Lane centering auxiliary function control method and device, vehicle and storage medium

Abstract

The invention discloses a lane centering auxiliary function control method and device, a vehicle and a storage medium. The method comprises the steps of obtaining a current driving scene of a vehicle and driving parameters of a current driver of the vehicle; determining control parameters of the vehicle under lane centering auxiliary control according to the driving parameters and the current driving scene; and controlling the vehicle to run according to the control parameters. According to the method, the control parameters of the vehicle are determined according to the driving parameters of the driver of the vehicle and the current driving scene, and the vehicle is controlled to run, so that the vehicle can adapt to the driving habit of the driver under lane centering auxiliary control.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of vehicle assisted driving control, and in particular, to a lane centering assist function control method, device, vehicle, and storage medium. Background Art

[0002] In recent years, the smart driving lane centering assist function (Lane Centering Control, LCC) is a standard configuration function on the more mainstream and popular mass-produced models on the market. This function is often implemented by identifying the lane lines on both sides through the front-view camera, and the lane centering assist system continuously controls the vehicle to center in the current lane and follow the vehicle. Once the vehicle deviates, the system will automatically control the steering wheel and adjust the vehicle. The lane centering assist function is a comfortable driving assistance function. For drivers who drive at high speeds for a long time, it can relieve fatigue caused by long-term driving and improve driving safety. However, drivers have different driving habits. The single centering control of the lane centering assist function sometimes cannot meet the driver's driving needs, but will reduce the usability of the function. Summary of the invention

[0003] The present invention provides a lane centering assist function control method, device, vehicle and storage medium to solve the problem in the prior art that the lane centering assist function cannot adapt to the driver's driving habits.

[0004] According to one aspect of the present invention, a method for controlling a lane centering assist function is provided, the method comprising:

[0005] Acquiring a current driving scene of a vehicle and driving parameters of a current driver of the vehicle;

[0006] determining, according to the driving parameters and the current driving scenario, control parameters of the vehicle under lane centering auxiliary control;

[0007] The vehicle is controlled to travel according to the control parameters.

[0008] According to another aspect of the present invention, a lane centering assist function control device is provided, the device comprising:

[0009] An acquisition module, used to acquire a current driving scene of a vehicle and driving parameters of a current driver of the vehicle;

[0010] a determination module, configured to determine control parameters of the vehicle under lane centering auxiliary control according to the driving parameters and the current driving scenario;

[0011] A control module is used to control the vehicle to travel according to the control parameters.

[0012] According to another aspect of the present invention, there is provided a vehicle, the vehicle comprising: at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane centering assist function control method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the lane centering assist function control method described in any embodiment of the present invention when executed.

[0016] A lane centering assist function control method, device, vehicle, and storage medium according to an embodiment of the present invention, the method comprising: obtaining a current driving scene of a vehicle and driving parameters of the current driver of the vehicle; determining control parameters of the vehicle under lane centering assist control according to the driving parameters and the current driving scene; and controlling the vehicle to travel according to the control parameters. The method determines the control parameters of the vehicle according to the driving parameters of the driver of the vehicle and the current driving scene and controls the vehicle to travel, so that the vehicle can adapt to the driver's driving habits while under lane centering assist control, thereby solving the problem in the prior art that the lane centering assist function cannot adapt to the driver's driving habits.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic flow chart of a lane centering assist function control method provided in Embodiment 1 of the present invention;

[0020] Figure 2 A flowchart of a lane centering assist function control method provided in Embodiment 2 of the present invention;

[0021] Figure 3 A schematic diagram of a vehicle following scenario provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a change in following distance provided by an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a recommended lateral offset provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a process of controlling a vehicle based on a lateral offset provided by an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the structure of a lane centering auxiliary function control device provided in Embodiment 3 of the present invention;

[0026] Figure 8 Schematic diagram of the structure of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should belong to the scope of protection of the present invention. It should be understood that the various steps recorded in the method implementation of the present invention can be performed in different orders and / or in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0028] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, any variations of the terms "including" and "having" are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0031] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0032] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0033] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0034] As an optional but non-limiting implementation, in response to receiving an active request from the user, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0035] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet the relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0036] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0037] Embodiment 1

