A lane keeping control method and device based on yaw rate control

Abstract

The present invention provides a lane keeping control method and device based on yaw rate control, belonging to the field of vehicle lane control, including: obtaining vehicle and lane information data; performing transformation according to the two-degree-of-freedom vehicle dynamics model to obtain a first front wheel angle calculation formula; according to the lateral deviation calculation formula y cd = y sd - D s (ψ - ψ des ) to perform transformation to obtain a second front wheel angle calculation formula; substituting the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively for calculation to obtain a first front wheel angle and a second front wheel angle, and adding them to obtain a third front wheel angle and inputting it into the LKA system to complete lane control. This solution uses the yaw rate, which is the main variable in the lateral movement of the vehicle, as the control variable to achieve lane deviation correction. The algorithm design makes the dynamic response of the deviation between the vehicle and the lane line gradually decrease, avoiding snake-like movement. The selection of the control variable has a clear physical meaning, which is convenient for system debugging.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle lane control, and particularly relates to a lane keeping control method and device based on yaw rate control. Background Art

[0002] The vehicle Lane Keeping Assistance (LKA) system can provide lateral safety assistance for the driver. When the vehicle unconsciously deviates from the lane, it warns the driver and actively controls the vehicle when necessary to keep the vehicle in the lane to avoid accidents.

[0003] A lane keeping system and its control method (patent application number: 2021110808467) are disclosed in the prior art, including: a control unit; a measurement unit, whose output end is connected to the input end of the control unit; an image acquisition unit, whose output end is connected to the input end of the control unit; a steering motor system, which is electrically connected to the output end of the control unit; a driving motor system, which is electrically connected to the output end of the control unit; wherein, the control unit is also electrically connected to the wheels of the vehicle. It realizes the LKA function under straight-line and cornering driving conditions through steering control and driving force distribution control respectively to improve the steering characteristics and trajectory tracking ability of the vehicle under LKA control. However, there will be a snake-like movement around the lane centerline during the control process. The main reason is that the control algorithm needs to simultaneously control two mutually coupled motion variables, the sideslip angle of the center of mass and the yaw rate, and it is difficult to make the two tend to the control target with a consistent trend. Summary of the Invention

[0004] The present invention provides a lane keeping control method and device based on yaw rate control, aiming to solve the problem of snake-like movement during the lane control of the vehicle.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions, including:

[0006] Obtain vehicle and lane information data;

[0007] According to the two-degree-of-freedom vehicle dynamics model for transformation, obtain the first front wheel angle calculation formula;

[0008] According to the lateral deviation calculation formula y cd =y sd -D s (ψ-ψ des ) for transformation, obtain the second front wheel angle calculation formula, where y cd is the lateral deviation between the vehicle center of mass and the lane line, y sd is the lateral deviation between the vehicle longitudinal axis and the lane center line, D sLet \(d\) be the distance from the camera to the lateral deviation point in front of the vehicle's center of mass, and \(\psi\) be the vehicle's yaw angle, \(\psi\) des is the direction angle of the lane centerline;

[0009] Substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively for calculation to obtain the first front wheel angle and the second front wheel angle. Add the first front wheel angle and the second front wheel angle to obtain the third front wheel angle and input it into the LKA system to complete lane control.

[0010] Preferably, according to the two-degree-of-freedom vehicle dynamics model, the first front wheel angle calculation formula is obtained, including:

[0011] Substitute the steady-state response formula into the two-degree-of-freedom vehicle dynamics model for transformation to obtain the differential equation of the vehicle's yaw angle where \(\beta\) is the vehicle's center-of-mass sideslip angle, \(\beta\) s is the steady-state value of the vehicle's center-of-mass sideslip angle, \(a\) is the distance from the center of mass to the front axle, \(b\) is the distance from the center of mass to the rear axle, \(m\) is the vehicle's total mass, \(u\) is the longitudinal speed of the vehicle's center of mass, \(k\) 1 is the front axle sideslip stiffness, \(k\) 2 is the rear axle sideslip stiffness, \(L\) is the wheelbase and \(L = a + b\), \(R\) is the road radius, \(I\) z is the vehicle's yaw moment of inertia, is the vehicle's yaw angular acceleration, is the vehicle's yaw angular velocity, is the steady-state value of the yaw angular velocity and \(\delta\) is the front wheel angle;

[0012] Define the yaw angular velocity deviation The yaw angle deviation \(e=\psi-\psi\) des , where is the desired yaw angular velocity. Substitute \(e\) and into the differential equation of the vehicle's yaw angle and perform model transformation to obtain the state space model According to state feedback, the first front wheel angle calculation formula is obtained where \(A\) is the system matrix, \(\delta\) a is the first front wheel angle, \([k\) c1 \(k\) c2 is the feedback coefficient vector.

