CN105711588B - A kind of track keeps auxiliary system and track to keep householder method - Google Patents

A kind of track keeps auxiliary system and track to keep householder method Download PDF

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Publication number
CN105711588B
CN105711588B CN201610036272.6A CN201610036272A CN105711588B CN 105711588 B CN105711588 B CN 105711588B CN 201610036272 A CN201610036272 A CN 201610036272A CN 105711588 B CN105711588 B CN 105711588B
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vehicle
track
road
module
steering
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CN105711588A (en
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李龙刚
刘春玲
李朋龙
刘慧建
裴福兴
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Chery Automobile Co Ltd
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SAIC Chery Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Abstract

The present invention proposes that a kind of track keeps auxiliary system and track to keep householder method, pass through roadway environments detection module, vehicle-state detection module, driver's driving condition detection module, vehicle carries out complete detection with pavement of road coefficient of rolling friction detection module to " people's bus or train route " driving environment, and control module is kept to carry out calculation process by track corresponding detection signals, judge vehicle whether run-off-road, and track transverse direction rotary transform tensor is realized by electric boosting steering system EPS and electronic stability program ESP Collaborative Controls and is controlled by electronic stability program ESP and realizes that longitudinal safe distance is kept, and warning reminding can be carried out.The drive safety of driving vehicle has been obviously improved by technical scheme, and realize that track is kept using electric boosting steering system EPS and electronic stability program ESP Collaborative Controls mode, on the premise of vehicle driving safety is ensured, comfort when track keeps auxiliary system work is farthest improved.

Description

A kind of track keeps auxiliary system and track to keep householder method
Technical field
The present invention relates to vehicle security drive field, and in particular to a kind of track suitable for motor vehicles keeps auxiliary system System and track keep householder method.
Background technology
Track keeps auxiliary system（Lane Keeping Assist System：LKAS）Refer to based on the vehicle in traveling Driving information and road information, prediction driving vehicle be when will depart from track, by controlling vehicle so as to preventing driving vehicle Depart from a kind of intelligent driving auxiliary system in track.Its critical function is that auxiliary is excessive at a high speed or in similar highway environment The tired or dull for a long time driver driven keeps vehicle to be travelled in track, improves the security of vehicle.
In the prior art, patent of invention CN 1244034C, CN 100469630C, the invention thinking of 101965286 B of CN It is when vehicle will deviate the track of its traveling, according to transverse shifting departure control action of the vehicle with respect to the lane center Brake force or driving force on each wheel, so that vehicle produces the yawing for returning to traveling lane, so as to prevent vehicle Run-off-road travels.But above in several patents and not yet explicitly brake force is applied or controlled according to what kind of ratio System, if brake force apply it is unreasonable, can make vehicle movement tend to unstable state, it is heavy then cause vehicle occur break away, turn on one's side Risk, gently then deceleration crosses conference and larger impact sense is caused to driver, causes driver panic, while substantially reduce and drive Sail comfort.
Patent of invention CN 1154592C propose to make movement by applying the steering of vehicle one steering biased torque The design center line of vehicle tracking road track mark.But it does not consider, for the vehicle of high-speed stable running, steering wheel can The angle of rotation is typically limited, therefore is only difficult to provide the desirable enough yaw moments of vehicle by steering. To produce enough yaw moment, steering angle crosses conference and causes vehicle unstable, heavy then cause vehicle to occur breakking away, turn on one's side Risk, larger side knock sense gently can be then caused to driver, causes driver panic, equally can also substantially reduce driving Comfort.
101778753 B of patent of invention CN propose the vehicle-related information provided and context dependant information being combined To predict the running orbit of vehicle, the track for carrying out vehicle keeps control.But people in " people-Che-road " this big system is not considered As the influence of key factor, the driving behavior characteristic of driver is not considered.Therefore Lane Keeping System need to consider to drive at the same time The driving behavior characteristic of member.
Meanwhile these existing tracks keep auxiliary system all only to consider that vehicular transverse direction is maintained at left and right lane markings It is considered safe in line, does not consider the influence of longitudinal vehicle, this has very big security risk.Such as car where this vehicle Where there are the vehicle of Reduced Speed Now, or the unexpected lane change of another vehicle to this vehicle of adjacent lane traveling in front in road in track, And when being in this vehicle front, if at this time this vehicle continue to execute track keep may with the automobile crash in front, hold Easily cause traffic accident or cause personal injury.In addition the coefficient of rolling friction between driving vehicle and road surface is constantly to change , existing track keeps auxiliary system to carry out simplifying processing as constant in theoretical calculation and practical application, when When meeting rain, snow, icing weather and other reasons and causing road surface or the Local Road Surface friction coefficient to change greatly, existing track is kept Auxiliary system will directly influence the processing mode of friction coefficient the effect of Lane Keeping System execution, may cause erroneous judgement Situation occurs.Therefore track of the prior art keeps auxiliary system to be not reaching to high accuracy, high-intelligentization, the car of high security Road keeps auxiliary control purpose.
The content of the invention
The present invention be directed to above-mentioned problems of the prior art, propose a kind of innovative track keep auxiliary system with Track keeps householder method, and mould is detected by roadway environments detection module, vehicle-state detection module, driver's driving condition Block, vehicle and pavement of road coefficient of rolling friction detection module carry out complete detection to " people-Che-road " driving environment, and by phase Signal should be detected keeps control module to carry out calculation process by track, judge vehicle whether run-off-road, and by electronic Servo steering system EPS（Electric Power Steering）With electronic stability program ESP（Electronic Stability Programe）Collaborative Control realizes track transverse direction rotary transform tensor, while is controlled in fact by electronic stability program ESP Now longitudinal safe distance is kept, and carries out warning reminding at the appropriate time.The present invention can improve the driving peace of driving vehicle Quan Xing, and on the premise of drive safety is ensured, significantly improve vehicle drive comfort.
It is as follows that the present invention solves the technical solution that above-mentioned technical problem is taken：
A kind of track keeps auxiliary system, including：Roadway environments detection module 10, vehicle-state detection module 20, drive Member's driving condition detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40, track keep control module 50, Track keeps execution module 60 and alarm system module 70, the roadway environments detection module 10, vehicle-state detection module 20, Driver's driving condition detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40 are connected to track and keep control The data acquisition importation of molding block 50, the track keep execution module 60 and alarm system module 70 to be connected to track guarantor Hold the control signal output par, c of control module 50, the track keep control module 50 according to roadway environments detection module 10, Vehicle-state detection module 20, driver's driving condition detection module 30 and vehicle and pavement of road coefficient of rolling friction detection mould " people-Che-road " driving environment detection data that block 40 provides, judge travel condition of vehicle and driver's driving condition, work as driving When member's driving condition occurs abnormal, the track keeps control module 50 to trigger alarm system module 70 and carries out warning reminding, when When lateral direction of car run-off-road occurs abnormal, the track keeps control module 50 to control track to keep execution module 60 to perform car Horizontal rotary transform tensor, when longitudinal direction of car is not in safe distance scope, the track keeps control module 50 to control track Keep execution module 60 that vehicle is maintained at safe distance scope.
