CN103043053A - Driving assistance device on virtual road borders - Google Patents
Driving assistance device on virtual road borders Download PDFInfo
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- CN103043053A CN103043053A CN2011103104634A CN201110310463A CN103043053A CN 103043053 A CN103043053 A CN 103043053A CN 2011103104634 A CN2011103104634 A CN 2011103104634A CN 201110310463 A CN201110310463 A CN 201110310463A CN 103043053 A CN103043053 A CN 103043053A
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Abstract
A driving assistance device on virtual road borders is characterized in that the driving assistance device is arranged in an automobile and a steering assistance member used for controlling a steering wheel to turn is arranged in the automobile. The driving assistance device on virtual road borders comprises a processor, an image capture module and a control assistance module. The image capture module is arranged on the automobile and used for capturing images in front of the automobile and sending the images to the processor to analyze whether the automobile drives away from the center of a lane, and when the processor detects that the automobile drives away from the lane, the control assistance module is driven to turn the steering assistance member to help the automobile to drive back to the center of the lane. Therefore, the driving assistance device can assist a driver to drive the automobile back to the center of the lane when the automobile drives away from the lane, and the driver is led to have a control feeling of driving on a virtual concave road surface.
Description
Technical field
The present invention relates to the auxiliary driving device on a kind of virtual road border.
Background technology
In society now, the height of automobile popularity almost reaches each family and all has an automobile; And for the year by year rising that adapts to automobile quantity and improve the domestic travel quality, in recent years several also gradually completions of important expressways, so the travel chance of expressway of the common people also increases thereupon.
Generally speaking, when running car during in fastlink, because the speed of a motor vehicle is high, therefore as long as chaufeur control bearing circle slightly has deviation, namely can significantly change the running route of vehicle, careless slightly or doze off and to cause bearing circle to be offset slightly such as chaufeur, just the generation that easily results in an automobile accident.
For this reason, having manufacturer to release a kind of lane bias alarm device, is one video signal unit to be set to take the vehicle front image at automobile, judges by a treater whether vehicle is offset the track again, if vehicle really departs from, then treater drives sound caution unit and gives a warning.
Though aforementioned lane bias alarm device can be offset the track for automobile and make reply action, because automobile is still by driver's operation, so this lane bias alarm device only has pro forma warning function, do not prevent the dangerous effect that occurs and do not have essence.
Summary of the invention
For fear of chaufeur control bearing circle deviation is arranged slightly, namely can significantly change the running route of vehicle, thereby the problem that easily gets into an accident, the invention provides the auxiliary driving device on a kind of virtual road border, it is when the running car run-off-road, can initiatively help chaufeur that automobile is sailed turn around loop central authorities, reach real old driver assistance vehicle is remained in the effect that track central authorities travel.
The technical solution adopted for the present invention to solve the technical problems is:
The auxiliary driving device on a kind of virtual road border is characterized in that, is to be located in the automobile, be provided with one in this automobile in order to controlling the assisted diversion member of bearing circle, and this auxiliary driving device comprises: a treater; One image capture module is to be located on the automobile with acquisition vehicle front image, and send and give the aforementioned processing device and analyze the automobile run-off-road that whether travels; One auxiliary control module is to connect aforementioned processing device and this assisted diversion member, when treater detects the running car run-off-road, namely drives and is somebody's turn to do auxiliary control module operation assisted diversion member to make in the running car turn around loop.
Aforesaid auxiliary driving device, wherein auxiliary control module comprises a motor and a reducing gear, this motor is to connect treater and assisted diversion member, drive assisted diversion member steering wheel rotation by the treater CD-ROM drive motor, and this reducing gear is to be connected with this motor with treater, drive reducing gear by treater control and adjust motor rotary speed, with the corner size of control motor driving assisted diversion member steering wheel rotation.
The auxiliary driving device on aforementioned virtual road border, wherein auxiliary control module further comprises a power-transfer clutch, this power-transfer clutch is located between assisted diversion member and the motor, controls the coupled condition that described power-transfer clutch changes this assisted diversion member and motor by treater.
