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Lane Keeping Method Based on Preview Point and Its Assisting System

A lane keeping and preview technology, applied in vehicle components, instruments, calculations, etc., can solve the problem of unstable vehicle driving direction control, and achieve the effect of stable and reliable lane keeping control.

Active Publication Date: 2020-09-01
ZHENGZHOU YUTONG BUS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a lane keeping method and its auxiliary system based on the preview point, which is used to solve the problem that the lane keeping method of a single preview point will lead to unstable vehicle driving direction control

Method used

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  • Lane Keeping Method Based on Preview Point and Its Assisting System
  • Lane Keeping Method Based on Preview Point and Its Assisting System
  • Lane Keeping Method Based on Preview Point and Its Assisting System

Examples

Experimental program
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Effect test

Embodiment 1

[0039] Such as figure 1 The vehicle coordinate system established as shown, the vehicle coordinate system takes the set point on the front of the vehicle as the origin, takes the forward direction of the vehicle as the positive direction of the vertical axis, and takes the perpendicular direction of the vehicle to the right as the positive direction of the horizontal axis; under this coordinate system The equations of the left and right lane lines are established, and the lane centerline equation is calculated accordingly, and the lane centerline equation is used as the target trajectory of the vehicle.

[0040] A is a vehicle, 1 is the left lane, 2 is the center line of the lane, that is, the target trajectory, and 3 is the right lane, select a preview point B on the center line of the lane, and set the coordinates of point B as (x, z); L1 is the front and rear wheels of the vehicle L2 is the length of the front overhang of the vehicle, L3 is the ordinate z of the preview poi...

Embodiment 2

[0048] Embodiment 1 is based on the corner control amount calculated based on a specific preview point (single preview point), in order to improve the detection accuracy and vehicle driving stability, and avoid the phenomenon of "drawing dragons" easily caused by the instability of a single preview point, Two or more preview points with a set distance apart can be selected. Embodiment 2 provides a specific solution for selecting two preview points, including two steps.

[0049] The first step: if figure 2 As shown, A is the vehicle, 1 is the left lane, 2 is the center line of the lane, that is, the target trajectory, and 3 is the right lane. Take 5 preview points on the center line of the lane away from the set distance of the vehicle and close to the set distance of the vehicle. , where P1-P5 is a short-range preview point, and the ordinates of P1-P5 form an arithmetic sequence; P6-P10 is a long-distance preview point, and the ordinates of P6-P10 form an arithmetic sequence;...

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Abstract

The invention relates to the field of automobile lane keeping, and particularly relates to a lane keeping method based on a pre-aiming point and auxiliary system thereof. The method comprises the following steps: calculating the rotation angle control quantity aiming at each pre-aiming point by setting the long-distance and short-distance pre-aiming points, further calculating the weighted sum ofthe rotation angle control quantity so as to obtain the final rotation angle control quantity; the transverse deviation of the vehicle can be rapidly reduced according to the control of the short-distance pre-aiming points, and the direction of the vehicle can be stabilized according to the control of the long-distance pre-aiming points; the lane keeping control of the vehicle is more stable and reliable due to the weighted control of the long-distance pre-aiming points and the short-distance pre-aiming points, and the phenomenon of drawing the dragon is avoided.

Description

technical field [0001] The invention relates to the field of vehicle lane keeping, in particular to a lane keeping method based on a preview point and an auxiliary system thereof. Background technique [0002] With the rapid development of the economy and the continuous improvement of people's living standards, the number of automobiles in my country continues to increase, but it is followed by a severe road traffic safety situation, and the number of traffic accidents has remained high. [0003] According to statistics from the Ministry of Communications, about 20% of traffic accidents are caused by lane departure. Although the lane departure warning system has been widely promoted in mid-to-high-end models, it can only remind the driver to correct the vehicle direction as soon as possible through the alarm, and the driver may Failure to react in time or misuse in a panic can lead to more serious accidents, such as oversteering and causing the vehicle to roll over. [0004...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/12B62D15/02G06K9/00
CPCB60W30/12B60W2420/42B62D15/025
Inventor 刘洋李会仙王士军焦志锋樊金磊
Owner ZHENGZHOU YUTONG BUS CO LTD
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