Long curve driving control method of lane centering auxiliary function of automatic driving system

A technology of auxiliary functions and control methods, applied in the directions of control devices, vehicle components, input parameters of external conditions, etc., can solve the problems of insufficient steering force in cornering, affecting comfort and safety, and uneven control, so as to reduce risks, Enhanced comfort and safety effects

CN111674393AActive Publication Date: 2020-09-18KUNTAI VEHICLE SYST CHANGZHOU CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-09-18
Patent Text Reader

Abstract

The invention provides a long curve driving control method of a lane centering auxiliary function of an automatic driving system. The method comprises the following steps: S1, acquiring the lane curvature of a vehicle driving lane, determining whether the vehicle drives in a long curve or not according to the lane curvature, if so, executing S2, and if not, ignoring the operation; S2, judging whether a condition I is established or not, if so, executing S3, and if not, ignoring the action and setting the condition I to indicate that the steering force of the vehicle is insufficient; S3, according to the lane curvature, calculating a vehicle transverse deviation value caused by the lane curvature according to a formula I in which the vehicle transverse deviation value is equal to a result of K*lane curvature*square of the preview distance / 2; and S4, compensating the torque value calculated by the lane centering auxiliary function according to the vehicle transverse deviation value. According to the invention, the safety and comfort of automatic driving are improved.
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Description

technical field

[0001] The invention relates to the field of automatic driving, in particular to a control method when traveling on a long curve. Background technique

[0002] The lane centering assist function is a function that assists the driver to drive in the middle of the lane by automatically controlling the steering wheel of the system. It will not exit after a period of time or within a distance when the driver is out of hand, but will continue to work for a period of time. After a period of time, the alarm will notify the driver. The current control method mainly performs lateral control directly through path prediction or calculation of road deviation. When passing through a curve, sometimes the control is not smooth due to the cumulative error of the long curve or the change of the vehicle load. There will be a safety risk if the driver leaves the steering wheel with both hands due to fatigue or other accidents for a period of time. Therefore, in the existing tra...

Examples

Embodiment Construction

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0029] One embodiment of the present invention is a control method for driving on a long curve with the lane centering auxiliary function of an automatic driving system, the control method comprising:

[0030] Step S1, obtain the lane curvature of the lane the vehicle is driving on, judge whether the vehicle is driving on a long curve according to the lane curvature, if yes, execute step S2, if not, ignore it;

[0031] Step S2, judging whether the first condition is satisfied, if yes, execute step S3, if not, then ignore, the first ...