一种车道保持控制方法、装置及终端与流程

文档序号:18711321发布日期:2019-09-18 01:15
一种车道保持控制方法、装置及终端与流程

本发明涉及车辆自动控制领域,尤其涉及一种车道保持控制方法、装置及终端。



背景技术:

随着科学技术的不断进步和人类生活水平的不断提高,汽车在人类生活中扮演着越来越重要的角色。近年来,自动驾驶技术逐渐进入人们的视野,自动驾驶的安全性也引起了国内外的广泛关注。其中,车道保持辅助技术是不可或缺的技术之一,不仅需要具备高精确、灵敏的识别能力,而且还需要低延时的控制能力。

现有的车道保持辅助技术是基于整车配置中各大传感器,并融合不同控制???,实现对车身周围环境的探测和对自动驾驶车辆的控制,例如,通过车辆的前置摄像头探测前方道路信息,再进行算法逻辑控制自动驾驶车辆在道路中间行驶,或者是通过毫米波雷达以及角雷达探测自动驾驶车辆前方目标车辆的行动轨迹,进行车迹跟踪运动。但是在无车道线或者从有车道线路段进入无车道线路段时,自动驾驶车辆无法根据摄像头或者雷达控制自身稳定行驶在道路中间,同时也没有相关的报警提示,增加了自动驾驶车辆的危险性。



技术实现要素:

本发明所要解决的技术问题在于,提供一种车道保持控制方法、装置及终端。避免由于驾驶员过度依赖车道保持辅助功能,在自动驾驶车辆行驶在无车道线或者自有车道线进入无车道线道路时,发生车辆跑偏,与路沿或其他车辆发生碰撞的情况出现。

为了解决上述技术问题,本发明提供了一种车道保持控制方法,所述车道保持控制方法包括:

获取前方道路信息;

根据获取的所述前方道路信息判断是否存在车道线标记;

若不存在,则根据获得的所述前方道路信息生成微调虚拟车道线;

检测车辆是否生成微调虚拟车道线;

若检测到生成了微调虚拟车道线,则导引车辆在生成的所述微调虚拟车道线内行驶,

若检测到未生成微调虚拟车道线,则发出警报,执行手动控制车辆行驶。

可替换地,若存在,则保持车辆在所述车道线标记内行驶;

进一步地,所述前方道路信息包括车道线标记存在信息、前方道路总宽度、当前车道宽度、第一车道线位置、第二车道线位置和车辆在道路中的定位。

进一步地,所述生成微调虚拟车道的步骤包括:

根据所述前方道路总宽度和所述当前车道宽度判断车辆的偏移方向;

根据车辆在道路中的定位和所述第一车道线的位置设置第一安全距离;

根据车辆在道路中的定位和所述第二车道线的位置设置第二安全距离;

相对于所述偏移方向设置微调虚拟车道线。

具体地,所述第一车道线为道路一侧的边沿线。

可替换地,所述第一车道线为中间护栏的边界线。

具体地,所述第二车道线为道路另一侧的边沿线。

可替换地,所述第二车道线为中间护栏的边界线。

进一步地,当所述前方道路总宽度相对于所述当前车道宽度等宽时,且所述偏移方向为居中时,所述微调虚拟车道与所述当前车道线标记一致,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度等宽时,且所述偏移方向为偏左时,所述微调虚拟车道相对于所述当前车道线标记偏右,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度等宽时,且所述偏移方向为偏右时,所述微调虚拟车道相对于所述当前车道线标记偏左,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变窄时,且所述偏移方向为居中时,所述微调虚拟车道与所述当前车道线标记一致,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变窄时,且所述偏移方向为偏左时,所述微调虚拟车道相对于所述当前车道线标记偏右,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变窄时,且所述偏移方向为偏右时,所述微调虚拟车道相对于所述当前车道线标记偏左,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变宽时,且所述偏移方向为居中时,所述微调虚拟车道与所述当前车道线标记一致,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变宽时,且所述偏移方向为偏左时,所述微调虚拟车道相对于所述当前车道线标记偏右,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变宽时,且所述偏移方向为偏右时,所述微调虚拟车道相对于所述当前车道线标记偏左,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

进一步地,所述检测车辆是否生成微调虚拟车道线的步骤包括:

判断响应时间是否满足第一预设条件;

若满足,则检测结果为生成微调虚拟车道,

若不满足,则检测结果为未生成微调虚拟车道。

优选地,所述第一预设条件为响应时间小于预设阈值。

进一步地,所述导引车辆在生成的所述微调虚拟车道线内行驶的步骤包括:

