A lane keeping method, device, electronic equipment and storage medium

Abstract

The application provides a lane keeping method and device, electronic equipment and a storage medium. The method comprises: obtaining driving data of a vehicle when a lane keeping assistance function of the vehicle is in an activated state; determining whether the vehicle is in an unintentional lane deviation behavior based on the driving data; identifying whether a target vehicle meeting a preset compression risk condition exists in a neighboring lane in an opposite direction of a deviation direction based on environmental perception data when it is determined that the vehicle is in the unintentional lane deviation behavior; determining a lateral distance and a longitudinal distance between the target vehicle and the vehicle if the target vehicle meeting the preset compression risk condition exists; and controlling the vehicle to turn and return to a center of a current driving lane based on the lateral distance and the longitudinal distance. The technical solution provided by the application reduces the compression feeling of a driver caused by a vehicle in a neighboring lane, and guarantees driving safety and comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a lane keeping method, device, electronic device, and storage medium. Background Technology

[0002] In current advanced driver assistance systems (ADAS) for intelligent connected vehicles, lane keeping assist aims to automatically apply a counter-steering torque when the driver unintentionally deviates from their lane due to fatigue or distraction. This alerts and assists the driver in bringing the vehicle back into its lane, thereby avoiding the risk of collisions with vehicles traveling normally in the deviated lane. In existing technologies, lane keeping assist functions are implemented by controlling the vehicle's corrective torque based on factors such as the angle and speed of the deviation.

[0003] However, when large vehicles are traveling side-by-side in adjacent lanes, or when small vehicles cross the lane lines and encroach on the driver's lane, drivers often instinctively steer slightly in the opposite direction to maintain a safe distance. If the lane-keeping system then triggers a counter-steering maneuver with significant torque, it will force the vehicle to move towards the large vehicle in the adjacent lane or towards the encroaching target. This conflict between the system's control intent and the driver's instinct to avoid danger creates significant psychological pressure on the driver and substantially increases the potential safety risk of a lateral collision with a target in the adjacent lane. Summary of the Invention

[0004] In view of this, embodiments of this application provide a lane keeping method, device, electronic device, and storage medium to reduce the sense of pressure on the driver caused by vehicles in adjacent lanes and to ensure driving safety and comfort.

[0005] This application mainly includes the following aspects: In a first aspect, embodiments of this application provide a lane-keeping method, the method comprising: When the lane keeping assist function of this vehicle is active, acquire the vehicle's driving data; Based on the driving data, determine whether the vehicle is unintentionally deviating from its current lane. When it is determined that the vehicle is unintentionally deviating from the current driving lane, based on environmental perception data, it identifies whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation that meets the preset pressure risk conditions. If a target vehicle exists that meets the preset pressure risk conditions, then determine the lateral and longitudinal distances between the target vehicle and this vehicle; Based on the lateral and longitudinal distances, the vehicle is steered to return to the center of the current driving lane.

[0006] Furthermore, before acquiring environmental perception data and vehicle driving data when the lane keeping assist function of the vehicle is activated, the method further includes: If the vehicle speed exceeds the preset activation speed value while the vehicle is in operation, the lane keeping assist function of the vehicle will be set to the active state. If the vehicle's speed does not exceed the preset activation speed, the lane keeping assist function will remain in standby mode.

[0007] Furthermore, controlling the vehicle to steer based on the lateral distance and the longitudinal distance includes: Determine whether both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold; If both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, it is determined whether the lane departure time of the vehicle has reached the correction trigger time threshold; if the lane departure time has reached the correction trigger time threshold, the vehicle is steered according to the correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the correction trigger time threshold and the correction torque are adjusted, and the vehicle is controlled to steer based on the adjusted correction trigger time threshold.

[0008] Furthermore, controlling the vehicle to steer based on the adjusted correction trigger time threshold includes: Determine whether the lane departure time has reached the adjusted correction trigger time threshold; When the lane departure time reaches the adjusted correction trigger time threshold, it is determined again whether the lateral distance and the longitudinal distance are both less than the corresponding safe distance threshold. If both the lateral distance and the longitudinal distance are less than the corresponding safety distance threshold, the correction torque will be adjusted, and the vehicle will be steered according to the adjusted correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the vehicle will be steered according to the corrective torque.

