The invention discloses a method and a device for assisting the vehicle driving, which are used for solving the problem of conflict caused by the fact that LKA and rear wheel steering are both based on front wheel steering control. According to the scheme, the method comprises the steps of receiving a lane keeping assistance (LKA) request triggered by an advanced driving assistance system (ADAS) of a vehicle; obtaining a rear wheel steering angle and a rear wheel steering state of the vehicle; if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for instructing the ADAS to control front wheels of the vehicle to execute steering; and sending the LKA function execution instruction to the ADAS to instruct the ADAS to control the vehicle to run. According to the scheme, before the LKA function is executed, the steering angle and the steering state of the rear wheel are obtained firstly, the ADAS is instructed to execute the needed function under the condition that it is determined that the steering angle of the rear wheel is fixed, conflict caused by the fact that vehicle LKA and rear wheel steering are both based on front wheel steering control is effectively avoided, and therefore the vehicle driving safety is improved.
本发明公开了一种辅助车辆行驶的方法和装置,用以解决LKA和后轮转向均基于前轮转向控制而导致冲突的问题。本方案包括:接收车辆的高级驾驶辅助系统ADAS触发的车道保持辅助LKA请求;获取车辆的后轮转向角度和后轮转向状态;如果后轮转向状态表征车辆的后轮转向角度固定,则根据后轮转向角度生成LKA功能执行指令,LKA功能执行指令用于指示ADAS控制车辆的前轮执行转向;将LKA功能执行指令发送至ADAS,以指示ADAS控制车辆行驶。本方案在执行LKA功能之前,先获取后轮的转向角度和转向状态,在确定后轮转向角度固定的情况下再指示ADAS执行所需功能,有效避免车辆LKA和后轮转向均基于前轮转向控制而导致冲突,从而提高车辆行驶安全性。
Method and device for assisting vehicle driving
一种辅助车辆行驶的方法和装置
02.11.2021
Patent
Elektronische Ressource
Chinesisch
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