Lane departure active correction method based on torque control

A technology of lane departure and torque control, which is applied in the field of automobile control, can solve problems affecting the quality of driving control, etc., and achieve good deviation correction effect, low memory consumption, and low calculation amount

Active Publication Date: 2020-11-06
DONGFENG COMML VEHICLE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] 2. Using steering wheel angle compensation, when the driver operates the steering wheel, it will affect the quality of driving control

Method used

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  • Lane departure active correction method based on torque control
  • Lane departure active correction method based on torque control
  • Lane departure active correction method based on torque control

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Embodiment Construction

[0036] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

[0037] Such as Figure 1-4 As shown, the present invention proposes a lane departure active correction method controlled by the steering gear torque. During the driving process of the vehicle, road information and vehicle heading angle information are collected through a monocular camera installed on the front windshield. When the vehicle deviates from the lane When centering, the target yaw rate of vehicle deviation correction is calculated through the vehicle paramete...

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Abstract

The invention discloses a lane departure active deviation rectifying method based on torque control. The method comprises the steps of enabling an active deviation rectifying system to enter an activated state when meeting an activation condition, and enabling the active deviation rectifying system to obtain road information and vehicle parameter information in real time; calculating a feed-forward torque based on the acquired information; determining a target yaw velocity of vehicle deviation rectification based on the obtained information, and calculating a feedback torque according to the target yaw velocity; calculating compensation torque according to the feed-forward torque, the feedback torque and the steering wheel torque, and inputting the compensation torque into the steering system to complete torque deviation rectifying control. According to the invention, a feed-forward and feedback control scheme is adopted, target parameters can be quickly followed, the lane departure deviation rectifying action of the vehicle is completed, the system is stable, the operand is low, and the memory consumption of a controller is low; by taking the yaw velocity of the vehicle as a target control value, a good deviation rectifying effect is guaranteed when the vehicle runs on a curve.

Description

technical field [0001] The invention belongs to the technical field of automobile control, and in particular relates to an active lane deviation correction method based on torque control. Background technique [0002] According to relevant reports, the proportion of road traffic accidents caused by vehicles not staying in the proper lane or leaving the lane is second only to speeding. It can be seen that how to ensure that the vehicle safely drives in the current lane is an urgent problem to be solved. . In addition, when driving for a long time, when the driver is prone to fatigue, the driving vehicle is prone to lane departure, resulting in traffic accidents. The active lane departure correction system can improve the active safety of driving and reduce the driver's driving burden. [0003] The existing solution is to obtain the image of the road ahead of the vehicle through the camera, process the image of the road ahead obtained by the camera, and extract the lane line ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B60W10/20
CPCB60W30/12B60W10/20
Inventor 陈钊万四禧潘学玉管杰刘庚李兆干
Owner DONGFENG COMML VEHICLE CO LTD
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