CN102717825A - Collaborative lane keeping controlling method - Google Patents
Collaborative lane keeping controlling method Download PDFInfo
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- CN102717825A CN102717825A CN2012102105085A CN201210210508A CN102717825A CN 102717825 A CN102717825 A CN 102717825A CN 2012102105085 A CN2012102105085 A CN 2012102105085A CN 201210210508 A CN201210210508 A CN 201210210508A CN 102717825 A CN102717825 A CN 102717825A
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Abstract
The invention relates to a collaborative lane keeping controlling method. A state observation module obtains a driver operation torque in a rear-time manner and transmits the driver operation torque to a driver operating state judge module once a work cycle starts, and obtains road surface environment information and vehicle state parameters and transmits the road surface environment information and the vehicle state parameters to a lane deviation judge module; the driver operating state judge module judges driver operating states, that is, a power-assisted steering module outputs a motor control voltage to a slope limitation module if a driver operates, the lane deviation judge module judges whether the vehicle deviates from a lane according to the road surface environment information and the vehicle state parameters if the driver does not operate, and an active lane keeping module outputs a motor control voltage to the slope limitation module if the vehicle deviates from the lane; in addition, the slope limitation module coordinates the received motor control voltage that is then output to a pulse-width modulation module, and the motor control voltage is converted to pulse width modulation signals that are output to an electric motor, so that an electric steering system is driven to operate. The collaborative lane keeping controlling method can be widely used in various lane keeping controlling technical fields based on the electric steering system.
Description
Technical field
The present invention relates to a kind of automobile track retentive control method, particularly control the cooperating type track retentive control method based on electric power steering of usefulness about a kind of automobile active safety.
Background technology
At present, along with deepening continuously of automobile active safety technical study, electric power steering increases in the application aspect the retentive control of track gradually, and is also perfect constantly based on the track retentive control research of electric power steering.At present about in this respect research mostly with the execution unit of electric power steering as Lane Keeping System, ignore the servo-steering function of electric power steering.This strategy has caused the waste of hardware resource to a certain extent owing to do not consider the shared and control Research on Interactive Problem of the structure of electric power steering.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of cooperating type track retentive control method that can take into account electric power steering system of automobile active track maintenance function and servo-steering function.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of cooperating type track retentive control method; It may further comprise the steps: 1) adopt the vehicle existing apparatus to constitute a real-time acquisition control system, this system comprises state observation module, GPS unit, camera unit, vehicle-mounted bus, torque sensor, rotary angle transmitter, driver's operation condition judgment module, servo-steering module, deviation judge module, initiatively the track keeps module, slope limiting module, pulse width modulation module, motor and electric power steering; 2) when a cycle of operations begins, the state observation module is obtained the driver's operation moment T that torque sensor records in real time
d, send the driver's operation condition judgment module to, obtain road environment information from GPS unit and camera unit simultaneously, obtain the vehicle-state parameter from vehicle-mounted bus and send the deviation judge module to; 3) the driver's operation condition judgment module is according to the driver's operation moment T that receives
dJudge the driver's operation state: if chaufeur goes to step 4) at the direction of operating dish; If chaufeur is the direction of operating dish not, go to step 5); 4) electric power steering is operated in the servo-steering pattern, exports an electric machine control voltage by the servo-steering module and gives the slope limiting module, gets into step 7); 5) the deviation judge module is judged whether run-off-road of vehicle according to the road environment information that receives and vehicle-state parameter: if automotive run-off-road goes to step 6); If vehicle is run-off-road not, return step 2); 6) electric power steering is operated in initiatively track maintenance pattern, keeps module to export an electric machine control voltage by the active track and gives the slope limiting module, get into step 7); 7) the slope limiting module is coordinated the electric machine control voltage that receives, and will coordinate the result and export to pulse width modulation module, converts pulse-width signal to, exports to motor, drives electric power steering work.
Above-mentioned steps 3) in, the driver's operation condition judgment module is judged the driver's operation state according to following steps:
3.1) with driver's operation moment T
dWith the torque threshold α that sets
TCompare:
If T
dGreater than α
T, judge that chaufeur is just at the direction of operating dish;
If T
dLess than α
T, get into step 3.2);
3.2) with T
dLess than α
TThe time t that state continued and the time threshold α of setting
tCompare:
If t is greater than α
t, judge not direction of operating dish of chaufeur;
If t is smaller or equal to α
t, judge that chaufeur is still at the direction of operating dish.
Above-mentioned steps 5) in, the deviation judge module is judged whether run-off-road of vehicle according to following steps:
5.1) stride the time according to road environment information and vehicle-state calculation of parameter vehicle;
5.2) time threshold that vehicle is striden time and setting compares:
If vehicle is striden the time less than the time threshold of setting, judge automotive run-off-road;
If vehicle is striden the time more than or equal to the time threshold of setting, judge not run-off-road of vehicle.
Above-mentioned steps 6) in, the active track keeps its interior pilot model and PID controller that is provided with of sharp 00 usefulness of module, controls voltage through the following steps output motor:
6.1) the state observation module sends vehicle target track and vehicle actual path to pilot model;
6.2) pilot model calculates target direction dish corner according to vehicle target track and vehicle actual path, outputs it to the PID controller;
6.3) difference of the actual steering wheel corner gathered according to target direction dish corner and rotary angle transmitter of PID controller, calculate corresponding electric machine control voltage, output.
Above-mentioned vehicle target track is the track line of centers in the road environment information, and vehicle actual path information is obtained from vehicle-mounted bus.
Above-mentioned steps 7) in, the slope limiting module limits the slope rate of rise of its electric machine control voltage that receives.
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention is according to the driver's operation state; Being divided into the electric power steering mode of operation initiatively, the track keeps pattern and two kinds of operating conditions of servo-steering pattern; Take the control corresponding method respectively to these two kinds of operating conditions, thereby can have when operation to carry out servo-steering, do not operate and carry out initiatively during automotive run-off-road that the track keeps at chaufeur at chaufeur; The structure that has realized electric power steering is shared, has improved the work efficiency of system effectively.2, the present invention adopts the slope restriction to accomplish the co-operative control when initiatively the track keeps pattern and servo-steering mode switch, helps the smooth transition of two mode of operations.The present invention can be widely used in the various track retentive control technical fields based on electric power steering.
Description of drawings
Fig. 1 realizes that system of the present invention forms scheme drawing;
Fig. 2 is that driver's operation state of the present invention is judged scheme drawing;
Fig. 3 is an active of the present invention track retentive control scheme drawing.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
As shown in Figure 1; Cooperating type provided by the invention track retentive control method need realize that this system comprises state observation module 1, GPS unit 2, camera unit 3, vehicle-mounted bus 4, torque sensor 5, rotary angle transmitter 6, driver's operation condition judgment module 7, servo-steering module 8, deviation judge module 9, initiatively the track keeps module 10, slope limiting module 11, pulse duration modulation (PWM) module 12, motor 13 and electric power steering 14 through a real-time acquisition control system.
Cooperating type of the present invention track retentive control method is divided into the electric power steering mode of operation initiatively, and the track keeps pattern and two kinds of operating conditions of servo-steering pattern; Formulate the control corresponding method respectively to these two kinds of operating conditions; When mode switch, adopt the slope restriction to accomplish co-operative control; Form complete cooperating type track retentive control method, it may further comprise the steps:
1) when a cycle of operations begins, the state observation module is obtained the driver's operation moment T that torque sensor records in real time
d, send the driver's operation condition judgment module to, obtain road environment information from GPS unit and camera unit simultaneously, obtain the vehicle-state parameter from vehicle-mounted bus and send the deviation judge module to; Wherein road environment information can comprise track line of centers information, and the vehicle-state parameter can comprise information such as the speed of a motor vehicle and yaw velocity;
2) the driver's operation condition judgment module is according to the driver's operation moment T that receives
dJudge the driver's operation state:
If chaufeur goes to step 3) at the direction of operating dish;
If chaufeur is the direction of operating dish not, go to step 4);
3) electric power steering is operated in the servo-steering pattern, exports an electric machine control voltage by the servo-steering module and gives the slope limiting module, gets into step 6);
4) the deviation judge module is judged whether run-off-road of vehicle according to the road environment information that receives and vehicle-state parameter:
If automotive run-off-road goes to step 5);
If vehicle is run-off-road not, return step 1);
5) electric power steering is operated in initiatively track maintenance pattern, keeps module to export an electric machine control voltage by the active track and gives the slope limiting module, get into step 6);
6) the slope limiting module is coordinated the electric machine control voltage that receives, and will coordinate the result and export to pulse width modulation module, converts pulse-width signal to, exports to motor, drives electric power steering work.
