阅读说明：本技术 一种适用于车道保持辅助系统 (Be applicable to lane and keep auxiliary system ) 是由 余响 王继贞 田锋 罗静 于 2021-09-02 设计创作，主要内容包括：本发明公开了一种适用于车道保持辅助系统,其技术方案要点是包括处理器、显示器和摄像模块,摄像模块用于对车辆行驶方向进行实时拍摄,并生成车道图像,处理器包括路线规划系统和车道保持系统,路线规划系统建立行驶路线,车道保持系统包括直道保持单元和弯道保持单元,在直道保持单元和弯道保持单元的作用下,从而控制车辆保持沿行驶路线稳定行驶,显示器包括显示屏、显示系统和定位系统,定位系统用于获取卫星地图和车辆的实时位置信息,显示系统用于控制在显示屏上显示卫星地图和车道图像。本发明一种适用于车道保持辅助系统,具有能够在进行辅助驾驶时,提高辅助驾驶的准确性和安全性,达到稳定安全的进行车道辅助驾驶的效果。(The invention discloses an auxiliary system suitable for lane keeping, which is characterized by comprising a processor, a display and a camera module, wherein the camera module is used for shooting the driving direction of a vehicle in real time and generating lane images, the processor comprises a route planning system and a lane keeping system, the route planning system establishes a driving route, the lane keeping system comprises a straight road keeping unit and a curve keeping unit, the vehicle is controlled to keep driving stably along the driving route under the action of the straight road keeping unit and the curve keeping unit, the display comprises a display screen, a display system and a positioning system, the positioning system is used for acquiring real-time position information of a satellite map and the vehicle, and the display system is used for controlling the display of the satellite map and the lane images on the display screen. The lane keeping auxiliary system is suitable for lane keeping, and has the advantages that the accuracy and the safety of auxiliary driving can be improved during auxiliary driving, and the effect of stable and safe lane auxiliary driving is achieved.)

1. A lane keeping assist system adapted to, characterized in that: the vehicle lane real-time monitoring system comprises a processor (1) arranged in a vehicle center console, a display (2) and a camera module (3) arranged in a vehicle body, wherein the camera module (3) is used for acquiring lanes along the vehicle driving direction in real time and generating lane images and lane data, the lane images are used for displaying the real-time lanes along the vehicle driving direction, the lane data comprise real-time lane type information and lane width information along the vehicle driving direction, the lane type information comprises straight lane information and curve information, and the lane width information represents the width of the lanes;

the processor (1) comprises a route planning system (11) and a lane keeping system (12), a trigger unit is arranged on a steering wheel in the vehicle and used for controlling whether the lane keeping system (12) is started or not, the camera module (3) sends lane images and lane data to the processor (1), the route planning system (11) plans a driving route according to the lane images and the lane data, the driving route is established along the central line of a lane, the lane keeping system (12) comprises a straight-way keeping unit (13) and a curve keeping unit (14), the straight-way keeping unit (13) is used for controlling the vehicle to keep running along the driving route when the vehicle runs along a straight way, the curve keeping unit (14) is used for controlling the vehicle to keep running along the driving route when the vehicle runs along a curve, and a vector deviation rectifying strategy is configured in the straight-way keeping unit (13), the vector deviation rectifying strategy comprises the steps of detecting whether the vehicle deviates from a driving route according to an overshoot control method, controlling the vehicle to steer and adjust to drive along the driving route when the vehicle deviates from the driving route, and configuring a centrifugal deviation rectifying strategy in the curve keeping unit (14), wherein the centrifugal deviation rectifying strategy comprises the steps of detecting whether the vehicle deviates from the driving route when the vehicle drives along a curve according to a curve control method, and controlling the vehicle to regulate the speed and steer and adjust to drive along the driving route when the vehicle deviates from the driving route;