The auxiliary driving device on aforementioned virtual road border wherein further comprises a torsion torque sensor, and this torsion torque sensor is to be located on the aforementioned assisted diversion member to detect the torque magnitude of steering wheel rotation, and will detect the result and deliver to the aforementioned processing device; This treater further can be obtained the indicator signal, judges that indicator is activated or the torsion of steering wheel rotation during greater than a boundary value when treater, namely controls this power-transfer clutch and cuts off being connected of assisted diversion member and motor.
The auxiliary driving device on aforementioned virtual road border, wherein treater further can be obtained the brake signal, and when brake is activated, treater will be controlled humorous power-transfer clutch and cut off being connected of assisted diversion member and motor.
The auxiliary driving device on aforementioned virtual road border, wherein the image capture module comprises an image processor and a camera unit, this image processor is to connect the aforementioned processing device, this camera unit then connects this image processor, by this image processor with the camera unit acquisition to image data send preprocessor after processing.
The auxiliary driving device on aforementioned virtual road border, wherein treater further can be obtained vehicle speed signal, and built-in one auxiliary driving model, it comprises the following steps: to obtain image, when this torsion torque sensor has detected the torsion input, judge that namely chaufeur is to hold bearing circle, obtained the image data of vehicle front by treater self imaging acquisition module; Obtain present road speed, obtain vehicle speed signal by treater and learn present road speed; Analyze footpath, garage route, calculate the following conduct route of predicting automobile by treater according to the image data of vehicle front, corner size and the vehicle speed signal of bearing circle; Judge that whether automobile is about to run-off-road central authorities, judges according to the following conduct route of aforementioned automobile whether automobile is about to the run-off-road central authorities of travelling by treater; If judge the unlikely run-off-road of automobile central authorities, then process ends; If judge that automobile is with run-off-road central authorities, then calculate the required steering wheel angle of automobile of becoming a full member, extrapolate the automobile of wanting to become a full member by treater according to the following conduct route of corner size, vehicle speed signal and the automobile of bearing circle and get back to the required correction rotational angle of track central authorities; The driving direction dish turns to, and is driven by the treater CD-ROM drive motor and turns to the column steering wheel rotation, and cooperate reducing gear change motor rotary speed to rotate according to this correction rotational angle to adjust bearing circle; Judge whether bearing circle has turned to the correction rotational angle, detect bearing circle by treater and whether rotate according to this correction rotational angle, if then finish, then continue to calculate if not the required steering wheel angle step of automobile of becoming a full member.
The auxiliary driving device on aforementioned virtual road border, wherein treater further can be obtained vehicle speed signal, and in have an automatic modification model, this automatic modification model comprises the following steps: to obtain image, when this torsion torque sensor has not detected the torsion input, namely judge and do not hold chaufeur at this moment bearing circle, obtained the image data of vehicle front by treater self imaging acquisition module; Analyze automobile and whether driven to the edge, track, resolve aforementioned image data by treater, understand present automobile and whether driven to the edge, track; If automobile does not drive to the edge, track, then continue the step that this obtains image; If automobile has driven to the edge, track, then drive and to get at present road speed, and calculate the required steering wheel angle of automobile of becoming a full member, obtain vehicle speed signal by treater after, cooperate image data to extrapolate to want to become a full member automobile to get back to the required rotational angle of track central authorities; The driving direction dish turns to, and drives assisted diversion member rotating-wheel by the treater CD-ROM drive motor, and cooperates reducing gear to change motor rotary speed to adjust vehicle wheel rotation; Continue to obtain image, after the driving direction dish turns to step, continue to obtain the image data of vehicle front; Analyze automobile and whether got back to track central authorities, whether got back to track central authorities by treater according to the present automobile of image data analysis; If automobile has been got back to track central authorities, then process ends; If automobile is not yet got back to track central authorities, then get back to the become a full member step of the required steering wheel angle of automobile of this reckoning.
