CN115195718A - Lane keeping auxiliary driving method and system and electronic equipment - Google Patents
Lane keeping auxiliary driving method and system and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W60/001—Planning or execution of driving tasks
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Abstract
The invention provides a lane keeping assistant driving method, a lane keeping assistant driving system and electronic equipment, wherein the lane keeping assistant driving method comprises the following steps: acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all the target vehicles relative to the vehicle; screening out a final target vehicle based on the discrete motion track information of all target vehicles relative to the self vehicle; determining target running track information of the vehicle based on the final discrete motion track information of the target vehicle, the discrete track information of the lane central line and the current driving environment information; when the self-vehicle is in a designated state, generating an initialization track line from the current track to the target track of the self-vehicle. The intelligent driving assisting system can provide a comprehensive driving assisting function and complete intelligent driving safety work.
Description
Technical Field
The invention relates to the field of intelligent driving of vehicles, in particular to a lane keeping auxiliary driving method, a lane keeping auxiliary driving system and electronic equipment.
Background
The intelligent driving vehicle assists or even replaces a driver to complete a series of driving actions through a sensor, a controller and an actuator, and the safety, stability, comfort and economical targets in the driving process are guaranteed. In the whole implementation process, environment perception, positioning identification, behavior prediction, decision planning and control execution are generally included. The environmental perception is that the lane lines, traffic signs, vehicles and the like are identified through various sensors such as cameras and radars which are carried by the vehicles; the positioning identification is to judge the current position of the vehicle through a map module or a visual SLAM and the like; the behavior prediction is to estimate the future position and motion state of the pedestrian or the vehicle according to the position and motion state of the pedestrian or the vehicle in a period of time; the decision control is to calculate an optimal execution target by combining the current driving environment; and the control execution controls an accelerator, a brake and a steering gear according to the execution target to finish the intelligent driving work.
At present, various specific problems of the lane keeping auxiliary driving function are elaborated, but the lane keeping auxiliary driving function is relatively single and does not provide a comprehensive and systematic scheme.
Disclosure of Invention
The invention provides a lane keeping assistant driving method, a lane keeping assistant driving system and electronic equipment, aiming at the technical problems in the prior art.
According to a first aspect of the present invention, there is provided a lane keeping assist driving method including:
acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all target vehicles relative to the vehicle;
screening out a final target vehicle based on the discrete motion track information of all target vehicles relative to the vehicle;
determining target running track information of the vehicle based on the final discrete motion track information of the target vehicle, the discrete track information of the lane central line and the current driving environment information;
when the self-vehicle is in a specified state, an initialization track line from the current track to the target track of the self-vehicle is generated.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the obtaining lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle includes:
based on a vehicle coordinate system, a vehicle-mounted sensor acquires lane line information and all target vehicle motion information, and converts the lane line information and all the target vehicle motion information into a self-vehicle coordinate system, wherein the target vehicle motion information comprises the longitudinal position, the transverse position, the longitudinal speed information and the transverse speed information of a target vehicle;
the method comprises the steps that a vehicle sensor collects vehicle movement information, wherein the vehicle movement information comprises the yaw angular velocity, the steering wheel angle, the vehicle speed and a sampling time interval of a vehicle;
the calculating of the discrete motion trail information of all the target vehicles relative to the own vehicle comprises the following steps:
and calculating discrete motion track information of each target vehicle relative to the self vehicle based on all the target vehicle motion information and the self vehicle motion information.
Optionally, the screening out a final target vehicle based on the discrete motion trajectory information of all target vehicles relative to the own vehicle includes:
calculating an effective selection area of the self-vehicle according to the speed information of the self-vehicle, the steering wheel angle information, the yaw rate information and the lane line information, wherein the effective selection area represents an area where the self-vehicle can safely drive;
and screening out the final target vehicle from all the target vehicles according to the effective selection area and the motion information of all the target vehicles.
Optionally, the determining the target driving track information of the host vehicle based on the discrete motion track information of the final target vehicle, the discrete track information of the lane center line, and the current driving environment information includes:
smoothing discrete motion track information of the final target vehicle by adopting a Kalman filtering algorithm; and according to the left and right lane lines of the lane where the self-vehicle is located, performing discrete sampling on the left and right lane lines to obtain discrete track points of the left and right lane lines, and combining the discrete track points of the left and right lane lines into discrete track information of the lane central line.
