Lane keeping control method, device, equipment, medium and program product

Abstract

The invention relates to a lane keeping control method, device and equipment, a medium and a program product. The method comprises the steps of obtaining lane line information and an obstacle area around a vehicle, determining a vehicle driving track according to the lane line information and a preset offset, then determining a first track coefficient of the center of a front axle of the vehicle and the obstacle area according to the driving track, and if the first track coefficient is smaller than a preset first threshold value, determining that the vehicle is in the obstacle area. If yes, determining a preview point according to the driving track and executing lane keeping operation. The driving track of the vehicle safety regression is determined by using the lane line, so that the track acquisition difficulty can be reduced under the condition of ensuring the vehicle driving safety, the lane keeping control process is simplified, and the computing resources occupied by lane keeping are reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a lane keeping control method, device, equipment, medium and program product. Background Art

[0002] With the development of the automobile industry, automobile intelligent technology is also constantly improving. In case of lane deviation during driving, auxiliary driving control methods such as lane keeping can help the vehicle return to a safe route.

[0003] Currently, most lane keeping control methods use Bezier curves to plan safe routes. This method is complicated and requires a lot of computing resources. Summary of the invention

[0004] One of the purposes of the present invention is to provide a lane keeping control method, device, equipment, medium and program product to solve the problem that the lane keeping control process is complicated and occupies too many computing resources.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A lane keeping control method, comprising:

[0007] Get the lane line information and obstacle area around the current vehicle;

[0008] Determining a driving track of the current vehicle according to the lane line information and a preset offset, wherein the offset is determined based on a lane line width and a width of the current vehicle;

[0009] Determine a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory;

[0010] If the first trajectory coefficient is less than a first threshold, a preview point is determined according to the driving trajectory, and a lane keeping operation is performed according to the driving trajectory and the preview point.

[0011] Further, determining a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory includes:

[0012] Calculating an initial trajectory coefficient between the current vehicle and the obstacle area according to the driving trajectory and the lane line information;

[0013] The initial trajectory coefficient is converted into a first trajectory coefficient according to a distance between the center of mass of the current vehicle and a front axle.

[0014] Further, determining the preview point according to the driving trajectory includes:

[0015] Obtaining the current driving speed of the vehicle;

[0016] A first preview point and a second preview point are selected on the driving trajectory according to the driving speed and the lane line information, wherein a distance between the first preview point and the current vehicle is smaller than a distance between the second preview point and the current vehicle.

[0017] Further, performing a lane keeping operation according to the driving trajectory and the preview point includes:

[0018] Acquire the road curvature in the preset direction of the current vehicle;

[0019] Determine a first weight corresponding to the first preview point and a second weight corresponding to the second preview point according to the driving speed and the road curvature;

[0020] A target angle value is determined according to the first preview point, the second preview point, the first weight, and the second weight, and the target angle value is used to control the trajectory following of the current vehicle.

[0021] Furthermore, it also includes:

[0022] If the first trajectory coefficient is less than a first threshold, detecting a basic state of the current vehicle, wherein the basic state includes at least one of a double flash light state, an error state of an electronic power steering system EPS actuator, a steering wheel speed state, and a brake state;

[0023] If the basic state does not meet the preset condition, the lane keeping operation is not performed.

[0024] Furthermore, performing the lane keeping operation also includes:

[0025] If the first trajectory coefficient is less than a first threshold, detecting whether the hand torque of the driver of the current vehicle on the steering wheel is greater than or equal to a second threshold;

[0026] If it is greater than or equal to the second threshold, the lane keeping operation is not performed.

[0027] Furthermore, it also includes:

[0028] Obtaining the position and speed of the vehicle coming from behind the current vehicle;

[0029] Calculating the collision time according to the position and speed of the rear-coming vehicle;

[0030] If the collision time is less than a third threshold and the lateral distance between the current vehicle and the rearward vehicle is less than a fourth threshold, a lane keeping operation is performed.

[0031] Furthermore, it also includes:

[0032] If there is a target object on the opposite side and / or away side of the lane keeping, the lane keeping operation will not be performed.