Further track according to the present invention keeps auxiliary system, wherein the roadway environments detection module 10 wraps Include CCD camera 110 and radar 120, for detect lane line mark, track line width, vehicle center away from both sides lane line away from From relative velocity, the vehicle-state detection between pedestrian, vehicle course angle, separation between vehicles information and vehicle on, road Module 20 includes acceleration transducer 210, yaw-rate sensor 220 and wheel speed sensors 658, for detecting lateral direction of car With longitudinal acceleration, yaw velocity and vehicle wheel rotational speed, driver's driving condition detection module 30 includes touch sensor 310th, steering indicating light signalling means 320, track hold button switching signal device 330, steering wheel torque sensor 614 and steering wheel angle Sensor 615, for detecting steering wheel for vehicle touch situations, steering indicating light open and-shut mode, track keep auxiliary system open and-shut mode, Wheel steering moment of torsion, wheel steering angle and wheel steering angular speed, the vehicle and pavement of road rolling friction Coefficient detection module 40 includes tire sensor, for being periodically detected the coefficient of rolling friction of vehicle and pavement of road；It is described Track keeps control module 50 to include input module 510, data memory module 520, microprocessor 530 and output module 540, institute State input module 510 and be connected to the CCD camera 110, radar 120, acceleration transducer 210, yaw-rate sensor 220th, wheel speed sensors 658, touch sensor 310, steering indicating light signalling means 320, track hold button switching signal device 330, side To disk torque sensor 614, steering wheel angle sensor 615 and tire sensor, the microprocessor 530 is connected to described defeated Enter module 510, data memory module 520 and output module 540；The track keeps execution module 60 to include electric power steering System EPS control devices 610 and electronic stability program ESP control devices 650, the output module 540 are connected to described electronic Servo steering system EPS control devices 610, electronic stability program ESP control devices 650 and alarm system module 70.
Further track according to the present invention keeps auxiliary system, wherein the track keeps 50 base of control module Judge whether driver's driving condition occurs in the following manner in the detection information that driver's driving condition detection module 30 provides It is abnormal：Judge that driving condition is abnormal when touch sensor 310 detects that driver does not hold steady steering wheel；Work as steering wheel torque Sensor 614 detects that wheel steering moment of torsion is less than or equal to predetermined threshold value and continuous n unit interval within the unit interval When inside detecting that wheel steering moment of torsion is less than or equal to predetermined threshold value, judge that driving condition is abnormal, n is detection number；The side of working as Detect that wheel steering angle and wheel steering angular speed are all higher than presetting within the unit interval to disk rotary angle transmitter 615 Judge that driving condition is abnormal during threshold value；Letter is opened when steering indicating light signalling means 320 does not provide steering indicating light in the case of Vehicular turn Number when judge that driving condition is abnormal.
Further track according to the present invention keeps auxiliary system, wherein the track keeps 50 base of control module In roadway environments detection module 10 provide detection information, first judge vehicle whether lateral run-out track, it is inclined in lateral direction of car Judge whether lateral direction of car run-off-road is in abnormality on the premise of from track again, when lateral direction of car run-off-road is in different During normal state, track keeps control module 50 to trigger track and keeps the execution lateral direction of car rotary transform tensor operation of execution module 60.
Further track according to the present invention keeps auxiliary system, wherein the track keeps 50 base of control module In roadway environments detection module 10 provide detection information judge in the following way vehicle whether lateral run-out track：Work as detection Distance dl of the vehicle left hand edge away from left-hand lane line of the i+1 width image arrivedi+1Subtract the vehicle right hand edge of i+1 width image Distance dr away from right-hand lane linei+1Absolute value be more than the i-th width image distance dl of the vehicle left hand edge away from left-hand lane linei Subtract distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imageiAbsolute value when, judge vehicle lateral run-out car Road, and as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width image detectediAbsolute value subtract the i-th width Distance dr of the vehicle right hand edge of image away from right-hand lane lineiAbsolute value when being more than or equal to default threshold value dt, then judge car Dextrad run-off-road, on the contrary then left-hand run-off-road；When the absolute value of the course angle for the i+1 width image for detecting vehicle is big When the absolute value of the course angle α of the i-th width image, then lateral direction of car run-off-road is judged, and work as course angle along lane center Right direction when further judge vehicle dextrad run-off-road, it is further when left direction of the course angle along lane center Judge vehicle left-hand run-off-road.
Further track according to the present invention keeps auxiliary system, wherein the track keeps 50 base of control module Judge lateral direction of car run-off-road whether in different in the following way in the detection information that roadway environments detection module 10 provides Often：Under definite vehicle left-hand run-off-road, as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width imageiIt is less than Equal to the distance H in left side interference region inside lane line-spacing interference region inner side edge boundary linei1When, judge that vehicle left-hand run-off-road is different Often, it is necessary to start rotary transform tensor operation；Under definite vehicle dextrad run-off-road, when the vehicle right hand edge of the i-th width image is away from the right side The distance dr of side lane lineiLess than or equal to the distance H in right side interference region inside lane line-spacing interference region inner side edge boundary lineirWhen, Judge that vehicle dextrad run-off-road is abnormal to operate, it is necessary to start rotary transform tensor.
Further track according to the present invention keeps auxiliary system, wherein when the appearance of lateral direction of car run-off-road is different Chang Shi, the track keep control module 50 to carry out lateral direction of car rotary transform tensor in the following way：Track keeps control first Laterally and longitudinally acceleration, yaw velocity and the vehicle wheel rotational speed information that module 50 is provided according to vehicle-state detection module 20 with And vehicle calculates required horizontal stroke with the coefficient of rolling friction accurate information that pavement of road coefficient of rolling friction detection module 40 provides To aligning torque；Then the horizontal aligning torque is distributed to the electric boosting steering system EPS by predetermined ratio to control Device 610 and electronic stability program ESP control devices 650, the electric boosting steering system EPS control devices 610 pass through electricity Dynamic power-assisted steering module adjusts corresponding steering force and steering wheel angle to provide the first auxiliary aligning torque, the electronic stability journey Sequence ESP control devices 650 provide the second auxiliary aligning torque by could be adjusted to each wheel wheel speed, are aided in back first Lateral direction of car rotary transform tensor is realized under the coordinated effect of positive moment and the second auxiliary aligning torque.
Further track according to the present invention keeps auxiliary system, wherein the track keeps 50 base of control module In the vehicle pitch information that roadway environments detection module 10 provides, judge whether longitudinal direction of car is in safe distance scope, work as inspection The distance S measured between Ben Che and front truck is less than or equal to default safe distance STWhen, judge that longitudinal direction of car is not in safe distance Scope, at this time track keep control module 50 according to roadway environments detection module 10, vehicle-state detection module 20 and vehicle with Spacing information, speed information, acceleration information and the rolling friction that pavement of road coefficient of rolling friction detection module 40 provides Coefficient information, the brake force needed for accurate calculation, and the brake force calculated is supplied to electronic stability program ESP control devices 650, corresponding brake force is provided to each wheel by electronic stability program ESP control devices 650, so that by adjusting vehicle wheel Longitudinal direction of car is maintained at safe distance scope by speed.
