Automatic lateral offset control method and device, equipment and storage medium

Abstract

The invention discloses an automatic lateral deviation control method and device, equipment and a storage medium, and relates to the technical field of automobile driving auxiliary control, and the automatic lateral deviation control method comprises the steps: obtaining lane information and adjacent lane vehicle information; based on the lane information and the adjacent lane vehicle information, obtaining a transverse distance between the adjacent lane vehicle and the own lane; performing offset detection on the vehicle to obtain an offset detection result of the vehicle; when the deviation detection result is that the vehicle has a deviation demand, determining an automatic transverse deviation amount according to the transverse distance; and according to the automatic transverse offset, corresponding turning angle information is obtained, and transverse offset control is conducted on the vehicle according to the turning angle information. According to the method, the lane and vehicle information is obtained, the transverse distance is calculated, and the proper transverse offset is calculated through the offset detection logic, so that the approaching vehicle is actively avoided during middle driving, and the driving safety and the driving experience are improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile driving assistance control, and in particular to an automatic lateral deviation control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of advanced driver assistance systems (ADAS), more and more vehicles are equipped with functions such as lane keeping and lane centering, which have reduced the burden on drivers to a certain extent and improved driving safety. Especially in single-lane driving scenarios such as highways, the lane keeping function automatically adjusts the position of the vehicle to ensure that the vehicle does not deviate from the lane. However, with the increasing complexity of traffic, drivers not only need to keep the lane centered, but also hope that when a vehicle approaches in the adjacent lane, the system can actively adjust the distance between the vehicle and the adjacent vehicle to reduce the potential risk of collision and improve driving comfort.

[0003] Most of the current lane keeping systems use front cameras to identify lane lines, and actively intervene to control the vehicle to return to the center of the lane when it detects that the vehicle deviates from the center of the lane or enters a preset area. This system is mainly based on the recognition of lane lines. When the driver does not turn on the turn signal, a simple correction algorithm is used to keep the vehicle in the center or near the current lane. This type of system has been widely used in many models and operates effectively under normal driving conditions.

[0004] Although existing lane keeping systems can help vehicles stay in lanes to a certain extent, they usually only consider the situation in the current lane and do not have the ability to actively avoid approaching vehicles in adjacent lanes. When a vehicle approaches in an adjacent lane, the existing system only keeps the vehicle centered and cannot actively adjust the lateral distance from the adjacent vehicle. This causes drivers to still need to intervene manually when facing complex traffic conditions, which increases tension and may cause traffic accidents. In addition, the current system lacks fine control of lateral deviation in multiple scenarios and cannot meet the needs of complex road conditions and driving habits. Therefore, how to actively avoid vehicles in adjacent lanes when the vehicle is centered has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present application is to provide an automatic lateral deviation control method, device, equipment and storage medium, aiming to solve the technical problem of how to actively avoid vehicles in adjacent lanes when the vehicle is driving in the center.

[0006] To achieve the above objectives, the present application proposes an automatic lateral deviation control method, the method comprising:

[0007] Obtain lane information and adjacent lane vehicle information;

[0008] Based on the lane information and the adjacent lane vehicle information, a lateral distance between the adjacent lane vehicle and the own vehicle lane is obtained;

[0009] Performing offset detection on the vehicle to obtain the offset detection result of the vehicle itself;

[0010] When the offset detection result indicates that the own vehicle has an offset requirement, determining an automatic lateral offset amount according to the lateral distance;

[0011] According to the automatic lateral offset, corresponding turning angle information is obtained, and the lateral offset of the vehicle is controlled according to the turning angle information.

[0012] In one embodiment, performing offset detection on a vehicle to obtain an offset detection result of the vehicle itself includes:

[0013] Get the preset offset boundary range;

[0014] Determining whether there is a vehicle in an adjacent lane within the preset offset boundary range according to the adjacent lane vehicle information;

[0015] When the adjacent lane vehicle exists within the preset offset boundary range and the adjacent lane vehicle is located on a single side of the own vehicle lane, it is determined that the offset detection result of the own vehicle is that the own vehicle has an offset requirement.

[0016] In one embodiment, performing offset detection on a vehicle to obtain an offset detection result of the vehicle itself includes:

[0017] When there is no adjacent lane vehicle within the preset offset boundary range or when there is an adjacent lane vehicle within the preset offset boundary range but the adjacent lane vehicles are located on both sides of the own vehicle lane, it is determined that the offset detection result of the own vehicle is that there is no offset requirement, and the own vehicle is kept driving in the center.

[0018] In one embodiment, when the offset detection result indicates that the vehicle has an offset requirement, determining the automatic lateral offset amount according to the lateral distance includes:

[0019] When the deviation detection result indicates that the own vehicle has a deviation requirement, obtaining a first lane width and a second lane width based on the lane information and the adjacent lane vehicle information, wherein the first lane width is greater than the second lane width;

[0020] Acquire a first preset lateral offset and a second preset lateral offset, wherein the first preset lateral offset is greater than the second preset lateral offset;

[0021] When the lateral distance is less than or equal to a preset distance threshold and the vehicle in the adjacent lane has not entered the own lane, calculating an automatic lateral offset based on the first lane width, the second lane width, the first preset lateral offset, the second preset lateral offset and the lateral distance;

[0022] When the lateral distance is less than or equal to the preset distance threshold and the adjacent lane vehicle enters the own lane, an automatic lateral offset is calculated based on the first lane width, the second lane width, the first preset lateral offset, and the second preset lateral offset.

