A Lane Centering Control Method and System

Abstract

This invention belongs to the field of assisted driving technology, specifically relating to a lane centering control method and system. The invention acquires the driving environment surrounding the vehicle's lane and determines whether there are obstacles in adjacent lanes based on the driving environment. When only one adjacent lane has an obstacle, if the distance D between the obstacle and the shared lane line satisfies 0 < D < H, the invention controls the vehicle to adjust laterally by a distance Δd from its current position to the side without obstacles. The value of Δd is calculated based on the distance D, the distance L between the vehicle and the other lane line, and a distance threshold H. This solves the problem of existing vehicle centering control methods failing to reasonably adjust the distance to obstacles when only one side of the vehicle has an obstacle, leading to low driving safety or comfort.

Description

Technical Field

[0001] This invention belongs to the field of driver assistance technology, specifically relating to a lane centering control method and system. Background Technology

[0002] Most common lane centering control systems use cameras to detect the vehicle's relative position to the lane lines and control it to stay within the lane's center line. However, because the driver's field of vision differs on both sides of the vehicle, it creates a psychological burden when using lane centering control. Drivers typically adjust the lane centering distance based on road conditions, rather than staying perfectly aligned with the center line. When there are no vehicles or obstacles in either lane, the driver's seat is angled to one side, resulting in different levels of visibility on both sides. With the driver on the left, the left-hand view is more comprehensive than the right, leading to a more left-hand driving position relative to the lane center line. When there are obstacles or other vehicles on one side of the vehicle, the driver must rely on experience to maintain distance.

[0003] Existing lane-keeping control methods control lane centering distance by recognizing the environmental conditions around the vehicle's lane. When there are obstacles or other vehicles in the adjacent lane, the method controls the vehicle to move away from the adjacent lane. While this method can achieve automatic adjustment of lane centering control, it only controls the vehicle to stay in the center and avoid obstacles, without considering factors such as the driver's visibility and driving habits, resulting in low driver comfort. Moreover, when there is an obstacle on one side of the lane, simply controlling the vehicle to move away can result in the distance being too large or too small. If the distance is adjusted too small, the vehicle is too close to the obstacle, which can cause psychological pressure on the driver. If the distance is adjusted too large, there is a risk of the vehicle crossing the opposite lane line, leading to low driver comfort and the potential danger of the vehicle crossing the lane line. Summary of the Invention

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

[0005] To solve the above-mentioned technical problems, the present invention provides a lane centering control method, the method comprising:

[0006] The system acquires the driving environment surrounding the vehicle's lane and determines whether there are obstacles in the adjacent lanes based on this environment. When the vehicle only has an obstacle in one of its adjacent lanes, the distance between the obstacle and the shared lane line is considered. satisfy Then, control the vehicle to adjust the distance laterally to the side without obstacles from its current position. , The calculation formula is:

[0007]

[0008] Where L is the distance between the vehicle and the lane line on the side without obstacles, and H is the distance threshold that takes into account the driver's driving experience and safety settings.

[0009] The shared lane lines are the lane lines between vehicles and the lane on the side with the obstacle.

[0010] Furthermore, when the distance between the obstacle and the shared lane line... satisfy Then, control the vehicle to move in the driving direction so that the distance between the vehicle's centerline and the centerline of its lane is [distance]. Driving, and , This is the maximum deviation distance that the vehicle can avoid from crossing its own lane lines.

[0011] Furthermore, when there are no obstacles on either side of the driving lane, the vehicle is controlled to deviate laterally from the centerline of the driving lane along the vehicle's centerline in the driving direction. Driving, and , This is the maximum deviation distance that the vehicle can avoid from crossing its own lane lines.

[0012] Furthermore, the distance The value is the average of historical data on the deviation of the driver's centerline from the centerline of the vehicle's lane along the driving direction during a certain period of time.

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

[0014] Furthermore, when there is a vehicle traveling in the adjacent lane of the vehicle's lane, and that vehicle crosses the lane line and encroaches on the vehicle's lane, the vehicle is controlled to travel along the center line of the vehicle's lane.

[0015] To address the aforementioned technical problems, the present invention also provides a lane centering control system, including a processor that executes a computer program to implement the steps of the lane centering control method described above.

