Lane departure monitoring method and device

Abstract

The invention relates to a lane departure monitoring method. The method comprises the following steps: calculating a lateral deviation dleak of a vehicle at a reaction time treact; predicting whether the vehicle will deviate from the lane under the control of the automatic driving system or the auxiliary driving system according to the calculated lateral deviation dlatact; after it is predicted that the vehicle will deviate from the lane, the maximum transverse deviation dlatmax of the vehicle relative to the left lane line or the right lane line is calculated based on the transverse acceleration limit value alatlimit and the transverse acceleration gradient limit value jlatlimit; according to the maximum lateral offset dlatmax, whether the automatic driving system or the auxiliary driving system can control the vehicle in the own lane or not is predicted again; and decelerating the vehicle and / or sending an alarm signal to the driver according to the re-predicted result. The application also relates to a lane departure monitoring device, a computer readable storage medium, a computer program product and a domain controller for a vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle lateral monitoring, and more particularly, to a lane departure monitoring method and device, a computer-readable storage medium, a computer program product, and a domain controller for a vehicle. Background Art

[0002] For L2 autonomous driving, the autonomous driving system or driver assistance system should always provide lateral control to keep the vehicle in its lane. If the system cannot control the vehicle to stay in its lane, the system will issue a warning to the driver and ask the driver to take control.

[0003] However, when an automated driving system or driver assistance system is operating, there may be strong crosswinds, significant road disturbances, sharp curves, or other factors that interfere with lateral control. In these extreme situations, the system may not be able to keep the vehicle in its lane without driver intervention. Especially for "hands-free" driver assistance systems, since the driver's hands are not on the steering wheel, when it is necessary to take over, the driver still needs some time to place their hands on the steering wheel, and some additional time is required to take over the vehicle. If the warning is triggered too late, the driver may not be able to operate the vehicle in time to keep it in its lane, thereby failing to avoid a collision with other vehicles or objects. On the other hand, if the warning is triggered too early, the system will be too sensitive, affecting its usability. Summary of the Invention

[0004] One or more embodiments of the present application provide a lane departure monitoring solution that takes into account the driver's reaction time to take over the steering wheel so as to trigger an alert for the driver to take over the vehicle as necessary and in a timely manner (for example, through a human-machine interface in a visual and / or auditory manner).

[0005] According to one aspect of the present application, a lane departure monitoring method is provided, the method comprising: calculating the vehicle's lane departure time in the reaction time t react The lateral offset d lat_react ; According to the calculated lateral offset d lat_react , predict whether the vehicle will deviate from its lane under the control of the automatic driving system or the assisted driving system; after predicting that the vehicle will deviate from its lane, based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max According to the maximum lateral offset d lat_max Re-predict whether the autonomous driving system or assisted driving system can control the vehicle within its lane; and based on the result of the re-prediction, slow down the vehicle and / or send a warning signal to the driver.

[0006] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned method, decelerating the vehicle and / or sending a warning signal to the driver based on the results of the re-prediction includes: decelerating the vehicle when the automatic driving system or the assisted driving system can control the vehicle within its own lane; and sending the warning signal to the driver to take over while decelerating the vehicle when the automatic driving system or the assisted driving system cannot control the vehicle within its own lane.

[0007] As a supplement or replacement for the above solution, in the above method, the vehicle's reaction time t is calculated. react The lateral offset d lat_react Including the calculation of the lateral offset d according to the following formula lat_react : Among them, v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react Indicates the driver's reaction time to take over steering wheel control.