the display (2) comprises a display screen (21), a display system (22) and a positioning system (23), the display screen (21) is arranged on the center console, the display screen (21) comprises a full picture unit and an auxiliary display unit, the display system (22) comprises a map display module (24) and a lane display module (25), the positioning system (23) is used for acquiring real-time position information of the vehicle and a satellite map near the vehicle, and sends the real-time location information and the satellite map to a map display module (24), the map display module (24) receives the real-time position information and the satellite map and then displays the satellite map and the real-time position information of the vehicle with the whole map unit in the display screen (21), the processor (1) sends a lane image and a driving video and vehicle display module, and the lane display module (25) is used for displaying the lane image and a driving route in an auxiliary display unit;

the display system (22) further comprises a switching module (26), when the triggering unit is not triggered, the satellite map and the real-time position information of the vehicle are displayed on the display screen (21) in a full screen mode, when the triggering unit is triggered, an auxiliary display signal is generated and sent to the display screen (21), when the display screen (21) receives the auxiliary display signal, the whole map unit is controlled to be reduced, and lane images and driving routes are further displayed on the display screen (21).

2. A lane keeping aid system adapted for use according to claim 1, wherein: camera module (3) are including the image processing unit that is used for generating the lane image and a plurality of camera to the lane shooting, and is a plurality of the camera sets up on the automobile body, one of them the camera sets up on the central axis of automobile body along length direction, the camera is used for shooing the lane of vehicle direction of travel, and generate the bottom image and send to the image processing unit in, dispose the composite strategy in the image processing unit, the composite strategy includes whether the bottom image under the same angle is judged according to the intersection part of comparing the bottom image, carries out iterative processing to the bottom image under the same angle, forms the lane image.

3. A lane keeping aid system adapted for use according to claim 2, wherein: the driving route comprises a straight road route and a curve route, the route planning system (11) further comprises a modeling module for modeling the straight road route and the curve route, and the modeling module generates a route image after modeling and sends the route image to the auxiliary display unit so that the auxiliary display unit can display the driving state of the vehicle under the lane keeping system (12).

4. A lane keeping aid system adapted for use according to claim 3, wherein: the modeling module comprises a straight track strategy and a curve strategy, wherein the straight track strategy comprises the step of establishing a vertical center line perpendicular to the lane width by taking a lane width information center point as an origin, and the vertical center line is a straight track route;

the curve strategy concretely comprises the following steps:

setting an image limit point A and an image limit point B on two sides of a straight road end part connected with an inlet bend of a curve, setting an image limit point C and an image limit point D on two sides of a straight road end part connected with an outlet bend of the curve, connecting the image limit point A and the image limit point B and extending to form a first radial line, connecting the image limit point C and the image limit point D and extending to form a second radial line, taking the intersection point of the first warp line and the second warp line as a bending center O, and forming a circumferential angle alpha between the bending center O and the image limit point C and the image limit point D;

setting the middle point of the connecting line of the quadrant point A and the quadrant point B as a quadrant point E, setting the middle point of the connecting line of the quadrant point C and the quadrant point D as a quadrant point F, and establishing a curve center line which takes a curve center O as a circular point to connect the quadrant point E and the quadrant point F, wherein the circumference angle of the curve center line is also a circumference angle alpha, and the curve center line is a curve route.

5. A lane keeping aid system adapted for use according to claim 2, wherein: the overshoot control method specifically comprises the following steps:

when the vehicle runs along a straight road, a zero-degree steering instruction is sent in real time, the zero-degree steering instruction represents that no steering control is performed, and the vehicle is kept running along a running route;

when the system is executed, an overshoot fluctuation value appears, the overshoot fluctuation value represents a steering angle of steering control when the vehicle is actually controlled, a compensation strategy is configured in the straight track maintaining unit (13), when the overshoot fluctuation value appears, the compensation strategy generates a compensation value for reverse compensation according to the overshoot fluctuation value, and the compensation value is 0 degree after reverse compensation is carried out, so that the vehicle is not influenced by the overshoot fluctuation value to generate steering control.

