CN116215526A - Vehicle running control method, system and storage medium - Google Patents

Vehicle running control method, system and storage medium Download PDF

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Publication number
CN116215526A
CN116215526A CN202310054914.5A CN202310054914A CN116215526A CN 116215526 A CN116215526 A CN 116215526A CN 202310054914 A CN202310054914 A CN 202310054914A CN 116215526 A CN116215526 A CN 116215526A
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China
Prior art keywords
target vehicle
vehicle
lane
target
lane line
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Chinese (zh)
Inventor
葛翔华
黄梓航
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Shenzhen Desai Xiwei Automobile Electronics Co ltd
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Huizhou Desay SV Automotive Co Ltd
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Priority to CN202310054914.5A priority Critical patent/CN116215526A/en
Publication of CN116215526A publication Critical patent/CN116215526A/en
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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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a vehicle running control method, a system and a storage medium; the vehicle running control method specifically comprises the following steps: the method comprises the steps of collecting lane information, and obtaining the confidence coefficient of a lane line, the relative position of a target vehicle and a lane line of a lane where the target vehicle is located and the stability parameter of the target vehicle; and checking the lane line confidence, and judging the lane where the target vehicle is located according to the checking result of the lane line confidence and the relative position of the target vehicle and the lane line where the target vehicle is located or the stability parameter of the target vehicle, so that the self-vehicle can adjust the driving state according to the lane where the target vehicle is located and keep a safe distance with the target vehicle. The method and the device avoid the situation that the lane where the target vehicle is located cannot be judged due to unclear lane lines or limitations of the camera, and can accurately judge the lane where the target vehicle is located at the same time, so that the adaptability of the auxiliary driving system to the environment is enhanced, and the user satisfaction is improved.

Description

Vehicle running control method, system and storage medium
Technical Field
The invention relates to the technical field of intelligent driving assistance, in particular to a vehicle driving control method, a system and a storage medium.
Background
At present, intelligent driving target detection in the market generally adopts a camera to detect a vehicle target, a pedestrian target, a tricycle target and a lane line. When the ADAS (Advanced Driving Assistance System) determines the lane in which the target is located, it generally determines the lane by the relative position of the target and the lane line. If the confidence of the lane line is low or the lane line is not detected, the lane where the target is located cannot be judged.
When the ADAS function is triggered, an action target of the own lane or an adjacent lane, namely a target of a nearest path, is selected. The AEBS (Advanced Emergency Braking System) function selects the nearest target in front of the lane as the acting target, and activates the braking system to brake. The ACC (Adaptive Cruise Control ) function selects the nearest vehicle target of the lane as an acting target, and performs control such as longitudinal following acceleration and deceleration, start and stop. When the lane line mark of the road surface is not repaired, and the confidence of the lane line is reduced or the camera cannot recognize the lane line due to rain and snow weather and the like, whether the front vehicle belongs to the current lane or not cannot be judged, and then the ADAS function is erroneously selected as an action target, so that false triggering is caused.
Disclosure of Invention
The invention provides a vehicle running control method, a system and a storage medium for solving the technical problems; the method comprises the steps of judging the current lane of a target vehicle by detecting the relative position of the target vehicle and the lane line of the lane of the target vehicle or the stability parameter of the target vehicle, and further adjusting the running state of the self-vehicle so that the self-vehicle and the target vehicle keep a safe distance.
Specifically, the invention provides a vehicle running control method, which comprises the following steps:
s100: and acquiring lane information, calculating the lane line confidence coefficient and the stability parameter of the target vehicle according to the lane information, and checking the lane line confidence coefficient according to a preset threshold value.
S200: and judging the lane where the target vehicle is currently located according to the detection result of the lane line confidence.
S300: and adjusting the running state of the own vehicle based on the judging result so that the own vehicle and the target vehicle keep a safe distance.
The step S100 of collecting lane information specifically includes: collecting lane information through a camera, wherein the lane information at least comprises a lane line type, a lane line position and a target vehicle; the target vehicle is any vehicle which is closest to the own vehicle; and detecting stability parameters of the target vehicle through a camera or millimeter wave radar.
