EP-4737242-A1 - VEHICLE DRIVING LANE CONTROL METHOD, DEVICE, EQUIPMENT AND STORAGE MEDIUM

EP4737242A1EP 4737242 A1EP4737242 A1EP 4737242A1EP-4737242-A1

Abstract

The present application provides a method and an apparatus for controlling a vehicle traveling lane, a device, and a storage medium. The method includes: obtaining load information of a vehicle and lane information of a current lane for the vehicle, where the load information represents a current gross vehicle mass of the vehicle; determining steering wheel angle information of the vehicle based on the load information and the lane information, where the steering wheel angle information represents a degree of rotation of a steering wheel; and controlling the vehicle to travel in the current lane based on the steering wheel angle information. With the method in the present application, the accuracy of lane keeping is enhanced by adding the load information.

Inventors

PENG, Zihang

Assignees

ZF Commercial Vehicle Systems (Qingdao) Co., Ltd.

Dates

Publication Date: 20260506
Application Date: 20251023

Claims (18)

A method for controlling a vehicle traveling lane, characterized by comprising: obtaining load information of a vehicle and lane information of a current lane for the vehicle, wherein the load information represents a current gross vehicle mass of the vehicle; determining steering wheel angle information of the vehicle based on the load information and the lane information, wherein the steering wheel angle information represents a degree of rotation of a steering wheel; and controlling the vehicle to travel in the current lane based on the steering wheel angle information.
The method according to claim 1, characterized in that obtaining the load information of the vehicle comprises: obtaining traveling characteristic information of the vehicle by using a sensor apparatus installed in the vehicle, wherein the traveling characteristic information represents a speed change condition during a vehicle traveling process; and determining the load information of the vehicle based on the traveling characteristic information.
The method according to claim 2, characterized in that the sensor apparatus comprises an accelerator pedal sensor and an acceleration sensor; and obtaining the traveling characteristic information of the vehicle by using the sensor apparatus installed in the vehicle comprises: obtaining accelerator opening information by using the accelerator pedal sensor in the vehicle, wherein the accelerator opening information represents a degree of opening and closing of an accelerator pedal; obtaining acceleration information by using the acceleration sensor in the vehicle; and determining the accelerator opening information and the acceleration information as the traveling characteristic information of the vehicle.
The method according to claim 2, characterized in that determining the load information of the vehicle based on the traveling characteristic information comprises: performing high-pass filtering on the traveling characteristic information by using a preset high-pass filter to obtain filtered information, wherein the filtered information represents traveling characteristic information within a preset frequency range; and determining the load information of the vehicle based on the filtered information.
The method according to claim 4, characterized in that performing high-pass filtering on the traveling characteristic information by using the preset high-pass filter to obtain the filtered information comprises: performing high-pass filtering on the obtained accelerator opening information of the vehicle by using the preset high-pass filter to obtain a target accelerator opening, and performing high-pass filtering on the obtained acceleration information of the vehicle by using the preset high-pass filter to obtain a target acceleration; and determining the target accelerator opening and the target acceleration as the filtered information.
The method according to claim 5, characterized in that the acceleration information comprises a longitudinal acceleration and a lateral acceleration; and performing high-pass filtering on the obtained acceleration information of the vehicle by using the preset high-pass filter to obtain the target acceleration comprises: extracting the longitudinal acceleration from the acceleration information; and performing high-pass filtering on the longitudinal acceleration by using the preset high-pass filter to obtain the target acceleration.
The method according to claim 4, characterized in that the filtered information comprises a target accelerator opening and a target acceleration; and determining the load information of the vehicle based on the filtered information comprises: dividing the target accelerator opening by the target acceleration to obtain the load information of the vehicle.
The method according to claim 1, characterized in that obtaining the load information of the vehicle comprises: reading the load information of the vehicle through a CAN bus of the vehicle.
The method according to claim 1, characterized in that the lane information comprises at least one of the following: speed information, left-distance information, right-distance information, heading angle information, and lane curvature information of the vehicle, wherein the left-distance information represents a distance between the vehicle and a left lane line, and the right-distance information represents a distance between the vehicle and a right lane line.
The method according to any one of claims 1 to 9, characterized in that obtaining the lane information of the current lane for the vehicle comprises: obtaining speed information of the vehicle by using a vehicle speed sensor on the vehicle, and obtaining an environmental image of the current lane for the vehicle by using an image collector on the vehicle; and performing image recognition on the environmental image to obtain the left-distance information, the right-distance information, the heading angle information, and the lane curvature information of the vehicle.
