Lane departure suppression method, system, vehicle, and device for a vehicle

Abstract

The application discloses a lane departure suppression method, system, vehicle and equipment of a vehicle. The lane departure suppression method of the vehicle comprises the following steps: acquiring the vehicle speed, lane curvature and lateral position deviation of the vehicle relative to the lane center; judging whether the lane departure is caused unconsciously according to the lateral position deviation; if yes, generating a reference trajectory for returning the vehicle to the lane center according to the vehicle speed and the lane curvature; calculating the lateral control amount and the longitudinal control amount of the vehicle according to the reference trajectory and the vehicle state data in combination with a preset dynamic prediction model; and performing lane departure suppression control on the vehicle according to the lateral control amount and the longitudinal control amount. According to the application, the reference trajectory for returning the vehicle to the lane center can be generated after the lane departure caused unconsciously is judged, and the optimal lateral control amount and the longitudinal control amount can be solved in combination with the dynamic prediction model, so that the lane departure suppression control can be performed on the vehicle while the driving stability of the vehicle is ensured.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a method, system, vehicle, and device for lane departure suppression. Background Technology

[0002] Semi-trailer tractors, as the main vehicle type for highway logistics transportation, have an articulated structure of "tractor-trailer". Existing lane keeping assist systems mainly rely on lateral control methods, such as applying auxiliary steering torque or directly intervening in the steering system to correct the vehicle trajectory. However, existing technologies only use lateral control methods and do not consider the dynamic coupling relationship between the tractor and trailer. Under extreme conditions such as strong crosswinds, low-friction road surfaces, or sharp deviations caused by severe driver distraction, the vehicle's tire force is often close to saturation. At this time, relying solely on lateral steering control may not be able to provide sufficient lateral force to safely correct the trajectory, and may even disrupt the dynamic coupling balance between the tractor and trailer, inducing lateral swaying of the trailer, making it difficult to guarantee the stability of the entire articulated vehicle. Summary of the Invention

[0003] Based on this, the present invention provides a method, system, vehicle and device for lane departure suppression of a vehicle. After determining that an unintentional lane departure has occurred, a reference trajectory for returning to the center of the lane is generated, and the optimal lateral and longitudinal control quantities are solved by combining a dynamic prediction model, thereby suppressing lane departure of the vehicle while ensuring the vehicle's driving stability.

[0004] Firstly, a method for suppressing lane departure of a vehicle is provided, comprising: The vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the center of the lane are obtained. Based on the lateral position deviation, determine whether unintentional lane departure has occurred; If so, a reference trajectory is generated based on the vehicle speed and lane curvature to return the vehicle to the center of the lane; Based on the reference trajectory and vehicle state data, and combined with the preset dynamic prediction model, the lateral control quantity and longitudinal control quantity of the vehicle are calculated. Based on the lateral control and longitudinal control quantities, lane departure suppression control is performed on the vehicle.

[0005] Furthermore, determining whether unintentional lane departure has occurred based on the lateral position deviation includes: If the lateral position deviation is greater than the first deviation threshold, and the rate of change of the lateral position deviation is greater than the rate of change threshold, and the turn signal in the direction of vehicle deviation is not activated, then an unintentional lane departure is determined to have occurred. If the lateral position deviation is greater than the second deviation threshold, then an unintentional lane departure is determined to have occurred, wherein the first deviation threshold is less than the second deviation threshold.

[0006] Further, generating a reference trajectory that returns the vehicle to the center of the lane based on the vehicle speed and lane curvature includes: Based on the vehicle speed and lane curvature, the trajectory calculation coefficients are obtained; Based on the trajectory calculation coefficients, a relationship function between the vehicle's position and travel time is established as the reference trajectory.