6. A lane keeping aid system adapted for use according to claim 3, wherein: the processor (1) also comprises a curve pre-judging module (4), the camera modules (3) positioned at the two sides of the vehicle body are also provided with a distance measuring unit, the distance measuring unit is used for measuring the distance between the driving direction of the vehicle and the vehicle head, the distance measuring unit positioned on one side of the vehicle body generates a first distance value according to the measurement, the distance measuring unit on the other side generates a second distance value according to the measurement, the distance measuring unit sends a first distance value and a second distance value to a curve pre-judging module (4), the curve pre-judging module (4) is internally provided with a curve condition judging strategy, the curve condition judging strategy comprises the steps of identifying whether the vehicle is in a curve-in state or a curve-out state according to the transformation between a first distance value and a second distance value, the in-bending state representation vehicle changes from straight road driving to curve driving, and the out-bending state representation vehicle changes from curve driving to straight road driving.

7. A lane keeping aid system as claimed in claim 4, wherein: the bending condition judgment strategy specifically comprises the following steps:

when the increase and decrease of the first distance value and the second distance value are synchronous changes, judging that a vehicle exists in the vehicle running direction;

when one of the first distance value and the second distance value is increased and the other value is decreased, judging that a curve is about to exist in the driving direction of the vehicle and judging that the vehicle is in a curve entering state;

and when the numerical values of the first distance value and the second distance value are increased in sequence, judging that the vehicle running direction is about to be a straight road and judging that the vehicle is in a bent state.

8. A lane keeping aid system as claimed in claim 5, wherein: the curve control method specifically comprises the following steps:

calculating the curvature of a curve which keeps stable running after a vehicle enters the curve route according to the established curve route, calculating a vehicle speed threshold in the curve according to the curvature, wherein the vehicle speed threshold comprises a centripetal offset threshold and an outward throwing offset threshold, and measuring and calculating the bending speed of the vehicle entering the curve route;

when the vehicle needs to enter the curve route, comparing the real-time speed of the vehicle with the bending speed, if the real-time speed is smaller than the bending speed, controlling the vehicle to accelerate to the bending speed, and if the real-time speed is larger than the bending speed, controlling the vehicle to decelerate to the bending speed;

and after the vehicle enters the curve route, detecting the speed of the vehicle in real time, and controlling the real-time speed of the vehicle to be between a centripetal threshold value and an outward throwing threshold value so as to enable the vehicle to keep stable running along the curve route.

9. A lane keeping aid system as claimed in claim 8, wherein: the processor (1) further comprises a cache module, when the trigger unit is not triggered, the processor (1) generates an undetermined instruction and sends the undetermined instruction to the cache module, when the cache module receives the undetermined instruction, the cache module updates and caches the position of the vehicle on the driving route in real time, so that when the trigger unit is triggered, the processor (1) generates an execution instruction and sends the execution instruction to the cache module, and the cache module calls the real-time position and state of the vehicle, so that the lane keeping system (12) can quickly judge whether the vehicle needs to be adjusted to meet the requirement of controlling the vehicle to keep driving along the driving route.

10. A lane keep assist system as claimed in any one of claims 1 to 9, wherein: the display screen (21) is a touch screen.

Technical Field

The invention relates to the technical field of intelligent driving, in particular to a lane keeping auxiliary system.

Background

The lane keeping auxiliary system is an intelligent driving auxiliary system, and has the main functions that when the vehicle is in a preset lane during driving, the vehicle deviates from the preset lane, the auxiliary system is involved in control, and the driving direction of the vehicle is controlled by controlling the rotation of a steering wheel, so that the vehicle returns to the original lane to drive.

The existing lane keeping auxiliary system can be roughly divided into two types of lane keeping and lane center keeping, wherein the lane keeping is to plan a corresponding lane for a vehicle according to the driving speed of the vehicle, when a driver does not turn a steering lamp, if the vehicle deviates from the lane, the vehicle is controlled to run back to the planned lane, when the steering lamp is turned on and the vehicle is actively steered, the system does not intervene to control, so that the vehicle can complete active lane change control, when the vehicle is controlled to run along the lane, the vehicle is controlled to run along the position near the center line of the lane by the aid of the auxiliary system intervention control, when the vehicle is in the position near the center line of the deviated lane, the system intervenes to control the vehicle to return to the position near the center line to run, and the effect of keeping the vehicle lane is achieved.

