CN103287429A - Lane-keeping system and lane-keeping control method - Google Patents
Lane-keeping system and lane-keeping control method Download PDFInfo
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- CN103287429A CN103287429A CN2013102429591A CN201310242959A CN103287429A CN 103287429 A CN103287429 A CN 103287429A CN 2013102429591 A CN2013102429591 A CN 2013102429591A CN 201310242959 A CN201310242959 A CN 201310242959A CN 103287429 A CN103287429 A CN 103287429A
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Abstract
The invention provides a lane-keeping control method and a lane-keeping system. After the lane-keeping system receives opening signals of a lane-keeping switch, a lane identifying device collects road information, a car body information collecting device collects car body information, and a lane-keeping control device controls an initiative steering system to adjust the traveling direction of a car according to the road information and the car body information. In the process of adjusting the traveling direction of the car, if the lane-keeping control device receives operation switching signals, the lane-keeping system is turned off, and a driver controls traveling of the car; if the lane-keeping control device receives torque signals of applying torque on a steering wheel, the lane-keeping control device controls the initiate steering system to offset the torque. The lane-keeping system conducts analysis treatment on the operation of the driver in the process of adjusting the traveling direction of the car and can conduct corresponding treatment on drivers' different operation motions on the car.
Description
Technical field
The present invention relates to a kind of safe DAS (Driver Assistant System), relate in particular to a kind of vehicle lane and keep system and track retentive control method.
Background technology
Along with the continuous development of economy and communication, automobile has become the indispensable vehicle of people.But along with improving constantly of automobile Occupation coefficient, traffic accident rate also presents the trend that rises year by year.According to statistics, in all motor vehicle accidents, the traffic accident that causes owing to deviation accounts for 20 percent of all traffic accidents, and more seriously, the traffic mortality that causes owing to deviation accounts for 37 percent of all traffic mortality.From these data as can be seen, the deviation accident has had a strong impact on people's the security of the lives and property.Therefore, domestic and international many research institutions begin to be devoted to the research of Lane Keeping System in recent years.
Prior art discloses a kind of cooperating type Lane Keeping System.This system gathers by camera unit and GPS unit road pavement information, transfer to the deviation judge module to judge whether vehicle is offset the track, simultaneously the driver's operation condition judgment module is judged by the operational torque that receives chaufeur and the serviceability of chaufeur is judged whether to start Lane Keeping System on this basis.If chaufeur is operated vehicle under automatisms such as fatigue driving or carless driving state, also can cause automotive run-off-road, and this cooperating type Lane Keeping System determines chaufeur at the operation vehicle, just can not start Lane Keeping System, so still might cause the generation of traffic accident, have potential safety hazard.
Summary of the invention
The features and advantages of the present invention are partly statement in the following description, perhaps can describe obviously from this, perhaps can learn by putting into practice the present invention.
In order to overcome the shortcoming of prior art, the invention provides a kind of Lane Keeping System and the track retentive control method that can make respective handling according to chaufeur to the different control actions of vehicle.
It is as follows that the embodiment of the invention solves the problems of the technologies described above the technical scheme that adopts:
A kind of track retentive control method is provided, comprises the steps: to receive track maintained switch start signal; Collect traffic information and car body information, and according to this traffic information and car body information control active front steering system the direct of travel of vehicle is adjusted; In the above-mentioned process that the direct of travel of vehicle is adjusted, if receive the operation switching signal, then close Lane Keeping System, change by chaufeur control vehicle and travel; If receive chaufeur bearing circle is applied the dtc signal of torque, then control described active front steering system this torque is offset.
A kind of aforesaid track retentive control method is provided, and the described operation switching signal that receives is: receive track maintained switch closing signal; Or receive the pole changer start signal; Or receive the car brakeing signal.