The method according to any one of claims 1 to 9, characterized in that determining the steering wheel angle information of the vehicle based on the load information and the lane information comprises: determining a correction coefficient corresponding to the load information based on a preset association relationship, wherein the correction coefficient represents a degree of correction applied to the steering wheel angle information; and the preset association relationship represents an association relationship between the load information and the correction coefficient; and determining the steering wheel angle information of the vehicle based on the lane information and the correction coefficient corresponding to the load information.
The method according to claim 11, characterized in that the lane information comprises: speed information, left-distance information, right-distance information, heading angle information, and lane curvature information of the vehicle; and determining the steering wheel angle information of the vehicle based on the lane information and the correction coefficient corresponding to the load information comprises: determining position information of the vehicle in the current lane based on the left-distance information and the right-distance information; performing differential processing on the position information to obtain a position differential result; performing differential processing on the heading angle information to obtain a heading angle differential result; and determining the steering wheel angle information of the vehicle based on the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information, and the correction coefficient corresponding to the load information.
The method according to claim 12, characterized in that determining the steering wheel angle information of the vehicle based on the position information, the position differential result, the heading angle information, the heading angle differential result, the speed information, the lane curvature information, and the correction coefficient corresponding to the load information comprises: determining a first control coefficient, a second control coefficient, a third control coefficient, and a fourth control coefficient based on the speed information and the correction coefficient corresponding to the load information, wherein the first control coefficient represents a degree of influence of the position information on the steering wheel angle information, the second control coefficient represents a degree of influence of the position differential result on the steering wheel angle information, the third control coefficient represents a degree of influence of the heading angle information on the steering wheel angle information, and the fourth control coefficient represents a degree of influence of the heading angle differential result on the steering wheel angle information; determining a fifth control coefficient based on the correction coefficient corresponding to the load information, wherein the fifth control coefficient represents a degree of influence of the lane curvature information on the steering wheel angle information; and determining the steering wheel angle information of the vehicle based on the position information, the position differential result, the heading angle information, the heading angle differential result, the lane curvature information, the first control coefficient, the second control coefficient, the third control coefficient, the fourth control coefficient, and the fifth control coefficient.
The method according to claim 13, characterized in that the first control coefficient is represented as α 1 = (K 1 /v 2 ) × β; the second control coefficient is represented as α 2 = (K 2 /v 2 ) × β; the third control coefficient is represented as α 3 = (K 3 /v) × β ; the fourth control coefficient is represented as α 4 = (K 4 /v) × β; and the fifth control coefficient is represented as α 5 = K 5 × β , wherein α 1 is the first control coefficient, α 2 is the second control coefficient, α 3 is the third control coefficient, α 4 is the fourth control coefficient, α 5 is the fifth control coefficient, v represents the speed information, β represents the correction coefficient corresponding to the load information, and K 1 , K 2 , K 3 , K 4 , and K 5 are all preset calibration parameters.
An apparatus for controlling a vehicle traveling lane, characterized by comprising: an information obtaining module configured to obtain load information of a vehicle and lane information of a current lane for the vehicle, wherein the load information represents a current gross vehicle mass of the vehicle; an information determination module configured to determine steering wheel angle information of the vehicle based on the load information and the lane information, wherein the steering wheel angle information represents a degree of rotation of a steering wheel; and a vehicle control module configured to control the vehicle to travel in the current lane based on the steering wheel angle information.
An electronic device, characterized by comprising: a processor, and a memory communicatively connected to the processor, wherein the memory stores computer-executable instructions; and the processor executes the computer-executable instructions stored in the memory to implement a method according to any one of claims 1 to 14.
A computer-readable storage medium, characterized in that the computer-readable storage medium has computer-executable instructions stored therein, and the computer-executable instructions, when executed by a processor, are used to implement a method according to any one of claims 1 to 14.
A computer program product, characterized by comprising a computer program that, when executed by a processor, causes a method according to any one of claims 1 to 14 to be implemented.