[0013] Preferably, according to the lateral deviation calculation formula \(y\) cd \(=y\) sd \(-D\) s (\(\psi-\psi\) des) Perform a transformation to obtain the second front wheel angle calculation formula, including:

[0014] Define y c = y cd And according to the formula And the formula Perform a transformation on the deviation calculation formula y cd = y sd - D s (ψ - ψ des ) to obtain the second front wheel angle calculation formula where t p is the expected time to eliminate the lateral displacement deviation, y c is the centroid displacement, δ d is the second front wheel angle, and K is the vehicle stability factor.

[0015] Preferably, substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively for calculation to obtain the first front wheel angle and the second front wheel angle, add the first front wheel angle and the second front wheel angle to obtain the third front wheel angle and input it into the LKA system to complete lane control, including:

[0016] Substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula for calculation to obtain the first front wheel angle and the second front wheel angle;

[0017] Substitute the first front wheel angle and the second front wheel angle into the formula δ x = δ a + δ d for calculation to obtain the third front wheel angle and input it into the LKA system to complete lane control, where δ x is the third front wheel angle.

[0018] A lane keeping control device based on yaw rate control, including:

[0019] Data acquisition module: used to acquire vehicle and lane information data;

[0020] Formula first calculation module: used to perform a transformation according to the two-degree-of-freedom vehicle dynamics model to obtain the first front wheel angle calculation formula;

[0021] Formula second calculation module: used to perform a transformation according to the lateral deviation calculation formula y cd = y sd - D s (ψ - ψ des ) to obtain the second front wheel angle calculation formula, where y cd is the lateral deviation between the vehicle centroid and the lane line, ysd D is the lateral deviation between the longitudinal axis of the vehicle and the center line of the lane s is the distance from the camera to the lateral deviation point measured in front of the vehicle's center of mass, ψ is the vehicle's yaw angle, ψ des is the direction angle of the center line of the lane;

[0022] Front wheel angle calculation module: used to calculate by substituting vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively, obtain the first front wheel angle and the second front wheel angle, add the first front wheel angle and the second front wheel angle, obtain the third front wheel angle and input it into the LKA system to complete lane control.

[0023] Preferably, the formula first calculation module includes:

[0024] Formula first transformation module: used to substitute the steady-state response formula into the two-degree-of-freedom vehicle dynamics model for transformation to obtain the differential equation of the vehicle's yaw angle where β is the vehicle's center-of-mass sideslip angle, β s is the steady-state value of the vehicle's center-of-mass sideslip angle, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, m is the total vehicle mass, u is the longitudinal speed of the vehicle's center of mass, k 1 is the front axle sideslip stiffness, k 2 is the rear axle sideslip stiffness, L is the wheelbase and L = a + b, R is the road radius, I z is the vehicle's yaw moment of inertia, is the vehicle's yaw angular acceleration, is the vehicle's yaw angular velocity, is the steady-state value of the yaw angular velocity and δ is the front wheel angle;

[0025] Formula second transformation module: used to define the yaw angular velocity deviation yaw angle deviation e = ψ - ψ des , where is the desired yaw angular velocity, substitute e and into the differential equation of the vehicle's yaw angle and perform model transformation to obtain the state space model Obtain the first front wheel angle calculation formula according to state feedback where A is the system matrix, δ a is the first front wheel angle, [k c1 k c2 is the feedback coefficient vector.

[0026] Preferably, the formula second calculation module includes:

[0027] Formula third transformation module: used to define y c = y cd and according to the formula and the formula transform the deviation calculation formula y cd = y sd - D s (ψ - ψ des ) to obtain the second front wheel angle calculation formula where t p is the expected time to eliminate the lateral displacement deviation, y c is the centroid displacement, δ d is the second front wheel angle, and K is the stability factor of the vehicle.