[0023] In one embodiment, after performing offset detection on a vehicle and obtaining an offset detection result of the vehicle itself, the method further includes:

[0024] When the offset detection result indicates that there is no offset requirement and the vehicle is kept centered, based on the lane information and the adjacent lane vehicle information, the central axis of the vehicle, the lateral distance from the adjacent lane line to the central axis of the vehicle, the heading angle of the vehicle, the curvature of the lane line of the vehicle, and the curvature change rate of the lane line of the vehicle are obtained;

[0025] Acquire discrete points based on the center axis of the own vehicle, where the discrete points are points on the center axis of the own vehicle in the driving direction;

[0026] Establishing a lane line model based on the discrete points, the lateral spacing, the own vehicle heading angle, the own vehicle lane line curve curvature, and the own vehicle lane line curve curvature change rate;

[0027] The relative position between the vehicle and the center line of the lane is obtained in real time based on the lane line model, and the vehicle is controlled to travel in the center according to the relative position.

[0028] In one embodiment, after obtaining corresponding turning angle information according to the automatic lateral offset and performing lateral offset control on the vehicle according to the turning angle information, the method further includes:

[0029] Display the lateral deviation of the vehicle and generate prompt information;

[0030] The lateral deviation of the vehicle is reported by voice according to the prompt information.

[0031] In one embodiment, after obtaining corresponding turning angle information according to the automatic lateral offset and performing lateral offset control on the vehicle according to the turning angle information, the method further includes:

[0032] When the steering wheel steering information is obtained or the vehicle status meets the inhibition conditions, the centering driving and automatic lateral deviation functions of the vehicle are exited.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes an automatic lateral deviation control device, the device comprising:

[0034] An acquisition module, used to acquire lane information and adjacent lane vehicle information;

[0035] An obtaining module, based on the lane information and the adjacent lane vehicle information, obtains a lateral distance between the adjacent lane vehicle and the own vehicle lane;

[0036] The detection module performs deviation detection on the vehicle and obtains the deviation detection result of the vehicle itself;

[0037] a calculation module, for determining an automatic lateral offset amount according to the lateral distance when the offset detection result indicates that the own vehicle has an offset requirement;

[0038] The offset module obtains corresponding turning angle information according to the automatic lateral offset amount, and performs lateral offset control on the vehicle according to the turning angle information.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes an automatic lateral deviation control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the automatic lateral deviation control method as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automatic lateral offset control method described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the automatic lateral deviation control method as described above are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] Acquire lane information and adjacent lane vehicle information; based on the lane information and adjacent lane vehicle information, obtain the lateral distance between the adjacent lane vehicle and the own vehicle lane; perform offset detection on the vehicle to obtain the offset detection result of the own vehicle; when the offset detection result indicates that the own vehicle has an offset requirement, determine the automatic lateral offset amount according to the lateral distance; obtain the corresponding turning angle information according to the automatic lateral offset amount, and perform lateral offset control on the vehicle according to the turning angle information. The present application first provides an accurate environmental data basis for subsequent lateral offset by acquiring lane information and adjacent lane vehicle information; secondly, calculates the lateral distance between the adjacent lane vehicle and the own vehicle lane based on the lane information and adjacent vehicle information. This step is processed by the algorithm to provide a basic reference for judging whether the vehicle needs to be offset laterally; then, through the preset offset detection logic, it is judged whether the current vehicle has deviated from the ideal driving trajectory or whether it needs to avoid laterally, and the driving status of the vehicle is monitored in real time to ensure that offset measures can be taken immediately when necessary to improve driving safety; then, when the vehicle offset requirement is detected, the appropriate lateral offset is dynamically calculated in combination with the lateral distance between the vehicle and the vehicle in the adjacent lane to ensure that while avoiding the vehicle in the adjacent lane, the vehicle remains within the safe range, realizing intelligent lateral offset decisions for different lane widths and distances, ensuring that the avoidance action is safe and effective; finally, the corresponding turning angle information is generated by the calculated lateral offset, and the steering control is performed in real time through the turning angle information, so that the vehicle can smoothly avoid the vehicle in the adjacent lane while maintaining a stable driving state to avoid collision or danger. This application can realize the active avoidance of the vehicle to the adjacent lane vehicle when driving in the center under complex road conditions. The whole process ensures that the vehicle maintains driving stability and safety when avoiding through real-time monitoring, judgment and control, reduces potential collision risks, and improves the driving experience while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the automatic lateral deviation control method of the present application;

[0047] Figure 2A schematic diagram of the distribution of cameras and corner radars in an embodiment of the automatic lateral deviation control method of the present application;

[0048] Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the automatic lateral deviation control method of the present application;

[0049] Figure 4 This is a schematic diagram of a preset offset boundary range in an embodiment of the automatic lateral offset control method of the present application;

[0050] Figure 5 This is a schematic diagram of the lateral distance between the adjacent lane vehicle and the own lane in an embodiment of the automatic lateral deviation control method of the present application;

[0051] Figure 6 A schematic diagram of a brief flow chart of an automatic lateral offset control method according to an embodiment of the present application;

[0052] Figure 7 This is a schematic diagram of the module structure of the automatic lateral deviation control device according to an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the automatic lateral offset control method in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] With the rapid development of advanced driver assistance systems (ADAS), more and more vehicles are equipped with functions such as lane keeping and lane centering, which have reduced the burden on drivers to a certain extent and improved driving safety. However, with the increasing complexity of traffic, drivers not only need to keep their lanes centered, but also hope that the system can actively adjust the distance between the vehicle and the adjacent vehicle when a vehicle approaches in the adjacent lane to reduce the potential risk of collision and improve driving comfort. Although existing lane keeping systems can help vehicles stay in lanes to a certain extent, they usually only consider the situation in the current lane and do not have the ability to actively avoid approaching vehicles in adjacent lanes. When a vehicle approaches in the adjacent lane, the existing system only keeps the vehicle centered and cannot actively adjust the lateral distance with the adjacent vehicle. This causes the driver to still need to intervene manually when facing complex traffic conditions, which increases tension and may cause traffic accidents. In addition, the current system lacks fine control of lateral deviation in multiple scenarios and cannot meet the needs of complex road conditions and driving habits.