[0008] As a supplement or alternative to the above solution, in the above method, according to the calculated lateral offset d lat_react , predicting whether the vehicle will deviate from its lane under the control of the automatic driving system or the assisted driving system includes: predicting that the vehicle will not deviate from its lane under the control of the automatic driving system or the assisted driving system when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

[0009] As a supplement or replacement for the above solution, in the above method, after predicting that the vehicle will deviate from its lane, based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max The maximum lateral offset d is calculated according to the following formula: lat_max : Among them, v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula:

[0010]

[0011] And where t represents time, a actlat represents the lateral acceleration of the vehicle, a latlimit Indicates the lateral acceleration limit of the vehicle, j latlimit represents the lateral acceleration gradient limit value, and the lateral acceleration gradient j(t) is determined according to the following formula:

[0012]

[0013] As a supplement or replacement for the above solution, in the above method, according to the maximum lateral offset d lat_max Predicting again whether the automatic driving system or the assisted driving system can control the vehicle within the lane includes: predicting that the automatic driving system or the assisted driving system can control the vehicle within the lane when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

[0014] According to another aspect of the present application, a lane departure monitoring device is provided, the device comprising: a first calculation device for calculating the vehicle's reaction time t react The lateral offset d lat_react ; A first prediction device for predicting the lateral offset d according to the calculated lat_react , predicting whether the vehicle will deviate from its lane under the control of the automatic driving system or the auxiliary driving system; the second calculation device is used to calculate the vehicle's deviation from its lane based on the lateral acceleration limit value a after predicting that the vehicle will deviate from its lane. latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max The second prediction device is used to predict the maximum lateral offset d lat_max re-predicting whether the automatic driving system or the assisted driving system can control the vehicle within its own lane; and a control device for decelerating the vehicle and / or sending a warning signal to the driver based on the result of the re-prediction.

[0015] As a supplement or replacement for the above-mentioned solution, in the above-mentioned equipment, the control device is configured to: slow down the vehicle when the automatic driving system or the assisted driving system can control the vehicle within its own lane; and when the automatic driving system or the assisted driving system cannot control the vehicle within its own lane, slow down the vehicle while sending the warning signal to the driver to require him to take over.

[0016] As a supplement or alternative to the above solution, in the above device, the first calculation device is configured to calculate the lateral offset d according to the following formula lat_react : Among them, v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react Indicates the driver's reaction time to take over steering wheel control.

[0017] As a supplement or alternative to the above solution, in the above device, the first prediction device is configured to predict that the vehicle will not deviate from its lane under the control of the automatic driving system or the assisted driving system when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

[0018] As a supplement or alternative to the above solution, in the above device, the second calculation device is configured to calculate the maximum lateral offset d according to the following formula: lat_max : Among them, v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula:

[0019]

[0020] And where t represents time, a represents the lateral acceleration of the vehicle, and a latlimit Indicates the lateral acceleration limit of the vehicle, j latlimit represents the lateral acceleration gradient limit value, and the lateral acceleration gradient j(t) is determined according to the following formula:

[0021]

[0022] As a supplement or alternative to the above solution, in the above device, the second prediction device is configured to predict that the automatic driving system or the assisted driving system can control the vehicle within its own lane when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t reacr point, v long is the longitudinal speed of the vehicle.

[0023] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the medium includes instructions, and the instructions execute the above method when executed.

[0024] According to another aspect of the present application, a computer program product is provided, comprising a computer program, which implements the above method when executed by a processor.

[0025] According to another aspect of the present application, a domain controller for a vehicle is provided, wherein the domain controller includes the lane departure monitoring device as described above.

[0026] The lane departure monitoring solution of this application reduces the driver's reaction time to take over the steering wheel t react Taking this into account, calculate the vehicle's reaction time t react The lateral offset d lat_react And according to the calculated lateral offset d lat_react The first prediction is made on whether the vehicle will deviate from its lane under the control of the automatic driving system or the assisted driving system; if the vehicle is predicted to deviate from its lane for the first time, the lane departure monitoring solution of this application does not trigger an alarm immediately, but further triggers an alarm based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max And according to the maximum lateral offset d lat_max The automatic driving system or the auxiliary driving system is predicted again to see whether it can control the vehicle within its own lane. Finally, based on the result of the second prediction, the vehicle is decelerated and / or a warning signal is issued to the driver. This solution takes into account the driver's reaction time t reactOn this basis, it can ensure that the alarm is triggered in time so that the driver can take over; at the same time, the alarm is triggered only when necessary to maximize the availability of the autonomous driving system or assisted driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are denoted by the same reference numerals.