A kind of aforesaid track retentive control method is provided, describedly receive chaufeur applies torque to bearing circle dtc signal, then control this active front steering system this torque is offset, comprise the steps: that torque sensor receives chaufeur applies torque to bearing circle dtc signal; This dtc signal is fed back to this track retentive control device or this dtc signal is fed back to the electric booster steering system controller of this active front steering system, by this electric booster steering system controller this dtc signal is sent to this track retentive control device; This track retentive control device calculates the opposing torque size in conjunction with this traffic information, this car body information and this dtc signal and transfers to the electric booster steering system controller of this active front steering system, by this electric booster steering system controller control steer motor this torque is offset.
A kind of aforesaid track retentive control method is provided, described collection traffic information and car body information, and according to this traffic information and car body information control active front steering system the direct of travel of vehicle is adjusted, comprise the steps: track retentive control device indication lane identification device collection traffic information, indication car body signal pickup assembly is gathered car body information; Receive the traffic information of this lane identification device feedback and the car body information of this car body signal pickup assembly feedback; Controlling described active front steering system according to this traffic information and car body information adjusts the direct of travel of vehicle.
A kind of aforesaid track retentive control method is provided, describedly controls described active front steering system according to this traffic information and car body information and the direct of travel adjustment of vehicle is comprised the steps: the skew corner that retentive control device in track should be adjusted in conjunction with this traffic information and this car body information calculations and regulate the speed; With this skew corner that should adjust and regulate the speed and be sent to the electric booster steering system controller of this active front steering system, realize turning to adjustment by this electric booster steering system controller control steer motor.
A kind of aforesaid track retentive control method is provided, described traffic information comprises the skew corner of vehicle direct of travel and lane mark and the distance between vehicle and the both sides lane mark, also comprises the steps: lane identification device collection road conditions graphicinformation before the traffic information of this lane identification device feedback of described reception; To this road conditions Image Information Processing, calculate the skew corner of vehicle direct of travel and lane mark and the distance between vehicle and the both sides lane mark; Above-mentioned skew corner and distance are fed back to track retentive control device.
A kind of aforesaid track retentive control method is provided, described car body information comprises vehicle speed signal, tach signal and the yaw velocity signal of vehicle, also comprises the steps: vehicle speed signal, tach signal and the yaw velocity signal of car body signal pickup assembly collection vehicle before the car body information of this car body signal pickup assembly feedback of described reception; Give this track retentive control device with this vehicle speed signal, tach signal and yaw velocity signal feedback.
For solving the problems of the technologies described above, the embodiment of the invention also provides a kind of Lane Keeping System, comprising: the track maintained switch is used for opening Lane Keeping System; The lane identification device is used for opening the back in Lane Keeping System and collects traffic information; The car body information collection apparatus is used for opening the back in Lane Keeping System and collects car body information; Track retentive control device, be used for according to the active front steering system of this traffic information and this car body information control vehicle the direct of travel of vehicle being adjusted, and for receiving operation signal and the operation signal that receives being handled, if this operation signal is the operation switching signal, then close Lane Keeping System, change by chaufeur control vehicle and travel; If this operation signal is chaufeur bearing circle is applied the dtc signal of torque, control described active front steering system this torque is offset.
A kind of aforesaid Lane Keeping System is provided, this track retentive control device comprises control module, operation switching signal detection module, dtc signal detection module and operation signal processing module, this control module is used for the skew corner that should adjust in conjunction with described traffic information and car body information calculations and regulates the speed and with this skew corner that should adjust and regulate the speed and be sent to described active front steering system the direct of travel of vehicle is adjusted; This operation switching signal detection module for detection of track maintained switch closing signal, pole changer start signal or car brakeing signal, and sends to this operation signal processing module with detected signal; This dtc signal detection module applies the dtc signal of torque for detection of chaufeur to bearing circle, and detected dtc signal is sent to this operation signal processing module; This operation signal processing module is used for closing Lane Keeping System when receiving the signal of this operation switching signal detection module; Or when receiving this dtc signal, control described active front steering system this torque is offset.
A kind of aforesaid Lane Keeping System is provided, and the detected car brakeing signal of this operation switching signal detection module is to be sent by the braking sensor that is arranged on the vehicle.