The auxiliary driving device on aforementioned virtual road border, wherein in the required steering wheel angle step of automobile is become a full member in described reckoning, to extrapolate a break-in rotational angle, turn angle and a fine-adjustment rotary angle to revise progressively motor turning, wherein this break-in rotational angle is in order to automobile is turned the direction that track central authorities are got back in Jiangxi, this time turn angle is further to make automobile become a full member sail turn around loop central authorities, this fine-adjustment rotary angle then is as last adjustment, makes running car in track central authorities.
Utilize above-mentioned technological means, the present invention is by the shooting of this image capture module and the computing of this treater, and can know run-off-road of automobile, treater can operate this auxiliary control module and provide a moment to this assisted diversion member at this moment, make rotating of steering wheel, and then make running car turn around loop central authorities.
The invention has the beneficial effects as follows: it can initiatively help chaufeur that automobile is sailed turn around loop central authorities when the running car run-off-road, reaches actual driver assistance vehicle is remained in the effect that track central authorities travel.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is that a preferred embodiment of the present invention is installed on the schematic diagram on the automobile.
Fig. 2 is the functional block diagram of a preferred embodiment of the present invention.
Fig. 3 is the diagram of circuit of automatic modification model of the present invention.
Fig. 4 is the schematic diagram of automatic modification model correction running car turn around loop of the present invention.
Fig. 5 is the diagram of circuit of auxiliary modification model of the present invention.
Fig. 6 is that auxiliary modification model of the present invention makes automobile just like travelling on one to the recessed concavity road surface schematic diagram of track central authorities.
Fig. 7 is the diagram of circuit of temporary transient decapacitation mechanism of the present invention.
The number in the figure explanation.
101 wheels
11 bearing circle 12 turn to column
21 treaters, 22 image capture modules
221 image processors, 222 camera units
23 torsion torque sensors, 25 auxiliary control modules
251 motors, 252 reducing gear
253 power-transfer clutchs.
The specific embodiment
Preferred embodiment about the auxiliary driving device of the pious plan road boundary of the present invention, see also Fig. 1 shown in Figure 2, to be located in the automobile, this automobile has the assisted diversion member that a control bearing circle 11 rotates, this assisted diversion member comprises steering gear (not shown) or other the possible assisted diversion member on column 12, the axletree of turning to of a closure dish II and axletree (not shown), and the auxiliary driving device on this virtual road border comprises a treater 2
1, an image capture module 22, a torsion torque sensor 23 and an auxiliary control module 25.This treater 21 is the processing maincenter of the auxiliary driving device on virtual road of the present invention border, it is located in the automobile, and can obtain indicator signal, brake signal and vehicle speed signal, and have an automatic modification model, an auxiliary modification model and a temporary transient decapacitation mechanism (being detailed later) in the described treater 21.
This image capture module 22 is to be located on the automobile with acquisition the place ahead image, and send and give aforementioned processing device 21 and analyze the automobiles run-off-road that whether travels, and in the present embodiment, described image capture module 22 is that to be located at the front windshield of automobile inboard; Please further consult shown in Figure 2ly, this image capture module 22 comprises an image processor 221 and a camera unit 222, wherein:
This image processor 221 is to connect aforementioned processing device 21, in order to process image data; 222 of this camera units connect this image processor 221, by this image processor 22 1 with 222 acquisitions of camera unit to image data send preprocessor 21 after processing, judge the vehicle run-off-road that whether travels by treater 21.Be to be located at the turning on the column 12 of aforementioned assisted diversion member in these torsion torque sensor 23 Chi the present embodiment, and connect aforementioned processing device 21 to detect the torque magnitude of chaufeur steering wheel rotation 11.
