Transverse control method considering peripheral safety working condition, program and controller

Abstract

The invention discloses a transverse control method, program and controller considering peripheral safety working conditions, and the method comprises the steps: S1, obtaining the input of a related sensor of a vehicle, and obtaining the motion parameters of the vehicle; s2, obtaining left and right lane lines and front target parameters according to the input of the camera; s3, screening out a nearest target of an adjacent lane, calculating a lane center line, a lane width, distances from a vehicle to left and right lane lines, types of the lane lines and whether the adjacent lane is an opposite coming vehicle lane, and distinguishing whether the left and right lane lines are dotted lines, solid lines or cone buckets according to the types of the lane lines; and S4, comprehensively judging whether a stable offset condition is met or not according to the information provided in the step S3, if the stable offset condition is met, correcting the lane center line, and controlling the vehicle to stably offset. According to the method, a driver can have a safer driving feeling, and meanwhile, the risk that the vehicle rubs the adjacent lane vehicle is also reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle lateral control in intelligent driving, and particularly to a lateral control solution considering surrounding safety conditions. Background Art

[0002] With the rapid development of automotive technologies, the intelligent level of vehicles is rapidly improving. More and more vehicles are equipped with assisted driving functions. In the assisted driving functions of vehicles, the lateral control of the vehicle can assist the vehicle to travel in the center area of the lane. The lateral control of the vehicle can improve the lateral comfort of the vehicle, reduce the operation burden of the driver, and assist the driver in the lateral control of the vehicle.

[0003] The lateral control in the intelligent driving system includes many functions, and the most commonly used function is the lane centering control function (LCK). The lane centering control mainly controls the lateral direction of the vehicle. After the assisted driving controller detects the lane lines through the camera and the LCK activation condition is met, the driver operates the LCK function switch to activate the LCK function. The assisted driving controller controls the vehicle to travel in the center area of the lane according to the lane lines.

[0004] After the LCK is activated, the assisted driving controller controls the vehicle to travel in the center area of the lane. However, during the actual vehicle driving process, the following conditions may exist: there are vehicles traveling on both sides or one side of the lane where the vehicle is located; the lane lines on both sides or one side of the lane where the vehicle is located are solid lines; the lane lines on both sides or one side of the lane where the vehicle is located are curbs; there are oncoming vehicles in the adjacent lane to the lane where the vehicle is located; there are large vehicles traveling on both sides or one side of the lane where the vehicle is located; there are traffic cones on both sides or one side of the lane where the vehicle is located.

[0005] When the above conditions occur, the current conventional processing methods mainly have the following two: 1. When the above conditions occur, the LCK still controls the vehicle to travel in the center of the lane without considering the conditions on both sides of the lane where the vehicle is located. 2. When there is a large vehicle in the adjacent lane of this lane and there is no large vehicle on the other side of this lane, the LCK controls the vehicle to deviate a certain distance to the side without vehicles.

[0006] Currently, these two LCK processing methods mainly have the following problems:

[0007] 1. The first solution does not consider the surrounding conditions of the vehicle. When there are relatively dangerous targets beside the vehicle and the LCK still controls the vehicle to stay centered, it often gives the driver a dangerous feeling. When the vehicle is too close to a large vehicle, a curb or a traffic cone in the adjacent lane, it often causes the driver to be nervous, affecting the experience of the assisted driving function.

[0008] 2. In Solution 2, only the vehicles on one side are considered, and the safety conditions on the other side are inadequately considered. When there is a large vehicle in the adjacent lane, the vehicle is controlled to deviate to one side, which often causes dissatisfaction among drivers and reduces the safety of the vehicle's lateral control function. Moreover, when the vehicle is in an area with heavy traffic, if it deviates when there is a large vehicle on one side, it often causes the vehicle to wobble within the lane, making the driver uncomfortable. Summary of the Invention

[0009] The object of the present invention is to provide a lateral control method considering surrounding safety conditions, a computer program product for executing this method, and an assisted driving controller to improve the safety of the lateral control of intelligent driving vehicles.

