Self-driving car lane changing control method based on monocular vision

Abstract

The invention provides a self-driving car lane changing control method based on monocular vision and belongs to the technical field of car electronic control. A camera is installed on a roof of an self-driving car and used for collecting a lane line image; an image processing module is used for processing and recognizing the lane line image to obtain a fit lane line; an upper computer module is used for calculating turn angle increment of a steering wheel, and outputting a motor control signal to an executing unit. According to the method, lane changing reference angles are defined, the optimal lane changing track model based on the lane changing reference angles is provided, the turn angle increment of the steering wheel is obtained by means of a preview control theory to control the steering wheel of the car, and the left lane changing reference angle or the right lane changing reference angle is selected according to needs. Lane changing closed-loop control can be achieved only by using the camera for path recognizing, the lane changing process is stable and reliable, cost is reduced, and the complex degree of the system is reduced.

Description

technical field [0001] The invention relates to automotive electronic control technology, in particular to a lane-changing control method for an automatic driving vehicle using a driving robot based on monocular vision. Background technique [0002] In recent years, the rapid development of China's automobile industry has led to a substantial increase in the number of domestic automobiles, and the safety and reliability of automobiles during use has been increasingly valued. Safe and reliable vehicles can reduce casualties in traffic accidents and reduce economic losses caused by accidents . Major automobile manufacturers often have to do a large number of real vehicle tests in the comprehensive automobile proving ground before the launch of new cars. The comprehensive automotive proving ground can simulate a variety of complex road conditions, and can test vehicles in various aspects such as power performance, safety performance and durability. The most direct way of vehic...

AI Technical Summary

Problems solved by technology

[0006] In view of the problem that the existing lane change control technology cannot provide real-time feedback or needs to rely on a large number of high-precision sensors, and the existing lane change control strategy is based on the use of vehicle attitude parameters to calculate the position of the vehicle in the two lanes, so the error is large For the problem of large and poor real-time performance, the present invention provides a monocular vision-based lane-changing control method for autonomous vehicles. The lane-changing control strategy is based on a parameter of the lane-changing reference angle, and only uses the on-board camera that any smart car has. Can achieve

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