CN104442814B - Track based on deflection forecast algorithm keeps and automatic centering system and method - Google Patents

Track based on deflection forecast algorithm keeps and automatic centering system and method Download PDF

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Publication number
CN104442814B
CN104442814B CN201410613860.2A CN201410613860A CN104442814B CN 104442814 B CN104442814 B CN 104442814B CN 201410613860 A CN201410613860 A CN 201410613860A CN 104442814 B CN104442814 B CN 104442814B
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China
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track
automatic centering
keeps
vehicle
control
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CN201410613860.2A
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Chinese (zh)
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CN104442814A (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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Priority to CN201410613860.2A priority Critical patent/CN104442814B/en
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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 kind of track maintenance based on deflection forecast algorithm and automatic centering system and method, track keeps and automatic centering control device is by photographic head real-time detection vehicle front road track markings information;Obtain vehicle when front directional information and headlight information by car body controller, obtain vehicle current vehicle speed information by body electronics stabilisation systems;The current corner information of vehicle is obtained by electric boosting steering system;Keep again through track and deflection forecast algorithm, pid control algorithm in automatic centering control device calculates the expectation corner of Current vehicle, electric boosting steering system request active steering is passed to by CAN, electric boosting steering system accepts expectation angular signal, from when front hook steering wheel rotation to expectation corner.Produce alarm signal and man-machine interaction signal simultaneously, passed to Warning for vehicle system and human-computer interaction interface by CAN.The present invention is capable of track and keeps and automatic centering function.

Description

Track based on deflection forecast algorithm keeps and automatic centering system and method
Technical field
The invention belongs to track to keep controlling, be specifically related to a kind of track maintenance based on deflection forecast algorithm and automatic centering system and method.
Background technology
Track maintenance and automatic centering system utilize the markings of forward sight photographic head identification traveling lane, calculate the relative position of vehicle and track, when automotive run-off-road, system produces the moment actively rectified 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 and keeps pattern and automatic centering pattern.Under different mode of operations, the opportunity that actively deviation-correcting function triggers is different.
Track keeps pattern: based on operator.If driver is in unconscious situation, making the improper run-off-road of vehicle, system can correct vehicle driving trace, makes vehicle be maintained in former track and travels.
Automatic centering pattern: by driver at short notice (such as 10s) without based on steering wheel is operated, in such a mode, vehicle is capable of travelling along lane center automatic centering.After this pattern operates mainly in the of short duration departure direction dish of driver's both hands.In automatic centering pattern work process, if driver's adapter steering wheel, system automatically exits from automatic centering pattern, is back to track and keeps pattern.
Development along with the automobile crosswise joint system that track keeps and automatic centering system is 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 characteristic, in such as motor process, vehicle is relative to the body gesture of traveling lane, and these dynamic characteristics are very big for the performance impact of system.It addition, the change of road environment makes motor racing characteristic become more complicated.Therefore, it is necessary to existing track is kept and automatic centering system and method are improved.
Summary of the invention
It is an object of the invention to provide a kind of track maintenance based on deflection forecast algorithm and automatic centering system and method, to realize track maintenance and automatic centering function.
A kind of track based on deflection forecast algorithm of the present invention keeps and automatic centering system, including:
Photographic head, 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, is used for obtaining vehicle and when front directional information and is transferred to track maintenance and automatic centering control device;
Body electronics stabilisation systems, is used for obtaining vehicle current vehicle speed information and being transferred to track keeping and automatic centering control device;
Electric boosting steering system, is used for obtaining the current corner information of vehicle and being transferred to track keeping and automatic centering control device;
nullTrack keeps and automatic centering control device,Track keep and automatic centering control device by CAN respectively with car body controller、Body electronics stabilisation systems and electric boosting steering system communicate,Track keeps and automatic centering control device is connected with photographic head by video line,Track keeps and automatic centering control device is based on when 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,Track keeps and automatic centering control device calculates front based on the traffic lane line information that photographic head obtains by deflection forecast algorithm and takes aim at lateral deviation amount a little in advance,Using the input as pid control algorithm of this lateral deviation amount,Calculate expectation corner,And exported to electric boosting steering system by CAN,Electric boosting steering system receives expectation angular signal and current corner information,Steering wheel 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;
xoffThe side-play amount of automobile front-axle center and lane center;
R is the radius in track;
X takes aim at lateral deviation amount a little in advance, namely takes aim in advance a little relative to the departure of current vehicle position track tangent line vertical direction to lane center.
