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Lane keeping control method

A control method and lane keeping technology, applied in two-dimensional position/lane control, vehicle position/route/height control, non-electric variable control, etc. vibration and other problems to achieve the effect of improving reliability

Inactive Publication Date: 2016-08-03
CHERY AUTOMOBILE CO LTD
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0004] To sum up, there are the following technical problems in the existing technology: the traditional intelligent vehicle lane keeping adopts supervised learning algorithm, artificially sets the optimal lane keeping trajectory, and adjusts the position of the intelligent vehicle in the lane according to the deviation between the actual trajectory and the set trajectory , the lane keeping system is unstable, easy to deviate, and the driving trajectory is easy to oscillate

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Embodiment Construction

[0033] The present invention will be described in detail below according to the accompanying drawings, which is a preferred embodiment among various implementations of the present invention.

[0034] In a preferred embodiment, intelligent vehicle lane keeping control decision strategy design is a key technology of intelligent driving. The decision-making strategy based on machine learning is that the system learns the lane-keeping strategy autonomously from the lessons of success and failure by interacting with the environment in real time. The enhanced signal is the evaluation of the system control decision-making behavior, and its value directly reflects the "good" and "bad" of each decision-making behavior. The setting of the enhanced signal determines the judgment of the control decision-making behavior, which directly affects the quality of the entire intelligent vehicle lane keeping system.

[0035] Sigmoid function (such as figure 1 Shown) is a common S-shaped functio...

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Abstract

The invention relates to a lane keeping control method. The method comprises the following steps: a camera is used for lane line detection; the distance between a vehicle and the lane line is detected; the detected distance is subjected to normalization processing; an optimized enhanced signal is designed on the basis of a Sigmoid function; and according to the numerical value of the enhanced signal and the numerical value of offset normalization processing, the system performs a corresponding control decision behavior. On one hand, a machine learning method is adopted to set continuous enhanced signals, and compared with supervised learning, the reliability, the comfort and the stability of the vehicle lane keeping function are improved; and on the other hand, compared with the prior art, the vehicle does not repeatedly swing in the lane middle line, which is closer to human driving.

Description

technical field [0001] The invention relates to automobile active safety, in particular to a lane keeping control method. Background technique [0002] With the development of science and technology and the improvement of human living standards, automobiles have become an indispensable means of transportation for human travel. In recent years, people's focus on cars has gradually shifted from usability to safety, comfort and intelligence. Among them, the safety of automobile driving is the focus of most countries in the world. In 2011, the number of traffic accident deaths in the top six countries with the world's car ownership was: the United States, 32,310, China, 62,000, Japan, 4,612, Germany, 4,009, Italy, 3,800, and Russia, 27,900. In 2012, there were 204,196 traffic accidents in China, 59,997 people were killed, 224,327 people were injured, and the direct property loss was 1,174,896,000 yuan. [0003] According to statistics, among traffic accidents, traffic acciden...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 方啸高红博梁涛年张茂胜
Owner CHERY AUTOMOBILE CO LTD
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