Lane keeping control method for three-dimensional extension preview switching of intelligent driving automobile

Abstract

The invention discloses a lane keeping control method for three-dimensional extension preview switching of an intelligent driving automobile. In the upper controller, the lane line information is collected by the high-precision camera, and the lateral position deviation yL, the heading deviation and the curvature value Rho of the road ahead of the vehicle and the road center line are obtained as the feature values of the three-dimensional extension set, and the method includes three steps: dividing the extension set, solving the correlation function, dividing the vehicle-road system state intoclassical domain, extension domain and non-domain. In the lower controller, a PID feedback controller based on lateral position deviation and heading deviation is used in the classical domain, a model predictive controller (MPC) is used in the extension domain, and emergency braking is used in the non-domain, so the switching control of the two control strategies in the classical domain and the extension domain is realized. The invention successfully applies the extension control theory to the lane maintenance control field of intelligent driving automobiles, and meets the lane maintenance control precision requirements.

Description

technical field [0001] The invention belongs to the control technology of intelligent driving vehicles, and in particular relates to a lane keeping control method for three-dimensional extension preview switching of intelligent driving vehicles. Background technique [0002] Intelligent vehicles are an important direction for the development of the automotive industry at present, and ADAS (Advance Driver Assistant System) technology for intelligent driving is an important link in the development of intelligent vehicles. It mainly involves vehicle lateral control fields such as vehicle path tracking, lane keeping, and vehicle lane changing. [0003] The lane keeping system includes lane line detection and vehicle lateral trajectory tracking control controller. The camera recognizes the lane line, determines the position of the lane centerline and the curvature of the road, and then the vehicle lateral controller applies the front wheel angle according to the relative positio...

AI Technical Summary

Problems solved by technology

However, the above-mentioned control method has many limitations, or the control effect is better under specific working conditions, but the overall control effect is not good under complex working conditions with a large variation range of road curvature.

[0004] Lane keeping control is a vehicle-road closed-loop control, which not only needs to consider the state of the vehicle itself, but also the relative position of the road and the vehicle. The above control strategy has a limited control area and a small threshold range, which is only controllable within a small state range. The problem

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