A kind of aforesaid Lane Keeping System is provided, and this dtc signal detection module is torque sensor; This dtc signal detection module is used for detected dtc signal is sent to this operation signal processing module, be specially: this dtc signal detection module directly feeds back to this dtc signal this operation signal processing module or this dtc signal is fed back to the electric booster steering system controller of this active front steering system, by this electric booster steering system controller this dtc signal is sent to this operation signal processing module.
Compared with prior art, embodiment of the invention Lane Keeping System and track retentive control method are carried out differentiating and processing to the operation from chaufeur in the process that the direct of travel of vehicle is adjusted, if what receive is the operation switching signal, illustrate that chaufeur do not expect the effect from Lane Keeping System, this moment, Lane Keeping System was directly closed; If only receive chaufeur bearing circle is applied the dtc signal of torque, illustrate that chaufeur is unconscious to this time operation, or maloperation, the active front steering system that then needs to control vehicle is offset this torque, to guarantee that vehicle is according to the track safety traffic.Therefore adopt the embodiment of the invention, when Lane Keeping System is opened, not only chaufeur causes the vehicle shift track to be avoided because misrouting moving bearing circle, has also avoided Lane Keeping System the operation generation that vehicle carries out to be conflicted according to the consciousness of oneself with chaufeur.
By reading specification sheets, those of ordinary skills will understand feature and the content of these technical schemes better.
Description of drawings
Below by describing the present invention particularly with reference to the accompanying drawings and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in the accompanying drawing only is used for explanation of the present invention, and does not constitute the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 to Fig. 5 is the schematic flow sheet of embodiment of the invention track retentive control method.
Fig. 6 is the structural representation of embodiment of the invention Lane Keeping System.
Fig. 7 carries out active steering for embodiment of the invention Lane Keeping System and regulates scheme drawing behind running out the way.
Fig. 8 carries out active steering at vehicle at detour for embodiment of the invention Lane Keeping System and regulates scheme drawing.
The specific embodiment
Seeing also Fig. 1, is an embodiment of retentive control method in track of the present invention.
Retentive control method in present embodiment track comprises the steps:
Step S11: receive track maintained switch start signal;
Step S12: collect traffic information and car body information, and according to this traffic information and car body information control active front steering system the direct of travel of vehicle is adjusted;
Step S13: in the above-mentioned process that the direct of travel of vehicle is adjusted, if receive the operation switching signal, then close Lane Keeping System, change by chaufeur control vehicle and travel; If receive chaufeur bearing circle is applied the dtc signal of torque, then control described active front steering system this torque is offset.
Retentive control method in track is in the process that the direct of travel of vehicle is adjusted in the present embodiment, operation from chaufeur is analyzed, if what receive is the operation switching signal, illustrate that chaufeur do not expect the effect from Lane Keeping System, this moment, Lane Keeping System was directly closed; If only receive chaufeur bearing circle is applied the dtc signal of torque, illustrate that chaufeur is unconscious to this time operation, or maloperation, the active front steering system that then needs to control vehicle is offset this torque, to guarantee that vehicle is according to the track safety traffic.Therefore adopt present embodiment after Lane Keeping System is opened, not only chaufeur causes the vehicle shift track to be avoided because misrouting moving bearing circle, has also avoided Lane Keeping System the operation generation that vehicle carries out to be conflicted according to the consciousness of oneself with chaufeur.
See also Fig. 2, be another embodiment of track retentive control method.
Retentive control method in present embodiment track comprises the steps:
Step S21: receive track maintained switch start signal.
Step S22: track retentive control device indication lane identification device is gathered traffic information, and indication car body signal pickup assembly is gathered car body information.
Step S23: lane identification device feedback traffic information specifically comprises the steps (as shown in Figure 3):
S2301: the lane identification device is gathered the road conditions graphicinformation according to the indication of track retentive control device.
S2302: to this road conditions Image Information Processing, calculate the skew corner of vehicle direct of travel and lane mark and the distance between vehicle and the both sides lane mark.
S2303: above-mentioned skew corner and distance are fed back to track retentive control device.
