一种基于车道保持辅助功能的车道保持方法及系统与流程

文档序号:18711319发布日期:2019-09-18 01:15
一种基于车道保持辅助功能的车道保持方法及系统与流程

本发明涉及车辆监控技术领域,特别涉及一种基于车道保持辅助功能的车道保持方法及系统。



背景技术:

随着汽车行业的不断发展,人们生活水平的不断提高,汽车逐渐成为家庭的必需品。交通安全日益成为人类社会的一个焦点,在交通事故中,有很大部分是因为驾驶员对车辆间的距离误判或者注意力不集中等因素导致的,这种情况一般为辆车相撞,这造成了很大的危害。

现有技术针对这一问题,设计了预防车辆碰撞的技术方案,利用传感器对邻车道的对比车辆进行探测,当目标车辆将偏离出自车道,同时与对比车辆在邻车道发生碰撞的风险较大时,紧急车道保持功能激活。主动安全系统请求助力转向系统介入,将目标车辆拉回自车道,同时在仪表上提醒驾驶员功能已介入。

当前市场上的紧急车道保持功能一般通过摄像头和毫米波雷达对车辆周围区域进行监测,得到目标车辆的位置,横纵向速度和车身角速度,与预设条件比较,判断与目标车辆碰撞的风险。当满足预设条件,则目标车辆的紧急车道保持功能就会激活。

现有的紧急车道保持功能一般根据邻车道目标车辆的位置,与自车相对距离和相对速度激活功能,这一方案会导致功能非期望触发频率较高。例如,车辆贴近车道线一侧直行,如果相应测邻车道有行车,安全系统很容易触发,这种情况会干预驾驶员正常驾驶操作,影响功能体验。为了尽可能减少车道保持辅助功能对驾驶员影响,提出本专利的基于车道保持辅助功能的车道保持方法及系统。



技术实现要素:

针对现有技术的上述问题,本发明的目的在于提供一种基于车道保持辅助功能的车道保持方法及系统,通过比较目标车辆按照避让路径行驶的侧向加速度和预设侧向加速度,来判断是否开启车道保持辅助功能,这使预测更加准确,车道保持辅助功能只有在不小于预设侧向加速度时激活,避免了功能过早触发,减少了误触发,使功能更加可靠完善,减少车道保持辅助功能对驾驶员影响。

为了解决上述问题,本发明提供一种基于车道保持辅助功能的车道保持方法,包括以下步骤:

S1、获取检测装置发送的车道信息;

S2、根据所述车道信息判断目标车辆是否偏离自车道;

S3、如果所述目标车辆偏离所述自车道,则获取所述检测装置发送的目标车辆的状态信息和对比车辆的状态信息,其中,所述对比车辆为检测装置的检测范围内的车辆;

S4、根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险;

S5、如果所述目标车辆和所述对比车辆具有碰撞风险,根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度;

S6、当所述侧向加速度大于或等于预设侧向加速度时,触发车道保持辅助功能,将所述目标车辆拉回所述自车道。

进一步地,所述对比车辆的状态信息包括所述对比车辆的位置信息和所述对比车辆的车速;

所述目标车辆的状态信息包括所述目标车辆的位置信息和所述目标车辆的车速;

所述根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险包括:

根据所述目标车辆的位置信息和所述目标车辆的车速规划第一行驶路径,根据所述对比车辆的位置信息和所述对比车辆的车速规划第二行驶路径;

如果所述第一行驶路径和所述第二行驶路径在同一时间有重合位置,则判断所述目标车辆与所述对比车辆具有碰撞风险。

进一步地,所述根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度包括:

根据所述目标车辆的位置信息、所述目标车辆的车速、所述对比车辆的位置信息和所述对比车辆的车速,计算所述目标车辆和所述对比车辆的相对位置和相对速度;

根据所述相对位置和所述相对速度确定所述目标车辆的避让轨迹;

根据所述目标车辆的避让轨迹和所述目标车辆的车速,计算所述目标车辆的横摆角;

根据所述目标车辆的车速和所述目标车辆的横摆角,计算所述目标车辆的侧向加速度。

进一步地,所述方法还包括:

