Lane deviation correction control method and device

Abstract

The present application discloses a lane correction control method and apparatus. The lane correction control method includes: determining a first torque request in response to a lane departure state, the first torque request indicating the total torque required for correction; determining an optimal response time based on the first torque request; determining a first actual response time of the steering wheel based on the current state; if the optimal response time is greater than the first actual response time, decomposing the first torque request into a first number of sub-torques; and sending a torque request corresponding to each sub-torque to a lane keeping system one by one, wherein a third torque request corresponding to the next sub-torque is sent after completing a response to the second torque request corresponding to the previous sub-torque. The present application utilizes a multi-stage torque control mode, executing one sub-torque before executing the next sub-torque, and utilizing the time interval between two adjacent torque responses to extend the steering wheel rotation time, allowing the steering wheel to smoothly transition to the desired position.

Description

Technical Field

[0001] The present application relates to the field of automotive technology, and more specifically, to a lane deviation correction control method and device. Background Art

[0002] Unintentional lane departure occurs when a vehicle, while traveling normally within its lane, typically remains completely between the left and right lane markings, maintaining an appropriate distance from each lane, with its lateral speed relative to the lane markings fluctuating around zero. A lane departure is considered imminent when the distance to one lane marking decreases, with a clear tendency for the vehicle to overtake and pass that lane marking.

[0003] The LKA (Lane Keeping Assist) system's SFC (Sequential Function Chart) combines image recognition technology to monitor the vehicle's relative position and lateral speed to the lane line in real time. It also uses vehicle platform signals (such as brakes, accelerators, turn signals, etc.) to monitor the driver's operations and intentions in real time, thereby identifying unintentional lane departures.

[0004] How Lane Departure works:

[0005] When LKA is activated and detects an unintentional lane departure, SFC controls the EPS (Electric Power Steering) to correct the deviation. This correction should be within the specified limits (torque and torque gradient limits), timely, and ensure smooth driving. SFC corrects the vehicle back to its lane and controls the EPS to keep the vehicle's attitude as parallel as possible to the lane marking. When the angle between the vehicle's heading and the tangent to the lane marking is less than a specified value, the correction is considered complete and centering assistance is discontinued.

[0006] When the vehicle deviates, the intelligent driving system makes a torque request to the EPS, which responds to the torque request and controls the steering wheel to turn. The time it takes for the actual steering wheel angle to break through the dead zone and reach the expected steering wheel angle under the torque request state required by the system is uncontrollable. In most cases, the steering wheel turns too fast, resulting in a large lateral acceleration of the system and affecting the driving experience. Summary of the Invention

[0007] The present application provides a lane correction control method and device, which utilizes a multi-stage torque control mode to execute one sub-torque before executing the next sub-torque, and utilizes the time interval between two adjacent torque responses to extend the steering wheel rotation time, so that the steering wheel smoothly transitions to the expected position.

[0008] This application provides a lane deviation correction control method, including:

[0009] determining a first torque request in response to the lane departure condition, the first torque request indicating a total torque required to correct the lane departure;

[0010] determining an optimal response time based on the first torque request;

[0011] determining a first actual response time of the steering wheel based on the current state;

[0012] If the optimal response time is greater than the first actual response time, decomposing the first torque request into a first number of component torques;

[0013] A torque request corresponding to each sub-torque is sent to the lane keeping system one by one, wherein a third torque request corresponding to the next sub-torque is sent after a response to a second torque request corresponding to a previous sub-torque is completed.

[0014] Preferably, before sending the torque request corresponding to each sub-torque to the lane keeping system one by one, the method further includes:

[0015] Repeat the following steps until the optimal response time is less than the second actual response time:

[0016] Calculating the sum of the actual response times of all sub-torques as the second actual response time;

[0017] If the best response time is greater than the second actual response time, updating the first number by increasing the first number by one;

[0018] The first torque request is decomposed into an updated first number of component torques.

[0019] Preferably, the first actual response time is a quotient of an angular travel of the steering wheel corresponding to the first torque request and a current angular velocity of the steering wheel.

[0020] Preferably, the first quantity is the quotient of the optimal response time and the first actual response time.

[0021] Preferably, the optimal response time is a calibrated value corresponding to the first torque request.

[0022] The present application also provides a lane correction control device, comprising a first torque request determination module, an optimal response time determination module, a first actual response time determination module, a decomposition module, and a control module;

[0023] a first torque request determination module for determining a first torque request in response to a lane departure state, the first torque request indicating a total torque required to correct the lane departure;

[0024] The optimal response time determination module is used to determine the optimal response time according to the first torque request;

[0025] The first actual response time determination module is used to determine the first actual response time of the steering wheel according to the current state;

[0026] a decomposition module for decomposing the first torque request into a first number of sub-torques when the optimal response time is greater than the first actual response time;

[0027] The control module is configured to send torque requests corresponding to each sub-torque to the lane keeping system one by one, wherein a third torque request corresponding to the next sub-torque is sent after a response to a second torque request corresponding to a previous sub-torque is completed.