A kind of track for keeping auxiliary system to carry out based on track of the present invention keeps householder method, including following step Suddenly：
Step 1: track keeps the detection information that control module 50 is provided based on roadway environments detection module 10, according to such as Under type judge vehicle whether lateral run-out track, if so then execute step two：
（1）, as distance dl of the vehicle left hand edge away from left-hand lane line of the i+1 width image detectedi+1Subtract i+1 Distance dr of the vehicle right hand edge of width image away from right-hand lane linei+1Absolute value be more than the i-th width image vehicle left hand edge away from a left side The distance dl of side lane lineiSubtract distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imageiAbsolute value when, judge Vehicle lateral run-out track, and as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width image detectedi's Absolute value subtracts distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imageiAbsolute value be more than or equal to default threshold During value dt, then vehicle dextrad run-off-road, on the contrary then left-hand run-off-road are judged；
（2）, be more than the course angle α of the i-th width image when the absolute value of the course angle of the i+1 width image that detects vehicle During absolute value, then lateral direction of car run-off-road is judged, and further judge when right direction of the course angle along lane center Vehicle dextrad run-off-road, further judges vehicle left-hand run-off-road when left direction of the course angle along lane center；
Step 2: when lateral direction of car run-off-road, the track keeps control module 50 to be based on roadway environments detection mould The detection information that block 10 provides judges whether lateral direction of car run-off-road belongs to abnormal conditions in the following way, if belonging to abnormal Situation then performs step 3：
（1）, under definite vehicle left-hand run-off-road, when the i-th width image vehicle left hand edge away from left-hand lane line away from From dliLess than or equal to the distance H in left side interference region inside lane line-spacing interference region inner side edge boundary linei1When, judge vehicle left-hand Run-off-road is abnormal；
（2）, under definite vehicle dextrad run-off-road, when the i-th width image vehicle right hand edge away from right-hand lane line away from From driLess than or equal to the distance H in right side interference region inside lane line-spacing interference region inner side edge boundary lineirWhen, judge vehicle dextrad Run-off-road is abnormal；
Step 3: when lateral direction of car run-off-road occurs abnormal, the track keeps control module 50 according to lower section Formula carries out lateral direction of car rotary transform tensor：
（1）, track the control module 50 laterally and longitudinally acceleration, the horizontal stroke that are provided according to vehicle-state detection module 20 are provided The rolling friction that pivot angle speed and vehicle wheel rotational speed information and vehicle are provided with pavement of road coefficient of rolling friction detection module 40 Horizontal aligning torque needed for coefficient information accurate calculation；
（2）, track keep control module 50 the horizontal aligning torque calculated is distributed to by predetermined ratio it is described electronic Servo steering system EPS control devices 610 and electronic stability program ESP control devices 650；
（3）, the electric boosting steering system EPS control devices 610 pass through that the adjustment of electric power steering module is corresponding to be turned The first auxiliary aligning torque is provided to power and steering wheel angle, the electronic stability program ESP control devices 650 are by each A wheel wheel speed could be adjusted to provide the second auxiliary aligning torque, in the first auxiliary aligning torque and the second auxiliary aligning torque Coordinated effect under realize lateral direction of car rotary transform tensor.
Further track according to the present invention keeps householder method, wherein further comprising the steps of：
Step 4: the track keeps the detection letter that control module 50 is provided based on driver's driving condition detection module 30 Breath judges whether driver's driving condition exception occurs in the following way, and when driver's driving condition occurs abnormal, touches Alert system module 70 of transmitting messages carries out warning reminding：
（1）, when touch sensor 310 detects that driver does not hold steady steering wheel judge that driving condition is abnormal；
（2）, when steering wheel torque sensor 614, to detect that wheel steering moment of torsion is less than or equal within the unit interval default When detecting that wheel steering moment of torsion is less than or equal to predetermined threshold value in threshold value and continuously n unit interval, judge to drive shape State is abnormal, and n is detection number；
（3）, wheel steering angle and wheel steering are detected within the unit interval when steering wheel angle sensor 615 Angular speed is all higher than judging that driving condition is abnormal during predetermined threshold value；
（4）, when steering indicating light signalling means 320 is not providing steering indicating light open signal in the case of Vehicular turn judge drive Abnormal state；
Step 5: the track keeps the separation between vehicles letter that control module 50 is provided based on roadway environments detection module 10 Breath, judges whether longitudinal direction of car is in safe distance scope, and when longitudinal direction of car is not in safe distance scope, the track is protected Hold control module 50 and calculate required brake force, and the brake force calculated is supplied to electronic stability program ESP control devices 650, corresponding brake force is provided to each wheel by electronic stability program ESP control devices 650, so that by adjusting vehicle wheel Longitudinal direction of car is maintained at safe distance scope by speed.
The device have the advantages that：
1）, patent of the present invention detected by roadway environments, vehicle-state detection, driver's driving condition detection, vehicle with Pavement of road coefficient of rolling friction detects four module to the complete detection of " people-Che-road " driving environment to realize that track is kept, The drive safety of driving vehicle can be obviously improved.
2）, patent of the present invention using EPS control devices and ESP control device Collaborative Control modes come realize track keep, First auxiliary aligning torque is realized by EPS control devices, the second auxiliary aligning torque is realized by ESP control devices, is being protected On the premise of demonstrate,proving vehicle driving safety, comfort when track keeps auxiliary system work is farthest improved.
3）, should patent of invention not only by lateral run-out return just realizing track keep, while increase longitudinal direction safety away from From function is kept, it is possible to prevente effectively from this vehicle has the vehicle of Reduced Speed Now, or adjacent lane traveling with front in the track of place The unexpected lane change of another vehicle to track where this vehicle in, and be in traffic accident caused during this vehicle front or people Body injures.
4）, patent of the present invention there is preferable scalability, on the basis of prior art, pass through corresponding software tune Whole or a small amount of hardware is put into, it can be achieved that adaptive cruise, forward direction anti-collision warning, driver fatigue detect, full-view image is contour Level drive assist system Function Extension, it is of great advantage for the active safety of lifting vehicle.
Brief description of the drawings
Fig. 1 is that track of the present invention keeps the module of auxiliary system to form structure diagram；
Fig. 2 is that track of the present invention keeps arrangement schematic diagram of the auxiliary system on vehicle；
Fig. 3 is the detailed composition structure diagram that track of the present invention keeps auxiliary system；
Fig. 4 is the overall control flow chart that track of the present invention keeps auxiliary system；
Fig. 5 is driver's driving behavior overhaul flow chart；
Fig. 6 is deviation principle schematic；
Fig. 7 is deviation decision flow chart；
Fig. 8 keeps performing for track（Deviation is abnormal）Principle schematic；
Fig. 9 keeps performing for track（Deviation is abnormal）Decision flow chart；
Figure 10 keeps control schematic diagram for track；
Figure 11 keeps control flow chart for track.
Embodiment
Technical scheme is described in detail below in conjunction with attached drawing, so that those skilled in the art can be more Add and be clearly understood from the solution of the present invention, but the protection domain being not intended to limit the present invention.
Fig. 1 is the modular structure schematic diagram that track of the present invention keeps auxiliary system.As shown in the figure, the track is kept Auxiliary system is by roadway environments detection module 10, vehicle-state detection module 20, driver's driving condition detection module 30, vehicle Control module 50, track is kept to keep execution module 60 and alarm with pavement of road coefficient of rolling friction detection module 40, track 70 7 part of system module forms.The roadway environments detection module 10, vehicle-state detection module 20, driver's driving condition Detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40 are connected to the data that track keeps control module 50 Importation is gathered, the track keeps execution module 60 and alarm system module 70 to be connected to track and keep control module 50 Control signal output par, c.Detected by roadway environments detection module 10, vehicle-state detection module 20, driver's driving condition Module 30, vehicle and pavement of road coefficient of rolling friction detection module 40, will to the complete detection of " people-Che-road " driving environment Corresponding detection signals keep control module 50 to carry out calculation process by track, judge vehicle whether run-off-road, and pass through Track keeps the electric boosting steering system EPS control devices 610 and electronic stability program ESP control devices of straight trip module 60 650 Collaborative Controls realize track transverse direction rotary transform tensor, while realize longitudinal peace by electronic stability program ESP control devices 650 Full distance is kept, and carries out warning reminding by warning device 710 in due course.