当所述侧向加速度小于所述预设侧向加速度时,根据所述避让轨迹调整所述目标车辆的行驶方向,使所述目标车辆保持在所述自车道中行驶。

进一步地,所述根据所述车道信息判断目标车辆是否偏离自车道包括:

根据所述车道信息确定第一距离信息,所述第一距离信息用于指示所述目标车辆的中心线与所述车道的中心线之间的距离;

如果所述第一距离信息大于预设距离,则判断所述目标车辆偏离所述自车道。

进一步地,所述检测装置包括:雷达、摄像头和传感器组件;

所述检测装置的检测范围为所述雷达的检测范围和所述摄像头的检测范围的叠加范围。

进一步地,所述当所述侧向加速度大于或等于预设侧向加速度时,触发车道保持辅助功能,将所述目标车辆拉回所述自车道之前还包括:

获取驾驶员的操作信息;

通过所述驾驶员的操作信息判断所述驾驶员的转向意图;

如果所述驾驶员没有转向意图,则继续步骤S6;

如果所述驾驶员有转向意图,则返回步骤S1。

进一步地,所述根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度之前还包括:

如果所述目标车辆和所述对比车辆具有碰撞风险,则控制警示器发出第一警告信息,所述第一警告信息用于提示驾驶员所述目标车辆和所述对比车辆具有碰撞风险。

本发明另一方面?;ひ恢只诔档辣3指ㄖδ艿某档辣3窒低?,用于实施上述的基于车道保持辅助功能的车道保持方法,所述系统包括整车控制器、检测装置和警示器;

所述检测装置分别与所述整车控制器、所述警示器电连接,所述检测装置用于检测所述目标车辆的状态信息、所述对比车辆的状态信息和车道信息,并发送至所述整车控制器;

所述整车控制器用于根据所述车道信息判断所述目标车辆是否偏离所述自车道,所述整车控制器判断出所述目标车辆偏离所述自车道时,所述整车控制器根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险;

所述整车控制器判断出所述目标车辆和所述对比车辆具有碰撞风险,根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度,同时控制警示器发出第一警告信息;

如果所述侧向加速度大于或等于所述预设侧向加速度,则触发车道保持辅助功能,将所述目标车辆拉回所述自车道;

所述警示器与所述整车控制器电连接。

进一步地,所述检测装置包括传感器组件、雷达和摄像头,所述传感器组件、所述雷达和所述摄像头均与所述整车控制器通信;

所述传感器组件用于检测所述目标车辆的车速,并将所述目标车辆的车速发送给所述整车控制器;

所述雷达用于检测所述目标车辆的位置信息和所述对比车辆的状态信息,并将所述目标车辆的车速和所述对比车辆的状态信息发送给所述整车控制器;

所述摄像头用于检测所述车道信息。

由于上述技术方案,本发明具有以下有益效果:

本发明的一种基于车道保持辅助功能的车道保持方法及系统,通过比较目标车辆按照避让路径行驶的侧向加速度和预设侧向加速度,来判断是否开启车道保持辅助功能,这使预测更加准确,车道保持辅助功能只有在不小于预设侧向加速度时激活,避免了功能过早触发,减少了误触发,使功能更加可靠完善,也保证转向安全性,减少车道保持辅助功能对驾驶员影响。

附图说明

为了更清楚地说明本发明的技术方案,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基于车道保持辅助功能的车道保持方法流程图;

图2是本发明实施例提供的一种基于车道保持辅助功能的车道保持系统结构示意图;

图3是本发明实施例提供的目标车辆的避让轨迹;

图4是本发明实施例提供的所述检测装置的检测范围。

其中,图中附图标记对应为:

1-整车控制器;2-检测装置;3-警示器;21-传感器组件;22-雷达;23-摄像头。

具体实施方式

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,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做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?。

实施例1

参考说明书附图1~图4,本实施例提供一种基于车道保持辅助功能的车道保持系统,所述系统包括整车控制器1、检测装置2和警示器3;

所述检测装置2分别与所述整车控制器1、所述警示器3电连接,所述检测装置2用于检测所述目标车辆的状态信息、所述对比车辆的状态信息和车道信息,并发送至所述整车控制器1;

所述整车控制器1用于根据所述车道信息判断所述目标车辆是否偏离所述自车道,所述整车控制器1判断出所述目标车辆偏离所述自车道时,所述整车控制器1根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险;

