehicle and the current position information of the target vehicle on the target lane.

[0029] Step S300, executing risk avoidance actions according to current driving information and current location information.

[0030] The current driving information includes the current lateral acceleration of the target vehicle and the current lateral speed of the target vehicle.

[0031] Preferably, step S300 specifically includes: Step S310, obtaining the steering wheel angle of the target vehicle according to the current driving information and the current position information.

[0032] Step S320, controlling the target vehicle to run to a first position of the target lane according to the steering wheel angle.

[0033] Specifically, the first position includes the center line of the target lane.

[0034] Preferably, step S310 specifically includes: Step S311, constructing a Bezier curve according to the current driving information and the current position information.

[0035] Step S312: Execute the first processing strategy on the Bezier curve to obtain a lateral displacement curve.

[0036] Step S313, obtaining the steering wheel angle according to the lateral displacement curve.

[0037] Preferably, step S311 specifically includes: Step S3111, obtaining a control point sequence according to the current lateral acceleration, the current lateral velocity, the current position information and preset conditions.

[0038] Step S3112, constructing a Bezier curve according to the control point sequence.

[0039] The preset conditions include a final lateral acceleration of the target vehicle and a final lateral velocity of the target vehicle.

[0040] Specifically, the mathematical expression of the Bezier curve is .

[0041] in, . is the Bernstein polynomial; is the control point column; , the value range of s is from 0 to 1, is the starting time, For the final moment, is the current moment; d is the order of the Bezier curve; the value range of i is an integer from 0 to d; is the binomial coefficient, which represents the number of combinations of i elements from d different elements.

[0042] Preferably, the control point sequence includes: a starting point, an anchor point and an end point, which specifically includes in step S3112: Step S31121: divide the Bezier curve into a first Bezier curve segment and a second Bezier curve segment through an anchor point.

[0043] The first Bezier curve is from the starting point to the anchor point, and the second Bezier curve is from the anchor point to the end point.

[0044] Preferably, the control point sequence further includes: a first control point, a second control point, a third control point and a fourth control point, the first control point and the second control point are located between the starting point and the anchor point, and the third control point and the fourth control point are located between the anchor point and the end point; in step S3112, it further includes: Step S31122, move the first control point infinitely close to the starting point, move the second control point infinitely close to the anchor point, move the third control point infinitely close to the anchor point, and move the fourth control point infinitely close to the end point.

[0045] Preferably, step S312 specifically includes: Step S3121, perform an integral operation on the Bezier curve to obtain a lateral velocity curve. The mathematical expression of the lateral velocity curve is: .

[0046] Step S3122, perform an integral operation on the lateral velocity curve to obtain a lateral displacement curve. The mathematical expression of the lateral displacement curve is: .

[0047] in, , , , the value range of u is a positive integer from 0 to di.

[0048] Preferably, the emergency lane keeping method further includes: Step S201: If the emergency lane keeping function is not triggered, the current driving state of the target vehicle is maintained.

[0049] In one specific example, see Figure 2 , Figure 2 For a schematic diagram of the target vehicle position provided in the embodiment of the present application, see Figure 3 , Figure 3 A schematic diagram of constructing a Bezier curve provided in an embodiment of the present application, wherein the time 0-t1 is the reaction time of the target vehicle, the acceleration of the target vehicle remains unchanged, the current lateral acceleration is defined as a0, and the current lateral speed is defined as , the emergency lane keeping function intervenes at time t1, the period t1-t2 is the first Bezier curve, the period t2-t3 is the second Bezier curve, and the lateral acceleration at time t2 is defined as a m , define the lateral acceleration at time t3 as a e ,definition is the time from 0 to t1, and is defined as is the time between t1 and t2, and is defined as is the time between t2 and t3, and is defined as ; definition ,definition ,definition and , define d=3.

[0050] Thus we get , , , .

[0051] in, , ; , , , are control points distributed sequentially.

[0052] Solved , , , .

[0053] in, is the speed at time t1, , is the speed at time t2, .

[0054] Simplified, , ,in, .

[0055] Through the above steps, the two Bezier curves are simplified into a quadratic equation, which greatly reduces the amount of calculation and the computing power requirement of the MCU, thereby meeting the product requirements of low-cost solutions.

[0056] In one specific example, see Figure 4 , Figure 4 Schematic diagram of the Bezier curve, lateral velocity curve and lateral displacement curve provided in the embodiment of the present application, the preset conditions include: the final lateral acceleration of the target vehicle , the final lateral speed of the target lane .

[0057] The current position information includes the lateral distance of the target vehicle relative to the center line of the target lane .

[0058] when When , the Bezier curve, lateral velocity curve and lateral displacement curve are obtained as follows Figure 4 As shown, the horizontal axis is the time parameter. From the characteristics of the integral and the Bezier curve, it can be seen that the obtained Bezier curve, lateral velocity curve and lateral displacement curve are all smooth curves, so that the lateral offset force generated by the target vehicle in the lateral movement changes smoothly and the size is reasonable, which improves the comfort of passengers when the vehicle is laterally offset and improves the stability of the vehicle's lateral offset.

