Safety improving method and device for vehicle emergency lane keeping

Abstract

The invention discloses a safety improvement method and device for vehicle emergency lane keeping, and relates to the technical field of driving assistance, and the method comprises the steps: monitoring a vehicle target in front of a vehicle based on a customized rectangular coordinate system, obtaining the transverse distance of the vehicle target, and obtaining the vehicle target; judging by combining the left lane line quality, the left road edge quality, the right lane line quality or the right road edge quality, calculating to obtain the transverse distance of the vehicle target projected to the corresponding side lane line, and further obtaining the transverse distance of the vehicle target to the corresponding side lane line; and judging whether the vehicle target is a dangerous target in front of the lane or not based on the vehicle target width, the vehicle target transverse distance, the transverse distance of the vehicle target projected to the corresponding side lane line and the transverse distance of the vehicle target to the corresponding side lane line. According to the method, the dangerous target is obtained based on conditions such as lane lines or road edges in front of the vehicle in cooperation with judgment logic, and a reliable data basis is provided for a subsequent ELK function to enter an alarm state.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, specifically to a method and device for improving the safety of emergency lane keeping in vehicles. Background Technology

[0002] Currently, the Emergency Lane Keeping (ELK) function actively corrects the vehicle's course to reduce the risk of collision with dangerous vehicles or the road edge when the driver unintentionally veers towards the edge of the road or enters an adjacent lane where there are oncoming or overtaking vehicles. However, given the complexity and diversity of different ELK scenarios, vehicles rarely consider the presence of dangerous targets ahead when the function is activated, directly causing safety issues with the ELK's corrective torque.

[0003] Therefore, in order to address the shortcomings of existing technologies and meet practical needs, a safety enhancement technology for vehicle emergency lane keeping is proposed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application aims to provide a method and device for improving the safety of emergency lane keeping in vehicles. This method overcomes the deficiencies of existing technologies by using conditions such as lane lines or road edges in front of the vehicle, along with pre-defined judgment logic, to filter and obtain dangerous targets in front of the lane, providing reliable data for the subsequent ELK function to enter the alarm state.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, this application provides a method for improving the safety of vehicle emergency lane keeping, the method comprising the following steps: Based on a preset custom rectangular coordinate system, the system monitors vehicle targets in front of its own vehicle, obtains the lateral distance of the vehicle targets, and combines the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge to make a judgment, calculates the lateral distance of the vehicle target projected onto the corresponding side lane line, and then obtains the lateral distance of the vehicle target to the corresponding side lane line. Based on the vehicle target width, the vehicle target lateral distance, the lateral distance of the vehicle target projected onto the corresponding side lane line, and the lateral distance of the vehicle target to the corresponding side lane line, it is determined whether the vehicle target is a dangerous target ahead in the lane; among which... In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

[0006] Based on the above technical solution, using a preset custom Cartesian coordinate system, the system monitors vehicle targets in front of the vehicle to obtain the lateral distance of the vehicle targets. This distance is then combined with the quality of the left lane line, the left road edge, the right lane line, or the right road edge to determine the lateral distance projected onto the corresponding side lane line. This process calculates the lateral distance from the vehicle target to the corresponding side lane line, and includes the following steps: When the lateral distance of the vehicle target is greater than 0 and the mass of the left lane line is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the left lane line curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is greater than 0 and the mass of the left road edge is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the curve of the left road edge and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is greater than 0, and the mass of the left lane line and the mass of the left road edge are both not greater than 0, then the value of the lateral distance from the vehicle target to the corresponding side lane line is 0; where, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0007] Based on the above technical solution, using a preset custom Cartesian coordinate system, the system monitors vehicle targets in front of the vehicle to obtain the lateral distance of the vehicle targets. This distance is then combined with the quality of the left lane line, the left road edge, the right lane line, or the right road edge to determine the lateral distance projected onto the corresponding side lane line. This process calculates the lateral distance from the vehicle target to the corresponding side lane line, and includes the following steps: When the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right lane line is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the right lane line curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right road edge is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the right road edge curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is less than or equal to 0, and the mass of the right lane line and the mass of the right road edge are both not greater than 0, then the value of the lateral distance from the vehicle target to the corresponding side lane line is 0; where, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0008] Based on the above technical solution, and considering the vehicle target width, the vehicle target lateral distance, the lateral distance of the vehicle target projection onto the corresponding side lane line, and the lateral distance of the vehicle target to the corresponding side lane line, the determination of whether the vehicle target is a dangerous target ahead in the lane includes the following steps: If the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have the same sign and the absolute value of the difference between the two is less than half the width of the vehicle target, or if the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have opposite signs and the absolute value of the lateral distance of the vehicle target is less than the preset custom first comparison parameter, then the vehicle target is determined to be a dangerous target ahead of the lane.

[0009] Based on the above technical solution, when the vehicle target is a dangerous target ahead in the lane, the method further includes the following steps: Obtain the longitudinal relative speed and longitudinal relative distance between your own vehicle and the target vehicle, and calculate the TTC between your own vehicle and the target vehicle. If the longitudinal relative distance is less than a preset longitudinal relative distance threshold and the TTC is less than a preset TTC threshold, then an emergency lane keeping warning is issued.

[0010] Secondly, this application provides a safety enhancement device for vehicle emergency lane keeping, the device comprising: The distance calculation module is used to monitor vehicle targets in front of the vehicle based on a preset custom rectangular coordinate system, obtain the lateral distance of the vehicle targets, and make a judgment by combining the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge, and calculate the lateral distance of the vehicle target projected onto the corresponding side lane line, thereby obtaining the lateral distance of the vehicle target to the corresponding side lane line. The hazard assessment module determines whether a vehicle target is a dangerous target ahead in its lane based on the vehicle target's width, lateral distance, lateral distance projected onto the corresponding side lane line, and lateral distance from the vehicle target to the corresponding side lane line. In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

[0011] Based on the above technical solution, the distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the left lane line curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is greater than 0 and the mass of the left lane line is greater than 0. The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the left road edge curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is greater than 0 and the mass of the left road edge is greater than 0. The distance calculation module is further configured to set the lateral distance from the vehicle target to the corresponding side lane line to 0 when the lateral distance of the vehicle target is greater than 0, and the mass of the left lane line and the mass of the left road edge are both not greater than 0; wherein, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0012] Based on the above technical solution, the distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the right lane line curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right lane line is greater than 0. The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the right road edge curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right road edge is greater than 0. The distance calculation module is further configured to set the lateral distance from the vehicle target to the corresponding side lane line to 0 when the lateral distance of the vehicle target is less than or equal to 0, and the mass of the right lane line and the mass of the right road edge are both not greater than 0; wherein, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0013] Based on the above technical solution, the hazard determination module is further configured to determine that the vehicle target is a dangerous target ahead of the lane when the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have the same sign and the absolute value of the difference between the two is less than half the width of the vehicle target, or the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have opposite signs and the absolute value of the lateral distance of the vehicle target is less than a preset custom first comparison parameter.

[0014] Based on the above technical solution, the device further includes: The lane keeping warning module is used to obtain the longitudinal relative speed and longitudinal relative distance between the vehicle and the target vehicle when the target vehicle is a dangerous target in front of the vehicle in the lane, calculate the TTC between the vehicle and the target vehicle, and issue an emergency lane keeping warning message if the longitudinal relative distance is less than a preset longitudinal relative distance threshold and the TTC is less than a preset TTC threshold.

[0015] Compared with the prior art, the advantages of this application are: This application overcomes the shortcomings of existing technologies by using conditions such as lane lines or road edges in front of the vehicle, along with set judgment logic, to filter out dangerous targets in front of the lane, providing reliable data for the ELK function to enter the alarm state. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0017] Figure 1 This is a schematic diagram of a dangerous target directly in front of the lane when the vehicle deviates to the left in the vehicle emergency lane keeping safety improvement method according to an embodiment of this application; Figure 2 This is a flowchart illustrating the process of obtaining the lateral distance from the vehicle target projection to the corresponding side lane line in the vehicle emergency lane keeping safety improvement method according to an embodiment of this application. Figure 3 This is a schematic diagram of a dangerous target directly in front of the lane when the vehicle deviates to the left in the vehicle emergency lane keeping safety improvement method according to an embodiment of this application; Figure 4This is a schematic diagram of a dangerous target directly in front of the lane when the vehicle deviates to the right in the vehicle emergency lane keeping safety improvement method according to an embodiment of this application; Figure 5 This is a flowchart illustrating the emergency lane keeping alarm state strategy in the vehicle emergency lane keeping safety enhancement method according to an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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.