所述整车控制器1判断出所述目标车辆和所述对比车辆具有碰撞风险,根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度,同时控制警示器3发出第一警告信息;

如果所述侧向加速度大于或等于所述预设侧向加速度,则触发车道保持辅助功能,将所述目标车辆拉回所述自车道;

所述警示器3与所述整车控制器1电连接。

优选地,所述目标车辆的状态信息还包括:目标车辆的位置信息和目标车辆的车速。

所述对比车辆的状态信息包括:包括对比车辆的位置信息和对比车辆的车速。

优选地,所述检测装置2包括传感器组件21、雷达22和摄像头23,所述传感器组件21、所述雷达22和所述摄像头23均与所述整车控制器1通信;

所述传感器组件21用于检测所述目标车辆的车速,并将所述目标车辆的车速发送给所述整车控制器1;

所述雷达22用于检测所述目标车辆的位置信息和所述对比车辆的状态信息,并将所述目标车辆的车速和所述对比车辆的状态信息发送给所述整车控制器1;

所述摄像头23用于检测所述车道信息。

本发明实施例中,所述检测装置2包括传感器组件21、雷达22和所述摄像头23,所述传感器组件21、所述雷达22和所述摄像头23均与所述整车控制器1通信,所述传感器组件21可以为车速传感器,所述车速传感器设置在目标车辆的底盘上,用于检测所述目标车辆的车速;所述摄像头23设置在所述目标车辆的车头,用于检测所述车道信息,也可以检测所述对比车辆的位置信息。

所述传感器组件21用于检测所述目标车辆的车速,并将所述目标车辆的车速发送给所述整车控制器1;

所述雷达22设置在目标车辆的车头和车尾,用于检测目标车辆的前方和后方来车,所述雷达22一般用于检测所述目标车辆的位置信息和所述对比车辆的状态信息,并将所述目标车辆的位置信息和所述对比车辆的状态信息发送给所述整车控制器1。

本发明实施例中,还包括警示器3,所述警示器3用于发出第一警告信息,所述第一警告信息用于提示驾驶员所述目标车辆和所述对比车辆具有碰撞风险,所述警示器一般设置在驾驶室内。所述警示器可以包括显示屏或语音提示装置;这样在需要发出警告信息时,根据所述整车控制器1发出指令,发出相对应的警告信息,所述警告信息可以为语音提示或者图像提示。

在一个可能的实施例中,当驾驶员开启目标车辆后,所述的基于车道保持辅助功能的车道保持系统在所述目标车辆点火默认开启,所述传感器组件21、所述雷达22和所述摄像头23均开启,所述整车控制器1根据所述传感器组件21、所述雷达22和所述摄像头23获取所述目标车辆的状态信息和所述对比车辆的状态信息,并根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险;

如果所述目标车辆和所述对比车辆具有碰撞风险,则所述整车控制器1根据所述目标车辆的状态信息和所述对比车辆的状态信息规划所述目标车辆的避让轨迹并计算所述目标车辆按照所述避让轨迹避撞的侧向加速度,同时所述整车控制器1控制警示器3发出第一警告信息;

与此同时,所述整车控制器1获取驾驶员的操作信息,通过所述驾驶员的操作信息判断所述驾驶员的转向意图;如果所述驾驶员没有转向意图,则比较所述侧向加速度和所述预设侧向加速度,如果所述侧向加速度大于或等于所述预设侧向加速度,则触发车道保持辅助功能,将所述目标车辆拉回所述自车道;将所述目标车辆方向转动至所述目标车辆与车道线平行行驶,所述警示器3也可以发出第二警示信息,所述第二警示信息用于提示驾驶员所述车道保持辅助功能已经激活并介入驾驶。

优选地,当所述侧向加速度小于所述预设侧向加速度,根据所述避让轨迹调整所述目标车辆的行驶方向,使所述目标车辆保持在所述自车道中行驶。

本实施例还提供一种基于车道保持辅助功能的车道保持方法,应用于上述系统,所述方法包括以下步骤:

S1、获取检测装置发送的车道信息;

优选地,所述检测装置包括:雷达、摄像头和传感器组件;

