Lane keeping control method and device of vehicle and vehicle

Abstract

The invention provides a lane keeping control method and device for a vehicle and the vehicle. The method comprises the steps that the inclination direction and the inclination angle of a slope where the vehicle is located are obtained; and according to the slope inclination direction and the inclination angle, a driving motor of the vehicle is controlled to drive an anti-roll device to execute an anti-roll action. The driving motor of the vehicle is controlled to drive the anti-roll device to execute the anti-roll action by judging whether the inclination direction and the inclination angle of the slope meet the anti-roll condition or not, the effect that the vehicle keeps the lane in the middle on the side-roll road surface is improved, collision accidents of the vehicle are reduced, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a lane keeping control method for a vehicle, a lane keeping device for a vehicle, and a vehicle. Background Art

[0002] The lane centering control function is extremely important to the driving safety of the vehicle. In related technologies, traditional autonomous driving vehicles usually use the lane centering control function equipped on the vehicle, which can enable the vehicle to keep the lane centered on the road.

[0003] However, when the lane centering control function of the above-mentioned vehicle is used, when the vehicle is traveling on a ground with a roll slope, the vehicle is less effective in keeping the lane centered on the road surface, which can easily cause a collision accident with the vehicle next to it, posing a major safety issue. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, an object of the present invention is to provide a lane keeping control method for a vehicle, which can improve the effect of the vehicle in keeping the lane centered on a tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0006] To this end, a second object of the present invention is to provide a lane keeping device for a vehicle.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a lane keeping control method for a vehicle, and the lane keeping control method for the vehicle includes: obtaining the inclination direction and inclination angle of the slope on which the vehicle is located; controlling the vehicle's drive motor to drive the anti-roll device to perform anti-roll action according to the inclination direction and the inclination angle of the slope.

[0009] According to the lane keeping control method for a vehicle in an embodiment of the present invention, by obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, the driving motor of the vehicle is controlled according to the inclination direction and inclination angle of the slope to drive the anti-roll device to perform an anti-roll action, so as to achieve the effect of improving the vehicle to keep the lane centered on a tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0010] In some embodiments, the vehicle's drive motor is controlled to drive the anti-roll device to perform an anti-roll action according to the slope inclination direction and the inclination angle, including: when the slope inclination direction of the vehicle is a first inclination direction and the inclination angle is greater than a preset angle threshold, the drive motor's transverse guide rod is controlled to extend and the first side anti-skid wheel of the vehicle is controlled to land, so as to enable the vehicle to keep the wheels centered on the right-inclined slope.

[0011] In some embodiments, the vehicle's drive motor is controlled to drive the anti-roll device to perform an anti-roll action according to the slope inclination direction and the inclination angle, including: when the slope inclination direction of the vehicle is a second inclination direction and the inclination angle is greater than a preset angle threshold, the drive motor's transverse guide rod is controlled to extend and the second side anti-skid wheel of the vehicle is controlled to land, so as to enable the vehicle to keep the wheels centered on the left-inclined slope.

[0012] In some embodiments, before controlling the vehicle's drive motor to drive the anti-roll device to perform the anti-roll action according to the inclination direction and the inclination angle of the slope, it also includes: receiving an anti-skid instruction issued by a cloud platform according to the inclination direction and the inclination angle of the slope, so as to control the vehicle to maintain centered driving on the inclined slope according to the anti-skid instruction.

[0013] In some embodiments, it also includes: when the slope inclination direction is the first inclination direction or the second inclination direction and the inclination angle is less than or equal to a preset angle threshold, the cloud platform does not issue an anti-skid instruction to control whether the vehicle should perform a corresponding anti-skid action.

[0014] In some embodiments, obtaining the inclination direction and inclination angle of the slope on which the vehicle is located includes: obtaining first slope information and second slope information of the vehicle traveling; fusing the first slope information and the second slope information to obtain fused slope information, providing a data basis for the cloud platform to make differential arbitration judgments; obtaining the inclination direction and inclination angle of the slope on which the vehicle is located based on the fused slope information and the posture information of the vehicle, so that the obtained slope inclination direction and inclination angle data are more accurate, which serves as a judgment basis for issuing corresponding anti-skid instructions.

[0015] In some embodiments, obtaining first slope information of a vehicle includes: obtaining width information of the vehicle, first height information of a first end of the vehicle, second height information of a second end of the vehicle, and driving data of the vehicle, to serve as a data basis for determining the first slope information; determining the ground slope of the vehicle based on the width information, the first height information of the first end of the vehicle, and the second height information of the second end of the vehicle, to serve as a data basis for determining the first slope information; obtaining the first slope information of the vehicle based on the ground slope and the driving data to ensure the accuracy of the first slope information.