[0019] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0020] This application provides a method and apparatus for improving the safety of emergency lane keeping in vehicles, overcoming the shortcomings of the prior art. Based on conditions such as lane lines or road edges in front of the vehicle, and in conjunction with set judgment logic, dangerous targets in front of the lane are screened and obtained, providing reliable data for the subsequent ELK function to enter the alarm state.

[0021] To achieve the aforementioned technical effects, the overall concept of this application is as follows: A method for improving the safety of vehicle emergency lane keeping, the method comprising the following steps: S1. Based on a preset custom rectangular coordinate system, monitor the vehicle target in front of the vehicle, obtain the lateral distance of the vehicle target, and make a judgment by combining the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge, and calculate the lateral distance of the vehicle target projected to the corresponding side lane line, thereby obtaining the lateral distance of the vehicle target to the corresponding side lane line. S2. Based on the vehicle target width, the vehicle target lateral distance, the lateral distance of the vehicle target projection to the corresponding side lane line, and the lateral distance of the vehicle target to the corresponding side lane line, determine whether the vehicle target is a dangerous target ahead in the lane; whereby... In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0023] Firstly, see [the following] Figures 1-5 As shown in the figure, this application provides a method for improving the safety of vehicle emergency lane keeping, which includes the following steps: S1. Based on a preset custom rectangular coordinate system, monitor the vehicle target in front of the vehicle, obtain the lateral distance of the vehicle target, and make a judgment by combining the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge, and calculate the lateral distance of the vehicle target projected to the corresponding side lane line, thereby obtaining the lateral distance of the vehicle target to the corresponding side lane line. S2. Based on the vehicle target width, the vehicle target lateral distance, the lateral distance of the vehicle target projection to the corresponding side lane line, and the lateral distance of the vehicle target to the corresponding side lane line, determine whether the vehicle target is a dangerous target ahead in the lane; whereby... In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

[0024] It should be noted that the Emergency Lane Keeping (ELK) function actively corrects the vehicle's direction when the driver unintentionally veers towards the edge of the road or enters an adjacent lane where there are oncoming or overtaking vehicles. This reduces the risk of collision between the vehicle and dangerous vehicles or road edges. Given the complexity and diversity of different ELK scenarios, vehicles rarely consider the presence of dangerous targets ahead when ELK is activated, directly triggering the corrective torque, raising safety concerns. The technical solution of this application, while fully considering different ELK scenarios, uses lane lines or road edges ahead to filter out dangerous targets. Based on these selected targets, certain logical judgment conditions are set to activate an alarm state (warning state, i.e., only an alarm is triggered upon activation, without triggering corrective torque) when ELK is activated. This significantly reduces the risk of collision between the vehicle and dangerous targets or road edges while further improving the safety of the emergency lane keeping function. The core technology of the method for improving the safety of emergency lane keeping proposed in this application is: First, in response to the complexity and diversity of different scenarios of ELK function, an alarm state (i.e., warning state) is proposed when ELK is activated. When the vehicle ELK is activated, it enters the warning state. When activated, the ELK function only issues an alarm and does not issue a corrective torque. This is beneficial to improve the safety of emergency lane keeping function and to reduce the risk of collision between the vehicle and dangerous targets in adjacent lanes or road edges. Secondly, considering different ELK scenarios, dangerous targets ahead of the lane can be screened using lane lines or road edges, and certain logical judgment conditions can be set based on the screened dangerous targets ahead to put the ELK function into an alarm state (i.e., warning state), which further improves the safety of emergency lane keeping and has high practical value.

[0025] In this embodiment, the shortcomings of the prior art are overcome. Based on conditions such as the lane line or road edge in front of the vehicle, and with the set judgment logic, dangerous targets in front of the lane are screened and obtained, providing reliable data basis for the ELK function to enter the alarm state.