[0028] Figure 1 A schematic flow chart of a lane departure monitoring method according to an embodiment of the present application is shown;

[0029] Figure 2 A schematic structural diagram of a lane departure monitoring device according to an embodiment of the present application is shown;

[0030] Figure 3 A schematic diagram of a model for predicting whether a vehicle will deviate from its lane under the control of an automatic driving system or an assisted driving system according to an embodiment of the present application is shown; and

[0031] Figure 4 A framework diagram of an ADAS system including a domain controller according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0032] Hereinafter, a lane departure monitoring scheme according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0033] Figure 1 FIG. 1 shows a flow chart of a lane departure monitoring method 1000 according to an embodiment of the present application. Figure 1 As shown, the lane departure monitoring method 1000 includes:

[0034] In step S110, the vehicle's reaction time t is calculated. react The lateral offset d lat_react ;

[0035] In step S120, according to the calculated lateral offset d lat_react , predict whether the vehicle will deviate from its lane under the control of the autonomous driving system or assisted driving system;

[0036] In step S130, after predicting that the vehicle will deviate from its lane, the lateral acceleration limit value a is used to determine the vehicle's lane. latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max ;

[0037] In step S140, according to the maximum lateral offset d lat_max Predicting again whether the autonomous driving system or assisted driving system can control the vehicle within its lane; and

[0038] In step S150 , the vehicle is decelerated and / or a warning signal is sent to the driver according to the result of the second prediction.

[0039] In the context of this application, the term "reaction time t react "Indicates the reaction time for the driver to take over steering wheel control (or steering control), which is generally a fixed value.

[0040] In step S110, the vehicle's reaction time t is calculated. react The lateral offset d lat_react In one embodiment, step S110 includes: calculating the lateral offset d according to the following formula: lat_react : Among them, v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react represents the driver's reaction time to take over the steering wheel control. lat_react Indicates the predicted reaction time t in the vehicle coordinate system react The lateral offset (value) is signed, for example, positive on the right and negative on the left, that is, if the prediction is made at the reaction time t react When the vehicle will be on the right side of the current position, the lateral offset value is positive, and if the vehicle is predicted to be on the right side of the current position within the reaction time t react When the vehicle will be on the left side of the current position, the lateral offset value is negative.

[0041] In step S120, according to the calculated lateral offset d lat_react , predicting whether the vehicle will deviate from its lane under the control of the autonomous driving system or the assisted driving system. In one embodiment, step S120 includes: predicting that the vehicle will not deviate from its lane under the control of the autonomous driving system or the assisted driving system when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, V long is the longitudinal speed of the vehicle.

[0042] refer to Figure 3 , which shows a schematic diagram of a model for predicting whether a vehicle will deviate from its lane under the control of an automatic driving system or an assisted driving system according to an embodiment of the present application. For example, the vehicle 310 is currently traveling in its lane. At the reaction time t react The vehicle is at the position shown by the dotted box 320, and 330 represents the position for calculating d leftlatborder and d rightlatborder Reference point. Figure 3 As shown, label d lat_react Indicates the vehicle's reaction time t react The lateral offset at the time of latborder Indicates the (minimum) lateral offset of the reference point relative to the (left) lane line / boundary in the vehicle's coordinate system.

[0043] For the left lane line, when the following inequality (1) is satisfied: It can be predicted that the vehicle will not deviate from its lane. For the right lane line, when the following inequality (2) is satisfied: It is predictable that the vehicle will not deviate from its lane.

[0044] Therefore, if it is predicted in step S120 that the vehicle will not deviate from its lane under the control of the automatic driving system or the assisted driving system, the automatic driving system or the assisted driving system will continue the control strategy without additional action.