[0016] In some embodiments, obtaining the second slope information of a vehicle includes: obtaining the vehicle's motion information and road surface information to serve as a data basis for determining the second slope information; and obtaining the vehicle's second slope information based on the motion information and the road surface information to ensure the accuracy of the second slope information.

[0017] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a lane keeping device for a vehicle, comprising: an acquisition module for acquiring the inclination direction and inclination angle of the slope on which the vehicle is located; and a control module for controlling the vehicle's drive motor to drive the anti-roll device to perform an anti-roll action according to the inclination direction and the inclination angle of the slope.

[0018] According to the lane keeping device of a vehicle in an embodiment of the present invention, the device uses the lane keeping control method of the vehicle in the above-mentioned embodiment, and obtains the inclination direction and inclination angle of the slope on which the vehicle is located, and controls the vehicle's drive motor to drive the anti-roll device to perform an anti-roll action according to the inclination direction and inclination angle of the slope, so as to achieve the effect of improving the vehicle's ability to keep the lane centered on a tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0019] In order to achieve the above-mentioned object, an embodiment of a third aspect of the present invention provides a vehicle, comprising: a lane keeping device for a vehicle as described in the above-mentioned embodiment.

[0020] According to the vehicle of the embodiment of the present invention, the lane keeping device of the vehicle of the above embodiment is configured on the vehicle. By obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, the driving motor of the vehicle is controlled according to the inclination direction and inclination angle of the slope to drive the anti-roll device to perform the anti-roll action, so as to achieve the effect of improving the vehicle to keep the lane centered on the tilted road surface, reduce the collision accidents of the vehicle, and improve the driving safety of the vehicle.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a block diagram of a lane keeping control system for a vehicle according to an embodiment of the present invention; Figure 2 is a flow chart of a lane keeping control method for a vehicle according to an embodiment of the present invention; Figure 3 is a schematic diagram of a vehicle traveling on a tilted road according to an embodiment of the present invention; Figure 4 is a schematic diagram of right-side anti-skid when a vehicle is on a tilting road according to an embodiment of the present invention; Figure 5 is a schematic diagram of the left side anti-skid when a vehicle is on a tilting road according to an embodiment of the present invention; Figure 6 is a flow chart of a lane keeping control method for a vehicle according to another embodiment of the present invention; Figure 7 is a block diagram of a lane keeping device for a vehicle according to an embodiment of the present invention; Figure 8 is a block diagram of a vehicle according to one embodiment of the present invention.

[0023] Reference numerals: Roadside camera 11; roadside laser radar 12; edge computing unit 13; cloud platform 14; roadside unit 15; inertial measurement unit 16; vehicle-mounted unit 17; vehicle controller 18; drive motor 19; lateral guide rod 20; right anti-skid wheel 21; left anti-skid wheel 22; The left lane line is 30; the center line is 31; the right lane line is 32; Vehicle 100; A lane keeping device 101 of a vehicle; Acquisition module 105; Control module 106. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0025] In related technologies, for example, traditional autonomous driving vehicles are equipped with an LCC (Lane Centering Control) function to enable the vehicle to remain centered on the road. However, in order to maintain the road centering control effect of the lane centering control function, the applied road surface is generally a horizontal road. When the ground on which the vehicle is driving has a side slope, the autonomous driving vehicle is prone to tilt and slide to one side, resulting in the inability to control the autonomous driving vehicle to drive in the center of the lane line, which is prone to cause a collision accident with the vehicle next to it, posing a major safety issue.

[0026] Therefore, the lane keeping control method for a vehicle according to the embodiment of the present invention is adopted, by obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, and controlling the vehicle's drive motor to drive the anti-roll device to perform an anti-roll action according to the inclination direction and inclination angle of the slope, so as to achieve the effect of improving the vehicle's ability to keep the lane centered on a tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0027] The lane keeping control method for the above vehicle is implemented based on the lane keeping control system of the vehicle. The lane keeping control system of the vehicle is illustrated below by way of example.

[0028] First, if Figure 1 , which is a block diagram of a lane keeping control system for a vehicle according to an embodiment of the present invention, includes: a roadside camera 11, a roadside laser radar 12, an edge computing unit 13, a cloud platform 14, a roadside unit 15, an inertial measurement unit 16, an onboard unit 17, a vehicle controller 18, a drive motor 19, a lateral guide rod 20, a right anti-skid wheel 21, and a left anti-skid wheel 22.

