CN113460045A - Emergency lane keeping system and control method thereof - Google Patents
Emergency lane keeping system and control method thereof Download PDFInfo
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- CN113460045A CN113460045A CN202110804065.1A CN202110804065A CN113460045A CN 113460045 A CN113460045 A CN 113460045A CN 202110804065 A CN202110804065 A CN 202110804065A CN 113460045 A CN113460045 A CN 113460045A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000013528 artificial neural network Methods 0.000 claims description 6
- 208000003443 Unconsciousness Diseases 0.000 abstract description 2
- 238000012790 confirmation Methods 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 8
- 230000001629 suppression Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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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Abstract
The invention discloses an emergency lane keeping system and a control method thereof, belonging to the field of automobile control and comprising the following steps: preceding radar sensor, foresight camera, left relief angle radar sensor, right rear angle radar sensor, next machine and host computer, preceding radar sensor, foresight camera, left relief angle radar sensor, right rear angle radar sensor, next machine and host computer pass through electric connection together. The invention comprehensively considers the three factors of the vehicle running state, the driving behavior of the driver and the road environment condition. And the road environment information fuses data of the camera and the radar, and not only contains relevant information of a front lane, but also traffic flow information of an oncoming vehicle, a rear overtaking vehicle and the like of an adjacent lane. The system is suitable for multi-terrain roads. The addition of multi-target road environment information and the fusion confirmation of vehicle targets further enhance the driving safety, prevent the vehicle from generating unconscious lane departure and avoid the collision with the vehicle of the adjacent lane or the road edge.
Description
Technical Field
The invention discloses an emergency lane keeping system and a control method thereof, belonging to the field of automobile control.
Background
The lane keeping system is a common intelligent driving technology in the field of vehicle safety assistant driving at present, provides steering control for a driver by controlling an Electronic Power Steering (EPS) system, and improves driving comfort. The system generally collects relevant information of a front lane in real time through a monocular camera arranged at the front part of a vehicle, measures the distance and the direction of the vehicle relative to a left lane line and a right lane line, and has two types of lane centering keeping assistance and lane departure prevention assistance, wherein the former type keeps the vehicle in the middle of a lane, and the latter type controls the vehicle in the lane.
The lane keeping system described above is only applicable to road traffic sidelines of different types (solid, dashed, double and dotted) and colors (white, yellow), as well as to road edges without lane lines. And the traffic information such as the oncoming traffic and the rear overtaking traffic of the adjacent lane cannot be detected, so that the collision with the vehicles of the adjacent lane cannot be effectively avoided.
Disclosure of Invention
The invention aims to solve the problem that the conventional lane keeping system cannot effectively avoid collision with vehicles in adjacent lanes, and provides an emergency lane keeping system and a control method thereof.
The invention aims to solve the problems and is realized by the following technical scheme:
a system for emergency lane keeping, comprising: preceding radar sensor, preceding camera, left relief angle radar sensor, right rear angle radar sensor, lower computer and host computer, preceding radar sensor, preceding camera, left relief angle radar sensor, right rear angle radar sensor, lower computer and host computer pass through electric connection and are in the same place, preceding radar sensor sets up the automobile body front end at the vehicle, preceding camera sets up the automobile body top at the vehicle, both sides behind the automobile body of left relief angle radar sensor and right rear angle radar sensor vehicle, the lower computer sets up the driver's cabin bottom of vehicle, the host computer sets up in the driver's cabin of vehicle.
A control method of an emergency lane keeping system comprises the following specific steps:
step S10, respectively acquiring front environment data, front depth image data, left side environment data and right side environment data through the front radar sensor, the front view camera, the left rear angle radar sensor and the right rear angle radar sensor;
and step S20, obtaining obstacle detailed data through the front environment data, the front depth image data, the left side environment data, the right side environment data and the data required by the neural network.
Preferably, the data required by the neural network includes: terrain data, special weather data, general obstacle form data.