[0007] Further, before calculating the lateral and longitudinal control quantities of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, the following steps are included: Acquire vehicle status data, which includes the vehicle's heading angle deviation, yaw rate, articulation angle between the tractor and trailer, tractor mass, trailer mass, tractor moment of inertia, trailer moment of inertia, distance from the tractor's center of gravity to the front axle, distance from the tractor's center of gravity to the rear axle, distance from the tractor-trailer articulation point to the tractor's rear axle, distance from the tractor-trailer articulation point to the trailer's center of gravity, tractor tire lateral stiffness, and trailer tire lateral stiffness. Based on the vehicle state data, a dynamic prediction model for the vehicle is established.

[0008] Further, the step of calculating the lateral and longitudinal control quantities of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, includes: Based on the reference trajectory, vehicle state data, and a preset dynamic prediction model, the vehicle's state deviation function and control cost function are obtained. Based on the state deviation function and the control cost function, the overall objective function is obtained; Solving the overall objective function yields the lateral and longitudinal control variables of the vehicle.

[0009] Furthermore, solving the overall objective function to obtain the lateral and longitudinal control variables of the vehicle includes: Define the variable constraints for the overall objective function; Based on the aforementioned variable constraints, the overall objective function is solved using dynamic programming to obtain the optimal lateral and longitudinal control variables.

[0010] Further, the step of performing lane departure suppression control on the vehicle based on the lateral control amount and the longitudinal control amount includes: The wheel angle of the vehicle is controlled according to the lateral control amount. The longitudinal control quantity is used to control the distribution of driving force and braking force to the wheels of the vehicle.

[0011] Secondly, a lane departure mitigation system for a vehicle is provided, comprising: The acquisition module is used to acquire the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the center of the lane. The judgment module is used to determine whether unintentional lane departure has occurred based on the lateral position deviation. The generation module is used to generate a reference trajectory that returns the vehicle to the center of the lane based on the vehicle speed and lane curvature. The calculation module is used to calculate the lateral control quantity and longitudinal control quantity of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model. The control module is used to perform lane departure suppression control on the vehicle based on the lateral control quantity and the longitudinal control quantity.

[0012] Thirdly, a vehicle is provided, comprising: a lane departure suppression system for the vehicle according to the second aspect described above.

[0013] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the lane departure suppression method for a vehicle according to the first aspect described above.

[0014] The embodiments of this application first acquire the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the lane center. Then, based on the lateral position deviation, it is determined whether unintentional lane departure has occurred. If so, a reference trajectory for returning the vehicle to the lane center is generated based on the vehicle speed and lane curvature. Next, based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, the lateral and longitudinal control quantities of the vehicle are calculated. Finally, lane departure suppression control is applied to the vehicle based on the lateral and longitudinal control quantities. Therefore, after determining that unintentional lane departure has occurred, a reference trajectory for returning to the lane center can be generated, and the optimal lateral and longitudinal control quantities can be solved using the dynamic prediction model, thereby ensuring vehicle driving stability while performing lane departure suppression control. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart of a lane departure suppression method for vehicles provided in this application embodiment; Figure 2An overall architecture diagram provided for embodiments of this application; Figure 3 A schematic diagram of the dynamic model provided in the embodiments of this application; Figure 4 A flowchart for solving the objective function provided in this application embodiment; Figure 5 This is a structural block diagram of a lane departure suppression system for a vehicle provided in an embodiment of this application; Figure 6 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0016] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0017] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] The following describes in detail, with reference to the accompanying drawings, a method, system, vehicle, and device for lane departure suppression of a vehicle according to embodiments of this application.

[0019] Before describing the lane departure suppression method for a vehicle according to an embodiment of the present invention, the vehicle is first described. In the embodiments of the present invention, the vehicle is a semi-trailer tractor, including a tractor and a trailer.

[0020] Figure 1 This is a flowchart of a lane departure suppression method for a vehicle according to an embodiment of this application. Figure 1 As shown, and in combination Figure 2 The lane departure suppression method for a vehicle according to one embodiment of this application includes the following steps: S101: Obtain the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the center of the lane.