[0016] Its beneficial effects are as follows: This invention is an improved invention. It addresses the issue that existing vehicle centering control methods, when there is an obstacle on only one side of the vehicle, can only control the vehicle to avoid the obstacle, but cannot precisely adjust the distance, posing a risk of collision or lane-crossing. Therefore, this invention addresses the issue where there is an obstacle only on the adjacent lane, and the distance between the obstacle and the shared lane line is... satisfy At that time, based on the relationship between the distance between the obstacle and the shared lane line, the driver's driving experience, and the safety setting's distance threshold H, the vehicle adjusts its lateral distance from its current position toward the obstacle-free side accordingly. , The value 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 taking into account the driver's driving experience, it also avoids the vehicle from driving over the lane line on the other side, thus improving the driver's driving comfort and safety. Attached Figure Description

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

[0018] Figure 2 This is a schematic diagram of a vehicle lane with no vehicles on either side in an embodiment of the method of the present invention;

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

[0020] Figure 4 This is a schematic diagram showing an obstacle on one side of the vehicle lane in an embodiment of the method of the present invention. Detailed Implementation

[0021] This invention acquires the driving environment surrounding the vehicle's lane and determines whether there are obstacles in the adjacent lanes based on the driving environment; when there is an obstacle only in one of the vehicle's adjacent lanes, the distance between the obstacle and the shared lane line is considered. satisfy Then, control the vehicle to adjust the distance laterally to the side without obstacles from its current position. , The value 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. Taking into account the driver's driving experience, and avoiding the vehicle from driving over the lane line on the other side, this solves the problem that the existing vehicle centering control method cannot reasonably adjust the distance between the vehicle and the obstacle when there is only one obstacle on one side, resulting in low driving safety or comfort.

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0023] Method Implementation Examples:

[0024] This embodiment of a lane centering control method acquires the driving environment surrounding the vehicle's lane and adjusts the distance between the vehicle and the center line of the lane accordingly based on different driving environments to achieve vehicle centering control; for example... Figure 1 As shown, the specific steps include:

[0025] Step 1: The sensor detects the vehicle's distance from the lane centerline, while simultaneously detecting the road conditions and surrounding environment in front of the vehicle.

[0026] Step 2: Adjust and control the vehicle based on the results obtained in Step 1.

[0027] 1) such as Figure 2 As shown, when the vehicle is traveling in the middle lane and there are no obstacles (such as other vehicles, green belts, or medians) on either side, adjust the distance d between the vehicle's centerline (i.e., the vehicle's centerline along the driving direction) and the centerline of the lane to make the vehicle travel closer to the driver's side lane line, which is more in line with the driver's driving habits. Specific adjustment methods include the following two:

[0028] Method 1: Calculate the distance d based on the width of the lane and the width of the vehicle, ensuring that the distance between the vehicle's centerline and the lane centerline satisfies the following conditions. , The maximum deviation distance of a vehicle from its lane without crossing the lane lines is calculated using the following formula:

[0029]

[0030] in, For the width of the bicycle lane, The width of the vehicle.

[0031] Method 2: Obtain historical data on the deviation of the vehicle's centerline from the lane centerline when the driver is driving over a period of time. Filter out data in the historical data that shows abnormal driving (e.g., the vehicle driving over the lane line). Then, calculate the distance d by averaging the filtered historical data. If the calculated distance d satisfies the condition that the vehicle does not drive over the lane line, then control the vehicle to drive at a distance d from the lane centerline.

[0032] 2) such as Figure 3 , Figure 4As shown, when there is an obstacle in the adjacent lane of the vehicle, the lateral distance is adjusted to the side away from the adjacent vehicle or obstacle, based on the distance between the adjacent vehicle or obstacle and the shared lane line (the lane line between the vehicle and the adjacent vehicle or obstacle). The lateral adjustment distance is... The vehicle must not be allowed to drive over the lane lines. Specific adjustments include:

[0033] If the distance between adjacent lane vehicles or obstacles and the shared lane lines satisfy If so, the lateral centering distance of the vehicle will not be adjusted, and the current driving distance will be maintained.