The stability parameters of the target vehicle include at least a target vehicle angle, a target vehicle yaw rate, a target vehicle relative lateral acceleration, a target vehicle relative lateral velocity, and a target vehicle and host vehicle relative lateral distance.
The method for detecting the stability parameters of the target vehicle through the camera comprises the following steps: according to the position information among the continuous pictures shot by the camera, calculating the transverse position and the longitudinal position of the target vehicle, and according to the transverse position and the longitudinal position, calculating the transverse speed and the longitudinal speed of the target vehicle; differentiating the transverse speed and the longitudinal speed to obtain the relative transverse acceleration of the target vehicle, the target vehicle angle and the target vehicle yaw rate; the relative lateral distance of the target vehicle and the own vehicle, and the relative lateral speed of the target vehicle can be obtained according to the lateral position of the target vehicle and the lateral speed of the target vehicle.
The method for detecting the stability parameters of the target vehicle through the millimeter wave radar specifically comprises the following steps: measuring the speed of the target vehicle and the distance between the target vehicle and the own vehicle; performing speed compensation and distance correction through Kalman filtering, so as to obtain the relative transverse speed of the target vehicle and the relative transverse distance between the target vehicle and the own vehicle; calculating the relative lateral acceleration of the target vehicle according to the uniform acceleration model; further receiving the phase difference of millimeter waves reflected by the same target vehicle, calculating to obtain a target vehicle yaw angle, and differentiating the target vehicle yaw angle to obtain a target vehicle angle and a target vehicle yaw rate.
The step S200 includes:
s210: when the detection result of the lane line confidence is higher than a preset threshold and the camera can work normally, detecting the relative position of the target vehicle and the lane line of the lane where the target vehicle is located according to the type of the lane line and the position of the lane line collected by the camera.
S211: and obtaining the lane where the target vehicle is located according to the relative position of the lane line of the target vehicle and the lane where the target vehicle is located.
The step S200 further includes:
s220: and when the detection result of the lane line confidence is lower than or equal to a preset threshold value or the camera cannot work normally, detecting a target vehicle according to the millimeter wave radar, and obtaining the stability parameter of the target vehicle.
S221: judging whether the angle of the target vehicle is within a first threshold range according to the stability parameters, and if the angle of the target vehicle is within the first threshold range, turning to S222; otherwise, go to S225.
S222: judging whether the yaw rate of the target vehicle is within a second threshold range, and if the yaw rate of the target vehicle is within the second threshold range, turning to S223; otherwise, go to S225.
S223: judging whether the relative lateral acceleration of the target vehicle is in a third threshold range, and if the relative lateral acceleration of the target vehicle is in the third threshold range, turning to S224; otherwise, go to S225.
S224: judging whether the relative transverse speed of the target vehicle is in a fourth threshold range, if the relative transverse speed of the target vehicle is in the fourth threshold range, considering the target vehicle to be in a stable running state, and further judging the numerical value interval of the relative transverse distance between the target vehicle and the own vehicle; otherwise, go to S225.
S225: the stability parameters of the target vehicle are retrieved.
In the step S224, a numerical interval of the relative lateral distance between the target vehicle and the own vehicle is determined, specifically:
if the numerical value interval is in the first numerical value interval, the target vehicle and the own vehicle are considered to be in the same lane; if the numerical value interval is in the second numerical value interval, the target vehicle is considered to be in the left lane of the own vehicle; if the numerical value interval is in the third numerical value interval, the target vehicle is considered to be in the lane on the right side of the own vehicle; and if the numerical value interval is not in the first numerical value interval, the second numerical value interval or the third numerical value interval, the stability parameter of the target vehicle is obtained again.