Step S24: car body signal pickup assembly feedback car body information specifically comprises the steps.
The car body signal pickup assembly is collected vehicle speed signal, tach signal and the yaw velocity signal of vehicle according to the indication of track retentive control device, and gives this track retentive control device with this vehicle speed signal, tach signal and yaw velocity signal feedback.
Step 25: track retentive control device receives the traffic information of this lane identification device feedback and the car body information of this car body signal pickup assembly feedback.
Step 26: retentive control device in track is adjusted the direct of travel of vehicle according to this traffic information and car body information control active front steering system, specifically comprises the steps (as shown in Figure 4):
S2601: whether retentive control device in track goes out vehicle in conjunction with this traffic information and this car body information calculations and is offset, and then calculates the skew corner that should adjust and regulates the speed if skew takes place.
S2602: with this skew corner that should adjust and electric boosting steering system (Electric Power Steering, the EPS) controller of regulating the speed and being sent to this active front steering system.
S2603: this EPS controller control steer motor realizes turning to adjustment.
Step S27: in the above-mentioned process that the direct of travel of vehicle is adjusted, if receive chaufeur bearing circle is applied the dtc signal of torque, then control described active front steering system this torque is offset, comprise the steps (as shown in Figure 5):
S2701: torque sensor receives chaufeur applies torque to bearing circle dtc signal.
S2702: this dtc signal is fed back to the EPS controller of this active front steering system, and by this EPS controller this dtc signal is sent to this track retentive control device.
In the practical application, also can arrange torque sensor, it is received after the dtc signal, directly this dtc signal be sent to track retentive control device.
S2703: this track retentive control device calculates the opposing torque size and transfers to this EPS controller in conjunction with this traffic information, this car body information and this dtc signal, by this EPS controller control steer motor this torque is offset.
Step S28: in the above-mentioned process that the direct of travel of vehicle is adjusted, if receive the operation switching signal, as track maintained switch closing signal, pole changer start signal or car brakeing signal, then close Lane Keeping System, change by chaufeur control vehicle and travel.
Dotted line is represented among Fig. 2: if receive chaufeur bearing circle is applied the dtc signal of torque, and execution in step S27 then, and step S28 can not be performed; If receive operation switching signal, then execution in step S28.
In the present embodiment, will operate switching signal and be arranged to track maintained switch closing signal, pole changer start signal and car brakeing signal, have following by advantage:
1, wants to change when overtaking other vehicles when chaufeur, according to people's driving habit, open pole changer before changing earlier, light steering indicating light to point out other vehicle.If still will control closing of Lane Keeping System by the track maintained switch this moment, then operation shows slightly loaded down with trivial details unnecessary.Therefore in the present embodiment, when Lane Keeping System receives the pole changer start signal, close Lane Keeping System, vehicular drive power is returned in the hand of driver, optimized operating process.
2, when chaufeur finds that the place ahead, track is in an emergency, according to people's driving habit, first reaction is that the control car brakeing is changed then and evaded, if can't in time close Lane Keeping System this moment, then can cause serious consequence.And when Lane Keeping System receives the car brakeing signal in the present embodiment, close Lane Keeping System, but the chaufeur maneuver vehicle change and evade, improved the safety factor of vehicle drive.
See also Fig. 6, be an embodiment of Lane Keeping System of the present invention.
The present embodiment Lane Keeping System comprises track maintained switch 42, lane identification device 10, car body information collection apparatus 20 and track retentive control device 30.
This track maintained switch 42 is used for opening or closing this Lane Keeping System.
This lane identification device 10 comprises camera 11 and image processor 12, be used for traffic information that collection vehicle travels and by CAN(Controller Area Network, controller local area network) send to track retentive control device 30.In this process, camera 11 picked-up road conditions information conveyance are to image processor 12, image processor 12 identifies the lane mark of vehicle both sides and calculates the skew corner a of vehicle direct of travel and lane mark and the distance (d1 among Fig. 7 and Fig. 8 and d2) between vehicle and the both sides lane mark, and is sent to track retentive control device 30 by the CAN communication.