[0038] Figure 1 A flow chart of a lane centering assist function control method provided in Embodiment 1 of the present invention is applicable to a situation where, when a vehicle is intelligently driven through a lane centering assist function, control parameters of the vehicle are intelligently adjusted according to the driver's habits. The method can be executed by a lane centering assist function control device, wherein the device can be implemented by software and / or hardware and is generally integrated on a vehicle. In this embodiment, the vehicle includes but is not limited to: ordinary transport vehicles, special-purpose vehicles, special-purpose vehicles and other intelligent driving vehicles.

[0039] like Figure 1 As shown, a lane centering auxiliary function control method provided in Embodiment 1 of the present invention includes the following steps:

[0040] S110: Acquire a current driving scene of a vehicle and driving parameters of a current driver of the vehicle.

[0041] The current driving scene may be the driving scene that the vehicle is currently in. The driving scene may be classified according to the road section where the vehicle is located and whether there are other vehicles around the vehicle. For example, the driving scene may include other scenes such as urban driving scene, high-speed driving scene, following car scene and curve scene. The current driver may be the user who is currently driving the vehicle. The driving parameters may include information such as the driver's habitual preferences when driving the vehicle.

[0042] In this embodiment, the method for determining the current driving scene and the driving parameters of the current driver is not limited in this embodiment. For example, the current driving scene of the vehicle can be determined by means of a camera and a radar, and the driving parameters of the current driver of the vehicle can be determined by identifying the identity of the current driver through a camera, and the corresponding driving parameters are obtained based on the identity of the current driver.

[0043] S120. Determine control parameters of the vehicle under lane centering auxiliary control according to the driving parameters and the current driving scenario.

[0044] Among them, the lane centering assist LCC can monitor the relative position of the vehicle and the center of the lane, actively assist the driver to keep driving near the center line of the lane, and reduce the steering burden of the driver. The control parameter can be a parameter that can control the driving state of the vehicle.

[0045] In this embodiment, different driving scenarios may require different control parameters to be adjusted, so the current driving scenario can be analyzed to determine the parameters that need to be adjusted for the current driving scenario, and the control parameters of the vehicle under lane centering auxiliary control can be determined based on the driver's accustomed driving parameters. For example, in a following vehicle scenario, the driver may want to adjust a custom following distance, and in a curved road scenario, the user may want to adjust a custom turning timing, etc.

[0046] In one embodiment, the control parameters include at least one or more of following distance, lateral offset and cornering parameters.

[0047] Among them, the following distance may refer to the safe time interval or distance that needs to be maintained between the leading vehicle and the trailing vehicle during driving. The lateral offset may refer to the lateral offset distance of the vehicle relative to the center line of the lane during autonomous driving. The cornering parameters may refer to a series of key factors and indicators that affect the stability and safety of the vehicle when turning or cornering.

[0048] In this embodiment, the control parameters include at least one or more of the following distance, the lateral offset and the cornering parameter.

[0049] S130: Control the vehicle to travel according to the control parameters.

[0050] In this embodiment, after the control parameters associated with the current driver's habits are obtained, the state of the vehicle during driving can be adjusted according to the control parameters to adapt to the driver's driving habits.

[0051] A lane centering assist function control method provided in a first embodiment of the present invention includes: obtaining a current driving scene of a vehicle and driving parameters of the current driver of the vehicle; determining control parameters of the vehicle under lane centering assist control according to the driving parameters and the current driving scene; and controlling the vehicle to travel according to the control parameters. This method determines the control parameters of the vehicle according to the driving parameters of the driver of the vehicle and the current driving scene and controls the vehicle to travel, thereby enabling the vehicle to adapt to the driver's driving habits while under lane centering assist control, thereby solving the problem in the prior art that the lane centering assist function cannot adapt to the driver's driving habits.

