CN104442814A - Lane keeping and automatic centering system and method based on deviation prediction algorithm - Google Patents

Lane keeping and automatic centering system and method based on deviation prediction algorithm Download PDF

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Publication number
CN104442814A
CN104442814A CN201410613860.2A CN201410613860A CN104442814A CN 104442814 A CN104442814 A CN 104442814A CN 201410613860 A CN201410613860 A CN 201410613860A CN 104442814 A CN104442814 A CN 104442814A
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China
Prior art keywords
track
automatic centering
vehicle
keeps
control
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CN201410613860.2A
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Chinese (zh)
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CN104442814B (en
Inventor
肖超
李楠
蒲果
张强
黎予生
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重庆长安汽车股份有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10Path keeping
    • B60W30/12Lane keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02Control of vehicle driving stability
    • B60W30/045Improving turning performance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/20Steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14Yaw

Abstract

The invention discloses a lane keeping and automatic centering system and method based on a deviation prediction algorithm. A lane keeping and automatic centering controller detects lane marking line information of a road ahead of a vehicle in real time through a camera; a vehicle body controller acquires current steering lamp information and headlamp information of the vehicle, and a vehicle body electronic stabilization system acquires current vehicle speed information of the vehicle; an electric power steering system acquires current steering angle information of the vehicle; an expected steering angle of the current vehicle is worked out through a deviation prediction algorithm and a PID control algorithm in the lane keeping and automatic centering controller, an expected steering angle signal is transmitted to the electric power steering system through a CAN to request for active steering, and the electric power steering system receives the expected steering angle signal and switches the current steering angle into the expected steering angle by rotating a steering wheel; meanwhile, a warning signal and a man-machine interaction signal are generated and transmitted to a vehicle warning system and a man-machine interaction interface through the CAN. The system and method can achieve the lane keeping and automatic centering functions.

Description

Track based on deflection forecast algorithm keeps and automatic centering system and method
Technical field
The invention belongs to track retentive control, be specifically related to a kind of track based on deflection forecast algorithm and keep and automatic centering system and method.
Background technology
Track maintenance and automatic centering system utilize the markings of forward sight camera identification traveling lane, calculate the relative position in vehicle and track, when automotive run-off-road, system produces a moment of initiatively rectifying a deviation by electric boosting steering system (EPS), vehicle is corrected back traveling lane or keeps vehicle to travel in the middle of track.Track keeps and automatic centering system mainly comprises track Holdover mode and automatic centering pattern.Under different mode of operations, initiatively the opportunity of deviation-correcting function triggering is different.
Track Holdover mode: based on driver's operation.If chaufeur is in unconscious situation, make the improper run-off-road of vehicle, system can correct vehicle driving trace, vehicle is remained in former track and travels.
Automatic centering pattern: with chaufeur at short notice (as 10s) without the need to being operating as basis to bearing circle, in such a mode, vehicle can realize travelling along the automatic centering of center, track.After this pattern operates mainly in the of short duration departure direction dish of chaufeur both hands.In automatic centering work pattern process, if chaufeur adapter bearing circle, system exits automatic centering pattern automatically, is back to track Holdover mode.
Along with the development that track maintenance and automatic centering system are the automobile crosswise joint system of representative, to the performance of crosswise joint system and improving constantly of functional requirement, for different crosswise joint systems, under active usage conditions, have ignored a lot of dynamic characteristics, in such as motion process, vehicle is relative to the body gesture of traveling lane, and these dynamic characteristicss are very large for the performance impact of system.In addition, the change of road environment makes automobile sport characteristic become more complicated.Therefore, be necessary to keep existing track and automatic centering system and method are improved.
Summary of the invention
The object of this invention is to provide a kind of track based on deflection forecast algorithm to keep and automatic centering system and method, keep and automatic centering function to realize track.