As another preferable aspect, the present invention also provides a system for determining a lane in which a target vehicle is located, including: the target detection module: the method comprises the steps that lane information is collected through a camera so as to detect the relative position of a target vehicle and a lane line of a lane where the target vehicle is located; and a stability parameter for detecting the target vehicle by a camera or millimeter wave radar; the lane information at least comprises a lane line type, a lane line position and a target vehicle; the target vehicle is any vehicle which is closest to the own vehicle; the stability parameters of the target vehicle at least comprise a target vehicle angle, a target vehicle yaw rate, a target vehicle relative lateral acceleration, a target vehicle relative lateral speed and a target vehicle and own vehicle relative lateral distance; the target state calculating module: for comparing the target vehicle angle, the target vehicle yaw rate, the target vehicle relative lateral acceleration and the target vehicle relative lateral speed with their corresponding threshold ranges to obtain a running state of the target vehicle; the lane judgment module: the method is used for judging the lane where the target vehicle is located according to the relative position of the lane line of the lane where the target vehicle is located or the numerical value interval where the relative transverse distance between the target vehicle and the own vehicle is located.
As another preferred aspect, the present invention also provides a storage medium, which is one of computer-readable storage media, having stored thereon a computer program that, when executed by a processor, implements the vehicle running control method.
Compared with the prior art, the invention has the beneficial effects that:
the invention can detect the type of the lane line, the position of the lane line and the target vehicle through the camera to obtain the relative position of the target vehicle and the lane line of the lane where the target vehicle is positioned, thereby judging that the target vehicle is positioned outside the lane; the target vehicle can be detected according to the millimeter wave radar to obtain the stability parameter of the target vehicle, and then the lane where the target vehicle is located is judged. The method can accurately judge the lane where the target vehicle is located, and enhances the adaptability of the driving assistance system to the environment; the situation that the lane line is not clear due to the fact that the lane line mark is not repaired or the lane line where the target vehicle is located cannot be judged due to the limitation of the camera in the prior art is avoided, and meanwhile the situation that a driving auxiliary system erroneously selects an action target to cause false triggering is prevented.
Drawings
Fig. 1 is a flowchart of a vehicle running control method according to the present invention.
Fig. 2 is a flowchart of a method for determining vehicle driving control described in fig. 1.
Fig. 3 is a flowchart of another method for determining vehicle running control according to fig. 1.
Fig. 4 is a system frame diagram of the vehicle running control method described in fig. 1.
Description of the embodiments
The embodiment of the invention provides a vehicle running control method, a system and a storage medium, which are used for solving the technical problems that lane lines are not clear due to the fact that lane line marks are not repaired, rain and snow weather is caused, or a lane where a target vehicle is located cannot be judged due to the limitation of a camera.
The technical scheme in the embodiment of the invention aims to solve the technical problems, and the overall thought is as follows:
there is provided a vehicle running control method including the steps of: the method comprises the steps of collecting lane information, and obtaining the confidence coefficient of a lane line, the relative position of a target vehicle and a lane line of a lane where the target vehicle is located and the stability parameter of the target vehicle; and checking the lane line confidence, and judging the lane where the target vehicle is located according to the checking result of the lane line confidence and the relative position of the target vehicle and the lane line where the target vehicle is located or the stability parameter of the target vehicle, so that the self-vehicle can adjust the driving state according to the lane where the target vehicle is located and keep a safe distance with the target vehicle.
According to the technical scheme, the lane where the target vehicle is located can be judged through the relative position of the target vehicle and the lane line where the target vehicle is located, and the lane where the target vehicle is located can also be judged through the stability parameter of the target vehicle, so that the problem that the lane where the target vehicle is located cannot be judged due to the fact that the lane line mark is not repaired or the lane line is unclear is solved, meanwhile, the accuracy of the lane judgment of the target vehicle is improved, and the adaptability of the driving assistance system to the environment is enhanced.
The following describes a vehicle running control method, system and storage medium according to the present invention in further detail with reference to specific embodiments and drawings.
Referring to fig. 1, an embodiment of the present invention provides a vehicle driving control method, which includes the following steps:
step S100: and acquiring lane information, calculating the lane line confidence coefficient and the stability parameter of the target vehicle according to the lane information, and checking the lane line confidence coefficient according to a preset threshold value.
