CN113189996B - Lane keeping auxiliary optimization system - Google Patents
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- CN113189996B CN113189996B CN202110469878.XA CN202110469878A CN113189996B CN 113189996 B CN113189996 B CN 113189996B CN 202110469878 A CN202110469878 A CN 202110469878A CN 113189996 B CN113189996 B CN 113189996B
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a lane keeping auxiliary optimization system which comprises a visual detection module, a lane keeping control module, a lane keeping execution module and a deviation compensation module, wherein the visual detection module is used for detecting lane line information of a lane and determining lane central line information according to the lane line information, the lane keeping control module acquires vehicle information to obtain wheel adjustment angles of wheels required to be adjusted when the vehicle keeps in a centered running state under the current running speed of the vehicle, the lane keeping execution module acquires deviation compensation angles of the wheels and controls the wheels to rotate according to the sum of the vehicle adjustment angles and the deviation compensation angles, the deviation compensation module comprises a compensation strategy, and the compensation strategy comprises a deviation displacement determination step, a deviation displacement comparison step, a deviation time comparison step, a deviation compensation angle updating step and a deviation displacement verification step.
Description
Technical Field
The invention relates to the field of intelligent vehicles, in particular to a lane keeping auxiliary optimization system.
Background
The lane keeping system is a system that recognizes a lane line of a lane by a visual detection device and assists steering operation of a steering wheel so that a vehicle always keeps running in the middle of the lane. The lane keeping auxiliary system can replace a driver to carry out centered running operation on the vehicle, and greatly relieves driving fatigue during high-speed running.
However, after a vehicle has run for a period of time, the wheels usually deflect, i.e. the wheels still deflect to a different extent when the steering wheel is positive. This situation may cause the lane keeping system function to deviate left and right after a period of use, and the vehicle cannot be completely kept at the center of the lane, and the vehicle may continuously adjust the distance between the center of the vehicle and the center line of the lane at a position deviated from the center line of the lane by a certain distance, but cannot make the center of the vehicle return to the center line of the lane. The existing solution is to require the user to do a four-wheel positioning or go to the 4S point to recalibrate the functional parameters. However, for the user, the parameters of the four-wheel positioning or the 4S point-removing recalibration function are time-consuming and labor-consuming, are not human-friendly, and increase the maintenance cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a lane keeping auxiliary optimization system which can eliminate or reduce the influence of wheel deviation on vehicle running and improve the user experience.
In order to achieve the purpose, the invention provides the following technical scheme: a lane keeping auxiliary optimization system comprises a visual detection module, a lane keeping control module, a lane keeping execution module and a deviation compensation module;
the visual detection module is used for detecting lane line information of a lane and determining lane center line information according to the lane line information, the visual detection module sends the lane center line information to the lane keeping control module and the deviation compensation module, the lane line information comprises a left lane line position, a right lane line position or a lane center line position and lane width, and the lane center line information comprises a lane center line position;
the lane keeping control module acquires vehicle information, wherein the vehicle information comprises the position of a vehicle, the running speed of the vehicle and the wheel rotation angle of the vehicle, the lane keeping control module receives lane center line information sent by the visual detection module, compares the lane center line information with the acquired vehicle information, calculates the lane center line information, obtains the wheel adjustment angle of each wheel required to be adjusted when the vehicle keeps running in the middle at the current running speed of the vehicle, and sends the wheel adjustment angle to the lane keeping execution module;
the lane keeping execution module acquires a deviation compensation angle of each wheel, wherein the deviation compensation angle is a deviation angle of the wheel, and after the lane keeping execution module acquires a wheel adjustment angle, the lane keeping execution module controls the wheel to rotate according to the sum of the vehicle adjustment angle and the deviation compensation angle;
the deviation compensation module comprises a compensation strategy, and the compensation strategy comprises a deviation displacement determining step, a deviation displacement comparison step, a deviation time comparison step, a deviation compensation angle updating step and a deviation displacement verification step;
the deviation displacement determining step comprises the steps of obtaining vehicle information, receiving lane center line information, determining deviation displacement of the vehicle deviating from a lane center line according to the vehicle information and the lane center line information, and entering the deviation displacement comparison step;
the step of comparing the deviation displacement comprises the step of comparing the deviation displacement with a preset deviation critical displacement, and when the deviation displacement is larger than the deviation critical displacement, the step of comparing the deviation time is started, otherwise, the step of determining the deviation displacement is started;
the deviation time comparison step comprises the steps of comparing the continuous deviation time of which the deviation displacement is greater than the deviation critical displacement with the preset deviation critical time, and entering the step of updating the deviation compensation angle when the deviation time is greater than the deviation critical time, otherwise, returning to the step of determining the deviation displacement;
the step of updating the deviation compensation angle comprises the steps of obtaining the current deviation compensation angle, taking the sum of the deviation compensation angle and a preset automatic compensation angle adjustment base number as a new deviation compensation angle, sending the new deviation compensation angle to the lane keeping execution module, and entering the deviation displacement verification step;
the deviation compensation module detects the maximum deviation displacement within the verification time after the deviation compensation angle is updated, compares the maximum deviation displacement with the deviation critical displacement, returns to the step of updating the deviation compensation angle when the maximum deviation displacement is larger than the deviation critical displacement, and otherwise, ends.