A kind of track based on deflection forecast algorithm of the present invention keeps and automatic centering system, comprising:
Camera, for obtaining the traffic lane line information of vehicle front road and being transferred to track maintenance and automatic centering control device;
Car body controller, works as front directional information for obtaining vehicle and is transferred to track maintenance and automatic centering control device;
Body electronics stabilization system, keeps and automatic centering control device for obtaining vehicle current vehicle speed information and being transferred to track;
Electric boosting steering system, keeps and automatic centering control device for obtaining the current corner information of vehicle and being transferred to track;
Track keeps and automatic centering control device, track keep and automatic centering control device by CAN respectively with car body controller, body electronics stabilization system communicates with electric boosting steering system, track keeps and automatic centering control device is connected with camera by video line, track maintenance and automatic centering control device are based on working as front directional information, current vehicle speed information judges whether that the track activating the maintenance of this track and automatic centering control device keeps and automatic centering function, if, the traffic lane line information that track keeps and automatic centering control device obtains based on camera calculates front by deflection forecast algorithm and takes aim at lateral deviation amount a little in advance, using the input of this lateral deviation amount as pid control algorithm, calculate expectation corner, and export to electric boosting steering system by CAN, electric boosting steering system receives expects angular signal and current corner information, bearing circle is made to turn to expectation corner from when front hook,
The computing formula of described lateral deviation amount is as follows:
Wherein:
D be take aim in advance a little with the distance at automobile front-axle center;
θ is the yaw angle of automobile front-axle center current time;
X offthe side-play amount at automobile front-axle center and center, track;
R is the radius in track;
X is the lateral deviation amount taken aim in advance a little, namely take aim in advance a little relative to current vehicle position track tangent line vertical direction to the departure of track line of centers.
Also comprise man-machine interactive system, this man-machine interactive system to be kept with track by CAN and automatic centering control device communicates, chaufeur realizes the open and close of track maintenance and automatic centering system by man-machine interactive system, and shows the mode of operation of the maintenance of this track and automatic centering system in real time.
Also comprise caution system, it comprises voice guard, LCD display, vibration of steering wheel device and seat electromagnetic shaker one or more, and to keep with track respectively by CAN and automatic centering control device communicates, corresponding response is made, to remind chaufeur according to the alarm message that track keeps and automatic centering control device exports.
Described car body controller also keeps and automatic centering control device for obtaining the current head light information of vehicle and being transferred to track, when car body controller detects that head light is opening, track keeps and automatic centering control device carries out image enhancement processing to the traffic lane line that camera obtains.
After described camera is arranged on vehicle front windshield, and before being positioned at rear-viewing mirror in vehicle.
Described track keeps and automatic centering control device also comprises triggering judge module, the mode of operation that bearing circle judges the maintenance of this track and automatic centering system whether is controlled according to chaufeur, when chaufeur controls bearing circle, track keeps and the mode of operation of automatic centering system is track Holdover mode, when chaufeur does not control bearing circle, track keeps and the mode of operation of automatic centering system is automatic centering pattern.
Illustrated a kind of track based on deflection forecast algorithm keeps and automatic centering method, adopts the described track based on deflection forecast algorithm as arbitrary in claim 1 to 6 maintenance and automatic centering system, comprises the following steps:
Step 1, track keep and automatic centering control device obtains vehicle when front directional information and vehicle current vehicle speed information by CAN;
Step 2, track keep and automatic centering control device keeps and automatic centering function when front directional information and vehicle current vehicle speed information judge whether to activate based on vehicle, if meet activation condition, then enable maintenance and the automatic centering function of track maintenance and automatic centering control device, and enter step 3; If do not meet activation condition, then return step 1;
Step 3, camera obtain the traffic lane line information of vehicle front road and are transferred to track maintenance and automatic centering control device, track keeps and automatic centering control device calculates front based on traffic lane line information by deflection forecast algorithm and takes aim at lateral deviation amount a little in advance, using the input of this lateral deviation amount as pid control algorithm, calculate expectation corner, and export to electric boosting steering system by CAN;
The computing formula of described lateral deviation amount is as follows:
Wherein:
D is the distance at pre-buried point and automobile front-axle center;
θ is the yaw angle of automobile front-axle center current time;
X offthe side-play amount at automobile front-axle center and center, track;
R is the radius in track;
X is the lateral deviation amount taken aim in advance a little, namely take aim in advance a little relative to current vehicle position track tangent line vertical direction to the departure of track line of centers;
Step 4, electric boosting steering system are obtained by CAN expects angular signal and current corner information, makes bearing circle turn to expectation corner from when front hook.
The radius r in described track is much larger than the pre-buried distance d apart from automobile front-axle center.
In described step 3, when car body controller detects that head light is opening, track keeps and automatic centering control device carries out image enhancement processing to camera when obtaining traffic lane line.