Fig. 2 is the specific arrangement schematic diagram that track keeps auxiliary system, and Fig. 3 is the specific connection that track keeps auxiliary system Structure diagram, 2 and 3 is described in detail the composition structure that track of the present invention keeps auxiliary system below in conjunction with the accompanying drawings.It is described Roadway environments detection module 10 include CCD camera 110, image processor 111, radar 120 and signal processor 121, institute The CCD camera 110 stated is arranged in the rear of room mirror, and described image processor 111 also is disposed on room mirror Rear nearby or with CCD camera 110 becomes one apart from CCD camera 110, and the CCD camera 110 passes through phase Connection link is connected to image processor 111, and described image processor 111 is kept by relevant connection connection in track Input module 510 in control module 50.Before the radar 120 is arranged in below logo on grid, the signal processor 121 Be arranged in main driving under-seat region in cockpit, and the radar 120 by relevant connection connection in signal processing Device 121, the signal processor 121 keep the input module in control module 50 by relevant connection connection in track 510.The roadway environments detection module 10 is used to detect track and surrounding environment, and specific CCD camera 110 is used to detect car Diatom mark, the distance of track line width, vehicle center away from both sides lane line, on road between pedestrian, vehicle course angle, vehicle The relevant information such as distance, and the relevant information for being detected CCD camera 110 by relevant connection circuit passes through image processor The input module 510 that track keeps control module 50 is passed to after 111 preliminary treatments.The radar 120 be used for detect vehicle it Between relative velocity, by the relevant information of detection after 121 preliminary treatment of signal processor, pass through relevant connection circuit Pass to the input module 510 that track keeps control module 50.
The vehicle-state detection module 20 includes acceleration transducer 210, yaw-rate sensor 220 and four wheels Fast sensor 658, the acceleration transducer 210, yaw-rate sensor 220 are arranged in vehicle centroid position area nearby Domain, and the input module 510 being connected in track holding control module 50, four wheel speed sensors 658 are arranged in Four tire regions, and the input module 510 of control module 50 is kept in track by relevant connection connection.The vehicle State detection module 20 is used for position and the posture for detecting driving vehicle, confirms whether vehicle stablizes traveling, specific acceleration Sensor 210 is used for the transverse direction and longitudinal direction acceleration for measuring vehicle, and acceleration information is passed to car by relevant connection circuit Road keeps the input module 510 of control module 50.The yaw-rate sensor 220 is used for the yaw angle speed for detecting vehicle Yaw velocity, the input module 510 of track holding control module 50 is passed to by relevant connection circuit by degree.Described four Wheel speed sensors 658 are used for the rotating speed for detecting four wheels, and then calculate speed information, will be taken turns by relevant connection circuit Speed, speed information pass to the input module 510 that track keeps control module 50.
Driver's driving condition detection module 30 includes touch sensor 310, two steering indicating light signalling means 320, cars Road hold button switching signal device 330, steering wheel torque sensor 614 and steering wheel angle sensor 615, are connected by circuit It is connected to the input module 510 that track keeps control module 50.The touch sensor 310 is arranged in the wheel rim of steering wheel 617, For sensing driver, whether both hands completely disengage steering wheel.Two steering indicating light signalling means 320 are arranged in close to left and right turn Region near to lamp, there is provided steering indicating light is in the signal of opening or closed mode, track hold button switching signal Device 330 arranges region easy to operation on the dash panel or around shift handle, is for providing track holding auxiliary system The information of no unlatching, the steering wheel torque sensor 614 and steering wheel angle sensor 615 are arranged in electric power steering system On electric steering column 611 in system EPS control devices 610.Driver's driving condition detection module 30 is driven for detection Whether the driving behavior for the person of sailing is normal, if there is the driver behavior for causing risk.Specifically, the steering wheel angle sensor 615 are used to detect vehicle steering angle, and then calculate the angular speed of steering wheel, by relevant connection circuit by steering angle, Angular velocity information passes to the input module 510 that track keeps control module 50.The steering wheel torque sensor 614 is used to examine The moment of torsion of driver's application on the steering wheel is surveyed, steering wheel torque information is passed to track by relevant connection circuit keeps control The input module 510 of molding block 50.The touch sensor 310 is used to detect the situation that driver holds steering wheel, passes through phase The information of driver's holding steering wheel is passed to the input module 510 of track holding control module 50 by connection link.It is described Steering indicating light signalling means 320 provides switching signal, for confirming that steering indicating light is opening or closed mode, passes through relevant connection Steering indicating light opening and closing signal is passed to the input module 510 of track holding control module 50 by circuit.The track hold button is opened It is opening or closed mode that OFF signal 330, which is used to confirm that track keeps control module, by relevant connection circuit by car Road keeps control module opening and closing signal to pass to the input module 510 that track keeps control module 50.
The vehicle includes four SAW tire sensors with pavement of road coefficient of rolling friction detection module 40（Take turns on surface Wide tire sensor）410th, receiver 420 and signal processor 430, four SAW tire sensors（Surface profile tire senses Device）410 are separately mounted in the pattern rubber of four tires, and receiver 420 and signal processor 430 are arranged on master in cockpit Driver seat lower zone, and four SAW tire sensors 410 are passed through by connection in receiver 420, receiver 420 Connection keeps the input mould of control module 50 by connection in signal processor 430, signal processor 430 in track Block 510.The vehicle is used to be periodically detected vehicle and pavement of road rolling with pavement of road coefficient of rolling friction detection module 40 The coefficient of kinetic friction.The SAW tire sensors 410 being installed in four tyre tread rubber are used for the wheel for identifying four wheels in real time Tire load, tire pressure, coefficient of road adhesion and its change course, pass through receiver by parameters such as the coefficient of road adhesion measured 420 receive, after 430 preliminary treatment of signal processor, and passing to track by relevant connection circuit keeps the defeated of control module 50 Enter module 510.
The track keeps control module 50 to include input module 510, data memory module 520, microprocessor 530 and defeated Go out module 540, each module arrangement is in cockpit easy to the region of arrangement, 510 sum number of input module between front two rows seat Microprocessor 530 is connected to according to memory module 520, microprocessor 530 is connected to output module 540, and microprocessor 530 is by defeated Enter module 510 and gather track context detection module 10, vehicle-state detection module 20,30 and of driver's driving condition detection module The data message that vehicle is detected with pavement of road coefficient of rolling friction detection module 40, data memory module 520 is microprocessor 530 calculation process provides memory space, and control signal output of the output module 540 as microprocessor 530, is connected to car Road keeps execution module 60 and alarm system module 70.The track keeps control module 50 to be used for the input of each measurement module Signal carries out calculating processing, and keeps execution module 60, alarm system module 70 to cooperate with according to the output control track calculated Work, specific input module 510 are used to drive roadway environments detection module 10, vehicle-state detection module 20, driver Each signal that state detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40 input is handled, and is changed It can be identified into microprocessor 530 and the signal easy to processing, data memory module 520 are used for 530 processing procedure of microprocessor In each data carry out real-time storage.Microprocessor 530 is used to carry out detailed data to the signal that input module 510 inputs Whether analyzing and processing, real-time judge vehicle there is run-off-road, when keep performing into runway and keep performing the power needed And torque and how to distribute.Output module 540 is used to microprocessor 530 calculating the forces associated after analysis and moment of torsion will Ask and be converted into that track keeps execution module 60 readily identified and the signal output of processing keeps execution module 60 to track, and will be micro- Alarm signal after processor 530 analyzes and processes is exported to alarm system module 70.