[0028] Preferably, the front wheel angle calculation module includes:

[0029] First front wheel angle calculation module: used to substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively for calculation to obtain the first front wheel angle and the second front wheel angle;

[0030] Second front wheel angle calculation module: used to substitute the first front wheel angle and the second front wheel angle into the formula δ x = δ a + δ d for calculation to obtain the third front wheel angle and input it into the LKA system to complete lane control, and δ x is the third front wheel angle.

[0031] A lane keeping control device based on yaw rate control includes a memory and a processor. The memory is used to store one or more computer instructions. Among them, the one or more computer instructions are executed by the processor to implement a lane keeping control method based on yaw rate control as described in any one of the above.

[0032] A computer-readable storage medium storing a computer program, where the computer program, when executed by a computer, implements a lane keeping control method based on yaw rate control as described in any one of the above.

[0033] Advantages of the present invention:

[0034] In the technical solution of the present invention, the yaw rate control is used as a means to control the heading angle deviation and the lateral displacement deviation between the vehicle and the lane line respectively, gradually eliminate the position and heading angle deviation of the vehicle relative to the lane line, and combine to generate the required front wheel steering angle as the control input, effectively avoiding the snake-like movement during the control process, that is, using the yaw rate, the main variable in the lateral movement of the vehicle, as the control variable to achieve lane correction. The algorithm design makes the dynamic response of the deviation between the vehicle and the lane line gradually decrease, avoiding the snake-like movement. The selection of the control variable has a clear physical meaning, which is convenient for system debugging. Description of the Drawings

[0035] Figure 1 Flow chart of a lane keeping control method based on yaw rate control in the present invention

[0036] Figure 2 Schematic diagram of a two-degree-of-freedom vehicle dynamics model in the present invention and its relationship with the lane line

[0037] Figure 3 Schematic diagram of the structure of a controller in the present invention

[0038] Figure 4 Schematic diagram of the structure of a lane keeping control device based on yaw rate control in the present invention

[0039] Figure 5 Schematic diagram of the structure of a first formula calculation module 20 in the present invention

[0040] Figure 6 Schematic diagram of the structure of a second formula calculation module 30 in the present invention

[0041] Figure 7 Schematic diagram of the structure of a front wheel steering angle calculation module 40 in the present invention

[0042] Figure 8 Schematic diagram of an electronic device of a lane keeping control device based on yaw rate control in the present invention Detailed Implementation Manner

[0043] Embodiment 1

[0044] As Figure 1 shown, a lane keeping control method based on yaw rate control includes the following steps:

[0045] S11. Obtain vehicle and lane information data;

[0046] S12. Perform transformation according to the two-degree-of-freedom vehicle dynamics model to obtain the first front wheel steering angle calculation formula;

[0047] S13. According to the lateral deviation calculation formula ycd = y sd - D s (ψ - ψ des ) is transformed to obtain the calculation formula for the second front wheel steering angle, where y cd is the lateral deviation between the vehicle's center of mass and the lane line, and y sd is the lateral deviation between the vehicle's longitudinal axis and the center line of the lane. D s is the distance from the camera to the lateral deviation point measured in front of the vehicle's center of mass. ψ is the vehicle's yaw angle, and ψ des is the desired yaw angle;

[0048] S14. The vehicle and lane information data are respectively substituted into the first front wheel steering angle calculation formula and the second front wheel steering angle calculation formula for calculation to obtain the first front wheel steering angle and the second front wheel steering angle. The first front wheel steering angle and the second front wheel steering angle are added to obtain the third front wheel steering angle and input it into the LKA system to complete lane control.

[0049] In this embodiment, first, the information data of the vehicle is obtained, which includes the vehicle mass m, the vehicle's yaw moment of inertia I z , the cornering stiffnesses k 1 and k 2 of the front and rear axles, the distances a and b from the center of mass to the front and rear axles, the road radius R, the longitudinal speed of the vehicle's center of mass, i.e., the vehicle speed u, the distance D s at a certain distance in front of the vehicle's center of mass where the camera measures the lateral deviation y sd between the vehicle's longitudinal axis and the center line of the lane, and then the lateral deviation y cd between the vehicle's center of mass and the lane line, etc. data;

[0050] Then, the calculation of the first front wheel steering angle calculation formula is carried out, including the following content:

[0051] A yaw angle deviation controller is established as follows:

[0052] The two-degree-of-freedom vehicle dynamics model is expressed as:

[0053]

[0054]

[0055] Where:

[0056] m, the vehicle mass, kg

[0057] I z , the vehicle's yaw moment of inertia,

[0058] k 1 and k 2 , the cornering stiffnesses of the front and rear axles respectively, N / rad

[0059] a and b are the distances from the centroid to the front axle and the rear axle respectively, m

[0060] v is the lateral velocity of the vehicle centroid, m / s

[0061] Lateral acceleration of the vehicle centroid, m / s 2

[0062] u is the longitudinal velocity of the vehicle centroid, approximated by the vehicle speed, m / s

[0063] ψ is the yaw angle of the vehicle, rad

[0064] Yaw angular velocity of the vehicle, rad / s

[0065] Yaw angular acceleration of the vehicle, rad / s 2

[0066] β is the sideslip angle of the centroid, rad

[0067] δ is the front wheel steering angle, rad

[0068] And the two-degree-of-freedom vehicle dynamics model and its relationship with the lane lines are as Figure 2 shown.

[0069] When a lane departure occurs, the LKA system controls the front wheel steering angle to correct the deviation and make the vehicle drive within the lane. Assuming that the vehicle speed is constant during the lane departure control process, and the road radius is represented by R(m), then the desired yaw angular velocity of the vehicle is:[[]]

[0070]

[0071] From the two-degree-of-freedom vehicle dynamics model, there are the following relationships for the steady-state responses of the vehicle yaw angular velocity and the sideslip angle of the centroid with respect to the front wheel steering angle input:

[0072] This formula is the steady-state response formula, (2)

[0073] Among them, β s , are the steady-state values of the sideslip angle of the vehicle centroid and the yaw angular velocity respectively. L is the wheelbase, L = a + b. Considering that LKA operates under normal conditions with good stability and the sideslip angle of the centroid is very small, it is assumed that the sideslip angle of the centroid remains constant at the value when the yaw angular velocity deviation is eliminated during the LKA control process, that is, β s = β. Let Substitute Equation (2) into the second equation of the differential equation (1) to obtain the differential equation for the vehicle body yaw angle:

[0074]

[0075] Define the yaw rate deviation The yaw angle deviation e = ψ - ψ des . ψ des is the direction angle of the lane center line. In actual control, the yaw angle deviation e can be directly measured by a camera.

[0076] Consider Substitute into equation (3) to obtain a second-order differential equation for the yaw angle deviation:

[0077]

[0078] And rewrite it as a state-space model with the yaw angle deviation and yaw rate deviation as state variables:

[0079]

[0080] where A is the system matrix,

[0081] Use state feedback to obtain the front wheel steering angle input required for yaw angle deviation control, that is:

[0082] This formula is the first front wheel steering angle calculation formula (5)

[0083] where δ a is the first front wheel steering angle,

[0084] Let K c = [k c1 k c2 , then there is:

[0085]

[0086] The eigenvalues of the system matrix (A + B 1 K c ) determine the dynamic response of the yaw angle deviation and yaw rate deviation under the front wheel steering angle input. Obtain the feedback coefficient vector [k c1 k c2 such that the system matrix (A + B 1 K c ) has negative real eigenvalues, then the yaw rate deviation and yaw angle deviation asymptotically approach the steady-state value under feedback control and there will be no overshoot, thus avoiding the snake-like movement of swaying left and right.

[0087] Next, perform the calculation of the first front wheel steering angle calculation formula, including the following content:

[0088] Establish a lateral displacement deviation controller as follows:

[0089] The yaw angle control should also tend to eliminate the position deviation between the vehicle's center of mass and the lane line. Assume that the camera is at a certain distance D in front of the vehicle's center of mass s where the lateral deviation y between the vehicle's longitudinal axis and the center line of the lane is measured sd , D s is the distance from the camera to the lateral deviation point in front of the vehicle's center of mass, then the lateral deviation y between the vehicle's center of mass and the lane line cd is:

[0090] y cd = y sd - D s (ψ - ψ des ), this formula is the deviation calculation formula,

[0091] The lateral acceleration of the vehicle's center of mass is expressed as:

[0092]