As shown in Figure 2, above-mentioned steps 2) in, the driver's operation condition judgment module is judged according to following steps and is driven
The person's of sailing serviceability:
2.1) with driver's operation moment T
dWith the torque threshold α that sets
TCompare:
If T
dGreater than α
T, judge that chaufeur is just at the direction of operating dish;
If T
dLess than α
T, get into step 2.2);
2.2) with T
dLess than α
TThe time t that state continued and the time threshold α of setting
tCompare:
If t is greater than α
t, judge not direction of operating dish of chaufeur;
If t is smaller or equal to α
t, judge that chaufeur is still at the direction of operating dish.
Above-mentioned steps 4) in, the deviation judge module is judged according to following steps and is judged whether run-off-road of vehicle:
4.1) stride the time according to road environment information and vehicle-state calculation of parameter vehicle;
4.2) time threshold that vehicle is striden time and setting compares:
If vehicle is striden the time less than the time threshold of setting, judge automotive run-off-road;
If vehicle is striden the time more than or equal to the time threshold of setting, judge not run-off-road of vehicle.
As shown in Figure 3, above-mentioned steps 5) in, initiatively to keep module be one to comprise the close loop control circuit of pilot model and PID controller in the track, when automotive run-off-road, through following steps output motor control voltage, to realize initiatively track maintenance:
5.1) the state observation module sends vehicle target track and vehicle actual path to pilot model; Wherein, the vehicle target track can be the track line of centers, and vehicle actual path information can be obtained from vehicle-mounted bus;
5.2) pilot model calculates target direction dish rotational angle theta so according to vehicle target track and vehicle actual path, outputs it to the PID controller;
5.3) difference of the actual steering wheel rotational angle theta s that gathers according to target direction dish rotational angle theta so and rotary angle transmitter of PID controller, calculate corresponding electric machine control voltage, output.
Above-mentioned steps 6) in, the slope limiting module limits the slope rate of rise of its electric machine control voltage that receives, thereby realizes the co-operative control between servo-steering pattern and the active track maintenance pattern.
Above-mentioned each embodiment only is used to explain the present invention, and wherein the structure of each parts, connection mode etc. all can change to some extent, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.
Claims (8)
1. cooperating type track retentive control method, it may further comprise the steps:
1) adopt the vehicle existing apparatus to constitute a real-time acquisition control system, this system comprises state observation module, GPS unit, camera unit, vehicle-mounted bus, torque sensor, rotary angle transmitter, driver's operation condition judgment module, servo-steering module, deviation judge module, initiatively the track keeps module, slope limiting module, pulse width modulation module, motor and electric power steering;
2) when a cycle of operations begins, the state observation module is obtained the driver's operation moment T that torque sensor records in real time
d, send the driver's operation condition judgment module to, obtain road environment information from GPS unit and camera unit simultaneously, obtain the vehicle-state parameter from vehicle-mounted bus and send the deviation judge module to;
3) the driver's operation condition judgment module is according to the driver's operation moment T that receives
dJudge the driver's operation state:
If chaufeur goes to step 4) at the direction of operating dish;
If chaufeur is the direction of operating dish not, go to step 5);
4) electric power steering is operated in the servo-steering pattern, exports an electric machine control voltage by the servo-steering module and gives the slope limiting module, gets into step 7);
5) the deviation judge module is judged whether run-off-road of vehicle according to the road environment information that receives and vehicle-state parameter:
If automotive run-off-road goes to step 6);
If vehicle is run-off-road not, return step 2);
6) electric power steering is operated in initiatively track maintenance pattern, keeps module to export an electric machine control voltage by the active track and gives the slope limiting module, get into step 7);
7) the slope limiting module is coordinated the electric machine control voltage that receives, and will coordinate the result and export to pulse width modulation module, converts pulse-width signal to, exports to motor, drives electric power steering work.
2. a kind of cooperating type track retentive control method as claimed in claim 1 is characterized in that: in the said step 3), the driver's operation condition judgment module is judged the driver's operation state according to following steps:
3.1) with driver's operation moment T
dWith the torque threshold α that sets
TCompare:
If T
dGreater than α
T, judge that chaufeur is just at the direction of operating dish;
If T
dLess than α
T, get into step 3.2);
3.2) with T
dLess than α
TThe time t that state continued and the time threshold α of setting
tCompare:
If t is greater than α
t, judge not direction of operating dish of chaufeur;
If t is smaller or equal to α
t, judge that chaufeur is still at the direction of operating dish.