判断当前车辆的位置与所述微调虚拟车道线间的距离是否满足第二预设条件;

若满足,则保持当前车辆的行驶方向;

若不满足,则发出警报,并响应手动控制车辆行驶指令。

优选地,所述第二预设条件为当前车辆的位置与所述微调虚拟车道线间的距离小于预设阈值。

进一步地,识别前方道路的车道线标记前,所述车道保持控制方法还包括:

控制所述车辆在当前车道线内行驶。

相应地,本发明还提供了一种车道保持控制装置,所述车道保持控制装置包括:

获取单元,用于前方道路信息;

判断单元,用于判断是否存在车道线标记;

生成单元,用于根据获取的所述前方道路信息生成微调虚拟车道线;

检测单元,用于检测是否生成微调虚拟车道线;

控制单元,用于引导车辆在生成的所述微调虚拟车道线内行驶或执行手动控制车辆行驶。

进一步地,所述检测单元包括:

第一判断单元,用于判断响应时间是否满足第一预设条件;

若满足,则检测结果为生成微调虚拟车道;

若不满足,则检测结果为未生成微调虚拟车道。

进一步地,所述控制单元包括:

第二判定单元,用于判断当前车辆的位置与所述微调虚拟车道线间的距离是否满足第二预设条件;

报警单元,用于发出警报;

执行单元,用于执行导引车辆在生成的所述微调虚拟车道线内行驶指令或执行手动控制车辆行驶指令。

相应地,本发明还提供了一种车道保持控制终端,所述车道保持控制终端包括:

所述处理器,用于执行一条或一条以上的控制指令;

所述存储器,存储有一条或一条以上的控制指令,所述一条或一条以上的控制指令适于所述处理器加载并执行以实现如上述的车道保持控制方法。

实施本发明实施例,具有如下有益效果:

本发明公开的车道保持控制方法,在自动驾驶车辆行驶在无车道线或者自有车道线驶入无车道线时,自动生成微调虚拟车道线,辅助车辆行驶,避免车辆发生跑偏、与路沿或其他车辆碰撞的情况出现。

附图说明

为了更清楚地说明本发明实施例或现有技术中的技术方案和优点,下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它附图。

图1是本发明实施例提供的一种车道保持控制方法的流程示意图;

图2是本发明实施例提供的一种生成微调虚拟车道线方法的流程示意图;

图3是本发明实施例提供的一种车道保持控制装置的结构示意图。

具体实施方式

为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明作进一步地详细描述。显然,所描述的实施例仅仅是本发明一个实施例,而不是全部的实施例?;诒痉⒚髦械氖凳├?,本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例,都属于本发明?;さ姆段?。

需说明的是,本发明的权利要求书、说明书及说明书附图中的术语“第一”、“第二”等用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。并且,术语“第一”、“第二”是用于区别类似的对象,而不用于描述特定的顺序或者先后顺序。应该理解的是,这样的使用数据在适当的情况下可以互换,以便这里描述的本发明的实施例能够适用于除本方案图示或描述以外的实施顺序。此外,术语“包括”和“具有”以及其任何形式的变形,意图在于覆盖不排他的包括,例如,包含了一系列的步骤或单元的过程、方法、装置或者终端不必限于清楚地列出哪些步骤或单元,而是能够包括没有清楚地列出的或对于这些过程、方法、装置或者终端固有的其他步骤或单元。

实施例

请参考图1,其所示为本发明实施例提供的一种车道保持控制方法的流程示意图,本说明书提供了如实施例或流程所述的方法操作步骤,但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中一种方式,不代表唯一的执行顺序,在实际车辆行驶时,可以按照实施顺序或附图所示的方法顺序执行。具体的如图1所示,所述车道保持控制方法包括:

S110获取前方道路信息;

需要说明的是,在本说明书实施例中,所述获取前方道路信息的方式可以包括但不限于通过前置摄像头、前毫米雷达、角雷达或者高精度地图系统的方式;

在本说明书实施例中,所述前方道路信息至少包括车道线标记存在信息,其中,所述车道线标记存在信息为存在车道线标记和不存在车道线标记;

在本说明书实施例中,所述前方道路信息还包括前方道路总宽度、当前车道宽度、第一车道线位置、第二车道线位置和车辆在道路中的定位。

在本说明书实施例中,所述第一车道线可以是道路一侧的边沿线,也可以是中间护栏一侧的边界线。

在本说明书实施例中,所述第二车道线可以是道路另一侧的边沿线,也可以是中间护栏另一侧的边界线。

S120根据获取的所述前方道路信息判断是否存在车道线标记;

