The invention relates to the technical field of automatic driving, and discloses a lane departure assistance method and device and a medium, and the method comprises the steps: obtaining lane departure related information of a vehicle in a current driving environment in real time, the lane departure related information comprising basic information and lateral information, the basic information comprising a preview distance and a vehicle trajectory model, and the lateral information comprising a preview distance and a vehicle trajectory model; the lane center line track model, the current vehicle speed and the lateral information comprise the wheel edge distance and the vehicle lateral speed, and when it is determined that the vehicle triggers the lane departure auxiliary function according to the lane departure related information, the compensation torque is calculated and output so that torque compensation can be conducted on the vehicle at different lateral departure speeds. Therefore, whether the lane departure auxiliary function is triggered or not is determined according to the lane departure related information, intelligent control over vehicle emergency lane keeping is achieved, on the basis, the vehicle torque is compensated and corrected by outputting the compensation torque, it is guaranteed that the vehicle is successfully corrected at different lateral departure speeds, and the vehicle driving safety is improved.
本申请涉及自动驾驶技术领域,公开了一种车道偏离辅助的方法、装置及介质包括:实时获取车辆当前行驶环境下的车道偏离相关信息,其中,车道偏离相关信息包括基础信息和侧向信息,基础信息包括预瞄距离,自车轨迹模型,车道中心线轨迹模型和当前车速,侧向信息包括轮边距和车辆侧向速度,在根据车道偏离相关信息确定车辆触发车道偏离辅助功能时,计算补偿扭矩,并输出补偿扭矩以便对不同侧向偏离速度下的车辆进行扭矩补偿。由此,根据车道偏离相关信息确定是否触发车道偏离辅助功能,从而实现车辆紧急车道保持的智能化控制,在此基础上,通过输出补偿扭矩对车辆扭矩进行补偿和修正,保证车辆在不同侧向偏离速度下成功纠偏,提升车辆行驶安全性。
Lane departure assisting method and device and medium
一种车道偏离辅助的方法、装置及介质
04.04.2023
Patent
Elektronische Ressource
Chinesisch
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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