[0033] A lane keeping control device, comprising:

[0034] The acquisition module is used to obtain the lane line information and obstacle area around the current vehicle;

[0035] A trajectory determination module, used to determine the driving trajectory of the current vehicle according to the lane line information and a preset offset, wherein the offset is determined based on the lane line width and the width of the current vehicle;

[0036] A coefficient determination module, used to determine a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory;

[0037] A keeping module is used to determine a preview point according to the driving trajectory when the first trajectory coefficient is less than a first threshold, and perform a lane keeping operation according to the driving trajectory and the preview point.

[0038] An electronic device comprises: a processor, and a memory communicatively connected to the processor;

[0039] The memory stores computer-executable instructions;

[0040] The processor executes the computer-executable instructions stored in the memory to implement the lane keeping control method as described in any one of the above items.

[0041] A computer-readable storage medium comprises: the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the lane keeping control method as described in any one of the above when executed by a processor.

[0042] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the lane keeping control method as described in any one of the above items is implemented.

[0043] The beneficial effects of the present invention are as follows: by using lane lines to determine the driving trajectory of a vehicle's safe return, the difficulty of trajectory acquisition can be reduced while ensuring the vehicle's driving safety, the lane keeping control process can be simplified, and the computing resources occupied by lane keeping can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic flow chart of a lane keeping control method provided by an exemplary embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a process for determining a preview point provided by an exemplary embodiment of the present invention;

[0046] Figure 3 A schematic flow chart of a lane keeping control method provided by another exemplary embodiment of the present invention;

[0047] Figure 4 A schematic flow chart of a lane keeping control method provided by another exemplary embodiment of the present invention;

[0048] Figure 5 A schematic diagram of a process for executing lane keeping provided by an exemplary embodiment of the present invention;

[0049] Figure 6 A schematic structural diagram of a lane keeping control device provided by an exemplary embodiment of the present invention;

[0050] Figure 7 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present invention.

[0051] Through the above drawings, clear embodiments of the present invention have been shown, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0052] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0053] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0055] The terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of further restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. For example, if the words first, second, etc. are used to indicate names, they do not indicate any particular order.

[0056] Figure 1 FIG. 1 is a flow chart of a lane keeping control method provided by an exemplary embodiment of the present invention. Figure 1 As shown, the method may include:

[0057] Step S101, obtaining lane line information and obstacle areas around the current vehicle.

[0058] Specifically, the current vehicle may be pre-installed with visual sensors such as cameras or wide-angle cameras and radar sensors, and the lane lines around the vehicle may be identified by the camera, and the positions of obstacles such as curbs or cones around the vehicle may be collected by the camera or radar, and the obstacle area may be determined based on the positions of these obstacles. For example, the outline information of the obstacle may be obtained, and the obstacle area may be generated based on the obstacle outline.

[0059] Step S102, determining the current driving trajectory of the vehicle according to the lane line information and the preset offset.

[0060] The offset is determined based on the lane width and the width of the current vehicle.

[0061] Specifically, the width and trajectory of the lane lines on both sides of the current vehicle can be determined. The width of the lane lines can be used to determine the offset. Based on the trajectory of the lane lines, an offset can be performed according to the offset. After the offset, the driving trajectory of the vehicle is obtained as a safe route.

[0062] For example, the trajectory coefficient of the lane line can be predicted and calculated by a preset cubic trajectory formula, which is y=a0+a1d+2a2d 2 +6a3d 3. Among them, the trajectory coefficients may include a0, a1, a2 and a3. y may represent the position of a point on the trajectory, a1 may represent the lateral difference between a point on the trajectory and a preview point, a1 may represent the difference in heading angle between a point on the trajectory and a preview point, a2 may represent the curvature of the road, a3 may represent the rate of change of the curvature of the road, and d may represent the distance between the point on the trajectory and the preview point. The preview point may be determined based on the current vehicle speed and a preset distance parameter. Exemplarily, the trajectory coefficient after 1 second may be determined and an offset may be superimposed on this basis to obtain a safe route for the vehicle.

[0063] In some possible implementations, if only one lane line can be identified on both sides of the vehicle at the current moment, the trajectory coefficient of the lane line on that side can be used according to the historical width of the lane line. If the lane lines on the left and right sides of the vehicle can be identified, the trajectories of the lane lines on the left and right sides can be combined to obtain the driving trajectory, eliminating the influence of lanes that are too wide or too narrow.

[0064] Step S103, determining a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory.