Also include man-machine interactive system, this man-machine interactive system is communicated with track maintenance and automatic centering control device by CAN, driver realizes the open and close of track maintenance and automatic centering system by man-machine interactive system, and shows that this track keeps the duty with automatic centering system in real time.
Also include caution system, it includes one or more of voice guard, LCD display, vibration of steering wheel device and seat electromagnetic shaker, and communicate with track maintenance and automatic centering control device respectively through CAN, keep according to track and the warning message of automatic centering control device output makes corresponding response, to remind driver.
Described car body controller is additionally operable to obtain the current headlight information of vehicle and be transferred to track keep and automatic centering control device, when car body controller detects that headlight is opening, the traffic lane line that track keeps and photographic head is obtained by automatic centering control device carries out image enhancement processing.
After described photographic head 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 includes triggering judge module, whether control steering wheel according to driver and judge that this track keeps the mode of operation with automatic centering system, when driver controls steering wheel, track keeps and the mode of operation of automatic centering system is that track keeps pattern, when driver does not control steering wheel, 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 as arbitrary in claim 1 to 6 as described in the track maintenance based on deflection forecast algorithm and automatic centering system, comprise 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 meeting activation condition, then enable maintenance and the automatic centering function of track maintenance and automatic centering control device, and enter step 3;If being unsatisfactory for activation condition, then return step 1;
Step 3, photographic head 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 as pid control algorithm of this lateral deviation amount, calculate expectation corner, and exported to electric boosting steering system by CAN;
The computing formula of described lateral deviation amount is as follows:
Wherein:
D is the distance of pre-buried point and automobile front-axle center;
θ is the yaw angle of automobile front-axle center current time;
xoffThe side-play amount of automobile front-axle center and lane center;
R is the radius in track;
X takes aim at lateral deviation amount a little in advance, namely takes aim in advance a little relative to the departure of current vehicle position track tangent line vertical direction to lane center;
Step 4, electric boosting steering system obtain expectation angular signal and current corner information by CAN, make steering wheel turn to expectation corner from when front hook.
The radius r in described track is much larger than the pre-buried some distance d from automobile front-axle center.
In described step 3, when car body controller detects that headlight is opening, track keeps and photographic head is carried out image enhancement processing when obtaining traffic lane line by automatic centering control device.
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 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 speed be more than or equal to pre-set threshold value time, 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: the present invention considers in motor process vehicle relative to dynamic characteristics such as the body gesture of traveling lane, turning radius;And based on bus or train route deflection forecast algorithm, it is achieved the steady control of steering, it is possible to obtaining less lateral attitude correction error, solving the uncertainty owing to driving environment is bigger affects the lateral direction of car kinetic control system trace performance for lane center;And adopt the existing mechanism of vehicle itself as executor completely, and being communicated by CAN, the information of the vehicle needed for controller itself also can obtain completely CAN, possesses volume production feasibility.Native system is when the unconscious deviation traveling lane of driver or departure direction dish in driver's both hands short time, using the teaching of the invention it is possible to provide to one steering moment contrary with offset direction of steering wheel, corrects vehicle and returns traveling lane, decreases the vehicle accident because run-off-road causes.
Accompanying drawing explanation
Fig. 1 is that this track keeps and automatic centering system theory 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, keeps and automatic centering control device 6 including photographic head 5, car body controller 2, body electronics stabilisation systems 7, electric boosting steering system 4 and track.After photographic head 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 and keep and automatic centering control device 6.Car body controller 2 is used for obtaining vehicle and when front directional information and is transferred to track maintenance and automatic centering control device 6.Body electronics stabilisation systems 7 is used for obtaining vehicle current vehicle speed information and being transferred to track keeping and automatic centering control device 6.Electric boosting steering system 4 is used for obtaining the current corner information of vehicle and being transferred to track keeping and automatic centering control device 6.nullTrack keep and automatic centering control device 6 by CAN respectively with car body controller 2、Body electronics stabilisation systems 7 and electric boosting steering system 4 communicate,Track keeps and automatic centering control device 6 is connected with photographic head 5 by video line,Track keeps and automatic centering control device 6 is based on when 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 photographic head 5 calculates the lateral deviation amount of the pre-anchor point in front by deflection forecast algorithm,Using the input as pid control algorithm of this lateral deviation amount,Calculate expectation corner,And exported to electric boosting steering system 4 by CAN,Electric boosting steering system 4 receives expectation angular signal and current corner information,Steering wheel 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.xoffThe side-play amount of automobile front-axle center and lane center.R is the radius in track.X takes aim at lateral deviation amount a little in advance, namely takes aim in advance a little relative to the departure of current vehicle position track tangent line vertical direction to lane center.