The track keeps execution module 60 to include electric boosting steering system EPS control devices 610 and electronic stability Program ESP control devices 650, the further electric boosting steering system EPS control devices 610 are by electric steering column 611 and manual steering gear 616 form, the electric steering column 611 is by mechanical steering tubing portion 612 and power-assisted steering module 613 compositions.The electric steering column 611 is arranged in 617 lower zone of steering wheel in cockpit, the manual steering gear 616 It is arranged in above front deck subframe, left and right front tyre intermediate region.The electronic stability program ESP control devices 650 by ECU651, brake boost pump 652, hydraulic control unit 653 and four brake booster 654-657 compositions.ECU651, hydraulic pressure control Unit 653 processed is arranged in cockpit assistant driver seat lower zone, and brake boost pump 652 is arranged on the right side of front deck close to fire wall Position, four brake booster 654-657 are arranged in four tire regions.The track keeps execution module 60 to be used to control Electric boosting steering system EPS control devices 610 and electronic stability program ESP control devices 650 processed cooperate and realize track Lateral run-out return just and longitudinal safe distance is kept.The specific electric boosting steering system EPS control devices 610 pass through The electric power steering module that is made of electric steering column 611 and manual steering gear 616 adjusts corresponding steering force and side To disk corner 630 the first auxiliary aligning torque 620 is provided to realize.The electronic stability program ESP control devices 650 pass through ECU651, brake boost pump 652 and hydraulic control unit 653 control the braking to four brake booster 654-657 outputs to believe Number, so that relation is respectively adjusted 670 to four wheel wheel speeds and realizes by a certain percentage by brake booster 654-657 Second auxiliary aligning torque 660 is provided.First auxiliary aligning torque 620 and second auxiliary aligning torque 660 setting, be in order to On the premise of vehicle driving safety is ensured, comfort when track keeps auxiliary system work is farthest improved.At the same time Electronic stability program ESP control devices 650 also by four wheel wheel speeds are adjusted 670 come realize longitudinal direction of car safety away from From holding.
The warning device 710 of the alarm system module 70 includes 731, two alarm 721, display screen hazard warning flashers 732nd, steering wheel vibration sensor 741, seat vibration sensor 742, the alarm 721 are arranged on 731 right side region of display screen Domain, display screen 731 are arranged at instrument display area, and two hazard warning flashers 732 are separately positioned in left and right outside rear-view mirror, institute State steering wheel vibration sensor 741 to be arranged on the inside of steering wheel, the seat vibration sensor 742 is arranged on the inside of seat.Institute Each component for stating alarm system module 70 is directly connected in the output module 540 that the track keeps control module 50, according to The control signal that output module 540 exports provides a variety of warning remindings, the type of alarm of the specific alarm system module 70 Including sound prompting 720（721 alarm of alarm etc.）, image remind 730（Display screen 731, hazard warning flasher 732 etc.）And shake It is dynamic to remind 740（Steering wheel vibration sensor 741, seat vibration sensor 742 etc.）, so as to have abnormal conditions in definite vehicle When, farthest remind driver to pay attention to.
Track of the present invention keep auxiliary system by roadway environments detection module 10, vehicle-state detection module 20, Driver's driving condition detection module 30, vehicle and pavement of road coefficient of rolling friction detection module 40 drive " people-Che-road " Corresponding detection signals are kept control module 50 to carry out calculation process, whether judge vehicle by the complete detection of environment by track Run-off-road, and keep straight trip module 60 to realize that track transverse direction rotary transform tensor and longitudinal safe distance keep control by track System, while warning reminding is carried out by warning device 710 when necessary.Below in conjunction with the accompanying drawings 4 illustrated to attached drawing 11 it is this Track is controlled to keep control process.
The whole job control flow for providing the track and keeping auxiliary system first as shown in Figure 4.Vehicle launch Speed is judged first afterwards, auxiliary system is kept to determine whether to start activation track.Track of the present invention is kept It is 60Km/h-120Km/h that auxiliary system, which is preferably applicable in vehicle speed range,.When speed is less than 60Km/h, system inactive；Work as car When speed is higher than 120Km/h, system is automatically closed, and is taken over by warning reminding driver and drive authority；When speed is between 60Km/ When between h-120Km/h, system activation.
When detecting that speed is between 60Km/h-120Km/h, activate the track and keep auxiliary system, then pass through To roadway environments detection module 10, vehicle-state detection module 20, driver's driving condition detection module 30, vehicle and Road Face coefficient of rolling friction detection module 40 carries out road environment detection, vehicle-state detection, driving behavior detection and rolls respectively Friction coefficient detects, and keeps control module 50 to analyze and process the data of detection by track, so as to accurately detect vehicle State in which, and judge whether vehicle deviation occurs and whether want track to keep control operation accordingly, when judgement needs When being kept into runway, system keeps control model into runway, otherwise continues to detect.
Describe the various detection function processes of the track holding auxiliary system in detail with reference to schematic diagram and flow chart And track keeps control function process.
The track keeps the driving behavior detection function of auxiliary system as shown in Figure 5, including following process：
Track keeps control module 50 to first pass through touch sensor 310 and detects the situation that driver holds steering wheel first, When detecting that driver does not hold steady steering wheel, to 70 output alarm signal of alarm system module, direct warning reminding drives Member focuses on driving, and one of three kinds of type of alarms or combination may be selected.
Secondly track keeps the signal determining track that control module 50 is provided according to track hold button switching signal device 330 Keep whether auxiliary system closes.When detecting that track hold button switching signal device 330 is closed, then track is kept Control module 50 exports warning reminding signal to alarm system module 70, is turned off by warning reminding driver's system, asks The driving authority of driver's adapter vehicle.Otherwise following detections are performed.
Then track keeps control module 50 to steering wheel torque sensor 614 in the unit interval and direction in the unit interval The signal of disk rotary angle transmitter 615 is detected, and detecting driver within the unit interval by steering wheel torque sensor 614 turns The torque T d of dynamic steering wheel is less than or equal to the threshold value Tt that system is set and (n is detection number, root in the continuous n unit interval Set according to system debug result) detect that the torque T d of driver turn steering wheel is less than or equal to the threshold value Tt that system is set When, then it represents that fail normally to correct direction during driver's traveling, driver is in improper driving condition（Driver beats sleepy Sleep, fatigue, distraction etc.）, then track keep control module 50 to 70 output alarm signal of alarm system module, pass through report It is alert to remind driver to focus on driving.When the torque T d detected is more than the threshold value Tt that system is set, further pass through Whether the rotational angle theta that steering wheel angle sensor 615 detects steering wheel is more than the threshold θ that system is settAnd the angle speed of steering wheel Spend whether ω is more than the threshold value ω that system is settIf then represent that driver is in improper driving condition（Driver's carelessness, Doze, distraction, fatigue, make a phone call）, then focus on driving by warning reminding driver, if detecting Rotational angle theta and angular velocity omega be respectively less than set correspondence threshold value, then perform following steering indicating light signal detections.