[0065] The first trajectory coefficient may represent the distance between the center of the front axle of the vehicle and the obstacle area.

[0066] Specifically, the points on the driving trajectory can be regarded as the positions of the center of mass of the vehicle at different times, and the trajectory coefficient of the driving trajectory can be converted into the trajectory coefficient between the center of the front axle of the vehicle and the obstacle area based on the parameters of the current vehicle. For example, if the obstacle area is a curb, the distance between the center of the front axle of the vehicle and the curb can be calculated according to the driving trajectory.

[0067] In some possible implementations, an initial trajectory coefficient between the current vehicle and the obstacle area may be calculated based on the driving trajectory and lane line information; and the initial trajectory coefficient may be converted into a first trajectory coefficient based on the distance between the center of mass of the current vehicle and the front axle.

[0068] Step S104: if the first trajectory coefficient is less than the first threshold, a preview point is determined according to the driving trajectory, and a lane keeping operation is performed according to the driving trajectory and the preview point.

[0069] Specifically, the difference between the first trajectory coefficient and half the body width can represent the distance between the front wheel of the current vehicle and the obstacle area. The first threshold corresponding to the current vehicle can be set according to information such as the body width of the current vehicle. The first threshold can be used to indicate the trigger area for the current vehicle to perform lane keeping. If the first trajectory coefficient is less than the first threshold, it is considered that there is a risk of collision between the vehicle and the obstacle area. At least two preview points can be selected according to the driving trajectory, and the lane keeping operation can be performed according to the selected preview points. Otherwise, the lane keeping operation is not performed.

[0070] In some possible implementations, the value of the first threshold value can be adjusted according to the road width and road curvature to adjust the trigger area. For example, the wider the road, the larger the trigger area can be, and vice versa. The greater the road curvature, the trigger area can be adjusted outward.

[0071] In the above embodiment, by acquiring the lane line information and obstacle area around the vehicle, the vehicle's driving trajectory can be determined according to the lane line information and the preset offset, and then the first trajectory coefficient between the center of the vehicle's front axle and the obstacle area can be determined according to the driving trajectory. If the first trajectory coefficient is less than the preset first threshold, the pre-aiming point is determined according to the driving trajectory and the lane keeping operation is performed. By using the lane line to determine the driving trajectory of the vehicle's safe return, the difficulty of trajectory acquisition can be reduced while ensuring the safety of vehicle driving, the lane keeping control process can be simplified, and the computing resources occupied by lane keeping can be reduced.

[0072] In one embodiment, the lane keeping control method may further include: detecting a lateral deviation speed of the current vehicle, and determining whether to perform an operation related to lane keeping according to the lateral deviation speed.

[0073] Specifically, the lateral deviation speed may be collected in real time by sensors on the vehicle. When the lateral deviation speed is within a preset speed range, some or all of the operations in steps S101 to S104 may be performed. When the lateral deviation speed is not within the speed range, no related operations are performed.

[0074] For example, [0.2m / s, 2m / s] can be used as a preset speed range. If the lateral deviation speed of the vehicle is greater than 0.2m / s and less than 2m / s, information such as lane lines around the vehicle can be obtained to perform operations related to lane keeping.

[0075] By setting a reasonable speed range, if the lateral deviation speed is less than the lower limit of the speed range, lane keeping is not performed, which can avoid unnecessary interference to vehicle driving. If the lateral deviation speed is greater than the upper limit of the speed range, the vehicle may be in an unstable driving state. At this time, if lane keeping is performed, it is easy to aggravate the unstable state of the vehicle and even cause the vehicle to lose balance and roll over. In this case, not performing lane keeping can improve the safety of vehicle driving.

[0076] In one embodiment, Figure 2 As shown, determining the preview point according to the driving trajectory may include:

[0077] Step S201, obtaining the current driving speed of the vehicle.

[0078] Step S202: selecting a first preview point and a second preview point on the driving trajectory according to the driving speed and lane line information.

[0079] The distance between the first preview point and the current vehicle is smaller than the distance between the second preview point and the current vehicle.

[0080] Specifically, the current vehicle speed can be obtained through a speed sensor, and a first preview point that is closer and a second preview point that is farther can be selected on the vehicle's front track. For example, a preview time can be set in advance, and the position of the current vehicle's speed on the track after the preview time is taken as the first preview point, and the first curve point on the vehicle's front track is taken as the second preview point.

