Unlock instant, AI-driven research and patent intelligence for your innovation.

Lane keeping control method and device and vehicle

A control method and lane keeping technology, applied in the field of vehicles, can solve the problems of multi-point preview method with many controller parameters, difficulty in adjusting parameters for optimal effect, and difficulty in ensuring the stability of vehicles at high speed.

Active Publication Date: 2021-08-27
SANY SPECIAL PURPOSE VEHICLE CO LTD
View PDF11 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1) Based on the kinematic model, it is difficult to guarantee the stability of the vehicle at high speed;
[0005] 2) It is difficult for the PID controller to meet the design requirements of the vehicle dynamics model;
[0006] 3) The multi-point preview method has many controller parameters, and it is difficult to adjust the parameters to achieve the optimal effect

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Lane keeping control method and device and vehicle
  • Lane keeping control method and device and vehicle
  • Lane keeping control method and device and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0075] Such as figure 2 As shown, according to an embodiment of the present invention, a lane keeping control method is proposed, the method comprising:

[0076] Step 102, setting the control parameters of the linear quadratic controller;

[0077] Step 104, determine the preview distance of the vehicle according to the speed of the vehicle;

[0078] Step 106, according to the preview distance and the lane line information of the lane where the vehicle is located, determine the state error feedback amount of the vehicle and the road curvature compensation amount;

[0079] Step 108, according to the control parameter and the state error feedback amount, determine the state error control amount of the vehicle;

[0080] Step 110, control the steering of the vehicle according to the state error control amount and the road curvature compensation amount.

[0081] In this embodiment, the control parameters of the linear quadratic (LQR) controller are set, and at the same time, the...

Embodiment 2

[0086] Such as image 3 As shown, according to an embodiment of the present invention, a lane keeping control method is proposed, the method comprising:

[0087] Step 202, setting the control parameters of the linear quadratic controller;

[0088] Step 204, determine the preview time according to the speed;

[0089] Step 206, determine the preview distance according to the product of preview time and speed;

[0090] Step 208, according to the preview distance and the lane line information of the lane where the vehicle is located, determine the state error feedback amount of the vehicle and the road curvature compensation amount;

[0091] Step 210, according to the control parameters and the state error feedback amount, determine the state error control amount of the vehicle;

[0092] Step 212, control the steering of the vehicle according to the state error control amount and the road curvature compensation amount.

[0093] In this embodiment, the speed of the vehicle is u...

Embodiment 3

[0104] Such as Figure 4 As shown, according to an embodiment of the present invention, a lane keeping control method is proposed, the method comprising:

[0105] Step 302, setting the control parameters of the linear quadratic controller;

[0106] Step 304, determining the preview distance of the vehicle according to the speed of the vehicle;

[0107] Step 306, determine the centerline coefficient of the lane according to the lane line information;

[0108] Step 308, determine the road curvature and state error feedback amount of the vehicle according to the centerline coefficient and the preview distance;

[0109] Step 310, determining the road curvature compensation amount according to the road curvature and the target parameters of the vehicle;

[0110] Step 312, according to the control parameters and the state error feedback amount, determine the state error control amount of the vehicle;

[0111] Step 314, control the steering of the vehicle according to the state e...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a lane keeping control method and device and a vehicle. The method comprises the steps of: setting a control parameter of a linear quadratic controller; determining a preview distance of a vehicle according to the speed of the vehicle; determining the state error feedback quantity and the road curvature compensation quantity of the vehicle according to the preview distance and the lane line information of a lane where the vehicle is located; according to the control parameter and the state error feedback quantity, determining the state error control quantity of the vehicle; and controlling vehicle steering according to the state error control quantity and the road curvature compensation quantity. Therefore, a proper preview point can be continuously determined in the vehicle driving process according to different vehicle speeds, control compensation can be calculated through the preview distance and parameters related to lane lines, the robustness of a lane keeping control algorithm is improved, and accurate vehicle steering automatic control is achieved, and therefore, the vehicle can return quickly and accurately at different vehicle speeds and in different states, and it can be ensured that the vehicle runs along the center of the lane.

Description

technical field [0001] The present invention relates to the technical field of vehicles, in particular, to a lane keeping control method, a control device and a vehicle. Background technique [0002] Lane keeping control is a method that can actively detect the lateral deviation of the vehicle while driving, calculate the desired steering command in real time according to the lane line information recognized by the camera, and control the vehicle to drive along the center of the lane. The system can reduce the driver's burden, improve driving comfort, and reduce the occurrence of traffic accidents. [0003] In related technologies, the current lane keeping control is widely designed based on kinematics models, such as figure 1 As shown, by setting multi-point previews with different distances, the PID control method is used to synthesize the weight coefficients of different preview points to obtain the control amount, but this method mainly has the following problems: [0...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 文宝邹晓楠贺志国
Owner SANY SPECIAL PURPOSE VEHICLE CO LTD