[0058] The main solution of the embodiment of the present application is to obtain relevant information about the vehicle's own driving lane and adjacent lanes in real time, and determine whether the vehicle needs to be offset based on the accurate calculation of the lateral distance. When an offset requirement is detected, the appropriate lateral offset is intelligently generated according to the dynamics and distance of the vehicle in the adjacent lane, and accurate lateral control is performed through the corner information to achieve active avoidance of the vehicle from the adjacent lane. The entire process is monitored, judged and controlled in real time to ensure that the vehicle maintains driving stability and safety during avoidance, reduce potential collision risks, and improve driving experience while ensuring safety.

[0059] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes a terminal equipped with an intelligent driving system as an example to illustrate this embodiment and the following embodiments.

[0060] Based on this, the embodiment of the present application provides an automatic lateral offset control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the automatic lateral deviation control method of the present application.

[0061] In this embodiment, the automatic lateral deviation control method includes steps S10 to S50:

[0062] Step S10, obtaining lane information and adjacent lane vehicle information;

[0063] It should be noted that lane information refers to various data related to the lane where the vehicle is currently located, including the width of the lane, the position of the lane line, the curvature of the road, the type of lane line (dashed line, solid line, etc.), and the direction of the lane. This information is usually obtained through sensors such as on-board cameras, radars, or lidars to help the system understand the positional relationship between the vehicle and the lane line, thereby ensuring that the vehicle remains within the lane. Adjacent lane vehicle information refers to relevant data of other vehicles in adjacent lanes, including the relative position, speed, acceleration, distance, direction of travel, etc. of adjacent vehicles. This information is obtained through radars, cameras, or ultrasonic sensors to help the system determine whether vehicles in adjacent lanes are approaching and the speed of approaching, so as to perform active avoidance and lateral adjustments. Such as Figure 2 As shown, Figure 2 This is a schematic diagram of the distribution of cameras and corner radars. When the vehicle is driving, the front camera of the vehicle identifies the lane line and related information of the vehicle, and the left front corner radar, left rear corner radar, right front corner radar, and right rear corner radar identify the relative position, speed, and distance between the vehicle and the vehicle in the adjacent lane. This information is used to help the system determine whether the vehicle in the adjacent lane is approaching and the speed of the approach, so as to perform active avoidance and lateral adjustment.

[0064] It is understandable that first, the data related to the current lane and adjacent lanes are collected in real time through on-board sensors (such as cameras, radars, lidars, etc.). Lane information includes the position of the lane line, lane width, curvature of the road, and lane type (such as solid line, dashed line). These data help the system identify the current position of the vehicle in the lane and the direction of the lane. At the same time, the system also obtains vehicle information in adjacent lanes, that is, detects the position, speed, acceleration and lateral distance of other vehicles in adjacent lanes from the vehicle. This information usually detects the approach of adjacent vehicles through radar or cameras, providing basic data for subsequent lateral avoidance decisions. By combining these two types of information, the system can fully understand the road environment in which the vehicle is located, thereby preparing for active lateral deviation decisions.

[0065] Step S20, based on the lane information and the adjacent lane vehicle information, obtaining the lateral distance between the adjacent lane vehicle and the own vehicle lane;

[0066] It should be noted that the lateral distance refers to the horizontal distance between the vehicle in the adjacent lane and the vehicle in the vehicle's lane. This distance reflects the relative position of the two vehicles on the road, especially the distance between them on the horizontal plane. The horizontal distance between the vehicle and the vehicle in the adjacent lane is determined by detection equipment (such as cameras, radars, etc.), so as to determine the safe distance between the two vehicles, which is an important basis for subsequent judgment on whether active lateral deviation is needed. It can be expressed as D LA -C0.

[0067] It is understandable that the lane information and the information of the vehicle in the adjacent lane are integrated to calculate the lateral distance between the two. Information is collected through lane detection sensors (such as cameras, lidars, or millimeter-wave radars) to calculate the horizontal distance between the vehicle in the adjacent lane and the vehicle itself, which is the so-called lateral distance. This distance reflects the spatial interval between the vehicle and the adjacent vehicle and is a core indicator for assessing whether there is a need for lateral avoidance. If the lateral distance is too small, the system may judge that the vehicle in the adjacent lane is approaching and decide whether it is necessary to adjust the vehicle's driving trajectory to ensure safety.

[0068] Step S30, performing a deviation detection on the vehicle to obtain a deviation detection result of the vehicle itself;

[0069] It should be noted that the offset detection is to determine whether there is a vehicle entering the preset offset boundary range around the vehicle by detecting the position of the vehicle in the adjacent lane. If the vehicle in the adjacent lane enters this range, the system will further evaluate its position to determine whether a lateral offset is required. The offset detection result is the final judgment result of the offset detection, indicating whether the vehicle needs to be offset laterally. When the system detects that there is a vehicle in the adjacent lane on one side of the vehicle, the offset detection result is "there is an offset requirement", which means that the vehicle needs to make a lateral avoidance. When there is no vehicle in the adjacent lane, or the vehicles are on both sides, the offset detection result is "there is no offset requirement", that is, no lateral adjustment is required.

[0070] It is understood that the position of the vehicle in the current lane is monitored by a sensor or camera to determine whether the vehicle has deviated from its preset lane centerline or driving path. If a vehicle deviation requirement is detected (for example, a vehicle is approaching in an adjacent lane), the vehicle deviation amount is calculated so that corresponding automatic deviation measures can be taken.

[0071] Step S40, when the offset detection result indicates that the own vehicle has an offset requirement, determining an automatic lateral offset amount according to the lateral distance;

[0072] It should be noted that the automatic lateral offset refers to the lateral movement distance required by the vehicle that is automatically calculated by the system based on the lateral distance between the vehicle and the vehicle in the adjacent lane after the vehicle detects the offset requirement. This offset is used to ensure that the vehicle maintains a safe distance from the vehicle in the adjacent lane, while avoiding excessive offset and ensuring that the vehicle drives safely in the current lane. The system will adjust the vehicle's driving trajectory based on this offset to achieve smooth lateral movement.

