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Vehicle automatic driving transverse control method and system

A technology of automatic driving and lateral control, applied in the control/regulation system, vehicle position/route/altitude control, non-electric variable control and other directions, can solve the problems of complex lateral control algorithm, limited adaptability and lower production cost, etc. To achieve the effect of simplifying the lateral control algorithm of vehicle automatic driving, improving the adaptability and reducing the production cost

Active Publication Date: 2020-08-04
CHONGQING CHANGAN AUTOMOBILE CO LTD
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Problems solved by technology

[0006] In view of this, the object of the present invention is to provide a vehicle automatic driving lateral control method and system, which is used to solve the technical problem that the automatic driving lateral control algorithm is too complicated and the scope of application is not wide, and can be used in the case of using a small calculation memory. Quickly adapt to multiple models to reduce production costs

Method used

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  • Vehicle automatic driving transverse control method and system
  • Vehicle automatic driving transverse control method and system
  • Vehicle automatic driving transverse control method and system

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Embodiment Construction

[0044] Such as figure 1 As shown, a vehicle automatic driving lateral control method includes the following steps:

[0045] In step S1, the centerline of the lane is identified by the camera, and a third-order curve equation of the centerline of the lane is fitted based on the identified centerline of the lane.

[0046] Step S2, read the vehicle running information at the same time, the vehicle running information includes vehicle speed V, yaw acceleration yawrate and steering wheel angle.

[0047] Step S3, calculating the front wheel rotation angle α of the vehicle according to the read vehicle driving information and the fitted third-order curve equation.

[0048] Step S4, based on the linear relationship between the front wheel angle α and the steering wheel angle, convert the front wheel angle α to obtain the steering wheel angle β, and send the steering wheel angle β to the EPS controller, and the EPS controller executes the steering wheel rotation angle β. Angle β to r...

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Abstract

The invention provides a vehicle automatic driving transverse control method and system, and relates to the technical field of automatic driving. The method comprises the steps: recognizing a lane center line through a camera, and fitting a lane center line three-order curve equation; meanwhile, reading vehicle driving information, wherein the vehicle driving information includes a vehicle speed V, a yawing acceleration yawrate and a steering wheel angle; calculating a front wheel turning angle alpha of the vehicle according to the read vehicle driving information and the fitted third-order curve equation; and finally, based on a linear relation between the front wheel rotation angle alpha and the steering wheel angle, acquiring a steering wheel rotation angle beta through conversion, executing the steering wheel rotation angle beta through an EPS controller, and making the vehicle enter an automatic driving state. According to the method, a vehicle automatic driving transverse controlalgorithm is simplified, complex calculation can be completed without too many calibration parameters and through using a small calculation memory, production cost is reduced, meanwhile, adaptation to multiple vehicle models can be rapidly ensured, and an application range is widened.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a vehicle automatic driving lateral control method and system. Background technique [0002] With the development of artificial intelligence technology, the important embodiment of artificial intelligence in the automotive field is autonomous driving technology, which has a very good application prospect and is attracting more and more attention. In order to realize automatic driving, it is necessary to collect and obtain a large amount of data information for processing and analysis, so as to finally output the lateral control and longitudinal control structures. Among them, the lateral control of automatic driving is one of the key steps to realize fully automatic driving. The current lateral control technology of automatic driving mostly stays in the stages of lane departure warning (LDW) and lane keeping (LKA), and it is difficult to automatically realize lane cente...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0246Y02T10/72
Inventor 王建强
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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