[0081] In some possible implementations, after the preview point is determined, the following lane keeping operations may be performed according to the driving trajectory and the preview point:

[0082] Obtain the road curvature in the preset direction of the current vehicle; determine a first weight corresponding to the first preview point and a second weight corresponding to the second preview point according to the driving speed and the road curvature; determine a target angle value according to the first preview point, the second preview point, the first weight and the second weight, and the target angle value is used to control the trajectory following of the current vehicle.

[0083] Specifically, the weight of the first preview point and the weight of the second preview point can be set according to the current vehicle's driving speed and the curvature of the road in front of the vehicle. For example, the greater the road curvature, the higher the weight of the first preview point, and the lower the weight of the second preview point. The faster the driving speed, the lower the weight of the first preview point, and the higher the weight of the second preview point. After obtaining the weights corresponding to the preview points, the corresponding angle values ​​can be calculated based on the four trajectory coefficients. Lane keeping control can use a PID (Proportional Integral Differential) control algorithm, combined with feedforward and feedback, to output a final target angle value for trajectory following, so that the vehicle can achieve the purpose of lane keeping.

[0084] In one embodiment, Figure 3 As shown, after determining the first trajectory coefficient, it also includes:

[0085] Step S301: If the first trajectory coefficient is less than the first threshold, the basic state of the current vehicle is detected.

[0086] Among them, the basic status includes at least one of the double flash light status, the electronic power steering system EPS actuator error status, the yaw angular velocity exceeding limit status, the hand torque status, the steering wheel speed status and the brake status.

[0087] Step S302: If the basic state does not meet the preset conditions, the lane keeping operation is not performed.

[0088] Specifically, if the first trajectory coefficient is less than the first threshold, various basic signals of the current vehicle can be judged to detect whether the vehicle state meets the conditions for executing lane keeping. If not, the lane keeping operation is not performed. For example, if it is detected that the double flash lights of the vehicle are in a flashing state, the lane keeping operation is not performed.

[0089] In one embodiment, Figure 4 As shown, after determining the first trajectory coefficient, it also includes:

[0090] Step S401: If the first trajectory coefficient is less than the first threshold, it is detected whether the hand torque of the driver of the current vehicle on the steering wheel is greater than or equal to the second threshold.

[0091] Step S402: If the value is greater than or equal to the second threshold, the lane keeping operation is not performed.

[0092] The value range of the second threshold may be 1.5N to 2N.

[0093] Specifically, when there is an obstacle area such as a curb in front of the vehicle, when the first trajectory coefficient is less than the first threshold, the hand torque of the driver on the steering wheel can also be obtained to determine whether the hand torque is greater than or equal to the second threshold. If the hand torque is greater than or equal to the second threshold, it can be regarded as the driver's actual judgment that he needs to manipulate the steering wheel to actively shift the vehicle. In this case, the lane keeping operation may not be performed to avoid interfering with the driver's operation. If the hand torque is less than the second threshold, it is regarded as the driver unconsciously causing the vehicle to shift. In this case, the lane keeping operation can be performed.

[0094] In one embodiment, Figure 5 As shown, executing the lane keeping operation also includes:

[0095] Step S501, obtaining the position and speed of the vehicle coming from behind the current vehicle.

[0096] Specifically, the radar installed on the current vehicle can identify information about vehicles traveling behind the current vehicle and in the same direction as the current vehicle. The identified information may include the driving speed of the rear vehicle and its relative position to the current vehicle.

[0097] Step S502, calculating the collision time according to the position and speed of the rearward vehicle.

[0098] Specifically, it can be determined whether the speed of the rearward vehicle is greater than the speed of the current vehicle. If so, the collision time between the current vehicle and the rearward vehicle can be calculated based on the distance between the current vehicle and the rearward vehicle divided by the speed difference between the current vehicle and the rearward vehicle.

[0099] Step S503: If the collision time is less than the third threshold and the lateral distance between the current vehicle and the rearward vehicle is less than the fourth threshold, a lane keeping operation is performed.

[0100] The third threshold may be in the range of 2 seconds to 3 seconds, and the fourth threshold may be in the range of 4 meters to 5 meters.

