Emergency lane keeping activation method, device and vehicle

Abstract

The application discloses an emergency lane keeping activation method and device and a vehicle, relates to the technical field of vehicle auxiliary driving, and can effectively activate the emergency lane keeping function safely under different driving environments by considering the road environment information of the far side and the relative position information of the vehicle on the non-far side. Then, the risk level of the far side is determined according to the road environment information of the far side, the triggering area of the non-far side is determined according to the risk level of the far side, the triggering of the emergency lane keeping function of the emergency lane keeping system is adjusted dynamically, the triggering accuracy and safety of the emergency lane keeping function of the emergency lane keeping system are improved, and the safety performance of vehicle driving is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle driver assistance technology, and more specifically, to an emergency lane keeping activation method, device, and vehicle. Background Technology

[0002] Emergency Lane Keeping (ELK) is a crucial component of lateral safety assist systems. Its primary function is to activate lateral control and correct the vehicle back to the center of the original lane when the driver deviates from their lane and is in danger of colliding with a vehicle behind them or with a road boundary (curb, guardrail), thus avoiding a collision. Related technologies classify the vehicle's bump level and road type by acquiring data such as front wheel speed, steering wheel angle, and road curvature radius. Based on this information, the system adjusts the triggering conditions for the emergency lane keeping function and, if necessary, applies a counter-torque opposite to the steering wheel angle to correct the vehicle's direction, reduce false triggering, and improve driving comfort and safety. However, these technologies only focus on basic road conditions and lack consideration for higher-risk road environments. Summary of the Invention

[0003] This application aims to provide an emergency lane keeping activation method, device, and vehicle, which addresses the problem that related technologies only focus on the road conditions on the deviating side, lack judgment on higher-risk road environments, and give less consideration to the risks on the non-deviating side, resulting in insufficient adaptability to different driving environments.

[0004] The first aspect of this application provides an emergency lane keeping activation method, comprising:

[0005] The system acquires the assisted driving status level corresponding to the emergency lane keeping system, and when the assisted driving status level meets the preset level requirements and the vehicle deviates, it acquires the road environment information on the side away from the vehicle; the side away from the vehicle refers to the road side that the vehicle deviates from during the deviation process.

[0006] The risk level of the far side is determined based on the road environment information of the far side, and the triggering area of ​​the non-far side is determined based on the risk level of the far side; the non-far side refers to the road side that the vehicle approaches during the vehicle's deviation.

[0007] When the vehicle intersects with the trigger area on the non-far side, the level of the assisted driving status will be raised by one level;

[0008] Determine the relative position of the vehicle on the non-farth side, and if the relative position of the vehicle meets the preset positional relationship conditions, raise the assisted driving status level by one level;

[0009] The activation of the emergency lane keeping function of the emergency lane keeping system is controlled according to the level of driver assistance status.

[0010] In this solution, by considering road environment information on the far side and vehicle relative position information on the non-far side, the emergency lane keeping function can be effectively and safely activated under different driving conditions. Then, the risk level of the far side is determined by the road environment information on the far side, and the triggering area of ​​the non-far side is determined according to the risk level of the far side. This enables dynamic adjustment of the triggering of the emergency lane keeping function of the emergency lane keeping system, improves the triggering accuracy and triggering safety of the emergency lane keeping function of the emergency lane keeping system, and thus improves the safety performance of vehicle driving.

[0011] In conjunction with the first aspect, in one possible implementation, before determining the relative position of the vehicles on the non-farthest side, the method further includes:

[0012] If the steering wheel input torque of the vehicle is obtained, and the steering wheel input torque is greater than a preset torque threshold and remains greater than the preset threshold for an extended period, the assisted driving status level is reset to the preset level.

[0013] In this solution, by detecting the steering wheel input torque, and if the steering wheel input torque is greater than a preset torque threshold and remains greater than the preset threshold for an extended period, the assisted driving status level is reset to the preset level. This effectively determines whether the driver is consciously deviating from the lane, preventing the emergency lane keeping function from competing with the driver for steering, and improving the activation safety of the emergency lane keeping function.

[0014] In conjunction with the first aspect, in one possible implementation, obtaining the assisted driving status level of the emergency lane keeping system includes:

[0015] Initialize the assisted driving status level to zero;

[0016] The system acquires the activation status of the emergency lane keeping system and the activation status of other vehicle driving assistance systems with a higher effectiveness level than the emergency lane keeping system; the activation status includes whether the function is enabled or disabled, and the activation status includes whether the function is activated or disabled.

[0017] If the activation state is "function not enabled" and / or the activation state is "activated", the emergency lane keeping activation process ends.

[0018] When the enabled state is "function enabled" and the activated state is "inactive", the assisted driving status level will be increased by one level.

[0019] The vehicle's driving speed is obtained, and if the vehicle's driving speed does not meet the preset speed requirement, the assisted driving status level is not changed to obtain the assisted driving status level of the emergency lane keeping system.

[0020] If the vehicle's speed meets the preset speed requirement, the assisted driving status level is increased by one level to obtain the assisted driving status level of the emergency lane keeping system.

[0021] In this solution, by obtaining the assisted driving status level of the emergency lane keeping system, it is possible to determine whether the emergency lane keeping system has the basic conditions to activate the emergency lane keeping function, thereby avoiding other safety hazards caused by the activation of the emergency lane keeping function.

[0022] In conjunction with the first aspect, in one possible implementation, determining the risk level of the remote side based on the road environment information of the remote side includes:

[0023] The risk level on the far side is initialized to zero;

[0024] The risk level is updated based on the road boundary information in the road environment information on the far side; the road environment information includes road boundary information and first other vehicle information.

[0025] The risk level is updated based on the first other vehicle information in the road environment information on the far side.

[0026] In this solution, by updating the risk level based on the road boundary information and the first other vehicle information in the road environment information on the far side, the risk on the far side can be effectively detected, thereby avoiding safety hazards caused by premature activation of the emergency lane keeping function.