Optionally, the target driving track information of the host vehicle is determined based on the discrete motion track information of the final target vehicle, the discrete track information of the lane center line, and the current driving environment information:
if the current speed of the vehicle is greater than a set speed threshold value and the discrete track information of the lane center line is not empty, determining the discrete track information of the lane center line as the target running track information of the vehicle; if the discrete track information of the lane center line is empty, outputting invalid target track information;
if the current speed of the self vehicle is less than or equal to a set speed threshold value and the discrete track information of the final target vehicle is not empty, determining that the discrete track information of the final target vehicle is the target running track information of the self vehicle; and if the discrete track information of the final target vehicle is empty, outputting invalid target track information.
Optionally, when the host vehicle is in the designated state, generating an initialization trajectory from the current trajectory to the target trajectory of the host vehicle previously includes:
according to the motion information of the vehicle, the driving operation information of a driver and the discrete track information of a final target vehicle, respectively calculating the transfer condition of each driving state of the vehicle, wherein each driving state of the vehicle comprises an off state, a standby state, an override state, a passive state and an active state, and the active state comprises an initializeActive sub-state and an active normal operation sub-state.
Optionally, when the host vehicle is in the designated state, generating an initialization trajectory from the current trajectory to the target trajectory of the host vehicle includes:
the method comprises the steps of obtaining the current running state of a self-vehicle, and if the current running state of the self-vehicle is a standby state, generating an initialization track line from the current track of the self-vehicle to a target track based on the current position point of the self-vehicle and the starting point of the target track, wherein the initialization track line is a connecting line between the current position point of the self-vehicle and the starting point of the target track.
Optionally, the generating an initialization trajectory line from the current trajectory of the vehicle to the target trajectory based on the current position point of the vehicle and the starting point of the target trajectory includes:
and calculating an initialization track according to the actual position, the actual longitudinal speed, the actual transverse speed and the actual yaw rate of the self-vehicle, wherein the end point of the initialization track is the same as the actual position and the yaw rate of the start point of the target track, the transverse speed is 0, and the initialization track is formed by splicing a plurality of arc tracks.
According to a second aspect of the present invention, there is provided a lane keeping assist driving system including:
the calculation module is used for acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all the target vehicles relative to the vehicle;
the screening module is used for screening out the final target vehicle based on the discrete motion track information of all the target vehicles relative to the self vehicle;
the determining module is used for determining the target running track information of the self vehicle based on the discrete motion track information of the final target vehicle, the discrete track information of the lane central line and the current driving environment information;
and the generating module is used for generating an initialization track line from the current track to the target track of the self-vehicle when the self-vehicle is in the designated state.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the lane keeping assist driving method when executing a computer management like program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management-like program which, when executed by a processor, implements the steps of a lane-keeping assisted driving method.
According to the lane keeping auxiliary driving method, the lane keeping auxiliary driving system and the electronic equipment, the final target vehicle which most possibly influences the motion of the vehicle is screened out according to the identified lane line information, the motion information of the vehicle and the motion information of all the peripheral target vehicles, the target driving track information of the vehicle is determined according to the motion track information and the lane center line information of the final target vehicle, and the initialized track line is generated for connection based on the current track information and the target driving track information of the vehicle, so that the comprehensive auxiliary driving function can be provided, and the intelligent driving safety work can be completed.
Drawings
FIG. 1 is a flow chart of a lane keeping assist driving method provided by the present invention;
FIG. 2 is a schematic diagram of relative position information between a host vehicle and a target vehicle;
FIG. 3 is a schematic flow chart illustrating the process of determining target travel track information of a host vehicle;
FIG. 4 is a schematic diagram of an initialization track;
FIG. 5 is a schematic structural diagram of a lane keeping assist driving system according to the present invention;
FIG. 6 is a schematic diagram of a hardware structure of a possible electronic device according to the present invention;
fig. 7 is a schematic diagram of a hardware structure of a possible computer-readable storage medium provided in the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a lane keeping assist driving method provided by the present invention, as shown in fig. 1, the method mainly includes the following steps:
s1, acquiring lane line information, motion information of a self vehicle and motion information of all target vehicles around the self vehicle, and calculating discrete motion track information of all the target vehicles relative to the self vehicle.
As an embodiment, the acquiring lane line information, motion information of the own vehicle, and motion information of all target vehicles around the own vehicle includes: based on a vehicle coordinate system, a vehicle-mounted sensor acquires lane line information and all target vehicle motion information, and converts the lane line information and all the target vehicle motion information into a self-vehicle coordinate system, wherein the target vehicle motion information comprises the longitudinal position, the transverse position, the longitudinal speed information and the transverse speed information of a target vehicle; the method comprises the steps that a vehicle self sensor collects self motion information, wherein the self motion information comprises the yaw velocity, the steering wheel angle, the self velocity and the sampling time interval of a self vehicle; the calculating of the discrete motion trail information of all the target vehicles relative to the own vehicle comprises the following steps: and calculating discrete motion track information of each target vehicle relative to the self vehicle based on all the target vehicle motion information and the self vehicle motion information.
It is understood that, based on the vehicle coordinate system (longitudinal direction is x, lateral direction is y), the vehicle-mounted sensor identifies the lane line and the environment information of the target vehicle around the own vehicle, and converts the lane line and the position information of the target vehicle into the own vehicle coordinate system, so as to obtain the lane line information, the motion information and the position information of the target vehicle, and the like. The vehicle sensor collects information such as the speed, lateral speed, longitudinal speed, steering wheel angle, steering wheel angular speed, yaw rate and the like of the vehicle, namely the vehicle sensor collects motion information and the like of the vehicle. The HMI system of the vehicle collects driver input information mainly including driving operation information of the driver, such as operation information of a steering wheel, accelerator pedal information, and the like.
Discrete track point information of all target vehicles under a self-vehicle coordinate system, namely discrete track information of each target vehicle relative to the self-vehicle is calculated through the yaw velocity, the steering wheel angle, the self-vehicle speed, the sampling time interval and the longitudinal position, the lateral position, the longitudinal speed and the lateral speed information of the target vehicles.
And S2, screening out the final target vehicle based on the discrete motion track information of all the target vehicles relative to the self vehicle.
As an embodiment, the screening out a final target vehicle based on the discrete motion trajectory information of all target vehicles relative to the own vehicle includes: calculating an effective selection area of the self-vehicle according to the speed information of the self-vehicle, the steering wheel angle information, the yaw rate information and the lane line information, wherein the effective selection area represents an area where the self-vehicle can safely drive; and screening out the final target vehicle from all the target vehicles according to the effective selection area and the motion information of all the target vehicles.
It is understood that, from all the target vehicles, the target vehicle that most affects the traveling of the own vehicle is selected based on the position information and motion information of the own vehicle, and the position information and motion information of all the target vehicles, as shown in fig. 2, target vehicle a is the own-lane distance closest target, target vehicle B is the own-lane distance second closest target, target vehicle C is the own-left-side lane distance closest target, target vehicle D is the own-right-side lane distance closest target, and the final target vehicle that affects the traveling of the own vehicle is selected from A, B, C and D vehicles.
Specifically, according to the fusion of the speed of the vehicle, the steering wheel angle, the yaw rate and lane line information, an effective selection area is calculated, wherein the effective selection area represents an area where the vehicle can safely run, and finally all or part of vehicles in A, B, C and D are screened according to the effective selection area and the motion state of a target vehicle. The final target vehicle can be screened out according to the transverse position, the longitudinal speed, the transverse speed and the target maturity information corresponding to each target vehicle, wherein the target maturity information can be understood as the influence degree on the driving of the vehicle. For example, it is possible to screen the target vehicle closest to the host vehicle in the host vehicle lane as the final target vehicle, such as target vehicle a in fig. 2. For another example, if the target vehicle in the adjacent lane of the host vehicle closest to the host vehicle is selected as the final target vehicle based on the yaw angle of the host vehicle, for example, if the host vehicle turns to the right in fig. 2, the target vehicle D may be selected as the final target vehicle. And after the final target vehicle is screened out, obtaining the discrete track information of the final target vehicle.
And S3, determining the target running track information of the self vehicle based on the discrete motion track information of the final target vehicle, the discrete track information of the lane central line and the current driving environment information.
As an embodiment, the determining the target travel track information of the own vehicle based on the discrete motion track information of the final target vehicle and the discrete track information of the lane center line, and the current driving environment information, previously includes: smoothing discrete motion track information of the final target vehicle by adopting a Kalman filtering algorithm; and according to the left and right lane lines of the lane where the self-vehicle is located, performing discrete sampling on the left and right lane lines to obtain discrete track points of the left and right lane lines, and combining the discrete track points of the left and right lane lines into discrete track information of the lane central line.
