Lane centering control method and system

Abstract

The invention belongs to the technical field of auxiliary driving, and particularly relates to a lane centering control method and system. The driving environment around the lane of the vehicle is obtained, and whether an obstacle exists in the adjacent lane of the vehicle or not is judged according to the driving environment; when the vehicle only has an obstacle on the lane on the adjacent side, if the distance D between the obstacle and the common lane line is more than 0 and less than H, the vehicle is controlled to transversely adjust the distance delta d from the current position to the side without the obstacle, and the value of the delta d is calculated according to the distance D, the distance L from the vehicle to the lane line on the other side and a distance threshold value H; the problem that according to an existing vehicle centering control method, when only one side of a vehicle is provided with an obstacle, the distance between the vehicle and the obstacle cannot be reasonably adjusted, and driving safety or comfort is low is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of assisted driving, and in particular relates to a lane centering control method and system. Background Art

[0002] Most commonly used lane centering control systems use cameras to detect the relative position between the vehicle and the lane line, and control the vehicle to drive along the center line of the lane; however, due to the different degree of vision of the driver on both sides of the vehicle, the driver has a certain psychological burden when using the lane centering control function. During driving, the driver usually adjusts the distance of the lane center according to the road environment, rather than driving along the center line of the lane. Usually when there are no vehicles or obstacles in the left and right lanes, because the driver's seat is biased to one side of the vehicle, the degree of vision to observe the road conditions on both sides is different. When the driver's seat is on the left, the driver's field of vision on the left side is more complete than that on the right side, and the vehicle is usually driven to the left relative to the center line of the lane; when there are obstacles or other vehicles on one side of the vehicle, the driver can only rely on driving experience to control the distance between the vehicles.

[0003] The existing lane keeping control method controls the lane centering distance by identifying the environmental state around the lane of the self-vehicle. When there are obstacles or other vehicles in the lane adjacent to the lane of the self-vehicle, the vehicle is controlled to move away from the adjacent lane. Although this method can realize the automatic adjustment of lane centering control, it only controls the vehicle to drive in the center and avoid obstacles, without considering the influencing factors such as the driver's driving vision and driving habits, and the driver's driving comfort is low; and when there is an obstacle on one side of the lane, the vehicle is only controlled to move away, and there is a situation where the distance of moving away is too large or too small; if the distance adjusted to move away from the self-vehicle is too small, the self-vehicle is too close to the obstacle, which will cause psychological pressure on the driver; if the adjusted distance is too large, there is a risk of the self-vehicle pressing the lane line on the other side, resulting in low driving comfort for the driver and the risk of the vehicle driving on the line. Summary of the invention

[0004] The purpose of the present invention is to provide a lane centering control method and system to solve the problem that the existing vehicle centering control method cannot reasonably adjust the distance between the vehicle and the obstacle when there is an obstacle on only one side of the vehicle, resulting in low driving safety or comfort.

[0005] In order to solve the above technical problems, the present invention provides a lane centering control method, which comprises:

[0006] Obtain the driving environment around the lane of the ego vehicle, and determine whether there are obstacles in the adjacent lane of the ego vehicle according to the driving environment; when there is an obstacle only in the adjacent lane of the ego vehicle, if the distance D between the obstacle and the shared lane line satisfies 0<D<H, control the ego vehicle to adjust the distance Δd laterally to the side without obstacles at the current position, and the calculation formula of Δd is:

[0007]

[0008] Among them, L is the distance between the vehicle and the lane line on the side without obstacles, and H is the distance threshold considering the driver's driving experience and safety settings;

[0009] The shared lane line is the lane line between the vehicle and the lane on the side with the obstacle.

[0010] Furthermore, when the distance D between the obstacle and the shared lane line satisfies D≥H, the vehicle is controlled to travel in the driving direction with the center line of the vehicle along the driving direction deviating from the center line of the vehicle lane by a distance d, and 0≤d<l, l is the maximum deviation distance of the vehicle without pressing the lane line.

[0011] Furthermore, when there are no obstacles on both sides of the vehicle lane, the vehicle is controlled to travel in the driving direction with the center line of the vehicle along the driving direction deviating from the center line of the vehicle lane by a lateral distance d, and 0≤d<l, l is the maximum deviation distance of the vehicle without crossing the lane line.

[0012] Furthermore, the value of the distance d is an average value of historical data of the deviation of the center line of the vehicle in the driving direction from the center line of the vehicle lane when the driver drives the vehicle over a period of time.

[0013] Furthermore, when there are obstacles on both sides of the vehicle lane, the vehicle is controlled to travel along the center line of the vehicle lane.

[0014] Furthermore, when there is a vehicle traveling in a lane adjacent to the own vehicle lane, and the vehicle crosses the lane line and intrudes upon the own vehicle lane, the own vehicle is controlled to travel along the center line of the own vehicle lane.

[0015] In order to solve the above technical problems, the present invention also provides a lane centering control system, including a processor, wherein the processor executes a computer program to implement the steps of the lane centering control method as described above.