Compared with the prior art, the invention has the following advantages and beneficial effects:
when the function of the system is determined to be enabled, the invention comprehensively considers the three factors of the vehicle running state, the driving behavior of the driver and the road environment condition. And the road environment information fuses data of the camera and the radar, and not only contains relevant information of a front lane, but also traffic flow information of an oncoming vehicle, a rear overtaking vehicle and the like of an adjacent lane. The system is suitable for multi-terrain roads. The addition of multi-target road environment information and the fusion confirmation of vehicle targets further enhance the driving safety, prevent the vehicle from generating unconscious lane departure and avoid the collision with the vehicle of the adjacent lane or the road edge.
Drawings
The invention shares the attached figure 3, wherein:
fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the emergency lane keeping function enabling principle of the present invention.
Fig. 3 is a schematic diagram of the emergency lane keeping control activation condition of the present invention.
The system comprises a front radar sensor 1, a front-view camera 2, a left rear angle radar sensor 3, a right rear angle radar sensor 4, a lower computer 5 and an upper computer 6.
Detailed Description
The invention is further illustrated below with reference to the accompanying figures 1-3:
the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, a first embodiment of the present invention provides an emergency lane keeping system based on the prior art, including: the front radar sensor 1, the front-looking camera 2, the left rear angle radar sensor 3, the right rear angle radar sensor 4, the lower computer 5 and the upper computer 6 are electrically connected together, and the front radar sensor 1 is arranged at the front end of a vehicle body of the vehicle and is responsible for collecting information of opposite incoming vehicles of adjacent lanes in real time. The front-view camera is arranged at the top of the vehicle body and is responsible for collecting the related information of the front lane and the traffic flow information of the adjacent lane of the front lane in real time. And the rear sides of the vehicle body of the vehicle with the left rear angle radar sensor and the right rear angle radar sensor collect the information of the overtaking vehicles of the adjacent lanes in real time.
The installation positions of the front radar sensor 1, the front-view camera 2, the left rear-angle radar sensor 3 and the right rear-angle radar sensor 4 are described above, and the lower computer 5 and the upper computer 6 for controlling the front-view camera, the front-view camera 2, the left rear-angle radar sensor 3 and the right rear-angle radar sensor 4 are described below. First, the lower computer 5 is a PLC (including an STM32 single chip microcomputer) and is used for acquiring data sent back by each front sensing unit and transmitting the data to the upper computer 6. Therefore, the air conditioner is arranged at the lower part in the cab of the vehicle, and the limited space in the cab is saved. The upper computer 6 is a stand-alone computer and is used for processing the data obtained by each sensing unit. Therefore, the device is arranged in the middle part in the cab of the vehicle, and is beneficial to observation and maintenance of personnel.
A control method of an emergency lane keeping system comprises the following specific steps:
and step S10, respectively acquiring front environment data, front depth image data, left side environment data and right side environment data through the front radar sensor, the front camera, the left rear corner radar sensor and the right rear corner radar sensor, wherein the front environment data is information of opposite coming vehicles of adjacent lanes, the front depth image data is related information of the front lanes and traffic flow information of adjacent lanes of the front lanes, and the left side environment data and the right side environment data are respectively information of overtaking vehicles of the left side adjacent lanes and the right side adjacent lanes.
Step S20, obtaining detailed obstacle data through the front environment data, the front depth image data, the left environment data, the right environment data and the data required by the neural network, wherein the data required by the neural network comprises: terrain data, special weather data, general obstacle form data.
As shown in fig. 2, the system needs to comprehensively consider factors in three aspects of the vehicle running state, the driver's driving behavior, and the road environment state when determining the function enabled state. Acquiring the running state of the vehicle and the driving behavior information of a driver through a CAN (controller area network); the road environment state information is sensed by the system hardware 1, 2, 3 and 4.