[0027] In conjunction with the first aspect, in one possible implementation, updating the risk level based on the road boundary information in the road environment information on the far side includes:

[0028] Based on the road boundary information in the road environment information on the far side, obtain the current lateral distance and the far-end pre-aiming lateral distance with the road boundary;

[0029] If both the current lateral distance and the far-end pre-aiming lateral distance are less than the first distance threshold, the risk level will be increased by one level.

[0030] If the lateral distance of the far-end pre-aiming is less than the current lateral distance and the lateral distance of the far-end pre-aiming is less than the second distance threshold, the risk level will be increased by one level.

[0031] This solution can effectively monitor and predict road environment information on the far side, thereby achieving effective monitoring of road risks on the far side and avoiding premature activation of the emergency lane keeping function, which could lead to a collision with the road boundary.

[0032] In conjunction with the first aspect, in one possible implementation, updating the risk level based on the first other vehicle information in the road environment information on the far side includes:

[0033] Based on the first other vehicle information in the road environment information on the far side, obtain the first relative lateral distance and the first relative longitudinal distance with the first other vehicle;

[0034] Based on the first other vehicle information in the road environment information on the far side, obtain the first closest distance between the first other vehicle and the lane line on the far side;

[0035] If the first relative lateral distance is less than the third distance threshold, the first relative longitudinal distance is less than the fourth distance threshold, and the first closest distance is less than the fifth distance threshold, the risk level will be raised by one level;

[0036] Based on the information of the first other vehicle in the road environment information on the far side, obtain the first lateral movement speed of the first other vehicle toward the vehicle;

[0037] If the first lateral movement speed is greater than the first speed threshold, the risk level will be increased by one level.

[0038] This solution can effectively monitor and predict the information of other vehicles on the far side, thereby achieving effective monitoring of vehicle risks on the far side and avoiding premature activation of the emergency lane keeping function, which could lead to a collision with vehicles on the far side.

[0039] In conjunction with the first aspect, in one possible implementation, determining the triggering area on the non-farthened side based on the risk level of the farthest side includes:

[0040] Using the lane line on the non-farthest side as the center line, lines on both sides of the center line at a preset trigger distance are respectively determined as trigger area lines;

[0041] If the risk level on the far side is less than a first preset level threshold, the trigger area line close to the vehicle is moved a preset fixed distance toward the lane line on the non-far side, and the area between the two trigger area lines is taken as the trigger area on the non-far side.

[0042] In this solution, by dynamically adjusting the trigger area line of the trigger area, the triggering time of the emergency lane keeping function of the emergency lane keeping system is dynamically adjusted, thereby improving the triggering accuracy and triggering safety of the emergency lane keeping function of the emergency lane keeping system, and thus improving the safety performance of vehicle driving.

[0043] In conjunction with the first aspect, in one possible implementation, the emergency lane keeping activation method further includes:

[0044] If the risk level on the far side is greater than or equal to the first preset level threshold, the triggering of the emergency lane keeping function is suppressed, and the emergency lane keeping activation process ends.

[0045] This solution effectively considers the risks on the far side. It can not only activate lateral control in a safe environment to correct the vehicle back to the center of the original lane and avoid a collision, but also avoid the additional risks caused by activating lateral control when there are road risks on the far side.

[0046] In conjunction with the first aspect, in one possible implementation, determining the relative position of the vehicle on the non-farthest side, and raising the assisted driving state level by one level when the relative position of the vehicles meets a preset positional relationship condition, includes:

[0047] Determine the relative position of the vehicle on the non-farthest side; the relative position of the vehicle includes a second lateral movement speed of the vehicle toward the second other vehicle on the non-farthest side, a second relative lateral distance, and a second relative longitudinal distance;

[0048] If the second lateral movement speed is less than the second speed threshold, the second relative lateral distance is less than the sixth distance threshold, and the second relative longitudinal distance is less than the seventh distance threshold, the relative position of the vehicle is determined to meet the preset position relationship conditions, and the assisted driving state level is upgraded by one level.

[0049] In this scheme, by considering other vehicles on the non-farthest side, the risk of vehicles deviating to one side can be effectively taken into account, avoiding safety hazards caused by drivers' unconscious deviation.

[0050] Based on the same inventive concept, a second aspect of this application provides an emergency lane keeping activation device, comprising:

[0051] The information acquisition module is used to acquire the assisted driving status level of the emergency lane keeping system, and when the assisted driving status level meets the preset level requirements and the vehicle deviates, acquire road environment information on the far side; the far side refers to the direction opposite to the vehicle's deviating direction.

[0052] The trigger area adjustment module is used to determine the risk level of the far side based on the road environment information of the far side, and to determine the trigger area of ​​the non-far side based on the risk level of the far side; the non-far side refers to the direction in which the vehicle deviates.

[0053] The trigger determination module is used to raise the assisted driving status level by one level when the vehicle is located in the trigger area on the non-far side;

[0054] The vehicle detection module is used to determine the relative position of the vehicle on the non-far side, and to raise the assisted driving status level by one level if the relative position of the vehicle meets the preset position relationship conditions.

[0055] The activation control module is used to control the activation of the emergency lane keeping function of the emergency lane keeping system according to the assisted driving state level.

[0056] Based on the same inventive concept, a third aspect of this application provides a vehicle that includes an emergency lane keeping activation device as described in the second aspect.

[0057] The technical effects of any of the implementation methods in the second and third aspects can be found in the technical effects of different implementation methods in the first aspect, and will not be repeated here. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a flowchart of an emergency lane keeping activation method according to an embodiment of this application;

[0060] Figure 2 This is a schematic diagram of a process for updating the risk level based on road boundary information in road environment information on the far side, according to an embodiment of this application.