[0052] Based on the above embodiment, a variant embodiment of the above embodiment is proposed. It should be noted that in order to make the description concise, only the differences from the above embodiment are described in the variant embodiment.

[0053] In one embodiment, determining the control parameters of the vehicle under lane centering assist control based on the driving parameters and the current driving scene includes: when the current driving scene is a turning scene, obtaining the radius of the curve of the curve to be turned by the vehicle; determining the habitual cornering parameters of the current driver at the curve radius based on the turning parameters in the driving parameters; and using the habitual cornering parameters as the cornering parameters of the vehicle under lane centering assist control.

[0054] The turning scene may be a scene of a vehicle passing through a curve. The curve radius may be the radius of the curve to be turned, and the curve radius may be obtained by processing an image acquired by a camera. The turning parameter may be a parameter related to vehicle turning. The habitual turning parameter may be a parameter preferred by the driver when turning, and the habitual turning parameters corresponding to different curve radii may be different.

[0055] In this embodiment, when the current driving scene of the vehicle is a turning scene, the curve radius of the curve to be turned can be obtained, and the driver's habitual turning parameters corresponding to the curve radius are used as the turning parameters of the vehicle under lane centering auxiliary control.

[0056] In one embodiment, the cornering parameters include deceleration timing, deceleration speed change value, acceleration timing and acceleration speed change value. Accordingly, controlling the vehicle to travel according to the control parameters includes: controlling the vehicle to start deceleration and turning based on the deceleration timing and the deceleration speed change value; controlling the vehicle to accelerate after turning based on the acceleration timing and the acceleration speed change value.

[0057] The deceleration timing may refer to the moment when the distance between the vehicle and the curve reaches the deceleration distance. For example, the deceleration timing may be 50 meters away from the curve, which means that the vehicle should start to decelerate when the vehicle is 50 meters away from the curve. The deceleration speed change value may be the speed reduction when the vehicle starts to decelerate. The acceleration timing may refer to the moment when the distance between the vehicle and the curve reaches the acceleration distance. When the vehicle reaches the distance, it starts to decelerate. The acceleration speed change value may be the speed increase when the vehicle starts to accelerate.

[0058] In this embodiment, the cornering parameters may include deceleration timing, deceleration speed change value, acceleration timing and acceleration speed change value. When the cornering parameters are used to control the vehicle to corner, the deceleration timing and deceleration speed change value may be used to determine where the vehicle starts to decelerate and how much it decelerates. When the vehicle passes the curve, the acceleration timing and acceleration speed change value may be used to determine where the vehicle starts to accelerate and how much it accelerates.

[0059] In one embodiment, driving style learning can be enabled before the lane centering assist function is enabled, and the driver's driving habits during regular road driving can be learned through driving style learning. In this embodiment, the driver's driving habits can be learned through cameras and radar sensors and recorded in the currently logged-in driver ID account.

[0060] Embodiment 2

[0061] Figure 2 This is a flow chart of a lane centering auxiliary function control method provided in the second embodiment of the present invention. The second embodiment is optimized on the basis of the above embodiments. For details not yet detailed in this embodiment, please refer to the first embodiment.

[0062] like Figure 2 As shown, a lane centering auxiliary function control method provided by Embodiment 2 of the present invention includes the following steps:

[0063] S210: Acquire a current driving scene of a vehicle and driving parameters of a current driver of the vehicle.

[0064] S220: When the current driving scenario is a vehicle-following scenario, obtain a customary vehicle-following time distance of the current driver based on a vehicle-following parameter in the driving parameters.

[0065] The following scene may be a scene in which a vehicle follows a front vehicle and keeps the same driving pattern as the front vehicle. The following parameters may be parameters related to vehicle driving in the following scene, for example, the following parameters may include a following distance. The habitual following distance may be a preferred following distance when the driver follows a vehicle, and the habitual following distance may be obtained from the driver's previous historical driving records.

[0066] In this embodiment, when the current driving scene is a following vehicle scene, the parameters that the driver is accustomed to, such as the accustomed following vehicle time distance, can be obtained based on the following vehicle parameters in the driving parameters.