[0073] It is understandable that when the vehicle detects that it needs to deviate, it automatically calculates the required lateral offset based on the lateral distance between the vehicle and the vehicle in the adjacent lane. This offset ensures that the vehicle maintains an appropriate safety distance from the adjacent vehicle to avoid collision or danger. The automatic lateral offset ensures that the offset is neither excessive nor stable within the lane, and is used to guide the vehicle to perform precise lateral movement to ensure driving safety.

[0074] As an example, when the offset detection result is that the own vehicle has an offset requirement, the automatic lateral offset is determined according to the lateral distance, including: when the offset detection result is that the own vehicle has an offset requirement, based on the lane information and the adjacent lane vehicle information, a first lane width and a second lane width are obtained, and the first lane width is greater than the second lane width; a first preset lateral offset and a second preset lateral offset are obtained, and the first preset lateral offset is greater than the second preset lateral offset; when the lateral distance is less than or equal to a preset distance threshold and the adjacent lane vehicle has not entered the own vehicle lane, the automatic lateral offset is calculated based on the first lane width, the second lane width, the first preset lateral offset, the second preset lateral offset and the lateral distance; when the lateral distance is less than or equal to the preset distance threshold and the adjacent lane vehicle enters the own vehicle lane, the automatic lateral offset is calculated based on the first lane width, the second lane width, the first preset lateral offset and the second preset lateral offset.

[0075] Among them, the first lane width is the current maximum lane width W0max, the second lane width is the current minimum lane width W0min, and the first preset lateral offset and the second preset lateral offset are two lateral offset values ​​set in advance by the system according to different lane conditions (such as lane width, adjacent vehicle position). The first preset lateral offset (i.e., OFFSET_LAmax) usually allows a larger lateral offset; the offset of the second preset lateral offset (OFFSET_LAmin) is relatively small to ensure safe avoidance. The preset distance threshold refers to the lateral distance threshold between the vehicle and the vehicle in the adjacent lane. When the distance between the two is less than or equal to this threshold, the system considers that there is a potential danger and needs to calculate the automatic lateral offset for avoidance. This threshold is an important parameter used by the system to determine whether the offset operation needs to be initiated. In this example, the threshold can be set to 0.2m. The automatic lateral offset (i.e., OFFSET_LA) is a specific value that the vehicle needs to offset, which is dynamically calculated by comprehensively considering factors such as lane width, preset offset, and lateral distance. This value is used to control the offset of the vehicle to one side or the other to ensure avoidance of vehicles in adjacent lanes while keeping the vehicle in a safe area. The specific calculation steps and formula are as follows:

[0076] When 0≤D LA-C0≤0.2:

[0077]

[0078] When D LA - When C0<0, in order to ensure the driving safety of the vehicle:

[0079] Automatic lateral offset and when D LA - The offset is consistent when C0=0, and the automatic lateral offset will no longer increase;

[0080] When D LA - When C0>0.2, there is no approaching risk for vehicles in the adjacent lane:

[0081] OFFSET_LA=0.

[0082] The automatic lateral offset can also be quickly obtained by looking up the table. According to the lane keeping function design specification W0max=5.0m, W0min=2.5m, OFFSET_LAmax=1m, OFFSET_LAmin=0.1m, the table value of the active lateral offset OFFSET_LA (m) can be obtained as follows:

[0083] Table 1

[0084]

[0085] As an example, after performing an offset detection on the vehicle and obtaining the offset detection result of the own vehicle, it also includes: when the offset detection result shows that there is no offset requirement and the own vehicle is kept driving in the center, based on the lane information and the adjacent lane vehicle information, obtain the own vehicle's center axis, the lateral distance from the adjacent lane line to the own vehicle's center axis, the own vehicle's heading angle, the own vehicle's lane line curve curvature and the rate of change of the own vehicle's lane line curve curvature; obtain discrete points based on the own vehicle's center axis, and the discrete points are points on the own vehicle's center axis in the driving direction; establish a lane line model based on the discrete points, the lateral distance, the own vehicle's heading angle, the own vehicle's lane line curve curvature and the rate of change of the own vehicle's lane line curve curvature; obtain the relative position of the own vehicle and the center line of the own vehicle's lane in real time based on the lane line model, and control the vehicle to drive in the center through the relative position. Reference Figure 5 , Figure 5 The lateral distance between the adjacent lane vehicle and the own lane is shown in Figure 1. The lateral distance refers to the horizontal distance between the adjacent lane vehicle and the own lane. This distance reflects the relative position of the two vehicles on the road, especially the distance between them on the horizontal plane. The 0.2m is the preset distance threshold of this application, expressed as D LA-C0, as an important basis for subsequent judgment on whether active lateral offset is needed. This distance reflects the spatial interval between the vehicle and the adjacent vehicle and is a core indicator for evaluating whether there is a need for lateral avoidance. If the lateral distance is less than the preset distance threshold, it may be judged that the adjacent lane vehicle is approaching, and the decision may be made to adjust the automatic lateral offset of the vehicle to ensure safety.