In described step 2:
When the steering indicating light of vehicle is opening, do not enable this maintenance and automatic centering function; ;
When the speed of a motor vehicle of vehicle is less than pre-set threshold value, do not enable this maintenance and automatic centering function;
When steering indicating light is non-opening, and when the speed of a motor vehicle is more than or equal to pre-set threshold value, just enable this maintenance and automatic centering function.
Track based on deflection forecast algorithm of the present invention keeps and the advantage of automatic centering system and method: to contemplated by the invention in motion process vehicle relative to the dynamic characteristics such as body gesture, turning radius of traveling lane; And based on bus or train route deflection forecast algorithm, realize the steady control of steering swivel system, can obtain less horizontal position correction error, the uncertainty solved because driving environment is larger affects the trace performance of lateral direction of car kinetic control system for track line of centers; And adopt the existing mechanism of vehicle itself as actr completely, communicated by CAN, the information of the vehicle needed for controller itself also can obtain from CAN completely, possesses volume production feasibility.Native system departs from traveling lane or in the chaufeur both hands short time during departure direction dish chaufeur is unconscious, the steering torque that bearing circle one is contrary with offset direction can be supplied to, correct vehicle and return traveling lane, decrease the traffic accident because run-off-road causes.
Accompanying drawing explanation
Fig. 1 is that this track keeps and automatic centering system functional block diagram;
Fig. 2 is that this track keeps and automatic centering system control flow chart;
Fig. 3 is that this track keeps and automatic centering system deflection forecast algorithm principle figure.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
A kind of track based on deflection forecast algorithm as depicted in figs. 1 and 2 keeps and automatic centering system, comprises camera 5, car body controller 2, body electronics stabilization system 7, electric boosting steering system 4 and track and keeps and automatic centering control device 6.After camera 5 is arranged on vehicle front windshield, and before being positioned at rear-viewing mirror in vehicle, for obtaining the traffic lane line information of vehicle front road and being transferred to track maintenance and automatic centering control device 6.Car body controller 2 is worked as front directional information for obtaining vehicle and is transferred to track maintenance and automatic centering control device 6.Body electronics stabilization system 7 keeps and automatic centering control device 6 for obtaining vehicle current vehicle speed information and being transferred to track.Electric boosting steering system 4 keeps and automatic centering control device 6 for obtaining the current corner information of vehicle and being transferred to track.Track keep and automatic centering control device 6 by CAN respectively with car body controller 2, body electronics stabilization system 7 communicates with electric boosting steering system 4, track keeps and automatic centering control device 6 is connected with camera 5 by video line, track maintenance and automatic centering control device 6 are based on working as front directional information, current vehicle speed information judges whether that the track activating the maintenance of this track and automatic centering control device 6 keeps and automatic centering function, if, the traffic lane line information that track keeps and automatic centering control device 6 obtains based on camera 5 calculates the lateral deviation amount of the pre-anchor point in front by deflection forecast algorithm, using the input of this lateral deviation amount as pid control algorithm, calculate expectation corner, and export to electric boosting steering system 4 by CAN, electric boosting steering system 4 receives expects angular signal and current corner information, bearing circle is made to turn to expectation corner from when front hook.
The computing formula of described lateral deviation amount is as follows: wherein: d be take aim in advance a little with the distance at automobile front-axle center.θ is the yaw angle of automobile front-axle center current time.X offthe side-play amount at automobile front-axle center and center, track.R is the radius in track.X is the lateral deviation amount taken aim in advance a little, namely take aim in advance a little relative to current vehicle position track tangent line vertical direction to the departure of track line of centers.
As shown in Figure 1, as preferably, also comprise man-machine interactive system 1, this man-machine interactive system 1 to be kept with track by CAN and automatic centering control device 6 communicates, chaufeur realizes the open and close of track maintenance and automatic centering system by man-machine interactive system, and shows the mode of operation of the maintenance of this track and automatic centering system in real time.
As shown in Figure 1, as preferably, also comprise caution system 3, it comprises voice guard, LCD display, vibration of steering wheel device and seat electromagnetic shaker one or more, and to keep with track respectively by CAN and automatic centering control device 6 communicates, corresponding response is made, to remind chaufeur according to the alarm message that track keeps and automatic centering control device 6 exports.
Described car body controller 2 also keeps and automatic centering control device 6 for obtaining the current head light information of vehicle and being transferred to track, when car body controller 2 detects that head light is opening, track keeps and automatic centering control device 6 pairs of cameras 5 carry out image enhancement processing when obtaining traffic lane line.