As a further improvement of the present invention, the verification time is calculated by a preset algorithm according to the deviation critical time, and the verification time is proportional to the deviation critical time.
As a further improvement of the present invention, a half lane width distance value is preset in the visual detection module, the half lane width distance value represents a half of the width of a conventional lane, and when the visual detection module detects only the left lane line position or the right lane line position, the left lane line position or the right lane line position is moved in the radial direction toward the lane center direction by the half lane width distance value to obtain the lane center line position.
As a further improvement of the present invention, when the visual detection module detects the left lane line position and the right lane line position at the same time and does not detect the lane center line position, the center positions of the left lane line position and the right lane line position are taken as the lane center line position.
As a further improvement of the invention, a compensation angle adjusting panel is arranged on the vehicle and is used for the driver to manually adjust the deviation compensation angle.
As a further improvement of the present invention, the compensation angle adjusting button comprises an increase button, a decrease button and a display button, the display button is used for displaying the current off-tracking compensation angle, and when the increase button or the decrease button is triggered, the sum or the difference between the off-tracking compensation angle and a preset compensation angle manual adjustment base number is used as a new off-tracking compensation angle and sent to the lane keeping executing module.
As a further refinement of the invention, the compensation angle manual adjustment base is smaller than the compensation angle automatic adjustment base.
As a further improvement of the invention, the compensation angle manual adjustment base is one third to two thirds of the compensation angle automatic adjustment base.
As a further improvement of the invention, the vehicle is further provided with an off-critical-time adjusting button, and the off-critical-time adjusting button is used for manually adjusting the off-critical time by a driver.
As a further improvement of the present invention, the visual detection module is a monocular camera.
The invention has the beneficial effects that: through the arrangement of the visual detection module, the lane keeping control module and the lane keeping execution module, the function that the vehicle can be adjusted towards the direction of the lane center line after deviating from the lane center line is achieved, and the deviation compensation angle of the wheels is referred in the adjustment process, so that the adjustment effect is good. Through the arrangement of the deviation compensation module and the compensation strategy, in the process of automatic driving of the vehicle, when the deviation displacement of the center of the vehicle and the center line of the lane is always greater than the deviation critical displacement within the continuous deviation critical time of the vehicle, the influence of accidental factors can be eliminated, the deviation between the actual deviation compensation angle and the currently set deviation compensation angle can be judged, at the moment, the deviation compensation module automatically starts to adjust the deviation compensation angle, the deviation compensation angle gradually starts to be adjusted until the maximum deviation displacement within the verification time is less than the deviation critical displacement, at the moment, the actual deviation compensation angle can be judged to be equal to or extremely close to the currently set deviation compensation angle, the deviation compensation angle is optimized in real time in a self-learning gradual adjusting mode, the influence of the deviation of the wheels on the driving of the vehicle is eliminated or greatly reduced, and the user experience is improved.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a frame diagram of the present invention;
fig. 3 is a schematic view of a structure of a compensation angle adjusting button.
Reference numerals are as follows: 1. a visual inspection module; 2. a lane keeping control module; 3. a lane keeping execution module; 4. a deviation compensation module; 5. a compensation angle adjustment button; 51. an increase button; 52. a decrease button; 53. the buttons are displayed.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 2, the lane keeping auxiliary optimization system of the present embodiment includes a visual detection module 1, a lane keeping control module 2, a lane keeping execution module 3, and a deviation compensation module 4, where the visual detection module 1 is a monocular camera in the present embodiment.