However, the existing lane keeping system has poor stability, and due to the error in capturing the road by the monocular camera, when the lane keeping system is used, the vehicle shakes left and right along the center line, so that the driving experience is reduced, the driving assistance safety is reduced, and the effect of lane assistance driving stably and safely cannot be achieved.

Disclosure of Invention

In view of the disadvantages of the prior art, an object of the present invention is to provide a lane keeping assist system, which is capable of improving the accuracy and safety of driving assistance during driving assistance, and achieving a stable and safe lane driving assistance effect.

In order to achieve the purpose, the invention provides the following technical scheme:

the lane keeping auxiliary system comprises a processor, a display and a camera module, wherein the processor is arranged in a vehicle center console, the camera module is arranged in a vehicle body and is used for acquiring a lane along the driving direction of a vehicle in real time and generating a lane image and lane data, the lane image is used for displaying the real-time lane along the driving direction of the vehicle, the lane data comprises real-time lane type information and lane width information along the driving direction of the vehicle, the lane type information comprises straight lane information and curve information, and the lane width information represents the width of the lane;

the processor comprises a route planning system and a lane keeping system, a trigger unit is arranged on a steering wheel in the vehicle and used for controlling whether the lane keeping system is started or not, the camera module sends lane images and lane data to the processor, the route planning system plans a driving route according to the lane images and the lane data, the driving route is established along the central line of a lane, the lane keeping system comprises a straight lane keeping unit and a curve keeping unit, the straight lane keeping unit is used for controlling the vehicle to keep the vehicle to drive along the driving route when the vehicle drives along the straight lane, the curve keeping unit is used for controlling the vehicle to keep the vehicle to drive along the driving route when the vehicle drives along the curve, a vector deviation rectifying strategy is configured in the straight lane keeping unit and comprises the step of detecting whether the vehicle deviates from the driving route according to an overshoot control method, if the vehicle deviates from the driving route, controlling the vehicle to steer and adjust to drive along the driving route, and configuring a centrifugal deviation rectifying strategy in the curve keeping unit, wherein the centrifugal deviation rectifying strategy comprises the steps of detecting whether the vehicle deviates from the driving route when the vehicle drives along the curve according to a curve control method, and if the vehicle deviates from the driving route, controlling the vehicle to regulate the speed and steer and adjust to drive along the driving route;

the display comprises a display screen, a display system and a positioning system, the display screen is arranged on the central control console and comprises a full map unit and an auxiliary display unit, the display system comprises a map display module and a lane display module, the positioning system is used for acquiring real-time position information of a vehicle and a satellite map near the vehicle and sending the real-time position information and the satellite map to the map display module, the map display module receives the real-time position information and the satellite map and then displays the satellite map and the real-time position information of the vehicle and the full map unit in the display screen, the processor sends a lane image and a driving route to the vehicle display module, and the lane display module is used for displaying the lane image and the driving route in the auxiliary display unit;

the display system further comprises a switching module, when the triggering unit is not triggered, the satellite map and the real-time position information of the vehicle are displayed on the display screen in a full screen mode, when the triggering unit is triggered, an auxiliary display signal is generated and sent to the display screen, when the display screen receives the auxiliary display signal, the full-image unit is controlled to be reduced, and lane images and driving routes are further displayed on the display screen.

As a further improvement of the present invention, the camera module includes an image processing unit for generating a lane image and a plurality of cameras for shooting lanes, the plurality of cameras are disposed on a vehicle body, one of the cameras is disposed on a central axis of the vehicle body along a length direction, the cameras are configured to shoot a lane in a vehicle driving direction, generate a floor image, and send the floor image to the image processing unit, a synthesis policy is configured in the image processing unit, the synthesis policy includes determining whether the floor image is at the same angle according to an intersection of the comparison floor images, and performing iterative processing on the floor image at the same angle to form the lane image.

As a further improvement of the present invention, the driving route includes a straight road route and a curved road route, and the route planning system further includes a modeling module for modeling the straight road route and the curved road route, and the modeling module generates a route image after modeling and sends the route image to the auxiliary display unit, so that the auxiliary display unit can display the driving state of the vehicle under the lane keeping system.