[0093] As previously assumed, ignoring the lateral slip of the vehicle body, the displacement y of the center of mass generated by the yaw motion within a certain time t p can be expressed as: c Let y

[0094]

[0095] = y c = y cd , and consider the relationship between the steady-state yaw angular velocity and the front wheel angle:

[0096]

[0097] where K is the stability factor of the vehicle, the required front wheel angle input to eliminate the lateral deviation between the center of mass and the lane line through the yaw motion can be obtained as:

[0098] This formula is the second front wheel angle calculation formula, δ d is the second front wheel angle, (6)

[0099] Equation (6) can be regarded as compensating the front wheel angle input through proportional control, which decreases as the lateral displacement deviation decreases. The proportional control coefficient k c :

[0100]

[0101] where t p represents the expected time to eliminate the lateral displacement deviation and can be used for system performance debugging

[0102] Finally, relevant data in the obtained vehicle and lane information data are substituted into equations (5) and (6) for calculation to obtain the first front wheel angle δ a and the second front wheel angle δ d . Then, according to the formula δ x =δ a +δ d , the front wheel angles are added together to obtain the control input of the LKA system, δ x , that is, the third front wheel angle, completing the lane control of the vehicle. The controller structure is as shown in Figure 3 .

[0103] In this embodiment, the sideslip motion that has little impact on the vehicle's overall displacement during the steering operation is simplified. Lane deviation correction and following are achieved through yaw motion control, without the need for centroid sideslip angle estimation. The control strategy design is simple and more robust;

[0104] A yaw angle deviation controller and a lateral displacement controller are designed respectively, where the control parameters have clear physical meanings, facilitating the performance debugging of the control system.

[0105] Embodiment 2

[0106] As shown in Figure 4 , a lane keeping control device based on yaw rate control includes:

[0107] Data acquisition module 10: used to acquire vehicle and lane information data;

[0108] Formula first calculation module 20: used to perform transformation according to the two-degree-of-freedom vehicle dynamics model to obtain the first front wheel angle calculation formula;

[0109] Formula second calculation module 30: used to perform transformation according to the lateral deviation calculation formula y cd =y sd -D s (ψ - ψ des ) to obtain the second front wheel angle calculation formula, where y cd is the lateral deviation between the vehicle's centroid and the lane line, y sd is the lateral deviation between the vehicle's longitudinal axis and the lane center line, D s is the distance from the camera to the lateral deviation point measured in front of the vehicle's centroid, ψ is the vehicle's yaw angle, and ψ des is the direction angle of the lane center line;

[0110] Front wheel angle calculation module 40: used to substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively for calculation to obtain the first front wheel angle and the second front wheel angle, add the first front wheel angle and the second front wheel angle together to obtain the third front wheel angle and input it into the LKA system to complete the lane control.

[0111] One embodiment of the above device is that in the data acquisition module 10, vehicle and lane information data are acquired. In the first formula calculation module 20, transformation is performed according to the two-degree-of-freedom vehicle dynamics model to obtain the first front wheel angle calculation formula. In the second formula calculation module 30, according to the lateral deviation calculation formula y cd =y sd -D s (ψ - ψ des ) is transformed to obtain the second front wheel angle calculation formula, where y cd is the lateral deviation between the vehicle's center of mass and the lane line, y sd is the lateral deviation between the vehicle's longitudinal axis and the center line of the lane, D s is the distance from the camera to the lateral deviation point measured in front of the vehicle's center of mass, ψ is the vehicle's yaw angle, and ψ des is the direction angle of the center line of the lane. In the front wheel angle calculation module 40, the vehicle and lane information data are respectively substituted into the first front wheel angle calculation formula and the second front wheel angle calculation formula for calculation to obtain the first front wheel angle and the second front wheel angle. The first front wheel angle and the second front wheel angle are added together to obtain the third front wheel angle and input it into the LKA system to complete lane control.