Described track keeps and automatic centering control device 6 also comprises triggering judge module, the mode of operation that bearing circle judges the maintenance of this track and automatic centering system whether is controlled according to chaufeur, when chaufeur controls bearing circle, track keeps and the mode of operation of automatic centering system is track Holdover mode, when chaufeur does not control bearing circle, track keeps and the mode of operation of automatic centering system is automatic centering pattern.
As shown in Figure 2, a kind of track based on deflection forecast algorithm of the present invention keeps and automatic centering method, adopts the track based on deflection forecast algorithm of the present invention to keep and automatic centering system, comprises the following steps:
Step 1, track keep and automatic centering control device 6 obtains vehicle when front directional information and vehicle current vehicle speed information by CAN.
Step 2, track keep and automatic centering control device 6 keeps and automatic centering function when front directional information and vehicle current vehicle speed information judge whether to activate based on vehicle, if meet activation condition, then enable maintenance and the automatic centering function of track maintenance and automatic centering control device 6, and enter step 3; If do not meet activation condition, then return step 1.
Step 3, camera 5 obtain the traffic lane line information of vehicle front road and are transferred to track maintenance and automatic centering control device 6, track keeps and automatic centering control device 6 calculates front based on traffic lane line information by deflection forecast algorithm and takes aim at lateral deviation amount a little in advance, using the input of this lateral deviation amount as pid control algorithm, calculate expectation corner, and export to electric boosting steering system 4 by CAN.
The computing formula of described lateral deviation amount is as follows:
Wherein:
D be take aim in advance a little with the distance at automobile front-axle center.
θ is the yaw angle of automobile front-axle center current time.
X offthe side-play amount at automobile front-axle center and center, track.
R is the radius in track.
X is the lateral deviation amount taken aim in advance a little, namely take aim in advance a little relative to current vehicle position track tangent line vertical direction to the departure of track line of centers.
Step 4, electric boosting steering system 4 are obtained by CAN expects angular signal and current corner information, makes bearing circle turn to expectation corner from when front hook.
The radius r in described track is much larger than taking aim at a distance d at distance automobile front-axle center in advance.
In described step 3, when car body controller 2 detects that head light is opening, track keeps and automatic centering control device 6 pairs of cameras 5 carry out image enhancement processing when obtaining traffic lane line.
In described step 2: when the steering indicating light of vehicle is opening, do not enable this maintenance and automatic centering function; When the speed of a motor vehicle of vehicle is less than pre-set threshold value, do not enable this maintenance and automatic centering function; When steering indicating light is non-opening, and when the speed of a motor vehicle is more than or equal to pre-set threshold value, just enable this maintenance and automatic centering function.
As shown in Figure 3, described bus or train route deflection forecast algorithm mainly based on monocular cam 5 vision, by camera 5 real-time detection vehicle front lane mark information, detect automobile front-axle center current time yaw angle θ and with track center position side-play amount x off.Extending camera 5 optical axis, is that the point of d is for take aim at a little in advance apart from automobile front-axle centre distance.
Based on the photometric characteristics of camera 5, can be taken aim in advance a little relative to the departure x of current vehicle position track tangent line vertical direction, and the departure taking aim at place's reality and track line of centers is in advance x 0, because track maintenance and automatic centering system are mainly applicable to express highway or one-level road, therefore, turning radius r is much larger than preview distance d.Namely, during r>>d, have:
x=x 0(1)
There is following relation in the quantity of state taking aim at place's departure and vehicle current time in advance:
x=x 0=△x+x off+dsinθ (2)
Wherein △ x is the side travel variable quantity considering that road curvature causes.Consider that turning radius r is much larger than preview distance d, therefore have:
△x=△x 0D=dcosθ (3)
Therefore according to Pythagorean theorem, have:
r 2+d 2cos 2θ=(r+△x) 2(4)
Due to △ x<<r, therefore by (2) ~ (4) Shi Ke get:
&Delta;x = d 2 cos 2 &theta; 2 r - - - ( 5 )
x = d 2 cos 2 &theta; 2 r + x off + d sin &theta; - - - ( 6 )
Track keeps and automatic centering system control algorithm passes through x offthe difference of value realizes track respectively and keeps function and automatic centering function, namely by the different calibration values of this parameter decide track keep and automatic centering system to the crosswise joint intervention of vehicle, realize value when track keeps function and be greater than 55cm, when realizing automatic centering function, value is greater than 5cm.Track keeps and automatic centering control device 6 comprises a triggering judge module, whether controls bearing circle carry out certainty annuity mode of operation according to chaufeur.Departure x keeps as track and PID controller control variable input in automatic centering control device 6, expection corner is drawn after PID controller passing ratio, integration, differential calculation, electric boosting steering system 4 (EPS) is exported to by CAN via track maintenance and automatic centering control device 6, steering wheel for vehicle is gone to expection corner by electric boosting steering system 4, realizes track and keeps and automatic centering function.