[0009] Secondly, embodiments of this application also provide a lane keeping device, the device comprising: The acquisition module is used to acquire the vehicle's driving data when the vehicle's lane keeping assist function is active. The discrimination module is used to determine, based on the driving data, whether the vehicle is unintentionally deviating from its current driving lane. The identification module is used to identify, based on environmental perception data, whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation that meets the preset pressure risk conditions when it is determined that the vehicle is unintentionally deviating from the current driving lane. The distance determination module is used to determine the lateral and longitudinal distances between the target vehicle and the vehicle if there is a target vehicle that meets the preset pressure risk conditions. The steering module is used to control the vehicle to steer based on the lateral distance and the longitudinal distance, so that the vehicle returns to the center of the current driving lane.

[0010] Furthermore, the device also includes: The activation module is used to activate the lane keeping assist function of the vehicle if the vehicle speed exceeds the preset activation speed value when the vehicle is running. If the vehicle's speed does not exceed the preset activation speed, the lane keeping assist function will remain in standby mode.

[0011] Furthermore, the steering module is specifically used for: Determine whether both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold; If both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, it is determined whether the lane departure time of the vehicle has reached the correction trigger time threshold; if the lane departure time has reached the correction trigger time threshold, the vehicle is steered according to the correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the correction trigger time threshold and the correction torque are adjusted, and the vehicle is controlled to steer based on the adjusted correction trigger time threshold.

[0012] Furthermore, when the steering module is used to control the vehicle to steer based on the adjusted correction trigger time threshold, it is also specifically used for: Determine whether the lane departure time has reached the adjusted correction trigger time threshold; When the lane departure time reaches the adjusted correction trigger time threshold, it is determined again whether the lateral distance and the longitudinal distance are both less than the corresponding safe distance threshold. If both the lateral distance and the longitudinal distance are less than the corresponding safety distance threshold, the correction torque will be adjusted, and the vehicle will be steered according to the adjusted correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the vehicle will be steered according to the corrective torque.

[0013] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the lane keeping method described in the first aspect or any possible implementation of the first aspect.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the lane-keeping method described in the first aspect or any possible implementation of the first aspect.

[0015] This application provides a lane-keeping method, device, electronic device, and storage medium. When the lane-keeping assist function of the vehicle is activated, the method acquires the vehicle's driving data; based on the driving data, it determines whether the vehicle is unintentionally deviating from its current lane; when it is determined that the vehicle is unintentionally deviating from its current lane, it identifies, based on environmental perception data, whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation that meets a preset pressure risk condition; if there is a target vehicle that meets the preset pressure risk condition, it determines the lateral distance and longitudinal distance between the target vehicle and the vehicle; based on the lateral distance and the longitudinal distance, it controls the vehicle to steer, so that the vehicle returns to the center of the current lane.

[0016] This reduces the sense of pressure on drivers from vehicles in adjacent lanes, ensuring driving safety and comfort.

[0017] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 One of the flowcharts of a lane keeping method provided in an embodiment of this application is shown; Figure 2 A second flowchart of a lane keeping method provided in an embodiment of this application is shown; Figure 3A third flowchart of a lane keeping method provided in an embodiment of this application is shown; Figure 4 A fourth flowchart of a lane keeping method provided in an embodiment of this application is shown; Figure 5 This illustration shows one of the structural schematic diagrams of a lane keeping device provided in an embodiment of this application; Figure 6 This is a second schematic diagram of the structure of a lane keeping device provided in an embodiment of this application; Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0020] 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. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] The methods, apparatus, electronic devices, or computer-readable storage media described in this application can be applied to any scenario requiring lane keeping. This application does not limit the specific application scenario, and any scheme using the lane keeping method and apparatus provided in this application is within the protection scope of this application.

[0023] It is worth noting that in current advanced driver assistance systems (ADAS) for intelligent connected vehicles, lane keeping assist aims to automatically apply a counter-steering torque when the driver unintentionally deviates from their lane due to fatigue or distraction. This serves to alert and assist the driver in bringing the vehicle back into its lane, thereby avoiding the risk of collisions with vehicles traveling normally in the deviated lane. In existing technologies, lane keeping assist functions are implemented by controlling the vehicle's corrective torque based on factors such as the angle and speed of the deviation.