[0026] Furthermore, based on a preset custom Cartesian coordinate system, the system monitors vehicle targets in front of its own vehicle, obtains the lateral distance of the vehicle targets, and combines the quality of the left lane line, the left road edge, the right lane line, or the right road edge to make a judgment, calculates the lateral distance of the vehicle target projected onto the corresponding side lane line, and thus obtains the lateral distance of the vehicle target to the corresponding side lane line, including the following steps: When the lateral distance of the vehicle target is greater than 0 and the mass of the left lane line is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the left lane line curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is greater than 0 and the mass of the left road edge is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the curve of the left road edge and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is greater than 0, and the mass of the left lane line and the mass of the left road edge are both not greater than 0, then the value of the lateral distance from the vehicle target to the corresponding side lane line is 0; where, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0027] Furthermore, based on a preset custom Cartesian coordinate system, the system monitors vehicle targets in front of its own vehicle, obtains the lateral distance of the vehicle targets, and combines the quality of the left lane line, the left road edge, the right lane line, or the right road edge to make a judgment, calculates the lateral distance of the vehicle target projected onto the corresponding side lane line, and thus obtains the lateral distance of the vehicle target to the corresponding side lane line, including the following steps: When the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right lane line is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the right lane line curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right road edge is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the right road edge curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is less than or equal to 0, and the mass of the right lane line and the mass of the right road edge are both not greater than 0, then the value of the lateral distance from the vehicle target to the corresponding side lane line is 0; where, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0028] Furthermore, based on the vehicle target width, vehicle target lateral distance, vehicle target projection lateral distance to the corresponding side lane line, and vehicle target lateral distance to the corresponding side lane line, it is determined whether the vehicle target is a dangerous target ahead in the lane, including the following steps: If the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have the same sign and the absolute value of the difference between the two is less than half the width of the vehicle target, or if the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have opposite signs and the absolute value of the lateral distance of the vehicle target is less than the preset custom first comparison parameter, then the vehicle target is determined to be a dangerous target ahead of the lane.

[0029] Furthermore, when the vehicle target is a dangerous target ahead in the lane, the method further includes the following steps: Obtain the longitudinal relative speed and longitudinal relative distance between your own vehicle and the target vehicle, and calculate the TTC between your own vehicle and the target vehicle. If the longitudinal relative distance is less than a preset longitudinal relative distance threshold and the TTC is less than a preset TTC threshold, then an emergency lane keeping warning is issued.

[0030] The core idea of ​​the technical solution in this application is as follows: First, fully utilize the lane markings or road edges ahead to identify dangerous targets in front of the vehicle. Second, based on the identified dangerous targets, set certain logical judgment conditions to put the ELK function into a warning state (i.e., a warning signal), only issuing an alarm without activating the corrective torque. (See the attached diagram in the instruction manual.) Figure 1 As shown, taking the example of a vehicle deviating from the left lane line or curb, the targets directly in front of the vehicle numbered ①, ②, and ③ could all be considered dangerous targets in front of the vehicle in the lane ahead.

[0031] In specific implementation, the technical solution based on the embodiments of this application is as follows: 1. Screening for dangerous targets directly ahead of the lane (1) The lateral distance from the vehicle target projection onto the lane line in the vehicle coordinate system: Road_lat_position As shown in the attached diagram of the instruction manual. Figure 2 As shown, when the lateral distance from the vehicle target is greater than 0, the lateral distance from the vehicle target to the lane line, Road_lat_position, is calculated as follows: 1) If the LaneLeft_Quality of the left lane line is greater than 0, then the lateral distance of the vehicle target projected onto the lane line is Road_lat_position: (1) Where c0_lane_left is the coefficient c0 of the left lane line curve, c1_lane_left is the coefficient c1 of the left lane line curve, c2_lane_left is the coefficient c2 of the left lane line curve, c3_lane_left is the coefficient c3 of the left lane line curve, and obslist_x is the longitudinal distance of the vehicle target.

[0032] 2) If the EdgeLeft_Quality of the left road edge is greater than 0, then the lateral distance of the vehicle target projected onto the lane line is Road_lat_position: (2) Where c0_roadedge_left is the coefficient c0 of the left road edge curve, c1_roadedge_left is the coefficient c1 of the left road edge curve, c2_roadedge_left is the coefficient c2 of the left road edge curve, c3_roadedge_left is the coefficient c3 of the left road edge curve, and obslist_x is the longitudinal distance of the vehicle target.