[0061] Figure 3 This is a schematic diagram illustrating the risk of the road boundary on the far side according to an embodiment of this application;

[0062] Figure 4 This is a schematic diagram of a process for updating the risk level based on first other vehicle information in the road environment information on the far side, according to an embodiment of this application.

[0063] Figure 5 This is a schematic diagram illustrating the risk of vehicles on the far side according to an embodiment of this application;

[0064] Figure 6 This is a schematic diagram of the structure of an emergency lane keeping activation device according to an embodiment of this application;

[0065] Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application;

[0066] Explanation of reference numerals in the attached drawings: 601-Information acquisition module, 602-Trigger area adjustment module, 603-Trigger determination module, 604-Vehicle detection module, 605-Activation control module, 701-Memory, 702-Processor, 703-Communication bus. Detailed Implementation

[0067] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0068] In related technologies, when a driver deviates from the lane and collides with a vehicle behind on the deviating side or with a road boundary (curb, guardrail), lateral control is activated to correct the vehicle back to the center of the original lane to avoid a collision. However, this technology only focuses on road conditions and lacks judgment on higher-risk road environments and considers the risks on the non-deviating side less, resulting in insufficient adaptability to different driving environments.

[0069] In view of this, this application proposes an emergency lane keeping activation method. By considering road environment information on the far side and vehicle relative position information on the non-far side, the emergency lane keeping function can be effectively and safely activated under different driving conditions. Then, the risk level of the far side is determined by the road environment information on the far side, and the triggering area of ​​the non-far side is determined according to the risk level of the far side. This realizes dynamic adjustment of the triggering of the emergency lane keeping function of the emergency lane keeping system, improves the triggering accuracy and triggering safety of the emergency lane keeping function of the emergency lane keeping system, thereby improving the safety performance of vehicle driving.

[0070] Please refer to Figure 1 The flowchart below illustrates an emergency lane keeping activation method provided in this application. Figure 1 As shown, the method includes:

[0071] S101. Obtain the assisted driving status level corresponding to the emergency lane keeping system, and when the assisted driving status level meets the preset level requirements and the vehicle deviates, obtain the road environment information of the side away from the vehicle; the side away from the vehicle refers to the road side that the vehicle deviates from during the deviation process.

[0072] The emergency lane keeping system's emergency lane keeping function is typically activated in emergency situations. An emergency occurs when the vehicle deviates from its intended path, potentially threatening driving safety and necessitating the activation of the emergency lane keeping system. However, the emergency lane keeping system requires specific triggering conditions to activate. Generally, the driver must have the emergency lane keeping system activated before it can be activated in an emergency. Furthermore, other vehicle assistance systems may be active during driving. Directly activating the emergency lane keeping system could cause these other systems to malfunction, also jeopardizing driving safety. Therefore, the activation status of other vehicle assistance systems with higher priority than the emergency lane keeping system should be prioritized. If a higher-priority assistance system is active, the emergency lane keeping system's corresponding driver assistance level should remain unchanged to prevent its activation. If other higher-priority vehicle driving assistance systems are not activated, it indicates that the emergency lane keeping system can be activated. This allows for further enhancement of the emergency lane keeping system's driver assistance level, building upon the user's activation of the system. This determines the corresponding driver assistance level for the emergency lane keeping system, completing a basic check. Based on this, further judgment of the driving situation can be made, enabling emergency lane keeping even when the vehicle deviates from its lane intentionally. For example, if the user has activated the emergency lane keeping system but AEB (Autonomous Emergency Braking) is also active, activating the emergency lane keeping function might cause AEB to malfunction. In this case, the emergency lane keeping function should not be activated.

[0073] If the driver assistance level meets the preset requirements and the vehicle deviates from its lane, the driver assistance level can be determined first. If the driver assistance level does not meet the preset requirements, the emergency lane keeping system cannot be activated and no further action is needed. If the driver assistance level meets the preset requirements, the emergency lane keeping function can be activated in an emergency situation. The vehicle's deviation can then be monitored. Deviation usually indicates an unintentional deviation by the driver. Information about the road environment on the farthest side can be used to determine whether to activate the emergency lane keeping function. During a deviation, the vehicle will drift towards one side of the road; the side that is furthest away is the farthest side. For example, if the vehicle drifts to the left, the right side of the road is the farthest side.

[0074] S102. Determine the risk level of the far side based on the road environment information of the far side, and determine the triggering area of ​​the non-far side based on the risk level of the far side; the non-far side refers to the road side that the vehicle approaches during the deviation.

[0075] The road environment information on the far side can include road boundary information and information about the first other vehicle. Whether it's the road boundary or the first other vehicle, if the vehicle is too close to another vehicle during lane departure or a collision is possible, activating the emergency lane keeping function to correct the vehicle back to the center of the original lane could lead to a collision with the road boundary or the first other vehicle, thus threatening driving safety. Therefore, it's necessary to first determine the risk level on the far side based on the road environment information. If the risk level on the far side is low, the emergency lane keeping function can be activated to avoid a collision. However, since there is risk on the far side, the trigger area on the non-far side can be determined based on the risk level on the far side. This allows for dynamic adjustment of the trigger area, preventing premature activation of the emergency lane keeping function and improving its accuracy and safety, thereby enhancing vehicle driving safety.

[0076] The trigger zone generally refers to the area within a certain distance on both sides of the lane lines. This certain distance can be preset to a fixed value. When a vehicle intersects this trigger zone during lane departure, it can be considered an emergency situation, activating the emergency lane keeping function of the emergency lane keeping system. When the risk level on the far side is not zero, it often indicates a risk from a road boundary or other vehicles on that side. Activating the emergency lane keeping function too early may lead to a collision, and the driver's reaction time may be insufficient. Therefore, the trigger zone on the non-farthest side can be adjusted according to the risk level on the far side to avoid premature activation of the emergency lane keeping function. However, if the risk level on the far side is too high, activating the emergency lane keeping function may lead to a collision. Therefore, the trigger zone can only be adjusted when the risk level on the far side is less than a first preset threshold. When the risk level on the far side is higher than or equal to the first preset threshold, activation of the emergency lane keeping function can be suppressed, thereby avoiding a collision and improving driving safety.