[0067] In one embodiment, the driver's historical driving record can be analyzed to obtain the driver's corresponding following time distance curve, that is, the following parameters can include the following time distance curve. For example, when the driver is driving the vehicle, the driver's actual following time distance can be calculated, and the driver's unique following time distance curve can be fitted. If the system has not accumulated enough mileage or traversed multiple speed segments before the driver turns on the lane centering assist function, the system will make a recommendation in the original time distance gear. In this embodiment, obtaining the current driver's habitual following time distance based on the following parameters in the driving parameters can include: based on the current speed of the vehicle, obtaining the current driver's corresponding habitual following time distance from the following time distance curve.

[0068] For example, Figure 3A schematic diagram of a vehicle following scenario provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the following time distance of the vehicle can be different values ​​(D1, D2 and D3) depending on the driver. Figure 4 A schematic diagram of a change in the following distance time provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the following time distance can be determined by the following distance and the vehicle speed, that is, the following time distance = following distance / vehicle speed, wherein D1, D2 and D3 are the following time distances corresponding to different drivers respectively.

[0069] S230: Using the customary following distance as the following distance of the vehicle under lane centering auxiliary control.

[0070] In this embodiment, the customary following distance may be used as the following distance of the vehicle under lane centering assist control.

[0071] S240: Control the vehicle to travel according to the following vehicle time distance.

[0072] In this embodiment, the vehicle driving can be controlled by the following distance, so that the vehicle's following distance is adjusted to the following distance that the driver is accustomed to, thereby improving the driver's experience of using the lane centering assist function.

[0073] A lane centering assist function control method provided in the second embodiment of the present invention specifically determines the control parameters of the vehicle under lane centering assist control according to the driving parameters and the current driving scene, including: when the current driving scene is a following scene, obtaining the current driver's habitual following distance based on the following parameters in the driving parameters; using the habitual following distance as the following distance of the vehicle under lane centering assist control. This method determines the current following distance of the vehicle according to the driver's habitual following distance, and can adapt to the driver's driving habits and improve the driver's experience when the vehicle uses the lane centering assist function, solving the problem that the lane centering assist function in the prior art only provides 3 or 4 different following distances for the driver to choose from, and cannot cover the driver's driving habits in all speed ranges.

[0074] In one embodiment, when the control parameters include a lateral offset, determining the control parameters of the vehicle under lane centering assist control based on the driving parameters and the current driving scenario includes: recommending a habitual lateral offset to the current driver based on the offset parameters in the driving parameters and the current driving scenario; and when no offset change request is received from the driver, using the habitual lateral offset as the lateral offset of the vehicle under lane centering assist control.

[0075] The offset parameter may be a parameter related to the vehicle offset. The customary lateral offset may be an offset that the driver is accustomed to when driving the vehicle. The offset change request may be a request to modify the offset.

[0076] In this embodiment, when the control parameter includes a lateral offset, the customary lateral offset can be recommended to the current driver through the offset parameter in the driving parameter and the current driving scene. When the driver's offset change request is not received, the customary lateral offset is used as the lateral offset of the vehicle under lane centering auxiliary control. This embodiment provides the driver with a selectable lateral offset on the basis of the original lane centering auxiliary function. The driver can select the current need on the central control screen of the vehicle, and then the vehicle system will control the vehicle accordingly. Exemplarily, the customary lateral offset in different driving scenes may be different. When the driving scene is a highway and a city road, since the standard lane width of the highway is 3.75m, the lane width of the city road is 3.5m, and the width of the passenger car is between 1.6m-1.9m, the selection range of the lateral offset can be set to -20cm-+20cm, which can meet most driving needs while ensuring a safe distance. Figure 5 A schematic diagram of a recommended lateral offset provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the driver can choose whether to start the lane centering assist function. When the vehicle is driving, the distance between the center line of the vehicle and the lane lines on both sides can be calculated, and the lateral offset amount will be recommended when the function is enabled.

