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Lane keeping method and system based on veDYNA (vehicle dynamics simulation software)

A lane keeping and target lane technology, applied in the field of lane keeping methods and systems based on veDYNA, can solve problems such as high cost and complex shape, achieve the effects of suppressing uncertainty, improving effect and accuracy, and ensuring path tracking accuracy

Active Publication Date: 2017-10-24
HEFEI UNIV OF TECH
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Problems solved by technology

These hardware-in-the-loop simulation platforms all have a problem, which requires high cost and complex shape

Method used

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  • Lane keeping method and system based on veDYNA (vehicle dynamics simulation software)
  • Lane keeping method and system based on veDYNA (vehicle dynamics simulation software)
  • Lane keeping method and system based on veDYNA (vehicle dynamics simulation software)

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Embodiment Construction

[0053] Such as Figure 1-Figure 3 as shown, Figure 1-Figure 3 A lane keeping method and system based on veDYNA proposed by the present invention.

[0054] refer to figure 1 , figure 2 , the present invention proposes based on veDYNA lane keeping method, comprises the following steps:

[0055] S1. Obtain the lateral position deviation information of the vehicle at the preview point;

[0056] In this embodiment, S1 specifically includes:

[0057] Get the current speed of the vehicle v x , preview time t p , calculate the preview distance x, x=v x ·t p ;

[0058] Get the coordinates of the center of mass (X, Y) and heading angle ψ of the vehicle, and calculate the coordinates of the preview point (X p ,Y p ), where X p =X+xcosψ,Y p =Y+xsinψ;

[0059] Obtain the distance d between the preview point and the lane centerline, and calculate the vehicle lateral position deviation information f at the preview point, Δf=d / cosΔψ, where Δψ=arcsin(d / x).

[0060] S2. Calcula...

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Abstract

The invention discloses a lane keeping method and system based on veDYNA (vehicle dynamics simulation software). The method includes the steps: S1 acquiring horizontal position deviation information of vehicles at preview points; S2 calculating expected steering wheel angles of the vehicles tracking target lanes according to the horizontal position deviation information and vehicle traveling information; S3, acquiring actual steering wheel angle information of the vehicles, and calculating auxiliary torque according to the expected steering wheel angles and actual steering wheel angles; S4 correcting steering wheel angles according to auxiliary torque information. According to the lane keeping method and system, real vehicles and driving conditions are simulated by the aid of virtual vehicle models and simulation environments built by the veDYNA, real-time hardware in-the-loop simulation of the vehicle models is achieved, actual driving conditions of the vehicles are analyzed and processed, so that suitable steering wheel angles are provided for drivers according to analyzing results, and the steering wheel angles are controlled to track driving of the vehicles along vehicle lane center lines in real time.

Description

technical field [0001] The present invention relates to the technical field of lane keeping methods, in particular to a lane keeping method and system based on veDYNA. Background technique [0002] With the continuous development of economy and transportation, automobiles have become an indispensable means of transportation for people. However, with the continuous improvement of the utilization rate of automobiles, the traffic accident rate also shows an increasing trend year by year. According to statistics, among all motor vehicle accidents, traffic accidents caused by lane departure account for 20% of all traffic accidents. Thirty-seven percent. It can be seen from this data that lane departure accidents have seriously affected people's life and property safety. Therefore, in recent years, many research institutions at home and abroad. [0003] In the development process of the new generation of lane keeping, the model and simulation are the key points. At the same ti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B60W30/12B62D15/02
CPCB60W30/12B60W2520/10B60W2540/18B62D15/025G06F30/15G06F30/20G06F30/367
Inventor 王其东王凯陈无畏谈东奎赵林峰汪洪波
Owner HEFEI UNIV OF TECH
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