[0028] Preferably, the lane deviation correction control device further includes a second actual response time calculation module and an update module;

[0029] The second actual response time calculation module is used to calculate the sum of the actual response times of all sub-torques as the second actual response time;

[0030] The updating module is configured to update the first number by adding one to the first number when the optimal response time is greater than the second actual response time;

[0031] The decomposition module is further configured to decompose the first torque request into an updated first number of component torques.

[0032] Preferably, the first actual response time is a quotient of an angular travel of the steering wheel corresponding to the first torque request and a current angular velocity of the steering wheel.

[0033] Preferably, the first quantity is the quotient of the optimal response time and the first actual response time.

[0034] Preferably, the optimal response time is a calibrated value corresponding to the first torque request.

[0035] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0037] Figure 1 A flowchart of a preferred embodiment of the lane deviation correction control method provided by this application;

[0038] Figure 2 This is a structural diagram of the lane correction control device provided in this application. DETAILED DESCRIPTION

[0039] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application.

[0040] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0041] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0042] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0043] The present application provides a lane correction control method and device, which utilizes a multi-stage torque control mode to execute one sub-torque before executing the next sub-torque, and utilizes the time interval between two adjacent torque responses to extend the steering wheel rotation time, so that the steering wheel smoothly transitions to the expected position.

[0044] Example 1

[0045] As an example, Figure 1 As shown, the lane deviation correction control method provided by this application includes:

[0046] S1010 : Determine a first torque request F in response to a lane departure state, the first torque request F indicating a total torque required to correct the lane departure.

[0047] Specifically, the first torque request F depends on parameters such as the deviation distance and deviation direction between the vehicle and the lane centerline. The first torque request F is determined by technical means in the prior art, and this application does not impose any limitation thereto.

[0048] S1020 : Determine the optimal response time T according to the first torque request F.

[0049] As an embodiment, the optimal response time is a calibrated value corresponding to the first torque request F. That is, the optimal response time T can be obtained by looking up a table.

[0050] The following table is an example of a calibration table of torque request and optimal response time:

[0051] Fa Fb Fc Fd Fe Ff … T1 T2 T3 T4 T5 T6 …

[0052] S1030: Determine a first actual response time t1 of the steering wheel according to the current state.

[0053] The first actual response time is the time required for the steering wheel to actually execute the first torque request F in the prior art.

[0054] As an embodiment, the first actual response time t1 is the quotient of the angular travel of the steering wheel corresponding to the first torque request and the current angular velocity of the steering wheel, that is, t1 = angular travel ÷ current angular velocity.

[0055] The current angular velocity is a detection value of the vehicle's perception system.

[0056] S1040: Determine whether the optimal response time T is greater than the first actual response time t1. If so, it indicates that the steering wheel responds too quickly, and execute S1050; otherwise, it indicates that the steering wheel response speed meets the requirements, and execute S1100.

[0057] S1050 : Decompose the first torque request into a first number n1 of sub-torques.

[0058] Specifically, the first number n1 is the quotient of the optimal response time T and the first actual response time t1, that is, n1 =T / t1.

[0059] Preferably, n1 is an integer obtained by rounding off the calculation result of the above formula.

[0060] As an embodiment, the first torque request F is divided into n1 sub-torques in the size dimension, namely F1, F2...F n1 For example, if F = 15 N·m and n1 = 3, then F1 = F2 = F3 = 5 N·m.

[0061] As another embodiment, the first torque request F is divided into n1 sub-torques of different magnitudes. For example, if F=15 N·m and n1=3, then F1=6 N·m, F2=5 N·m, and F3=4 N·m.

[0062] As an embodiment, after completing S1050, S1090 is directly executed.

[0063] S1090: Sending torque requests corresponding to each sub-torque to the lane keeping system one by one, wherein the third torque request corresponding to the next sub-torque is sent after completing the response to the second torque request corresponding to the previous sub-torque, that is, executing one segment after another, thereby leaving a time interval between two adjacent segments, and utilizing this time interval to lengthen the total response time of the steering wheel.

[0064] S1100: Sending a first torque request F to the lane keeping system so that the steering wheel performs lane correction according to the first torque request F. This step is implemented based on existing technology and is not limited in this application.

[0065] Based on the above, in order to more accurately control the response time of the steering wheel, preferably, after S1050, the following steps are further included:

[0066] S1060: Calculate the sum of the actual response times of all sub-torques as the second actual response time t2. The second actual response time is the sum of the response time of each sub-torque and the time interval between responses of every two adjacent sub-torques.

[0067] S1070: Determine whether the optimal response time T is greater than the second actual response time t2. If so, it means that the number of segments cannot meet the requirement, and then execute S1080; otherwise, execute S1090.