[0086] Among them, the vehicle centerline refers to the geometric centerline of the vehicle along the driving direction, usually the center axis of the vehicle length. The lateral spacing from the adjacent lane line to the centerline of the own vehicle, that is, the lateral distance from the edge line of the adjacent lane to the centerline of the own vehicle, is used to determine the position relationship of the vehicle in the lane. The heading angle of the own vehicle refers to the angle between the current driving direction of the vehicle and the tangent direction of the lane curve, which is used to describe the driving direction of the vehicle. The curvature of the lane line curve of the own vehicle is an indicator that describes the degree of curvature of the lane line, and the curvature change rate of the lane line curve of the own vehicle indicates the rate at which the curve changes during the change process. These parameters can affect the driving trajectory and lateral control of the vehicle. Discrete points refer to a series of points obtained by discrete sampling of the centerline of the vehicle in the driving direction, which are used to establish a mathematical model of the lane line. The lane line model is a mathematical model established by discrete points, which is used to describe the shape and position of the lane. The relative position refers to the distance and direction relationship between the own vehicle and the centerline of the lane. This information is used to control the vehicle to drive in the center of the lane. The specific lane centering algorithm is:

[0087] Y=C0+C1*x+C2*x 2 +C3*x 3

[0088] Among them, C0 is the lateral distance from the adjacent lane line to the center axis of the own vehicle; C1 refers to the heading angle of the own vehicle (the angle between the vehicle speed direction and the tangent direction of the lane curve); C2 refers to 1 / 2 of the curvature of the lane line of the own vehicle; C3: 1 / 6 of the curvature change rate of the lane line of the own vehicle; the values ​​of these coefficients can be determined by polynomial fitting of the discrete points of the lane line. The mathematical model is used to directly calculate the lateral distance between the lane line and the origin of the vehicle coordinate system, the vehicle heading angle, the lane line curvature and other information based on the coefficients to fit the left / right lane line and the lane center line.

[0089] Specifically, when the vehicle offset detection result shows that there is no offset requirement, that is, when the vehicle keeps driving in the center of the lane, firstly, the center axis position of the own vehicle, the lateral distance from the adjacent lane line to the center axis of the own vehicle, the heading angle of the vehicle, and the curvature of the own lane line and its rate of change are obtained according to the lane information and the adjacent lane vehicle information. Subsequently, the mathematical model of the lane line is established through the discrete sampling points of the center axis of the own vehicle in the driving direction. Using these discrete points, lateral distance, vehicle heading angle, and lane line curvature information, the relative position of the own vehicle and the center line of the lane is calculated in real time, and the direction of the vehicle is adjusted accordingly to ensure that the vehicle always keeps driving in the center of the lane.

[0090] Step S50, obtaining corresponding turning angle information according to the automatic lateral offset, and performing lateral offset control on the vehicle according to the turning angle information.

[0091] It should be noted that the steering angle information refers to the specific wheel steering angle generated based on the calculated automatic lateral offset. This information is used to guide the vehicle on how to adjust the direction of the wheels to achieve the required lateral movement. The steering angle information determines the precise angle that the vehicle needs to turn when performing a lateral offset, ensuring that the vehicle can make stable and safe lateral adjustments according to the calculated offset to avoid approaching vehicles in adjacent lanes.

[0092] It can be understood that the lateral distance that the vehicle needs to move is determined based on the automatic lateral offset, and then the corresponding turning angle information is generated, that is, the specific angle that the vehicle wheels need to adjust. Based on this turning angle information, the vehicle performs lateral offset control and achieves safe lateral movement by adjusting the direction of the wheels to ensure that the vehicle maintains an appropriate safety distance from the approaching vehicle in the adjacent lane, thereby avoiding the risk of collision and maintaining the vehicle's stable driving within the lane.

[0093] As an example, according to the automatic lateral offset, the corresponding turning angle information is obtained, and after the lateral offset of the vehicle is controlled according to the turning angle information, it also includes: displaying the lateral offset of the vehicle and generating prompt information; and voice broadcasting the lateral offset of the vehicle according to the prompt information.

[0094] The lateral deviation of the vehicle refers to the degree of deviation of the vehicle from its ideal driving trajectory or lane centerline. When the vehicle deviates from the expected trajectory or lane centerline during driving, it can be described as a lateral deviation of the vehicle. Prompt information refers to the information about the lateral deviation of the vehicle conveyed to the driver in the form of voice, which is used to remind the driver of the vehicle's driving conditions to improve the driving experience.

[0095] Specifically, the vehicle's lateral deviation information will be displayed. Subsequently, corresponding prompt information will be generated, which can be conveyed to the driver through voice broadcast to inform them of the current lateral deviation status of the vehicle, so as to improve the driver's driving experience and take necessary driving adjustment measures in time.

[0096] As an example, according to the automatic lateral offset, the corresponding turning angle information is obtained, and after the lateral offset of the vehicle is controlled according to the turning angle information, it also includes: when the steering wheel steering information is obtained or the vehicle status meets the suppression conditions, the centering driving and automatic lateral offset functions of the vehicle are exited.

[0097] Among them, the steering wheel steering information refers to the driver's steering operation, that is, the driver's indication of the direction the vehicle wants to go. Inhibition conditions usually refer to some specific conditions or situations, such as sensor failure, lane line loss, vehicle speed failure, etc. When these conditions are met, the automatic lateral deviation function will be disabled or stop running to ensure that the driver can freely control the vehicle, such as in an emergency or when the driver actively intervenes.

[0098] Specifically, when the driver's steering wheel information is obtained or the vehicle's state is detected to meet the set inhibition conditions, the vehicle centering and automatic lateral deviation functions will be stopped automatically. This ensures that the driver can autonomously control the vehicle direction when necessary, such as when the driver wants to change the vehicle's driving trajectory or respond to special road conditions.

[0099] This embodiment provides an automatic lateral offset control method. This application obtains lane and adjacent lane vehicle information to provide a data basis for lateral offset, calculates the lateral distance between the vehicle and the vehicle in the adjacent lane, and determines whether lateral avoidance is required through offset detection logic. After the offset requirement is found, the appropriate lateral offset is dynamically calculated to ensure safe avoidance while keeping the vehicle in the lane. Finally, the turning angle information is generated for steering control. The application can realize the active avoidance of vehicles coming from adjacent lanes when driving in the center in complex road environments. The entire process ensures that the vehicle maintains driving stability and safety during avoidance through real-time monitoring, judgment and control, reduces potential collision risks, and improves the driving experience while ensuring safety.