The visual detection module 1 is used for detecting lane line information of a lane and determining the lane line information according to the lane line information, the visual detection module 1 sends the lane line information to the lane keeping control module 2 and the deviation compensation module 4, the lane line information comprises a left lane line position, a right lane line position or a lane line position and lane width, and the lane line information comprises a lane line position.
The mode that the vision detection module 1 determines the position of the center line of the lane is as follows:
1. the visual detection module 1 directly detects the position of the center line of the lane.
2. When the visual detection module 1 only detects the left lane line position or the right lane line position, the left lane line position or the right lane line position is moved to the lane center direction along the radial direction by the half lane width distance value, so that the lane center line position is obtained. Radial refers to a direction perpendicular to the direction of travel of the roadway.
3. When the visual detection module 1 detects the left lane line position and the right lane line position at the same time and does not detect the lane center line position, the center positions of the left lane line position and the right lane line position are used as the lane center line position.
The lane keep control module 2 acquires vehicle information including a position of the vehicle, a traveling speed of the vehicle, and a wheel rotation angle of the vehicle, the vehicle information being directly acquired from the vehicle. The lane keeping control module 2 receives lane center line information sent by the visual detection module 1, compares the lane center line information with the acquired vehicle information, calculates the lane center line information, obtains wheel adjustment angles of all wheels required to be adjusted when the vehicle keeps running in the center under the current vehicle running speed, namely, under the conditions of ensuring running safety and improving riding experience as much as possible, and sends the wheel adjustment angles to the lane keeping execution module 3.
The lane keeping execution module 3 acquires a deviation compensation angle of each wheel, the deviation compensation angle is a deviation angle of each wheel, and after the lane keeping execution module 3 acquires a wheel adjustment angle, the wheels are controlled to rotate according to the sum of the vehicle adjustment angle and the deviation compensation angle.
For example, the visual detection module 1 detects a left lane line position and a right lane line position and takes the center position of the left lane line position and the right lane line position as the lane center line position. The lane center line position is sent to the lane keeping control module 2 as lane center line information. The lane keeping control module 2 obtains the position of the vehicle, the running speed of the vehicle and the wheel rotation angle of the vehicle, obtains the wheel adjustment angle of the wheel by referring to lane center line information and sends the wheel adjustment angle to the lane keeping execution module 3, the lane keeping execution module 3 obtains the deviation compensation angle of each wheel of the current vehicle and controls each wheel to rotate according to the sum of the wheel adjustment angle and the deviation compensation angle, so that the center of the vehicle moves towards the direction of the lane center line, and the vehicle is kept at the center of the lane.
Referring to fig. 1, the deviation compensation module 4 includes a compensation strategy, and the compensation strategy includes a deviation displacement determination step, a deviation displacement comparison step, a deviation time comparison step, a deviation compensation angle updating step, and a deviation displacement verification step.
The deviation displacement determining step comprises the steps of obtaining vehicle information, receiving lane center line information, determining deviation displacement of the vehicle deviating from a lane center line according to the vehicle information and the lane center line information, and entering a deviation displacement comparison step.
The step of comparing the deviation displacement comprises the step of comparing the deviation displacement with a preset deviation critical displacement, and when the deviation displacement is larger than the deviation critical displacement, the step of comparing the deviation time is started, otherwise, the step of determining the deviation displacement is started.
The deviation time comparison step comprises the steps of comparing the continuous deviation time with the deviation critical time, wherein the deviation displacement is larger than the deviation critical displacement, with the preset deviation critical time, entering the step of updating the deviation compensation angle when the deviation time is larger than the deviation critical time, and otherwise, returning to the step of determining the deviation displacement.
And the step of updating the deviation compensation angle comprises the steps of acquiring the current deviation compensation angle, taking the sum of the deviation compensation angle and a preset compensation angle automatic adjustment base number as a new deviation compensation angle, sending the new deviation compensation angle to the lane keeping execution module 3, and entering a deviation displacement verification step.