若存在,则保持车辆在所述车道线标记内行驶。

S130若不存在,则根据获得的所述前方道路信息生成微调虚拟车道线;

在本说明书实施例中,若判断出不存在车道线标记,则通过视觉、触觉或者听觉等方式发出警报,提醒驾驶员前方道路不存在车道线标记,并根据获取的所述前方道路信息生成微调虚拟车道线。

S140检测车辆是否生成微调虚拟车道线。

在本说明书实施例中,第一预设条件可以是响应时间小于第一预设阈值,例如该第一预设阈值可以是5秒、10秒或者15秒等,本发明实施例不做限定,若响应时间小于该第一预设阈值,则检测结果为生成微调虚拟车道线,若该响应时间不小于该第一预设阈值,则检测结果为未生成微调虚拟车道线。

S150若检测到生成了微调虚拟车道线,则导引车辆在生成的所述微调虚拟车道线内行驶;

若检测到未生成微调虚拟车道线,则发出警报,执行手动控制车辆行驶;

在本说明书实施例中,所述第二预设条件可以是当前车辆的位置与所述微调虚拟车道线的距离小于第二预设阈值,例如该第二预设阈值可以是0.1米、0.2米或者0.3米等,本发明实施例不做限定,若当前车辆的位置与所述微调虚拟车道线的距离小于该第二预设阈值,则保持当前车辆的行驶方向,若当前车辆的位置与所述微调虚拟车道线的距离不小于该第二预设阈值,则通过视觉、触觉或者听觉等方式发出警报,并响应手动控制车辆行驶指令;

在本说明书实施例中,若检测到未生成微调虚拟车道线,则通过视觉、触觉或者听觉等方式发出警报,提醒驾驶员未生成微调虚拟车道线,需要接管方向盘,执行手动控制车辆行驶。

请参考图2,其所示为本发明实施例提供的一种生成微调虚拟车道线方法的流程示意图,具体的步骤如下:

S131根据所述前方道路总宽度和所述当前车道宽度判断车辆的偏移方向;

在本发明实施例中,所述偏移方向包括但不限于居中、偏左或者偏右。

S132根据车辆在道路中的定位和所述第一车道线的位置设置第一安全距离;

在本发明实施例中,所示第一安全距离可以是远离道路边沿的距离,也可以是远离中间护栏的距离。

S133根据车辆在道路中的定位和所述第二车道线的位置设置第二安全距离;

在本发明实施例中,所述第二安全距离可以是远离道路边沿的距离,也可以是远离中间护栏的距离。

S134相对于所述偏移方向设置微调虚拟车道线。

具体地,当所述前方道路总宽度相对于所述当前车道宽度等宽时,且所述偏移方向为居中时,所述微调虚拟车道与所述当前车道线标记一致,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度等宽时,且所述偏移方向为偏左时,所述微调虚拟车道相对于所述当前车道线标记偏右,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度等宽时,且所述偏移方向为偏右时,所述微调虚拟车道相对于所述当前车道线标记偏左,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变窄时,且所述偏移方向为居中时,所述微调虚拟车道与所述当前车道线标记一致,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变窄时,且所述偏移方向为偏左时,所述微调虚拟车道相对于所述当前车道线标记偏右,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变窄时,且所述偏移方向为偏右时,所述微调虚拟车道相对于所述当前车道线标记偏左,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变宽时,且所述偏移方向为居中时,所述微调虚拟车道与所述当前车道线标记一致,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变宽时,且所述偏移方向为偏左时,所述微调虚拟车道相对于所述当前车道线标记偏右,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

具体地,当所述前方道路总宽度相对于所述当前车道宽度变宽时,且所述偏移方向为偏右时,所述微调虚拟车道相对于所述当前车道线标记偏左,且与所述第一车道线保持第一安全距离,与所述第二车道线保持第二安全距离。

请参考图3,其所示为本发明实施例提供的一种车道保持控制装置的结构示意图,本说明书提供了如实施例所述的装置结构。实施例中列举的结构仅仅为众多结构的一种,不代表唯一的结构,在实际的装置中,可以按照附图所示的结构组成。具体的如图3所示,所述车道保持控制装置包括:

获取单元210,用于前方道路信息;

判断单元220,用于判断是否存在车道线标记;

