Control method and device for improving lane keeping assistance safety in intelligent driving

Abstract

The application discloses a control method and device for improving lane keeping assistance safety in intelligent driving. In the process of vehicle driving, when a lane keeping assistance system is turned on, real-time information of a vehicle and surrounding environment is captured, safe lane changing data is calculated, and steering wheel operation parameters are detected. The calculated safe lane changing data is compared with preset safety data in a storage, and it is judged whether the vehicle meets safe lane changing conditions. Then, according to the result of the analysis of the steering wheel operation parameters, the active driving intention of a driver and the unconscious deviation of the vehicle are accurately distinguished, so that differentiated control of the vehicle is realized under the premise of safety, unnecessary interference on the driver is reduced, and driving experience is improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent driving technology, and specifically relates to a control method and device for improving lane keeping assist safety in intelligent driving. Background Technology

[0002] Lane keeping assist is a crucial component of Advanced Driver Assistance Systems (ADAS). However, a common problem is that when a vehicle is on the road with lane keeping assist activated, if the driver intentionally turns the steering wheel to change lanes, causing the steering wheel angle to exceed a certain threshold, but forgets to activate the turn signal or turn signal on the side of the steering wheel that was turned, the system interprets this as "unintentional lane departure." The lane keeping assist system then applies a steering correction force, resulting in a strong sensation of the steering wheel being grabbed or a sudden vibration. For drivers with limited experience or unfamiliarity with the lane keeping assist system's functions, this can cause panic and even lead to misoperation and unnecessary traffic accidents.

[0003] Therefore, it is necessary to optimize lane keeping technology in intelligent driving assistance systems to provide a smarter and more human-centered control strategy that can accurately distinguish between the driver's active driving intentions and the vehicle's unintentional deviations, thereby reducing unnecessary interference to the driver and improving the driving experience while ensuring safety. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a control method and device for improving lane keeping assist safety in intelligent driving, reducing situations such as lane keeping systems grabbing the steering wheel or vibrating the steering wheel, optimizing driver comfort, and improving driving safety.

[0005] To achieve the above objectives, the present invention provides the following solution: A control method for improving lane keeping assist safety in intelligent driving includes: S100. Initialize the lane keeping assist system and confirm that the lane keeping assist system function is enabled; S101. Real-time capture of information about the vehicle and its surrounding environment; calculation of safe lane change data based on real-time detection information; and detection and analysis of steering wheel operation parameters. S102. Compare the safe lane change data with the preset safety data to determine whether the vehicle meets the safe lane change conditions. S103. Based on the comparison results and the analysis results of the steering wheel operation parameters, differentiated intelligent auxiliary control is performed on the vehicle; wherein, the differentiated intelligent auxiliary control includes: safe lane changing scenarios and unsafe lane changing scenarios.

[0006] Preferably, the steering wheel operation parameters include the steering wheel angle, the steering wheel rotation angular velocity, and the steering torque applied by the driver.

[0007] Preferably, the vehicle lane change safety data includes: the vehicle's speed, the relationship between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes, the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead.

[0008] The present invention also provides a control device for improving lane keeping assist safety in intelligent driving, comprising: The first processing module is used to initialize the lane keeping assist system and confirm that the lane keeping assist system function is enabled. The second processing module is used to capture information about the vehicle and its surrounding environment in real time, calculate safe lane change data based on the real-time detected information, and detect and analyze steering wheel operation parameters. The third processing module is used to compare the safe lane change data with the preset safety data to determine whether the vehicle meets the safe lane change conditions. The fourth processing module is used to perform differentiated intelligent auxiliary control on the vehicle based on the comparison results and the analysis results of the steering wheel operation parameters; wherein, the differentiated intelligent auxiliary control includes: safe lane change scenarios and unsafe lane change scenarios.

[0009] Preferably, the steering wheel operation parameters include the steering wheel angle, the steering wheel rotation angular velocity, and the steering torque applied by the driver.

[0010] Preferably, the vehicle lane change safety data includes: the vehicle's speed, the relationship between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes, the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention can accurately distinguish between "active lane change" and "unintentional lane departure", and provide differentiated intelligent auxiliary control for vehicles in motion. Under the premise of confirming safety, lane keeping assist can be temporarily turned off, which fundamentally avoids the phenomenon of "grabbing the steering wheel" caused by missed turn signals, and greatly improves driving safety, comfort and driver's trust in the assistance system.

[0012] 2. When a vehicle can safely change lanes, the present invention can automatically activate the turn signal, avoiding the problem of missing the turn signal when changing lanes, compensating for driver negligence, ensuring the standardization and predictability of lane changing behavior, and improving the safety of all traffic participants.