[0029] The components of the lane keeping control system for a vehicle according to an embodiment of the present invention are explained below.

[0030] Roadside camera 11: It is arranged above the roadside pole and uses a high-definition camera and a megapixel sensor to collect the width information of the road autonomous driving vehicle and the height difference between the two ends of the roof, calculate the ground slope where the vehicle is currently located, collect the vehicle's driving speed, direction and heading angle, the distance between the center of the vehicle and the center line of the lane, etc., and transmit the information to the edge computing unit 13 for judging the slope where the vehicle is traveling; Roadside laser radar 12: It is arranged above the roadside pole and uses a 256-line solid-state laser radar to scan the movement information of the road autonomous vehicle in real time, scan the road surface information and vehicle posture to form a 3D digital model, calculate the road roll slope information of the autonomous vehicle, and transmit it to the edge computing unit 13 for data fusion redundancy to determine the road condition of the autonomous vehicle; Edge computing unit 13: Receives information transmitted by roadside cameras and roadside lidars, builds data models, fuses camera 2D perception information with lidar 3D data information, builds a three-dimensional model to process and judge the roadside monitored autonomous driving vehicle and the slope information of the road, and transmits the preliminary judgment model to the cloud platform and inertial navigation information for differential arbitration judgment; The cloud platform 14 receives the model information of the autonomous driving vehicle and the road transmitted by the edge computing unit 13 and the vehicle posture angle information provided by the inertial measurement unit 16 transmitted by the roadside unit 15, performs differential arbitration fusion processing, and determines the road condition where the autonomous driving vehicle is currently located; Roadside unit 15: arranged above the roadside pole, receives vehicle posture information from the inertial measurement unit 16 transmitted by the vehicle-mounted unit 17, and control command information from the cloud platform 14, and sends the inertial measurement information of the vehicle side to the cloud platform 14 and the control command information of the cloud platform 14 to the vehicle side; Inertial measurement unit 16: connected to the vehicle-mounted unit 17, arranged under the driver's seat, collects the speed, angular velocity, angle and angle information around the three axes of the ground coordinate system XYZ of the current autonomous driving vehicle in the XYZ direction, determines the current movement inclination of the vehicle, and thus determines the inclination slope of the road where the vehicle is located, and transmits the information to the vehicle-mounted unit 17 and to the cloud platform 14 for comprehensive arbitration judgment processing; The vehicle-mounted unit 17 is arranged in the front cockpit of the vehicle, receives the vehicle posture information from the inertial measurement unit 16 and the control command information transmitted by the roadside unit 15, and controls the vehicle to keep the vehicle on different slopes centered in the lane according to the control command; Vehicle controller 18: connected to the vehicle-mounted unit 17, arranged under the driver's seat, receives control instructions transmitted by the vehicle-mounted unit 17, and sends signals to the drive motor 19 through the CAN (Controller Area Network) bus for command control; Driving motor 19: connected to vehicle controller 18, receiving controller instructions from vehicle controller 18, and executing instruction actions; A lateral guide rod 20: one end is connected to the drive motor 19, and the other end is connected to the right anti-skid wheel 21 and the left anti-skid wheel 22. The extension of the lateral guide rod can be controlled by controlling the drive motor 19, and the left and right anti-skid wheels can be extended to the ground according to the roll angle of the road surface to drive the anti-skid function; Right anti-skid wheel 21: a small wheel structure, with a diameter of half the diameter of a normal wheel tire of an autonomous vehicle, a tire friction coefficient of about 0.5, connected to the transverse pull guide rod 20, and can extend out to land on the ground under the action of transverse pull, and cooperate with the main wheel to increase the obstacle of tilting to the right and keep the wheel running in the center; The left anti-skid wheel 22: a wheel structure, with a diameter of half the diameter of a normal wheel tire of an autonomous vehicle, a tire friction coefficient of about 0.5, connected to a transverse pull guide rod, and can extend out to land on the ground under the action of transverse pull, and cooperate with the main wheel to increase the obstacle of tilting to the left and keep the wheel running in the center; Based on the above, the following Figure 1-Figure 6 A lane keeping control method for a vehicle according to an embodiment of the present invention is described.

[0031] like Figure 2 FIG. 1 is a flow chart of a lane keeping control method for a vehicle according to an embodiment of the present invention. The lane keeping control method for a vehicle according to an embodiment of the present invention at least includes steps S1 and S2.