As a further improvement of the invention, the modeling module comprises a straight track strategy and a curve strategy, the straight track strategy comprises establishing a vertical center line perpendicular to the lane width by taking the center point of the lane width information as an origin, and the vertical center line is a straight track route;

the curve strategy concretely comprises the following steps:

setting an image limit point A and an image limit point B on two sides of a straight road end part connected with an inlet bend of a curve, setting an image limit point C and an image limit point D on two sides of a straight road end part connected with an outlet bend of the curve, connecting the image limit point A and the image limit point B and extending to form a first radial line, connecting the image limit point C and the image limit point D and extending to form a second radial line, taking the intersection point of the first warp line and the second warp line as a bending center O, and forming a circumferential angle alpha between the bending center O and the image limit point C and the image limit point D;

setting the middle point of the connecting line of the quadrant point A and the quadrant point B as an image point E, setting the middle point of the connecting line of the quadrant point C and the quadrant point D as an image point F, and establishing a curve center line which takes a curve center O as a circular point to connect the quadrant point E and the quadrant point F, wherein the circumference angle of the curve center line is also a circumference angle alpha, and the curve center line is a curve route.

As a further improvement of the present invention, the overshoot control method specifically comprises:

when the vehicle runs along a straight road, a zero-degree steering instruction is sent in real time, the zero-degree steering instruction represents that no steering control is performed, and the vehicle is kept running along a running route;

when the system is executed, an overshoot fluctuation value appears, the overshoot fluctuation value represents a steering angle of steering control when the vehicle is actually controlled, a compensation strategy is configured in the straight track maintaining unit, when the overshoot fluctuation value appears, the compensation strategy generates a compensation value for reverse compensation according to the overshoot fluctuation value, and the compensation value is 0 degree after reverse compensation is carried out, so that the vehicle is not influenced by the overshoot fluctuation value to generate steering control.

As a further improvement of the present invention, the processor further includes a curve pre-judging module, the camera modules located at two sides of the vehicle body are further provided with a distance measuring unit, the distance measuring unit is used for measuring a distance between the vehicle driving direction and the vehicle head, the distance measuring unit located at one side of the vehicle body generates a first distance value according to the measurement, the distance measuring unit located at the other side of the vehicle body generates a second distance value according to the measurement, the distance measuring unit sends the first distance value and the second distance value to the curve pre-judging module, the curve pre-judging module is configured with a curve condition judging policy, the curve condition judging policy includes that the vehicle is in a bending state or out-bending state according to the transformation between the first distance value and the second distance value, the bending state represents that the vehicle is turned from straight driving to curved driving, and the out-bending state represents that the vehicle is turned from curved driving to straight driving.

As a further improvement of the present invention, the bending condition determination strategy specifically includes:

when the increase and decrease of the first distance value and the second distance value are synchronous changes, judging that a vehicle exists in the vehicle running direction;

when one of the first distance value and the second distance value is increased and the other value is decreased, judging that a curve is about to exist in the driving direction of the vehicle and judging that the vehicle is in a curve entering state;

and when the numerical values of the first distance value and the second distance value are increased in sequence, judging that the vehicle running direction is about to be a straight road and judging that the vehicle is in a bent state.

As a further improvement of the present invention, the curve control method specifically comprises:

calculating the curvature of a curve which keeps stable running after a vehicle enters the curve route according to the established curve route, calculating a vehicle speed threshold in the curve according to the curvature, wherein the vehicle speed threshold comprises a centripetal offset threshold and an outward throwing offset threshold, and measuring and calculating the bending speed of the vehicle entering the curve route;

when the vehicle needs to enter the curve route, comparing the real-time speed of the vehicle with the bending speed, if the real-time speed is smaller than the bending speed, controlling the vehicle to accelerate to the bending speed, and if the real-time speed is larger than the bending speed, controlling the vehicle to decelerate to the bending speed;

and after the vehicle enters the curve route, detecting the speed of the vehicle in real time, and controlling the real-time speed of the vehicle to be between a centripetal threshold value and an outward throwing threshold value so as to enable the vehicle to keep stable running along the curve route.