[0077] S103. When the vehicle intersects with the trigger area on the non-far-away side, the assisted driving status level will be increased by one level.

[0078] The "non-farthest side" indicates the side the vehicle has deviated from. The trigger area on the non-farthest side represents the area within a certain distance on either side of the lane markings on that side. When the vehicle intersects with the trigger area on the non-farthest side, it often indicates that the vehicle has deviated beyond the driver's control, potentially leading to a collision. This may necessitate activating the emergency lane keeping assist function, thus requiring the driver assistance level to be increased by one level. A higher driver assistance level indicates a greater need to activate the emergency lane keeping assist function. Once the driver assistance level reaches a certain threshold, the emergency lane keeping assist function can be activated.

[0079] S104. Determine the relative position of the vehicle on the non-farthest side, and if the relative position of the vehicles meets the preset positional relationship conditions, upgrade the assisted driving status level by one level.

[0080] When there is no other vehicle on the non-farthest lane, even if the vehicle intersects with the trigger zone on the non-farthest lane, there is sufficient time for the driver to react, allowing for correction either manually or after the vehicle crosses the line. However, when there is a second other vehicle on the non-farthest lane, continued vehicle deviation poses a significant collision risk. In this case, the driver assistance level should be increased, thereby increasing the activation requirement for the emergency lane keeping function of the emergency lane keeping system. The relative vehicle position typically refers to the positional relationship between the vehicle and another vehicle in the non-farthest lane. Preset positional relationship conditions can be the relationship between the positional relationship and some preset thresholds. Therefore, when the relative vehicle position meets the preset positional relationship conditions, the activation requirement for the emergency lane keeping function of the emergency lane keeping system can be increased.

[0081] Optionally, there may or may not be a lane on the non-far-away side. In the case where there is no lane, it is usually a road boundary (i.e., a road guardrail). This road boundary can be detected and is always present. When the vehicle intersects with the trigger area on the non-far-away side, the road boundary on the non-far-away side can be detected. If a road boundary exists, the driver assistance status level can be raised by one level to increase the need to activate the emergency lane keeping function.

[0082] S105. Based on the level of driver assistance status, control the activation of the emergency lane keeping function of the emergency lane keeping system.

[0083] Once the driver assistance system reaches a certain level, its emergency lane keeping function can be activated, thereby activating lateral control to correct the vehicle back to the center of its original lane, preventing collisions and improving driving safety.

[0084] In one possible implementation, before determining the relative positions of the vehicles on the non-farthest side, the method further includes:

[0085] If the steering wheel input torque of the vehicle is obtained, and the steering wheel input torque is greater than the preset torque threshold and remains greater than the preset threshold for an extended period, the assisted driving status level is reset to the preset level.

[0086] By detecting the steering wheel input torque, and if the steering wheel input torque exceeds a preset torque threshold and remains above the preset threshold for an extended period, the driver assistance status level is reset to the preset level. This effectively determines whether the driver is intentionally deviating from the lane, preventing the emergency lane keeping function from competing with the driver for steering control and improving the activation safety of the emergency lane keeping function.

[0087] For example, assuming that the emergency lane keeping system corresponds to four levels of driver assistance status: L0, L1, L2, L3, and L4, the activation of the emergency lane keeping function of the emergency lane keeping system can be controlled when the driver assistance status level is L4. Before determining the relative position of the vehicle on the non-farthest side, assuming the emergency lane keeping system's corresponding driver assistance level is L2 or L3, and the driving environment meets the intervention conditions of the emergency lane keeping system, then when the steering wheel input torque is greater than the preset torque threshold, the duration of this duration is detected. If the duration of this duration is greater than the preset duration threshold (e.g., 0.5s, 1s, etc.), it can be considered that the current vehicle deviation is caused by the driver's autonomous driving, indicating that the driver is consciously deviating from the lane. If the emergency lane keeping function of the emergency lane keeping system is activated, it will cause the emergency lane keeping function to compete with the driver for steering, posing a safety risk to the vehicle. Therefore, the driver assistance level can be reset to the preset level (e.g., reset to L1, because L0 indicates that the emergency lane keeping system is not activated, and as long as the driver activates the emergency lane keeping system, the minimum driver assistance level will be L1), avoiding the situation of competing with the driver for steering and improving driving safety.

[0088] In one possible implementation, obtaining the assisted driving status level of the emergency lane keeping system includes:

[0089] The initial driver assistance status level is set to zero. When the driver assistance status level is zero, it indicates that the emergency lane keeping system is not activated. If the emergency lane keeping system is activated, the driver assistance status level should be increased.

[0090] This function retrieves the activation status of the emergency lane keeping system and the activation status of other vehicle driving assistance systems with a higher priority than the emergency lane keeping system. The activation status includes whether the function is enabled or disabled, and the activation status includes whether the function is activated or disabled.

[0091] The activation status of the emergency lane keeping system refers to whether the system has been activated by the driver. When the system is in an "activated" state, it indicates that the driver has engaged the emergency lane keeping system, and its emergency lane keeping function can be activated. When the system is in an "disactivated" state, it indicates that the driver has disengaged the emergency lane keeping system, and its emergency lane keeping function cannot be activated. Other vehicle driving assistance systems with a higher activation level than the emergency lane keeping system typically include AEB (Autonomous Emergency Braking), ABS (Anti-lock Brake System), TCS (Traction Control System), etc. Activation of these other driving assistance systems may interfere with the normal operation of the emergency lane keeping system; therefore, it is necessary to check the activation status of these other driving assistance systems with higher activation levels.

[0092] If the function is in the "not enabled" state and / or the "activated" state is "activated", the emergency lane keeping activation process will end.