It can be understood that after the final target vehicle is screened out and the discrete track information of the final target vehicle is obtained, the target track information is smoothed by adopting a Kalman filtering algorithm to obtain the smoothed target track information; and if the final target vehicle is not screened, outputting invalid discrete track information.
Selecting left and right lane lines of a lane where a self vehicle is located according to all the identified lane lines, and judging whether the left and right lane lines are valid according to lane line information, for example, when the lane lines are identified, a road edge or shadow exists in a shot road image to cause the failure of the identification of the lane lines, and then the lane line information is invalid information; based on the algorithm interface definition and the longitudinal sampling distance, the left lane line and the right lane line are subjected to discrete sampling, discrete track points of the left lane line and the right lane line are obtained, and the discrete points of the left lane line and the right lane line are combined into a discrete track point positioned in the middle of a lane, namely discrete track information of a lane central line. And if the left lane line and the right lane line are judged to be invalid, outputting the discrete track information of the invalid lane center line.
Referring to fig. 3, the target driving track information of the host vehicle is determined according to the discrete track information of the final target vehicle and the discrete track information of the lane center line and the current driving environment.
As an embodiment, the determining of the target travel track information of the own vehicle based on the discrete motion track information of the final target vehicle and the discrete track information of the lane center line, and the current driving environment information: if the current speed of the vehicle is greater than a set speed threshold value and the discrete track information of the lane center line is not empty, determining the discrete track information of the lane center line as the target running track information of the vehicle; if the discrete track information of the lane center line is empty, outputting invalid target track information; if the current speed of the self vehicle is less than or equal to a set speed threshold value and the discrete track information of the final target vehicle is not empty, determining that the discrete track information of the final target vehicle is the target running track information of the self vehicle; and if the discrete track information of the final target vehicle is empty, outputting invalid target track information.
And S4, when the self-vehicle is in a specified state, generating an initialization track line from the current track of the self-vehicle to the target track.
It can be understood that, after the target travel track information of the host vehicle is determined, the conditions for the transition of each travel state of the host vehicle are respectively calculated according to the motion information of the host vehicle, the driving operation information of the driver and the discrete track information of the final target vehicle, wherein each travel state of the host vehicle comprises an off state, a standby state, an over state, a passive state and an active state, and the active state comprises an initializeActive sub-state and an active normal operation sub-state.
By way of example, the generating an initialization trajectory line from a current trajectory to a target trajectory of the host vehicle when the host vehicle is in a specified state includes: the method comprises the steps of obtaining the current running state of a self-vehicle, and if the current running state of the self-vehicle is a standby state, generating an initialization track line from the current track of the self-vehicle to a target track based on the current position point of the self-vehicle and the starting point of the target track, wherein the initialization track line is a connecting line between the current position point of the self-vehicle and the starting point of the target track.
It can be understood that, when the current driving state of the host vehicle is the standby state, an initialization track line from the current position point of the host vehicle to the target track is generated based on the current position point of the host vehicle and the starting point of the target track, and the initialization track line is a connecting line between the current position point of the host vehicle and the starting point of the target track. When the initialization track is generated, in order to prevent the initialization track from being connected with the target track to be abrupt, the end point of the initialization track is consistent with the state of the target track, namely the actual position and the yaw rate of the end point of the initialization track are the same as those of the starting point of the target track, and the lateral velocities pointed at the two positions are zero. The initialization track can be formed by splicing a plurality of circular arcs, the starting point and the end point of each circular arc are calculated, discrete sampling is carried out according to a spline interpolation algorithm to obtain track points, and finally the spliced initialization track is output to a control algorithm to control the motion of the self-vehicle as shown in figure 4.
In fig. 4, P0 is a start point of the initialized trajectory, P1 is an insertion point of the initialized trajectory, P2 is a parallel point of the initialized trajectory, a lateral angle of P2 is the same as a heading angle of P3, P3 is an end point of the initialized trajectory, R1 is a turning radius calculated from an actual yaw rate and an angle of the host vehicle, R2 is a turning radius obtained from a table lookup of the actual yaw rate of the host vehicle, R3 is a turning radius obtained from a table lookup of the actual yaw rate of the vehicle, and R2= R3.