[0112] Example 3

[0113] As Figure 5 shown, a first formula calculation module 20 includes:

[0114] The first formula transformation module 21: used to substitute the steady-state response formula into the two-degree-of-freedom vehicle dynamics model for transformation to obtain the differential equation of the vehicle's yaw angle where β is the vehicle's center of mass sideslip angle, β s is the steady-state value of the vehicle's center of mass sideslip angle, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, m is the total vehicle mass, u is the longitudinal speed of the vehicle's center of mass, k 1 is the front axle sideslip stiffness, k 2 is the rear axle sideslip stiffness, L is the wheelbase and L = a + b, R is the road radius, I z is the vehicle's yaw moment of inertia, is the vehicle's yaw angular acceleration, is the vehicle's yaw angular velocity, is the steady-state value of the yaw angular velocity and δ is the front wheel angle;

[0115] The second formula transformation module 22: used to define the yaw angular velocity deviation The yaw angle deviation e = ψ - ψ des , where is the desired yaw rate. Substitute e and into the differential equation of the vehicle body yaw angle and perform model transformation to obtain the state - space model According to state feedback, the calculation formula for the first front - wheel steering angle is obtained where A is the system matrix, δ a is the first front - wheel steering angle, and [k c1 k c2 is the feedback coefficient vector.

[0116] In one implementation of the above - mentioned module, in the formula first transformation module 21, substitute the steady - state response formula into the two - degree - of - freedom vehicle dynamics model and perform transformation to obtain the differential equation of the vehicle body yaw angle where β is the sideslip angle of the vehicle center of mass, β s is the steady - state value of the sideslip angle of the vehicle center of mass, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, m is the total vehicle mass, u is the longitudinal speed of the vehicle center of mass, k 1 is the cornering stiffness of the front axle, k 2 is the cornering stiffness of the rear axle, L is the wheelbase and L = a + b, R is the road radius, I z is the yaw moment of inertia of the vehicle, is the vehicle yaw angular acceleration, is the vehicle yaw rate, is the steady - state value of the yaw rate and δ is the front - wheel steering angle. In the formula second transformation module 22, define the yaw - rate deviation The yaw - angle deviation e = ψ - ψ des , where is the desired yaw rate. Substitute e and into the differential equation of the vehicle body yaw angle and perform model transformation to obtain the state - space model According to state feedback, the calculation formula for the first front - wheel steering angle is obtained where A is the system matrix, δ a is the first front - wheel steering angle, and [k c1 k c2 is the feedback coefficient vector.

[0117] Example 4

[0118] As Figure 6 shown, a formula second calculation module 30 includes:

[0119] Formula third transformation module 31: used to define y c = y cd and according to the formula and formula For the deviation calculation formula y cd = y sd - D s (ψ - ψ des ), perform transformation to obtain the second front wheel angle calculation formula where t p is the expected time to eliminate the lateral displacement deviation, y c is the centroid displacement, δ d is the second front wheel angle, and K is the vehicle stability factor.

[0120] One implementation of the above module is that in the formula third transformation module 31, define y c = y cd and according to the formula and formula For the deviation calculation formula y cd = y sd - D s (ψ - ψ des ), perform transformation to obtain the second front wheel angle calculation formula where t p is the expected time to eliminate the lateral displacement deviation, y c is the centroid displacement, δ d is the second front wheel angle, and K is the vehicle stability factor.

[0121] Example 5

[0122] As Figure 7 shown, a front wheel angle calculation module 40 includes:

[0123] Front wheel angle first calculation module 41: used to calculate by substituting the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively to obtain the first front wheel angle and the second front wheel angle;

[0124] Front wheel angle second calculation module 42: used to calculate by substituting the first front wheel angle and the second front wheel angle into the formula δ x = δ a + δ d to obtain the third front wheel angle and input it into the LKA system to complete lane control, δ x is the third front wheel angle.

[0125] One implementation of the above module is that in the front wheel angle first calculation module 41, substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula Perform calculations to obtain the first front wheel angle and the second front wheel angle. In the front wheel angle second calculation module 42, substitute the first front wheel angle and the second front wheel angle into the formula δ x = δ a + δ d Perform calculations to obtain the third front wheel angle and input it into the LKA system to complete lane control. δ x is the third front wheel angle.

[0126] Embodiment 6

[0127] As Figure 8 shown, an electronic device includes a memory 601 and a processor 602. The memory 601 is used to store one or more computer instructions. Among them, the one or more computer instructions are executed by the processor 602 to implement any one of the above methods.

[0128] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working process of the above-described electronic device can refer to the corresponding process in the foregoing method embodiments, and will not be elaborated herein.