[0032] Step S1, obtaining the slope direction and slope angle of the vehicle.

[0033] In an embodiment, Figure 3FIG. 1 is a schematic diagram of a vehicle driving on a tilted road according to an embodiment of the present invention. Figure 4 FIG. 1 is a schematic diagram of the right side anti-skid of a vehicle on a tilted road according to an embodiment of the present invention. Figure 5 FIG. 2 is a schematic diagram of the left side anti-skid of a vehicle on a tilted road according to an embodiment of the present invention. Figure 3 , Figure 4 and Figure 5 As shown in , the slope inclination direction refers to the direction of the terrain slope, that is, the direction of the projection of the slope normal on the horizontal plane, such as Figure 4 The slope on which the vehicle is located is tilted to the right. Figure 5 The slope on which the vehicle is shown is tilted to the left; the tilt angle indicates the steepness of the slope and is a quantitative indicator of the steepness of the surface unit, such as Figure 3 The angle a shown in the figure. By obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, data is prepared for controlling the vehicle to perform anti-roll action.

[0034] Step S2, controlling the driving motor of the vehicle to drive the anti-roll device to perform an anti-roll action according to the inclination direction and inclination angle of the slope.

[0035] In an embodiment, in combination Figure 3 , Figure 4 and Figure 5 As shown, the vehicle's drive motor drives the anti-roll device including a drive motor 19, a right anti-skid wheel 21 and a left anti-skid wheel 22; the anti-roll action is controlled and executed by an anti-skid instruction. For example, when the cloud platform 14 determines that the slope inclination direction of the vehicle is as follows: Figure 4 When the vehicle is on a slope tilted to the right and the tilt angle reaches the critical value for issuing an anti-skid command, an instruction to control the right side of the vehicle to perform anti-skid operation will be issued. After receiving the instruction, the drive motor drives the anti-roll device to perform an anti-roll action to ensure that the vehicle remains centered on the slope tilted to the right. When the cloud platform 14 determines that the slope tilt direction of the vehicle is as follows Figure 5 When the vehicle is on a slope tilted to the left and the tilt angle reaches the critical value for issuing an anti-skid command, an instruction to control the left side of the vehicle to prevent skidding will be issued. After receiving the instruction, the drive motor drives the anti-roll device to perform an anti-roll action to keep the vehicle centered on the slope tilted to the left. According to the tilt direction and tilt angle of the slope, the drive motor of the vehicle is controlled to drive the anti-roll device to perform an anti-roll action to achieve the effect of improving the vehicle to keep the lane centered on the tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0036] According to the lane keeping control method for a vehicle in an embodiment of the present invention, by obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, the driving motor of the vehicle is controlled according to the inclination direction and inclination angle of the slope to drive the anti-roll device to perform an anti-roll action, so as to achieve the effect of improving the vehicle to keep the lane centered on a tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0037] In some embodiments, the vehicle's drive motor is controlled to drive the anti-roll device to perform anti-roll action according to the slope's inclination direction and inclination angle, including: when the vehicle's slope inclination direction is a first inclination direction and the inclination angle is greater than a preset angle threshold, the drive motor's transverse guide rod is controlled to extend and the vehicle's first side anti-skid wheel is controlled to land.

[0038] In an embodiment, Figure 3 As shown in , the slope inclination direction refers to the direction of the terrain slope, that is, the direction of the projection of the slope normal on the horizontal plane; Figure 4 As shown, the first tilt direction is as follows Figure 4 The slope is tilted to the right as shown; the tilt angle indicates the steepness of the slope and is a quantitative indicator of the steepness of the surface unit, such as Figure 3 The angle a shown; the preset angle threshold is the critical value that affects the vehicle's ability to maintain centering and requires the issuance of an anti-skid command. It is a value obtained through comprehensive requirements and experiments, and is set to a, with a value of 5°; the first side anti-skid wheel, for example, the right side anti-skid wheel 21. When the driving motor of the vehicle is controlled to drive the anti-roll device to perform the anti-roll action according to the slope inclination direction and inclination angle, the orientation of the terrain slope where the vehicle is located is as follows: Figure 4 As shown, when the vehicle is tilted to the right and the tilt angle a>5°, the instruction to control the right side of the vehicle to prevent skidding is executed. Specifically, the drive motor 19 is controlled to extend the transverse guide rod 20, driving the right side anti-skid wheel 21 to touch the ground, and cooperate with the main wheel to increase the resistance to tilting to the right, and suppress the resistance to tilting to the right, so as to achieve the vehicle keeping the wheels centered on the right-inclined slope.