As a further improvement of the present invention, the processor further includes a cache module, when the trigger unit is not triggered, the processor generates an undetermined instruction and sends the undetermined instruction to the cache module, when the cache module receives the undetermined instruction, the cache module updates and caches the position of the vehicle on the driving route in real time, so that when the trigger unit is triggered, the processor generates an execution instruction and sends the execution instruction to the cache module, and the cache module retrieves the real-time position and state of the vehicle, so that the lane keeping system can quickly determine whether the vehicle needs to be adjusted to control the vehicle to keep driving along the driving route.

As a further improvement of the present invention, the display screen is a touch screen.

The invention has the beneficial effects that: the camera module is arranged on the vehicle body, real-time lane images and lane data are acquired under the action of the camera module, whether the vehicle needs to be adjusted or not is judged, the route planning system is arranged in the processor, the driving route is planned according to the lane images and the lane data, the driving route is a route established along a lane central line, whether the vehicle deviates from the driving route or not can be monitored under the action of the lane keeping system, so that the deviation can be corrected, the satellite map, the lane images and the driving route can be displayed on the display screen at the same time, the driving route and the driving state of the vehicle can be better and visually monitored, the accuracy and the safety of auxiliary driving can be improved during auxiliary driving, and the effect of stable and safe lane auxiliary driving can be achieved.

Drawings

FIG. 1 is a system flow diagram of the present invention;

FIG. 2 is a schematic diagram showing overshoot curves;

FIG. 3 is a graph showing overshoot;

FIG. 4 is a graph embodying compensation;

fig. 5 is a modeling diagram showing a travel route.

Reference numerals: 1. a processor; 11. a route planning system; 12. a lane keeping system; 13. a straight line holding unit; 14. a curve retaining unit; 2. a display; 21. a display screen; 22. a display system; 23. a positioning system; 24. a map display module; 25. a lane display module; 26. a switching module; 3. a camera module; 4. and a curve pre-judging module.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Referring to fig. 1, a specific embodiment of the lane keeping assist system according to the present invention includes a processor 1 disposed in a center console of a vehicle, a display 2, and a camera module 3 disposed in a vehicle body, wherein the camera module 3 is configured to acquire lane images and lane data in real time along a driving direction of the vehicle, the lane images are configured to display real-time lanes along the driving direction of the vehicle, the lane data includes real-time lane type information and lane width information along the driving direction of the vehicle, the lane type information includes straight lane information and curve lane information, the lane width information represents a width of the lane, the camera module 3 includes an image processing unit configured to generate a lane image and a plurality of cameras configured to photograph the lane, the plurality of cameras are disposed on the vehicle body, one of the cameras is disposed on a central axis of the vehicle body along the length direction, the camera is used for shooting the lane in the driving direction of the vehicle, generating a bottom layer image and sending the bottom layer image to the image processing unit, a synthesis strategy is configured in the image processing unit, the synthesis strategy comprises the steps of judging whether the bottom layer image under the same angle is obtained according to the comparison of the intersection part of the bottom layer images, carrying out iterative processing on the bottom layer image under the same angle to form a lane image, shooting the lane under the same angle through the multiple cameras, and carrying out iterative processing on the overlapped part of the bottom layer images, so that a clear and accurate lane image is formed.

The processor 1 comprises a route planning system 11 and a lane keeping system 12, a triggering unit is arranged on a steering wheel in the vehicle and used for controlling whether the lane keeping system 12 is started or not, the camera module 3 sends lane images and lane data to the processor 1, the route planning system 11 plans a driving route according to the lane images and the lane data, the driving route is established along the center line of a lane, the lane keeping system 12 comprises a straight-way keeping unit 13 and a curve keeping unit 14, the straight-way keeping unit 13 is used for controlling the vehicle to keep the vehicle to drive along the driving route when the vehicle drives along the straight way, and the curve keeping unit 14 is used for controlling the vehicle to keep the vehicle to drive along the driving route when the vehicle drives along the curve;