Claims (10)

1. the track based on deflection forecast algorithm keeps and an automatic centering system, it is characterized in that:
Camera (5), for obtaining the traffic lane line information of vehicle front road and being transferred to track maintenance and automatic centering control device (6);
Car body controller (2), works as front directional information for obtaining vehicle and is transferred to track maintenance and automatic centering control device (6);
Body electronics stabilization system (7), keeps and automatic centering control device (6) for obtaining vehicle current vehicle speed information and being transferred to track;
Electric boosting steering system (4), keeps and automatic centering control device (6) for obtaining the current corner information of vehicle and being transferred to track;
Track keeps and automatic centering control device (6), track keep and automatic centering control device (6) by CAN respectively with car body controller (2), body electronics stabilization system (7) communicates with electric boosting steering system (4), track keeps and automatic centering control device (6) is connected with camera (5) by video line, track maintenance and automatic centering control device (6) are based on working as front directional information, current vehicle speed information judges whether that the track activating the maintenance of this track and automatic centering control device (6) keeps and automatic centering function, if, the traffic lane line information that track keeps and automatic centering control device (6) obtains based on camera (5) calculates front by deflection forecast algorithm and takes aim at lateral deviation amount a little in advance, using the input of this lateral deviation amount as pid control algorithm, calculate expectation corner, and export to electric boosting steering system (4) by CAN, electric boosting steering system (4) receives expects angular signal and current corner information, bearing circle is made to turn to expectation corner from when front hook,
The computing formula of described lateral deviation amount is as follows:
Wherein:
D be take aim in advance a little with the distance at automobile front-axle center;
θ is the yaw angle of automobile front-axle center current time;
X offthe side-play amount at automobile front-axle center and center, track;
R is the radius in track;
X is the lateral deviation amount taken aim in advance a little, namely take aim in advance a little relative to current vehicle position track tangent line vertical direction to the departure of track line of centers.
2. the track based on deflection forecast algorithm according to claim 1 keeps and automatic centering system, it is characterized in that: also comprise man-machine interactive system (1), this man-machine interactive system (1) to be kept with track by CAN and automatic centering control device (6) communicates, chaufeur realizes the open and close of track maintenance and automatic centering system by man-machine interactive system (1), and shows the mode of operation of the maintenance of this track and automatic centering system in real time.
3. the track based on deflection forecast algorithm according to claim 1 and 2 keeps and automatic centering system, it is characterized in that: also comprise caution system (3), it comprises voice guard, LCD display, vibration of steering wheel device and seat electromagnetic shaker one or more, and to keep with track respectively by CAN and automatic centering control device (6) communicates, corresponding response is made, to remind chaufeur according to the alarm message that track keeps and automatic centering control device (6) exports.
4. the track based on deflection forecast algorithm according to claim 1 and 2 keeps and automatic centering system, it is characterized in that: described car body controller (2) also keeps and automatic centering control device (6) for obtaining the current head light information of vehicle and being transferred to track, when car body controller (2) detects that head light is opening, track keeps and automatic centering control device (6) carries out image enhancement processing to camera (5) when obtaining traffic lane line.
5. the track based on deflection forecast algorithm according to claim 1 and 2 keeps and automatic centering system, it is characterized in that: after described camera (5) is arranged on vehicle front windshield, and before being positioned at rear-viewing mirror in vehicle.
6. the track based on deflection forecast algorithm according to claim 1 and 2 keeps and automatic centering system, it is characterized in that: described track keeps and automatic centering control device (6) also comprises triggering judge module, the mode of operation that bearing circle judges the maintenance of this track and automatic centering system whether is controlled according to chaufeur, when chaufeur controls bearing circle, track keeps and the mode of operation of automatic centering system is track Holdover mode, when chaufeur does not control bearing circle, track keeps and the mode of operation of automatic centering system is automatic centering pattern.
