The invention relates to a vehicle emergency lane keeping method and device, and belongs to the technical field of automatic driving, and the method comprises the steps: obtaining lane line information of a current driving environment where a vehicle is located; obtaining a preview distance; determining the distance between a front wheel of the current vehicle and the lane sideline of the currentlane based on the preview distance and the lane line information; determining whether to trigger an emergency lane keeping mode based on the distance from the sideline, the pre-collision time with thevehicle on the adjacent lane and the pre-collision distance; performing emergency lane keeping control by taking a lane center line as a control track; calculating a vehicle course angle based on a lane center line track and an own vehicle running track; and judging the exit time of the emergency lane keeping function based on the vehicle heading angle and the distance from the center line. The problem that an existing lane keeping mode is prone to causing vehicle collision danger can be solved. By triggering the emergency lane keeping mode, the risk that the vehicle deviates and collides canbe reduced.
本申请涉及一种车辆紧急车道保持方法及装置,属于自动驾驶技术领域,该方法包括:获取当前车辆所处行驶环境的车道线信息;获取预瞄距离;基于预瞄距离和车道线信息确定当前车辆的前轮与当前车道的车道边线的距边线距离;基于距边线距离、与相邻车道上车辆的预碰撞时间和预碰撞距离确定是否触发紧急车道保持模式;以车道中心线作为控制轨迹进行紧急车道保持控制;基于车道中心线轨迹和自车行驶轨迹计算车辆航向角;基于车辆航向角和距中心线距离判断紧急车道保持功能退出的时机。可以解决现有的车道保持方式容易导致发生车辆碰撞危险的问题;通过触发紧急车道保持模式,可以减少车辆偏离碰撞危险。
Vehicle emergency lane keeping method and device
车辆紧急车道保持方法及装置
2020-12-04
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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