[0039] In some embodiments, the vehicle's drive motor is controlled to drive the anti-roll device to perform anti-roll action according to the slope's inclination direction and inclination angle, including: when the vehicle's slope inclination direction is a second inclination direction and the inclination angle is greater than a preset angle threshold, the drive motor's transverse guide rod is controlled to extend and the vehicle's second side anti-skid wheel is controlled to land.

[0040] In an embodiment, in combination Figure 3 , Figure 4 and Figure 5 As shown, the second tilt direction is as follows Figure 5The second side anti-skid wheel is, for example, the left side anti-skid wheel 22. When the driving motor of the vehicle drives the anti-roll device to perform the anti-roll action according to the inclination direction and inclination angle of the slope, the orientation of the terrain slope where the vehicle is located is as follows Figure 5 As shown, when the vehicle is tilted to the left and the tilt angle a>5°, the left side of the vehicle is controlled to perform anti-skid instructions, and the drive motor 19 is controlled to extend the transverse guide rod 20 to drive the left anti-skid wheel 22 to the ground, and together with the main wheel, the obstacle to tilting to the left is increased, and the obstacle to tilting to the left is suppressed, so as to achieve the vehicle keeping the wheel centered on the left-inclined slope.

[0041] In some embodiments, before controlling the vehicle's drive motor to drive the anti-roll device to perform the anti-roll action according to the slope's inclination direction and inclination angle, it also includes: receiving an anti-skid instruction issued by a cloud platform according to the slope's inclination direction and inclination angle.

[0042] In an embodiment, in combination Figure 3 , Figure 4 and Figure 5 As shown, before the anti-roll device is driven by the driving motor of the vehicle to perform the anti-roll action according to the slope inclination direction and the inclination angle, the cloud platform 14 receives the model information of the autonomous driving vehicle and the road transmitted by the edge computing unit 13 and the vehicle posture angle information provided by the inertial measurement unit 16 transmitted by the roadside unit 15, performs differential arbitration fusion processing, and determines the road condition where the autonomous driving vehicle is currently located. If the cloud platform 14 determines that the slope inclination direction of the vehicle is as follows Figure 4 As shown in the figure, when the vehicle is on a slope inclined to the right and the inclination angle a>5°, it means that the right side of the vehicle needs to be anti-skid, and an anti-skid instruction is issued. The anti-skid instruction is an instruction to control the right side of the vehicle to prevent skidding, so as to control the vehicle to keep driving in the center on the slope inclined to the right according to the anti-skid instruction; if the cloud platform 14 determines that the slope inclination direction of the vehicle is as follows Figure 5 As shown in the left-inclined slope, when the inclination angle a>5°, it indicates that the left side of the vehicle needs to be anti-skid, and an anti-skid instruction is issued. The anti-skid instruction is an instruction to control the left side of the vehicle to perform anti-skid operation, so as to control the vehicle to maintain centered driving on the left-inclined slope according to the anti-skid instruction; the roadside unit 15 receives the anti-skid instruction and other information issued by the cloud platform 14, and transmits the information to the on-board unit 17. After receiving the anti-skid instruction and other information, the on-board unit 17 transmits the information to the vehicle controller 18. After receiving the anti-skid instruction, the vehicle controller 18 sends a signal to the drive motor 19 through the CAN bus to execute the instruction.

[0043] In some embodiments, it also includes: when the slope inclination direction is the first inclination direction or the second inclination direction and the inclination angle is less than or equal to a preset angle threshold, the cloud platform does not issue an anti-slip instruction.

[0044] In an embodiment, if the cloud platform 14 determines that the vehicle is on a slope inclined to the right or on a slope inclined to the left, but the inclination angle a≤5°, it is considered that the vehicle does not need anti-skid control and can maintain centered driving, and no anti-skid instruction is issued to control whether the vehicle should perform the corresponding anti-skid action.

[0045] In some embodiments, obtaining the inclination direction and inclination angle of the slope on which the vehicle is located includes: obtaining first slope information and second slope information of the vehicle traveling; fusing the first slope information and the second slope information to obtain fused slope information; and obtaining the inclination direction and inclination angle of the slope on which the vehicle is located based on the fused slope information and the posture information of the vehicle.