[0010] To this end, the present invention provides a lateral control method considering surrounding safety conditions, including the following steps: S1. Obtain the input of relevant sensors of the vehicle to obtain the motion parameters of the host vehicle; S2. Obtain the left and right lane lines and the front target parameters based on the input of the camera; S3. According to the motion parameters of the host vehicle, the position parameters of the left and right lane lines, and the front target parameters, screen out the nearest target in the adjacent lane, calculate the lane center line, lane width, the distances of the host vehicle from the left and right lane lines, the types of lane lines, whether the adjacent lane is an oncoming vehicle lane, and distinguish whether the left and right lane lines are dotted lines, solid lines, or cones according to the types of lane lines; S4. Based on the information in S3, judge whether the nearest target in the adjacent lane is a large vehicle. When it is a large vehicle and meets the dangerous conditions, and when the other side lane line is a dotted line and the corresponding adjacent lane is not an oncoming vehicle lane, it meets the stable deviation condition, calculate the value of stable deviation, correct the lane center line, and control the vehicle to stably deviate; S5: Based on the information in S3, judge whether the adjacent lane is an oncoming vehicle lane. When it meets the condition and there is an oncoming vehicle, and the other side lane line is a dotted line, it meets the stable deviation condition, calculate the value of stable deviation, correct the lane center line, and control the vehicle to stably deviate; S6: Based on the information in S3, judge whether one side of the lane line is a road edge or a cone, and whether the other side is a dotted line. When it meets the stable deviation condition, calculate the value of stable deviation, correct the lane center line, and control the vehicle to stably deviate.

[0011] The present invention also provides a computer program product, including a computer program or instruction, which realizes the steps of the above-mentioned lateral control method when executed by a processor.

[0012] The present invention also provides an assisted driving controller, including a computer program or instruction, which realizes the steps of the above-mentioned lateral control method when executed by a processor.

[0013] The algorithm according to this method has been verified by actual vehicles. When the driver activates the lateral control and there is a large vehicle in the adjacent lane, if the lateral control does not perform a stable offset but drives in the center, when the vehicle approaches or drives parallel to the large vehicle in the adjacent lane, it often causes a relatively tense feeling for the driver. From the driver's seat, the vehicle is observed to be relatively close to the large vehicle. However, when this algorithm is adopted, the lateral control system will control the vehicle to perform a stable offset within the lane, making the driver feel safer when passing large vehicles, cones, curbs, or oncoming vehicles in the oncoming lane of the adjacent lane. At the same time, it also reduces the risk of the vehicle rubbing against the adjacent lane vehicle.

[0014] The present invention has the following technical effects / advantages:

[0015] 1. Improve the safety of the lateral control of intelligent driving vehicles. When the conditions are met, control the vehicle to stay away from large vehicles;

[0016] 2. Improve the usability of the lateral control of intelligent driving vehicles and reduce the driver's intervention in the vehicle's lateral control due to the concern of being too close to dangerous targets in the adjacent lane;

[0017] 3. Enhance the comfort of intelligent driving vehicles, more effectively reflect the driver's driving intention, and contribute to improving the public's trust and acceptance of intelligent driving;

[0018] 4. Improve the stability of lateral control. The states of the lateral control system all enter the stable offset state from the active state, and when exiting the stable offset state, it also exits to the active state first, avoiding the lateral control from shaking within the lane during the stable offset.

[0019] 5. Improve the stability of the stable offset. After the lateral control enters the stable offset, when the stable offset conditions are not met, it takes a minimum time to exit. When exiting the stable offset, there is also a hysteresis time until the next re-entry into the stable offset state. Such a system design can prevent the vehicle from frequently entering and exiting the stable offset state, making the lateral control of the vehicle more stable.

[0020] In addition to the purposes, features, and advantages described above, the present invention has other purposes, features, and advantages. The following will refer to the drawings for a further detailed description of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0022] Figure 1 is a flowchart of the lateral control method considering surrounding safety conditions of the present invention;

[0023] Figure 2 A block diagram of an existing LCK state machine is shown;

[0024] Figure 3 A block diagram of the LCK state machine of the present invention is shown;

[0025] Figure 4 A state diagram of the host vehicle and oncoming vehicle considered in the present invention is shown;

[0026] Figure 5 A state diagram of the host vehicle and the nearest target in the adjacent lane considered in the present invention is shown. Detailed implementation manners

[0027] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0028] As Figure 1 shown, the lateral control algorithm considering surrounding safety conditions of the present invention includes the following steps S1 to S8.

[0029] S1: Obtain the relevant sensor inputs of the vehicle to obtain the relevant motion parameters of the host vehicle.