[0129] A computer-readable storage medium storing a computer program, where the computer program causes a computer to execute to implement any one of the above methods.

[0130] Exemplarily, the computer program can be divided into one or more modules / units. One or more modules / units are stored in the memory 601, executed by the processor 602, and the I / O interface transmission of data is completed by the input interface 605 and the output interface 606 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

[0131] The computer device can be a desktop computer, a notebook, a palm computer, a cloud server, and other computing devices. The computer device may include, but is not limited to, the memory 601 and the processor 602. Those skilled in the art can understand that this embodiment is only an example of the computer device, and does not constitute a limitation on the computer device. It may include more or fewer components, or combine certain components, or different components. For example, the computer device may further include an input device 607, a network access device, a bus, etc.

[0132] The processor 602 may be a central processing unit (CPU), or may also be other general-purpose processors 602, digital signal processors 602 (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 602 may be a microprocessor 602 or the processor 602 may also be any conventional processor 602, etc.

[0133] The memory 601 may be an internal storage unit of the computer device, such as the hard disk or memory of the computer device. The memory 601 may also be an external storage device of the computer device, such as a plug-in hard disk equipped on the computer device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 601 may also include both the internal storage unit and the external storage device of the computer device. The memory 601 is used to store computer programs and other programs and data required by the computer device. The memory 601 may also be used to temporarily store data in the output device 608, and the aforementioned storage media include various media such as USB flash drives, mobile hard disks, read-only memory ROM 603, random access memory RAM 604, diskettes or optical discs that can store program codes.

[0134] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A lane keeping control method based on yaw rate control, characterized in that, comprising: Obtaining vehicle and lane information data; Performing transformation according to the two-degree-of-freedom vehicle dynamics model to obtain a first front wheel angle calculation formula; According to the lateral deviation calculation formula y cd = y sd - D s (ψ - ψ des ) is transformed to obtain the calculation formula for the second front wheel angle, where y cd is the lateral deviation between the vehicle's center of mass and the lane line, y sd is the lateral deviation between the vehicle's longitudinal axis and the center line of the lane, D s is the distance from the camera to the lateral deviation point measured in front of the vehicle's center of mass, ψ is the vehicle's yaw angle, and ψ des is the direction angle of the center line of the lane; Respectively substituting the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula for calculation to obtain a first front wheel angle and a second front wheel angle, adding the first front wheel angle and the second front wheel angle to obtain a third front wheel angle and inputting it into the LKA system to complete lane control; Performing transformation according to the two-degree-of-freedom vehicle dynamics model to obtain a first front wheel angle calculation formula, including: Substitute the steady-state response formula into the two-degree-of-freedom vehicle dynamics model and perform transformation to obtain the differential equation of the vehicle body yaw angle where β is the sideslip angle of the vehicle center of mass, β s is the steady-state value of the sideslip angle of the vehicle center of mass, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, m is the total vehicle mass, u is the longitudinal velocity of the vehicle center of mass, k 1 is the cornering stiffness of the front axle, k 2 is the cornering stiffness of the rear axle, L is the wheelbase and L = a + b, R is the road radius, I z is the yaw moment of inertia of the vehicle, is the vehicle yaw angular acceleration, is the vehicle yaw angular velocity, is the steady-state value of the yaw angular velocity and δ is the front wheel steering angle; Define the yaw rate deviation The yaw angle deviation e = ψ - ψ des , where is the desired yaw rate. Substitute e and into the differential equation of the vehicle body yaw angle and perform model transformation to obtain the state - space model Obtain the first front wheel angle calculation formula according to state feedback where A is the system matrix δ a is the first front wheel angle, and [k c1 k c2 is the feedback coefficient vector.

2. The lane keeping control method based on yaw rate control according to claim 1, characterized in that, According to the lateral deviation calculation formula y cd = y sd - D s (ψ - ψ des ) is transformed to obtain the calculation formula for the second front wheel angle, including: Define y c = y cd And according to the formula and the formula transform the deviation calculation formula y cd = y sd - D s (ψ - ψ des ) to obtain the second front wheel angle calculation formula where t p is the expected time to eliminate the lateral displacement deviation, y c is the centroid displacement, δ d is the second front wheel angle, and K is the vehicle stability factor.