[0021] Among them, the vehicle speed is measured by the inertial measurement unit; the lane curvature and the lateral position deviation of the vehicle relative to the center of the lane are measured by the vehicle's forward-looking camera and / or lane line recognition radar.

[0022] S102: Based on the lateral position deviation, determine whether unintentional lane departure has occurred.

[0023] In one embodiment of this application, determining whether unintentional lane departure has occurred based on the lateral position deviation includes: if the lateral position deviation is greater than a first deviation threshold, and the rate of change of the lateral position deviation is greater than a rate of change threshold, and the turn signal in the direction of vehicle deviation is not activated, then an unintentional lane departure is determined to have occurred; if the lateral position deviation is greater than a second deviation threshold, then an unintentional lane departure is determined to have occurred, wherein the first deviation threshold is less than the second deviation threshold. In a specific example, the first deviation threshold is set to 0.3m and the second deviation threshold is set to 0.5m, but other thresholds can also be set according to experience or actual needs.

[0024] In addition, if the current driving status of the vehicle does not fall under the above circumstances, it is considered as normal driving or the driver intentionally changing lanes, and the system will not intervene.

[0025] S103: If so, then based on the vehicle speed and lane curvature, generate a reference trajectory that returns the vehicle to the center of the lane.

[0026] In one embodiment of this application, generating a reference trajectory that returns the vehicle to the center of the lane based on the vehicle speed and lane curvature includes: obtaining trajectory calculation coefficients based on the vehicle speed and lane curvature; and establishing a relationship function between the vehicle's position and travel time based on the trajectory calculation coefficients as the reference trajectory.

[0027] The reference trajectory is described using a fifth-order polynomial, as shown in Equation 1: (1) in, t The time it takes for the vehicle to return to the center of the lane based on the reference trajectory; Location of the vehicle; The trajectory calculation coefficients are obtained by using boundary conditions consisting of vehicle speed and lane curvature, i.e., the current vehicle state and the desired vehicle terminal state.

[0028] S104: Based on the reference trajectory and vehicle state data, and combined with the preset dynamic prediction model, calculate the lateral control quantity and longitudinal control quantity of the vehicle.

[0029] In one embodiment of this application, before calculating the lateral and longitudinal control quantities of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, the process includes: acquiring vehicle state data, wherein the vehicle state data includes the vehicle's heading angle deviation, yaw rate, articulation angle between the tractor and trailer, tractor mass, trailer mass, tractor moment of inertia, trailer moment of inertia, distance from the tractor's center of gravity to the front axle, distance from the tractor's center of gravity to the rear axle, distance from the articulation point between the tractor and trailer to the tractor's rear axle, distance from the articulation point between the tractor and trailer to the trailer's center of gravity, tractor tire lateral stiffness, and trailer tire lateral stiffness; and establishing a vehicle dynamic prediction model based on the vehicle state data.

[0030] Specifically, such as Figure 3 As shown, a three-degree-of-freedom linear time-varying model that can accurately reflect the main lateral and yaw characteristics of a semi-trailer is established as the vehicle's dynamic prediction model. This model includes the lateral motion of the tractor, the yaw motion of the tractor, and the yaw motion of the trailer. The yaw motion of the trailer is manifested as the motion of the hinge angle. The specific state-space equations are expressed as shown in Equation 2: (2) in, For vehicle speed; A and B The system matrix consists of specific elements determined by vehicle state data, including: tractor mass, trailer mass, tractor moment of inertia, trailer moment of inertia, distance from tractor center of gravity to front axle, distance from tractor center of gravity to rear axle, distance from the tractor-trailer articulation point to the tractor rear axle, distance from the tractor-trailer articulation point to the trailer center of gravity, tractor tire lateral stiffness, and trailer tire lateral stiffness. x For state variables, it is represented as: ,in, This refers to the lateral positional deviation; This refers to the deviation in heading angle; This refers to the yaw rate; The articulation angle between the tractor and the trailer; The rate of change of the hinge angle; also, u As a control variable, it is represented as: ,in, The additional front wheel steering angle to be determined; The total longitudinal control force to be determined, A positive value indicates driving force. A negative value indicates braking force.