Should auxiliary control module 25 be to connect aforementioned processing device 21 and this assisted diversion member, as shown in Figure 2, described auxiliary control module 25 comprises a motor 251, a reducing gear 252 and a power-transfer clutch 253 in the present embodiment, wherein:
This motor 251 is to be connected with the assisted diversion member with treater 21, is that the column 12 that turns to of being connected with the assisted diversion member connects in the present embodiment, turns to column 12 rotating-wheel lol by the described motor 251 of treater 21 controls to drive this; This reducing gear 252 is to be connected with motor with treater 21 to be connected, and rotates to adjust motor 251 rotating speeds by treater 21 controls; This power-transfer clutch 253 is to be located at turning between column 12 and the motor 2 51 in the assisted diversion member, can turn to whether being connected of column 12 and motor 251 by described power-transfer clutch 253 controls of this treater 21 operations.
About aforementioned automatic modification model, see also shown in Figure 3ly, comprise the following steps:
Obtain image 300, when this torsion torque sensor 23 has not detected torsion when input, judge that namely chaufeur do not hold bearing circle II this moment, obtained the image data of vehicle front by treater 21 self imagings acquisition module 22;
Analyze automobile and whether driven to edge, track 301, resolve aforementioned image data by treater 21, understand present automobile and whether driven to the edge, track;
If automobile does not drive to the edge, track, then continue the step that this obtains image 300;
If automobile has driven to the edge, track, then obtain present road speed 302, and calculate the required steering wheel angle 303 of automobile of becoming a full member, after treater 21 is obtained vehicle speed signal, cooperate image data to extrapolate the automobile of wanting to become a full member and get back to the required break-in rotational angle in track, turn angle and a fine-adjustment rotary angle, these rotational angles mainly are for revising progressively motor turning, wherein this break-in rotational angle is in order to automobile is turned towards the direction of getting back to track central authorities, this time turn angle is further to make automobile become a full member sail turn around loop central authorities, this fine-adjustment rotary angle then is as last adjustment, makes running car in track central authorities;
The driving direction dish turns to 304, driven by treater 21 CD-ROM drive motor 251 and to turn to column 12 steering wheel rotations 11 in the assisted diversion members, and cooperate reducing gear 252 to change motor 251 rotating speeds with the whole bearing circle II rotation of word, see also shown in Figure 4, adjusting first bearing circle l 1 rotates according to this break-in rotational angle, make automobile turn towards the direction running of getting back to track central authorities, then adjust again bearing circle 11 according to this time turn angular turn, make running car in track central authorities, at last, with this fine-adjustment rotary angular turn bearing circle II, really travel on track central authorities to make automobile again;
Obtain again image 305, after the driving direction dish turns to 304 steps, again obtain the image data of vehicle front;
Analyze automobile and whether got back to track central authorities 306, whether got back to track central authorities by treater 21 according to the present automobile of image data analysis;
If automobile has been got back to track central authorities, then finish 307 flow processs;
If automobile is not yet got back to track central authorities, then get back to the become a full member step of the required steering wheel angle 303 of automobile of this reckoning.
Above-mentioned automatic modification model mainly is when chaufeur is not held bearing circle II, initiatively detect automobile and whether travel on track central authorities, if not, then when running car arrives the edge, track, ACTIVE CONTROL bearing circle lI makes running car in track central authorities with the travel direction of progressive mode correction automobile.