[0101] After calculating the collision time, the decision on whether to perform lane keeping operation can be made based on the two dimensions of collision time and lateral distance. If both the collision time and lateral distance are less than the preset safety threshold, the lane keeping operation is performed according to the driving trajectory and the preview point.

[0102] In one embodiment, after determining the first trajectory coefficient, the method further includes:

[0103] If there is a target object on the opposite side and / or away side of the lane keeping, the lane keeping operation will not be performed.

[0104] Among them, target objects may include pedestrians, vehicles and other objects that affect driving safety.

[0105] When the first trajectory coefficient is less than the first threshold, pedestrians and vehicles around the vehicle can be identified by the camera. If there are pedestrians or vehicles on the opposite side of the lane keeping, the lane keeping function should be suppressed and the lane keeping operation should not be performed to avoid causing panic to the driver.

[0106] Figure 6 FIG. 1 is a schematic diagram of a lane keeping control device provided by an exemplary embodiment of the present invention. Figure 6 As shown, the lane keeping control device 600 may include:

[0107] The acquisition module 601 is used to acquire the lane line information and obstacle area around the current vehicle.

[0108] The trajectory determination module 602 is used to determine the driving trajectory of the current vehicle according to the lane line information and a preset offset, wherein the offset is determined based on the lane line width and the width of the current vehicle.

[0109] The coefficient determination module 603 is used to determine a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory.

[0110] The keeping module 604 is used to determine a preview point according to the driving trajectory when the first trajectory coefficient is less than a first threshold, and perform a lane keeping operation according to the driving trajectory and the preview point.

[0111] In one embodiment, the coefficient determination module 603 may include:

[0112] The initial trajectory determination unit can be used to calculate the initial trajectory coefficient between the current vehicle and the obstacle area according to the driving trajectory and the lane line information.

[0113] The coefficient conversion unit can be used to convert the initial trajectory coefficient into a first trajectory coefficient according to the distance between the center of mass of the current vehicle and the front axle.

[0114] In one embodiment, the maintenance module 604 may include:

[0115] The speed acquisition unit can be used to acquire the current driving speed of the vehicle.

[0116] The preview selection unit can be used to select a first preview point and a second preview point on the driving trajectory according to the driving speed and the lane line information, and the distance between the first preview point and the current vehicle is smaller than the distance between the second preview point and the current vehicle.

[0117] In one embodiment, the maintaining module 604 is further used to: obtain the road curvature in the preset direction of the current vehicle; determine the first weight corresponding to the first preview point and the second weight corresponding to the second preview point according to the driving speed and the road curvature; determine the target angle value according to the first preview point, the second preview point, the first weight and the second weight, and the target angle value is used to control the trajectory following of the current vehicle.

[0118] In one embodiment, the lane keeping control device 600 may further include:

[0119] The first detection module can be used to detect the basic state of the current vehicle when the first trajectory coefficient is less than a first threshold value. The basic state includes at least one of the double flash light state, the electronic power steering system EPS actuator error state, the steering wheel speed state and the brake state.

[0120] The first processing module may be configured to not perform a lane keeping operation when the basic state does not satisfy a preset condition.

[0121] In one embodiment, the lane keeping control device 600 may further include:

[0122] The second detection module can be used to detect whether the hand torque of the driver of the current vehicle on the steering wheel is greater than or equal to a second threshold when the first trajectory coefficient is less than the first threshold.

[0123] The second processing module may be configured to not perform the lane keeping operation when the lane pressure is greater than or equal to a second threshold.

[0124] In one embodiment, the lane keeping control device 600 may further include:

[0125] The backward acquisition module can be used to obtain the position and speed of the vehicle coming from behind the current vehicle.

[0126] The collision calculation module can be used to calculate the collision time according to the position and speed of the rear-coming vehicle.

[0127] The third processing module may be configured to perform a lane keeping operation when the collision time is less than a third threshold and the lateral distance between the current vehicle and the rearward vehicle is less than a fourth threshold.

[0128] In one embodiment, the lane keeping control device 600 may further include:

[0129] The fourth processing module may be configured to not perform the lane keeping operation when there is a target object on the opposite side and / or the far side of the lane keeping.