[0046] In an embodiment, Figure 3 As shown, the first slope information of the vehicle is obtained by the roadside camera 11, which is the information of the vehicle on the road and the road surface; the second slope information of the vehicle is obtained by the roadside laser radar 12, which is the information of the road surface and the vehicle in the 3D digital model of the vehicle and the road surface; when obtaining the inclination direction and inclination angle of the slope where the vehicle is located, the roadside camera 11 obtains the first slope information of the vehicle, and the roadside laser radar 12 obtains the second slope information of the vehicle; the edge computing unit 13 receives the information obtained by the roadside camera 11 and the roadside laser radar 12, constructs a data model, and converts the camera 2D perception information The information is fused with the 3D data information of the laser radar to construct a three-dimensional model to process and judge the slope information of the autonomous driving vehicle monitored on the road side and the road on which it is located, and the fused slope information is obtained, providing a data basis for the cloud platform 14 to make a differential arbitration judgment; after the cloud platform 14 receives the fused slope information and the vehicle's posture information transmitted by the edge computing unit 13, it performs differential arbitration fusion processing on the information to judge the current road condition of the autonomous driving vehicle, that is, the inclination direction and inclination angle of the slope of the vehicle, so that the obtained slope inclination direction and inclination angle data are more accurate, which serves as a judgment basis for issuing corresponding anti-skid instructions.

[0047] In some embodiments, obtaining the first slope information of the vehicle includes: obtaining the width information of the vehicle, the first height information of the first end of the vehicle, the second height information of the second end of the vehicle, and the driving data of the vehicle; determining the ground slope of the vehicle according to the width information, the first height information of the first end of the vehicle, and the second height information of the second end of the vehicle; and obtaining the first slope information of the vehicle according to the ground slope and the driving data.

[0048] In an embodiment, Figure 3As shown, the first height information of the first end of the vehicle is the height of the right side of the top of the vehicle; the second height information of the second end of the vehicle is the height of the left side of the top of the vehicle; the driving data of the vehicle includes the driving speed, direction and heading angle of the vehicle, the distance information between the center of the vehicle and the center line of the lane, etc., which are the data basis for determining the first slope information; when the roadside camera 11 obtains the first slope information of the vehicle, the width information L of the vehicle, the height of the right side of the top of the vehicle, the height of the left side of the top of the vehicle and the driving speed, direction and heading angle of the vehicle, the distance information between the center of the vehicle and the center line of the lane, etc. are obtained; the ground slope a where the vehicle is located is determined according to the above-mentioned width information L, the height of the right side of the top of the vehicle, and the height of the left side of the top of the vehicle, which is the data basis for determining the first slope information; the first slope information of the vehicle is obtained according to the ground slope a and the driving speed, direction and heading angle of the vehicle, the distance information between the center of the vehicle and the center line of the lane, so as to ensure the accuracy of the first slope information.

[0049] In some embodiments, obtaining the second slope information of the vehicle includes: obtaining the motion information and road surface information of the vehicle; and obtaining the second slope information of the vehicle based on the motion information and road surface information.

[0050] In an embodiment, when the roadside laser radar 12 obtains the second slope information of the vehicle, the roadside laser radar 12 scans the movement information of the autonomous driving vehicle on the road in real time, and scans the road surface information and the vehicle posture to form a 3D stereo digital model to obtain the vehicle's movement information and road surface information, which serves as a data basis for determining the second slope information; the roadside laser radar 12 calculates the roll slope information of the road on which the autonomous driving vehicle is traveling based on the above information, and obtains the second slope information of the vehicle, so as to ensure the accuracy of the second slope information.

[0051] Reference below Figure 6 The lane keeping control method for a vehicle according to an embodiment of the present invention is described in detail.

[0052] like Figure 6 FIG. 2 is a flow chart of a vehicle lane keeping control method according to another embodiment of the present invention. The embodiment of the present invention at least includes steps S50 to S64.

[0053] Step S50, obtaining width information of the vehicle, first height information of the first end of the vehicle, second height information of the second end of the vehicle and driving data of the vehicle.

[0054] Step S51, determining the ground slope on which the vehicle is located according to the width information, the first height information of the first end of the vehicle, and the second height information of the second end of the vehicle.

[0055] Step S52, obtaining first slope information of the vehicle according to the ground slope and driving data.

[0056] Step S53, obtaining the vehicle's motion information and road surface information.

[0057] Step S54, obtaining the second slope information of the vehicle according to the motion information and the road surface information.

[0058] Step S55, fusing the first slope information and the second slope information to obtain fused slope information.

[0059] Step S56, obtaining the slope direction and angle of the vehicle based on the fused slope information and the vehicle's posture information.

[0060] Step S57, determining whether the slope direction of the vehicle is the first slope direction and whether the slope angle is greater than a preset angle threshold. If yes, executing step S59; otherwise, executing step S58.