The lane information at least comprises a lane line type, a lane line position and a target vehicle; the target vehicle is any vehicle which is closest to the own vehicle; the stability parameters of the target vehicle include at least a target vehicle angle, a target vehicle yaw rate, a target vehicle relative lateral acceleration, a target vehicle relative lateral velocity, and a target vehicle and host vehicle relative lateral distance.
In a possible implementation manner, a preset threshold value of the lane line confidence is set, when a camera can work normally, the type of the lane line, the position of the lane line and a target vehicle are acquired through the camera, and the lane line confidence is calculated according to an acquisition result, wherein the lane line confidence is different due to the abrasion state and the weather state of the lane line; if the lane lines are clear, the confidence of the lane lines is higher than a preset threshold value; if the lane line is worn, the lane line is blocked when the traffic flow is large, or the lane line is unclear due to rain and snow weather, and the confidence of the lane line is lower than or equal to a preset threshold value.
According to the acquisition result, not only the lane line confidence coefficient, but also the stability parameter of the target vehicle can be calculated, specifically: according to the position information among the continuous pictures shot by the camera, calculating the transverse position and the longitudinal position of the target vehicle, and then calculating the transverse speed and the longitudinal speed of the target vehicle according to the transverse position and the longitudinal position; differentiating the transverse speed and the longitudinal speed to obtain the relative transverse acceleration of the target vehicle, the target vehicle angle and the target vehicle yaw rate; the relative lateral distance of the target vehicle and the own vehicle, and the relative lateral speed of the target vehicle can be obtained according to the lateral position of the target vehicle and the lateral speed of the target vehicle.
In one possible implementation manner, the stability parameters of the target vehicle are detected through millimeter wave radar, specifically: according to the Doppler effect, calculating millimeter wave frequency variation returned to a millimeter wave radar receiving antenna so as to obtain the movement speed of a target vehicle relative to the millimeter wave radar; simultaneously continuously transmitting millimeter wave signals to a target vehicle, receiving millimeter waves returned from the target vehicle through a sensor, and then obtaining the distance between the target vehicle and the own vehicle by detecting the round-trip flight time of the millimeter waves; then, the Kalman filtering utilizes the dynamic information denoising of the target vehicle to realize speed compensation and distance correction so as to obtain more accurate speed information and distance information; the relative lateral speed of the target vehicle and the relative lateral distance of the target vehicle and the own vehicle can be further obtained by the above-described movement speed and the distance of the target vehicle and the own vehicle. Calculating the relative lateral acceleration of the target vehicle according to the uniform acceleration model; and then further receiving the phase difference of millimeter waves reflected by the same target vehicle, calculating to obtain a target vehicle yaw angle, and differentiating the target vehicle yaw angle to obtain a target vehicle angle and a target vehicle yaw rate.
The movement speed is proportional to the millimeter wave frequency variation.
After the lane line type, the lane line position and the target vehicle, the lane line confidence or the stability parameter of the target vehicle are obtained, step S200 may be performed.
Step S200: and judging the lane where the target vehicle is currently located according to the detection result of the lane line confidence.
Referring to fig. 2, the embodiment of the invention provides a method for determining a lane in which a target vehicle is located when a lane line confidence is higher than a preset threshold and a camera can work normally.
Detecting the relative position of a target vehicle and a lane line of a lane where the target vehicle is located according to the type of the lane line and the position of the lane line acquired by the camera; and then, according to the relative position, obtaining the lane in which the target vehicle is located.
Referring to fig. 3, the embodiment of the invention provides a method for determining a lane where a target vehicle is located when a lane confidence is lower than or equal to a preset threshold or the camera cannot work normally.
Detecting a target vehicle according to the millimeter wave radar, and obtaining stability parameters of the target vehicle; then judging whether the target vehicle angle is in the range of-30 DEG to 30 DEG according to the stability parameters, if the target vehicle angle is 10 DEG, further judging whether the target vehicle yaw rate is in the range of-0.015 rad/s to 0.015rad/s, and if the target vehicle yaw rate is 0.011rad/s, further judging whether the target vehicle relative lateral acceleration is in the range of-0.3 m/s 2 To 0.3m/s 2 If the relative lateral acceleration of the target vehicle is within the range of 0.3m/s 2 Further judging whether the relative transverse speed of the target vehicle is in a range from-5 m/s to 5m/s in a fourth threshold range, if the relative transverse speed of the target vehicle is 4m/s, considering that the target vehicle is in a stable running state when each stability parameter is in a corresponding threshold range, and further judging the numerical value interval of the relative transverse distance between the target vehicle and the own vehicle.