[0130] The lane keeping control device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0131] It should be understood that the above device embodiments are only illustrative, and the device of the present invention can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0132] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, or each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0133] Figure 7 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present invention. Figure 7 As shown, the electronic device 70 includes:

[0134] Processor 71, memory 72, and communication interface 73;

[0135] The memory 72 is used to store executable instructions of the processor 71; the executable instructions may be computer-executable instructions;

[0136] The processor 71 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0137] Optionally, the memory 72 can be independent or integrated with the processor 71.

[0138] Optionally, when the memory 72 is a device independent of the processor 71, the electronic device 70 may further include:

[0139] The bus 74 , the memory 72 and the communication interface 73 are connected to the processor 71 via the bus 74 and communicate with each other. The communication interface 73 is used to communicate with other devices.

[0140] Optionally, the communication interface 73 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0141] The bus 74 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0142] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0143] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0144] An embodiment of the present invention further provides a readable storage medium, which may be a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0145] An embodiment of the present invention further provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0146] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0147] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0149] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A lane keeping control method, characterized in that: include: Get the lane line information and obstacle area around the current vehicle; Determining a driving track of the current vehicle according to the lane line information and a preset offset, wherein the offset is determined based on a lane line width and a width of the current vehicle; Determine a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory; If the first trajectory coefficient is less than a first threshold, a preview point is determined according to the driving trajectory, and a lane keeping operation is performed according to the driving trajectory and the preview point.

2. The lane keeping control method according to claim 1, characterized in that: The determining a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory includes: calculating an initial trajectory coefficient between the current vehicle and the obstacle area according to the driving trajectory and the lane line information; The initial trajectory coefficient is converted into a first trajectory coefficient according to a distance between the center of mass of the current vehicle and a front axle.

3. The lane keeping control method according to claim 1 or 2, characterized in that: Determining the preview point according to the driving trajectory includes: Obtaining the current driving speed of the vehicle; A first preview point and a second preview point are selected on the driving trajectory according to the driving speed and the lane line information, wherein a distance between the first preview point and the current vehicle is smaller than a distance between the second preview point and the current vehicle.

4. The lane keeping control method according to claim 3, characterized in that: The performing the lane keeping operation according to the driving trajectory and the preview point includes: Acquire the road curvature in the preset direction of the current vehicle; Determine a first weight corresponding to the first preview point and a second weight corresponding to the second preview point according to the driving speed and the road curvature; A target angle value is determined according to the first preview point, the second preview point, the first weight, and the second weight, and the target angle value is used to control the trajectory following of the current vehicle.

5. The lane keeping control method according to claim 1 or 2, characterized in that: Also includes: If the first trajectory coefficient is less than a first threshold, detecting a basic state of the current vehicle, wherein the basic state includes at least one of a double flash light state, an electronic power steering system EPS actuator error state, a yaw rate exceeding limit state, a steering wheel speed state, and a brake state; If the basic state does not meet the preset condition, the lane keeping operation is not performed.

6. The lane keeping control method according to claim 1 or 2, characterized in that: The performing of the lane keeping operation further includes: If the first trajectory coefficient is less than a first threshold, detecting whether the hand torque of the driver of the current vehicle on the steering wheel is greater than or equal to a second threshold; If it is greater than or equal to the second threshold, the lane keeping operation is not performed.

7. The lane keeping control method according to claim 1 or 2, characterized in that: Also includes: Obtaining the position and speed of the vehicle coming from behind the current vehicle; Calculating the collision time according to the position and speed of the rear-coming vehicle; If the collision time is less than a third threshold and the lateral distance between the current vehicle and the rearward vehicle is less than a fourth threshold, a lane keeping operation is performed.

8. The lane keeping control method according to claim 1 or 2, characterized in that: Also includes: If there is a target object on the opposite side and / or away side of the lane keeping, the lane keeping operation will not be performed.

9. A lane keeping control device, characterized in that: include: The acquisition module is used to obtain the lane line information and obstacle area around the current vehicle; A trajectory determination module, used to determine the driving trajectory of the current vehicle according to the lane line information and a preset offset, wherein the offset is determined based on the lane line width and the width of the current vehicle; A coefficient determination module, used to determine a first trajectory coefficient between the front axle center of the current vehicle and the obstacle area according to the driving trajectory; A keeping module is used to determine a preview point according to the driving trajectory when the first trajectory coefficient is less than a first threshold, and perform a lane keeping operation according to the driving trajectory and the preview point.

10. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when being executed by a processor.

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