[0013] 3. Based on real-time detection data, when the system determines that there is a danger in changing lanes, it not only provides warnings but also takes proactive measures such as slowing down and maintaining lane position to effectively intervene in the driver's potential distraction or misoperation, thus creating a dual safety guarantee. Attached Figure Description

[0014] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a flowchart of a control method for improving lane keeping assist safety in intelligent driving according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a safe lane change scenario A in this invention; Figure 3 This is a schematic diagram of scenario B, where lane changing is not safe, in this invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Example 1 like Figure 1As shown, this invention provides a control method for improving lane keeping assist safety in intelligent driving. When the lane keeping assist system is activated, it determines safe lane changing conditions based on real-time detected vehicle lane changing data, identifies driver intentions based on detected steering wheel operation parameters, and executes differentiated control strategies according to different driver intentions, including: S100. Initialize the lane keeping assist system and confirm that the lane keeping assist system function is enabled; S101. Real-time capture of information about the vehicle and its surrounding environment; calculation of safe lane change data based on real-time detection information; and detection and analysis of steering wheel operation parameters. S102. Compare the safe lane change data with the preset safety data to determine whether the vehicle meets the safe lane change conditions. S103. Based on the comparison results and the analysis results of the steering wheel operation parameters, differentiated intelligent auxiliary control is performed on the vehicle; wherein, the differentiated intelligent auxiliary control includes safe lane changing scenarios and unsafe lane changing scenarios.

[0019] As one embodiment of the present invention, in step S101, the information about the vehicle and its surrounding environment includes: the vehicle's speed, the attitude relationship (or angle) between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes (target lane), the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead. This information about the vehicle and its surrounding environment is obtained through the fusion detection of multiple sensors installed on the vehicle, including: forward / side-view cameras, millimeter-wave radar, lidar, ultrasonic radar, and GPS / IMU (inertial measurement unit).

[0020] Furthermore, in step S101, the steering wheel operation parameters are obtained by a torque / angle sensor mounted on the steering column or by conversion from the tire steering angle. The steering wheel operation parameters include the steering wheel angle, the steering wheel rotation angular velocity, and the steering torque applied by the driver.

[0021] Furthermore, in step S101, the vehicle lane change safety data includes: the vehicle's speed, the attitude relationship (or angle) between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes (target lane), the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead.

[0022] In one embodiment of the present invention, in step S102, the safe lane-changing condition is a dynamically changing set of thresholds, calculated by the vehicle's central processing unit based on real-time perceived environmental information using a preset safety algorithm model. Specific judgment conditions include: 1. Vehicle speed: The vehicle speed should be controlled within a reasonable range according to the actual situation, specifically: (Distance to the vehicle in front of the target lane - safe cutting distance) / (Speed ​​of this vehicle - Speed ​​of the vehicle in front of the target lane) ≥ 2.5-3.5 seconds; (Distance to the vehicle behind the target lane - safe cutting distance) / (Speed ​​of the vehicle behind the target lane - Speed ​​of this vehicle) ≥ 2.5-3.5 seconds.

[0023] 2. Lane change time: in: W The lane width is typically 3 to 3.75 meters. This is the lateral speed of the vehicle, typically 0.3~1 m / s; The lane change time is usually 3 to 6 seconds.

[0024] 3. in: The longitudinal speed of the vehicle; This refers to the longitudinal travel distance when changing lanes.

[0025] 4. Distance: When changing lanes, maintain a safe distance from the vehicle in front and behind. Too close a distance can easily lead to a rear-end collision. Generally speaking, the distance in front should be >5 meters and the distance behind should be >4 meters.

[0026] As one embodiment of the present invention, in step 103, the driver's intention is identified based on the comparison results and the analysis results of the steering wheel operation parameters, and the vehicle is controlled to complete a safe lane change or continue to drive along the current lane according to the driver's intention in different situations.

[0027] further, Figure 2 This is a schematic diagram of the safe lane-changing scenario A in this invention, as shown below. Figure 2 As shown, based on the detection data, the system determines that the vehicle is in a safe lane-changing situation and performs the following control steps: Step 201. By comparison, determine whether the vehicle meets the conditions for safe lane changing; Step 202. Analyze whether the detected steering wheel operation parameters exceed the predetermined threshold and the turn signal status, and send the analysis results to the central decision control unit; wherein, the predetermined threshold is the maximum steering wheel operation parameter that will not cause the vehicle to deviate from the current lane when the steering wheel operation is performed. Step 203. If the analysis result of the steering wheel operation parameters received by the central decision control unit exceeds the predetermined threshold (e.g., the driver quickly turns the steering wheel, and both the angle and speed exceed the predetermined threshold), but the turn signal is not turned on, the central decision control unit determines that the driver intends to actively change lanes but forgot to turn on the turn signal. Therefore, the central decision control unit issues an instruction to temporarily deactivate the lane keeping assist system, release the steering intervention, and issues an instruction to the body controller to automatically turn on the vehicle's turn signal. The vehicle completes a safe lane change based on the driver's steering wheel operation. If the analysis result of the steering wheel operation parameters received by the central decision control unit does not exceed the predetermined threshold, the lane keeping assist system remains active, keeping the vehicle driving in the center of the current lane. Step 204. After the vehicle completes the lane change, when it is detected that the vehicle is maintaining its position in the center of the new lane, the central decision control unit issues another instruction to activate the lane keeping assist system and performs cyclic control based on the real-time detected safe lane change data and steering wheel operation parameters.