Fig. 5 is a structural diagram of a lane keeping assist driving system according to an embodiment of the present invention, and as shown in fig. 5, the lane keeping assist driving system includes a calculating module 51, a screening module 52, a determining module 53, and a generating module 54, where:
the calculation module 51 is configured to obtain lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculate discrete motion trajectory information of all target vehicles relative to the vehicle; the screening module 52 is configured to screen out a final target vehicle based on the discrete motion trajectory information of all target vehicles relative to the own vehicle; a determining module 53, configured to determine target travel track information of the host vehicle based on the discrete motion track information of the final target vehicle and the discrete track information of the lane center line, and the current driving environment information; and the generating module 54 is used for generating an initialization track line from the current track to the target track of the own vehicle when the own vehicle is in the specified state.
It can be understood that, the lane keeping assistant driving system provided by the present invention corresponds to the lane keeping assistant driving method provided by each of the foregoing embodiments, and the related technical features of the lane keeping assistant driving system may refer to the related technical features of the lane keeping assistant driving method, and are not described herein again.
Referring to fig. 6, fig. 6 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 6, an embodiment of the present invention provides an electronic device 600, which includes a memory 610, a processor 620, and a computer program 611 stored in the memory 610 and operable on the processor 620, where the following steps are implemented when the processor 620 executes the computer program 611: acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all target vehicles relative to the vehicle; screening out a final target vehicle based on the discrete motion track information of all target vehicles relative to the self vehicle; determining target running track information of the vehicle based on the final discrete motion track information of the target vehicle, the discrete track information of the lane central line and the current driving environment information; when the self-vehicle is in a designated state, generating an initialization track line from the current track to the target track of the self-vehicle.
Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 7, the present embodiment provides a computer-readable storage medium 700 having a computer program 711 stored thereon, the computer program 711, when executed by a processor, implementing the steps of: acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all the target vehicles relative to the vehicle; screening out a final target vehicle based on the discrete motion track information of all target vehicles relative to the self vehicle; determining target running track information of the vehicle based on the final discrete motion track information of the target vehicle, the discrete track information of the lane central line and the current driving environment information; when the self-vehicle is in a designated state, generating an initialization track line from the current track to the target track of the self-vehicle.
According to the lane keeping assistant driving method, the lane keeping assistant driving system and the electronic equipment, the final target vehicle which most possibly influences the motion of the vehicle is screened out according to the identified lane line information, the motion information of the vehicle and the motion information of all the peripheral target vehicles, the target driving track information of the vehicle is determined according to the motion track information and the lane center line information of the final target vehicle, and the initialized track line is generated for connection based on the current track information and the target driving track information of the vehicle, so that the comprehensive assistant driving function can be provided, and the intelligent driving safety work can be completed.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A lane keeping assist driving method characterized by comprising:
acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all the target vehicles relative to the vehicle;
screening out a final target vehicle based on the discrete motion track information of all target vehicles relative to the self vehicle;
determining target running track information of the vehicle based on the final discrete motion track information of the target vehicle, the discrete track information of the lane central line and the current driving environment information;
when the self-vehicle is in a designated state, generating an initialization track line from the current track to the target track of the self-vehicle.
2. The lane-keeping driving assist method according to claim 1, wherein the acquiring lane line information, motion information of the own vehicle, and motion information of all target vehicles around the own vehicle includes:
based on a vehicle coordinate system, a vehicle-mounted sensor acquires lane line information and all target vehicle motion information, and converts the lane line information and all the target vehicle motion information into a self-vehicle coordinate system, wherein the target vehicle motion information comprises the longitudinal position, the transverse position, the longitudinal speed information and the transverse speed information of a target vehicle;
the method comprises the steps that a vehicle self sensor collects self motion information, wherein the self motion information comprises the yaw velocity, the steering wheel angle, the self velocity and the sampling time interval of a self vehicle;
the calculating of the discrete motion trail information of all the target vehicles relative to the own vehicle comprises the following steps:
and calculating discrete motion track information of each target vehicle relative to the self vehicle based on all the target vehicle motion information and the self vehicle motion information.
3. The lane keeping assist driving method according to claim 1, wherein the screening out a final target vehicle based on the discrete motion trajectory information of all target vehicles relative to the own vehicle comprises:
calculating an effective selection area of the self-vehicle according to the speed information of the self-vehicle, the steering wheel angle information, the yaw rate information and the lane line information, wherein the effective selection area represents an area where the self-vehicle can safely drive;
and screening out the final target vehicle from all the target vehicles according to the effective selection area and the motion information of all the target vehicles.