In addition aforementioned auxiliary modification model is to start when chaufeur steering wheel rotation II, sees also shown in Figure 5ly, comprises the following steps:
Obtain image 400, when this torsion torque sensor 23 has detected the torsion input, judge that namely chaufeur is to hold bearing circle 11, obtained the image data of vehicle front by treater 21 self imagings acquisition module 22;
Obtaining present road speed 401, is that treater 21 is obtained and converted after the vehicle speed signal and know;
Analyzing footpath, garage route 402, is that treater 21 is according to the image data of vehicle front, the corner size of bearing circle II and the following conduct route that vehicle speed signal is calculated the prediction automobile;
Judge that whether automobile is about to run-off-road central authorities 403, judges according to the following conduct route of aforementioned automobile whether automobile is about to the run-off-road central authorities of travelling by treater 21;
If judge the unlikely run-off-road of automobile central authorities, then finish 404 flow processs;
If judge that automobile is with run-off-road central authorities, then calculate the required steering wheel angle 405 of automobile of becoming a full member, by treater 21 according to the present following conduct route of corner size, vehicle speed signal and the automobile of bearing circle 11 extrapolate the automobile of wanting to become a full member get back to track central authorities required one revise rotational angle;
The driving direction dish turns to 406, by turning to column 12 steering wheel rotations 11 in treater 21 CD-ROM drive motor 251 Supreme Being's dynamic auxiliary steering components, and cooperate reducing gear 252 to change motor 251 rotating speeds to adjust bearing circle II according to this correction rotational angle rotation, when the angle of the required rotation of bearing circle II is larger, the required rotating speed of motor 251 is higher, therefore can clearly experience the strength that bearing circle 11 is promoted by motor 251 such as chaufeur, if thereby give a kind of automobile that will make of chaufeur and sail out of the track, can experience one reversing sense strength and drive bearing circle 11 resistance chaufeur steering wheel rotation II, to make automobile sail turn around loop central authorities, proceed again afterwards the step that this obtains image 400.
See also shown in Figure 6, when vehicle lane departure central authorities, above-mentioned auxiliary modification model is that ACTIVE CONTROL bearing circle 11 rotates in the opposite direction, although therefore running car is on a flat road surface 31, if in case deviating road of automobile is central, it is general that the strength of this auxiliary modification model ACTIVE CONTROL bearing circle lI namely can make chaufeur sensation automobile get back to road center just like being subject to gravity effect, and as travelling on an illusion to the recessed concavity road surface 32 of road center; Therefore this auxiliary modification model also has the effect of informing that chaufeur turn bearing circle 11 is advanced towards the run-off-road direction except helping with in the running car turn around loop.
See also again shown in Figure 7, about this temporary transient decapacitation mechanism, mainly be to want lane change when chaufeur, for example chaufeur wants that conversion driving lane or the place ahead meet with emergency episode and must lane change the time, can be with above-mentioned auxiliary driving model and automatically modification model releasing, avoid causing chaufeur to drive to be interfered, this temporary transient decapacitation mechanism starts at indicator, brake starts or the arbitrary condition of bearing circle forced steering meets i.e. startup, comprises the following steps:
Judge whether to reach entry condition, judge whether to receive indicator signal 500 or brake signal 501 by treater 21, or whether treater 21 detects the torque magnitude of chaufeur steering wheel rotation 11 greater than a boundary value 502 by torsion torque sensor 23;
If meet without arbitrary condition, then continue to judge whether to reach entry condition;
If aforementioned condition has one to meet, then remove the control 503 to bearing circle, cut off to turn to being connected of column 12 and motor 251 by treater 21 control clutchs 253, make the auxiliary driving device of virtual road of the present invention limit rolling temporarily no longer control bearing circle II rotation.
From the above, the auxiliary merit pilot instrument on virtual road of the present invention border can reach following effect:
1. if automobile has originally travelled in the track, and chaufeur is slightly offset at the situation that will not change the track bearing circle of ordering, should namely can start by auxiliary driving model, and the size of cooperation automobile degrees of offset, and the rotating speed of increase and decrease motor, therefore chaufeur can be experienced just as there being a resistance to rotate in the opposite direction at the pushing direction dish, and just like travelling on one on the recessed concavity road surface of track central authorities, the degree that may be offset when automobile is larger, then the chaufeur auxiliary driving device that can experience virtual road of the present invention border imposes larger opposing torque to bearing circle, therefore help to keep running car in the track.
2. if during steering wheel rotation, whether automatic modification model of the present invention also can initiatively not detect automobile and travel in the track chaufeur, if without then can initiatively making running car get back in the track.