As shown in Figure 1, as preferably, also include man-machine interactive system 1, this man-machine interactive system 1 is communicated with track maintenance and automatic centering control device 6 by CAN, driver realizes the open and close of track maintenance and automatic centering system by man-machine interactive system, and shows that this track keeps the duty with automatic centering system in real time.
As shown in Figure 1, as preferably, also include caution system 3, it includes one or more of voice guard, LCD display, vibration of steering wheel device and seat electromagnetic shaker, and communicate with track maintenance and automatic centering control device 6 respectively through CAN, keep according to track and the warning message of automatic centering control device 6 output makes corresponding response, to remind driver.
Described car body controller 2 is additionally operable to obtain the current headlight information of vehicle and be transferred to track keep and automatic centering control device 6, when car body controller 2 detects that headlight is opening, track keeps and photographic head 5 is carried out image enhancement processing when obtaining traffic lane line by automatic centering control device 6.
Described track keeps and automatic centering control device 6 also includes triggering judge module, whether control steering wheel according to driver and judge that this track keeps the mode of operation with automatic centering system, when driver controls steering wheel, track keeps and the mode of operation of automatic centering system is that track keeps pattern, when driver does not control steering wheel, track keeps and the mode of operation of automatic centering system is automatic centering pattern.
As in figure 2 it is shown, a kind of track based on deflection forecast algorithm of the present invention keeps and automatic centering method, adopt the track based on deflection forecast algorithm of the present invention to keep 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 meeting activation condition, then enable maintenance and the automatic centering function of track maintenance and automatic centering control device 6, and enter step 3;If being unsatisfactory for activation condition, then return step 1.
Step 3, photographic head 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 as pid control algorithm of this lateral deviation amount, calculate expectation corner, and exported 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.
xoffThe side-play amount of automobile front-axle center and lane center.
R is the radius in track.
X takes aim at lateral deviation amount a little in advance, namely takes aim in advance a little relative to the departure of current vehicle position track tangent line vertical direction to lane center.
Step 4, electric boosting steering system 4 obtain expectation angular signal and current corner information by CAN, make steering wheel turn to expectation corner from when front hook.
The radius r in described track is much larger than taking aim at a little distance d from automobile front-axle center in advance.
In described step 3, when car body controller 2 detects that headlight is opening, track keeps and photographic head 5 is carried out image enhancement processing when obtaining traffic lane line by automatic centering control device 6.
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 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 speed be more than or equal to pre-set threshold value time, just enable this maintenance and automatic centering function.
As it is shown on figure 3, described bus or train route deflection forecast algorithm is based primarily upon monocular cam 5 vision, by photographic head 5 real-time detection vehicle front lane line information, detect automobile front-axle center current time yaw angle θ and with lane center point position offset xoff.Extend photographic head 5 optical axis, from the point that automobile front-axle centre distance is d for take aim at a little in advance.
Based on the optical characteristics of photographic head 5, can be taken aim in advance a little relative to the departure x of current vehicle position track tangent line vertical direction, and taking aim at actual and lane center the departure in a place in advance is x0, keep due to track and automatic centering system is primarily adapted for use in highway or one-level road, therefore, turning radius r is much larger than preview distance d.I.e. r > > d time, have:
X=x0(1)
There is following relation in the quantity of state taking aim at place's departure and vehicle current time in advance:
X=x0=△ x+xoff+dsinθ(2)
Wherein △ x considers the lateral displacement variable quantity that road curvature causes.Consider that turning radius r is much larger than preview distance d, therefore have:
△ x=△ x0D=dcos θ (3)
Therefore according to Pythagorean theorem, have:
r2+d2cos2θ=(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 algolithm passes through xoffThe difference of value realizes track respectively and keeps function and automatic centering function, namely determine that track keeps and the automatic centering system crosswise joint intervention to vehicle by the different calibration values of this parameter, realize track keep function time value more than 55cm, it is achieved during automatic centering function, value is more than 5cm.Track keeps and automatic centering control device 6 comprises one and triggers judge module, whether controls steering wheel according to driver and determines system operating mode.Departure x keeps and PID controller control variable input in automatic centering control device 6 as track, expection corner is drawn after PID controller passing ratio, integration, differential calculation, keep via track and automatic centering control device 6 exports to electric boosting steering system 4 (EPS) by CAN, steering wheel for vehicle is gone to expection corner by electric boosting steering system 4, it is achieved track keeps and automatic centering function.