3. a kind of cooperating type track retentive control method as claimed in claim 1 is characterized in that: in the said step 5), the deviation judge module is judged whether run-off-road of vehicle according to following steps:
5.1) stride the time according to road environment information and vehicle-state calculation of parameter vehicle;
5.2) time threshold that vehicle is striden time and setting compares:
If vehicle is striden the time less than the time threshold of setting, judge automotive run-off-road;
If vehicle is striden the time more than or equal to the time threshold of setting, judge not run-off-road of vehicle.
4. a kind of cooperating type track retentive control method as claimed in claim 2 is characterized in that: in the said step 5), the deviation judge module is judged whether run-off-road of vehicle according to following steps:
5.1) stride the time according to road environment information and vehicle-state calculation of parameter vehicle;
5.2) time threshold that vehicle is striden time and setting compares:
If vehicle is striden the time less than the time threshold of setting, judge automotive run-off-road;
If vehicle is striden the time more than or equal to the time threshold of setting, judge not run-off-road of vehicle.
5. like claim 1 or 2 or 3 or 4 described a kind of cooperating type track retentive control methods; It is characterized in that: in the said step 6); Initiatively the track keeps module to utilize pilot model and the PID controller that is provided with in it, controls voltage through the following steps output motor:
6.1) the state observation module sends vehicle target track and vehicle actual path to pilot model;
6.2) pilot model calculates target direction dish corner according to vehicle target track and vehicle actual path, outputs it to the PID controller;
6.3) difference of the actual steering wheel corner gathered according to target direction dish corner and rotary angle transmitter of PID controller, calculate corresponding electric machine control voltage, output.
6. a kind of cooperating type track retentive control method as claimed in claim 5 is characterized in that: said vehicle target track is the track line of centers in the road environment information, and said vehicle actual path information is obtained from vehicle-mounted bus.
7. like claim 1 or 2 or 3 or 4 or 6 described a kind of cooperating type track retentive control methods, it is characterized in that: in the said step 7), the slope limiting module limits the slope rate of rise of its electric machine control voltage that receives.
8. a kind of cooperating type track retentive control method as claimed in claim 5 is characterized in that: in the said step 7), the slope limiting module limits the slope rate of rise of its electric machine control voltage that receives.
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|---|---|---|---|
| CN2012102105085A CN102717825A (en) | 2012-06-20 | 2012-06-20 | Collaborative lane keeping controlling method |
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|---|---|---|---|
| CN2012102105085A CN102717825A (en) | 2012-06-20 | 2012-06-20 | Collaborative lane keeping controlling method |
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| CN102717825A true CN102717825A (en) | 2012-10-10 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104691616A (en) * | 2015-02-17 | 2015-06-10 | 吉林大学 | Electrically controlled limit device and limit control method for preventing excessive automatic steering of automobile |
| CN104918843A (en) * | 2013-01-10 | 2015-09-16 | 日产自动车株式会社 | In-lane drive assist device |
| CN105329161A (en) * | 2014-06-27 | 2016-02-17 | 比亚迪股份有限公司 | Method and device for detecting vehicle deviation from lane |
| WO2016045365A1 (en) * | 2014-09-23 | 2016-03-31 | 北京理工大学 | Intelligent driving system with driver model |
| CN105730451A (en) * | 2014-12-09 | 2016-07-06 | 比亚迪股份有限公司 | Vehicle and device for detecting whether vehicle deviates from lane or not |
| CN105774901A (en) * | 2014-12-26 | 2016-07-20 | 比亚迪股份有限公司 | Lane keeping control system and method and vehicle |
| CN107132840A (en) * | 2017-05-03 | 2017-09-05 | 厦门大学 | A kind of vertical/horizontal/vertical cooperative control method that personalizes of cross-country electric drive vehicle |