[0031] In one embodiment of this application, the step of calculating the lateral control quantity and longitudinal control quantity of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, includes: obtaining the vehicle's state deviation function and control cost function based on the reference trajectory, vehicle state data, and preset dynamic prediction model; obtaining the overall objective function based on the state deviation function and control cost function; and solving the overall objective function to obtain the vehicle's lateral control quantity and longitudinal control quantity.

[0032] In one embodiment of this application, solving the overall objective function to obtain the lateral and longitudinal control quantities of the vehicle includes: setting variable constraints for the overall objective function; and solving the overall objective function through dynamic programming based on the variable constraints to obtain the optimal lateral and longitudinal control quantities.

[0033] The process of establishing and solving the objective function is as follows: Figure 4 As shown, specifically, during the sampling period k The overall objective function is expressed as shown in Formula 3: (3) In the formula, the first summation term is a state variable penalty term, used to optimize path tracking accuracy and vehicle lateral stability. and The first term is used to suppress the articulation angle and rate of change of the articulation angle between the tractor and the trailer to prevent folding; the second summation term is a penalty term for the control variables and their rate of change to avoid oversteering and overdriving / braking, and is used to optimize control smoothness and comfort. This is a weighting coefficient that can be set according to actual needs and adjusted in real time based on vehicle status.

[0034] Next, set the variable constraints for the overall objective function, including: Control constraints: , ; Control law constraint: , ; State constraints: Its core principle is a hard constraint on the hinge angle, absolutely prohibiting the hinge angle from being too small.

[0035] Furthermore, by applying the dynamic programming solution principle and based on the aforementioned variable constraints, an efficient numerical solver is used to obtain the future control time domain. Optimal control sequence within A rolling time-domain strategy is adopted, which means that only the first control action is implemented, and then the window is scrolled forward and this process is repeated. Therefore, only the first control quantity in the optimal control sequence is output. ,in, The optimal additional front wheel steering angle is used as a lateral control variable; The optimal total longitudinal control force is used as the longitudinal control variable.

[0036] S105: Based on the lateral control amount and the longitudinal control amount, lane departure suppression control is performed on the vehicle. In one embodiment of this application, the lane departure suppression control of the vehicle based on the lateral control amount and the longitudinal control amount includes: controlling the wheel angle of the vehicle based on the lateral control amount; and controlling the distribution of driving force and braking force of the vehicle to the wheels based on the longitudinal control amount.

[0037] Specifically, the horizontal control quantity The information is forwarded to the vehicle's steering actuator, which can be an upgraded electric power steering system or a steer-by-wire system. The system generates an additional steering angle superimposed on the driver's input, or directly controls the front wheel steering angle; the longitudinal control quantity... Forwarded to the vehicle controller. The vehicle controller then... The sign and magnitude of the torque are analyzed and interpreted as the desired torque of the engine and the target braking force of the braking system. The engine manager and electronic braking system are coordinated via the CAN bus to achieve precise distribution of drive or braking force to the four wheels. Furthermore, a differential braking strategy can be employed to... Non-uniform distribution to the left and right wheels generates additional yaw correction moment for better stability.

[0038] According to the lane departure suppression method for vehicles of the present invention, the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the lane center are first obtained; then, based on the lateral position deviation, it is determined whether unintentional lane departure has occurred; if so, a reference trajectory for returning the vehicle to the lane center is generated based on the vehicle speed and lane curvature; then, based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, the lateral control quantity and longitudinal control quantity of the vehicle are calculated; finally, lane departure suppression control is performed on the vehicle based on the lateral control quantity and longitudinal control quantity. Thus, after determining that unintentional lane departure has occurred, a reference trajectory for returning to the lane center can be generated, and the optimal lateral and longitudinal control quantities can be solved using the dynamic prediction model, thereby ensuring vehicle driving stability while performing lane departure suppression control.

