The invention belongs to the technical field of auxiliary driving, and particularly relates to a lane centering control method and system. The driving environment around the lane of the vehicle is obtained, and whether an obstacle exists in the adjacent lane of the vehicle or not is judged according to the driving environment; when the vehicle only has an obstacle on the lane on the adjacent side, if the distance D between the obstacle and the common lane line is more than 0 and less than H, the vehicle is controlled to transversely adjust the distance delta d from the current position to the side without the obstacle, and the value of the delta d is calculated according to the distance D, the distance L from the vehicle to the lane line on the other side and a distance threshold value H; the problem that according to an existing vehicle centering control method, when only one side of a vehicle is provided with an obstacle, the distance between the vehicle and the obstacle cannot be reasonably adjusted, and driving safety or comfort is low is solved.
本发明属于辅助驾驶技术领域,具体涉及一种车道居中控制方法及系统。本发明通过获取自车车道周围的驾驶环境,根据驾驶环境判别出自车相邻车道是否存在障碍物;当自车只有相邻一侧车道有障碍物时,若所述障碍物与共有车道线之间的距离D满足0<D<H,则控制自车以当前位置向无障碍物的一侧横向调整距离Δd,Δd的取值是根据所述距离D、自车距离另一侧车道线的距离L和距离阈值H计算得到的;解决了现有的车辆居中控制方法在自车只有一侧有障碍物时,不能合理调整与障碍物之间的距离,导致驾驶安全性或舒适度低的问题。
Lane centering control method and system
一种车道居中控制方法及系统
2025-03-14
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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