Lane-keeping control device
A technology for control devices and lane keeping, applied in control devices, road vehicle drive control systems, brakes, etc., can solve the problems affecting the control performance of LKAS and not considering the impact of vehicles, and achieve the effect of improving the performance of lane keeping control
Active Publication Date: 2014-06-04
HYUNDAI MOBIS CO LTD
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Problems solved by technology
[0010] However, the technology is to consider the compensation of the steering angle for the air pressure of the tire or the steering column is twisted, and does not take into account the influence of the inclined road on the vehicle formed by the inclined road in the transverse direction of the direction of travel of the vehicle.
[0011] In particular, if image 3 As shown, the LKAS control performance will be affected when the vehicle is driving on a sloped road (back road)
Method used
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[0040] The following will clearly and completely describe the technical solutions of the technical problems of the present invention with reference to the accompanying drawings in the preferred embodiments of the present invention. When describing the present invention, if the description of the related known technology makes the gist of the present invention obscure, the description will be omitted, and the following terms are defined according to the functions in the present invention, and are not related to the intention or use of the user or operator. Conventions vary, so definitions of these terms must be based on the overall content of this specification. The same one (reference number) in the drawings in the specification indicates the same element.
[0041] The lane keeping control device 1 of the present invention will be described below.
[0042] image 3中,为了车辆2在道路本身具有用于道路排水的横向倾斜的倾斜道路(bank road)3上沿着车道4行驶,本发明的车道保持控制装置1对转向角补偿值实施与倾斜道路(bank road)3的横向倾斜角即倾斜角θ相应的补偿。
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The invention relates to a lane-keeping control device for a vehicle driving on an inclined road, i.e., a road inclining transversely in the driving direction of the vehicle. The device comprises a lane information acquisition part for detecting a lane in the driving direction of the vehicle and acquiring lane information; a control intervention time setting part determining control intervention time according to the lane information; a target yaw rate calculating part calculating a target yaw rate value according to the lane information; a steering angle compensating part calculating a steering angle compensating value; a target steering angle calculating part calculating a target steering angle according to the target yaw rate value and compensating the target steering angle with the steering angle compensating value calculated out by the steering angle compensating part to obtain a final steering angle target value; and a steering angle control part controlling the vehicle according to the final steering angle target value. Accordingly, the lane-keeping control performance of the vehicle driving on the inclined road is improved substantially.
Description
technical field [0001] The present invention relates to a vehicle lane keeping control device, in particular, on a bank road that is sloped from the front direction of the vehicle, that is, a bank road, it compensates the lateral slope angle of the bank road, that is, the slope angle, and controls the steering angle of the vehicle to lift the vehicle. Lane Keeping Control Performance Lane Keeping Control. Background technique [0002] From the intelligent vehicle control system, the lane keeping control system (Lane Keeping Assist System, hereinafter referred to as (LKAS) is the system required to maintain the safety of the driver. The system generally detects the lane and detects the driving state of the vehicle. Lane, implement lane keeping control or lane departure warning. [0003] The lane is detected by using the camera sensor installed between the windshield and the interior mirror to obtain the road image ahead, and processing the obtained road image in the LKAS cam...
Claims
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IPC IPC(8): B60W30/12B60W40/10
CPCB60W30/12B60W40/114B60W2520/125B60W2720/14B62D15/025B60W2555/60B60T8/17557B60T2210/22B60W10/20B60W40/076B60W40/109B60W2540/18B60Y2300/12
Inventor 梁承汉
Owner HYUNDAI MOBIS CO LTD