[0045] Referring to step S130, after predicting that the vehicle will deviate from its lane (for example, if either of the above inequalities (1) and (2) does not hold), based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max In one embodiment, step S130 includes: calculating the maximum lateral offset d according to the following formula: lat_max :

[0046]

[0047] Among them, v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula:

[0048]

[0049] And where t represents time, a actlat represents the lateral acceleration of the vehicle, a latilimit Indicates the lateral acceleration limit of the vehicle, j latlimit represents the lateral acceleration gradient limit value, and the lateral acceleration gradient j(t) is determined according to the following formula:

[0050]

[0051] In one embodiment, the lateral acceleration limit value a of the vehicle is latlimit and the lateral acceleration gradient limit j latlimit The EPS steering torque limit value based on vehicle speed can be used to determine the lateral acceleration of the vehicle. actlat , the vehicle's lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit They are all signed, with positive on the right and negative on the left in the vehicle's coordinate system.

[0052] In step S140, according to the maximum lateral offset d lat_max Again predicting whether the autonomous driving system or the assisted driving system can control the vehicle within its own lane. In one embodiment, step S140 includes: predicting that the autonomous driving system or the assisted driving system can control the vehicle within its own lane when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

[0053] In step S150, based on the re-prediction result, the vehicle is decelerated and / or a warning signal is issued to the driver. In one embodiment, step S150 includes: decelerating the vehicle when the autonomous driving system or assisted driving system is able to control the vehicle within its lane; and issuing the warning signal to the driver to take over and decelerating the vehicle when the autonomous driving system or assisted driving system is unable to control the vehicle within its lane (e.g., due to strong road disturbances, strong crosswinds, or a sharp curve). This can enhance the vehicle's maneuverability and keep the vehicle within its lane.

[0054] In one embodiment, the warning is a visual and / or audible warning issued by a human-machine interface HMI. In one embodiment, the vehicle is decelerated at a comfortable deceleration rate.

[0055] Furthermore, those skilled in the art will readily appreciate that the lane departure monitoring method 1000 provided in one or more of the above-described embodiments of the present application can be implemented via a computer program. For example, the computer program can be included in a computer program product, and when executed by a processor, the lane departure monitoring method 1000 in accordance with one or more of the embodiments of the present application can be implemented. For another example, when a computer-readable storage medium (e.g., a USB flash drive) storing the computer program is connected to a computer, executing the computer program can execute the lane departure monitoring method 1000 in accordance with one or more of the embodiments of the present application.

[0056] refer to Figure 2 , Figure 2 FIG. 2 shows a schematic structural diagram of a lane departure monitoring device 2000 according to an embodiment of the present application. Figure 2 As shown, the lane departure monitoring device 2000 includes: a first calculation device 210, a first prediction device 220, a second calculation device 230, a second prediction device 240 and a control device 250. The first calculation device 210 is used to calculate the vehicle's reaction time t react The lateral offset d lat_react The first prediction device 220 is used to calculate the lateral offset d lat_react , predicting whether the vehicle will deviate from its lane under the control of the automatic driving system or the auxiliary driving system; the second calculation device 230 is used to calculate the vehicle's deviation from its lane based on the lateral acceleration limit value a after predicting that the vehicle will deviate from its lane. latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max The second prediction device 240 is used to predict the maximum lateral offset d lat_max Re-predict whether the automatic driving system or the assisted driving system can control the vehicle within its own lane; and the control device 250 is used to slow down the vehicle and / or send a warning signal to the driver based on the result of the re-prediction.

[0057] In one embodiment, the control device 250 is configured to: slow down the vehicle when the automatic driving system or the assisted driving system can control the vehicle within its own lane; and slow down the vehicle while sending the warning signal to the driver to take over when the automatic driving system or the assisted driving system cannot control the vehicle within its own lane.

[0058] In one embodiment, the first calculation device 210 is configured to calculate the lateral offset d according to the following formula: lat_react : Among them, v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t reactIndicates the driver's reaction time to take over steering wheel control.