[0030] S2: Based on the input of the camera, obtain the left and right lane lines and the front target parameters. The front targets include the nearest vehicle in the adjacent lane and the oncoming vehicle.

[0031] S3: According to S1 and S2, screen out the nearest target in the adjacent lane, calculate the center line of the lane, the lane width, the distances from the vehicle to the left and right lane lines, the types of the lane lines, whether the adjacent lane is an oncoming vehicle lane, and according to the types of the lane lines, distinguish whether the left and right lane lines are dotted lines, solid lines or cones.

[0032] S4: Based on the information in S3, judge whether the nearest target in the adjacent lane is a large vehicle. When it is a large vehicle and meets the dangerous conditions, and when the adjacent lane line on one side is a dotted line and the corresponding adjacent lane is not an oncoming vehicle lane, the stable offset condition is met, calculate the value of the stable offset, correct the center line of the lane, and control the vehicle to stably offset.

[0033] S5: Based on the information in S3, judge whether the adjacent lane is an oncoming vehicle lane. When it is met and there is an oncoming vehicle, and when the lane line on the other side is a dotted line, the stable offset condition is met, calculate the value of the stable offset, correct the center line of the lane, and control the vehicle to stably offset.

[0034] S6: Based on the information in S3, judge whether one side of the lane line is a road edge or a cone, and whether the other side is a dotted line. When the stable offset condition is met, calculate the value of the stable offset, correct the center line of the lane, and control the vehicle to stably offset.

[0035] S7: Based on the information in S4, 5, and 6, after the vehicle enters the stable offset state, it is detected whether the conditions for stable offset are met. When they are not met, it is necessary to continue in the stable offset state for at least the shortest time before exiting.

[0036] S8: Based on the information in S7, the lateral control distance requires a minimum hysteresis time for the next entry into the stable offset state.

[0037] The algorithm execution process according to this method is described below.

[0038] As Figure 2 shown, the main states of the existing LCK state machine are as follows: Off: The LCK function is turned off; Error: There is a fault in the LCK system; Passive: The LCK function is turned on, but there are inhibitory conditions (such as the driver stepping on the brake pedal, turning on the turn signal, etc.); Standby: The LCK function is turned on, and conditions such as lane lines are met; Active: After the LCK meets the activation conditions, when the driver operates the LCK activation switch, the LCK function is activated, and the auxiliary driving controller performs lateral control on the vehicle. Different companies will optimize the state machine to a certain extent when developing the LCK function, adding certain intermediate states for jumping such as IDLE, TRANSITION, etc.

[0039] Based on considering the vehicle's surrounding working conditions, this algorithm allows the vehicle to stably offset, modifies the LCK state machine, and controls the entry-exit conditions for the vehicle's stable offset. The modified LCK state machine is as Figure 3 shown. LeftLaneBias: The vehicle stably offsets to the left; RightLaneBias: The vehicle stably offsets to the right.

[0040] After the LCK is co-activated, the auxiliary driving controller will calculate the offset distance between the vehicle and the center line of the lane according to the parameters of the lane lines, and control the vehicle to drive in the center line area of the lane. And according to the types of the left and right lane lines of the current lane recognized by the camera (the camera can recognize the types of lane lines, can recognize whether the lane lines are dotted lines, solid lines, road edges, or composed of cones, and can send the types of lane lines to the auxiliary driving controller), it is judged whether the lane lines are dotted lines, solid lines, road edges, or cones. According to different lane line types, it is judged whether the vehicle can stably offset.

[0041] In the algorithm, when the vehicle stably offsets, it can only offset to the side of the dotted lane line. For the side of the solid line, road edge, and cone, the vehicle is not allowed to stably offset to the side of the solid line, road edge, and cone. Because during driving, the solid line often represents that lane change and crossing the line are not allowed, so the vehicle is not allowed to stably offset to the side of the solid line.

[0042] During the driving process of the vehicle, it is not allowed to drive over the curb. The curb usually has a certain height. If the vehicle comes into contact with the curb during driving, it often causes a large lateral deviation of the vehicle, posing a certain risk. Moreover, on domestic roads, the curb generally appears on the right side of the vehicle. When the driver is driving and there is a curb on the right side, when the driver is in the driver's seat, observing the curb gives a feeling of being too close. At this time, if the lateral function is turned on and the vehicle steadily deviates towards the curb side, it is very easy to make the driver more nervous and feel that the risk of the vehicle contacting the curb is even greater, which often gives the driver a bad driving experience.