[0033] Otherwise, the lateral distance of the vehicle target projected onto the lane line is Road_lat_position: (3) When the lateral distance of the vehicle target is less than or equal to 0, the lateral distance Road_lat_position projected onto the lane line by the vehicle target is calculated as follows: 1) If the LaneRight_Quality of the right lane line is greater than 0, then the lateral distance of the vehicle target projected onto the lane line is Road_lat_position: (4) Where c0_lane_right is the coefficient c0 of the right lane line curve, c1_lane_right is the coefficient c1 of the right lane line curve, c2_lane_right is the coefficient c2 of the right lane line curve, c3_lane_right is the coefficient c3 of the right lane line curve, and obslist_x is the longitudinal distance of the vehicle target.

[0034] 2) If the right-hand road edge quality (EdgeRight_Quality) is greater than 0, then the lateral distance (Road_lat_position) from the vehicle target projection onto the lane line is: (5) Where c0_roadedge_right is the coefficient c0 of the right-hand road edge curve, c1_roadedge_right is the coefficient c1 of the right-hand road edge curve, c2_roadedge_right is the coefficient c2 of the right-hand road edge curve, c3_roadedge_right is the coefficient c3 of the right-hand road edge curve, and obslist_x is the longitudinal distance of the vehicle target.

[0035] Otherwise, the lateral distance of the vehicle target projected onto the lane line is Road_lat_position: (6) (2) Obtain the lateral distance from the vehicle target to the lane line in the vehicle coordinate system: Road_lat_position The lateral distance Road_lat_position from the vehicle target projection onto the lane line obtained from equations (1), (2), (3), (4), (5), and (6) can be used to calculate the lateral distance Road_lat_position_diff from the vehicle target to the lane line in the vehicle coordinate system: (7) Where obslist_y is the lateral distance of the vehicle target.

[0036] As shown in the attached diagram of the instruction manual. Figure 1 and 3 As shown, assuming the three black dots in the diagram are A, B, and C respectively, the length of obslist_y is the distance between A and C, the length of Road_lat_position_diff is the distance between A and B, and the length of Road_lat_position is the distance between B and C; by Figure 4 For example, suppose the three black dots in the figure are A, B, and C respectively, the length of obslist_y is the distance between A and C, the length of Road_lat_position is the distance between A and B, and the length of Road_lat_position_diff is the distance between B and C.

[0037] (3) Dangerous targets directly in front of the lane obtained through screening: As shown in the attached diagram of the instruction manual. Figure 3 and Figure 4 As shown, both diagrams illustrate dangerous targets directly in front of the lane when the vehicle deviates to the left and right, respectively. When the vehicle deviates to the left or right, based on the lateral distance Road_lat_position of the vehicle target projected onto the lane line and the lateral distance Road_lat_position_diff of the vehicle target in the vehicle coordinate system calculated above, the filtering strategy can be formulated as follows: (8) Where, obslist_width is the width of the vehicle target. That is, when the lateral distance of the vehicle target projected onto the lane line, Road_lat_position, and the lateral distance of the vehicle target to the lane line in the vehicle coordinate system, Road_lat_position_diff, have the same sign and the absolute value of the difference between the two is less than half the target vehicle width, obslist_width; or when the lateral distance of the vehicle target projected onto the lane line, Road_lat_position, and the lateral distance of the vehicle target to the lane line in the vehicle coordinate system, Road_lat_position_diff, have opposite signs and the absolute value of the lateral distance of the vehicle target is less than the parameter elk_warn_lat_dist_threh, with an initial value set to 3.6m, a dangerous target in front of the lane can be initially obtained.

[0038] 2. Development of strategies for maintaining emergency lane status and entering alarm mode. Obtain the longitudinal relative velocity (relative_velocity) between the vehicle and the target vehicle in front: (9) Wherein, ego_speed_actuator_mps is the chassis speed of the vehicle (in m / s), and obslist_vx is the longitudinal speed of the target vehicle.

[0039] Obtain the longitudinal relative distance (relative_lon_distance) between the vehicle and the target vehicle in front: (10) Where, obslist_x is the longitudinal distance of the target vehicle, obslist_length is the length of the target vehicle, front_bump_to_front_axle_m is the distance from the front overhang to the front axle (in meters), and vehicle_wheel_base_m represents the wheelbase of the vehicle (in meters).