[0059] In one embodiment, the first prediction device 220 is configured to predict that the vehicle will not deviate from its lane under the control of the automatic driving system or the assisted driving system when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

[0060] In one embodiment, the second calculation device 230 is configured to calculate the maximum lateral offset d according to the following formula: lat_max : Among them, v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula:

[0061]

[0062] And where t represents time, a actlat represents the lateral acceleration of the vehicle, a latmimit Indicates the lateral acceleration limit of the vehicle, j latlimit represents the lateral acceleration gradient limit value, and the lateral acceleration gradient j(t) is determined according to the following formula:

[0063]

[0064] In one embodiment, the second prediction device 240 is configured to predict that the autonomous driving system or the assisted driving system can control the vehicle within its own lane when the following two inequalities are satisfied: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

[0065] In one or more embodiments, the lane departure monitoring device 2000 may be integrated into a domain controller in an autonomous driving system or an assisted driving system (eg, ADAS).

[0066] Figure 4 FIG. 4 shows a framework diagram of an ADAS system including a domain controller 4000 according to an embodiment of the present application. Figure 4 As shown, domain controller 4000 receives sensing signals from sensor cluster 420 (which includes various types of lane awareness sensors) and processes these signals to control braking system 430 (longitudinal control), powertrain 440 (longitudinal control), and steering system 450 (lateral control). Furthermore, braking system 430, powertrain 440, and steering system 450 also receive operating signals from driver 410 and provide feedback to domain controller 4000 on the vehicle's dynamic state (such as wheel speed, lateral acceleration, and steering wheel angle) and driver input (such as brake pedal status and accelerator pedal position).

[0067] In one embodiment, the domain controller 4000 includes a perception module, a fusion module, a trajectory planning module, and a trajectory control module. The lane departure monitoring solution of the present application can be implemented in the trajectory planning module and the trajectory control module.

[0068] In summary, the lane departure monitoring solution of this application reduces the driver's reaction time to take over the steering wheel t react Taking this into account, calculate the vehicle's reaction time t react The lateral offset d lat_react And according to the calculated lateral offset d lat_react The first prediction is made on whether the vehicle will deviate from its lane under the control of the automatic driving system or the assisted driving system; if the vehicle is predicted to deviate from its lane for the first time, the lane departure monitoring solution of this application does not trigger an alarm immediately, but further triggers an alarm based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max And according to the maximum lateral offset d lat_max The automatic driving system or the auxiliary driving system is predicted again to see whether it can control the vehicle within its own lane. Finally, based on the result of the second prediction, the vehicle is decelerated and / or a warning signal is issued to the driver. This solution takes into account the driver's reaction time t react On this basis, it can ensure that the alarm is triggered in time so that the driver can take over; at the same time, the alarm is triggered only when necessary to maximize the availability of the autonomous driving system or assisted driving system.

[0069] The above examples primarily illustrate the lane departure monitoring solutions of the embodiments of the present application. Although only some of the embodiments of the present application have been described, persons of ordinary skill in the art will appreciate that the present application may be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments presented are to be considered illustrative rather than restrictive, and the present application may encompass various modifications and substitutions without departing from the spirit and scope of the present application as defined in the claims.

Claims

1. A lane departure monitoring method, characterized in that: The method comprises: Calculate the vehicle's reaction time t react The lateral offset d lat_react ; According to the calculated lateral offset d lat_react , predict whether the vehicle will deviate from its lane under the control of the autonomous driving system or assisted driving system; After predicting that the vehicle will deviate from its lane, based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max ; According to the maximum lateral displacement d lat_max Predicting again whether the autonomous driving system or assisted driving system can control the vehicle within its lane; and Based on the result of the second prediction, the vehicle is decelerated and / or a warning signal is issued to the driver.

2. The method according to claim 1, wherein Based on the re-prediction result, the vehicle is decelerated and / or a warning signal is issued to the driver, including: When the autonomous driving system or assisted driving system is able to control the vehicle within its lane, slowing down the vehicle; and When the automatic driving system or the assisted driving system is unable to control the vehicle within its own lane, the warning signal is sent to the driver to request him to take over while slowing down the vehicle.

3. The method according to claim 1, wherein Calculate the vehicle's reaction time t react The lateral offset d lat_react Including the calculation of the lateral offset d according to the following formula lat_react : Among them, v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react Indicates the driver's reaction time to take over steering wheel control.