生成单元230,用于根据获取的所述前方道路信息生成微调虚拟车道线;

检测单元240,用于检测是否生成微调虚拟车道线;

在本发明实施例中,所述检测单元240包括第一判定单元,用于判断响应时间是否满足第一预设条件;若满足,则检测结果为生成微调虚拟车道;若不满足,则检测结果为未生成微调虚拟车道。

控制单元250,用于引导车辆在生成的所述微调虚拟车道线内行驶或执行手动控制车辆行驶。

在本发明实施例中,所述控制单元250包括:

第二判定单元,用于判断当前车辆的位置与所述微调虚拟车道线间的距离是否满足第二预设条件;

报警单元,用于发出警报;

执行单元,用于执行导引车辆在生成的所述微调虚拟车道线内行驶指令或执行手动控制车辆行驶指令。

本发明实施例提供了一种车道控制保持终端,所述车道控制保持终端包括处理器和存储器;

所述处理器,用于执行一条或一条以上的控制指令;

所述存储器,存储有一条或一条以上的控制指令,所述一条或一条以上的控制指令适于所述处理器加载并执行以实现如上述的车道保持控制方法。

存储器可用于存储软件程序及单元,处理器通过运行存储在存储器的软件程序及单元,从而执行各种功能应用以及数据处理。存储器主要包括程序存储区和数据存储区,其中,程序存储区可存储操作系统、功能所需的应用程序等;数据存储区可存储根据所述装置的使用所创建的数据等。此外,存储器可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少可以包括一个磁盘存储器、闪存器件、或其他易失性固态存储器件。相应地,存储器还可以包括存储器控制器,以提供处理器对存储器的访问。

由上述本发明提供的车道保持控制方法、装置及终端的实施例可见,本发明实施例获取前方道路信息;所述获取前方道路信息的方式可以包括但不限于通过前置摄像头、前毫米雷达、角雷达或者高精度地图系统的方式;所述前方道路信息至少包括车道线标记存在信息,其中,所述车道线标记存在信息为存在车道线标记和不存在车道线标记;所述前方道路信息还包括前方道路总宽度、当前车道宽度、第一车道线位置、第二车道线位置和车辆在道路中的定位。根据获取的所述前方道路信息判断是否存在车道线标记;若存在,则保持车辆在所述车道线标记内行驶。若不存在,则通过视觉、触觉或者听觉等方式发出警报,提醒驾驶员前方道路不存在车道线标记,并根据获取的所述前方道路信息生成微调虚拟车道线。根据所述前方道路总宽度和所述当前车道宽度判断车辆的偏移方向;根据车辆在道路中的定位和所述第一车道线的位置设置第一安全距离;根据车辆在道路中的定位和所述第二车道线的位置设置第二安全距离;相对于所述偏移方向设置微调虚拟车道线。检测车辆是否生成微调虚拟车道线。若检测到生成了微调虚拟车道线,则导引车辆在生成的所述微调虚拟车道线内行驶;若检测到未生成微调虚拟车道线,则通过视觉、触觉或者听觉等方式发出警报,提醒驾驶员未生成微调虚拟车道线,需要接管方向盘,执行手动控制车辆行驶。

利用本发明实施例提供的技术方案,在自动驾驶车辆行驶在无车道线或者自有车道线驶入无车道线时,自动生成微调虚拟车道线,辅助车辆行驶,避免车辆发生跑偏、与路沿或其他车辆碰撞的情况出现。

需要说明的是:上述本发明实施例先后顺序仅仅为了描述,不代表实施例的优劣,且上述本说明书特定实施例进行了描述,其他实施例在所附权利要求书的范围内。在一些情况下,在权利要求书中记载的动作或者步骤可以按照不同于实施例中的顺序来执行并且能够实现期望的结果。另外,在附图中描绘的过程不一定要求示出特定顺序或者连续顺序才能够实现期望的结果。在某些实施方式中,多任务处理和并行处理也是可以的或者可能是有利的。

本说明书中的各个实施例均采用递进的方式描述,各个实施例之间相同相似的部分互相参见即可,每个实施例重点说明的均为与其他实施例的不同之处。尤其,对于装置和终端的实施例而言,由于其基本相似于方法实施例,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。

本领域普通技术人员可以理解实现上述实施例的全部或者部分步骤可以通过硬件来完成,也可以通过程序来指令相关的硬件完成,所述程序可以存储于一种计算机可读介质中。

以上所述是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也视为本发明的?;し段?。

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