[0059] See also Figure 5 , Figure 5 A module connection diagram of an emergency lane keeping system 100 provided in an embodiment of the present application. Preferably, the emergency lane keeping system 100 can implement the emergency lane keeping method as in any of the above examples. The emergency lane keeping system 100 includes: a judgment module 10, a detection module 20, a processing module 30 and an execution module 40; the judgment module 10 is used to judge whether the emergency lane keeping function is triggered by the target vehicle in the target lane; the detection module 20 is used to obtain the current driving information of the target vehicle and the current position information of the target vehicle in the target lane; the processing module 30 is used to obtain the steering wheel angle according to the current driving information and the current position information; the execution module 40 is used to run to the first position of the target lane according to the steering wheel angle.

[0060] Preferably, the present application also provides an electronic device, which includes a processor and a memory; the memory is used to store data in the emergency lane keeping system 100, and the processor is used to call the data in the memory. The electronic device can implement the emergency lane keeping method as in any of the above examples.

[0061] Preferably, the present application also provides a vehicle capable of implementing the emergency lane keeping method as in any of the above examples.

[0062] In the 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 only illustrative. For example, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0063] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.

Claims

1. An emergency lane keeping method, characterized in that: The emergency lane keeping method comprises: Determine whether the target vehicle triggers the emergency lane keeping function in the target lane; If yes, obtaining the current driving information of the target vehicle and the current position information of the target vehicle on the target lane; Executing risk avoidance actions according to the current driving information and the current location information; The current driving information includes a current lateral acceleration of the target vehicle and a current lateral speed of the target vehicle.

2. The emergency lane keeping method according to claim 1, characterized in that: The performing risk avoidance action according to the current driving information and the current location information includes: Acquire the steering wheel angle of the target vehicle according to the current driving information and the current position information; The target vehicle is controlled to run to a first position of the target lane according to the steering wheel angle.

3. The emergency lane keeping method according to claim 2, characterized in that: The obtaining the steering wheel angle of the target vehicle according to the current driving information and the current position information includes: constructing a Bezier curve according to the current driving information and the current position information; Executing a first processing strategy on the Bezier curve to obtain a lateral displacement curve; The steering wheel angle is obtained according to the lateral displacement curve.

4. The emergency lane keeping method according to claim 3, characterized in that: The constructing a Bezier curve according to the current driving information and the current position information includes: Acquire a control point sequence according to the current lateral acceleration, the current lateral velocity, the current position information and a preset condition; Constructing the Bezier curve according to the control point sequence; Wherein, the preset conditions include a final lateral acceleration of the target vehicle and a final lateral velocity of the target vehicle.

5. The emergency lane keeping method according to claim 4, characterized in that: The control point column includes: a starting point, an anchor point and an end point in sequence; The step of constructing a Bezier curve according to the control point sequence comprises: Dividing the Bezier curve into a first Bezier curve segment and a second Bezier curve segment through the anchor point; The first section of the Bezier curve is from the starting point to the anchor point, and the second section of the Bezier curve is from the anchor point to the end point.

6. The emergency lane keeping method according to claim 5, characterized in that: The control point column also includes: a first control point, a second control point, a third control point and a fourth control point in sequence, the first control point and the second control point are located between the starting point and the anchor point, and the third control point and the fourth control point are located between the anchor point and the end point; The constructing of a Bezier curve according to the control point sequence further includes: The first control point is infinitely close to the starting point, the second control point is infinitely close to the anchor point, the third control point is infinitely close to the anchor point, and the fourth control point is infinitely close to the end point.

7. The emergency lane keeping method according to any one of claims 3 to 6, characterized in that: The step of executing the first processing strategy on the Bezier curve to obtain a lateral displacement curve includes: Performing an integration operation on the Bezier curve to obtain a lateral velocity curve; The lateral displacement curve is obtained by performing an integration operation on the lateral velocity curve.

8. An emergency lane keeping system, characterized in that: The emergency lane keeping method according to any one of claims 1 to 7 can be implemented, wherein the emergency lane keeping system comprises: A judgment module (10), the judgment module (10) being used to judge whether the target vehicle triggers an emergency lane keeping function in the target lane; A detection module (20), the detection module (20) being used to obtain current driving information of the target vehicle and current position information of the target vehicle on the target lane; A processing module (30), the processing module (30) being used to obtain a steering wheel angle according to the current driving information and the current position information; An execution module (40), the execution module (40) being used to run to a first position of the target lane according to the steering wheel angle.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory; the memory is used to store data in an emergency lane keeping system, and the processor is used to call the data in the memory. The electronic device can implement the emergency lane keeping method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that: The emergency lane keeping method as described in any one of claims 1 to 7 can be implemented.

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