[0016] The beneficial effects are as follows: the present invention is an improved invention creation. The present invention takes into account that when the existing driver is driving a vehicle, the vehicle centering control method can only control the vehicle to avoid obstacles when there is an obstacle on only one side of the vehicle, but cannot clearly adjust the distance, and there is a hidden danger of collision or driving on the line. Therefore, when there is an obstacle on only one adjacent lane of the vehicle and the distance D between the obstacle and the common lane line satisfies 0<D<H, the present invention adjusts the vehicle to adjust the distance Δd to the side without obstacles based on the relationship between the distance between the obstacle and the common lane line and the driving experience of the driver and the distance threshold H set for safety. The value of Δd is calculated based on the distance D, the distance L between the vehicle and the lane line on the other side and the distance threshold H; while considering the driving experience of the driver, the vehicle is prevented from driving on the lane line on the other side, thereby improving the driving comfort and safety of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a centering control method according to an embodiment of the method of the present invention;

[0018] Figure 2 is a schematic diagram of a vehicle lane without vehicles on both sides according to an embodiment of the method of the present invention;

[0019] Figure 3 is a schematic diagram of a vehicle traveling on one side of a vehicle lane in an embodiment of the method of the present invention;

[0020] Figure 4 It is a schematic diagram of an obstacle existing on one side of the vehicle lane in an embodiment of the method of the present invention. DETAILED DESCRIPTION

[0021] The present invention obtains the driving environment around the lane of the own vehicle, and determines whether there is an obstacle in the adjacent lane of the own vehicle according to the driving environment; when there is an obstacle in only one adjacent lane of the own vehicle, if the distance D between the obstacle and the shared lane line satisfies 0<D<H, the own vehicle is controlled to adjust the distance Δd laterally to the side without the obstacle at the current position, and the value of Δd is calculated according to the distance D, the distance L between the own vehicle and the lane line on the other side, and the distance threshold H; while considering the driving experience of the driver, the own vehicle is prevented from driving on the lane line on the other side, thereby solving the problem that the existing vehicle centering control method cannot reasonably adjust the distance between the own vehicle and the obstacle when there is an obstacle on only one side of the own vehicle, resulting in low driving safety or comfort.

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0023] Method Example:

[0024] A lane centering control method of this embodiment realizes vehicle centering control by acquiring the driving environment around the lane of the vehicle and adjusting the distance between the vehicle and the center line of the lane according to different driving environments; Figure 1 As shown, the specific steps include:

[0025] Step 1: Use sensors to detect the vehicle's position from the center line of the lane, and also detect the road conditions and surrounding environment in front of the vehicle.

[0026] Step 2: Adjust and control the vehicle according to the results obtained in step 1.

[0027] 1) If Figure 2 As shown in the figure, when the vehicle is driving in the middle lane and there are obstacles on both the left and right lanes (such as moving vehicles, green belts, isolation belts, etc.), the distance d between the center line of the vehicle (that is, the center line of the vehicle along the driving direction) and the center line of the lane of the vehicle is adjusted to make the vehicle drive closer to the lane line on the driver's side, which is more in line with the driver's driving habits; the specific adjustment methods include the following two:

[0028] Method 1: According to the width of the lane and the width of the vehicle, the distance d is calculated so that the distance of the center line of the vehicle deviating from the center line of the lane satisfies 0≤d<l, where l is the maximum deviation distance of the vehicle without crossing the lane line of the vehicle. The specific calculation formula is:

[0029]

[0030] Among them, l1 is the lane width of the vehicle, and l2 is the vehicle width.

[0031] Method 2: Obtain historical data of the deviation of the center line of the ego vehicle from the center line of the ego vehicle lane when the driver is driving the vehicle for a period of time, filter out the data of abnormal driving of the vehicle in the historical data (for example, the vehicle is driving on the lane line), and then take the average of the filtered historical data to calculate the distance d. If the calculated distance d satisfies the requirement that the vehicle does not drive on the lane line, control the ego vehicle to drive at a distance d from the center line of the ego vehicle lane.

[0032] 2) If Figure 3 , Figure 4 As shown in the figure, when there is an obstacle in the adjacent lane where the self-vehicle is traveling, the lateral distance is adjusted to the side away from the adjacent vehicle or obstacle according to the distance between the adjacent vehicle or obstacle and the shared lane line (the lane line between the self-vehicle and the adjacent lane vehicle or obstacle). The maximum lateral adjustment distance Δd must not cause the self-vehicle to drive over the line. The specific adjustment methods include:

[0033] If the distance D between the adjacent lane vehicle or obstacle and the shared lane line satisfies D≥40cm, the lateral centering distance of the vehicle will not be adjusted and the current driving distance will be maintained;

[0034] If the distance D between the obstacle on the adjacent lane and the shared lane line satisfies 0<D<40cm, the vehicle shall adjust the lateral distance Δd to the side away from the vehicle or obstacle in the adjacent lane, and the maximum distance shall not be greater than the distance L between the vehicle and the lane line on the side away from the vehicle or obstacle in the adjacent lane. The specific calculation formula of Δd is:

[0035]

[0036] Among them, H is the distance threshold that takes into account the driver's driving experience and safety settings. In this embodiment, H is 40 cm, which is based on the driver's driving habits. The driver feels that this distance is a value that infringes on the safety distance. This value can be set by the driver himself. The default value can be 40 cm. It is obtained by statistically analyzing the driving habits of most people. The adjustable range of this value should comply with the three sigma principle of statistical values. As other implementation methods, it can be set according to actual needs, for example, according to the width of the adjacent side obstacles and the road width.

