Lane keeping method and device

A lane keeping, vehicle technology, applied in the control device, vehicle components, transportation and packaging, etc., can solve the problem of not being able to recognize the driver's intention, and achieve the effect of less calculation

Active Publication Date: 2016-11-16
SAIC GENERAL MOTORS +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the embodiments of the present invention is that the lane keeping function strategy is simple and cannot recognize the driver's intention, thereby providing a lane keeping method and device

Method used

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  • Lane keeping method and device
  • Lane keeping method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0076] This embodiment provides a lane keeping method, such as figure 1 shown, including the following steps:

[0077] S101: Establish a lane keeping control model based on feedforward control. The so-called feedforward control refers to collecting and sorting out information, mastering laws, predicting trends, correctly predicting possible problems in the future, and taking measures in advance to eliminate possible deviations in the bud, in order to avoid possible problems in different development stages in the future. measures taken in advance.

[0078] S102: Acquiring driving parameters, the driving parameters including control torque and lateral speed away from the centerline. see figure 2 The vehicle driving schematic diagram shown in the figure shows that the current driving state of the vehicle has deviated from the centerline of the lane, and the vehicle in the dotted box is the predicted position that the vehicle will arrive at. Therefore, according to the curren...

Embodiment 2

[0104] This embodiment provides a lane keeping device, such as Figure 4 shown, including:

[0105] The model establishment unit 101 is used to establish a lane keeping control model based on feed-forward control; the so-called feed-forward control refers to correctly predicting possible problems in the future by collecting and sorting out information, mastering laws, and predicting trends, and taking measures in advance to make it possible Deviations that occur are eliminated in the bud, and measures taken in advance to avoid problems that may arise at different stages of development in the future.

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Abstract

The embodiment of the invention provides a lane keeping method and device. When the forward torque needed for lane keeping is obtained, a lane keeping control model based on feedforward control is utilized, and due to the control model based on the feedback, the beneficial effects that the calculated amount is small, stability is high, and achieving is easy are achieved. Meanwhile, adopted travelling parameters include resistance torque, the lateral velocity deviating from a center line, the actual deviation distance between a vehicle and the lane center line and the pre-estimated deviation distance between the vehicle and the lane center line. Due to the fact that control torque in other aspects can exist in the travelling process, the finally-obtained forward torque can be influenced, the vehicle is in a lane deviating state at present, if the vehicle continues to travel, the vehicle can continue to deviate from the lane center line, and the distance that the vehicle deviates from the center line is pre-estimated in advance. Due to the forward torque obtained by combining the above parameters, the influence from the outside torque can be overcome, the vehicle overcomes the current actual deviation distance and also overcomes the deviation distance generated due to pre-estimation, and accordingly it is truly guaranteed that the vehicle travels along the current lane.

Description

technical field [0001] The invention belongs to the technical field of vehicle intelligent control, and in particular relates to a lane keeping method and device. Background technique [0002] With the advancement of sensor technology such as machine cameras and lidar, lane keeping systems have received more and more attention. The purpose of this system is to actively apply torque to correct the vehicle posture through the electric power steering gear to avoid traffic accidents when the driver is unconscious and does not interfere with normal driving. [0003] In the prior art, there have been many research results on lane keeping control. For example, some use the lane departure time model, because too few consideration factors lead to poor performance; The amount is very large, which is not conducive to project realization. More importantly, the models in the prior art do not take into account the driver's intention, resulting in the function being turned off after a pe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B60W50/00
CPCB60W30/12B60W50/00B60W2050/007B60W2520/10B60W2520/12B60W2530/16B60W2540/10B60W2540/12B60W2540/18B60W2554/00B60W2710/202
Inventor 马骁朱晓华徐维庆
Owner SAIC GENERAL MOTORS
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