And if the numerical interval is in the (0, +/-1.5) m interval, the target vehicle and the own vehicle are considered to be in the same lane.
If the numerical range is within the +2, +5) m range, the target vehicle is considered to be in the left lane of the host vehicle.
If the numerical range is within a (-5, -2) m range, the target vehicle is considered to be in the right lane of the host vehicle.
If the value interval is not within the above interval, the stability parameter of the target vehicle needs to be retrieved.
In the process of judging each stability parameter, when one stability parameter is not in the corresponding threshold range, the stability parameter of the target vehicle needs to be obtained again, and then judgment is carried out.
It should be noted that the above example is only one case of judging the lane in which the target vehicle is located by the stability parameter, and the threshold range corresponding to the stability parameter of each target vehicle and the numerical range of the relative lateral distance between the target vehicle and the own vehicle may be set according to the actual situation, and is not limited thereto.
After the determination result of the lane in which the target vehicle is located is obtained, step S300 may be executed.
Step S300: and adjusting the running state of the own vehicle based on the judging result so that the own vehicle and the target vehicle keep a safe distance.
If the judging result is that the target vehicle and the self-vehicle are in the same lane, the self-vehicle driver needs to pay attention to the longitudinal distance, so that the rear-end collision event is avoided; if the judgment result is that the target vehicle is in the left lane or the left lane of the own vehicle, the driver of the own vehicle needs to pay attention to the transverse distance to avoid scratch and collision accidents, and if the own vehicle needs to change lanes, whether the lane changing condition is met or not is judged according to the lane position of the target vehicle, and then the lane changing time is selected by oneself. The lane where the target vehicle is located is accurately judged, and besides the adaptability of the driving auxiliary system to the environment can be enhanced, the driving safety can be improved.
It should be noted that, the above technical solution can determine the lane where the pedestrian is currently located in addition to the lane where the target vehicle is currently located.
Based on the same inventive concept, the embodiment of the present invention provides a vehicle driving control system, and a specific implementation manner of a vehicle driving control method of the system may refer to a description of an embodiment portion of the method, and details are not repeated, and please refer to fig. 4, where the system includes:
the target detection module: the method is used for acquiring the type of the lane line, the position of the lane line and the target vehicle through the camera so as to detect the relative position of the target vehicle and the lane line of the lane where the target vehicle is located. The target vehicle is any vehicle which is closest to the own vehicle.
The target state calculating module: for comparing the target vehicle angle, the target vehicle yaw rate, the target vehicle relative lateral acceleration and the target vehicle relative lateral speed with their corresponding threshold ranges to obtain a running state of the target vehicle.
The lane judgment module: and the lane where the target vehicle is located is judged according to the relative position of the target vehicle and the lane line of the lane where the target vehicle is located.
In one possible implementation manner, the target detection module acquires the type of the lane line, the position of the lane line and the target vehicle according to the camera, and can obtain the relative position of the target vehicle and the lane line of the lane where the target vehicle is located; and the lane judgment module can judge the lane where the target vehicle is located according to the obtained relative position.
In one possible embodiment, the target detection module is further configured to detect, via a camera or millimeter wave radar, a target vehicle angle, a target vehicle yaw rate, a target vehicle relative lateral acceleration, a target vehicle relative lateral velocity, and a target vehicle and vehicle-to-vehicle relative lateral distance.
And comparing the detected stability parameters with corresponding threshold ranges by the target state calculation module, and if the stability parameters are in the threshold ranges, considering that the target vehicle is in a stable running state.
After the target vehicle is in the stable running state, the lane judgment module can judge the lane where the target vehicle is located.
