The invention is suitable for the technical field of driving assistance, and particularly relates to a road state judgment method and system in the intelligent driving process, the system comprises a front-view camera, a brake, a host and a domain controller, and a lane line processing module and a control algorithm module are arranged in the domain controller. And the domain controller is electrically connected with the foresight camera, the brake and the host. According to the method, the working condition during curve driving is refined through an existing lane line sensing scheme and an internal algorithm, the current road curvature radius R1, the current road curvature K, the vehicle speed and other signals are obtained through the existing lane line sensing scheme, and the working condition of the curve where the current vehicle is located can be more accurately obtained through logic design judgment; the refined lane working condition can provide more detailed scene distinguishing for the design of a subsequent planning control algorithm, so that the volatility of the vehicle in the process of entering and exiting the curve is reduced, and the driving comfort and safety are improved.

    本发明适用于驾驶辅助技术领域,尤其涉及一种智能驾驶过程中道路状态判断方法及系统,所述系统包括前视摄像头、制动器、主机和域控制器,域控制器内设置有车道线处理模块和控制算法模块,域控制器与前视摄像头、制动器和主机电性连接。本发明通过现有车道线感知方案以及内部算法,对弯道行驶时的工况进行了细化,通过现有车道线感知方案,得到当前道路曲率半径R1、当前道路曲率K、车速等信号,经过逻辑设计判断,可以更准确的得出当前车辆所处的弯道工况;该细化后的车道工况可以给后续规划控制算法的设计提供了更细致的场景区分,使得车辆进出弯道过程中的波动性变小,提升了驾驶舒适性和安全性。


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    Title :

    Road state judgment method and system in intelligent driving process


    Additional title:

    一种智能驾驶过程中道路状态判断方法及系统


    Contributors:

    Publication date :

    2023-10-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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