The system CAN sense the current running state of the vehicle in real time through the CAN network and acquire the acquisition information from input 1 to input 7. Wherein:
input 1: the system can acquire the power supply mode of the whole vehicle;
input 2: the system can obtain the current running speed of the vehicle;
input 3: the system can know the current yaw angle posture of the vehicle, and further know whether the vehicle runs in a straight line or has a turning trend;
input 4: the system can know whether an Electronic Stability Program (ESP) local function is activated or not and control the vehicle;
input 5: the system may know whether the lane centering hold assist (LCP) function is on.
Through the collected information from 'input 1' to 'input 5', three input conditions that are common to the subfunction enables can be obtained.
Input 6: the system can acquire the time that an Emergency Lane Keeping (ELK) system requests a driver to take over, and further acquire whether the duration is more than or equal to the longest acting time of the system;
by the collected information of "input 6", one of the suppression conditions of the road edge deviation assistance function can be obtained.
Input 7: the system can acquire the current transverse speed of the vehicle, and further acquire whether the vehicle has no collision risk of the opposite vehicle.
By the acquisition information of "input 7", one of the suppression conditions for the incoming vehicle detection auxiliary function can be obtained.
The system CAN sense the current driving behavior of the driver in real time through the CAN network, acquire the collected information from 'input 8' to 'input 15', and is also a universal input condition for enabling the three subfunctions. Wherein:
input 8: the system may detect whether the driver has operated an emergency lane keeping system (ELK) switch;
input 9: the system can detect whether a driver operates a gear shifting lever or not, so that the gearbox is in a forward gear;
inputting 10: the system can detect whether the driver operates the steering switch;
input 11: the system can detect whether the driver operates the hazard warning light switch;
input 12: the system can detect the hand moment of the driver operating the steering wheel and whether the hand moment direction of the driver is the same as the ELK request moment direction, further detect whether the driver intervenes actively and detect whether the driver is out of hand with the steering wheel;
input 13: the system can detect the speed of a driver operating a steering wheel, and further detect whether the driver carries out active steering or not;
input 14: the system can detect the force of the driver for stepping on the brake pedal;
input 15: the system can detect whether the driver actively changes lanes or not, and indicates that the lane of the vehicle is changed, for example, the driver drives the center line of the vehicle to deviate from the side line of the current lane.
The system can sense the condition information of the current road environment in real time through system hardware 1, 2, 3 and 4, and acquire the collected information from 'input 16' to 'input 21'. Wherein:
input 16: the system can know whether the lane in front of the vehicle is a straight road or a curved road through the 1-forward-looking camera, and can know the radius of the curve if the lane is the curved road, so as to judge whether the vehicle is going to run like the curve at present;
input 17: the system can acquire the width of the current lane in front of the vehicle through the 1-forward-looking camera;
input 18: the system can know the distance between the vehicle and the lane lines on two sides through the 1-forward-looking camera, and further can know the position of the vehicle in the current lane and whether the vehicle drives under the condition of pressing the lines.
By collecting information from "input 16" to "input 18", three input conditions that are common to the sub-function enabled are available.
Input 19: the system can know whether the system detects the boundary of a related side lane or not through the 1-forward-looking camera, and further know whether the self lane is lost or not;
by the collected information of "input 19", one of the suppression conditions of the road edge deviation assistance function can be obtained.
Input 20: the system can know whether the opposite coming vehicle is detected or not through the 2-front radar, and further know whether the opposite coming vehicle is lost or not;
by the collected information of "input 20", one of the suppression conditions for the incoming vehicle detection auxiliary function can be obtained.
Input 21: the system can know whether the related side overtaking vehicle is detected or not through the 3-angle radar-right rear and the 4-angle radar-left rear, and further know whether the overtaking vehicle behind the adjacent lane is lost or not.
By the collected information of "input 21", one of the suppression conditions of the rear passing vehicle detection auxiliary function can be obtained.