[0034] If the distance between an obstacle in an adjacent lane and the shared lane line satisfy Then adjust the lateral distance from the vehicle to the side away from vehicles or obstacles in the adjacent lane. The vehicle may travel at a distance not exceeding L from the lane line on the side furthest from the adjacent vehicle or obstacle. The specific calculation formula is as follows:

[0035]

[0036] Here, H represents the distance threshold considering the driver's driving experience and safety settings. In this embodiment, H is set to 40cm, based on the driver's driving habits and the perception that this distance encroaches on safe distances. This value can be set by the driver, with a default value of 40cm, derived from statistical data on the driving habits of most people. The adjustable range of this value should conform to the three sigma principle of statistical values. Alternatively, it can be set according to actual needs, such as based on the width of adjacent obstacles and the road width.

[0037] If a vehicle in an adjacent lane crosses the lane line and encroaches on the vehicle's lane, the vehicle is controlled to travel along the lane center line. That is, the distance d between the vehicle's center line and the center line of its own lane is 0, and the lane centering distance is no longer adaptively adjusted based on the lateral distance between the vehicle and obstacles in the adjacent lane.

[0038] 3) If there are obstacles on both sides of the vehicle's lane, control the vehicle to drive along the center line of the lane, that is, the distance d between the vehicle's center line and the center line of the vehicle's lane is 0, and the lane centering distance will no longer be adaptively adjusted according to the lateral distance between the vehicle and the vehicles or obstacles in the adjacent lane.

[0039] Step 3: Control the vehicle's movement based on the adjustments made in Step 2, and continuously monitor road conditions to make timely adjustments when the driving environment changes.

[0040] This invention discloses a lane centering control method. When a vehicle starts and activates the lane centering control function, sensors installed on the vehicle detect the road environment in which the vehicle is operating. Based on the distance between obstacles in adjacent lanes and the shared lane line, the lateral distance between the vehicle's centerline and the lane centerline is adjusted, so that the vehicle moves away from lanes with moving vehicles and obstacles, minimizing the risk during vehicle centering control. When there are no obstacles in either lane, because the driver's seat is biased towards one side of the vehicle, the degree of visibility on both sides of the road is different. The driver's visibility on the side biased towards the driver's seat is more complete, so when driving, the vehicle will tend to drive towards the driver's seat side, which is more comfortable. Therefore, controlling the vehicle to drive relatively close to the driver's side along the lane centerline 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 visibility on the left side is more complete than on the right side, and drivers usually prefer to drive relatively close to the left lane line.

[0041] System Implementation Example:

[0042] This invention discloses a lane centering control system, comprising a memory, a processor, and an internal bus. The processor and memory communicate and interact with each other via the internal bus. The memory includes at least one software function module stored in the memory. The processor executes various functional applications and data processing by running the computer program and module stored in the memory, thereby implementing the lane centering control method described in the method embodiments of this invention. The principle, implementation process, and achievable effects of this method have been fully described in the method embodiments and will not be repeated here.

Claims

1. A lane centering control method, characterized in that, The method includes: The system acquires the driving environment around the vehicle's lane and determines whether there are obstacles in the adjacent lanes based on the driving environment. When a vehicle has an obstacle only in the adjacent lane, if the distance between the obstacle and the shared lane line... satisfy Then, control the vehicle to adjust the distance laterally to the side without obstacles from its current position. When satisfied Then, control the vehicle to move in the driving direction so that the distance between the vehicle's centerline and the centerline of its lane is [distance]. Driving; when there are no obstacles on either side of the lane, control the vehicle to move towards the driver's side so that the vehicle's centerline deviates from the centerline of the lane along the driving direction. Driving; in, , This is the maximum deviation distance of the vehicle from its own lane without crossing the lane line. for: 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 obstacles.

2. The lane centering control method according to claim 1, characterized in that, The distance d is calculated based on the width of the vehicle and the width of the lane.

3. The lane centering control method according to claim 1, characterized in that, l is determined according to the following formula: in, For the width of the bicycle lane, The width of the vehicle.

4. The lane centering control method according to claim 1, characterized in that, The distance The value is the average of historical data on the deviation of the driver's centerline from the centerline of the vehicle's lane along the driving direction during a certain 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's lane, control the vehicle to drive 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 vehicle's lane, and that vehicle crosses the lane line and encroaches on the vehicle's lane, control the vehicle to travel along the center line of the vehicle's 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 as described in any one of claims 1 to 6.

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