[0039] Figure 5This is a structural block diagram of a lane departure suppression system for a vehicle according to an embodiment of this application. Figure 5 As shown, a lane departure suppression system for a vehicle according to an embodiment of this application includes: an acquisition module 510, a judgment module 520, a generation module 530, a calculation module 540, and a control module 550, wherein: The acquisition module 510 is used to acquire the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the center of the lane. The judgment module 520 is used to determine whether unintentional lane departure has occurred based on the lateral position deviation. The generation module 530 is used to generate a reference trajectory that returns the vehicle to the center of the lane based on the vehicle speed and lane curvature. The calculation module 540 is used to calculate the lateral control quantity and longitudinal control quantity of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model. The control module 550 is used to perform lane departure suppression control on the vehicle based on the lateral control quantity and the longitudinal control quantity.

[0040] The lane departure suppression system for vehicles according to embodiments of this application first acquires the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the lane center. Then, based on the lateral position deviation, it determines whether unintentional lane departure has occurred. If so, a reference trajectory is generated based on the vehicle speed and lane curvature to return the vehicle to the lane center. Next, based on the reference trajectory and vehicle state data, and combined with a preset dynamic prediction model, the lateral and longitudinal control quantities of the vehicle are calculated. Finally, lane departure suppression control is applied to the vehicle based on the lateral and longitudinal control quantities. Thus, after determining that unintentional lane departure has occurred, a reference trajectory for returning to the lane center can be generated, and the optimal lateral and longitudinal control quantities can be solved using the dynamic prediction model, thereby ensuring vehicle driving stability while performing lane departure suppression control.

[0041] Specific limitations regarding the vehicle's lane departure mitigation system can be found in the above description of lane departure mitigation methods, and will not be repeated here. The various modules of the aforementioned vehicle lane departure mitigation system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0042] Furthermore, embodiments of this application provide a vehicle, including a lane departure suppression system for a vehicle according to any of the above embodiments. The vehicle first acquires its speed, lane curvature, and lateral position deviation relative to the lane center; then, based on the lateral position deviation, it determines whether unintentional lane departure has occurred; if so, it generates a reference trajectory that returns the vehicle to the lane center based on the speed and lane curvature; then, based on the reference trajectory and vehicle state data, and combined with a preset dynamics prediction model, it calculates the vehicle's lateral and longitudinal control quantities; finally, it performs lane departure suppression control on the vehicle based on the lateral and longitudinal control quantities. Thus, after determining that unintentional lane departure has occurred, a reference trajectory returning to the lane center can be generated, and the optimal lateral and longitudinal control quantities can be solved using a dynamics prediction model, thereby ensuring vehicle driving stability while performing lane departure suppression control.

[0043] Furthermore, other components and functions of the vehicle according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0044] In one embodiment, a computer device is provided. Figure 6 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 6 The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned flexible fuel content identification method embodiment. For example, it executes: acquiring the vehicle speed, lane curvature, and the lateral position deviation of the vehicle relative to the center of the lane; Based on the lateral position deviation, determine whether unintentional lane departure has occurred; If so, a reference trajectory is generated based on the vehicle speed and lane curvature to return the vehicle to the center of the lane; Based on the reference trajectory and vehicle state data, and combined with the preset dynamic prediction model, the lateral control quantity and longitudinal control quantity of the vehicle are calculated. Based on the lateral control and longitudinal control quantities, lane departure suppression control is performed on the vehicle.