[0040] The TTC of the collision between the vehicle and the target in front can be calculated using equations (9) and (10): (11) Here, obslist_TTC is the time to collision between the vehicle and the target in front (in seconds).

[0041] As shown in the attached diagram of the instruction manual. Figure 5As shown in the flowchart, the emergency lane keeping strategy enters the warning state when a dangerous target is detected in the lane ahead and the longitudinal relative distance between the vehicle and the target vehicle is less than the parameter value elk_lateral_dist_max_thres (initial value set to 10.0m), or the TTC value of the collision between the vehicle and the target vehicle ahead is less than the parameter value elk_lon_ttc_max_thres (initial value set to 2.0s), the emergency lane keeping enters the warning state (i.e., warning state), only issuing an alarm and not issuing a corrective torque.

[0042] In summary, due to the complexity and diversity of different ELK (Emergency Lane Keeping) scenarios, the safety of vehicles is further considered when the function is activated, taking into account the presence of dangerous targets in front of the vehicle. This solution, while fully considering different ELK scenarios, utilizes lane lines or road edges in front of the vehicle to filter out dangerous targets. Based on the filtered dangerous targets, certain logical judgment conditions are set to cause the ELK function to enter an alarm state (warning state, i.e., only an alarm is triggered upon activation, without issuing corrective torque) when activated. This significantly reduces the risk of collision between the vehicle and dangerous targets in adjacent lanes or road edges. This paper proposes a method to improve the safety of vehicle emergency lane keeping. (1) When the vehicle is unconsciously veering toward the target in the adjacent lane or the edge of the road, the safety of whether there is a dangerous target in front of the lane when the function is activated should be fully considered. It is proposed that when the vehicle is activated, it enters a warning state, that is, the ELK function only alarms and does not issue a corrective torque. This is conducive to improving the safety of the emergency lane keeping function, reducing the driver's panic, and also helps to reduce the risk of collision between the vehicle and the dangerous target in the adjacent lane or the edge of the road. (2) Considering different ELK scenarios, dangerous targets in the lane ahead can be screened out by using lane lines or road edges in front of the lane. Based on the screened dangerous targets, corresponding logical judgment conditions are set to make the ELK function enter the alarm state (i.e., warning state), which further improves the safety of emergency lane keeping and has high practical value.

[0043] Secondly, embodiments of this application provide a safety enhancement device for vehicle emergency lane keeping, the device comprising: The distance calculation module is used to monitor vehicle targets in front of the vehicle based on a preset custom rectangular coordinate system, obtain the lateral distance of the vehicle targets, and make a judgment by combining the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge, and calculate the lateral distance of the vehicle target projected onto the corresponding side lane line, thereby obtaining the lateral distance of the vehicle target to the corresponding side lane line. The hazard assessment module determines whether a vehicle target is a dangerous target ahead in its lane based on the vehicle target's width, lateral distance, lateral distance projected onto the corresponding side lane line, and lateral distance from the vehicle target to the corresponding side lane line. In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

[0044] In this embodiment, the shortcomings of the prior art are overcome. Based on conditions such as the lane line or road edge in front of the vehicle, and with the set judgment logic, dangerous targets in front of the lane are screened and obtained, providing reliable data basis for the ELK function to enter the alarm state.

[0045] Furthermore, the distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the left lane line curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is greater than 0 and the mass of the left lane line is greater than 0. The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the left road edge curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is greater than 0 and the mass of the left road edge is greater than 0. The distance calculation module is further configured to set the lateral distance from the vehicle target to the corresponding side lane line to 0 when the lateral distance of the vehicle target is greater than 0, and the mass of the left lane line and the mass of the left road edge are both not greater than 0; wherein, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0046] Furthermore, the distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the right lane line curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right lane line is greater than 0. The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the right road edge curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right road edge is greater than 0. The distance calculation module is further configured to set the lateral distance from the vehicle target to the corresponding side lane line to 0 when the lateral distance of the vehicle target is less than or equal to 0, and the mass of the right lane line and the mass of the right road edge are both not greater than 0; wherein, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

[0047] Furthermore, the hazard determination module is also used to determine that the vehicle target is a dangerous target in front of the lane when the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have the same sign and the absolute value of the difference between the two is less than half the width of the vehicle target, or the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have opposite signs and the absolute value of the lateral distance of the vehicle target is less than a preset custom first comparison parameter.