3. change the track and start indicator such as the chaufeur wish, or the place ahead road conditions generation emergency episode causes chaufeur to adopt brake or when forcing steering wheel rotation, temporary transient decapacitation mechanism of the present invention namely can start, cut off by this power-transfer clutch and to turn to being connected of column and motor, temporarily stop the control to wheel steering, to avoid causing chaufeur to drive to be interfered, guarantee traffic safety.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, every foundation technical spirit of the present invention all still belongs in the scope of technical solution of the present invention any simple modification, equivalent variations and modification that above embodiment does.
In sum, the present invention is on structure design, use practicality and cost benefit, meet industry development fully required, and the structure that discloses also is to have unprecedented innovative structure, have novelty, creativeness, practicality, the regulation that meets relevant patent of invention important document is therefore mention application in accordance with the law.
Claims (9)
1. the auxiliary driving device on a virtual road border is characterized in that, is to be located in the automobile, be provided with one in this automobile in order to controlling the assisted diversion member of bearing circle, and this auxiliary driving device comprises: a treater; One image capture module is to be located on the automobile with acquisition vehicle front image, and send and give the aforementioned processing device and analyze the automobile run-off-road that whether travels; One auxiliary control module is to connect aforementioned processing device and this assisted diversion member, when treater detects the running car run-off-road, namely drives and is somebody's turn to do auxiliary control module operation assisted diversion member to make in the running car turn around loop.
2. according to the described auxiliary driving device of claim l, it is characterized in that described auxiliary control module comprises a motor and a reducing gear, this motor is to connect treater and assisted diversion member, drive assisted diversion member steering wheel rotation by the treater CD-ROM drive motor, and this reducing gear is to be connected with this motor with treater, drive reducing gear by treater control and adjust motor rotary speed, with the corner size of control motor driving assisted diversion member steering wheel rotation.
3. the auxiliary driving device on described virtual road border according to claim 2, it is characterized in that described auxiliary control module further comprises a power-transfer clutch, this power-transfer clutch is located between assisted diversion member and the motor, controls the coupled condition that described power-transfer clutch changes this assisted diversion member and motor by treater.
4. the auxiliary driving device on described virtual road border according to claim 3, it is characterized in that further comprising a torsion torque sensor, this torsion torque sensor is to be located on the aforementioned assisted diversion member torque magnitude of rotating thoroughly to dish to detect, and will detect the result and deliver to the aforementioned processing device; This treater further can be obtained the indicator signal, judges that indicator is activated or the torsion of steering wheel rotation during greater than a boundary value when treater, namely controls this power-transfer clutch and cuts off being connected of assisted diversion member and motor.
5. the auxiliary driving device on described virtual road border according to claim 4 is characterized in that the treater that encounters further can obtain the brake signal, and when brake is activated, treater will be controlled being connected of the disconnected assisted diversion member of this power-transfer clutch milk and motor.
6. the auxiliary driving device on each described virtual road border in 5 according to claim 1, it is characterized in that described image capture module comprises an image processor and a camera unit, this image processor is to connect the aforementioned processing device, this camera unit then connects this image processor, by this image processor with the camera unit acquisition to image data send preprocessor after processing.