[0061] Step S58: No anti-skid instruction is issued.

[0062] Step S59, issuing an anti-skid instruction.

[0063] Step S60, controlling the lateral guide rod of the driving motor to extend and controlling the first side anti-skid wheel of the vehicle to land.

[0064] Step S61, determining whether the slope direction of the vehicle is the second slope direction and whether the slope angle is greater than a preset angle threshold. If yes, executing step S63; otherwise, executing step S62.

[0065] Step S62: No anti-skid instruction is issued.

[0066] Step S63, issuing an anti-skid instruction.

[0067] Step S64, controlling the lateral guide rod of the driving motor to extend and controlling the second side anti-skid wheel of the vehicle to land.

[0068] According to the lane keeping control method for a vehicle in an embodiment of the present invention, by obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, the driving motor of the vehicle is controlled according to the inclination direction and inclination angle of the slope to drive the anti-roll device to perform an anti-roll action, so as to achieve the effect of improving the vehicle to keep the lane centered on a tilted road surface, reduce vehicle collision accidents, and improve vehicle driving safety.

[0069] Face reference Figure 7 A lane keeping device for a vehicle according to an embodiment of the present invention will be described.

[0070] like Figure 7 1 is a block diagram of a lane keeping device for a vehicle according to an embodiment of the present invention. The block diagram 101 of the lane keeping device for a vehicle according to the embodiment of the present invention includes an acquisition module 105 and a control module 106 .

[0071] The acquisition module 105 is used to acquire the slope inclination direction and inclination angle of the vehicle; the control module 106 is used to control the vehicle's driving motor to drive the anti-roll device to perform the anti-roll action according to the slope inclination direction and inclination angle. According to the lane keeping device 101 of a vehicle in an embodiment of the present invention, the device uses the lane keeping control method of the vehicle in the above-mentioned embodiment, by obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, and controlling the driving motor of the vehicle to drive the anti-roll device to perform an anti-roll action according to the inclination direction and inclination angle of the slope, so as to achieve the effect of improving the vehicle to keep the lane centered on the tilted road surface, reduce the collision accidents of the vehicle, and improve the driving safety of the vehicle.

[0072] In some embodiments, when the control module 106 controls the vehicle's drive motor to drive the anti-roll device to perform an anti-roll action according to the slope inclination direction and the inclination angle, when the slope inclination direction of the vehicle is a first inclination direction and the inclination angle is greater than a preset angle threshold, the control module 106 controls the drive motor's transverse guide rod to extend and controls the first side anti-skid wheel of the vehicle to land.

[0073] In some embodiments, when the control module 106 controls the vehicle's drive motor to drive the anti-roll device to perform an anti-roll action according to the slope inclination direction and the inclination angle, when the slope inclination direction of the vehicle is a second inclination direction and the inclination angle is greater than a preset angle threshold, the control module 106 controls the drive motor's transverse pull rod to extend and controls the second side anti-skid wheel of the vehicle to land.

[0074] In some embodiments, the control module 106 controls the vehicle's drive motor to drive the anti-roll device to perform the anti-roll action according to the slope's inclination direction and inclination angle, and receives an anti-skid instruction issued by the cloud platform according to the slope's inclination direction and inclination angle.

[0075] In some embodiments, when the slope inclination direction is the first inclination direction or the second inclination direction and the inclination angle is less than or equal to a preset angle threshold, the cloud platform does not issue an anti-skid instruction.

[0076] In some embodiments, the acquisition module 105 acquires the inclination direction and inclination angle of the slope on which the vehicle is located, including: acquiring first slope information of the vehicle and second slope information of the vehicle; fusing the first slope information and the second slope information to obtain fused slope information; and acquiring the inclination direction and inclination angle of the slope on which the vehicle is located based on the fused slope information and the posture information of the vehicle.

[0077] In some embodiments, the acquisition module 105 acquires the first slope information of the vehicle, including: acquiring the width information of the vehicle, the first height information of the first end of the vehicle, the second height information of the second end of the vehicle and the driving data of the vehicle; determining the ground slope of the vehicle according to the width information, the first height information of the first end of the vehicle and the second height information of the second end of the vehicle; acquiring the first slope information of the vehicle according to the ground slope and the driving data.

[0078] In some embodiments, the acquisition module 105 acquires the second slope information of the vehicle, including: acquiring the motion information and road surface information of the vehicle; and acquiring the second slope information of the vehicle according to the motion information and road surface information.

