Lane deviation control assisting method based on steering and braking extendable joint

A lane departure and auxiliary control technology, applied in neural learning methods, biological neural network models, neural architectures, etc., can solve problems such as low road adhesion coefficient and poor auxiliary effects, so as to reduce human-machine conflicts and mutual interference Effect

Active Publication Date: 2018-06-29
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in some working conditions, such as when the adhesion coefficient of the road surface is low, the auxiliary effect is not good

Method used

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  • Lane deviation control assisting method based on steering and braking extendable joint
  • Lane deviation control assisting method based on steering and braking extendable joint
  • Lane deviation control assisting method based on steering and braking extendable joint

Examples

Experimental program
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Effect test

Embodiment 1

[0041] This embodiment provides a lane departure assistance system based on the extension combination of steering and braking, such as figure 1 As shown, it includes the decision-making level organization, the control level structure, and the execution level structure.

[0042] 1. Decision-making institutions are used to make lane departure decisions. The lane departure judgment methods adopted by decision-making institutions are as follows: figure 2 shown, including the following steps.

[0043] Step S11: Obtain the yaw rate ω, vehicle speed v and the vehicle lateral deviation y of the vehicle on the road relative to the centerline of the lane during the driving process of the vehicle, and use the yaw rate ω, vehicle speed v and vehicle lateral deviation y as the lane departure Judgments based.

[0044] Step S12, taking the minimum time required for the predicted wheel to touch the edge of the lane as the crossing time, comparing the crossing time with the set threshold o...

Embodiment 2

[0132] see Figure 15 , the present embodiment provides a specific lane departure assistance control method based on the extension combination of steering and braking, which includes the following steps.

[0133] Step S51, judging whether the lane deviates, and activating the lane departure assistance system when it is judged that the lane deviates. For the specific implementation of this step, please refer to the lane departure judging method described in steps S11 to S13 of Embodiment 1, which will not be described in detail here.

[0134] Step S52, select the feature quantity, extract the road surface adhesion coefficient μ and the initial steering wheel angle θ 0 As a characteristic quantity, the characteristic state S(μ,θ 0 ), and establish the characteristic state S(μ,θ 0 ) extension set space. For the specific implementation of this step, please refer to step S21 of Embodiment 1, which will not be described in detail here.

[0135] Step S53, define and calculate the ...

Embodiment 3

[0140] see Figure 16 , the present embodiment provides a specific lane departure assistance control device based on the extension combination of steering and braking, which includes the following components.

[0141] The lane departure module is used to execute step S51 to judge whether the lane deviates, and activate the lane departure assistance system when the lane departure is judged.

[0142] Feature quantity selection module, which is used to execute step S52, select feature quantity, extract road surface adhesion coefficient μ and steering wheel initial rotation angle θ 0 As a characteristic quantity, the characteristic state S(μ,θ 0 ), and establish the characteristic state S(μ,θ 0 ) extension set space.

[0143] A correlation function definition and calculation module, which is used to execute step S53, define and calculate correlation functions, divide the extension set space and calculate the correlation functions about extension joint control in different set s...

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Abstract

The invention discloses a lane deviation control assisting method based on steering and braking extendable joint. The lane deviation control assisting method comprises the steps of after a lane deviation assisting system is started, extracting a pavement attachment coefficient Mu and an initial steering wheel corner theta0 as characteristic variables to constitute a character state S (Mu, theta0)and building an extendable set space related to the character state S (Mu, theta0); dividing the extendable set space, and according to the divided extendable set space, calculating a correlation function related to extendable joint control in different set states; according to a range field of the correlation function, dividing a control field into a non-field, an extendable field and a classicalfield. An electric steering control method is adopted in the non-field, a differential braking control method is adopted in the classical field, and a steering and braking joint control method is adopted in the extendable field; the lane deviation assisting system judges a control field according to the real-time state of the vehicle, and torque and a braking signal which are obtained in the control field according to the corresponding control method are input to a vehicular access model.

Description

technical field [0001] The invention relates to a lane departure assisting control method in the technical field of intelligent vehicle driving assistance, in particular to a lane departure assisting control method based on the extension combination of steering and braking. Background technique [0002] Lane departure assistance system (Lane departure assistance system, LDAS), as an important part of intelligent driving technology, can assist the driver to control the vehicle through active intervention to reduce traffic accidents due to lane departure. research hotspots. [0003] There are two main ways to realize lane departure assist control: steering control and differential braking control. Steering control can be divided into torque control and angle control. Torque control is based on the steering system applying an additional steering force to the steering mechanism to achieve auxiliary control; steering angle control requires the steering system to control the whe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B60W10/18B60W10/20B60W40/06B60W40/10B60W50/08G06N3/08G06N3/04
CPCG06N3/084B60W10/18B60W10/20B60W30/12B60W40/06B60W40/10B60W50/08B60W2710/202G06N3/045
Inventor 汪洪波夏志陈无畏赵林峰
Owner HEFEI UNIV OF TECH
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