[0100] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 This is a flow chart of the second embodiment of the automatic lateral deviation control method of the present application. Step S30 of the automatic lateral deviation control method includes steps S31 to S33:

[0101] Step S31, obtaining a preset offset boundary range;

[0102] It should be noted that the preset offset boundary range refers to the range of real-time monitoring of the own vehicle. When the vehicle in the adjacent lane enters this range, the own vehicle will be detected based on the offset detection logic. Figure 4 As shown, Figure 4 This is a schematic diagram of the preset offset boundary range. The shaded part in the figure is the preset offset boundary range, which is the range of real-time monitoring of the own vehicle. This range is used to detect the approach of vehicles in adjacent lanes. When a vehicle in an adjacent lane enters this range, the own vehicle will be detected for offset based on the offset detection logic. The preset offset boundary range uses the width of the own lane W0, the width of the adjacent left lane WL, and the adjacent right lane WR as the lateral boundaries, and the front and rear extensions of the own vehicle length by 1 / 2 of the own vehicle length L0 as the longitudinal boundaries. The setting of this range ensures that the vehicle can detect potential risks at the appropriate time and make timely offset decisions.

[0103] It can be understood that by obtaining the parameters set in advance, the range of real-time monitoring of the vehicle during driving is defined. This range is used to detect the approach of vehicles in adjacent lanes. When the vehicle in the adjacent lane enters this range, the system will trigger the deviation detection. The setting of this range ensures that the vehicle can detect potential risks at the appropriate time and make timely deviation decisions.

[0104] Step S32, determining whether there is a vehicle in an adjacent lane within the preset offset boundary range according to the adjacent lane vehicle information;

[0105] It should be noted that adjacent lane vehicles refer to other vehicles traveling in adjacent lanes on both sides of the lane where the vehicle is located. These vehicles may pose a potential threat or impact to vehicles traveling in the lane, especially when they approach the lane or merge. By detecting vehicles in these adjacent lanes, the system can determine whether they enter the preset offset boundary range, and decide whether to take lateral offset measures based on the detection results to ensure driving safety.

[0106] It is understood that by obtaining real-time information about vehicles in adjacent lanes, it is determined whether these vehicles have entered the pre-set offset boundary range. This process is based on the data from the vehicle's sensors or cameras, combined with the position information of adjacent vehicles, to determine whether they are approaching the monitoring range of the vehicle in the lateral or longitudinal direction. Once a vehicle enters this range, the system will further analyze whether offset measures need to be taken to ensure driving safety.

[0107] Step S33, when the adjacent lane vehicle exists within the preset offset boundary range and the adjacent lane vehicle is located on one side of the own vehicle lane, determining that the offset detection result of the own vehicle is that the own vehicle has an offset requirement.

[0108] It should be noted that the offset requirement means that when the vehicle in the adjacent lane enters the preset offset boundary range and is located on one side of the vehicle's lane, the vehicle needs to make a lateral avoidance to avoid a potential collision. The offset detection result refers to the judgment result obtained through real-time monitoring and analysis of the environment. Specifically, this result indicates whether the vehicle needs to perform an offset operation. When the system detects an offset requirement, the offset detection result will prompt that corresponding offset measures need to be taken so that the vehicle can safely avoid the vehicle in the adjacent lane.

[0109] It is understandable that when it is detected that vehicles in the adjacent lanes have entered the preset offset boundary range and these vehicles are located on one side of the vehicle (i.e. the left or right side), it will be determined that the current driving situation requires lateral offset. At this time, the vehicle is in potential risk, so the system generates an offset requirement based on this situation so that the vehicle can take evasive action to ensure driving safety.

[0110] As an example, an offset detection is performed on the vehicle to obtain an offset detection result of the own vehicle, including: when the adjacent lane vehicle does not exist within the preset offset boundary range or the adjacent lane vehicle exists within the preset offset boundary range but the adjacent lane vehicles are located on both sides of the own vehicle's lane, it is determined that the offset detection result of the own vehicle is that there is no offset requirement, and the own vehicle is kept driving in the center.

[0111] Specifically, if no vehicle in the adjacent lane is detected within the preset offset boundary range, or even if there are vehicles in the adjacent lane but these vehicles are located on both sides of the own vehicle's lane, the system determines that the own vehicle does not need to perform lateral offset. In this case, the system will determine that the offset requirement does not exist, so the vehicle will maintain its current driving trajectory, that is, driving in the center. This ensures that when there are no vehicles within the preset range, no offset occurs, and driving in the center is maintained, thereby maintaining a stable and safe driving state. At the same time, it also ensures that when there are vehicles on both sides of the own vehicle within the preset range, no active offset control is performed to prevent the distance from the vehicle on the other side from being too close due to avoiding the offset of the vehicle on one side, thereby improving driving safety and driving experience overall.

[0112] In this embodiment, first, the preset offset boundary range is obtained to determine the monitoring range around the vehicle, including the boundaries of the lane width and vehicle length. This provides basic data for subsequent offset judgments. Next, the system determines whether a vehicle has entered the preset offset boundary range based on the vehicle information in the adjacent lane, so as to understand in real time the existence of adjacent vehicles that may affect driving. When a vehicle is detected in the adjacent lane within the boundary range and the vehicle is located on one side of its own lane, the system determines that the vehicle itself needs to perform a lateral avoidance operation, thereby generating an offset requirement. This process ensures that in a complex road environment, the vehicle can promptly perceive the approach of surrounding vehicles and make safe and effective offset decisions. The above steps realize intelligent perception of the environment, and generate offset requirements when necessary to ensure driving safety.

[0113] For example, to help understand the implementation process of the automatic lateral deviation control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 6 , Figure 6 A brief flow chart of an automatic lateral deviation control method is provided, specifically:

[0114] First, the lane information and the adjacent lane vehicle information are obtained, and then the lateral distance between the adjacent lane vehicle and the own vehicle lane is calculated based on this information, and the vehicle offset detection is performed to determine whether the own vehicle needs to be offset laterally. When there is an offset requirement, the automatic lateral offset amount is calculated based on the lateral distance, and the turning angle information is generated accordingly to control the lateral offset action of the vehicle. If there is no offset requirement, the vehicle position and related parameters are determined based on the lane information and the adjacent lane vehicle information to ensure that the vehicle is always centered. During the automatic lateral offset control process, the lateral offset of the vehicle can also be displayed and voice broadcast, and the automatic lateral offset function can be exited according to the steering wheel steering information or specific conditions when necessary to ensure driving safety and flexibility.

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

[0116] This application also provides an automatic lateral deviation control device, please refer to Figure 7 , the automatic lateral deviation control device comprises:

[0117] An acquisition module 10 is used to acquire lane information and adjacent lane vehicle information;

[0118] An obtaining module 20 obtains a lateral distance between the vehicle in the adjacent lane and the own vehicle lane based on the lane information and the vehicle information in the adjacent lane;

[0119] The detection module 30 performs a deviation detection on the vehicle and obtains a deviation detection result of the vehicle itself;

[0120] The calculation module 40 determines an automatic lateral offset amount according to the lateral distance when the offset detection result indicates that the vehicle has an offset requirement;

[0121] The offset module 50 obtains corresponding turning angle information according to the automatic lateral offset amount, and performs lateral offset control on the vehicle according to the turning angle information.

[0122] The automatic lateral deviation control device provided by the present application adopts the automatic lateral deviation control method in the above embodiment, which can solve the technical problem of how to actively avoid vehicles in adjacent lanes when the vehicle is driving in the center. Compared with the prior art, the beneficial effects of the automatic lateral deviation control device provided by the present application are the same as the beneficial effects of the automatic lateral deviation control method provided by the above embodiment, and the other technical features of the automatic lateral deviation control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0123] In one embodiment, the detection module 30 is further used to obtain a preset offset boundary range; determine whether there is an adjacent lane vehicle within the preset offset boundary range based on the adjacent lane vehicle information; when the adjacent lane vehicle exists within the preset offset boundary range and the adjacent lane vehicle is located on a single side of the own vehicle lane, determine that the offset detection result of the own vehicle is that the own vehicle has an offset requirement.

[0124] In one embodiment, the detection module 30 is further used to determine that the offset detection result of the own vehicle is that there is no offset requirement, and keep the own vehicle driving in the center, when the adjacent lane vehicle does not exist within the preset offset boundary range or the adjacent lane vehicle exists within the preset offset boundary range but the adjacent lane vehicles are located on both sides of the own vehicle lane.

[0125] In one embodiment, the calculation module 40 is further used to obtain a first lane width and a second lane width based on the lane information and the adjacent lane vehicle information when the offset detection result indicates that the own vehicle has an offset requirement, the first lane width is greater than the second lane width; obtain a first preset lateral offset and a second preset lateral offset, the first preset lateral offset is greater than the second preset lateral offset; when the lateral distance is less than or equal to a preset distance threshold and the adjacent lane vehicle has not entered the own vehicle lane, calculate an automatic lateral offset based on the first lane width, the second lane width, the first preset lateral offset, the second preset lateral offset and the lateral distance; when the lateral distance is less than or equal to the preset distance threshold and the adjacent lane vehicle enters the own vehicle lane, calculate an automatic lateral offset based on the first lane width, the second lane width, the first preset lateral offset and the second preset lateral offset.

[0126] In one embodiment, the detection module 30 is also used to obtain the own vehicle's central axis, the lateral distance from the adjacent lane line to the own vehicle's central axis, the own vehicle's heading angle, the own vehicle's lane line curve curvature and the rate of change of the own vehicle's lane line curve curvature based on the lane information and the adjacent lane vehicle information when the offset detection result shows that there is no offset demand and the own vehicle is kept driving in the center; obtain discrete points based on the own vehicle's central axis, and the discrete points are points on the own vehicle's central axis in the driving direction; establish a lane line model based on the discrete points, the lateral distance, the own vehicle's heading angle, the own vehicle's lane line curve curvature and the rate of change of the own vehicle's lane line curve curvature; obtain the relative position of the own vehicle and the center line of the own vehicle lane in real time based on the lane line model, and control the vehicle to drive in the center through the relative position.

[0127] In one embodiment, the offset module 50 is further used to display the lateral offset of the vehicle and generate prompt information; and to voice broadcast the lateral offset of the vehicle according to the prompt information.

[0128] In one embodiment, the offset module 50 is further configured to exit the centering driving and automatic lateral offset functions of the own vehicle when the steering wheel steering information is obtained or the state of the own vehicle meets the inhibition condition.

[0129] The present application provides an automatic lateral deviation control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the automatic lateral deviation control method in the above-mentioned embodiment one.

[0130] Reference below Figure 8, which shows a schematic diagram of the structure of an automatic lateral deviation control device suitable for implementing the embodiment of the present application. The automatic lateral deviation control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The automatic lateral deviation control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0131] like Figure 8 As shown, the automatic lateral deviation control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. In the RAM 1004, various programs and data required for the operation of the automatic lateral deviation control device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the automatic lateral deviation control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an automatic lateral deviation control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0132] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0133] The automatic lateral deviation control device provided by the present application adopts the automatic lateral deviation control method in the above embodiment, which can solve the technical problem of how to actively avoid vehicles in adjacent lanes when the vehicle is driving in the center. Compared with the prior art, the beneficial effects of the automatic lateral deviation control device provided by the present application are the same as the beneficial effects of the automatic lateral deviation control method provided by the above embodiment, and the other technical features in the automatic lateral deviation control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0134] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0135] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0136] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the automatic lateral deviation control method in the above-mentioned embodiment.

[0137] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0138] The computer-readable storage medium may be included in the automatic lateral deviation control device; or may exist independently without being assembled into the automatic lateral deviation control device.