[0079] According to the lane keeping device 101 of a vehicle in an embodiment of the present invention, the device uses the lane keeping control method of the vehicle in the above-mentioned embodiment, by obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, and controlling the driving motor of the vehicle to drive the anti-roll device to perform an anti-roll action according to the inclination direction and inclination angle of the slope, so as to achieve the effect of improving the vehicle to keep the lane centered on the tilted road surface, reduce the collision accidents of the vehicle, and improve the driving safety of the vehicle.

[0080] Face reference Figure 8 A vehicle according to an embodiment of the present invention is described.

[0081] like Figure 8 FIG. 1 is a block diagram of a vehicle according to an embodiment of the present invention. A vehicle 100 according to the embodiment of the present invention includes a lane keeping device 101 of the vehicle according to the above embodiment.

[0082] According to the vehicle 100 of the embodiment of the present invention, the vehicle 100 is equipped with the lane keeping device 101 of the vehicle of the above embodiment. By obtaining the inclination direction and inclination angle of the slope on which the vehicle is located, the driving motor of the vehicle is controlled according to the inclination direction and inclination angle of the slope to drive the anti-roll device to perform the anti-roll action, so as to achieve the effect of improving the vehicle to keep the lane centered on the tilted road surface, reduce the collision accidents of the vehicle, and improve the driving safety of the vehicle.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0084] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle lane keeping control method, characterized in that: include: Obtain the slope inclination direction and inclination angle of the vehicle; The driving motor of the vehicle is controlled to drive the anti-roll device to perform an anti-roll action according to the inclination direction and the inclination angle of the slope.

2. The vehicle lane keeping control method according to claim 1, characterized in that: Controlling the driving motor of the vehicle to drive the anti-roll device to perform an anti-roll action according to the inclination direction and the inclination angle of the slope includes: When the slope inclination direction of the vehicle is a first inclination direction and the inclination angle is greater than a preset angle threshold, the lateral pull rod of the driving motor is controlled to extend and the first side anti-skid wheel of the vehicle is controlled to land.

3. The vehicle lane keeping control method according to claim 1, characterized in that: According to the inclination direction and the inclination angle of the slope, a driving motor of the vehicle is controlled to drive an anti-roll device to perform an anti-roll action, including: When the slope inclination direction of the vehicle is the second inclination direction and the inclination angle is greater than a preset angle threshold, the lateral pull rod of the driving motor is controlled to extend and the second side anti-skid wheel of the vehicle is controlled to land.

4. The vehicle lane keeping control method according to claim 2 or 3, characterized in that: Before controlling the driving motor of the vehicle to drive the anti-rolling device to perform the anti-rolling action according to the inclination direction and the inclination angle of the slope, the method further includes: An anti-skid instruction issued by a cloud platform is received according to the inclination direction and the inclination angle of the slope.

5. The vehicle lane keeping control method according to claim 1, characterized in that: Also includes: When the slope inclination direction is the first inclination direction or the second inclination direction and the inclination angle is less than or equal to the preset angle threshold, the cloud platform does not issue an anti-slip instruction.

6. The vehicle lane keeping control method according to claim 1, characterized in that: Obtain the slope direction and angle of the vehicle, including: Acquire information about a first slope at which the vehicle is traveling and information about a second slope at which the vehicle is traveling; fusing the first slope information and the second slope information to obtain fused slope information; The inclination direction and inclination angle of the slope where the vehicle is located are obtained according to the fused slope information and the posture information of the vehicle.

7. The vehicle lane keeping control method according to claim 6, characterized in that: Get the first slope information of the vehicle, including: Acquire width information of the vehicle, first height information of a first end of the vehicle, second height information of a second end of the vehicle, and driving data of the vehicle; Determine the ground slope where the vehicle is located according to the width information, the first height information of the first end of the vehicle, and the second height information of the second end of the vehicle; The first slope information of the vehicle driving is obtained according to the ground slope and the driving data.

8. The vehicle lane keeping control method according to claim 6, characterized in that: Obtain the second slope information of the vehicle, including: Obtain vehicle movement information and road surface information; The second slope information of the vehicle is obtained according to the motion information and the road surface information.

9. A lane keeping device for a vehicle, characterized in that: include: An acquisition module, used to acquire the slope inclination direction and inclination angle of the vehicle; The control module is used to control the driving motor of the vehicle to drive the anti-roll device to perform the anti-roll action according to the inclination direction and the inclination angle of the slope.

10. A vehicle, characterized in that: include: The lane keeping device for a vehicle as claimed in claim 9.

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