7. the track based on deflection forecast algorithm keeps and an automatic centering method, it is characterized in that: adopt the described track based on deflection forecast algorithm as arbitrary in claim 1 to 6 maintenance and automatic centering system, comprise the following steps:
Step 1, track keep and automatic centering control device (6) obtains vehicle when front directional information and vehicle current vehicle speed information by CAN;
Step 2, track keep and automatic centering control device (6) keeps and automatic centering function when front directional information and vehicle current vehicle speed information judge whether to activate based on vehicle, if meet activation condition, the track then enabling track maintenance and automatic centering control device (6) keeps and automatic centering function, and enters step 3; If do not meet activation condition, then return step 1;
Step 3, camera (5) obtain the traffic lane line information of vehicle front road and are transferred to track maintenance and automatic centering control device (6), track maintenance and automatic centering control device (6) calculate the lateral deviation amount of the pre-anchor point in front by deflection forecast algorithm based on traffic lane line information, using the input of this lateral deviation amount as pid control algorithm, calculate expectation corner, and export to electric boosting steering system (4) by CAN;
The computing formula of described lateral deviation amount is as follows:
Wherein:
D be take aim in advance a little with the distance at automobile front-axle center;
θ is the yaw angle of automobile front-axle center current time;
X offthe side-play amount at automobile front-axle center and center, track;
R is the radius in track;
X is the lateral deviation amount taken aim in advance a little, namely take aim in advance a little relative to current vehicle position track tangent line vertical direction to the departure of track line of centers;
Step 4, electric boosting steering system (4) are obtained by CAN expects angular signal and current corner information, makes bearing circle turn to expectation corner from when front hook.
8. the track based on deflection forecast algorithm according to claim 7 keeps and automatic centering method, it is characterized in that: the radius r in described track is much larger than the pre-buried distance d apart from automobile front-axle center.
9. the track based on deflection forecast algorithm according to claim 7 or 8 keeps and automatic centering method, it is characterized in that: in described step 3, when car body controller (2) detects that head light is opening, track keeps and automatic centering control device (6) carries out image enhancement processing to camera (5) when obtaining traffic lane line.
10. the track based on deflection forecast algorithm according to claim 7 or 8 keeps and automatic centering method, it is characterized in that: in described step 2:
When the steering indicating light of vehicle is opening, do not enable this maintenance and automatic centering function; ;
When the speed of a motor vehicle of vehicle is less than pre-set threshold value, do not enable this maintenance and automatic centering function;
When steering indicating light is non-opening, and when the speed of a motor vehicle is more than or equal to pre-set threshold value, just enable this maintenance and automatic centering function.
CN201410613860.2A 2014-10-31 2014-10-31 Track based on deflection forecast algorithm keeps and automatic centering system and method CN104442814B (en)

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CN107499310A (en) * 2017-08-17 2017-12-22 广州大学 The track identified based on car networking and vehicle mounted road keeps householder method and system
CN107797534A (en) * 2017-09-30 2018-03-13 安徽江淮汽车集团股份有限公司 A kind of pure electronic automated driving system
WO2018072647A1 (en) * 2016-10-19 2018-04-26 中车株洲电力机车研究所有限公司 Method and system utilized by multi-axle articulated vehicle tracking central lane line
CN108025747A (en) * 2015-09-21 2018-05-11 福特全球技术公司 The track of enhancing passes through
CN108454624A (en) * 2017-01-17 2018-08-28 丰田自动车株式会社 Driving assist system in track
CN108482369A (en) * 2018-04-08 2018-09-04 广州大学 A kind of lane center keeps control method and system
CN108664016A (en) * 2017-03-31 2018-10-16 腾讯科技(深圳)有限公司 Determine the method and device of lane center
CN109283926A (en) * 2018-08-16 2019-01-29 郑州轻工业学院 A method of based on the azimuthal vehicle of program along lane line automatic Pilot
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CN109541571A (en) * 2018-12-29 2019-03-29 北京智行者科技有限公司 The combined calibrating method of EPS zero bias and multi-line laser radar
CN109778695A (en) * 2019-03-22 2019-05-21 福建农林大学 A kind of bridge inspection vehicle with lane centering function
CN110356395A (en) * 2019-06-25 2019-10-22 武汉格罗夫氢能汽车有限公司 A kind of vehicle lane keeping method, equipment and storage equipment
CN110789517A (en) * 2019-11-26 2020-02-14 安徽江淮汽车集团股份有限公司 Automatic driving lateral control method, device, equipment and storage medium

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