a vector deviation rectifying strategy is configured in the straight track maintaining unit 13, the vector deviation rectifying strategy comprises the steps of detecting whether the vehicle deviates from a driving route according to an overshoot control method, controlling the vehicle to steer and adjust to drive along the driving route when the vehicle deviates from the driving route, and a centrifugal deviation rectifying strategy is configured in the curve maintaining unit 14, the centrifugal deviation rectifying strategy comprises the steps of detecting whether the vehicle deviates from the driving route when the vehicle drives along a curve according to a curve control method, and controlling the vehicle to regulate the speed and steer and adjust to drive along the driving route when the vehicle deviates from the driving route;

the display 2 comprises a display screen 21, a display system 22 and a positioning system 23, the display screen 21 is a touch screen and supports an operator to perform manual control adjustment, the display screen 21 is arranged on a center console, the display screen 21 comprises a full map unit and an auxiliary display unit, the display system 22 comprises a map display module 24 and a lane display module 25, the positioning system 23 is used for acquiring real-time position information of a vehicle and a satellite map near the vehicle and sending the real-time position information and the satellite map to the map display module 24, the map display module 24 receives the real-time position information and the satellite map and then displays the satellite map and the real-time position information of the vehicle and the full map unit in the display screen 21, the processor 1 sends images and driving videos to the vehicle display module, the lane display module 25 is used for displaying lane images and driving routes in the auxiliary display unit, the driving routes comprise straight routes and curved routes, the route planning system 11 further includes a modeling module for modeling a straight road route and a curved road route, and the modeling module generates a route image after modeling and transmits the route image to the auxiliary display unit so that the auxiliary display unit can display the driving state of the vehicle under the lane keeping system 12;

the display system 22 further includes a switching module 26, when the triggering unit is not triggered, the satellite map and the real-time position information of the vehicle are displayed on the display screen 21 in full screen, when the triggering unit is triggered, the auxiliary display signal is generated and sent to the display screen 21, the display screen 21 controls the full-map unit to reduce when receiving the auxiliary display signal, the lane image and the driving route are also displayed on the display screen 21, so that when the lane keeping system 12 is not entered, the real-time position of the satellite map and the vehicle are displayed on the display screen 21, when the lane keeping system 12 is entered, the full-map unit on the display screen 21 reduces the display area, the auxiliary display unit displays the lane image and is located on one side of the full-map unit, and the satellite map and the real-time position of the vehicle can be displayed while the lane image is displayed.

Referring to fig. 1 to 5, the modeling module includes a straight track strategy and a curve strategy, the straight track strategy includes establishing a vertical center line perpendicular to the lane width by using the lane width information center point as an origin, and the vertical center line is a straight track route;

the curve strategy concretely comprises the following steps:

setting an image limit point A and an image limit point B on two sides of a straight road end part connected with an inlet bend of a curve, setting an image limit point C and an image limit point D on two sides of a straight road end part connected with an outlet bend of the curve, connecting the image limit point A and the image limit point B and extending to form a first radial line, connecting the image limit point C and the image limit point D and extending to form a second radial line, taking the intersection point of the first warp line and the second warp line as a bending center O, and forming a circumferential angle alpha between the bending center O and the image limit point C and the image limit point D;

setting the middle point of the connecting line of the quadrant point A and the quadrant point B as an image point E, setting the middle point of the connecting line of the quadrant point C and the quadrant point D as an image point F, and establishing a curve center line which takes a curve center O as a circular point to connect the quadrant point E and the quadrant point F, wherein the circumference angle of the curve center line is also a circumference angle alpha, and the curve center line is a curve route.

The overshoot control method specifically comprises the following steps:

when the vehicle runs along a straight road, a zero-degree steering instruction is sent in real time, the zero-degree steering instruction represents that no steering control is carried out, and the vehicle is kept running along a running route;

when the system is executed, an overshoot fluctuation value appears, the overshoot fluctuation value represents a steering angle of steering control when the vehicle is actually controlled, a compensation strategy is configured in the straight track maintaining unit 13, when the overshoot fluctuation value appears, the compensation strategy generates a compensation value for reverse compensation according to the overshoot fluctuation value, and the compensation value is 0 degree after reverse compensation is carried out, so that the vehicle is not influenced by the overshoot fluctuation value to generate steering control.