3. The lane keeping control method based on yaw rate control according to claim 2, characterized in that, Respectively substituting the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula for calculation to obtain a first front wheel angle and a second front wheel angle, adding the first front wheel angle and the second front wheel angle to obtain a third front wheel angle and inputting it into the LKA system to complete lane control, including: Substitute the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula respectively for calculation to obtain the first front wheel angle and the second front wheel angle; Substitute the first front wheel angle and the second front wheel angle into the formula δ x = δ a + δ d for calculation to obtain the third front wheel angle and input it into the LKA system to complete lane control. δ x is the third front wheel angle.

4. A lane keeping control device based on yaw rate control for implementing the lane keeping control method based on yaw rate control according to claim 1, characterized in that, comprising: A data acquisition module: used for obtaining vehicle and lane information data; A first formula calculation module: used for performing transformation according to the two-degree-of-freedom vehicle dynamics model to obtain a first front wheel angle calculation formula; Formula second calculation module: used to perform transformation according to the lateral deviation calculation formula y cd =y sd -D s (ψ - ψ des ) to obtain the second front wheel steering angle calculation formula, where y cd is the lateral deviation between the vehicle's center of mass and the lane line, y sd is the lateral deviation between the vehicle's longitudinal axis and the center line of the lane, D s is the distance from the camera to the lateral deviation point measured in front of the vehicle's center of mass, ψ is the vehicle's yaw angle, ψ des is the direction angle of the center line of the lane; A front wheel angle calculation module: used for respectively substituting the vehicle and lane information data into the first front wheel angle calculation formula and the second front wheel angle calculation formula for calculation to obtain a first front wheel angle and a second front wheel angle, adding the first front wheel angle and the second front wheel angle to obtain a third front wheel angle and inputting it into the LKA system to complete lane control; The first formula calculation module, including: Formula first transformation module: used to substitute the steady-state response formula into the two-degree-of-freedom vehicle dynamics model for transformation to obtain the differential equation of the vehicle body yaw angle where β is the vehicle center-of-mass sideslip angle, β s is the steady-state value of the vehicle center-of-mass sideslip angle, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, m is the total vehicle mass, u is the longitudinal speed of the vehicle center of mass, k 1 is the front axle sideslip stiffness, k 2 is the rear axle sideslip stiffness, L is the wheelbase and L = a + b, R is the road radius, I z is the vehicle yaw moment of inertia, is the vehicle yaw angular acceleration, is the vehicle yaw angular velocity, is the steady-state value of the yaw angular velocity and δ is the front wheel steering angle; Formula second transformation module: used to define the yaw rate deviation Yaw angle deviation e = ψ - ψ des , where is the desired yaw rate. Substitute e and into the differential equation of the vehicle body yaw angle and perform model transformation to obtain the state space model Obtain the first front wheel angle calculation formula according to state feedback where A is the system matrix, δ a is the first front wheel angle, [k c1 k c2 is the feedback coefficient vector.

5. The lane keeping control device based on yaw rate control according to claim 4, characterized in that, A second formula calculation module, including: Formula third transformation module: used to define y c = y cd and according to the formula and the formula transform the deviation calculation formula y cd = y sd - D s (ψ - ψ des ) to obtain the second front wheel angle calculation formula where t p is the expected time to eliminate the lateral displacement deviation, y c is the centroid displacement, δ d is the second front wheel angle, and K is the stability factor of the vehicle.

6. The lane keeping control device based on yaw rate control according to claim 5, characterized in that, The front wheel angle calculation module, including: Front wheel steering angle first calculation module: used to substitute vehicle and lane information data into the first front wheel steering angle calculation formula and the second front wheel steering angle calculation formula respectively for calculation to obtain the first front wheel steering angle and the second front wheel steering angle; Front wheel angle second calculation module: used to substitute the first front wheel angle and the second front wheel angle into the formula δ x = δ a + δ d for calculation, obtain the third front wheel angle and input it into the LKA system to complete lane control, where δ x is the third front wheel angle.

7. A lane keeping control device based on yaw rate control, characterized in that, comprises a memory and a processor, the memory is used for storing one or more computer instructions, wherein, the one or more computer instructions are executed by the processor to implement the lane keeping control method based on yaw rate control according to any one of claims 1-3.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a computer, it implements the lane keeping control method based on yaw rate control according to any one of claims 1-3.

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