4. The method according to claim 1 or 3, wherein According to the calculated lateral offset d lat_react , predicting whether the vehicle will deviate from its lane under the control of the autonomous driving system or the assisted driving system includes: When the following two inequalities are satisfied, it is predicted that the vehicle will not deviate from its lane under the control of the autonomous driving system or assisted driving system: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

5. The method according to claim 1, wherein After predicting that the vehicle will deviate from its lane, based on the lateral acceleration limit value a latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max include: The maximum lateral offset d is calculated according to the following formula: lat_max : Among them, v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula: And where t represents time, a actlat represents the lateral acceleration of the vehicle, a latilimit Indicates the lateral acceleration limit of the vehicle, j latlimit represents the lateral acceleration gradient limit value, and the lateral acceleration gradient j(t) is determined according to the following formula:

6. The method according to claim 1 or 5, wherein: According to the maximum lateral displacement d lat_max Predicting again whether the autonomous driving system or assisted driving system can control the vehicle within its lane includes: When the following two inequalities are satisfied, it is predicted that the autonomous driving system or assisted driving system can control the vehicle within its lane: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

7. A lane departure monitoring device, characterized in that: The device comprises: The first calculation device is used to calculate the vehicle's reaction time t react The lateral offset d lat_react ; The first prediction device is used to calculate the lateral offset d lat_react , predict whether the vehicle will deviate from its lane under the control of the autonomous driving system or assisted driving system; The second calculation device is used to calculate the lateral acceleration limit value a after predicting that the vehicle will deviate from its lane. latlimit and the lateral acceleration gradient limit j latlimit To calculate the maximum lateral offset d of the vehicle relative to the left lane line or the right lane line lat_max ; The second prediction device is used to predict the maximum lateral displacement d lat_max Predicting again whether the autonomous driving system or assisted driving system can control the vehicle within its lane; and The control device is used to slow down the vehicle and / or send a warning signal to the driver according to the result of the re-prediction.

8. The apparatus of claim 7, wherein: The control device is configured to: When the autonomous driving system or assisted driving system is able to control the vehicle within its lane, slowing down the vehicle; and When the automatic driving system or the assisted driving system is unable to control the vehicle within its own lane, the warning signal is sent to the driver to request him to take over while slowing down the vehicle.

9. The apparatus of claim 7, wherein: The first calculation device is configured to calculate the lateral offset d according to the following formula lat_react : Among them, v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react Indicates the driver's reaction time to take over steering wheel control.

10. The apparatus according to claim 7 or 9, wherein The first prediction device is configured to: When the following two inequalities are satisfied, it is predicted that the vehicle will not deviate from its lane under the control of the autonomous driving system or assisted driving system: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

11. The apparatus of claim 7, wherein: The second calculation device is configured to calculate the maximum lateral offset d according to the following formula: lat_max : Among them, v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula: And where t represents time, a actlat represents the lateral acceleration of the vehicle, a latlimit Indicates the lateral acceleration limit of the vehicle, j latlimit represents the lateral acceleration gradient limit value, and the lateral acceleration gradient j(t) is determined according to the following formula:

12. The apparatus of claim 7 or 11, wherein: The second prediction device is configured to: When the following two inequalities are met, it is predicted that the autonomous driving system or assisted driving system can control the vehicle within its lane: as well as Among them, w is the width of the vehicle, d leftlatborder Indicates the lateral offset of the reference point relative to the left lane line in the vehicle coordinate system, d rightlatborder Indicates the lateral offset of the reference point relative to the right lane line in the vehicle coordinate system, and wherein the reference point is at a longitudinal distance v from the vehicle in the direction of vehicle speed. long *t react point, v long is the longitudinal speed of the vehicle.

13. A computer-readable storage medium, characterized in that The medium includes instructions that, when executed, perform the method of any one of claims 1 to 6.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

15. A domain controller for a vehicle, characterized in that: The domain controller includes the lane departure monitoring device according to any one of claims 6 to 12.

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