[0077] In some special scenarios, such as mountain roads and lane lines covered with frost and snow, a single centering function sometimes cannot meet driving needs. The present embodiment recommends a lateral offset to the driver after the lane centering assist function is turned on in the vehicle. This allows the driver to offset the vehicle according to driving habits when using the lane centering assist function in different scenarios, thereby increasing the usability of the lane centering assist function.

[0078] In one embodiment, recommending a habitual lateral offset to the current driver based on the offset parameter in the driving parameters and the current driving scene includes: obtaining the lane width of the lane in which the vehicle is currently located; and recommending a habitual lateral offset to the current driver based on the current driving scene, the lane width and the offset parameter in the driving habit.

[0079] Among them, the customary lateral offsets corresponding to different lane widths may be different.

[0080] In this embodiment, the lane width of the vehicle's current lane can be obtained. When recommending the habitual lateral offset, the surrounding environment of the vehicle can be determined according to the vehicle's current driving scene, for example, whether there are other vehicles. If there are no other vehicles around, the habitual lateral offset corresponding to the offset parameter in the driving habit and the lane width can be recommended to the current driver; if there are other vehicles around, the habitual lateral offset can be recommended to the current driver according to the lane width and the offset parameter in the driving habit in combination with the vehicle's position. For example, Figure 6 A flow chart of controlling a vehicle based on a lateral offset is provided in an embodiment of the present invention. The driver can set the lateral offset and calculate the steering wheel angle or torque based on different offsets, vehicle lateral speed, acceleration, vehicle posture position and other parameters.

[0081] Embodiment 3

[0082] Figure 7 This is a schematic diagram of the structure of a lane centering assist function control device provided in Example 3 of the present invention. The device can be used for intelligently adjusting the control parameters of the vehicle when driving according to the driver's habits when the vehicle is intelligently driving through the lane centering assist function. The device can be implemented by software and / or hardware and is generally integrated on the vehicle.

[0083] like Figure 7 As shown, the device comprises:

[0084] An acquisition module 310 is used to acquire a current driving scene of a vehicle and a driving parameter of a current driver of the vehicle;

[0085] A determination module 320, configured to determine control parameters of the vehicle under lane centering auxiliary control according to the driving parameters and the current driving scenario;

[0086] The control module 330 is used to control the vehicle to travel according to the control parameters.

[0087] This embodiment provides a lane centering assist function control device, the device comprising: an acquisition module for acquiring a current driving scene of a vehicle and a driving parameter of a current driver of the vehicle; a determination module for determining a control parameter of the vehicle under lane centering assist control according to the driving parameter and the current driving scene; and a control module for controlling the vehicle to travel according to the control parameter. By determining the control parameter of the vehicle according to the driving parameter of the driver of the vehicle and the current driving scene and controlling the vehicle to travel, the vehicle can adapt to the driver's driving habits while under lane centering assist control, thereby solving the problem in the prior art that the lane centering assist function cannot adapt to the driver's driving habits.

[0088] Furthermore, the control parameters include at least one or more of following distance, lateral offset and cornering parameters.

[0089] Furthermore, the determination module 320 includes:

[0090] When the current driving scene is a following car scene, obtaining the current driver's habitual following car time distance based on the following car parameter in the driving parameters;

[0091] The customary following time distance is used as the following time distance of the vehicle under lane centering auxiliary control.

[0092] Furthermore, the determination module 320 includes:

[0093] When the current driving scene is a turning scene, obtaining a turning radius of a turning road of the vehicle;

[0094] Determining a customary cornering parameter of the current driver at the cornering radius based on a cornering parameter in the driving parameter;

[0095] The habitual cornering parameter is used as a cornering parameter of the vehicle under lane centering auxiliary control.

[0096] Further, the cornering parameters include deceleration timing, deceleration speed change value, acceleration timing and acceleration speed change value. Accordingly, the control module 330 includes:

[0097] Controlling the vehicle to start decelerating and turning based on the deceleration timing and the deceleration speed change value;

[0098] The vehicle is controlled to accelerate after turning based on the acceleration timing and the acceleration speed change value.