[0068] S1080: The first number n1 is updated by adding one to the first number, i.e., n1=n1+1. The process then returns to S1050, where the first torque request F is decomposed into the updated first number (n1+1) of sub-torques. Thus, the optimal number of sub-torques is found through multiple segmented searches to optimize the overall steering wheel response time.

[0069] Example 2

[0070] Based on the above lane deviation correction control method, the present application also provides a lane deviation correction control device. Figure 2 As shown, the lane correction control device includes a first torque request determination module 210 , an optimal response time determination module 220 , a first actual response time determination module 230 , a judgment module 240 , a decomposition module 250 and a control module 260 .

[0071] The first torque request determination module 210 is configured to determine a first torque request in response to a lane departure state, where the first torque request indicates a total torque required to correct the lane departure.

[0072] The optimal response time determination module 220 is configured to determine the optimal response time according to the first torque request.

[0073] The first actual response time determination module 230 is configured to determine a first actual response time of the steering wheel according to a current state.

[0074] The determination module 240 is configured to determine whether the optimal response time is greater than the first actual response time.

[0075] The decomposition module 250 is configured to decompose the first torque request into a first number of component torques when the optimal response time is greater than the first actual response time.

[0076] The control module 260 is configured to send torque requests corresponding to each sub-torque to the lane keeping system one by one, wherein a third torque request corresponding to the next sub-torque is sent after a response to the second torque request corresponding to the previous sub-torque is completed.

[0077] Preferably, the lane deviation correction control device further includes a second actual response time calculation module 270 and an updating module 280 .

[0078] The second actual response time calculation module 270 is configured to calculate the sum of the actual response times of all sub-torques as the second actual response time.

[0079] The determination module 240 is further configured to determine whether the optimal response time is greater than the second actual response time.

[0080] The updating module 280 is configured to update the first number by adding one to the first number when the optimal response time is greater than the second actual response time.

[0081] The decomposition module 250 is further configured to decompose the first torque request into an updated first number of component torques.

[0082] As an embodiment, the first actual response time is the quotient of the angular travel of the steering wheel corresponding to the first torque request and the current angular velocity of the steering wheel.

[0083] As an embodiment, the first quantity is a quotient of the optimal response time and the first actual response time.

[0084] As an embodiment, the optimal response time is a calibrated value corresponding to the first torque request.

[0085] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A lane deviation correction control method, characterized in that: include: determining a first torque request in response to the lane departure condition, the first torque request indicating a total torque required to correct the lane departure; determining an optimal response time according to the first torque request, wherein the optimal response time is a calibrated value corresponding to the first torque request; determining a first actual response time of the steering wheel according to a current state, the first actual response time being a quotient of an angular travel of the steering wheel corresponding to the first torque request and a current angular velocity of the steering wheel; If the optimal response time is greater than the first actual response time, decomposing the first torque request into a first number of component torques, the first number being a quotient of the optimal response time and the first actual response time; sending a torque request corresponding to each sub-torque to the lane keeping system one by one, wherein a third torque request corresponding to the next sub-torque is sent after a response to a second torque request corresponding to a previous sub-torque is completed; Before sending the torque request corresponding to each sub-torque to the lane keeping system one by one, the method further includes: The following steps are repeated until the optimal response time is less than the second actual response time: Calculating the sum of the actual response times of all sub-torques as the second actual response time; If the optimal response time is greater than the second actual response time, updating the first number by increasing the first number by one; The first torque request is decomposed into an updated first number of component torques.

2. A lane deviation correction control device, characterized in that: comprising a first torque request determination module, an optimal response time determination module, a first actual response time determination module, a decomposition module, and a control module; The first torque request determination module is configured to determine a first torque request in response to a lane departure state, the first torque request indicating a total torque required to correct the lane departure; The optimal response time determination module is configured to determine an optimal response time according to the first torque request, wherein the optimal response time is a calibrated value corresponding to the first torque request; The first actual response time determination module is configured to determine a first actual response time of the steering wheel according to a current state, the first actual response time being a quotient of an angular travel of the steering wheel corresponding to the first torque request and a current angular velocity of the steering wheel; The decomposition module is configured to decompose the first torque request into a first number of component torques when the optimal response time is greater than the first actual response time, the first number being a quotient of the optimal response time and the first actual response time; The control module is configured to send a torque request corresponding to each sub-torque to the lane keeping system one by one, wherein a third torque request corresponding to a next sub-torque is sent after a response to a second torque request corresponding to a previous sub-torque is completed; The lane deviation correction control device further includes a second actual response time calculation module and an update module; The second actual response time calculation module is used to calculate the sum of the actual response times of all sub-torques as the second actual response time; The updating module is configured to update the first number by adding one to the first number when the optimal response time is greater than the second actual response time; The decomposition module is further configured to decompose the first torque request into an updated first number of component torques.

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