The invention discloses a lane keeping emergency control strategy and safety control method and device for a vehicle. The method comprises the steps of judging the failure reason of a lane keeping system; when the failure reason of the lane keeping system is camera failure, quitting the lane keeping auxiliary function, triggering the lane keeping emergency control system, and continuously sending a warning signal to a driver; predicting lane line information according to a previous frame of lane line image stored by the camera before failure; constructing a state space expression through a seven-degree-of-freedom vehicle dynamics model, and predicting a future movement track of the vehicle; and controlling the vehicle according to the predicted lane line information and the future movement track of the vehicle. According to the method, the vehicle driving safety and stability in the process from sudden failure of the camera to taking over of the driver can be guaranteed.
本发明公开了一种车辆的车道保持紧急控制策略与安全控制方法及装置,包括:对车道保持系统的失效原因进行判断;在车道保持系统失效原因为摄像头故障时,退出车道保持辅助功能,触发车道保持紧急控制系统,并持续向驾驶员发出警示信号;根据摄像头存储的失效前一帧车道线图像预测车道线信息;通过七自由度车辆动力学模型,构建状态空间表达式,预测车辆未来运动轨迹;根据预测的车道线信息和车辆未来运动轨迹对车辆进行控制。该方法可以保证从摄像头突然失效到驾驶员接管过程间的车辆行驶安全性和稳定性。
Lane keeping emergency control strategy and safety control method and device for vehicle
车辆的车道保持紧急控制策略与安全控制方法及装置
2021-10-22
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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