[0043] When there are cones on one side, the vehicle is not allowed to steadily deviate towards the side with the cones. The cones usually indicate that there is a certain risk on the lane. When driving, the vehicle should try to stay away from the cones and the dangerous area. Therefore, when the lateral control is activated, the vehicle is not allowed to deviate towards the lane line with cones on one side.

[0044] When there is a large vehicle driving on one side, after the lateral control is activated, it is not allowed to control the vehicle to steadily deviate towards the side with the large vehicle. When the camera measures the position parameters of the large vehicle, there are often certain errors. The large vehicle is relatively tall, and when the driver is driving in the vehicle, the large vehicle often gives a feeling of being relatively close. When the lateral control approaches the large vehicle and deviates, it often causes a sense of nervousness in the driver. Therefore, after the lateral control system is activated, it is not allowed to laterally control the vehicle to steadily deviate towards the side of the large vehicle.

[0045] When laterally controlling the vehicle to steadily deviate, another condition needs to be considered, that is, whether the vehicle is approaching the oncoming vehicle's lane (the camera can calculate whether the vehicle ahead is an oncoming vehicle, a stationary vehicle, or a non-oncoming vehicle based on the value and direction of the moving speed of the vehicle ahead). When there is an oncoming vehicle on the side where the vehicle is about to deviate, at this time, the lateral control does not allow the vehicle to deviate towards the side of the oncoming vehicle.

[0046] After the lateral control system activates the function, it can detect the number of oncoming vehicles in the adjacent lane. When it reaches a certain value, it can determine whether the left adjacent lane of the vehicle is the oncoming vehicle lane. When the adjacent lane is the oncoming vehicle lane, the lateral control function does not allow the vehicle to steadily deviate towards the oncoming vehicle lane. Because for the vehicles in the oncoming vehicle lane, when the vehicle steadily deviates towards this side, it often leads to a relatively high risk of vehicle scratching.

[0047] When the driver is driving and the distance between the vehicle and the oncoming vehicle is too close, it will increase the risk of vehicle collision, which often makes the driver more nervous. Specifically as Figure 4 shown.

[0048] The calculation of the danger level of the vehicle and the large vehicle in the adjacent lane is as follows:

[0049] The assisted driving controller receives the data sent by the vehicle and obtains the motion parameters of the host vehicle: the host vehicle speed v ego , the host vehicle acceleration a egi , the width w of the host vehicle ego .

[0050] The assisted driving controller uses sensors to obtain the motion parameters of the vehicle ahead. According to the motion parameters of the host vehicle and the vehicle ahead, as well as the position parameters of the lane lines sent by the camera, it calculates the nearest target in the adjacent lane and obtains the motion parameters of the nearest target in the adjacent lane: the speed v of the nearest vehicle in the adjacent lane ahead front , the acceleration a of the nearest vehicle in the adjacent lane ahead front , the longitudinal distance l between the host vehicle and the nearest vehicle in the adjacent lane ahead long , the type of the vehicle in the adjacent lane ahead, the length L and width W of the nearest vehicle in the adjacent lane ahead. When the type of the nearest vehicle in the adjacent lane ahead is a large vehicle, if it is determined that the width W of the target > 1.5m && the length L of the target > 6m, then it is judged whether the type of the nearest vehicle in the adjacent lane is a large vehicle

[0051] When the type of the nearest vehicle in the adjacent lane ahead is a large vehicle, then according to the above motion parameters, calculate the time for the host vehicle to move to the nearest large vehicle in the adjacent lane ahead

[0052]

[0053] When t > 0 && t < 3s, it is judged that the speed of the host vehicle is greater than the speed of the vehicle ahead, and the host vehicle will move to the position of the nearest large vehicle in the adjacent lane ahead after 3s. This is under the assumption that neither the host vehicle nor the nearest large vehicle in the adjacent lane ahead has a large acceleration; it is necessary to judge the motion trends of the host vehicle and the vehicle ahead

[0054] The host vehicle is decelerating with an acceleration a ego < -0.5m / s 2 && the vehicle ahead is not decelerating with an acceleration a front > -0.5m / s 2 ---------------(2)

[0055] The host vehicle is not accelerating with an acceleration a ego < 0.5m / s 2 && the vehicle ahead is accelerating with an acceleration a front > 0.5m / s 2 ------------------(3)

[0056] When condition (1) is satisfied and conditions (2) and (3) are not satisfied, judge the degree of danger

[0057] After the lateral control is activated, it is necessary to evaluate the vehicle for stable deviation. At this time, it is judged whether the other side of the lane line of this lane is a dotted line and it is not the lane of oncoming vehicles. If the conditions are met, when the lateral controller controls the vehicle laterally, it can control the vehicle to deviate stably to the other side.

