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Lane keeping method based on vehicle-mounted binocular camera and segmented PID control

A binocular camera, lane keeping technology, applied in character and pattern recognition, computer parts, instruments, etc., can solve the problems of poor driver intervention response, influence of detection results, limited application scope, etc., to improve accuracy and reliability. Reliability, improving detection accuracy, and improving safety

Active Publication Date: 2019-06-18
ZHEJIANG LEAPMOTOR TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main disadvantages of lane line detection are: easily affected by light, shadows, etc.; based on assumptions such as plane and straight lines, the application range is limited (not applicable to ramps and turning conditions); the detection range of lane lines is the fixed area of ​​​​the image, and the detection results Susceptible to other vehicles present in the area
The sensor system used is complex
Lane keeping control strategy responds poorly to driver intervention

Method used

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  • Lane keeping method based on vehicle-mounted binocular camera and segmented PID control
  • Lane keeping method based on vehicle-mounted binocular camera and segmented PID control
  • Lane keeping method based on vehicle-mounted binocular camera and segmented PID control

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Embodiment

[0048] Embodiment: The lane keeping method based on the vehicle-mounted binocular camera and segmented PID control of this embodiment, the lane keeping control system adopted is as figure 1 As shown, the lane keeping control system includes a control unit 4, a vehicle-mounted binocular camera 1, a vehicle speed sensor 2, a turn signal combination switch signal 3, an ECU driving computer 5 and a steering wheel steering motor 6, a vehicle-mounted binocular camera 1, a vehicle speed sensor 2 and steering The light combination switch signal 3 is respectively connected to the input end of the control unit 4, the output end of the control unit 4 is connected to the input end of the ECU trip computer 5, and the output end of the ECU trip computer 5 is connected to the input end of the steering wheel steering motor 6.

[0049] The control unit first judges whether to enable the lane keeping function according to the current vehicle speed V measured by the vehicle speed sensor and the turn ...

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Abstract

The invention relates to a lane keeping method based on a vehicle-mounted binocular camera and segmented PID control. The method comprises the following steps: estimating the passable area of ​​the vehicle based on the vehicle-mounted binocular camera; performing lane line detection and tracking; calculating the side slip angle of the vehicle; calculating the lane departure distance of the vehicle; Steering wheel angle compensation value; calculate the steering wheel steering motor control voltage required to correct the lane departure according to the steering wheel angle compensation value, and then input it to the steering wheel steering motor to correct the vehicle lane departure. The present invention significantly improves the detection accuracy rate, adopts the segmented PID control strategy to correct the steering wheel angle of the vehicle, and the correction is more accurate, realizes lane keeping at different speeds, improves the accuracy and reliability of vehicle lane keeping, and thus improves driving safety sex. The invention is applicable to different working conditions such as straight line and turning.

Description

Technical field [0001] The invention relates to the field of vehicle control, in particular to a lane keeping method based on a vehicle-mounted binocular camera and segmented PID control. Background technique [0002] The lane keeping assist system is one of the main functions of advanced vehicle assisted driving. The system has been listed as one of the five-star safety evaluation criteria by the European New Car Evaluation System (EU-NCAP). The function of the system is to correct the lane departure phenomenon when the driver has no intention of changing lanes, so as to avoid potential lane change accidents or illegal driving behaviors (solid lane change). [0003] The existing lane keeping assist system is mainly based on image analysis and processing of a monocular camera, extracts lane line information, calculates vehicle yaw parameters, and applies corresponding vehicle control operations. The main disadvantages of lane line detection are: easy to be affected by light, shado...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00
CPCG06V20/588G06V2201/09
Inventor 缪其恒
Owner ZHEJIANG LEAPMOTOR TECH CO LTD