The deviation displacement verification step comprises the steps that the deviation compensation module 4 sets verification time, the deviation compensation module 4 detects the maximum deviation displacement within the verification time after the deviation compensation angle is updated, the maximum deviation displacement is compared with the deviation critical displacement, when the maximum deviation displacement is larger than the deviation critical displacement, the deviation compensation angle updating step is returned, and otherwise, the deviation compensation angle updating step is ended. The verification time is calculated according to the deviation critical time through a preset algorithm, and the verification time is in direct proportion to the deviation critical time.
For example, the deviation critical time is preset to 0.3 seconds, the verification time is 0.5 seconds, the deviation critical displacement is preset to 10cm, and the compensation angle automatic adjustment base is preset to 0.1 degrees. When the vehicle is driven automatically, the deviation compensation module 4 determines that the deviation displacement of the center of the vehicle from the center line of the lane is +15cm according to the vehicle information and the lane center line information, wherein the + represents the left direction along the driving direction of the vehicle, and the-represents the right direction when the deviation displacement is right. At the moment, the offset displacement is larger than the offset critical displacement, the deviation compensation module 4 detects that the continuous deviation time is 0.5 second, the deviation time is larger than the deviation critical time, the current deviation compensation angle is obtained at the moment, and the deviation compensation angle is adjusted by 0.1 degree to the right direction on the basis of the current deviation compensation angle to serve as a new deviation compensation angle. And then the deviation compensation module 4 detects the maximum deviation displacement within 0.5 second, if the maximum deviation displacement is not more than 10cm, the compensation strategy is ended, if the maximum deviation displacement is more than 10cm, the deviation compensation module adjusts 0.1 degree to the right direction on the basis of the current deviation compensation angle again to serve as a new deviation compensation angle, and the verification is carried out for 0.5 second until the maximum deviation displacement within 0.5 second is not more than 10cm.
Referring to fig. 3, a compensation angle adjusting panel is arranged on the vehicle and used for a driver to manually adjust the deviation compensation angle. The compensation angle adjusting button 5 comprises an increasing button 51, a decreasing button 52 and a display button 53, wherein the display button 53 is used for displaying the current deviation compensation angle, and when the increasing button 51 or the decreasing button 52 is triggered, the sum or the difference of the deviation compensation angle and the preset compensation angle manual adjustment base number is used as a new deviation compensation angle and is sent to the lane keeping execution module 3. The compensation angle manual adjustment base number is one third to two thirds of the compensation angle automatic adjustment base number. In this embodiment, the compensation angle manual adjustment base number is one half of the compensation angle automatic adjustment base number, for example, the compensation angle automatic adjustment base number is preset to 0.1 degree, and the compensation angle manual adjustment base number is preset to 0.05 degree. Through the arrangement, the deviation compensation angle can be manually adjusted by a driver, and the deviation compensation angle can be adjusted more accurately by the driver according to needs or personal habits.
And the vehicle is also provided with an off-critical-time adjusting button which is used for manually adjusting the off-critical time by a driver. The driver can adjust the adjustment sensitivity of the deviation compensation by adjusting the deviation critical time, so that the requirements of different drivers on different deviation adjustment sensitivities are met.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A lane-keeping aid optimization system comprising a visual detection module (1), a lane-keeping control module (2) and a lane-keeping execution module (3), characterized in that: the device also comprises a deviation compensation module (4);
the visual detection module (1) is used for detecting lane line information of a lane and determining lane line information according to the lane line information, the visual detection module (1) sends the lane line information to the lane keeping control module (2) and the deviation compensation module (4), the lane line information comprises a left lane line position, a right lane line position or a lane center line position and lane width, and the lane line information comprises a lane center line position;
the lane keeping control module (2) acquires vehicle information, wherein the vehicle information comprises the position of a vehicle, the running speed of the vehicle and the wheel turning angle of the vehicle, the lane keeping control module (2) receives lane center line information sent by the visual detection module (1), compares the lane center line information with the acquired vehicle information and calculates the lane center line information to obtain wheel adjustment angles of each wheel which needs to be adjusted when the vehicle keeps running in the middle at the current running speed of the vehicle, and sends the wheel adjustment angles to the lane keeping execution module (3);
the lane keeping executing module (3) acquires a deviation compensation angle of each wheel, wherein the deviation compensation angle is the deviation angle of the wheel, and after the lane keeping executing module (3) acquires a wheel adjusting angle, the wheel is controlled to rotate according to the sum of the wheel adjusting angle and the deviation compensation angle;