[0024] However, when large vehicles are traveling side-by-side in adjacent lanes, or when small vehicles cross the lane lines and encroach on the driver's lane, drivers often instinctively steer slightly in the opposite direction to maintain a safe distance. If the lane-keeping system then triggers a counter-steering maneuver with significant torque, it will force the vehicle to move towards the large vehicle in the adjacent lane or towards the encroaching target. This conflict between the system's control intent and the driver's instinct to avoid danger creates significant psychological pressure on the driver and substantially increases the potential safety risk of a lateral collision with a target in the adjacent lane.

[0025] To address the aforementioned issues, this application proposes a lane-keeping method, device, electronic device, and storage medium to reduce the sense of pressure on the driver caused by vehicles in adjacent lanes, thereby ensuring driving safety and comfort.

[0026] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.

[0027] Please see Figure 1 , Figure 1 This is one of the flowcharts for a lane keeping method provided in an embodiment of this application.

[0028] like Figure 1 As shown in the illustration, the lane keeping method provided in this application includes the following steps: Step S101: When the lane keeping assist function of this vehicle is activated, acquire the driving data of this vehicle.

[0029] Here, driving data reflects the vehicle's own motion posture information. Driving data includes the vehicle's speed, turn signal status, and lateral deviation speed, etc.

[0030] As one possible implementation method, such as Figure 2 As shown, prior to step S101, the method further includes: Step S11: When the vehicle is running, if the vehicle speed exceeds the preset activation speed value, the lane keeping assist function of the vehicle is set to the active state.

[0031] Here, the preset activation speed value refers to the speed at which the lane keeping assist function transitions from standby to activation. For example, the preset activation speed value could be 60 km / h.

[0032] It should be noted that the lane keeping assist function is activated by default after the driver starts the vehicle, and is in standby mode at this time. During vehicle operation, the system continuously compares the vehicle's speed with the preset activation speed. When the system detects that the vehicle speed exceeds the preset activation speed, the lane keeping assist function switches from standby mode to activation mode, enabling the system to trigger lateral deviation control at any time. In other words, the system can adjust the vehicle's posture to correct deviations and assist the driver's driving safety when the vehicle unintentionally deviates from its lane.

[0033] Step S12: If the vehicle speed does not exceed the preset activation speed value, the lane keeping assist function of the vehicle remains in standby mode.

[0034] Here, when the vehicle speed is detected to be below the preset activation speed value, the lane keeping assist function remains in standby mode.

[0035] See again Figure 1 Step S102: Based on the driving data, determine whether the vehicle is unintentionally deviating from the current driving lane.

[0036] Here, after acquiring the vehicle's driving data, a driver intent recognition process is executed to determine whether the current lateral movement of the vehicle originates from the driver's active control or is an unintentional lane departure. This driver intent recognition process includes at least two dimensions: turn signal status determination and control behavior characteristic determination. Specifically, if the turn signal on the same side as the vehicle's deviation direction is active, it is determined that the driver is performing a conscious lane change operation. In this case, even if the vehicle deviates laterally, the lane keeping assist system will not trigger corrective intervention to avoid interfering with the driver's normal driving intentions. If the turn signal on the same side is not active, a threshold judgment is further applied to the lateral deviation speed: when the lateral deviation speed is lower than a preset slow deviation threshold (e.g., 1 m / s), the lateral movement of the vehicle is determined to be an unintentional deviation; conversely, when the lateral deviation speed is higher than the slow deviation threshold, the lateral movement is determined to be an active control behavior of the driver.

[0037] Step S103: When it is determined that the vehicle is unintentionally deviating from the current driving lane, based on environmental perception data, identify whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation that meets the preset pressure risk conditions.