[0093] Regardless of whether the function is disabled or activated, the emergency lane keeping function cannot be enabled. Therefore, the emergency lane keeping activation process can be terminated.

[0094] When the function is enabled or inactive, the driver assistance status level will be increased by one level.

[0095] If the function is either enabled or inactive, it indicates that the basic conditions for activating the emergency lane keeping function have been met, and other conditions can be determined.

[0096] The system obtains the vehicle's speed and, if the vehicle's speed does not meet the preset speed requirements, does not change the assisted driving status level, thus obtaining the assisted driving status level of the emergency lane keeping system.

[0097] If the vehicle's speed meets the preset speed requirements, the driver assistance status level will be increased by one level to obtain the driver assistance status level of the emergency lane keeping system.

[0098] As a safety assistance control system, the emergency lane keeping system has an effective speed range. Therefore, it is necessary to determine the vehicle's longitudinal speed. When the vehicle speed is above 60 km / h and subsequently remains no less than 55 km / h and no more than 150 km / h, the driver assistance level can be increased by one level. Under these conditions, the driving environment meets the conditions for the emergency lane keeping system to intervene. By obtaining the driver assistance level of the emergency lane keeping system, it is possible to determine whether the basic conditions for activating the emergency lane keeping function are met, thus avoiding other safety hazards caused by the activation of the emergency lane keeping function.

[0099] In one possible implementation, determining the risk level on the far side based on road environment information includes: initializing the risk level on the far side to zero; and updating the risk level based on road boundary information in the road environment information on the far side. The road environment information includes road boundary information and first other vehicle information; the risk level is updated based on the first other vehicle information in the road environment information on the far side. By updating the risk level based on the road boundary information and the first other vehicle information in the road environment information on the far side, risks on the far side can be effectively identified, thereby avoiding safety hazards caused by premature activation of the emergency lane keeping function.

[0100] Please refer to Figure 2 This is a schematic diagram illustrating the process of updating the risk level based on road boundary information in the road environment information on the far side, as provided in an embodiment of this application. Figure 2 As shown, the risk level is updated based on the road boundary information in the road environment information on the far side, including:

[0101] S201. Based on the road boundary information in the road environment information on the far side, obtain the current lateral distance between the road and the road boundary and the far-end pre-aiming lateral distance.

[0102] Based on the road boundary information in the road environment information on the far side, the pre-aiming distance of the road boundary line on the far side can be obtained as follows:

[0103] ForwardDist=PrevTime×VehSpd;

[0104] Here, ForwardDist represents the aiming distance, PrevTime represents the aiming time, VehSpd represents the current vehicle speed, and "vehicle" represents the vehicle currently executing the emergency lane keeping activation method.

[0105] After obtaining the aiming distance, the far-end aiming lateral distance can be obtained based on the aiming distance and the current lateral distance between the vehicle and the road boundary:

[0106]

[0107] Where ForwardLatDist represents the far-end forward lateral distance, a0 represents the current lateral distance between the vehicle and the road boundary, a1 represents the first fitting coefficient, a2 represents the second fitting coefficient, and a3 represents the third fitting coefficient.

[0108] S202. If both the current lateral distance and the far-end pre-aiming lateral distance are less than the first distance threshold, the risk level will be increased by one level.

[0109] After obtaining the current lateral distance and the far-end preview lateral distance between the road boundary and the vehicle, if both the current lateral distance and the far-end preview lateral distance are less than the first distance threshold, it is considered that there is a certain risk at the road boundary on the far side, and the risk level can be raised by one level.

[0110] Please refer to Figure 3 This is a schematic diagram illustrating the risk of the road boundary away from the side, provided in an embodiment of this application. The current lateral distance refers to the lateral distance between the center of the current vehicle and the road boundary. Lateral distance is a direction perpendicular to the longitudinal direction, and longitudinal direction refers to the direction along the lane. Figure 3 In this system, the vertical direction is defined as the longitudinal direction, and the horizontal direction is defined as the lateral direction. By determining the current lateral distance and the far-end pre-aimed lateral distance, road boundary risks on the far side can be identified immediately.

[0111] S203. If the lateral distance of the far-end pre-aiming is less than the current lateral distance and the lateral distance of the far-end pre-aiming is less than the second distance threshold, the risk level will be increased by one level.

[0112] If the far-end forward-aimed lateral distance is less than the current lateral distance and also less than the second distance threshold, it can be assumed that the road boundary ahead is narrowing, posing a safety risk, and therefore the risk level is raised by one level. By monitoring and predicting road environment information on the far side, effective monitoring of road risks on the far side can be achieved, avoiding premature activation of the emergency lane keeping function that could lead to a collision with the road boundary.

[0113] Please refer to Figure 4 This is a schematic diagram illustrating the process of updating the risk level based on first other vehicle information in the road environment information on the far side, as provided in an embodiment of this application. Figure 4 As shown, the risk level is updated based on the first other vehicle information in the road environment information on the far side, including:

[0114] S401. Based on the information of the first other vehicle in the road environment information on the far side, obtain the first relative lateral distance and the first relative longitudinal distance between the first other vehicle and the first other vehicle.

[0115] The first other vehicle information in the road environment information records the location information of the first other vehicle on the far side. Therefore, the first relative lateral distance and the first relative longitudinal distance between the first other vehicle and the first other vehicle can be obtained based on the first other vehicle information, providing a data basis for subsequent analysis of the risk of the first other vehicle.

[0116] S402. Based on the first other vehicle information in the road environment information on the far side, obtain the first closest distance between the first other vehicle and the lane line on the far side.

[0117] Please refer to Figure 5 This is a schematic diagram illustrating the risk of vehicles on the far side provided in an embodiment of this application. It can be seen that, in Figure 5 If the vehicle in the middle lane is a vehicle in the right lane and the other vehicle in the right lane is a vehicle in the right lane, then the first closest distance between the other vehicle and the lane line on the farthest side represents the lateral distance between the other vehicle and the lane line. The first relative longitudinal distance is the distance between the vehicle and the other vehicle along the lane direction, and the first lateral distance is the distance between the vehicle and the other vehicle in the direction perpendicular to the lane direction.