the deviation compensation module (4) comprises a compensation strategy, and the compensation strategy comprises a deviation displacement determining step, a deviation displacement comparison step, a deviation time comparison step, a deviation compensation angle updating step and a deviation displacement verification step;
the step of determining the deviation displacement comprises the steps of obtaining vehicle information, receiving lane center line information, determining the deviation displacement of the vehicle deviating from the lane center line according to the vehicle information and the lane center line information, and performing the step of comparing the deviation displacements;
the step of comparing the deviation displacement comprises the step of comparing the deviation displacement with a preset deviation critical displacement, and when the deviation displacement is larger than the deviation critical displacement, the step of comparing the deviation time is started, otherwise, the step of determining the deviation displacement is started;
the deviation time comparison step comprises the steps of comparing the continuous deviation time of which the deviation displacement is greater than the deviation critical displacement with the preset deviation critical time, and entering the step of updating the deviation compensation angle when the deviation time is greater than the deviation critical time, otherwise, returning to the step of determining the deviation displacement;
the step of updating the deviation compensation angle comprises the steps of obtaining the current deviation compensation angle, taking the sum of the deviation compensation angle and a preset automatic compensation angle adjustment base number as a new deviation compensation angle, sending the new deviation compensation angle to the lane keeping execution module (3), and entering the deviation displacement verification step;
the deviation displacement verification step comprises the step that the deviation compensation module (4) is set with verification time, the deviation compensation module (4) detects and updates the deviation compensation angle and then compares the maximum deviation displacement with the deviation critical displacement in the verification time, when the maximum deviation displacement is larger than the deviation critical displacement, the step of updating the deviation compensation angle is returned, and otherwise, the step is finished.
2. A lane keeping aid optimization system according to claim 1, characterized in that: the verification time is calculated according to the deviation critical time through a preset algorithm, and the verification time is in direct proportion to the deviation critical time.
3. A lane keeping aid optimization system according to claim 1, characterized in that: the visual detection module (1) is preset with a half lane width distance value, the half lane width distance value represents half of the width of a conventional lane, and when the visual detection module (1) only detects the left lane line position or the right lane line position, the left lane line position or the right lane line position is moved towards the center direction of the lane along the radial direction to obtain the center line position of the lane.
4. A lane keeping aid optimization system according to claim 3, characterized in that: when the vision detection module (1) detects the left lane line position and the right lane line position at the same time and does not detect the lane center line position, the center positions of the left lane line position and the right lane line position are used as the lane center line position.
5. A lane keeping aid optimization system according to claim 1, characterized in that: the vehicle is provided with a compensation angle adjusting panel, and the compensation angle adjusting panel is used for manually adjusting the deviation compensation angle by a driver.
6. A lane keeping aid optimization system according to claim 5, characterized in that: compensation angle adjustment button (5) are including increase button (51), reduce button (52) and show button (53), it is current that show button (53) are used for showing off tracking compensation angle, increase button (51) or when reducing button (52) are triggered will off tracking compensation angle and the manual adjustment cardinal number of predetermined compensation angle sum or difference be new off tracking compensation angle and send to lane keeps execution module (3).
7. A lane keeping aid optimization system according to claim 6, characterized in that: the compensation angle manual adjustment base number is smaller than the compensation angle automatic adjustment base number.
8. A lane keeping aid optimization system according to claim 7, characterized in that: the compensation angle manual adjustment base number is one third to two thirds of the compensation angle automatic adjustment base number.
9. A lane keeping aid optimization system according to claim 1, characterized in that: and the vehicle is also provided with a deviation critical time adjusting button which is used for manually adjusting the deviation critical time by a driver.
10. A lane keeping aid optimization system according to claim 1, characterized in that: the visual detection module (1) is a monocular camera.
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| CN115032341A (en) * | 2022-06-06 | 2022-09-09 | 青岛理工大学 | Gas inspection platform with active distance compensation function and inspection method |
| CN115805991A (en) * | 2022-11-29 | 2023-03-17 | 中国第一汽车股份有限公司 | Vehicle deviation compensation control method, device, terminal and storage medium |
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Denomination of invention: A Lane Keeping Assistant Optimization System Effective date of registration: 20230828 Granted publication date: 20221101 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: Inbo supercomputing (Nanjing) Technology Co.,Ltd. Registration number: Y2023980054095 |