[0028] further, Figure 3 This is a schematic diagram of scenario B, where lane changing is not safe, in this invention. Figure 3 As shown, based on the detected conditions, the system determines that the vehicle is in a situation where changing lanes is not safe. Based on the detected steering wheel operation parameters, the system performs the following control steps: Step 301. By comparison, it is determined that the vehicle does not meet the conditions for a safe lane change; Step 302. Analyze whether the detected steering wheel operation parameters exceed the predetermined threshold and the turn signal status, and send the analysis results to the central decision control unit; Step 303. If the analysis results of the steering wheel operation parameters received by the central decision control unit do not exceed the predetermined threshold, the central decision control unit determines it to be a slight deviation or unintentional behavior. In this case, the lane keeping assist system remains active, and the driver is only reminded of the unsafe lane change conditions through audible and visual safety warnings. If the analysis results of the steering wheel operation parameters received by the central decision control unit exceed the predetermined threshold, the central decision control unit determines that the driver has a dangerous intention to change lanes. In this case, not only is the lane keeping assist system active, but the central decision control unit also issues a command to automatically control the vehicle's braking system to moderately decelerate, keep the vehicle's turn signals off, and the lane keeping assist system keeps the vehicle continuing to travel in the current lane, rejecting the driver's risky operation. Safety warnings can be implemented through voice, interior lights, flashing icons on the steering wheel / instrument panel, text reminders, warning lights, etc.

[0029] Example 2 The present invention also provides a control device for improving lane keeping assist safety in intelligent driving, comprising: The first processing module is used to initialize the lane keeping assist system and confirm that the lane keeping assist system function is enabled. The second processing module is used to capture information about the vehicle and its surrounding environment in real time, calculate safe lane change data based on the real-time detected information, and detect and analyze steering wheel operation parameters. The third processing module is used to compare the safe lane change data with the preset safety data to determine whether the vehicle meets the safe lane change conditions. The fourth processing module is used to perform differentiated intelligent auxiliary control on the vehicle based on the comparison results and the analysis results of the steering wheel operation parameters; wherein, the differentiated intelligent auxiliary control includes: safe lane change scenarios and unsafe lane change scenarios.

[0030] As one embodiment of the present invention, the steering wheel operation parameters include the steering wheel angle, the steering wheel rotation angular velocity, and the steering torque applied by the driver.

[0031] As one embodiment of the present invention, the vehicle lane change safety data includes: the vehicle's speed, the relationship between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes, the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead.

[0032] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A control method for improving lane keeping assist safety in intelligent driving, characterized in that, include: S100. Initialize the lane keeping assist system and confirm that the lane keeping assist system function is enabled; S101. Real-time capture of information about the vehicle and its surrounding environment; calculation of safe lane change data based on real-time detection information; and detection and analysis of steering wheel operation parameters. S102. Compare the safe lane change data with the preset safety data to determine whether the vehicle meets the safe lane change conditions. S103. Based on the comparison results and the analysis results of the steering wheel operation parameters, differentiated intelligent auxiliary control is performed on the vehicle; wherein, the differentiated intelligent auxiliary control includes: safe lane changing scenarios and unsafe lane changing scenarios.

2. The control method for improving lane keeping assist safety in intelligent driving as described in claim 1, characterized in that, Steering wheel operation parameters include steering wheel angle, steering wheel rotation angular velocity, and steering torque applied by the driver.

3. The control method for improving lane keeping assist safety in intelligent driving as described in claim 2, characterized in that, Vehicle lane change safety data includes: the vehicle's speed, the relationship between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes, the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead.

4. A control device for improving lane keeping assist safety in intelligent driving, characterized in that, include: The first processing module is used to initialize the lane keeping assist system and confirm that the lane keeping assist system function is enabled. The second processing module is used to capture information about the vehicle and its surrounding environment in real time, calculate safe lane change data based on the real-time detected information, and detect and analyze steering wheel operation parameters. The third processing module is used to compare the safe lane change data with the preset safety data to determine whether the vehicle meets the safe lane change conditions. The fourth processing module is used to perform differentiated intelligent auxiliary control on the vehicle based on the comparison results and the analysis results of the steering wheel operation parameters; wherein, the differentiated intelligent auxiliary control includes: safe lane change scenarios and unsafe lane change scenarios.

5. The control device for improving lane keeping assist safety in intelligent driving as described in claim 4, characterized in that, Steering wheel operation parameters include steering wheel angle, steering wheel rotation angular velocity, and steering torque applied by the driver.

6. The control device for improving lane keeping assist safety in intelligent driving as described in claim 5, characterized in that, Vehicle lane change safety data includes: the vehicle's speed, the relationship between the vehicle's direction and the lane direction, the speeds of the vehicles in front and behind in the current lane, the real-time distance between the vehicle and the vehicles in front and behind in the current lane, the speeds of vehicles in adjacent lanes, the real-time distance between the vehicle and vehicles in adjacent lanes, the position of the current lane markings, the positions of the lane markings on both sides, and information on changes in the position and direction of the lane ahead.

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