Track keeps control module 50 to be detected by two steering indicating light signalling means 320 to turning to modulating signal.Detecting To the torque T of driver turn steering wheeldThe threshold value T set more than systemt, steering wheel angle θ be less than or equal to system set threshold Value θt, steering wheel angular velocity ω be less than or equal to system set threshold value ωtIn the case of, track keeps control module 50 further By steering indicating light signalling means 320 detect vehicle turn signal situation, if steering indicating light is not switched at this time, then it represents that driver still in Improper driving condition, then focus on driving by warning reminding driver；When detecting driver turn steering wheel Torque TdThe threshold value T set more than systemt, steering wheel angle θ be less than or equal to system set threshold θt, steering wheel angular velocity ω is less than or equal to the threshold value ω that system is settUnder, when detecting that the steering indicating light of vehicle is in opening, then it represents that driver is in just Often commutation or lane change state, system are not alarmed.The driving condition of driver can accurately be detected by the above process, Ensure to be in normal driving state.
The track keeps the deviation decision-making function of auxiliary system to include following process, and wherein attached drawing 6 is inclined for track From schematic diagram is judged, attached drawing 7 is deviation decision flowchart：
Track keeps the input module of control module 50 to receive the lane line mark that roadway environments detection module 10 provides first The information such as knowledge, the distance of track line width, vehicle center away from left and right sides lane line, vehicle course angle, and by the correlation of reception Information input microprocessor, carries out course angle to the N width image of continuous acquisition and/or vehicle is sentenced with left and right lane line distance It is disconnected.
When the absolute value of the course angle α for the i+1 width image for detecting vehicle 100 is more than the course angle α's of the i-th width image Absolute value（0 ＜ i ＜ N-1）, show that there is the trend for deviateing and aggravating in track, and course angle α is less than zero（Defined herein course angle α In the right side of lane center 101 on the occasion of it is negative value that course angle α, which is located at the left side of lane center 101,）, then it represents that vehicle left avertence； On the contrary then vehicle right avertence.The absolute value of the course angle α of the i+1 width image detected is less than the exhausted of the course angle α of the i-th width image During to value, show do not occur deviation.
As distance dl of the vehicle left hand edge away from left-hand lane line 102 of the i+1 width image detectedi+1Subtract i+1 width Distance dr of the vehicle right hand edge of image away from right-hand lane line 102i+1Absolute value be more than the i-th width image vehicle left hand edge away from The distance dl of left-hand lane line 102iSubtract distance dr of the vehicle right hand edge away from right-hand lane line 102 of the i-th width imageiIt is absolute Value, shows that there are the trend for deviateing and aggravating, and distance dl of the vehicle left hand edge of the i-th width image away from left-hand lane line 102 in tracki Absolute value subtract distance dr of the vehicle right hand edge away from right-hand lane line 102 of the i-th width imageiAbsolute value be more than or equal to system The threshold value dt of setting, then it represents that vehicle right avertence；On the contrary then vehicle left avertence.When the vehicle left hand edge of the i+1 width image detected Distance dl away from left-hand lane linei+1Subtract distance dr of the vehicle right hand edge away from right-hand lane line of i+1 width imagei+1It is absolute Vehicle left hand edge distance dl away from left-hand lane line of the value less than or equal to the i-th width imageiSubtract the vehicle right hand edge of the i-th width image Distance dr away from right-hand lane lineiAbsolute value, show do not occur deviation.
The track keeps auxiliary system further to determine a need for performing track according to the result of above-mentioned deviation Keep control operation（Whether i.e. above-mentioned deviation exceeds predetermined safe range, belongs to abnormality）, include sentencing as follows first Disconnected process, wherein Fig. 8 keeps performing for track judges schematic diagram, and Fig. 9 keeps performing decision flow chart for track, two more than Figure to when into runway keep execution make the following judgment：
When definite vehicle has left avertence trend, by judging the vehicle left hand edge of the i-th width image away from left-hand lane line 102 Distance dliAbsolute value whether be less than 103 inside lane line 102 of left side interference region away from interference region inner side edge boundary line 105 away from From Hi1.Work as dliAbsolute value be less than or equal to Hi1, then it represents that it is different to belong to lateral run-out from beyond safe range for the left avertence of vehicle Normal state keeps rotary transform tensor, it is necessary to perform track.Left avertence that is on the contrary then illustrating vehicle is not required to still in controllable normal range (NR) Carry out rotary transform tensor.
When definite vehicle has right avertence trend, by judging the vehicle right hand edge of the i-th width image away from right-hand lane line 102 Distance driAbsolute value whether be less than 104 inside lane line 102 of right side interference region away from interference region inner side edge boundary line 106 away from From Hir.Work as driAbsolute value be less than or equal to Hir, then it represents that the right avertence of vehicle belongs to lateral run-out exception beyond safe range State keeps rotary transform tensor, it is necessary to perform track.Right avertence that is on the contrary then illustrating vehicle is still in controllable normal range (NR), it is not necessary to Carry out rotary transform tensor.
Vehicle longitudinal spacing control carries out the detection of surrounding environment by camera, radar, detect this car and front truck away from From S and the safe distance S of system settingTContrasted（Safe distance STPass through the relative velocity of two cars and the safety of systemic presupposition Run case t is calculated）, when S is less than or equal to STWhen, carry out longitudinal safe distance and keep performing control, it is on the contrary then need not carry out Longitudinal safe distance keeps performing control.
The last track keeps auxiliary system to perform back positive operation according to above-mentioned deviation decision structure, and Figure 10 is car Road keeps control schematic diagram, and Figure 11 keeps control flow chart for track.Two figures are just kept to how to be returned into runway more than It is described.
As described above, during vehicle straight trip, the improper driving condition of driver is run into（Driver carelessness, doze off, Distraction, fatigue, make a phone call）Driving causes deflecting roller to deflect, and causes vehicle to deviate traveling lane, this deviates by track Auxiliary system is kept to recognize and monitored in real time.It is as described above first, judge that vehicle is in deviation state by detecting And when being deviated into interference region, by the way that the good horizontal aligning torque of system-computed is respectively allocated to EPS controls as desired Device 610 and ESP control devices 650, control EPS and ESP coordinateds, wherein EPS control devices 610 are by electric boosted Steering module adjusts corresponding steering force and steering wheel angle 630 and provides the first auxiliary aligning torque 620 to realize.ESP is controlled Device 650 is respectively adjusted four wheel wheel speeds by relation by a certain percentage 670 to realize that providing second aids in back just Torque 660.Aid in deviateing back lateral direction of car under 660 collective effect of aligning torque in the first auxiliary aligning torque 620 and second Just, realize that track keeps 680.Curve 107 is the vehicle centroid driving trace curve that control is kept by track.First aids in back Positive moment 620 and second aids in the setting of aligning torque 660, is the maximum journey in order on the premise of vehicle driving safety is ensured The comfort improved when track keeps auxiliary system work of degree.Work as at the same time and detect that needs carry out longitudinal safe distance and keep When, the demand braking force calculated is supplied to ESP control devices 650 by system, and ESP is by providing four wheels corresponding system Power, carries out the adjustment of wheel wheel speed, realizes that longitudinal direction of car safe distance is kept.
