Intelligent driving preview control method and device and storage medium

A technology of intelligent driving and control method, applied in the field of lane keeping, can solve the problems of not considering the trend of target trajectory change and few preview points, and achieve the effect of low controller requirements, low control computing power, and easy implementation.

Active Publication Date: 2021-09-21
DONGFENG COMML VEHICLE CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0009] The problem with this solution is that it focuses on calculating the preview distance, and there are fewer preview points, and it does not take into account the trend of target trajectory changes

Method used

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  • Intelligent driving preview control method and device and storage medium
  • Intelligent driving preview control method and device and storage medium
  • Intelligent driving preview control method and device and storage medium

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Embodiment Construction

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0061] The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations / steps, nor must they be performed in the order described. For example, some operations / steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

[0062] Example embodiments will now be described more fully with reference to the accompanying drawings. Example e...

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Abstract

The invention discloses an intelligent driving preview control method and device and a storage medium, and relates to the technical field of lane keeping methods.The intelligent driving preview control method comprises the following steps of using transverse deviation, course angle deviation and yaw velocity deviation between a target track point and a preview track point when a vehicle runs as state variables; constructing a cost function by taking the yaw velocity as a control quantity; calculating a minimum value of the cost function to obtain a target yaw velocity; and according to the target yaw velocity, and based on feedforward control, feedback control, adaptive compensation control and cross slope compensation of the steering wheel rotation angle, calculating a target steering wheel rotation angle to execute a control action. The multi-point preview control system is designed according to the lateral deviation, the course angle deviation and the yaw velocity deviation, the yaw velocity control quantity is introduced as the control cost, and the smoothness of lateral control of the vehicle is ensured on the basis of improving the control precision and robustness.

Description

technical field [0001] The present invention relates to the technical field of lane keeping methods, in particular to an intelligent driving preview control method, device and storage medium. 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 (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. [0003] In the process of realizing the technology of the present invention, there are at least the following problems in the existing related technologies: [0004] The first solution is: set at least three measurement points, and the corresponding measurement distances of at least three measurem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B60W10/20B60W30/02
CPCB60W30/12B60W10/20B60W30/02
Inventor 万四禧夏然飞许渊管杰袁沐毕雅梦刘庚
Owner DONGFENG COMML VEHICLE CO LTD
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