[0038] Here, environmental perception data refers to information acquired through onboard sensing components that describes the driving environment surrounding the vehicle. Environmental perception data includes lane line information for the vehicle's current lane, as well as the target type and relative position of vehicles in adjacent lanes. Onboard sensing components include sensing cameras and millimeter-wave radar, etc. The preset pressure risk condition is the presence of a large vehicle (such as a bus or trailer) or a small vehicle encroaching on the vehicle's current lane in the adjacent lane opposite to the deviated direction. Specifically, this step uses the side opposite to the deviated direction as the target side, filters out vehicles in the adjacent lanes on the target side, and determines whether each meets the preset pressure risk condition. This determination process specifically involves: identifying the vehicle type; if it is a large vehicle, the preset pressure risk is determined to be met; if it is a small vehicle and its wheels are on the lane lines or its body has encroached on the vehicle's current lane, the preset pressure risk is determined to be met.

[0039] Step S104: If there is a target vehicle that meets the preset pressure risk conditions, then determine the lateral distance and longitudinal distance between the target vehicle and the vehicle itself.

[0040] In this embodiment of the application, when a target vehicle that meets the preset pressure risk conditions is identified, the lateral distance and longitudinal distance are determined as the basis for adjusting the correction strategy.

[0041] Step S105: Based on the lateral distance and the longitudinal distance, control the vehicle to steer back to the center of the current driving lane.

[0042] The following is combined Figure 3 To explain in detail how to control the vehicle's steering based on the lateral distance and the longitudinal distance, so that the vehicle returns to the center of the current driving lane.

[0043] Please see Figure 3 , Figure 3 This is a third flowchart of a lane keeping method provided in an embodiment of this application.

[0044] like Figure 3 As shown, regarding step S105, in a specific implementation, as an example, the following steps may be included: Step S1051: Determine whether both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold.

[0045] Here, it is determined whether the lateral distance is less than the lateral safe distance threshold and whether the longitudinal distance is less than the longitudinal safe distance threshold.

[0046] Step S1052: If both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, then determine whether the lane departure time of the vehicle has reached the correction trigger time threshold.

[0047] Here, lane departure time is the predicted time from the vehicle's current position to the current lane line. If both the lateral and longitudinal distances are less than the corresponding safe distance thresholds, it indicates that the current deviation poses a high safety risk to the driver, and it is determined whether the vehicle's lane departure time has reached the correction trigger time threshold originally calibrated in the system.

[0048] Step S1053: If the lane departure time reaches the correction trigger time threshold, then the vehicle is steered according to the correction torque.

[0049] Here, the steering motor driving the vehicle outputs a corrective torque to control the vehicle's trajectory back to the center of the current driving lane.

[0050] Step S1054: If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the correction trigger time threshold and the correction torque are adjusted, and based on the adjusted correction trigger time threshold, the vehicle is controlled to steer so that the vehicle returns to the center of the current driving lane.

[0051] Here, if at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safe distance threshold, it indicates that the current deviation poses a lower safety risk to the driver, and the vehicle steering is delayed, that is, the correction trigger time threshold is reduced.

[0052] The following is combined Figure 4 This section will specifically explain how to control the steering of the vehicle based on the stated lateral and longitudinal distances.

[0053] like Figure 4 As shown, please refer to Figure 4 , Figure 4 This is the fourth flowchart of a lane keeping method provided in the embodiments of this application.

[0054] like Figure 4 As shown, regarding step S1054, which controls the vehicle to steer based on the adjusted correction trigger time threshold, in a specific implementation, as an example, the following steps may be included: Step S10541: Determine whether the lane departure time has reached the adjusted correction trigger time threshold.

[0055] Step S10542: When the lane departure time reaches the adjusted correction trigger time threshold, it is determined again whether the lateral distance and the longitudinal distance are both less than the corresponding safe distance threshold.

[0056] Step S10543: If both the lateral distance and the longitudinal distance are less than the corresponding safety distance threshold, the correction torque is adjusted, and the vehicle is steered according to the adjusted correction torque.

[0057] Here, if the result is determined again that both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, which indicates that the current deviation increases the safety risk to the driver, the correction torque will be reduced to avoid forcibly pulling the vehicle toward the target vehicle in the adjacent lane.

[0058] Step S10544: If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, then the vehicle is steered according to the corrective torque.

[0059] Here, if the result is determined again that at least one of the lateral distance and longitudinal distance is greater than or equal to the corresponding safety distance threshold, it indicates that the current deviation poses a low safety risk to the driver and has been eliminated. The vehicle can then be steered directly according to the corrective torque before adjustment.