[0048] Furthermore, the device also includes: The lane keeping warning module is used to obtain the longitudinal relative speed and longitudinal relative distance between the vehicle and the target vehicle when the target vehicle is a dangerous target in front of the vehicle in the lane, calculate the TTC between the vehicle and the target vehicle, and issue an emergency lane keeping warning message if the longitudinal relative distance is less than a preset longitudinal relative distance threshold and the TTC is less than a preset TTC threshold.

[0049] In summary, the vehicle emergency lane keeping safety enhancement device provided in this application embodiment has the same technical principle as the vehicle emergency lane keeping safety enhancement method provided in the first aspect in terms of technical problems, technical solutions and technical effects, so it will not be described in detail here.

[0050] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the system or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0051] It should be noted that in this application, relational terms such as "first" and "second" are used merely 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. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for improving the safety of emergency lane keeping in vehicles, characterized in that, The method includes the following steps: Based on a preset custom rectangular coordinate system, the system monitors vehicle targets in front of its own vehicle, obtains the lateral distance of the vehicle targets, and combines the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge to make a judgment, calculates the lateral distance of the vehicle target projected onto the corresponding side lane line, and then obtains the lateral distance of the vehicle target to the corresponding side lane line. Based on the vehicle target width, the vehicle target lateral distance, the lateral distance of the vehicle target projected onto the corresponding side lane line, and the lateral distance of the vehicle target to the corresponding side lane line, it is determined whether the vehicle target is a dangerous target ahead in the lane; among which... In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

2. The method for improving the safety of vehicle emergency lane keeping as described in claim 1, characterized in that, Based on a preset custom Cartesian coordinate system, the system monitors vehicle targets in front of its own vehicle, obtains the lateral distance of the vehicle targets, and combines the quality of the left lane line, the left road edge, the right lane line, or the right road edge to make a judgment, calculates the lateral distance of the vehicle target projected onto the corresponding side lane line, and thus obtains the lateral distance from the vehicle target to the corresponding side lane line, including the following steps: When the lateral distance of the vehicle target is greater than 0 and the mass of the left lane line is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the left lane line curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is greater than 0 and the mass of the left road edge is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the curve of the left road edge and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is greater than 0, and the mass of the left lane line and the mass of the left road edge are both not greater than 0, then the value of the lateral distance from the vehicle target to the corresponding side lane line is 0; where, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

3. The method for improving the safety of vehicle emergency lane keeping as described in claim 1, characterized in that, Based on a preset custom Cartesian coordinate system, the system monitors vehicle targets in front of its own vehicle, obtains the lateral distance of the vehicle targets, and combines the quality of the left lane line, the left road edge, the right lane line, or the right road edge to make a judgment, calculates the lateral distance of the vehicle target projected onto the corresponding side lane line, and thus obtains the lateral distance from the vehicle target to the corresponding side lane line, including the following steps: When the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right lane line is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the right lane line curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right road edge is greater than 0, the lateral distance from the vehicle target to the corresponding side lane line is calculated based on the coefficient of the right road edge curve and the longitudinal distance of the vehicle target. When the lateral distance of the vehicle target is less than or equal to 0, and the mass of the right lane line and the mass of the right road edge are both not greater than 0, then the value of the lateral distance from the vehicle target to the corresponding side lane line is 0; where, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

4. The method for improving the safety of vehicle emergency lane keeping as described in claim 1, characterized in that, Based on the target vehicle width, the target vehicle lateral distance, the target vehicle projection lateral distance to the corresponding side lane line, and the target vehicle distance to the corresponding side lane line, determine whether the target vehicle is a dangerous target ahead in the lane, including the following steps: If the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have the same sign and the absolute value of the difference between the two is less than half the width of the vehicle target, or if the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have opposite signs and the absolute value of the lateral distance of the vehicle target is less than the preset custom first comparison parameter, then the vehicle target is determined to be a dangerous target ahead of the lane.

5. The method for improving the safety of vehicle emergency lane keeping as described in claim 1, characterized in that, When the vehicle's target is a dangerous target ahead in its lane, the method further includes the following steps: Obtain the longitudinal relative speed and longitudinal relative distance between your own vehicle and the target vehicle, and calculate the TTC between your own vehicle and the target vehicle. If the longitudinal relative distance is less than a preset longitudinal relative distance threshold and the TTC is less than a preset TTC threshold, then an emergency lane keeping warning is issued.

