Lane keeping method based on previewing point and auxiliary system of method

A lane keeping and preview technology, which is applied to vehicle components, input parameters of external conditions, control devices, etc., can solve problems such as vehicle control instability, and achieve the effect of stable and reliable control and stable direction.

Active Publication Date: 2019-02-26
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

Method used

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  • Lane keeping method based on previewing point and auxiliary system of method
  • Lane keeping method based on previewing point and auxiliary system of method
  • Lane keeping method based on previewing point and auxiliary system of method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] like 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.

[0053] 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 point ...

Embodiment 2

[0061] 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.

[0062] 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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PUM

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Abstract

The invention relates to the field of automobile lane keeping, in particular to a lane keeping method based on a previewing point and an auxiliary system of the method. The method comprises the stepsthat a vehicle coordinate system is established, the previewing point is selected on a target trajectory in front of an automobile, a corresponding comparison point is selected, and an included anglebetween the tangent line at intersection points of the automobile and arcs when the automobile reaches the previewing point and the comparison point along different arcs and the forward direction of the automobile is calculated; different weighted values are set for the included angle, the required corner control amount is obtained through calculation, and the automobile is controlled according tothe corner control amount. According to the lane keeping method, a steering wheel can be automatically controlled when the automobile deviates from the lane under the unconsciousness state, the automobile keeps being driven in the lane, and accidents are 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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IPC IPC(8): B60W30/12
CPCB60W30/12B60W2552/00B60W2552/30
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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