Lane keeping control method, device and system

Abstract

The invention relates to the field of intelligent transportation, and provides a lane keeping control method, device and system. The lane keeping control method comprises the steps of acquiring courseangle deviation between a current course angle and a target course angle of an automatic driving vehicle and transverse position deviation between a current transverse position and a target transverse position; obtaining a preview road curvature of the automatic driving vehicle; determining a target steering wheel rotation angle according to the preview road curvature, the transverse position deviation and the course angle deviation, wherein the target steering wheel rotation angle is required to enable the transverse position deviation and the course angle deviation to be zero, and enablingthe preview road curvature to reach an optimal road curvature enabling an error between an actual driving track and an expected track of the vehicle to be minimum; and making the vehicle perform lanekeeping according to the target steering wheel angle. By means of the lane keeping control method, the vehicle can keep running according to a current lane under the working condition of a safe running speed, and the requirements for operation stability and safety of the vehicle are met.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a lane keeping control method, device and system. Background technique [0002] Self-driving vehicles perceive the external environment information and the information of the vehicle itself through various sensing systems installed around the body, and then fuse and make decisions on the input information (corresponding to the fusion system and decision-making system), according to different driving conditions Plan a safe driving route by itself, and monitor and control the safe driving of the vehicle in real time through the control system, so as to realize the highly automated driving of the vehicle. Among them, the control system is the core part of the self-driving vehicle, and its performance directly determines the safe driving and automation level of the vehicle. Therefore, it has always been the focus and difficulty of various companies' research and development....

AI Technical Summary

Problems solved by technology

However, since the accuracy of the nonlinear vehicle dynamics model and the tire model have a great influence on the handling stability of the vehicle, it is difficult to establish an accurate model for different models to reflect the real force of the vehicle; secondly, the complex model makes the solution dimension At the same time, the increase in the amount of calculation also puts forward higher requirements on the computing power of the controller

In addition, the solution based on the idea of ​​"trajectory tracking" has high requirements for positioning accuracy, and high-precision positioning equipment needs to be installed on the vehicle, so additional hardware costs will be increased

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