Steering control method and device of intelligent vehicle

A steering control and smart car technology, which is applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., can solve the problems that the curvature of the curve is not easy to control, and is not suitable for path tracking curves, so as to reduce the selection and debugging of parameters, The curvature change is easy to control and the steering is smooth

Active Publication Date: 2017-01-04
BEIJING ZHIXINGZHE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Current similar curves such as Bezier curves meet the above requirements, but the curvature changes of the entire curve are not easy to control, which makes the steering of the vehicle swing in a large range, so it is not suitable for use as a path tracking curve for smart cars

Method used

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  • Steering control method and device of intelligent vehicle
  • Steering control method and device of intelligent vehicle
  • Steering control method and device of intelligent vehicle

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Embodiment Construction

[0039] In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0040] In the description of the present invention, the terms "central", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", " The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or element Must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of the invention.

[0041] Such as figure 1 As shown, ...

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Abstract

The invention discloses a steering control method and device of an intelligent vehicle. The method comprises: step 1, collecting driving information, expected path information and obstacle information from the vehicle; step 2, according to the information collected in the step 1, selecting a minimum preview distance and a maximum preview distance; step 3, according to the minimum preview distance and the maximum preview distance, determining a current preview distance and a current preview point corresponding to the current preview distance; step 4, according to the current preview point and vehicle information, generating a double-circular-arc synthetic curve; step 5, according to the double-circular-arc synthetic curve, determining a front wheel expected rotating angle; step 6, judging whether the double-circular-arc synthetic curve meets a safety driving principle or not; if so, determining the front wheel expected rotating angle as a final front wheel expected rotating angle; otherwise, returning back to the step 3. The steering control method and device of the intelligent vehicle, provided by the invention, can be used for controlling the vehicle to steer according to the double-circular-arc synthetic curve; finally, the direction of the vehicle is the same as that of an expected path.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a steering control method and device for an intelligent vehicle. Background technique [0002] Intelligent driving technology has great application potential in traffic safety, environmental protection, and traffic pressure relief. It has become the research focus of developed countries, automobile manufacturers, and technology companies. Intelligent driving research involves many disciplines such as mechatronics, pattern recognition, artificial intelligence, control science, and software engineering. Among them, the steering control technology of intelligent vehicles is one of the important contents of the research. [0003] For the steering control of the smart car, it is necessary to consider the location tracking and heading tracking of the desired path by the smart car, so the location information of the path and the road heading information need to be added to t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B62D101/00B62D137/00
CPCB62D6/001B62D6/002
Inventor 张德兆高建伟王肖
Owner BEIJING ZHIXINGZHE TECH CO LTD
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