[0060] This application identifies lane markings and the status of vehicles in adjacent lanes. When it determines that a vehicle is intentionally veering out of its lane, it triggers lateral control to bring the vehicle back into its lane. If it determines that a large or small vehicle is encroaching on its lane from an adjacent lane, it adjusts the correction trigger time threshold and the magnitude of the correction torque. This can, to some extent, reduce the pressure on the driver caused by premature triggering or excessive torque due to the presence of a target vehicle in an adjacent lane, thereby ensuring driving safety.

[0061] This application provides a lane keeping method that reduces the sense of pressure on the driver caused by vehicles in adjacent lanes, thereby ensuring driving safety and comfort.

[0062] Based on the same application concept, this application also provides a lane keeping device corresponding to the lane keeping method provided in the above embodiments. Since the principle of the device in this application is similar to the lane keeping method in the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0063] Please see Figures 5 to 6 , Figure 5 This is one of the structural schematic diagrams of a lane keeping device provided in the embodiments of this application. Figure 6 This is a second schematic diagram of a lane keeping device provided in an embodiment of this application.

[0064] like Figure 5 As shown in the illustration, the lane keeping device 510 provided in this application embodiment includes: The acquisition module 511 is used to acquire the driving data of the vehicle when the lane keeping assist function of the vehicle is activated; The discrimination module 512 is used to determine, based on the driving data, whether the vehicle is unintentionally deviating from its current driving lane. The identification module 513 is used to identify, based on environmental perception data, whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation direction that meets the preset pressure risk conditions when it is determined that the vehicle is unintentionally deviating from the current driving lane. The distance determination module 514 is used to determine the lateral distance and longitudinal distance between the target vehicle and the vehicle if there is a target vehicle that meets the preset pressure risk conditions. The steering module 515 is used to control the vehicle to steer based on the lateral distance and the longitudinal distance, so that the vehicle returns to the center of the current driving lane.

[0065] Furthermore, the device 510 also includes: The activation module 516 is used to activate the lane keeping assist function of the vehicle if the vehicle speed exceeds the preset activation speed value when the vehicle is running. If the vehicle's speed does not exceed the preset activation speed, the lane keeping assist function will remain in standby mode.

[0066] Furthermore, the steering module 515 is specifically used for: Determine whether both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold; If both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, it is determined whether the lane departure time of the vehicle has reached the correction trigger time threshold; if the lane departure time has reached the correction trigger time threshold, the vehicle is steered according to the correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the correction trigger time threshold and the correction torque are adjusted, and the vehicle is controlled to steer based on the adjusted correction trigger time threshold.

[0067] Furthermore, when the steering module 515 controls the vehicle to steer based on the adjusted correction trigger time threshold, it is also specifically used for: Determine whether the lane departure time has reached the adjusted correction trigger time threshold; When the lane departure time reaches the adjusted correction trigger time threshold, it is determined again whether the lateral distance and the longitudinal distance are both less than the corresponding safe distance threshold. If both the lateral distance and the longitudinal distance are less than the corresponding safety distance threshold, the correction torque will be adjusted, and the vehicle will be steered according to the adjusted correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the vehicle will be steered according to the corrective torque.

[0068] This application provides a lane keeping device that reduces the sense of pressure on the driver caused by vehicles in adjacent lanes, thereby ensuring driving safety and comfort.

[0069] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0070] like Figure 7 As shown, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.

[0071] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, they can perform the operations described above. Figure 1 , Figure 2 , Figure 3 and Figure 4 The specific implementation of the lane keeping method steps in the illustrated method embodiment can be found in the method embodiment, and will not be repeated here.

[0072] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 , Figure 2 , Figure 3 and Figure 4 The specific implementation of the lane keeping method steps in the illustrated method embodiment can be found in the method embodiment, and will not be repeated here.

