Lane keeping lateral control decision method and lane keeping lateral control decision device

A technology for lane keeping and lateral control, which is applied to control devices and other directions, and can solve problems such as unsatisfactory lane control effects

Active Publication Date: 2020-02-14
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the lane keeping system, lateral control decision-making plays a crucial role in the effect of lane keeping. A good control strategy and path tracking method can achieve real-time efficient, reliable and safe lane following effect without considering the driving and handling stability of the vehicle. The control effect of artificial potential field method on lane keeping is not ideal

Method used

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  • Lane keeping lateral control decision method and lane keeping lateral control decision device
  • Lane keeping lateral control decision method and lane keeping lateral control decision device
  • Lane keeping lateral control decision method and lane keeping lateral control decision device

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Embodiment Construction

[0079] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0080] The invention discloses a lane keeping lateral control decision-making method. The specific process includes: (1) extracting feature quantities, and using the feature quantities as horizontal and vertical coordinates to establish a plane Cartesian coordinate system; (2) dividing an extension set and determining set boundary values ; (3) establish the correlation function and calculate the correlation degree; (4) determine the domain where the state parameters are located according to the correlation degree; (5) determine the control proportion of the velocity and the yaw rate to the potent...

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Abstract

The invention discloses a lane maintenance lateral control decision method and a lane maintenance lateral control decision device. The method comprises the following steps of: extracting feature quantities; dividing extension set; calculating the correlation function K (s); according to the correlation function K (s), determining the domain in which the feature quantity is located; in different domains, determining the two controlling proportions of longitudinal velocity u and yaw angular velocity omega to the potential field function, and establishing an artificial potential field function. The invention realizes the function of keeping lane when the automobile is traveling on the road, reduces the safety hidden trouble caused by lane deviation, and improves the driving safety factor. Theinvention also considers the driving and handling stability of the automobile while ensuring the automobile to keep lane.

Description

technical field [0001] The invention relates to the technical field of driving assistance for smart cars, in particular to a lane-keeping lateral control decision-making method and a lane-keeping lateral control decision-making device. Background technique [0002] With the rapid development of automobile technology, the lane keeping system plays an increasingly critical role in the field of automobile active safety technology. As one of the core technologies of smart cars, it is used to control the car when it detects the danger of lane departure. Return to the centerline of the road, or reduce traffic accidents caused by lane departure due to negligence and fatigue driving. In the lane keeping system, the lateral control decision plays a crucial role in the effect of lane keeping. A good control strategy and path tracking method can achieve real-time efficient, reliable and safe lane following effect, without considering the driving and handling stability of the vehicle. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/12B60W50/00B60W40/10
CPCB60W30/12B60W40/10B60W50/00B60W2050/0028
Inventor 汪洪波陈利
Owner HEFEI UNIV OF TECH
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