通过所述摄像头获取所述车道信息,所述车道信息可以包括所述自车道的车道线的位置和所述自车道的宽度。

S2、根据所述车道信息判断目标车辆是否偏离自车道;

优选地,所述根据所述车道信息判断目标车辆是否偏离自车道包括:

根据所述车道信息确定第一距离信息,所述第一距离信息用于指示所述目标车辆的中心线与所述车道的中心线之间的距离;

如果所述第一距离信息大于预设距离,则判断所述目标车辆偏离所述自车道,其中,所述预设距离根据不同车型和不同车道的宽度或不同车道线的位置确定。

具体地,当所述目标车辆行驶的车道两侧没有车道线时,根据车道的宽度和所述目标车辆的宽度确定预设距离。

判断所述目标车辆是否偏离所述自车道的方法还可以为根据角度变化率来判断所述目标车辆是否偏离所述自车道;判断标准为所述角度变化率大于预设角度变化率时,判断所述目标车辆偏离所述自车道;通过设置在所述目标车辆的陀螺仪的角度变化,并由所述整车控制器根据陀螺仪的角度变化计算所述角度变化率。

S3、如果所述目标车辆偏离所述自车道,则获取所述检测装置发送的目标车辆的状态信息和对比车辆的状态信息,其中,所述对比车辆为检测装置的检测范围内的车辆;

具体地,根据所述检测装置的检测范围和所述目标车辆的位置信息确定对比车辆。

具体地,通过所述传感器组件获取所述目标车辆的车速,通过所述雷达获取所述目标车辆的位置信息和所述对比车辆的状态信息。

S4、根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险;

优选地,所述对比车辆的状态信息包括所述对比车辆的位置信息和所述对比车辆的车速;

所述目标车辆的状态信息包括所述目标车辆的位置信息和所述目标车辆的车速;

所述根据所述目标车辆的状态信息和所述对比车辆的状态信息,判断所述目标车辆和所述对比车辆是否具有碰撞风险包括:

根据所述目标车辆的位置信息和所述目标车辆的车速规划第一行驶路径,根据所述对比车辆的位置信息和所述对比车辆的车速规划第二行驶路径;

如果所述第一行驶路径和所述第二行驶路径在同一时间有重合位置,则判断所述目标车辆与所述对比车辆具有碰撞风险。

S5、如果所述目标车辆和所述对比车辆具有碰撞风险,根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度;

优选地,所述根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度包括:

根据所述目标车辆的位置信息、所述目标车辆的车速、所述对比车辆的位置信息和所述对比车辆的车速,计算所述目标车辆和所述对比车辆的相对位置和相对速度;

根据所述相对位置和所述相对速度确定所述目标车辆的避让轨迹;

根据所述目标车辆的避让轨迹和所述目标车辆的车速,计算所述目标车辆的横摆角;

根据所述目标车辆的车速和所述目标车辆的横摆角,计算所述目标车辆的侧向加速度。

具体地,将所述目标车辆的避让轨迹显示在所述目标车辆的显示屏上,这样可以方便驾驶员了解行驶轨迹。

S6、当所述侧向加速度大于或等于预设侧向加速度时,触发车道保持辅助功能,将所述目标车辆拉回所述自车道。

比较所述目标车辆按照所述避让轨迹行驶的所述侧向加速度和预设侧向加速度的大??;

如果所述侧向加速度大于或等于所述预设侧向加速度,则触发车道保持辅助功能,将所述目标车辆拉回所述自车道,并且所述目标车辆方向转动至所述目标车辆与车道线平行行驶。

具体地,所述目标车辆是否沿所述自车道笔直行驶,也可以通过陀螺仪的角度变化来判断。

当所述目标车辆与车道线平行行驶时,需要所述目标车辆与车道线的内边缘存在第二距离,且沿车道线平行行驶一段时间,然后关闭车道保持辅助功能。

具体地,所述第二距离可以设定为40cm,所述目标车辆沿车道线平行行驶的时间可以设定为4s,所述第二距离和所述目标车辆沿车道线平行行驶的时间根据实际车型和实际车型的安全性能设定,具体为将所述目标车辆拉回所述自车道后,所述目标车辆沿车道线平行行驶,并且所述目标车辆与所述车道线的内边缘距离40cm,行驶4s后关闭车道保持辅助功能。

具体地,通过比较所述侧向加速度和所述预设侧向加速度,再进行判断是否触发车道保持辅助功能,这样做可以避免了过早触发,减少了误触发,使功能更加可靠完善。由于不增加判断所述侧向加速度和所述预设侧向加速度的步骤,在检测到邻车道有对比车辆时,很容易触发车道保持辅助功能,这种情况会干预驾驶员正常驾驶操作,影响功能体验。

具体地,所述预设侧向加速度根据所述目标车辆在出厂时所述目标车辆性能和安全考虑,设定不同车速下的侧向加速度的阈值。

当所述侧向加速度小于所述预设侧向加速度时,则控制所述目标车辆按照所述避让轨迹行驶。

具体地,当所述侧向加速度小于所述预设侧向加速度,不会触发车道保持辅助功能,则整车控制器控制所述目标车辆按照所述避让轨迹行驶,这样也很大程度上避免了过早触发车道保持辅助功能,也避免了干预驾驶员正常驾驶操作,影响功能体验。

具体地,所述车道保持辅助功能为转向系统介入对转向机构施加一个转向力矩,将所述目标车辆拉回所述自车道。

优选地,所述方法还包括:

当所述侧向加速度小于所述预设侧向加速度时,根据所述避让轨迹调整所述目标车辆的行驶方向,使所述目标车辆保持在所述自车道中行驶。

所述检测装置的检测范围为所述雷达的检测范围和所述摄像头的检测范围的叠加范围。

具体地,确定所述检测装置的检测范围包括:获取所述雷达和所述摄像头的检测范围;根据所述雷达和所述摄像头的检测范围确定所述检测装置的检测范围。

优选地,所述当所述侧向加速度大于或等于预设侧向加速度时,触发车道保持辅助功能,将所述目标车辆拉回所述自车道之前还包括:

获取驾驶员的操作信息;

通过所述驾驶员的操作信息判断所述驾驶员的转向意图;

如果所述驾驶员没有转向意图,则继续步骤S6;

如果所述驾驶员有转向意图,则返回步骤S1。

具体地,所述驾驶员的转向意图可以为打转向或者为其他转向行为。

优选地,所述根据所述目标车辆的状态信息和所述对比车辆的状态信息计算所述目标车辆避撞的侧向加速度之前还包括:

如果所述目标车辆和所述对比车辆具有碰撞风险,则控制警示器发出第一警告信息,所述第一警告信息用于提示驾驶员所述目标车辆和所述对比车辆具有碰撞风险。

具体地,当触发车道保持辅助功能,所述目标车辆方向转动至所述目标车辆与车道线平行行驶时,所述整车控制器控制所述警示器发出第二警示信息,所述第二警示信息用于提示驾驶员车道保持辅助功能已经激活。

优选地,如果所述目标车辆和所述对比车辆具有碰撞风险,则控制警示器发出第一警告信息;如果所述目标车辆偏离所述自车道,则控制警示器发出第三警告信息,所述第三警告信息用于提示驾驶员所述目标车辆偏离所述自车道。

当所述侧向加速度大于所述预设侧向速度的90%时,则控制警示器发出第四警示信息,所述第四警示信息用于提示驾驶员所述侧向加速度即将达到预设侧向加速度,所述第四预警信息可以为驾驶员提供反应时间,减少车道保持辅助功能激活后对驾驶员的影响。

具体地,所述第一警示信息、所述第二警示信息、所述第三警示信息和所述第四警示信息可以声音提示信息或者图像提示消息。

本发明的一种车辆防碰撞系统具有以下有益效果:

通过比较目标车辆按照避让路径行驶的侧向加速度和预设侧向加速度,来判断是否开启车道保持辅助功能,这使预测更加准确,车道保持辅助功能只有在不小于预设侧向加速度时激活,避免了功能过早触发,减少了误触发,使功能更加可靠完善,减少车道保持辅助功能对驾驶员影响,保证了转向的安全性,降低功能非期望触发频率。

上述说明已经充分揭露了本发明的具体实施方式。需要指出的是,熟悉该领域的技术人员对本发明的具体实施方式所做的任何改动均不脱离本发明的权利要求书的范围。相应地,本发明的权利要求的范围也并不仅仅局限于前述具体实施方式。

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