[0099] Furthermore, the determination module 320 includes:

[0100] recommending a customary lateral offset to the current driver according to the offset parameter in the driving parameter and the current driving scene;

[0101] When no offset change request is received from the driver, the customary lateral offset is used as the lateral offset of the vehicle under lane centering assist control.

[0102] Furthermore, the recommending a habitual lateral offset to the current driver according to the offset parameter in the driving parameter and the current driving scene includes:

[0103] Get the lane width of the vehicle's current lane;

[0104] A habitual lateral offset is recommended to the current driver according to the current driving scene, the lane width and the offset parameter in the driving habit.

[0105] The above-mentioned lane centering assist function control device can execute the lane centering assist function control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0106] Embodiment 4

[0107] Figure 8 A schematic diagram of a vehicle 10 is shown that may be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions are provided as examples only, and are not intended to limit implementations of the inventions described and / or claimed herein.

[0108] like Figure 8 As shown, the vehicle 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0109] A number of components in the vehicle 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the lane centering assist function control method.

[0111] In some embodiments, the lane centering assist function control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the lane centering assist function control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the lane centering assist function control method in any other appropriate manner (e.g., by means of firmware).

[0112] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0114] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0116] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0117] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0118] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0119] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A lane centering assist function control method, characterized in that: The method comprises: Acquiring a current driving scene of a vehicle and driving parameters of a current driver of the vehicle; determining, according to the driving parameters and the current driving scenario, control parameters of the vehicle under lane centering auxiliary control; The vehicle is controlled to travel according to the control parameters.

2. The method according to claim 1, characterized in that The control parameters include at least one or more of following distance, lateral offset and cornering parameters.

3. The method according to claim 2, characterized in that The determining, according to the driving parameter and the current driving scene, a control parameter of the vehicle under lane centering auxiliary control includes: When the current driving scene is a following car scene, obtaining the current driver's habitual following car time distance based on the following car parameter in the driving parameters; The customary following time distance is used as the following time distance of the vehicle under lane centering auxiliary control.

4. The method according to claim 2, characterized in that: The determining, according to the driving parameter and the current driving scene, a control parameter of the vehicle under lane centering auxiliary control includes: When the current driving scene is a turning scene, obtaining a turning radius of a turning road of the vehicle; Determining the customary cornering parameter of the current driver at the cornering radius based on the cornering parameter in the driving parameter; The habitual cornering parameter is used as a cornering parameter of the vehicle under lane centering auxiliary control.

5. The method according to claim 4, characterized in that The cornering parameters include deceleration timing, deceleration speed change value, acceleration timing and acceleration speed change value. Accordingly, controlling the vehicle to travel according to the control parameters includes: Controlling the vehicle to start decelerating and turning based on the deceleration timing and the deceleration speed change value; The vehicle is controlled to accelerate after turning based on the acceleration timing and the acceleration speed change value.

6. The method according to claim 2, characterized in that When the control parameter includes a lateral offset, determining the control parameter of the vehicle under lane centering auxiliary control according to the driving parameter and the current driving scene includes: recommending a customary lateral offset to the current driver according to the offset parameter in the driving parameter and the current driving scene; When no offset change request is received from the driver, the customary lateral offset is used as the lateral offset of the vehicle under lane centering assist control.

7. The method according to claim 6, characterized in that The recommending a customary lateral offset to the current driver according to the offset parameter in the driving parameter and the current driving scene comprises: Get the lane width of the vehicle's current lane; A habitual lateral offset is recommended to the current driver according to the current driving scene, the lane width and the offset parameter in the driving habit.

8. A lane centering auxiliary function control device, characterized in that: The device comprises: An acquisition module, used to acquire a current driving scene of a vehicle and driving parameters of a current driver of the vehicle; a determination module, configured to determine control parameters of the vehicle under lane centering auxiliary control according to the driving parameters and the current driving scenario; A control module is used to control the vehicle to travel according to the control parameters.

9. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane centering assist function control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the lane centering assist function control method according to any one of claims 1 to 7 when executed.

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