The invention discloses a system for optimizing lane centering control, which is characterized in that a vehicle runs on the basis of a center line of a current lane fitted by lane line information acquired by a foresight camera, and the system further comprises a laser radar arranged on the vehicle; and correcting the currently fitted center line information based on the vehicle type information of the target vehicle running on the adjacent lane acquired by the laser radar and the transverse distance between the target vehicle and the target lane line at present, and controlling the vehicle to run along the corrected center line. According to the invention, based on the laser radar with higher precision, through identifying different targets, analyzing the risk levels of different targets, giving different offsets and considering the distance from the edge of the target vehicle to the lane line, a transverse comprehensive deviation distance which is more in line with the current driving environment and considers the current driving traffic participant is comprehensively given; according to the method, lane centering control can be more fit with real driving habits, and meanwhile, the comfort and safety of function use are improved.
本发明公开了一种优化车道居中控制的系统,车辆基于前视摄像头获取的车道线信息而拟合出的当前车道的中心线行驶,还包括车辆上设置的激光雷达;基于所述激光雷达获取的相邻车道行驶的目标车辆的车型信息和所述目标车辆当前距离目标车道线的横向距离修正当前拟合出的中心线信息,并控制车辆沿修正后的中心线行驶。本发明基于精度更高的激光雷达,通过识别不同目标,分析不同目标的风险等级,给予不同的偏移量,同时也考虑到目标车辆的边缘距离车道线的距离,综合给出更符合当前驾驶环境和考虑当前驾驶交通参与者的横向综合偏差距离,可以使车道居中控制更拟合真实的驾驶习惯,同时也提升了功能使用的舒适性和安全性。
System for optimizing lane centering control
一种优化车道居中控制的系统
15.08.2023
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 |
Lane centering system and lane centering method for autonomous vehicle
Europäisches Patentamt | 2022
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