6. A safety enhancement device for vehicle emergency lane keeping, characterized in that, The device includes: The distance calculation module is used to monitor vehicle targets in front of the vehicle based on a preset custom rectangular coordinate system, obtain the lateral distance of the vehicle targets, and make a judgment by combining the quality of the left lane line, the quality of the left road edge, the quality of the right lane line or the quality of the right road edge, and calculate the lateral distance of the vehicle target projected onto the corresponding side lane line, thereby obtaining the lateral distance of the vehicle target to the corresponding side lane line. The hazard assessment module determines whether a vehicle target is a dangerous target ahead in its lane based on the vehicle target's width, lateral distance, lateral distance projected onto the corresponding side lane line, and lateral distance from the vehicle target to the corresponding side lane line. In the custom rectangular coordinate system, the X-axis is parallel to the length of the vehicle body, and the positive direction of the X-axis is from the rear of the vehicle body to the body. The Y-axis is parallel to the width of the vehicle body, and the positive direction of the Y-axis is from the right side of the vehicle to the left side. Draw a first dashed line perpendicular to the X-axis from the midpoint of the rear of the vehicle target. The intersections of the first dashed line with the corresponding side lane line and the X-axis are recorded as the lane line intersection and the X-axis intersection, respectively. The distance from the midpoint of the rear of the vehicle target to the intersection of the X-axis is the lateral distance of the vehicle target; The distance from the intersection of the lane lines to the intersection of the X-axis is the lateral distance of the vehicle target projection onto the corresponding side lane line; The distance from the midpoint of the rear of the vehicle target to the intersection of the lane lines is the lateral distance from the vehicle target to the corresponding side lane line.

7. The safety enhancement device for vehicle emergency lane keeping as described in claim 6, characterized in that: The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the left lane line curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is greater than 0 and the mass of the left lane line is greater than 0. The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the left road edge curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is greater than 0 and the mass of the left road edge is greater than 0. The distance calculation module is further configured to set the lateral distance from the vehicle target to the corresponding side lane line to 0 when the lateral distance of the vehicle target is greater than 0, and the mass of the left lane line and the mass of the left road edge are both not greater than 0; wherein, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

8. The safety enhancement device for vehicle emergency lane keeping as described in claim 6, characterized in that: The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the right lane line curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right lane line is greater than 0. The distance calculation module is also used to calculate the lateral distance from the vehicle target to the corresponding side lane line based on the coefficient of the right road edge curve and the longitudinal distance of the vehicle target when the lateral distance of the vehicle target is less than or equal to 0 and the mass of the right road edge is greater than 0. The distance calculation module is further configured to set the lateral distance from the vehicle target to the corresponding side lane line to 0 when the lateral distance of the vehicle target is less than or equal to 0, and the mass of the right lane line and the mass of the right road edge are both not greater than 0; wherein, Draw a second dashed line perpendicular to the Y-axis from the midpoint of the vehicle's rear end. The intersection of the second dashed line and the Y-axis is called the Y-axis intersection point. The distance between the midpoint of the vehicle's rear end and the Y-axis intersection point is the longitudinal distance of the vehicle.

9. The safety enhancement device for vehicle emergency lane keeping as described in claim 6, characterized in that: The hazard determination module is further configured to determine that the vehicle target is a dangerous target ahead of the lane when the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have the same sign and the absolute value of the difference between the two is less than half the width of the vehicle target, or when the lateral distance of the vehicle target projected onto the corresponding side lane line and the lateral distance of the vehicle target to the corresponding side lane line have opposite signs and the absolute value of the lateral distance of the vehicle target is less than a preset custom first comparison parameter.

10. The vehicle emergency lane keeping safety enhancement device as described in claim 6, characterized in that, The device further includes: The lane keeping warning module is used to obtain the longitudinal relative speed and longitudinal relative distance between the vehicle and the target vehicle when the target vehicle is a dangerous target in front of the vehicle in the lane, calculate the TTC between the vehicle and the target vehicle, and issue an emergency lane keeping warning message if the longitudinal relative distance is less than a preset longitudinal relative distance threshold and the TTC is less than a preset TTC threshold.

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