[0073] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0074] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0075] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0076] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0077] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A lane-keeping method, characterized in that, The method includes: When the lane keeping assist function of this vehicle is active, acquire the vehicle's driving data; Based on the driving data, determine whether the vehicle is unintentionally deviating from its current lane. When it is determined that the vehicle is unintentionally deviating from the current driving lane, based on environmental perception data, it identifies whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation that meets the preset pressure risk conditions. If a target vehicle exists that meets the preset pressure risk conditions, then determine the lateral and longitudinal distances between the target vehicle and this vehicle; Based on the lateral and longitudinal distances, the vehicle is steered to return to the center of the current driving lane.

2. The lane keeping method according to claim 1, characterized in that, Before acquiring environmental perception data and vehicle driving data when the lane keeping assist function of the vehicle is activated, the method further includes: If the vehicle speed exceeds the preset activation speed value while the vehicle is in operation, the lane keeping assist function of the vehicle will be set to the active state. If the vehicle's speed does not exceed the preset activation speed, the lane keeping assist function will remain in standby mode.

3. The lane keeping method according to claim 1, characterized in that, The method of controlling the vehicle to steer based on the lateral distance and the longitudinal distance includes: Determine whether both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold; If both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, it is determined whether the lane departure time of the vehicle has reached the correction trigger time threshold; if the lane departure time has reached the correction trigger time threshold, the vehicle is steered according to the correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the correction trigger time threshold and the correction torque are adjusted, and the vehicle is controlled to steer based on the adjusted correction trigger time threshold.

4. The lane keeping method according to claim 3, characterized in that, The method of controlling the vehicle to steer based on the adjusted correction trigger time threshold includes: Determine whether the lane departure time has reached the adjusted correction trigger time threshold; When the lane departure time reaches the adjusted correction trigger time threshold, it is determined again whether the lateral distance and the longitudinal distance are both less than the corresponding safe distance threshold. If both the lateral distance and the longitudinal distance are less than the corresponding safety distance threshold, the correction torque will be adjusted, and the vehicle will be steered according to the adjusted correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the vehicle will be steered according to the corrective torque.

5. A lane keeping device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's driving data when the vehicle's lane keeping assist function is active. The discrimination module is used to determine, based on the driving data, whether the vehicle is unintentionally deviating from its current driving lane. The identification module is used to identify, based on environmental perception data, whether there is a target vehicle in the adjacent lane in the opposite direction of the deviation that meets the preset pressure risk conditions when it is determined that the vehicle is unintentionally deviating from the current driving lane. The distance determination module is used to determine the lateral and longitudinal distances between the target vehicle and the vehicle if there is a target vehicle that meets the preset pressure risk conditions. The steering module is used to control the vehicle to steer based on the lateral distance and the longitudinal distance, so that the vehicle returns to the center of the current driving lane.

6. The lane keeping device according to claim 5, characterized in that, The device further includes: The activation module is used to activate the lane keeping assist function of the vehicle if the vehicle speed exceeds the preset activation speed value when the vehicle is running. If the vehicle's speed does not exceed the preset activation speed, the lane keeping assist function will remain in standby mode.

7. The lane keeping device according to claim 5, characterized in that, The steering module is specifically used for: Determine whether both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold; If both the lateral distance and the longitudinal distance are less than the corresponding safe distance threshold, it is determined whether the lane departure time of the vehicle has reached the correction trigger time threshold; if the lane departure time has reached the correction trigger time threshold, the vehicle is steered according to the correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the correction trigger time threshold and the correction torque are adjusted, and the vehicle is controlled to steer based on the adjusted correction trigger time threshold.

8. The lane keeping device according to claim 7, characterized in that, When the steering module is used to control the vehicle to steer based on the adjusted correction trigger time threshold, it is also specifically used for: Determine whether the lane departure time has reached the adjusted correction trigger time threshold; When the lane departure time reaches the adjusted correction trigger time threshold, it is determined again whether the lateral distance and the longitudinal distance are both less than the corresponding safe distance threshold. If both the lateral distance and the longitudinal distance are less than the corresponding safety distance threshold, the correction torque will be adjusted, and the vehicle will be steered according to the adjusted correction torque. If at least one of the lateral distance and the longitudinal distance is greater than or equal to the corresponding safety distance threshold, the vehicle will be steered according to the corrective torque.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the lane-keeping method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the lane-keeping method as described in any one of claims 1 to 4.

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