This car body information collection apparatus 20 comprises car speed sensor 21, tachogen 22 and yaw-rate sensor 23, be used for gathering car body information and send to track retentive control device 30, calculate optimum steering angle and the speed of angular adjustment by this track retentive control device 30 in conjunction with the skew corner of vehicle and the distance between vehicle and the both sides lane mark, with anti-vehicle oversteer or understeer.Wherein the car body information of Cai Jiing comprises the speed of operation of automobile; Engine speed; The yaw velocity of automobile.
This track retentive control device 30, being used for the traffic information that lane identification device 10 is sended over and the car body information that this car body information collection apparatus 20 sends over handles, calculate the skew corner that should adjust and regulate the speed, the direct of travel of 50 pairs of vehicles of active front steering system of control vehicle is adjusted and is used for receiving operation signal and the operation signal that receives is handled.This track retentive control device 30 comprises control module 34, operation switching signal detection module 31, dtc signal detection module 32 and operation signal processing module 33.
This control module 34 is used for the skew corner that should adjust according to described traffic information and car body information calculations and regulates the speed and this skew corner that should adjust and the direct of travel that is sent to 50 pairs of vehicles of active front steering system of regulating the speed are adjusted.
This operation switching signal detection module 31, for detection of from the track maintained switch closing signal of track maintained switch 42 or from the pole changer start signal of pole changer 41 or car brakeing signal (in the present embodiment, realize detection to speed-slackening signal by braking sensor 43 is set), and detected signal sent to this operation signal processing module 33; This dtc signal detection module 32, for detection of chaufeur bearing circle is applied the dtc signal of torque (in the present embodiment, realize detection to dtc signal by torque sensor is set), and detected dtc signal sent to this operation signal processing module 33.In the practical application, dtc signal detection module 32 can directly send to operation signal processing module 33 with detected dtc signal, also detected dtc signal can be sent to the EPS controller, by the EPS controller this dtc signal is sent to operation signal processing module 33.
This operation signal processing module 33 is used for closing Lane Keeping System when receiving the operation switching signal of this operation switching signal detection module 31; Or when receiving the dtc signal of these dtc signal detection module 32 transmissions, control described active front steering system 50 this torque is offset.
Below in conjunction with Fig. 7 and Fig. 8 further specify when active front steering system in conjunction with the active front steering system of electric boosting steering system the time, the principle of work of present embodiment Lane Keeping System control active front steering system.
Comprise EPS controller, steer motor, the manual steering system torque sensor of unifying in conjunction with the active front steering system of electric boosting steering system.EPS controller and track retentive control device 30 carry out the CAN communication, receive the diversion order control steer motor rotation that track retentive control device 30 is sent, and result of implementation is fed back, so that 30 monitorings of track retentive control device turn to the result.Steer motor receives the steering angle order of EPS controller, realizes turning to of vehicle by the mechanical steering system.
When chaufeur thinks that road conditions are good, open Lane Keeping System by opening the track maintained switch.Track retentive control device 30 receives the Lane Keeping System start signal, carries out work by CAN order control lane identification device 10, and gets involved EPS control.After gathering road conditions information, the camera 11 of lane identification device 10 transfers to image processor 12, image processor 22 therefrom identifies the direct of travel, lane mark 61 of vehicle 60 and when (as shown in Figure 8) its virtual prolongation is obtained being offset corner at lane mark 61 for curve, identify the distance (d1, d2) between vehicle 60 and the both sides lane mark 61 simultaneously, a feeds back to track retentive control device 30 with data in real time together with the skew corner.Car body signal pickup assembly 20 is with vehicle speed signal, tach signal, car body signals such as yaw velocity signal provide to track retentive control device 30, track retentive control device 30 data computation in conjunction with car body signal pickup assembly 20 go out vehicle 60 and whether are offset the track, if find to have the sign of skew, then calculate the skew corner that should adjust and regulate the speed, order EPS controller regulates to keep vehicle 60 along the track safety traffic to the direct of travel of vehicle 60.EPS controller control steer motor realizes turning to adjustment.Track retentive control device 30 will be offset corner a and control servo-actuated adjustment in the scope of-2 °≤a≤2 ° always, reach the purpose that the track keeps with this, and attitude is more stable in motion to make vehicle, has improved the travelling comfort of vehicle.