[0139] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the automatic lateral deviation control device, the automatic lateral deviation control device: obtains lane information and adjacent lane vehicle information; obtains the lateral distance between the adjacent lane vehicle and the own vehicle lane based on the lane information and the adjacent lane vehicle information; performs an offset detection on the vehicle to obtain an offset detection result of the own vehicle; when the offset detection result indicates that the own vehicle has an offset requirement, determines an automatic lateral offset amount according to the lateral distance; obtains corresponding turning angle information according to the automatic lateral offset amount, and performs lateral offset control on the vehicle according to the turning angle information.

[0140] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0141] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0142] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0143] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned automatic lateral deviation control method, and can solve the technical problem of how to actively avoid vehicles in adjacent lanes when the vehicle is centered. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the automatic lateral deviation control method provided by the above-mentioned embodiment, and will not be repeated here.

[0144] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the automatic lateral deviation control method as described above are implemented.

[0145] The computer program product provided by the present application can solve the technical problem of how to actively avoid vehicles in adjacent lanes when the vehicle is driving in the center. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the automatic lateral deviation control method provided by the above embodiment, which will not be repeated here.

[0146] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An automatic lateral deviation control method, characterized in that: The method comprises: Obtain lane information and adjacent lane vehicle information; Based on the lane information and the adjacent lane vehicle information, a lateral distance between the adjacent lane vehicle and the own vehicle lane is obtained; Performing offset detection on the vehicle to obtain the offset detection result of the vehicle itself; When the offset detection result indicates that the own vehicle has an offset requirement, determining an automatic lateral offset amount according to the lateral distance; According to the automatic lateral offset, corresponding turning angle information is obtained, and the lateral offset of the vehicle is controlled according to the turning angle information.

2. The method according to claim 1, characterized in that The performing of offset detection on the vehicle to obtain an offset detection result of the own vehicle includes: Get the preset offset boundary range; Determining whether there is a vehicle in an adjacent lane within the preset offset boundary range according to the adjacent lane vehicle information; When the adjacent lane vehicle exists within the preset offset boundary range and the adjacent lane vehicle is located on a single side of the own vehicle lane, it is determined that the offset detection result of the own vehicle is that the own vehicle has an offset requirement.

3. The method according to claim 2, characterized in that The performing of offset detection on the vehicle to obtain an offset detection result of the own vehicle includes: When there is no adjacent lane vehicle within the preset offset boundary range or when there is an adjacent lane vehicle within the preset offset boundary range but the adjacent lane vehicles are located on both sides of the own vehicle lane, it is determined that the offset detection result of the own vehicle is that there is no offset requirement, and the own vehicle is kept driving in the center.

4. The method according to claim 1, characterized in that When the offset detection result indicates that the own vehicle has an offset requirement, determining the automatic lateral offset amount according to the lateral distance includes: When the deviation detection result indicates that the own vehicle has a deviation requirement, obtaining a first lane width and a second lane width based on the lane information and the adjacent lane vehicle information, wherein the first lane width is greater than the second lane width; Acquire a first preset lateral offset and a second preset lateral offset, wherein the first preset lateral offset is greater than the second preset lateral offset; When the lateral distance is less than or equal to a preset distance threshold and the vehicle in the adjacent lane has not entered the own lane, calculating an automatic lateral offset based on the first lane width, the second lane width, the first preset lateral offset, the second preset lateral offset and the lateral distance; When the lateral distance is less than or equal to the preset distance threshold and the adjacent lane vehicle enters the own lane, an automatic lateral offset is calculated based on the first lane width, the second lane width, the first preset lateral offset, and the second preset lateral offset.

5. The method according to claim 1, characterized in that After performing the offset detection on the vehicle and obtaining the offset detection result of the own vehicle, the method further includes: When the offset detection result indicates that there is no offset requirement and the vehicle is kept centered, based on the lane information and the adjacent lane vehicle information, the central axis of the vehicle, the lateral distance from the adjacent lane line to the central axis of the vehicle, the heading angle of the vehicle, the curvature of the lane line of the vehicle, and the curvature change rate of the lane line of the vehicle are obtained; Acquire discrete points based on the center axis of the own vehicle, where the discrete points are points on the center axis of the own vehicle in the driving direction; Establishing a lane line model based on the discrete points, the lateral spacing, the own vehicle heading angle, the own vehicle lane line curve curvature, and the own vehicle lane line curve curvature change rate; The relative position between the vehicle and the center line of the lane is obtained in real time based on the lane line model, and the vehicle is controlled to travel in the center according to the relative position.

6. The method according to claim 1, characterized in that After obtaining corresponding turning angle information according to the automatic lateral offset and performing lateral offset control on the vehicle according to the turning angle information, the method further includes: Display the lateral deviation of the vehicle and generate prompt information; The lateral deviation of the vehicle is reported by voice according to the prompt information.

7. The method according to any one of claims 1 to 6, characterized in that After obtaining corresponding turning angle information according to the automatic lateral offset and performing lateral offset control on the vehicle according to the turning angle information, the method further includes: When the steering wheel steering information is obtained or the vehicle status meets the inhibition conditions, the centering driving and automatic lateral deviation functions of the vehicle are exited.

8. An automatic lateral deviation control device, characterized in that: The device comprises: An acquisition module, used to acquire lane information and adjacent lane vehicle information; An obtaining module, based on the lane information and the adjacent lane vehicle information, obtains a lateral distance between the adjacent lane vehicle and the own vehicle lane; The detection module performs deviation detection on the vehicle and obtains the deviation detection result of the vehicle itself; a calculation module, for determining an automatic lateral offset amount according to the lateral distance when the offset detection result indicates that the own vehicle has an offset requirement; The offset module obtains corresponding turning angle information according to the automatic lateral offset amount, and performs lateral offset control on the vehicle according to the turning angle information.

9. An automatic lateral deviation control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automatic lateral deviation control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automatic lateral deviation control method according to any one of claims 1 to 7 are implemented.

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