| CN107972667A (en) * | 2018-01-12 | 2018-05-01 | 合肥工业大学 | The man-machine harmony control method and its control system of a kind of deviation auxiliary system |
| CN108430855A (en) * | 2015-11-19 | 2018-08-21 | 雷诺股份公司 | Driving assistance method for motor vehicles |
| CN108466617A (en) * | 2018-02-27 | 2018-08-31 | 金龙联合汽车工业（苏州）有限公司 | A kind of Lane Keeping System and track keep control method |
| CN108873694A (en) * | 2018-05-30 | 2018-11-23 | 吉林大学 | A kind of automated driving system of time domain variable weight-driver's flexible connecting pipe method |
| CN109177974A (en) * | 2018-08-28 | 2019-01-11 | 清华大学 | A kind of man-machine type lane of driving altogether of intelligent automobile keeps householder method |
| CN109606346A (en) * | 2018-12-29 | 2019-04-12 | 武汉超控科技有限公司 | A kind of Lane Keeping System of automatic Pilot |
| CN109835333A (en) * | 2019-03-07 | 2019-06-04 | 吉林大学 | A kind of control system and control method for keeping vehicle to travel among lane |
| CN113120079A (en) * | 2020-01-15 | 2021-07-16 | 通用汽车环球科技运作有限责任公司 | Steering wheel angle offset correction for autonomous vehicles using angle control |
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| CN104918843A (en) * | 2013-01-10 | 2015-09-16 | 日产自动车株式会社 | In-lane drive assist device |
| US9561822B2 (en) | 2013-01-10 | 2017-02-07 | Nissan Motor Co., Ltd. | In-lane drive assist device |
| CN105329161A (en) * | 2014-06-27 | 2016-02-17 | 比亚迪股份有限公司 | Method and device for detecting vehicle deviation from lane |
| CN105329161B (en) * | 2014-06-27 | 2019-01-29 | 比亚迪股份有限公司 | The method and apparatus for detecting vehicle shift lane |
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| CN105730451A (en) * | 2014-12-09 | 2016-07-06 | 比亚迪股份有限公司 | Vehicle and device for detecting whether vehicle deviates from lane or not |
| CN105774901A (en) * | 2014-12-26 | 2016-07-20 | 比亚迪股份有限公司 | Lane keeping control system and method and vehicle |
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| CN104691616A (en) * | 2015-02-17 | 2015-06-10 | 吉林大学 | Electrically controlled limit device and limit control method for preventing excessive automatic steering of automobile |
| CN108430855A (en) * | 2015-11-19 | 2018-08-21 | 雷诺股份公司 | Driving assistance method for motor vehicles |
| CN108430855B (en) * | 2015-11-19 | 2020-12-15 | 雷诺股份公司 | Driving assistance method for a motor vehicle |
| CN107132840B (en) * | 2017-05-03 | 2019-12-10 | 厦门大学 | Cross-country electrically-driven unmanned vehicle longitudinal/transverse/vertical personification cooperative control method |
| CN107132840A (en) * | 2017-05-03 | 2017-09-05 | 厦门大学 | A kind of vertical/horizontal/vertical cooperative control method that personalizes of cross-country electric drive vehicle |
| CN107972667A (en) * | 2018-01-12 | 2018-05-01 | 合肥工业大学 | The man-machine harmony control method and its control system of a kind of deviation auxiliary system |
| CN107972667B (en) * | 2018-01-12 | 2019-07-02 | 合肥工业大学 | A kind of man-machine harmony control method of deviation auxiliary system |
| CN108466617A (en) * | 2018-02-27 | 2018-08-31 | 金龙联合汽车工业（苏州）有限公司 | A kind of Lane Keeping System and track keep control method |
| CN108873694A (en) * | 2018-05-30 | 2018-11-23 | 吉林大学 | A kind of automated driving system of time domain variable weight-driver's flexible connecting pipe method |
| CN109177974A (en) * | 2018-08-28 | 2019-01-11 | 清华大学 | A kind of man-machine type lane of driving altogether of intelligent automobile keeps householder method |
| CN109177974B (en) * | 2018-08-28 | 2020-01-03 | 清华大学 | Man-machine co-driving type lane keeping auxiliary method for intelligent automobile |
| CN109606346A (en) * | 2018-12-29 | 2019-04-12 | 武汉超控科技有限公司 | A kind of Lane Keeping System of automatic Pilot |
| CN109835333A (en) * | 2019-03-07 | 2019-06-04 | 吉林大学 | A kind of control system and control method for keeping vehicle to travel among lane |
| CN113120079A (en) * | 2020-01-15 | 2021-07-16 | 通用汽车环球科技运作有限责任公司 | Steering wheel angle offset correction for autonomous vehicles using angle control |
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Application publication date: 20121010 |