In the present embodiment, when because operation such as changing, overtake other vehicles and being in an emergency when needing the urgent lane change of chaufeur or when the preparation of driver's operation change-over swith is changed or stepped on brake pedal and promptly evades when the place ahead, track, retentive control device in track receives the signal of change-over swith and braking sensor, close Lane Keeping System, so that chaufeur can carry out subsequent operation smoothly, the driving habit that not only meets people has also been optimized operating process.When the unconscious manipulation steering hardware of chaufeur, torque sensor transfers to track retentive control device 30 or directly dtc signal is fed back to track retentive control device 30 by CAN after dtc signal is fed back to the EPS controller, track retentive control device 30 calculates opposing torque size and transfers to the EPS controller in conjunction with car body signal and skew corner and carries out, and reaches the purpose of eliminating the dangerous hidden danger that the unconscious manipulation steering hardware of chaufeur causes with this.
The Lane Keeping System of the embodiment of the invention and track retentive control method are after Lane Keeping System is opened, driving habit according to people carries out differentiating and processing to the operation signal that receives, if what receive is the operation switching signal, be track maintained switch closing signal, pole changer start signal or car brakeing signal, illustrate that chaufeur do not expect the effect from Lane Keeping System, this moment, Lane Keeping System was directly closed, vehicular drive power is returned in the hand of driver, optimized operating process; If only receive chaufeur applies torque to bearing circle dtc signal, illustrate that chaufeur is unconscious to this time operation, or maloperation, the active front steering system that then needs to control vehicle is offset this torque, chaufeur causes the vehicle shift track to be avoided because misrouting moving bearing circle, has guaranteed that vehicle is according to the track safety traffic.
Be the preferred embodiments of the present invention only below, those skilled in the art do not depart from the scope and spirit of the present invention, and can have multiple flexible program to realize the present invention.For example, the feature that illustrates or describe as the part of an embodiment can be used for another embodiment to obtain another embodiment.Below only for the preferable feasible embodiment of the present invention, be not so limit to interest field of the present invention, the equivalence that all utilizations specification sheets of the present invention and accompanying drawing content are done changes, and all is contained within the interest field of the present invention.
Claims (10)
1. a track retentive control method is characterized in that, comprises the steps:
Receive track maintained switch start signal;
Collect traffic information and car body information, and according to this traffic information and car body information control active front steering system the direct of travel of vehicle is adjusted;
In the above-mentioned process that the direct of travel of vehicle is adjusted, if receive the operation switching signal, then close Lane Keeping System, change by chaufeur control vehicle and travel; If receive chaufeur bearing circle is applied the dtc signal of torque, then control described active front steering system this torque is offset.
2. retentive control method in track as claimed in claim 1 is characterized in that, the described operation switching signal that receives is:
Receive track maintained switch closing signal; Or
Receive the pole changer start signal; Or
Receive the car brakeing signal.
3. retentive control method in track as claimed in claim 1 is characterized in that, the described chaufeur that receives applies the dtc signal of torque to bearing circle, then controls this active front steering system this torque is offset, and comprises the steps:
Torque sensor receives chaufeur applies torque to bearing circle dtc signal;
This dtc signal is fed back to this track retentive control device or this dtc signal is fed back to the electric booster steering system controller of this active front steering system, by this electric booster steering system controller this dtc signal is sent to this track retentive control device again;
This track retentive control device calculates the opposing torque size in conjunction with this traffic information, this car body information and this dtc signal and transfers to the electric booster steering system controller of this active front steering system, by this electric booster steering system controller control steer motor this torque is offset.