The lane judging module is also used for judging the lane where the target vehicle is located according to the numerical value interval where the relative transverse distance between the target vehicle and the own vehicle is located.
And if the numerical value interval is in the (0, +/-1.5) m interval, determining that the target vehicle and the own vehicle are in the same lane.
And if the numerical interval is in the +2, +5) m interval, determining that the target vehicle is in the left lane of the own vehicle.
And if the numerical value interval is within a (-5, -2) m interval, determining that the target vehicle is in a lane on the right side of the own vehicle.
Based on the same inventive concept, the embodiment of the invention also provides a storage medium, which is one of computer readable storage media, and stores a computer program thereon, wherein the computer program realizes the vehicle running control method when being executed by a processor.
In summary, the present invention provides a vehicle driving control method, system and storage medium; acquiring lane information to obtain the lane line confidence, the relative position of the target vehicle and the lane line of the lane where the target vehicle is located and the stability parameters of the target vehicle; and checking the lane line confidence, and judging the lane where the target vehicle is located according to the checking result of the lane line confidence and the relative position of the target vehicle and the lane line where the target vehicle is located or the stability parameter of the target vehicle, so that the self-vehicle can adjust the driving state according to the lane where the target vehicle is located and keep a safe distance with the target vehicle. The method and the device avoid the situation that the lane where the target vehicle is located cannot be judged due to unclear lane lines or limitations of the camera, and can accurately judge the lane where the target vehicle is located at the same time, so that the adaptability of the auxiliary driving system to the environment is enhanced, and the user satisfaction is improved.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some of the modules according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the invention has been described in conjunction with the specific embodiments above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, all such alternatives, modifications, and variations are included within the spirit and scope of the following claims.

Claims (10)

1. A vehicle travel control method characterized by comprising the steps of:
s100: collecting lane information, calculating a lane line confidence coefficient and a stability parameter of a target vehicle according to the lane information, and checking the lane line confidence coefficient according to a preset threshold value;
s200: judging the lane where the target vehicle is currently located according to the detection result of the lane line confidence;
s300: and adjusting the running state of the own vehicle based on the judging result so that the own vehicle and the target vehicle keep a safe distance.
2. The vehicle driving control method according to claim 1, wherein the collecting lane information in step S100 is specifically:
collecting lane information through a camera, wherein the lane information at least comprises a lane line type, a lane line position and a target vehicle; the target vehicle is any vehicle which is closest to the own vehicle;
and detecting stability parameters of the target vehicle through a camera or millimeter wave radar.
3. The vehicle travel control method according to claim 2, wherein the stability parameters of the target vehicle include at least a target vehicle angle, a target vehicle yaw rate, a target vehicle relative lateral acceleration, a target vehicle relative lateral speed, and a target vehicle and host vehicle relative lateral distance.
4. The vehicle running control method according to claim 3, wherein the detection of the stability parameter of the target vehicle by the camera is specifically: according to the position information among the continuous pictures shot by the camera, calculating the transverse position and the longitudinal position of the target vehicle, and according to the transverse position and the longitudinal position, calculating the transverse speed and the longitudinal speed of the target vehicle so as to obtain the relative transverse acceleration of the target vehicle, the target vehicle angle and the target vehicle yaw rate; the relative lateral distance of the target vehicle and the own vehicle, and the relative lateral speed of the target vehicle can be obtained according to the lateral position of the target vehicle and the lateral speed of the target vehicle.
5. The vehicle travel control method according to claim 4, characterized in that the detection of the stability parameter of the target vehicle by the millimeter wave radar is specifically: measuring the speed of the target vehicle and the distance between the target vehicle and the own vehicle so as to perform speed compensation and distance correction, thereby obtaining the relative transverse speed of the target vehicle and the relative transverse distance between the target vehicle and the own vehicle; calculating the relative lateral acceleration of the target vehicle according to the uniform acceleration model; further receiving the phase difference of millimeter waves reflected by the same target vehicle, and calculating to obtain the yaw angle of the target vehicle so as to obtain the target vehicle angle and the yaw rate of the target vehicle.