[0058] The specific algorithm for deviation within the lane is as follows.

[0059] Based on the lane line parameters given by the camera, the center line of the vehicle's lane is obtained. The specific representation parameters are as follows:

[0060] The parameters of the left lane line given by the camera are as follows:

[0061] y = c 0L + c 1L * x + c 2L * x 2 + c 3L * x 3 -------------------(4)

[0062] The lane line is represented by a cubic polynomial. c 0L represents the position of the left lane line at the origin of the vehicle coordinates; c 0L , c 1L , c 2L and c 3L represent the coefficients of the cubic polynomial of the left lane line. The same applies to the right lane line below.

[0063] The parameters of the right lane line given by the camera are as follows:

[0064] y = c 0R + c 1R * x + c 2R * x 2 + c 3R * x 3 --------------------(5)

[0065] The center line of the lane calculated according to (4) and (5) is as follows:

[0066] y = (c 0L + c 0R ) * 0.5 + c 1L * x + c 2L * x 2 + c 3L * x 3 ---------------(6)

[0067] The width of this lane is:

[0068] Δw = c0L -c 0R ---------------------------------(7)

[0069] The distance from the vehicle edge to the left lane line is calculated as follows:

[0070]

[0071] The calculation of the distance from the vehicle edge to the right lane line is similar to formula (8).

[0072] Using the parameters calculated above, when it is determined that the vehicle needs to stably offset, the calculation method of the offset distance is as follows.

[0073] This example calculates by stably offsetting the vehicle to the left. When the vehicle needs to stably offset to the right, the calculation method is similar.

[0074]

[0075] At the same time, in order to ensure that the side where the vehicle offsets to the lane line does not cross the line, it is necessary to limit the final value of Δy offet such that 0 < Δy offet < 0.5 * Δy L .

[0076] Δy offet : The distance of the vehicle's stable offset.

[0077] When there is no compensation for the lane center line, see formula (6). Use the offset distance to compensate the lane center line. The compensated lane center line is:

[0078] y = (c 0L + c 0R ) * 0.5 + Δy offet + c 1L * x + c 2L * x 2 + c 3L * x 3 --------(10)

[0079] The lateral control makes the vehicle drive along the compensated lane center line to ensure that the vehicle stably offsets to the side away from the large vehicle.

[0080] The above describes that when a large vehicle is detected in the adjacent lane ahead, the lateral control algorithm will control the vehicle to make a stable offset within the lane. When it is detected that one side of the lane is a curb or a cone barrel, the other side is a broken line, and the adjacent lane on the other side is not an oncoming vehicle lane, the lateral control algorithm controls the vehicle to make a stable lateral offset. When it is detected that the adjacent lane ahead is an oncoming vehicle lane and the other side is a broken line, the lateral control algorithm will control the vehicle to make a stable offset to the other side.

[0081] Since the stability of lateral control is a very important requirement, in order to prevent the vehicle from frequently entering or exiting the left stable offset and the right stable offset, in this algorithm, once the vehicle enters the left or right stable offset, it needs to have a shortest exit time (for example, 5 seconds), and it is only allowed to exit after exceeding this time. And when exiting, it can only enter the active state, that is, the vehicle center control. Once exiting the stable offset, it also needs to have a certain hysteresis time, and it is only allowed to re-enter the left or right stable offset state after reaching the hysteresis time (for example, 5 seconds).

[0082] Each time entering the left or right stable offset state, it can only enter from the active state and cannot directly enter from the left stable offset state to the right stable offset state, so as to prevent the vehicle from swaying left and right within the lane and causing discomfort to the driver.