[0045] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for suppressing lane departure of a vehicle, characterized in that, include: The vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the center of the lane are obtained. Based on the lateral position deviation, determine whether unintentional lane departure has occurred; If so, a reference trajectory is generated based on the vehicle speed and lane curvature to return the vehicle to the center of the lane; Based on the reference trajectory and vehicle state data, and combined with the preset dynamic prediction model, the lateral control quantity and longitudinal control quantity of the vehicle are calculated. Based on the lateral and longitudinal control values, lane departure suppression control is applied to the vehicle.

2. The lane departure suppression method for vehicles according to claim 1, characterized in that, The step of determining whether unintentional lane departure has occurred based on the lateral position deviation includes: If the lateral position deviation is greater than the first deviation threshold, and the rate of change of the lateral position deviation is greater than the rate of change threshold, and the turn signal in the direction of vehicle deviation is not activated, then an unintentional lane departure is determined to have occurred. If the lateral position deviation is greater than the second deviation threshold, then an unintentional lane departure is determined to have occurred, wherein the first deviation threshold is less than the second deviation threshold.

3. The lane departure suppression method for vehicles according to claim 1, characterized in that, The step of generating a reference trajectory that returns the vehicle to the center of the lane based on the vehicle speed and lane curvature includes: Based on the vehicle speed and lane curvature, the trajectory calculation coefficients are obtained; Based on the trajectory calculation coefficients, a relationship function between the vehicle's position and travel time is established as the reference trajectory.

4. The lane departure suppression method for vehicles according to claim 1, characterized in that, Before calculating the lateral and longitudinal control quantities of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, the following steps are included: Acquire vehicle status data, which includes the vehicle's heading angle deviation, yaw rate, articulation angle between the tractor and trailer, tractor mass, trailer mass, tractor moment of inertia, trailer moment of inertia, distance from the tractor's center of gravity to the front axle, distance from the tractor's center of gravity to the rear axle, distance from the tractor-trailer articulation point to the tractor's rear axle, distance from the tractor-trailer articulation point to the trailer's center of gravity, tractor tire lateral stiffness, and trailer tire lateral stiffness. Based on the vehicle state data, a dynamic prediction model for the vehicle is established.

5. The lane departure suppression method for vehicles according to claim 1, characterized in that, The step of calculating the lateral and longitudinal control quantities of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model, includes: Based on the reference trajectory, vehicle state data, and a preset dynamic prediction model, the vehicle's state deviation function and control cost function are obtained. Based on the state deviation function and the control cost function, the overall objective function is obtained; Solving the overall objective function yields the lateral and longitudinal control variables of the vehicle.

6. The lane departure suppression method for vehicles according to claim 5, characterized in that, Solving the overall objective function to obtain the lateral and longitudinal control variables of the vehicle includes: Define the variable constraints for the overall objective function; Based on the aforementioned variable constraints, the overall objective function is solved using dynamic programming to obtain the optimal lateral and longitudinal control variables.

7. The lane departure suppression method for vehicles according to claim 1, characterized in that, The process of performing lane departure suppression control on the vehicle based on the lateral control value and the longitudinal control value includes: The wheel angle of the vehicle is controlled according to the lateral control amount. The longitudinal control quantity is used to control the distribution of driving force and braking force to the wheels of the vehicle.

8. A lane departure mitigation system for a vehicle, characterized in that, include: The acquisition module is used to acquire the vehicle speed, lane curvature, and lateral position deviation of the vehicle relative to the center of the lane. The judgment module is used to determine whether unintentional lane departure has occurred based on the lateral position deviation. The generation module is used to generate a reference trajectory that returns the vehicle to the center of the lane based on the vehicle speed and lane curvature. The calculation module is used to calculate the lateral control quantity and longitudinal control quantity of the vehicle based on the reference trajectory and vehicle state data, combined with a preset dynamic prediction model. The control module is used to perform lane departure suppression control on the vehicle based on the lateral control quantity and the longitudinal control quantity.

9. A vehicle, characterized in that, include: Lane departure suppression system for a vehicle according to claim 8.

10. A computing device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the lane departure suppression method for a vehicle according to any one of claims 1-7.

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