Lane Keeping Control
A control device and lane keeping technology, applied in the control device, road vehicle drive control system, brakes and other directions, can solve the problem of affecting the LKAS control performance without considering the influence of the vehicle, and achieve the effect of improving the lane keeping control performance.
Active Publication Date: 2017-06-13
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 have nothing to do with 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 3Among them, in order for the vehicle 2 to travel along the lane 4 on a bank road 3 that has a lateral incli...
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The present invention relates to a lane keeping control device, as a lane keeping control device for a vehicle traveling on a sloping road that forms a laterally inclined road from the traveling direction of the vehicle, comprising: a lane information obtaining unit that detects a lane in the traveling direction of the vehicle, Lane information is obtained; the control intervention time setting unit judges the control intervention time based on the lane information; the target yaw rate calculation unit calculates the target yaw rate value based on the lane information; the steering angle compensation unit calculates the steering angle compensation value a target steering angle calculation unit, calculating a target steering angle based on the target yaw rate value, and compensating the target steering angle with the steering angle compensation value calculated by the steering angle compensation unit to calculate a final steering angle target value; A steering angle control unit controls the vehicle based on the final steering angle target value. This results in a significant improvement in lane keeping control for vehicles driving on sloped roads.
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...
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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