Description

Technical Field The present application relates to the autonomous driving technology, and in particular to a method and an apparatus for controlling a vehicle traveling lane, a device, and a storage medium. Background Art A lane keeping assist system (LKAS) is an advanced driver-assistance system in the field of autonomous driving that may assist a driver in keeping a vehicle within a traveling lane. The LKAS can automatically control a steering wheel and adjust a traveling direction of the vehicle by sending a steering instruction to the steering wheel. Failure to precisely determine a degree of rotation of the steering wheel may affect the traveling precision of the vehicle in the lane, and lane departure may occur in the vehicle. Summary The present application provides a method and an apparatus for controlling a vehicle traveling lane, a device, and a storage medium, to improve the driving precision of a vehicle in a lane. In a first aspect, the present application provides a method for controlling a vehicle traveling lane, including: obtaining load information of a vehicle and lane information of a current lane for the vehicle, where the load information represents a current gross vehicle mass of the vehicle;determining steering wheel angle information of the vehicle based on the load information and the lane information, where the steering wheel angle information represents a degree of rotation of a steering wheel; andcontrolling the vehicle to travel in the current lane based on the steering wheel angle information. In a second aspect, the present application provides an apparatus for controlling a vehicle traveling lane, including: an information obtaining module configured to obtain load information of a vehicle and lane information of a current lane for the vehicle, where the load information represents a current gross vehicle mass of the vehicle;an information determination module configured to determine steering wheel angle information of the vehicle based on the load information and the lane information, where the steering wheel angle information represents a degree of rotation of a steering wheel; anda vehicle control module configured to control the vehicle to travel in the current lane based on the steering wheel angle information. In a third aspect, the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor, where the memory stores computer-executable instructions; andthe processor executes the computer-executable instructions stored in the memory to implement the method according to the first aspect. In a fourth aspect, the present application provides a computer-readable storage medium having computer-executable instructions stored therein. The computer-executable instructions, when executed by a processor, are used to implement the method according to the first aspect. In a fifth aspect, the present application provides a computer program product including a computer program. The computer program, when executed by a processor, causes the method according to the first aspect to be implemented. According to the method and apparatus for controlling a vehicle traveling lane, the device, and the storage medium that are provided in the present application, the load information of the vehicle and the lane information of the current lane for the vehicle are obtained, so that the current gross vehicle mass of the vehicle and the traveling condition in the lane may be obtained. The steering wheel angle information of the vehicle is determined based on the load information and the lane information, thereby improving the precision of determining the steering wheel angle information. Based on the steering wheel angle information, the steering wheel is controlled to rotate, thereby keeping the vehicle traveling in the current lane, enhancing the driving precision of the vehicle, and improving the driving experience of a user. Brief Description of the Drawings The accompanying drawings herein, which are incorporated into and constitute a part of the description, illustrate embodiments conforming to the present application, and are used to explain the principle of the present application together with the description. FIG. 1 is an architectural diagram of an LKAS according to an embodiment of the present application;FIG. 2 is a schematic flowchart of a method for controlling a vehicle traveling lane according to an embodiment of the present application;FIG. 3 is a schematic flowchart of a method for controlling a vehicle traveling lane according to an embodiment of the present application;FIG. 4 is a schematic flowchart of a method for controlling a vehicle traveling lane according to an embodiment of the present application;FIG. 5 is a block diagram of a structure of an apparatus for controlling a vehicle traveling lane according to an embodiment of the present application;FIG. 6 is a block diagram of a structure of an apparatu