Referring to fig. 1 and 5, the processor 1 further includes a curve pre-judging module 4, the camera modules 3 located at two sides of the vehicle body are further provided with distance measuring units, the distance measuring units are used for measuring a distance between the vehicle driving direction and the vehicle head, the distance measuring unit located at one side of the vehicle body generates a first distance value according to the measurement, the distance measuring unit located at the other side of the vehicle body generates a second distance value according to the measurement, the distance measuring units send the first distance value and the second distance value to the curve pre-judging module 4, a curve condition judging policy is configured in the curve pre-judging module 4, the curve condition judging policy includes that the vehicle is in a curve state or out of a curve state according to the transformation between the first distance value and the second distance value, the vehicle is represented in the curve state by turning from straight-way driving to curve driving, and the vehicle is represented in the curve state by turning from curve driving to straight-way driving;

the bending condition judgment strategy specifically comprises the following steps:

when the increase and decrease of the first distance value and the second distance value are synchronous changes, judging that a vehicle exists in the vehicle running direction;

when one of the first distance value and the second distance value is increased and the other value is decreased, it is determined that a curve is about to be formed in the driving direction of the vehicle and it is determined that the vehicle is in a curved state, for example: when the first distance value is measured on the left side of the vehicle, and the second distance value is measured on the right side of the vehicle, when the first distance value is increased and the second distance value is decreased, the vehicle is judged to be about to drive into the left-hand curve, and when the first distance value is decreased and the second distance value is increased, the vehicle is judged to be about to drive into the right-hand curve;

and when the numerical values of the first distance value and the second distance value are increased in sequence, judging that the vehicle running direction is about to be a straight road and judging that the vehicle is in a bent state.

Referring to fig. 1, the curve control method specifically includes:

calculating the curvature of a curve which keeps stable running after a vehicle enters the curve route according to the established curve route, calculating a vehicle speed threshold in the curve according to the curvature, wherein the vehicle speed threshold comprises a centripetal offset threshold and an outward throwing offset threshold, and measuring and calculating the bending speed of the curve entering route;

when the vehicle needs to enter a curve route, comparing the real-time speed of the vehicle with the speed of entering a curve, if the real-time speed is less than the speed of entering the curve, controlling the vehicle to accelerate to the speed of entering the curve, and if the real-time speed is greater than the speed of entering the curve, controlling the vehicle to decelerate to the speed of entering the curve;

and after the vehicle enters the curve route, detecting the speed of the vehicle in real time, and controlling the real-time speed of the vehicle to be between a centripetal threshold value and an outward throwing threshold value so as to enable the vehicle to keep stable running along the curve route.

Referring to fig. 1, the processor 1 further includes a cache module, when the trigger unit is not triggered, the processor 1 generates an undetermined instruction and sends the undetermined instruction to the cache module, when the cache module receives the undetermined instruction, the cache module updates and caches a position of the vehicle on the driving route in real time, so that when the trigger unit is triggered, the processor 1 generates an execution instruction and sends the execution instruction to the cache module, and the cache module retrieves a real-time position and a state of the vehicle, so that the lane keeping system 12 can quickly determine whether the vehicle needs to be adjusted to meet the requirement of controlling the vehicle to keep driving along the driving route.

The working principle and the effect are as follows:

the camera module is arranged on the vehicle body, real-time lane images and lane data are acquired under the action of the camera module 3, whether the vehicle needs to be adjusted or not is judged, the route planning system 11 is arranged in the processor 1, a driving route is planned according to the lane images and the lane data, the driving route is a route established along a lane central line, whether the vehicle deviates from the driving route or not can be monitored under the action of the lane keeping system 12, so that the deviation can be corrected, the satellite map, the lane images and the driving route can be simultaneously displayed on the display screen 21, the driving route and the driving state of the vehicle can be better and visually monitored, the accuracy and the safety of auxiliary driving can be improved during the auxiliary driving, and the effect of stably and safely carrying out the lane auxiliary driving can be achieved.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.