[0118] S403. If the first relative lateral distance is less than the third distance threshold, the first relative longitudinal distance is less than the fourth distance threshold, and the first closest distance is less than the fifth distance threshold, the risk level will be raised by one level.

[0119] If the first relative lateral distance is less than the third distance threshold, the first relative longitudinal distance is less than the fourth distance threshold, and the first closest distance is less than the fifth distance threshold, it indicates that the distance between the vehicle and the first other vehicle is too close, and there is a risk of collision. Therefore, the risk level can be raised by one level.

[0120] S404. Based on the information of the first other vehicle in the road environment information on the far side, obtain the first lateral movement speed of the first other vehicle towards the vehicle.

[0121] S405. If the first lateral movement speed is greater than the first speed threshold, the risk level will be raised by one level.

[0122] If the first lateral movement speed is greater than the first speed threshold, it indicates that the first other vehicle has a tendency to move toward the vehicle, and there is a risk of collision. Therefore, the risk level can be raised by one level.

[0123] It can effectively monitor and predict the information of other vehicles on the far side, thereby achieving effective monitoring of vehicle risks on the far side and avoiding premature activation of the emergency lane keeping function, which could lead to a collision with vehicles on the far side.

[0124] In one possible implementation, determining the triggering area on the non-farthest side based on the risk level of the farthest side includes:

[0125] Using the lane line on the non-farthest side as the center line, determine the trigger area lines on both sides of the center line at a preset trigger distance from the center line.

[0126] Regardless of which lane the vehicle is traveling in, there are preset trigger areas near the lane lines on both sides of the lane where the vehicle is located. If the vehicle intersects with the preset trigger area, it indicates that the vehicle has deviated for too long or the deviation angle is too large, and the emergency lane keeping function needs to be activated to control the vehicle.

[0127] If the risk level on the far side is less than the first preset level threshold, the trigger area line close to the vehicle is moved a preset fixed distance toward the lane line on the non-far side, and the area between the two trigger area lines is taken as the trigger area on the non-far side.

[0128] If the risk level on the far side is less than the first preset threshold, it indicates that lateral control will be activated to correct the vehicle back to the center of the original lane. The risk of collision is low, but some risk still exists. Therefore, the trigger zone line closer to the vehicle can be moved a preset fixed distance towards the lane line on the non-farthest side. For example, if the risk level on the far side is less than level 2 (e.g., level 0 or 1), the trigger zone line closer to the vehicle can be moved 5cm or 10cm towards the lane line on the non-farthest side. By dynamically adjusting the trigger zone line, the emergency lane keeping system can dynamically adjust the triggering mechanism of its emergency lane keeping function, improving the accuracy and safety of the emergency lane keeping function, thereby enhancing vehicle safety.

[0129] In one possible implementation, the emergency lane keeping activation method further includes: suppressing the triggering of the emergency lane keeping function and ending the emergency lane keeping activation process when the risk level on the far side is greater than or equal to a first preset threshold. This effectively considers the risk on the far side, enabling not only the activation of lateral control in a safe environment to correct the vehicle back to the center of the original lane and avoid a collision, but also preventing additional risks caused by activating lateral control when there is road risk on the far side.

[0130] In conjunction with the first aspect, in one possible implementation, the relative position of the vehicle on the non-farthest side is determined, and if the relative position of the vehicles meets a preset positional relationship condition, the assisted driving state level is raised by one level, including:

[0131] Determine the relative position of the vehicle on the non-farthest side; the relative position of the vehicle includes the second lateral movement speed of the vehicle toward the second other vehicle on the non-farthest side, the second relative lateral distance, and the second relative longitudinal distance.

[0132] like Figure 3 as well as Figure 5 As shown in the diagram, when the assisted driving status level is L3, if the vehicle intersects with the trigger area, it can be considered that the vehicle has entered a dangerous area. Further assessment of the risk on the non-farthest side is required. Therefore, the relative position of the vehicle on the non-farthest side can be used as the basis for further assessment.

[0133] If the second lateral movement speed is less than the second speed threshold, the second relative lateral distance is less than the sixth distance threshold, and the second relative longitudinal distance is less than the seventh distance threshold, the relative position of the vehicle is determined to meet the preset position relationship conditions, and the assisted driving status level is upgraded by one level.

[0134] If a second vehicle on the non-farthest side meets the aforementioned conditions, it indicates a safety risk on that side. Continued deviation could lead to a collision, thus necessitating an upgrade in the driver assistance system level. For example, the level could be increased from L3 to L4, where the emergency lane keeping function of the emergency lane keeping system is activated. By considering the second vehicle on the non-farthest side, the risk of vehicles deviating to that side can be effectively accounted for, preventing safety hazards caused by driver-involuntary deviations.

[0135] Please refer to Figure 6 Based on the same inventive concept, another embodiment of this application also provides an emergency lane keeping activation device, comprising:

[0136] The information acquisition module 601 is used to acquire the assisted driving status level of the emergency lane keeping system, and when the assisted driving status level meets the preset level requirements and the vehicle deviates, it acquires road environment information on the side furthest from the vehicle. The side furthest from the vehicle indicates the direction opposite to the direction of vehicle deviation.

[0137] In one possible implementation, the information acquisition module 601 includes a grade acquisition submodule and a road information acquisition submodule.