Above, "input 1" to "input 6", "input 8" to "input 15", and "input 16" to "input 19" are input conditions in the system that the lane edge deviation assistance function is enabled; "input 1" to "input 5", "input 7", "input 8" to "input 15", "input 16" to "input 18", and "input 20" are input conditions in the system that enable the oncoming vehicle detection assistance function; "Input 1" to "Input 5", "Input 8" to "Input 15", "Input 16" to "Input 18", and "Input 21" are input conditions in the system that the rear override vehicle detection assist function is enabled.
As shown in fig. 3, in the system function enabled state, events are recorded from the angles of three sub-functions of the road edge departure assist, the oncoming vehicle detection assist, and the rear passing vehicle detection assist, respectively, to determine the system control activated state. Wherein:
event (1): the time when the edge of the rear wheel of the vehicle passes through the road tooth can be dynamically calibrated;
event (2): the vehicle enters an action area with a certain distance from the inner edge of the lane edge, the distance can be dynamically calibrated, and different distances correspond to different sensitivities;
events (1) and (2) are simultaneously satisfied, and the road edge deviation assistance function control is activated.
Event (3): the relative speed of the oncoming vehicle and the own vehicle is judged to be collision risk when the relative speed of the two vehicles is greater than a certain threshold value;
event (4): if the distance is less than a certain threshold value, the two vehicles are probably collided;
event (5): if the time is less than a certain threshold value, the collision risk of the two vehicles is represented;
event (6): if the distance between the vehicle and the oncoming vehicle in the adjacent lane is smaller than a certain threshold value, the two vehicles are possibly collided;
and simultaneously meeting the events (3), (4), (5) and (6), and activating the control of the auxiliary function for detecting the incoming vehicle.
Event (7): whether the time between the vehicle and the rear overtaking vehicle in the adjacent lane has a recognizable lane line or not;
event (8): whether the distance between the self vehicle and the lane line on one side of the target vehicle is too short or not;
event (9): detecting vehicles in a BSM (Blind Spot Monitor) area, wherein the longitudinal distance between a Vehicle in an adjacent lane and a rear overtaking Vehicle is less than or equal to a certain threshold value, or detecting the vehicles in a CVW (close Vehicle Monitor) area, wherein the longitudinal distance between the Vehicle in the adjacent lane and the rear overtaking Vehicle is greater than a certain threshold value, and the collision time of the two vehicles is less than a certain threshold value, which indicates that the two vehicles may collide;
events (7), (8) and (9) are simultaneously satisfied and the rear override vehicle detection assist function control is activated.
And if any sub-function is controlled to be activated in the enabling state, the emergency lane keeping system is controlled to be activated.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (3)
1. An emergency lane keeping system, comprising: preceding radar sensor, preceding camera, left relief angle radar sensor, right rear angle radar sensor, lower computer and host computer, preceding radar sensor, preceding camera, left relief angle radar sensor, right rear angle radar sensor, lower computer and host computer pass through electric connection and are in the same place, preceding radar sensor sets up the automobile body front end at the vehicle, preceding camera sets up the automobile body top at the vehicle, both sides behind the automobile body of left relief angle radar sensor and right rear angle radar sensor vehicle, the lower computer sets up the driver's cabin bottom of vehicle, the host computer sets up in the driver's cabin of vehicle.
2. A control method of an emergency lane keeping system is characterized by comprising the following specific steps:
step S10, respectively acquiring front environment data, front depth image data, left side environment data and right side environment data through the front radar sensor, the front view camera, the left rear angle radar sensor and the right rear angle radar sensor;
and step S20, obtaining obstacle detailed data through the front environment data, the front depth image data, the left side environment data, the right side environment data and the data required by the neural network.
3. The method for controlling an emergency lane-keeping system according to claim 2, wherein the data required by the neural network includes: terrain data, special weather data, general obstacle form data.
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| CN202110804065.1A CN113460045A (en) | 2021-07-16 | 2021-07-16 | Emergency lane keeping system and control method thereof |
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Cited By (1)
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Application publication date: 20211001 |