4. as each described track retentive control method of claim 1 to 3, it is characterized in that, described collection traffic information and car body information, and according to this traffic information and car body information control active front steering system the direct of travel of vehicle is adjusted, comprise the steps:
Track retentive control device indication lane identification device is gathered traffic information, and indication car body signal pickup assembly is gathered car body information;
Receive the traffic information of this lane identification device feedback and the car body information of this car body signal pickup assembly feedback;
Controlling described active front steering system according to this traffic information and car body information adjusts the direct of travel of vehicle.
5. retentive control method in track as claimed in claim 4 is characterized in that, describedly controls described active front steering system according to this traffic information and car body information the direct of travel adjustment of vehicle is comprised the steps:
The skew corner that retentive control device in track should be adjusted in conjunction with this traffic information and this car body information calculations and regulating the speed;
With this skew corner that should adjust and regulate the speed and be sent to the electric booster steering system controller of this active front steering system, realize turning to adjustment by this electric booster steering system controller control steer motor.
6. retentive control method in track as claimed in claim 5, it is characterized in that, described traffic information comprises the skew corner of vehicle direct of travel and lane mark and the distance between vehicle and the both sides lane mark, also comprises the steps: before the traffic information of this lane identification device feedback of described reception
The lane identification device is gathered the road conditions graphicinformation;
To this road conditions Image Information Processing, calculate the skew corner of vehicle direct of travel and lane mark and the distance between vehicle and the both sides lane mark;
Above-mentioned skew corner and distance are fed back to track retentive control device.
7. retentive control method in track as claimed in claim 6, it is characterized in that, described car body information comprises vehicle speed signal, tach signal and the yaw velocity signal of vehicle, also comprises the steps: before the car body information of this car body signal pickup assembly feedback of described reception
The car body signal pickup assembly is collected vehicle speed signal, tach signal and the yaw velocity signal of vehicle;
Give this track retentive control device with this vehicle speed signal, tach signal and yaw velocity signal feedback.
8. a Lane Keeping System is characterized in that, comprising:
The track maintained switch is used for opening Lane Keeping System;
The lane identification device is used for opening the back in Lane Keeping System and collects traffic information;
The car body information collection apparatus is used for opening the back in Lane Keeping System and collects car body information;
Track retentive control device, be used for according to the active front steering system of this traffic information and this car body information control vehicle the direct of travel of vehicle being adjusted, and for receiving operation signal and the operation signal that receives being handled, if this operation signal is the operation switching signal, then close Lane Keeping System, change by chaufeur control vehicle and travel; If this operation signal is chaufeur bearing circle is applied the dtc signal of torque, control described active front steering system this torque is offset.
9. Lane Keeping System as claimed in claim 8 is characterized in that, this track retentive control device comprises control module, operation switching signal detection module, dtc signal detection module and operation signal processing module,
This control module is used for the skew corner that should adjust in conjunction with described traffic information and car body information calculations and regulates the speed and with this skew corner that should adjust and regulate the speed and be sent to described active front steering system the direct of travel of vehicle is adjusted;
This operation switching signal detection module for detection of track maintained switch closing signal, pole changer start signal or car brakeing signal, and sends to this operation signal processing module with detected signal;
This dtc signal detection module applies the dtc signal of torque for detection of chaufeur to bearing circle, and detected dtc signal is sent to this operation signal processing module;
This operation signal processing module is used for closing Lane Keeping System when receiving the signal of this operation switching signal detection module; Or when receiving this dtc signal, control described active front steering system this torque is offset.
10. Lane Keeping System as claimed in claim 9 is characterized in that,
This dtc signal detection module is torque sensor;
This dtc signal detection module is used for detected dtc signal is sent to this operation signal processing module, be specially: this dtc signal detection module directly feeds back to this dtc signal this operation signal processing module or this dtc signal is fed back to the electric booster steering system controller of this active front steering system, by this electric booster steering system controller this dtc signal is sent to this operation signal processing module.
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| CN107128305A (en) * | 2017-04-20 | 2017-09-05 | 珠海骏驰科技有限公司 | A kind of automobile intelligent high speed DAS (Driver Assistant System) |
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