[0083] The above are only embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lateral control method considering surrounding safety conditions, characterized in that: The following steps are involved: S1. Obtain relevant sensor inputs of the vehicle and obtain the motion parameters of the vehicle; S2. Obtain the left and right lane lines and the front target parameters based on the camera input; S3. Based on the motion parameters of the vehicle, the position parameters of the left and right lane lines, and the parameters of the target ahead, select the closest target in the adjacent lane, calculate the lane centerline, lane width, the distance between the vehicle and the lane lines on the left and right sides, the type of lane lines, whether the adjacent lane is an oncoming lane, and distinguish whether the left and right lane lines are dotted lines, solid lines, or cones based on the type of lane lines; S4, based on the information in S3, determine whether the nearest target in the adjacent lane is a large vehicle. If it is a large vehicle and meets the danger condition, the lane line on the other side is a dotted line and the corresponding adjacent lane is not an oncoming vehicle lane, the stable offset condition is met, the stable offset value is calculated, the lane center line is corrected, and the vehicle stable offset is controlled; S5: Based on the information in S3, determine whether the adjacent lane is an oncoming lane. When the adjacent lane is an oncoming lane and there is an oncoming vehicle, the lane line on the other side is a dotted line, which satisfies the stable offset condition. The stable offset value is calculated, the lane center line is corrected, and the vehicle is controlled to stably offset. S6: Based on the information in S3, determine whether one side of the lane line is a curb or a cone, and whether the other side is a dotted line, whether the stable offset condition is met, calculate the value of the stable offset, correct the lane center line, and control the vehicle's stable offset.

2. The lateral control method considering surrounding safety conditions according to claim 1, characterized in that: The motion parameters of the vehicle: the vehicle speed v ego , the vehicle acceleration a ego , the width of the vehicle w ego .

3. The lateral control method considering surrounding safety conditions according to claim 1, characterized in that: The motion parameters of the nearest target in the adjacent road include: the speed v of the nearest vehicle in the adjacent road ahead front , the acceleration of the nearest vehicle in the adjacent lane ahead is a front , the longitudinal distance l between the vehicle and the nearest vehicle in the adjacent lane ahead long , the type of vehicle in the adjacent lane ahead, the length L and width W of the nearest vehicle in the adjacent lane ahead.

4. The lateral control method considering surrounding safety conditions according to claim 1, characterized in that: Determining whether the nearest target in the adjacent road is a large vehicle includes determining that when the width W of the target is greater than 1.5 m and the length L of the target is greater than 6 m, then determining that the type of the nearest vehicle in the adjacent road is a large vehicle.

5. The lateral control method considering surrounding safety conditions according to claim 1, characterized in that: Also includes: S7. After the vehicle enters the stable excursion state, it is detected whether the stable excursion conditions are met. If not, the vehicle can exit only after the stable excursion state lasts for the shortest exit time.

6. The lateral control method considering surrounding safety conditions according to claim 5, characterized in that: Also includes: S8: After exiting the stable offset state, the lateral control distance needs to meet a minimum hysteresis time for the next entry into the stable offset state.

7. The lateral control method considering surrounding safety conditions according to claim 1, characterized in that: When the nearest vehicle type in the front adjacent lane is a large vehicle, calculate the time it takes for the vehicle to move to the nearest large vehicle in the front adjacent lane: When t>0 and t<3s, the vehicle speed is judged to be greater than the front vehicle speed, and the vehicle will move to the nearest large vehicle in the adjacent lane in front after 3s; and the movement trends of the vehicle and the front vehicle are judged: The vehicle is decelerating ego <-0.5m / s 2 And the vehicle ahead does not slow down front >-0.5m / s 2 --------------Condition (2) The vehicle does not accelerate a ego <0.5m / s 2 And the front car accelerates a front >0.5m / s 2 -------------------Condition (3) When condition (1) is met, and conditions (2) and (3) are not met, it is judged that the nearest large vehicle in the adjacent lane has a dangerous degree.

8. The lateral control method considering surrounding safety conditions according to claim 5 or 6, characterized in that: Use the LCK state machine, which includes the following states: Off, Error, Passive, Standby, Active, and Includes the following states: LeftLaneBias: vehicle stable left bias, RightLaneBias: vehicle stable right bias. Each time you enter the left or right stable bias state, you can only enter from the Active state, and you cannot directly enter the right stable bias state from the left stable bias state.

9. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of the method according to claim 1 are implemented.

10. An assisted driving controller, comprising a computer program or instruction, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to claim 1 are implemented.

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