4. The lane-keeping assist driving method according to claim 1, wherein the determining of the target travel track information of the own vehicle based on the discrete movement track information of the final target vehicle and the discrete track information of the lane center line, and the current driving environment information, previously comprises:
smoothing discrete motion track information of the final target vehicle by adopting a Kalman filtering algorithm; and according to the left and right lane lines of the lane where the self vehicle is located, performing discrete sampling on the left and right lane lines to obtain discrete track points of the left and right lane lines, and combining the discrete track points of the left and right lane lines into discrete track information of the lane center line.
5. The lane-keeping assist driving method according to claim 1 or 4, wherein the determining of the target travel track information of the own vehicle is performed based on the discrete movement track information of the final target vehicle and the discrete track information of the lane center line, and the current driving environment information:
if the current speed of the vehicle is greater than a set speed threshold value and the discrete track information of the lane center line is not empty, determining the discrete track information of the lane center line as the target running track information of the vehicle; if the discrete track information of the lane center line is empty, outputting invalid target track information;
if the current speed of the self vehicle is less than or equal to a set speed threshold value and the discrete track information of the final target vehicle is not empty, determining that the discrete track information of the final target vehicle is the target running track information of the self vehicle; and if the discrete track information of the final target vehicle is empty, outputting invalid target track information.
6. The lane-keeping driving assist method according to claim 1, wherein the generating an initial trajectory line from a current trajectory to a target trajectory of the own vehicle when the own vehicle is in a specified state, previously includes:
according to the motion information of the vehicle, the driving operation information of a driver and the discrete track information of a final target vehicle, respectively calculating the transfer condition of each driving state of the vehicle, wherein each driving state of the vehicle comprises an off state, a standby state, an override state, a passive state and an active state, and the active state comprises an initializeActive sub-state and an active normal operation sub-state.
7. The lane keep assist driving method according to claim 6, wherein the generating of the initialization trajectory line from the current trajectory to the target trajectory of the own vehicle when the own vehicle is in the specified state includes:
the method comprises the steps of obtaining the current running state of a self-vehicle, and if the current running state of the self-vehicle is a standby state, generating an initialization track line from the current track of the self-vehicle to a target track based on the current position point of the self-vehicle and the starting point of the target track, wherein the initialization track line is a connecting line between the current position point of the self-vehicle and the starting point of the target track.
8. The lane-keeping driving assistance method according to claim 7, wherein the generating an initial trajectory line from a current trajectory of the vehicle to the target trajectory based on the current position point of the vehicle and the start point of the target trajectory includes:
and calculating an initialization track according to the actual position, the actual longitudinal speed, the actual transverse speed and the actual yaw velocity of the self-vehicle, wherein the end point of the initialization track is the same as the actual position and the yaw velocity of the start point of the target track, the transverse speed is 0, and the initialization track is formed by splicing a plurality of sections of circular arc tracks.
9. A lane-keeping-assist driving system characterized by comprising:
the calculation module is used for acquiring lane line information, motion information of the vehicle and motion information of all target vehicles around the vehicle, and calculating discrete motion track information of all the target vehicles relative to the vehicle;
the screening module is used for screening out the final target vehicle based on the discrete motion track information of all the target vehicles relative to the self vehicle;
the determining module is used for determining the target running track information of the self vehicle based on the discrete motion track information of the final target vehicle, the discrete track information of the lane central line and the current driving environment information;
and the generating module is used for generating an initialization track line from the current track to the target track of the self-vehicle when the self-vehicle is in the designated state.
10. An electronic device, comprising a memory, a processor for implementing the steps of the lane-keeping assisted driving method according to any of claims 1-8 when executing a computer management like program stored in the memory.
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| CN202210773459.XA CN115195718A (en) | 2022-07-01 | 2022-07-01 | Lane keeping auxiliary driving method and system and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117128976A (en) * | 2023-10-26 | 2023-11-28 | 小米汽车科技有限公司 | Method and device for acquiring road center line, vehicle and storage medium |
| WO2024093321A1 (en) * | 2022-10-31 | 2024-05-10 | 华为技术有限公司 | Vehicle position acquiring method, model training method, and related device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024093321A1 (en) * | 2022-10-31 | 2024-05-10 | 华为技术有限公司 | Vehicle position acquiring method, model training method, and related device |
| CN117128976A (en) * | 2023-10-26 | 2023-11-28 | 小米汽车科技有限公司 | Method and device for acquiring road center line, vehicle and storage medium |
| CN117128976B (en) * | 2023-10-26 | 2024-03-12 | 小米汽车科技有限公司 | Method and device for acquiring road center line, vehicle and storage medium |
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