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Vehicle lane keeping method and system based on preview area control

A lane keeping and previewing technology, applied in the field of vehicle lane keeping, can solve the problems of steering wheel control frequency increasing the driver's psychological burden, selecting a controller, and a large amount of calculation, so as to achieve good subjective experience and overcome low precision and calculation amount small effect

Active Publication Date: 2021-04-09
SINO TRUK JINAN POWER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In order to solve the above problems, the present invention provides a vehicle lane keeping method and system based on preview area control. 1. Solve the problem that the existing lane keeping control algorithm uses less preview points, resulting in trajectories under different vehicle speeds and different road curvatures. The problem of low tracking accuracy; 2. Solve the problem that the existing lane keeping control algorithm depends on the parameters of the vehicle dynamics model; 3. Solve the problem that the existing lane keeping control algorithm has complex process, large amount of calculation, and low efficiency; 4. Solve The existing lane keeping control system cannot allow the driver to choose the degree of controller intervention according to his own driving habits and driving characteristics, which makes the driver's subjective experience poor, such as the problem that the control frequency of the steering wheel is too high and the driver's psychological burden is increased

Method used

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  • Vehicle lane keeping method and system based on preview area control
  • Vehicle lane keeping method and system based on preview area control
  • Vehicle lane keeping method and system based on preview area control

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Embodiment 1

[0059] Such as figure 1 As shown, the present embodiment provides a vehicle lane keeping method based on preview area control, comprising the following steps:

[0060] H1, calculate the center line of this lane according to the parameters of the left lane line of this lane and the parameters of the right lane line of this lane;

[0061] H2, obtain the preview time according to the center line of the lane and the speed of the vehicle;

[0062] H3, calculate the preview area according to the preview time, the parameters of the left lane line of this lane and the parameters of the right lane line of this lane;

[0063] H4, calculate the steering wheel angle control amount according to the preview area;

[0064] H5, control the lane keeping of the vehicle according to the control amount of the steering wheel angle.

[0065] It should be noted that the parameters of the left lane line of this lane include the parameters of four aspects: the lateral deviation of the left lane lin...

Embodiment 2

[0093] Such as Figure 4 As shown, this embodiment provides a vehicle lane keeping system based on preview area control, which includes the following functional modules.

[0094] Calculation module 6 of the center line of this lane: calculate the center line of this lane according to the parameters of the left lane line of this lane and the parameters of the right lane line of this lane;

[0095] Dynamic preview time calculation module 3: obtain the preview time according to the center line of the lane and the speed of the vehicle;

[0096] LKA function opening and closing request condition module 2: judge whether the lane keeping system is activated, and input the judgment result into the LKA core algorithm module 4;

[0097]LKA core algorithm module 4: Calculate the preview area according to the preview time, the parameters of the left lane of the lane and the parameters of the right lane of the lane, and calculate the steering wheel angle control amount according to the pr...

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Abstract

The invention discloses a vehicle lane keeping method and system based on preview area control. The method comprises the steps of calculating the center line of a lane according to left lane line parameters and right lane line parameters of the lane; obtaining preview time according to the center line of the lane and the speed of the vehicle; calculating a preview area according to the preview time, the left lane line parameter of the lane and the right lane line parameter of the lane; calculating a steering wheel angle control quantity according to the preview area; and controlling vehicle lane keeping according to the steering wheel angle control quantity. The method can adapt to trajectory tracking under different vehicle speeds and different road curvatures, the precision is high, and the problem that the precision is low due to the fact that the number of preview points is small is solved; vehicle kinetic model parameters are not needed, the calculated amount is small, and the real-time performance is good; the system adopts a modular architecture, so that a single module algorithm is convenient to update without modifying the program of the whole system.

Description

technical field [0001] The invention relates to the field of vehicle lane keeping, in particular to a vehicle lane keeping method and system based on preview area control. Background technique [0002] Lane Keeping Assist system (LKA) is the most basic assisted driving system for highway automatic driving, and it is one of the basic ways to realize lateral motion control of unmanned vehicles. Among them, LKA is the active steering control of the car based on the Lane Departure Warning system (LDW), to correct the lane departure behavior of the car under the abnormal operation of the driver and control the car in the lane drive inside. [0003] At present, LKA can be roughly divided into two types of technical routes: lane keeping and lane centerline keeping. The former has less steering intervention on the car. When the vehicle is about to deviate from the lane, the system applies torque to the steering wheel to help the vehicle return to the lane. The latter has more stee...

Claims

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Application Information

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IPC IPC(8): B60W30/12
CPCB60W30/12
Inventor 雍文亮乔凯凯刘子辉田磊
Owner SINO TRUK JINAN POWER
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