[0138] The level acquisition submodule is used to initialize the assisted driving status level to zero; acquire the activation status of the emergency lane keeping system and the activation status of other vehicle driving assistance systems with a higher effectiveness level than the emergency lane keeping system; the activation status includes "function enabled" or "function disabled", and the activation status includes "activated" or "deactivated"; if the activation status is "function disabled" and / or the activation status is "activated", the emergency lane keeping activation process ends; if the activation status is "function enabled" and the activation status is "deactivated", the assisted driving status level is increased by one level; the vehicle's driving speed is acquired, and if the vehicle's driving speed does not meet the preset speed requirement, the assisted driving status level is not changed, thus obtaining the assisted driving status level of the emergency lane keeping system; if the vehicle's driving speed meets the preset speed requirement, the assisted driving status level is increased by one level, thus obtaining the assisted driving status level of the emergency lane keeping system.

[0139] The road information acquisition submodule is used to acquire road environment information on the far side when the assisted driving state level meets the preset level requirements and the vehicle deviates; the far side refers to the road side that the vehicle deviates from during the deviation process.

[0140] The trigger area adjustment module 602 is used to determine the risk level of the far side based on the road environment information of the far side, and to determine the trigger area of ​​the non-far side based on the risk level of the far side. The non-far side refers to the direction in which the vehicle deviates.

[0141] In one possible implementation, the trigger area adjustment module 602 includes a risk determination submodule and a trigger area line adjustment submodule.

[0142] The risk determination submodule initializes the risk level on the far side to zero; updates the risk level based on road boundary information in the road environment information on the far side; and updates the risk level based on the first other vehicle information in the road environment information on the far side. The road environment information includes road boundary information and the first other vehicle information.

[0143] For example, updating the risk level based on the road boundary information in the road environment information on the far side includes: obtaining the current lateral distance and the far-end pre-aiming lateral distance between the road and the road boundary based on the road boundary information in the road environment information on the far side; increasing the risk level by one level if both the current lateral distance and the far-end pre-aiming lateral distance are less than a first distance threshold; and increasing the risk level by one level if the far-end pre-aiming lateral distance is less than the current lateral distance and less than a second distance threshold.

[0144] For example, updating the risk level based on the first other vehicle information in the road environment information on the far side includes: obtaining a first relative lateral distance and a first relative longitudinal distance between the first other vehicle and the first other vehicle based on the first other vehicle information in the road environment information on the far side; obtaining a first closest distance between the first other vehicle and the lane line on the far side based on the first other vehicle information in the road environment information on the far side; increasing the risk level by one level if the first relative lateral distance is less than a third distance threshold, the first relative longitudinal distance is less than a fourth distance threshold, and the first closest distance is less than a fifth distance threshold; obtaining a first lateral movement speed of the first other vehicle towards the vehicle based on the first other vehicle information in the road environment information on the far side; increasing the risk level by one level if the first lateral movement speed is greater than a first speed threshold.

[0145] The trigger area line adjustment submodule is used to determine the trigger area lines on both sides of the center line with a preset trigger distance, using the lane line on the non-farthest side as the center line; when the risk level on the farthest side is less than the first preset level threshold, the trigger area line closer to the vehicle is moved to the lane line on the non-farthest side by a preset fixed distance, and the area between the two trigger area lines is taken as the trigger area on the non-farthest side.

[0146] In one possible implementation, the trigger area adjustment module 602 further includes a suppression submodule, which is used to suppress the triggering of the emergency lane keeping function and end the emergency lane keeping activation process when the risk level on the far side is greater than or equal to a first preset level threshold.

[0147] The trigger determination module 603 is used to raise the level of the assisted driving status by one level when the vehicle is located in the trigger area on the non-far side.

[0148] The vehicle detection module 604 is used to determine the relative position of the vehicle on the non-farth side, and to raise the assisted driving status level by one level if the relative position of the vehicle meets the preset position relationship conditions.

[0149] In one possible implementation, the vehicle detection module 604 is further configured to: acquire the steering wheel input torque of the vehicle, and if the steering wheel input torque is greater than a preset torque threshold and continues to be greater than the preset time threshold, then reset the assisted driving status level to a preset level.

[0150] The activation control module 605 is used to control the activation of the emergency lane keeping function of the emergency lane keeping system according to the level of driver assistance status.

[0151] An emergency lane keeping activation device provided in this application embodiment can execute the technical solution described in any of the above method embodiments. Its principle and beneficial effects are similar, and will not be repeated here.

[0152] Please refer to Figure 7 Based on the same inventive concept, another embodiment of this application provides an electronic device. This electronic device includes a memory 701 and a processor 702. The memory 701 and the processor 702 communicate with each other via a communication bus 703.

[0153] Memory 701 is used to store code instructions.

[0154] The processor 702 is used to run code instructions that cause the electronic device to perform the emergency lane keeping activation method provided in the embodiments of this application.

[0155] The aforementioned communication bus 703 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 703 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned terminal and other devices. The memory 701 can include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory 701 can also be at least one storage device located remotely from the aforementioned processor 702.

[0156] The processor 702 mentioned above 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, or discrete hardware components.

[0157] Based on the same inventive concept, embodiments of this application also provide a vehicle that includes an emergency lane keeping activation device in any of the possible implementations described above.

[0158] Furthermore, to achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program that, when executed by a processor, implements the emergency lane keeping activation method provided in embodiments of this application.

[0159] Those skilled in the art will understand that embodiments of this application can be provided as methods, devices, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable vehicles (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0160] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (apparatus), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0161] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0163] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. "" and / or "" indicate that either one or both can be selected. Furthermore, the terms "includes," "contains," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the statement "includes a..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0164] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An emergency lane keeping activation method, characterized in that, include: Obtain the assisted driving status level corresponding to the emergency lane keeping system, and when the assisted driving status level meets the preset level requirements and the vehicle deviates, obtain the road environment information on the far side; The "farthest side" refers to the side of the road that the vehicle moves away from during its deviation. The risk level of the far side is determined based on the road environment information of the far side, and the triggering area of ​​the non-far side is determined based on the risk level of the far side; the non-far side refers to the road side that the vehicle approaches during the vehicle's deviation. When the vehicle intersects with the trigger area on the non-far side, the level of the assisted driving status will be raised by one level; Determine the relative position of the vehicle on the non-farth side, and if the relative position of the vehicle meets the preset positional relationship conditions, raise the assisted driving status level by one level; The activation of the emergency lane keeping function of the emergency lane keeping system is controlled according to the level of driver assistance status.

