A method for automatic driving of steer-by-wire vehicles based on image recognition
A wire-controlled steering and image recognition technology, which is applied to steering mechanisms, steering rods, character and pattern recognition, etc., can solve problems such as inability to achieve automatic driving, long computing time, and slow steering methods. The effect of enhancing ride comfort, enhancing user experience and improving stability
Active Publication Date: 2021-02-02
北京里尔诺科技有限公司
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[0003] However, the steering method adopted by the existing steer-by-wire system is slow and cannot reach the level of unmanned driving, or only for a specific lane. For example, the existing PID control method cannot realize parameter self-tuning and cannot meet the requirements of steer-by-wire , for example, the optimal control strategy of the active front steering system (AFS) with the quadratic regulator, and the LQR optimal control algorithm for the feedback of the yaw rate and the side slip angle of the center of mass is designed for the AFS. Many, low steering accuracy; and the steering-by-wire steering involving image processing in the prior art cannot realize automatic driving. High redundancy
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[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.
[0026] Those skilled in the art understand that, as mentioned in the background technology, in the traditional automatic driving technology, the automatic driving cannot be fully realized, and the calculation time of the image algorithm is too long, and the user experience is poor. Therefore, the present invention provides an image-based The recognized automatic driving method of the steer-by-wire vehicle determines the steering and speed control according to...
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A method for automatic driving of steer-by-wire vehicles based on image recognition, comprising: obtaining road video image signals through a CCD camera; The yaw rate signal measured by the vehicle yaw rate sensor determines the steering timing; at the same time, the target value of the steering wheel angle is determined according to the steering control strategy in the pre-existing controller; the controller sends a signal to the steering motor control circuit based on the target value of the steering wheel angle. The control signal controls the steering motor to realize the steering control function of the steering wheel. The present invention significantly improves the stability of automatic driving, and improves the accuracy of vehicle steering and speed control. The method greatly enhances intelligent control, calculation speed and user comfort, and enhances user experience.
Description
technical field [0001] The invention relates to the technical field of automatic driving, in particular to an automatic driving method for steer-by-wire vehicles based on image recognition. Background technique [0002] The steering performance of a car is one of the main performances of a car. The performance of the steering system directly affects the handling stability of the car. plays an important role. How to reasonably design the steering system to make the car have good handling performance is an important research topic for designers. In today's high-speed vehicles, non-professional drivers, and intensive traffic flow, the design of easy-to-maneuverability of cars is particularly important for more driving groups of different levels. The development of steering-by-wire system (Steering–By-Wire System, referred to as "SBW") is catering to this objective demand. It is a new generation of steering system developed after EPS. It has better handling stability than EPS...
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IPC IPC(8): B62D6/00G06K9/00
Inventor 莫日华胡敏超
Owner 北京里尔诺科技有限公司