6. The vehicle travel control method according to claim 5, characterized in that the step S200 includes:
s210: when the detection result of the lane line confidence is higher than a preset threshold and the camera can work normally, detecting the relative position of the target vehicle and the lane line of the lane where the target vehicle is located according to the type of the lane line and the position of the lane line collected by the camera;
s211: and obtaining the lane where the target vehicle is located according to the relative position of the lane line of the target vehicle and the lane where the target vehicle is located.
7. The vehicle travel control method according to claim 6, characterized in that the step S200 further includes:
s220: when the detection result of the lane line confidence is lower than or equal to a preset threshold value or the camera cannot work normally, detecting a target vehicle according to the millimeter wave radar, and obtaining a stability parameter of the target vehicle;
s221: judging whether the angle of the target vehicle is within a first threshold range according to the stability parameters, and if the angle of the target vehicle is within the first threshold range, turning to S222; otherwise, turning to S225;
s222: judging whether the yaw rate of the target vehicle is within a second threshold range, and if the yaw rate of the target vehicle is within the second threshold range, turning to S223; otherwise, turning to S225;
s223: judging whether the relative lateral acceleration of the target vehicle is in a third threshold range, and if the relative lateral acceleration of the target vehicle is in the third threshold range, turning to S224; otherwise, turning to S225;
s224: judging whether the relative transverse speed of the target vehicle is in a fourth threshold range, if the relative transverse speed of the target vehicle is in the fourth threshold range, considering the target vehicle to be in a stable running state, and further judging the numerical value interval of the relative transverse distance between the target vehicle and the own vehicle; otherwise, turning to S225;
s225: the stability parameters of the target vehicle are retrieved.
8. The vehicle travel control method according to claim 7, wherein the step S224 is to judge a numerical range of the relative lateral distance between the target vehicle and the own vehicle, specifically:
if the numerical value interval is in the first numerical value interval, the target vehicle and the own vehicle are considered to be in the same lane;
if the numerical value interval is in the second numerical value interval, the target vehicle is considered to be in the left lane of the own vehicle;
if the numerical value interval is in the third numerical value interval, the target vehicle is considered to be in the lane on the right side of the own vehicle;
and if the numerical value interval is not in the first numerical value interval, the second numerical value interval or the third numerical value interval, the stability parameter of the target vehicle is obtained again.
9. A system employing the vehicle running control method according to any one of claims 1 to 8, characterized by comprising:
the target detection module: the method comprises the steps that lane information is collected through a camera so as to detect the relative position of a target vehicle and a lane line of a lane where the target vehicle is located; and a stability parameter for detecting the target vehicle by a camera or millimeter wave radar; the lane information at least comprises a lane line type, a lane line position and a target vehicle; the target vehicle is any vehicle which is closest to the own vehicle; the stability parameters of the target vehicle at least comprise a target vehicle angle, a target vehicle yaw rate, a target vehicle relative lateral acceleration, a target vehicle relative lateral speed and a target vehicle and own vehicle relative lateral distance;
the target state calculating module: for comparing the target vehicle angle, the target vehicle yaw rate, the target vehicle relative lateral acceleration and the target vehicle relative lateral speed with their corresponding threshold ranges to obtain a running state of the target vehicle;
the lane judgment module: the method is used for judging the lane where the target vehicle is located according to the relative position of the lane line of the lane where the target vehicle is located or the numerical value interval where the relative transverse distance between the target vehicle and the own vehicle is located.
10. A storage medium, being one of computer-readable storage media, having stored thereon a computer program which, when executed by a processor, implements the vehicle travel control method according to claims 1-7.
CN202310054914.5A 2023-02-03 2023-02-03 Vehicle running control method, system and storage medium Pending CN116215526A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117111049A (en) * 2023-10-23 2023-11-24 成都瑞达物联科技有限公司 ETC channel vehicle presence detection method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117111049A (en) * 2023-10-23 2023-11-24 成都瑞达物联科技有限公司 ETC channel vehicle presence detection method and system
CN117111049B (en) * 2023-10-23 2024-01-30 成都瑞达物联科技有限公司 ETC channel vehicle presence detection method and system

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