[0037] If a vehicle in an adjacent lane crosses the lane line and intrudes upon the vehicle's lane, the vehicle is controlled to travel along the center line of the lane, that is, the distance d between the center line of the vehicle and the center line of the vehicle's lane is 0, and the distance to the center of the lane is no longer adaptively adjusted according to the lateral distance between the vehicle and the obstacle in the adjacent lane.

[0038] 3) If there are obstacles on both sides of the lane, the vehicle is controlled to travel along the center line of the lane, that is, the distance d between the center line of the vehicle and the center line of the lane is 0, and the distance to the center of the lane is no longer adaptively adjusted according to the lateral distance between the vehicle and the vehicles or obstacles in the adjacent lanes.

[0039] Step 3: Control the vehicle according to the adjustment results of step 2, and continue to sense the road conditions so as to make timely adjustments when the driving environment changes.

[0040] A lane centering control method of the present invention, when a vehicle is started and the lane centering control function is activated, a sensor installed on the vehicle is used to detect the road environment in which the vehicle is running, and according to the distance from the obstacle on the adjacent lane to the shared lane line, the lateral distance between the center line of the own vehicle and the center line of the own vehicle lane is adjusted, so that the own vehicle is away from the lane where there are moving vehicles and obstacles, so that the risk in the process of vehicle centering control is minimized; when there are no obstacles on the left and right lanes, since the driver's seat is biased to one side of the vehicle, the degree of field of vision for observing the road conditions on both sides is different, and the driver's field of vision on the side biased to the driver's seat is more sufficient, so when driving the vehicle, the driver will drive toward the side of the driver's seat, which is more comfortable, so controlling the vehicle to drive relatively close to the driving side along the lane center line is closer to the driver's driving experience. For example, in China, the driver's seat is on the left side of the vehicle, so the driver's field of vision for observing the left side is more sufficient than that for the right side, and the driver is usually accustomed to driving the vehicle relatively close to the left lane line.

[0041] System Example:

[0042] A lane centering control system of the present invention includes a memory, a processor and an internal bus, and the processor and the memory communicate and exchange data with each other through the internal bus. The memory includes at least one software function module stored in the memory, and the processor executes various functional applications and data processing by running the computer program and module stored in the memory to implement a lane centering control method introduced in the method embodiment of the present invention. The principle, implementation process, and achievable effects of the method have been fully introduced in the method embodiment and will not be repeated here.

Claims

1. A lane centering control method, characterized in that: The method includes: Obtain the driving environment around the lane of the ego vehicle, and determine whether there are obstacles in the adjacent lane of the ego vehicle according to the driving environment; when there is an obstacle only in the adjacent lane of the ego vehicle, if the distance D between the obstacle and the shared lane line satisfies 0<D<H, control the ego vehicle to adjust the distance Δd laterally to the side without obstacles at the current position, and the calculation formula of Δd is: Among them, L is the distance between the vehicle and the lane line on the side without obstacles, and H is the distance threshold considering the driver's driving experience and safety settings; The shared lane line is the lane line between the vehicle and the lane on the side with the obstacle.

2. The lane centering control method according to claim 1, characterized in that: When the distance D between the obstacle and the shared lane line satisfies D≥H, the vehicle is controlled to travel in the driving direction with the center line of the vehicle along the driving direction deviating from the center line of the vehicle lane by a distance d, and 0≤d<l, l is the maximum deviation distance of the vehicle without crossing the lane line.

3. The lane centering control method according to claim 1, characterized in that: When there are no obstacles on both sides of the lane, the vehicle is controlled to move toward the driving side with the center line of the vehicle along the driving direction deviating from the center line of the lane by a lateral distance d, and 0≤d<l, l is the maximum deviation distance of the vehicle without crossing the lane line.

4. The lane centering control method according to claim 2 or 3, characterized in that: The value of the distance d is an average value of historical data of the deviation of the center line of the vehicle in the driving direction from the center line of the vehicle lane when the driver drives the vehicle over a period of time.

5. The lane centering control method according to claim 1, characterized in that: When there are obstacles on both sides of the vehicle lane, control the vehicle to move along the center line of the lane.

6. The lane centering control method according to claim 1, characterized in that: When there is a vehicle traveling in the adjacent lane of the own vehicle lane, and the vehicle crosses the lane line and infringes upon the own vehicle lane, the own vehicle is controlled to travel along the center line of the own vehicle lane.

7. A lane centering control system, comprising a processor, characterized in that: The processor executes a computer program to implement the steps of the lane centering control method according to any one of claims 1 to 6.

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