The present invention is detected by roadway environments, vehicle-state detection, the detection of driver's driving condition, vehicle and pavement of road Coefficient of rolling friction detects four module to the complete detection of " people-Che-road " driving environment, and corresponding detection signals are passed through track Keep control module to carry out calculation process, judge vehicle whether run-off-road, and pass through electric boosting steering system EPS and electricity Sub- stability program ESP Collaborative Controls, which are realized track transverse direction rotary transform tensor and controlled by electronic stability program ESP, realizes longitudinal direction peace Full distance is kept, and carries out warning reminding in due course, and whole scheme at least has the following advantages and innovation： 1., track, which is kept, to be realized to the complete detection of " people-Che-road " driving environment, be obviously improved the drive safety of driving vehicle. 2., using EPS control devices and ESP control device Collaborative Control modes come realize track keep, ensure vehicle driving safety On the premise of, farthest improve comfort when track keeps auxiliary system work.3., by lateral run-out return just come reality Existing track is kept, while is increased longitudinal safe distance and kept function, it is possible to prevente effectively from longitudinal vehicle is to Lane Keeping System Influence, lift the drive safety of driving vehicle.4., the patent of invention there is preferable scalability.
It the above is only and the preferred embodiment of the present invention is described, technical scheme is not limited to This, any known deformation that those skilled in the art are made on the basis of the major technique design of the present invention belongs to the present invention Claimed technology category, the specific protection domain of the present invention are subject to the record of claims.

Claims (9)

1. a kind of track keeps auxiliary system, it is characterised in that including：Roadway environments detection module（10）, vehicle-state detection Module（20）, driver's driving condition detection module（30）, vehicle and pavement of road coefficient of rolling friction detection module（40）, car Road keeps control module（50）, track keep execution module（60）With alarm system module（70）, the roadway environments detection mould Block（10）, vehicle-state detection module（20）, driver's driving condition detection module（30）, vehicle and pavement of road rolling friction Coefficient detection module（40）It is connected to track and keeps control module（50）Data acquisition importation, the track keeps performing Module（60）With alarm system module（70）It is connected to track and keeps control module（50）Control signal output par, c, the car Road keeps control module（50）According to roadway environments detection module（10）, vehicle-state detection module（20）, driver drive shape State detection module（30）With vehicle and pavement of road coefficient of rolling friction detection module（40）" people-Che-road " provided drives ring Data are detected in border, judge travel condition of vehicle and driver's driving condition, when driver's driving condition occurs abnormal, the car Road keeps control module（50）Trigger alarm system module（70）Warning reminding is carried out, when exception occurs in lateral direction of car run-off-road When, the track keeps control module（50）Track is controlled to keep execution module（60）Lateral direction of car rotary transform tensor is performed, works as car When longitudinal direction is not in safe distance scope, the track keeps control module（50）Track is controlled to keep execution module（60）Will Vehicle is maintained at safe distance scope；The roadway environments detection module（10）Including CCD camera（110）And radar（120）, For detect lane line mark, track line width, vehicle center away from both sides lane line distance, pedestrian on road, vehicle course angle, Relative velocity between separation between vehicles information and vehicle, the vehicle-state detection module（20）Including acceleration transducer （210）, yaw-rate sensor（220）And wheel speed sensors（658）, for detecting lateral direction of car and longitudinal acceleration, horizontal stroke Pivot angle speed and vehicle wheel rotational speed, driver's driving condition detection module（30）Including touch sensor（310）, steering indicating light letter Number device（320）, track hold button switching signal device（330）, steering wheel torque sensor（614）And steering wheel angle sensor （615）, for detecting steering wheel for vehicle touch situations, steering indicating light open and-shut mode, track holding auxiliary system open and-shut mode, direction Disk steering torque, wheel steering angle and wheel steering angular speed, the vehicle and pavement of road coefficient of rolling friction Detection module（40）Including tire sensor, for being periodically detected the coefficient of rolling friction of vehicle and pavement of road；The car Road keeps control module（50）Including input module（510）, data memory module（520）, microprocessor（530）And output module （540）, the input module（510）It is connected to the CCD camera（110）, radar（120）, acceleration transducer（210）、 Yaw-rate sensor（220）, wheel speed sensors（658）, touch sensor（310）, steering indicating light signalling means（320）, track Hold button switching signal device（330）, steering wheel torque sensor（614）, steering wheel angle sensor（615）Sensed with tire Device, the microprocessor（530）It is connected to the input module（510）, data memory module（520）And output module（540）； The track keeps execution module（60）Including electric boosting steering system EPS control devices（610）With electronic stability program ESP Control device（650）, the output module（540）It is connected to the electric boosting steering system EPS control devices（610）, electricity Sub- stability program ESP control devices（650）With alarm system module（70）.
2. track according to claim 1 keeps auxiliary system, it is characterised in that the track keeps control module（50） Based on driver's driving condition detection module（30）Whether the detection information of offer judges driver's driving condition in the following manner Occur abnormal：Work as touch sensor（310）Detect and judge that driving condition is abnormal when driver does not hold steady steering wheel；Work as direction Disk torque sensor（614）Detect that wheel steering moment of torsion is less than or equal to predetermined threshold value and continuous n is a within the unit interval When detecting that wheel steering moment of torsion is less than or equal to predetermined threshold value in the unit interval, judge that driving condition is abnormal, n is detection time Number；Work as steering wheel angle sensor（615）Wheel steering angle and wheel steering angular speed are detected within the unit interval It is all higher than judging that driving condition is abnormal during predetermined threshold value；When steering indicating light signalling means（320）Do not there is provided in the case of Vehicular turn Judge that driving condition is abnormal during steering indicating light open signal.
3. track according to claim 1 keeps auxiliary system, it is characterised in that the track keeps control module（50） Based on roadway environments detection module（10）The detection information of offer, judge first vehicle whether lateral run-out track, it is horizontal in vehicle To judging whether lateral direction of car run-off-road is in abnormality again on the premise of run-off-road, at lateral direction of car run-off-road When abnormality, track keeps control module（50）Trigger track and keep execution module（60）Perform lateral direction of car rotary transform tensor Operation.
4. track according to claim 3 keeps auxiliary system, it is characterised in that the track keeps control module（50） Based on roadway environments detection module（10）The detection information of offer judge in the following way vehicle whether lateral run-out track：When Distance dl of the vehicle left hand edge away from left-hand lane line of the i+1 width image detectedi+1The vehicle for subtracting i+1 width image is right Distance dr of the edge away from right-hand lane linei+1Absolute value be more than the i-th width image distance of the vehicle left hand edge away from left-hand lane line dliSubtract distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imageiAbsolute value when, judge vehicle lateral run-out Track, and as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width image detectediAbsolute value subtract i-th Distance dr of the vehicle right hand edge of width image away from right-hand lane lineiAbsolute value be more than or equal to predetermined threshold value dTWhen, then judge vehicle Dextrad run-off-road, on the contrary then left-hand run-off-road；When the absolute value of the course angle for the i+1 width image for detecting vehicle is more than During the absolute value of the course angle α of the i-th width image, then lateral direction of car run-off-road is judged, and work as course angle along lane center Vehicle dextrad run-off-road is further judged during right direction, is further sentenced when left direction of the course angle along lane center Determine vehicle left-hand run-off-road.