2. The emergency lane keeping activation method according to claim 1, characterized in that, Before determining the relative position of the vehicle on the non-farthest side, the method further includes: If the steering wheel input torque of the vehicle is obtained, and the steering wheel input torque is greater than a preset torque threshold and remains greater than the preset threshold for an extended period, the assisted driving status level is reset to the preset level.

3. The emergency lane keeping activation method according to claim 1, characterized in that, The acquisition of the assisted driving status level of the emergency lane keeping system includes: Initialize the driver assistance status level to zero; The system acquires the activation status of the emergency lane keeping system and the activation status of other vehicle driving assistance systems with a higher effectiveness level than the emergency lane keeping system; the activation status includes whether the function is enabled or disabled, and the activation status includes whether the function is activated or disabled. If the activation state is "function not enabled" and / or the activation state is "activated", the emergency lane keeping activation process ends. When the enabled state is "function enabled" and the activated state is "inactive", the assisted driving status level will be increased by one level. The vehicle's driving speed is obtained, and if the vehicle's driving speed does not meet the preset speed requirement, the assisted driving status level is not changed to obtain the assisted driving status level of the emergency lane keeping system. If the vehicle's speed meets the preset speed requirement, the assisted driving status level is increased by one level to obtain the assisted driving status level of the emergency lane keeping system.

4. The emergency lane keeping activation method according to claim 1, characterized in that, Determining the risk level of the far side based on the road environment information of the far side includes: The risk level on the far side is initialized to zero; The risk level is updated based on the road boundary information in the road environment information on the far side; the road environment information includes road boundary information and first other vehicle information. The risk level is updated based on the first other vehicle information in the road environment information on the far side.

5. The emergency lane keeping activation method according to claim 4, characterized in that, The step of updating the risk level based on the road boundary information in the road environment information on the far side includes: Based on the road boundary information in the road environment information on the far side, obtain the current lateral distance and the far-end pre-aiming lateral distance with the road boundary; If both the current lateral distance and the far-end pre-aiming lateral distance are less than the first distance threshold, the risk level will be increased by one level. If the lateral distance of the far-end pre-aiming is less than the current lateral distance and the lateral distance of the far-end pre-aiming is less than the second distance threshold, the risk level will be increased by one level.

6. The emergency lane keeping activation method according to claim 4, characterized in that, The step of updating the risk level based on the first other vehicle information in the road environment information on the far side includes: Based on the first other vehicle information in the road environment information on the far side, obtain the first relative lateral distance and the first relative longitudinal distance with the first other vehicle; Based on the first other vehicle information in the road environment information on the far side, obtain the first closest distance between the first other vehicle and the lane line on the far side; If the first relative lateral distance is less than the third distance threshold, the first relative longitudinal distance is less than the fourth distance threshold, and the first closest distance is less than the fifth distance threshold, the risk level will be raised by one level; Based on the information of the first other vehicle in the road environment information on the far side, obtain the first lateral movement speed of the first other vehicle toward the vehicle; If the first lateral movement speed is greater than the first speed threshold, the risk level will be increased by one level.

7. The emergency lane keeping activation method according to claim 4, characterized in that, The step of determining the triggering area on the non-farth side based on the risk level on the farthest side includes: Using the lane line on the non-farthest side as the center line, lines on both sides of the center line at a preset trigger distance are respectively determined as trigger area lines; If the risk level on the far side is less than a first preset level threshold, the trigger area line close to the vehicle is moved a preset fixed distance toward the lane line on the non-far side, and the area between the two trigger area lines is taken as the trigger area on the non-far side.

8. The emergency lane keeping activation method according to claim 7, characterized in that, Also includes: If the risk level on the far side is greater than or equal to the first preset level threshold, the triggering of the emergency lane keeping function is suppressed, and the emergency lane keeping activation process ends.

9. The emergency lane keeping activation method according to claim 1, characterized in that, Determining the relative position of the vehicle on the non-farthest side, and raising the assisted driving status level by one level when the relative position of the vehicles meets the preset positional relationship conditions, includes: Determine the relative position of the vehicle on the non-farthest side; the relative position of the vehicle includes a second lateral movement speed of the vehicle toward the second other vehicle on the non-farthest side, a second relative lateral distance, and a second relative longitudinal distance; If the second lateral movement speed is less than the second speed threshold, the second relative lateral distance is less than the sixth distance threshold, and the second relative longitudinal distance is less than the seventh distance threshold, the relative position of the vehicle is determined to meet the preset position relationship conditions, and the assisted driving state level is upgraded by one level.

10. An emergency lane keeping activation device, characterized in that, include: The information acquisition module is used to acquire the assisted driving status level of the emergency lane keeping system, and when the assisted driving status level meets the preset level requirements and the vehicle deviates, acquire road environment information on the far side. The "farthest side" refers to the direction opposite to the vehicle's deflection direction; The trigger area adjustment module is used to determine the risk level of the far side based on the road environment information of the far side, and to determine the trigger area of ​​the non-far side based on the risk level of the far side; the non-far side refers to the direction in which the vehicle deviates. The trigger determination module is used to raise the assisted driving status level by one level when the vehicle is located in the trigger area on the non-far side; The vehicle detection module is used to determine the relative position of the vehicle on the non-far side, and to raise the assisted driving status level by one level if the relative position of the vehicle meets the preset position relationship conditions. The activation control module is used to control the activation of the emergency lane keeping function of the emergency lane keeping system according to the assisted driving state level.

11. A vehicle, characterized in that, The vehicle includes the emergency lane keeping activation device as described in claim 10.

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