7. the auxiliary driving device on described virtual road border according to claim 5 is characterized in that described treater further can obtain vehicle speed signal, and built-in one auxiliary driving model, and it comprises the following steps:
Obtain image, when this torsion torque sensor has detected the torsion input, judge that namely chaufeur is to hold bearing circle, obtained the image data of vehicle front by treater self imaging acquisition module; Obtain present road speed, obtain vehicle speed signal by treater and learn present road speed; Analyze footpath, garage route, calculate the following conduct route of predicting automobile by treater according to the image data of vehicle front, corner size and the vehicle speed signal of bearing circle; Judge that whether automobile is about to run-off-road central authorities, judges according to the following conduct route of aforementioned automobile whether automobile is about to the run-off-road central authorities of travelling by treater; If judge the unlikely run-off-road of automobile central authorities, then process ends; If judge that automobile is with run-off-road central authorities, then calculate the required steering wheel angle of automobile of becoming a full member, extrapolate the automobile of wanting to become a full member by treater according to the following conduct route of corner size, vehicle speed signal and the automobile of bearing circle and get back to the required correction rotational angle of track central authorities; The driving direction dish turns to, and turns to the column steering wheel rotation by the moving motor driving of treater body, and cooperates reducing gear change motor rotary speed to rotate according to this correction rotational angle to adjust bearing circle; Judge whether bearing circle has turned to the correction rotational angle, detect bearing circle by treater and whether rotate according to this correction rotational angle, if then finish, then continue to calculate if not the required steering wheel angle step of automobile of becoming a full member.
8. according to claim 5 or the auxiliary driving device on 7 described virtual road borders, it is characterized in that described treater further can obtain vehicle speed signal, and in have an automatic modification model, this automatic modification model comprises the following steps: to obtain image, when this torsion torque sensor has not detected the torsion input, namely judge and do not hold chaufeur at this moment bearing circle, obtained the image data of vehicle front by treater self imaging acquisition module; Analyze automobile and whether driven to the edge, track, resolve aforementioned image data by treater, understand present automobile and whether driven to the edge, track; If automobile does not drive to the edge, track, then continue the step that this obtains image; If automobile has driven to the edge, track, then obtain present road speed, and calculate the required steering wheel angle of automobile of becoming a full member, obtain vehicle speed signal by treater after, cooperate image data to extrapolate to want to become a full member automobile to get back to the required rotational angle of track central authorities; The driving direction dish turns to, and drives assisted diversion member rotating-wheel by the treater CD-ROM drive motor, and cooperates reducing gear to change motor rotary speed to adjust vehicle wheel rotation; Continue to obtain image, after the driving direction dish turns to step, continue to obtain the image data of vehicle front; Whether oneself gets back to track central authorities to analyze automobile, whether has got back to track central authorities by treater according to the present automobile of image data analysis; If automobile has been got back to track central authorities, then process ends; If automobile is not yet got back to track central authorities, then get back to the become a full member step of the required steering wheel angle of automobile of this reckoning.
9. the auxiliary driving device on described virtual road border according to claim 8, it is characterized in that in the required steering wheel angle step of automobile is become a full member in described reckoning, to extrapolate a break-in rotational angle, turn angle and a fine-adjustment rotary angle to revise progressively motor turning, wherein this break-in rotational angle is in order to automobile is turned towards the direction of getting back to track central authorities, this time turn angle is further to make automobile become a full member sail turn around loop central authorities, this fine-adjustment rotary angle then is as last adjustment, makes running car in track central authorities.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103104634A CN103043053A (en) | 2011-10-14 | 2011-10-14 | Driving assistance device on virtual road borders |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103104634A CN103043053A (en) | 2011-10-14 | 2011-10-14 | Driving assistance device on virtual road borders |
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| CN103043053A true CN103043053A (en) | 2013-04-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108885838A (en) * | 2016-03-22 | 2018-11-23 | 株式会社电装 | Lane is detached from and avoids system |
| CN111516686A (en) * | 2020-04-08 | 2020-08-11 | 中通客车控股股份有限公司 | Lane departure direction automatic correction system and method for vehicle |
-
2011
- 2011-10-14 CN CN2011103104634A patent/CN103043053A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108885838A (en) * | 2016-03-22 | 2018-11-23 | 株式会社电装 | Lane is detached from and avoids system |
| CN111516686A (en) * | 2020-04-08 | 2020-08-11 | 中通客车控股股份有限公司 | Lane departure direction automatic correction system and method for vehicle |
| CN111516686B (en) * | 2020-04-08 | 2021-09-14 | 中通客车控股股份有限公司 | Lane departure direction automatic correction system and method for vehicle |
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Application publication date: 20130417 |