5. track according to claim 4 keeps auxiliary system, it is characterised in that the track keeps control module（50） Based on roadway environments detection module（10）The detection information of offer judges whether lateral direction of car run-off-road is located in the following way In exception：Under definite vehicle left-hand run-off-road, as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width imagei Absolute value be less than or equal to left side interference region inside lane line-spacing interference region inner side edge boundary line distance Hi1When, judge that vehicle is left It is abnormal to run-off-road to be operated, it is necessary to start rotary transform tensor；Under definite vehicle dextrad run-off-road, when the car of the i-th width image Distance dr of the right hand edge away from right-hand lane lineiAbsolute value be less than or equal to right side interference region inside lane line-spacing interference region in The distance H in side boundary lineirWhen, judge that vehicle dextrad run-off-road is abnormal and operated, it is necessary to start rotary transform tensor.
6. auxiliary system is kept according to claim 2-5 any one of them track, it is characterised in that when lateral direction of car deviates car When road occurs abnormal, the track keeps control module（50）Lateral direction of car rotary transform tensor is carried out in the following way：Car first Road keeps control module（50）According to vehicle-state detection module（20）There is provided laterally and longitudinally acceleration, yaw velocity and Vehicle wheel rotational speed information and vehicle and pavement of road coefficient of rolling friction detection module（40）The coefficient of rolling friction information of offer Horizontal aligning torque needed for accurate calculation；Then the horizontal aligning torque is distributed to by predetermined ratio described electric boosted Steering EPS control devices（610）With electronic stability program ESP control devices（650）, the electric boosting steering system EPS control devices（610）Corresponding steering force and steering wheel angle are adjusted by electric power steering module to provide the first auxiliary Aligning torque, the electronic stability program ESP control devices（650）By could be adjusted to offer second to each wheel wheel speed Aligning torque is aided in, lateral direction of car is realized under the coordinated effect of the first auxiliary aligning torque and the second auxiliary aligning torque Rotary transform tensor.
7. track according to claim 6 keeps auxiliary system, it is characterised in that the track keeps control module（50） Based on roadway environments detection module（10）The vehicle pitch information of offer, judges whether longitudinal direction of car is in safe distance scope, When detecting that the distance S between Ben Che and front truck is less than or equal to default safe distance STWhen, judge that longitudinal direction of car is not in safety Distance range, the control module of track holding at this time（50）According to roadway environments detection module（10）, vehicle-state detection module （20）With vehicle and pavement of road coefficient of rolling friction detection module（40）The spacing information of offer, speed information, acceleration letter Breath and coefficient of rolling friction information, the brake force needed for accurate calculation, and the brake force calculated is supplied to electronic stability Program ESP control devices（650）, by electronic stability program ESP control devices（650）Corresponding braking is provided each wheel Power, so that longitudinal direction of car is maintained at safe distance scope by adjusting wheel wheel speed.
8. a kind of track for keeping auxiliary system to carry out based on any one of the claim 1-7 tracks keeps householder method, its It is characterized in that, comprises the following steps：
Step 1: track keeps control module（50）Based on roadway environments detection module（10）The detection information of offer, according to such as Under type judge vehicle whether lateral run-out track, if so then execute step two：
（1）, as distance dl of the vehicle left hand edge away from left-hand lane line of the i+1 width image detectedi+1Subtract i+1 width figure Distance dr of the vehicle right hand edge of picture away from right-hand lane linei+1Absolute value be more than the i-th width image vehicle left hand edge away from left side car The distance dl of diatomiSubtract distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imageiAbsolute value when, judge vehicle Lateral run-out track, and as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width image detectediIt is absolute Value subtracts distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imageiAbsolute value be more than or equal to default threshold value dT When, then judge vehicle dextrad run-off-road, on the contrary then left-hand run-off-road；
（2）, when the i+1 width image for detecting vehicle course angle absolute value be more than the i-th width image course angle α it is absolute During value, then lateral direction of car run-off-road is judged, and further judge vehicle when right direction of the course angle along lane center Dextrad run-off-road, further judges vehicle left-hand run-off-road when left direction of the course angle along lane center；
Step 2: when lateral direction of car run-off-road, the track keeps control module（50）Based on roadway environments detection module （10）The detection information of offer judges whether lateral direction of car run-off-road belongs to abnormal conditions in the following way, if belonging to abnormal Situation then performs step 3：
（1）, under definite vehicle left-hand run-off-road, as distance dl of the vehicle left hand edge away from left-hand lane line of the i-th width imagei Absolute value be less than or equal to left side interference region inside lane line-spacing interference region inner side edge boundary line distance Hi1When, judge that vehicle is left It is abnormal to run-off-road；
（2）, under definite vehicle dextrad run-off-road, as distance dr of the vehicle right hand edge away from right-hand lane line of the i-th width imagei Absolute value be less than or equal to right side interference region inside lane line-spacing interference region inner side edge boundary line distance HirWhen, judge that vehicle is right It is abnormal to run-off-road；
Step 3: when lateral direction of car run-off-road occurs abnormal, the track keeps control module（50）In the following way Carry out lateral direction of car rotary transform tensor：
（1）, track keep control module（50）According to vehicle-state detection module（20）Laterally and longitudinally acceleration, the horizontal stroke provided Pivot angle speed and vehicle wheel rotational speed information and vehicle and pavement of road coefficient of rolling friction detection module（40）The rolling of offer rubs Wipe the horizontal aligning torque needed for coefficient information accurate calculation；
（2）, track keep control module（50）The horizontal aligning torque calculated is distributed into described electronic help by predetermined ratio Power steering EPS control devices（610）With electronic stability program ESP control devices（650）；
（3）, the electric boosting steering system EPS control devices（610）Corresponding turn to is adjusted by electric power steering module Power and steering wheel angle provide the first auxiliary aligning torque, the electronic stability program ESP control devices（650）By to each A wheel wheel speed could be adjusted to provide the second auxiliary aligning torque, in the first auxiliary aligning torque and the second auxiliary aligning torque Coordinated effect under realize lateral direction of car rotary transform tensor.
9. track according to claim 8 keeps householder method, it is characterised in that wherein further comprising the steps of：
Step 4: the track keeps control module（50）Based on driver's driving condition detection module（30）The detection letter of offer Breath judges whether driver's driving condition exception occurs in the following way, and when driver's driving condition occurs abnormal, touches Transmit messages alert system module（70）Carry out warning reminding：
（1）, work as touch sensor（310）Detect and judge that driving condition is abnormal when driver does not hold steady steering wheel；
（2）, when steering wheel torque sensor（614）Detect that wheel steering moment of torsion is less than or equal to default threshold within the unit interval When detecting that wheel steering moment of torsion is less than or equal to predetermined threshold value in value and continuously n unit interval, driving condition is judged Abnormal, n is detection number；
（3）, work as steering wheel angle sensor（615）Wheel steering angle and turning angle of steering wheel are detected within the unit interval Speed is all higher than judging that driving condition is abnormal during predetermined threshold value；
（4）, when steering indicating light signalling means（320）Judge to drive shape when not providing steering indicating light open signal in the case of Vehicular turn State is abnormal；
Step 5: the track keeps control module（50）Based on roadway environments detection module（10）The separation between vehicles letter of offer Breath, judges whether longitudinal direction of car is in safe distance scope, and when longitudinal direction of car is not in safe distance scope, the track is protected Hold control module（50）Brake force needed for calculating, and the brake force calculated is supplied to electronic stability program ESP control dresses Put（650）, by electronic stability program ESP control devices（650）Corresponding brake force is provided to each wheel, so that by adjusting Longitudinal direction of car is maintained at safe distance scope by wheel wheel speed.
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