Claims (10)

1. the track based on deflection forecast algorithm keeps and automatic centering system, it is characterised in that:
Photographic head (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), is used for obtaining vehicle and when front directional information and is transferred to track maintenance and automatic centering control device (6);
Body electronics stabilisation systems (7), is used for obtaining vehicle current vehicle speed information and being transferred to track keeping and automatic centering control device (6);
Electric boosting steering system (4), is used for obtaining the current corner information of vehicle and being transferred to track keeping and automatic centering control device (6);
nullTrack 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 stabilisation systems (7) and electric boosting steering system (4) communicate,Track keeps and automatic centering control device (6) is connected with photographic head (5) by video line,Track keeps and automatic centering control device (6) is based on when 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,Track keeps and automatic centering control device (6) calculates front based on the traffic lane line information that photographic head (5) obtains by deflection forecast algorithm and takes aim at lateral deviation amount a little in advance,Using the input as pid control algorithm of this lateral deviation amount,Calculate expectation corner,And exported to electric boosting steering system (4) by CAN,Electric boosting steering system (4) receives expectation angular signal and current corner information,Steering wheel 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;
xoffThe side-play amount of automobile front-axle center and lane center;
R is the radius in track;
X takes aim at lateral deviation amount a little in advance, namely takes aim in advance a little relative to the departure of current vehicle position track tangent line vertical direction to lane center.
2. the track based on deflection forecast algorithm according to claim 1 keeps and automatic centering system, it is characterized in that: also include man-machine interactive system (1), this man-machine interactive system (1) is communicated with track maintenance and automatic centering control device (6) by CAN, driver realizes the open and close of track maintenance and automatic centering system by man-machine interactive system (1), and shows that this track keeps the duty with 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 include caution system (3), it includes one or more of voice guard, LCD display, vibration of steering wheel device and seat electromagnetic shaker, and communicate with track maintenance and automatic centering control device (6) respectively through CAN, corresponding response is made, to remind driver according to the warning message that track maintenance and automatic centering control device (6) export.
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) is additionally operable to obtain the current headlight information of vehicle and be transferred to track keep and automatic centering control device (6), when car body controller (2) detects that headlight is opening, track keeps and photographic head (5) is carried out image enhancement processing when obtaining traffic lane line by automatic centering control device (6).
5. the track based on deflection forecast algorithm according to claim 1 and 2 keeps and automatic centering system, it is characterised in that: after described photographic head (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 includes triggering judge module, whether control steering wheel according to driver and judge that this track keeps the mode of operation with automatic centering system, when driver controls steering wheel, track keeps and the mode of operation of automatic centering system is that track keeps pattern, when driver does not control steering wheel, track keeps and the mode of operation of automatic centering system is automatic centering pattern.
7. one kind based on deflection forecast algorithm track keep and automatic centering method, it is characterised in that: adopts as arbitrary in claim 1 to 6 as described in based on deflection forecast algorithm track 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 meeting activation condition, the track then enabling track maintenance and automatic centering control device (6) keeps and automatic centering function, and enters step 3;If being unsatisfactory for activation condition, then return step 1;
Step 3, photographic head (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 based on traffic lane line information by deflection forecast algorithm, using the input as pid control algorithm of this lateral deviation amount, calculate expectation corner, and exported 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;
xoffThe side-play amount of automobile front-axle center and lane center;
R is the radius in track;
X takes aim at lateral deviation amount a little in advance, namely takes aim in advance a little relative to the departure of current vehicle position track tangent line vertical direction to lane center;
Step 4, electric boosting steering system (4) obtain expectation angular signal and current corner information by CAN, make steering wheel 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 characterised in that: the radius r in described track is much larger than the pre-buried some distance d 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 headlight is opening, track keeps and photographic head (5) is carried out image enhancement processing when obtaining traffic lane line by automatic centering control device (6).
10. the track based on deflection forecast algorithm according to claim 7 or 8 keeps and automatic centering method, it is characterised 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 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 speed be more than or equal to pre-set threshold value time, 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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