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Steering control method and system for a multi-axis steering vehicle tracking central lane line

A vehicle tracking and multi-axis steering technology, which is applied to automatic steering control components, vehicle components, steering mechanisms, etc., can solve problems such as driver fatigue, and achieve the effect of reducing work intensity and improving driving safety.

Active Publication Date: 2019-11-29
CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, trams do not need human-controlled steering, while multi-axis steering rubber-tyred trains require the driver to constantly adjust the steering wheel to track the ground marking line (central lane line, white double dashed line) in real time. Long-term driving will inevitably cause driver fatigue

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  • Steering control method and system for a multi-axis steering vehicle tracking central lane line
  • Steering control method and system for a multi-axis steering vehicle tracking central lane line
  • Steering control method and system for a multi-axis steering vehicle tracking central lane line

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0029] like figure 1 As shown, the steering control method for a multi-axis steering vehicle tracking the central lane line in this embodiment, the steps are: S1. Obtain the visual heading deviation and heading estimation of the vehicle; S2. Pass the increment according to the visual heading deviation and heading estimation The PID algorithm calculates the expected front wheel steering angle of the vehicle and controls the front wheel steering of the vehicle.

[0030] In this example,

[0031] According to the vehicle road information given by the lane line recognition vision module, calculate the lateral distance deviation yL between the preview point and the center of the lane line, the heading angle Δψ, road curvature and other information, determine the exp...

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Abstract

A method and system utilized by a multi-axle articulated vehicle tracking a central lane line. The method comprises: S1. acquiring a visual navigation deviation and a navigation estimate of a vehicle; and S2. computing, according to the visual navigation deviation and the navigation estimate of the vehicle, and using an incremental PID algorithm, an expected front wheel turning angle of the vehicle, and controlling a front wheel of the vehicle to change a direction. The system comprises: a lane line identification module, a data acquisition unit, a determination control unit, and an execution unit. The system has advantages of ensuring a vehicle to effectively track, in an automatic driving process, a central lane line, implementing automatic tracking and automatic control of the vehicle with respect to the central lane line, enhancing safe driving, and reducing labor intensity of a driver.

Description

technical field [0001] The invention relates to the field of multi-axis steering vehicle control, in particular to a steering control method and system for a multi-axis steering vehicle tracking a central lane line. Background technique [0002] The multi-axle steering rubber-tyred train is a new type of urban public passenger transport vehicle, which is characterized by trackless rubber tires, sharing the right of way with traditional cars, and no longer running along fixed tracks. It not only has the advantages of flexible bus running, low construction and maintenance costs, but also has the advantages of large transportation capacity, and overcomes the high cost of infrastructure construction and vehicle purchase such as subways, light rails, and trams, which require special power systems and Disadvantages of track fit design. [0003] The multi-axis steering rubber-tyred train cancels the steel rails, and replaces it with rubber tires to carry the vehicle and follow the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D101/00B62D119/00
CPCB62D6/00B62D6/002B60W30/12
Inventor 许峻峰李晓光袁希文肖磊彭京蒋小晴刘小聪张陈林朱田
Owner CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST