CN105752154B - Vehicle steering control system and method - Google Patents
Vehicle steering control system and method Download PDFInfo
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- CN105752154B CN105752154B CN201410787238.3A CN201410787238A CN105752154B CN 105752154 B CN105752154 B CN 105752154B CN 201410787238 A CN201410787238 A CN 201410787238A CN 105752154 B CN105752154 B CN 105752154B
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Abstract
A vehicle steering control method is disclosed, wherein the vehicle has an actuator for steering a tire of the vehicle. The vehicle steering control method includes: acquiring a target point position of an observation distance far away from a vehicle according to a running action executed by the vehicle; predicting a vehicle-ahead position located at a forward-looking distance away from the vehicle; determining a distance difference between the target point position and the vehicle advancing position; calculating a normalized error by dividing the distance difference by the pre-view distance; and determining a steering control command based on the integral of the normalized error. The actuator steers the tires of the vehicle in accordance with the steering control command to perform different running operations.
Description
Technical field
The invention relates to vehicle steering control system and method, vehicle is automatically carried out various kinds traveling action
(maneuver), it includes track holding, lane changing, left/right rotation and barrier and dodged.
Background technology
In recent years, allow driver from tired driving task, and the new vehicle science and technology for making vehicle to manipulate automatically, positive place
In positive state of development.One of which Key Scientific And Technical is exactly Vehicular turn control, and it makes vehicle automatically to carry out various kinds traveling
Action, to arrive at a destination from a departure place.Common traveling action includes：(car body is without departing from track and protects for track holding
It is held in track)；Lane changing (shift to another track from the track travelled with keep speed, doubling, lower highway,
Or prepare left/right rotation)；Left/right rotation；And barrier dodges that (barrier that vehicle is dodged in track is to prevent collision accident from sending out
It is raw).
In order to reach the action of these travelings, the control of common Vehicular turn includes at least two parts：Path planning and road
Follow in footpath.Path planning refers to that an ideal path is planned or produced first to vehicle control system, and then vehicle is according to this road
Footpath travels and performs traveling action.Generally under track holding pattern, the track that vehicle is followed turns into ideal path naturally.It is right
For the action of other travelings, the acquisition of ideal path will then determine according to individual other traveling action.For example, lane changing
Ideal path and left and right turn of ideal path are completely different.In other words, the ideal path of different traveling actions is via difference
Pattern or formula and it is caused.In addition, ideal path also determines according to other factors, such as：Speed.For example, car is worked as
When speed is higher, the ideal path of lane changing is also longer.Ideal path is generally established by one or multistage smoothed curve, its
Mathematical expression rendering method includes batten (splines), multinomial equation (polynomials) etc..When performing traveling action,
System can use reference of the ideal path as course changing control.Therefore, system needs to store ideal path before performing traveling action, or
Person persistently produces new ideal path in traveling action is performed.
Relevant path follow, system decides to move to control instruction according to ideal path and vehicle condition, and then drives wheel
Tire makes vehicle follow ideal path.Two major classes can be divided into by deciding to move to the approach of control instruction.First major class generally includes：(1)
Estimate or obtain the curvature of ideal path, vehicle relative to ideal path lateral shift instantly and vehicle traveling direction with it is preferable
The relative orientation angles (heading angle) of the tangential direction in path；(2) and course changing control instruction is calculated, its basis
It is according to awarding item (feed-forward term) before curvature and according to the feedback item of lateral shift and relative orientation angles instantly
The combination of (feedback term).Second major class generally includes：(1) road that vehicle may travel is predicted according to vehicle-state
Footpath；(2) the front predicted path of one segment distance and the error of ideal path are judged；And linear function or mistake according to error (3)
Poor integral and calculating course changing control instruction.
The current known techniques about vehicle steering control system have several defects.Section 1 shortcoming, in order to meet to turn to
The needs as reference are controlled, planning or generation ideal path are necessary；However, this measure, which also corresponds to, adds system complexity
And amount of calculation.Because different traveling actions has different ideal paths, system must store the reason of each different traveling actions
Think path and all different driving modes (pattern) of ideal path.Then, acted according to the traveling to be performed, then
Give suitable driving mode for change.System also needs to use fetched driving mode, and according to speed, road shape and other because
Element, and then provide actual ideal path.For example, different driving modes can represent by different set of equations.Every group
Corresponding a type of traveling action.Acted according to the traveling to be performed, system fetches appropriate set of equations.In addition, according to
According to each factor, such as speed and road shape, system further determines the different parameters in fetched set of equations.Finally,
The set of equations and the parameter of decision fetched define the ideal path of traveling action jointly.Moreover, when performing traveling action,
If system is set as continuous updating ideal path, then the workload calculated can increase；If again when system is set to storage reason
Think path, system must just dominate memory space, with perform storage function, and system also need to the position of vehicle instantly,
And then recognize position corresponding in ideal path.Briefly, the offer of ideal path adds system complexity, and
Calculating and the requirement of memory function.
Section 2 shortcoming, the path follow method of each type all have deficiency.In the first kind, course changing control instruction bag
Item and feedback item are awarded before having included.The acquirement of curvature, which must pass through to estimate or be stored in numerical map in advance, (can cause substantial amounts of
Capacity or communication need, except non-vehicle only travels on path limited and set in advance).In the fast-changing external ring of curvature
Under border, another problem should exactly estimate and using which curvature (the vehicle position of the curvature of position or vehicle front instantly
The curvature put).The consideration of speed is also depended in decision above.Moreover, since course changing control instruction source is by preceding awarding item and feedback item
Combination, the proportion shared by both is another subject under discussion again for performance optimization.When vehicle-state and external environment change, institute
The proportion accounted for will also change mostly.
The method of second of type has the advantage that, is exactly to use mutually relatively straightforward method, that is, need not estimate song
Rate determines proportion；The substitute is the method for second species row needs to predict the path that vehicle may travel.It is such
Method is usually using two kinds of easy predicting means：Major prognostic and secondary prediction.Under major prognostic, caused prediction
Route is exactly only the straight line in the direction at direction of traffic angle.In other words, major prognostic is assumed in the time range estimated, car
It can continue to keep current deflection.Steering angle instruction δ calculation formula be：δ=ke.Wherein, k is predetermined ratio
Constant gain value, and e is error amount, that is, in vehicle front predeterminated position, between predicted path and ideal path away from
Deviation.In terms of secondary prediction, predicted path is according to vehicle current travel direction and use state.Then, before vehicle
Certain predeterminated position of side, the error e between predicted path and ideal path is integrated, and is multiplied by proportionality constant yield value k, and then
Obtain steering angle instruction：δ=k (Σ e).
Although the method for Second Type is compared simply, also there are serious performance deficiencies.When ideal path is almost straight line
When, satisfied performance is can reach using the control system of major prognostic means；However, in the situation for having sharp turn bend (curve)
Under, the performance of control system is then very bad.When control system is leading by secondary prediction, in some cases, vehicle
Satisfied precision can be showed when following ideal path.Situation above includes low or middle speed, and compares the curved of mitigation
Road.But under the situation of default front distance (constant) and predetermined yield value (constant), when vehicle travels at a high speed
When, control system will become unstable, and cause the deflection path when travelling the very bend at sharp turn.
In order to solve the above problems, some prior arts, which use multiple controllers and done herein between a little controllers, to be switched.
It is using three controllers in a kind of prior art.First controller uses linear function by way of major prognostic
Calculation error.Second and third controller then by way of secondary prediction, carries out error intergal.Second and the 3rd control
Device do not exist together for：Second controller is using distance (nearer distance) in front of less predetermined (constant), and the 3rd controls
Device processed is then using distance (larger distance) in front of larger predetermined (constant).When vehicle travels on the road of straight line, control
System uses first controller.When vehicle travels on the very bend at sharp turn, control system is used then using second or the
Three controllers.However, this technology needs to do and switch between different controllers, also cause do switch when, sacrifice control
Fluency processed.If in order to improve fluency during controller switching, extra administrative mechanism is performed, system will become more multiple
It is miscellaneous.In addition, this technology, also it is necessary to ensure that under all situations, the decision of controller switching can select correct controller.
Therefore, for related personnel, it is badly in need of developing a kind of rotating direction control method and system to solve prior art institute
The problem of above-mentioned relevant path planning faced and path follow.The invention provides such rotating direction control method and it is
System.
The content of the invention
One of present invention embodiment provides vehicle steering control method, vehicle is can perform different traveling actions.Car
Actuator is equiped with to rotate the tire of vehicle.Rotating direction control method includes：One in vehicle sees front distance (look-ahead
Distance the position of target point) is obtained；In the progressive position for the position prediction vehicle for seeing front distance；Determine target point with advancing
The distance between position difference；By range difference divided by front distance is seen to calculate the error of standardization；And according to normalization errors
Integration decide to move to control instruction.Course changing control instruction can determine by error intergal is multiplied by into a gain (fixed or dynamic)
It is fixed.Then, instructed according to course changing control, actuator turns to the tire of vehicle, and then performs different traveling actions.
In rotating direction control method, seeing front distance is determined by least one of following：Speed, vehicle yaw speed,
The distance between vehicle lateral acceleration, vehicle steering angle, lane curvature, normalization errors, target point and progressive position difference,
Hinder when vehicle follows track with the distance between lane line, the executory traveling action of vehicle and performing when barrier is dodged
Hinder the position of thing.In one embodiment, the linear function that front distance is speed is seen.That is, when speed increase, before seeing away from
From being consequently increased.In another embodiment, the function that front distance is speed and vehicle yaw speed is seen.That is, work as car
Speed increase, see front distance and be consequently increased；And when vehicle yaw speed increase, see front distance and then successively decrease therewith.Work as standardization
When error is relatively large, sees front distance and successively decrease, and when normalization errors are relatively small, see front distance increase.Similarly, target point is worked as
When the distance between progressive position difference is relatively large (or small), sees front distance and corresponding can successively decrease (or increase).In addition, traveling
Action can also combine with seeing front distance.For example, the sight front distance that left/right turns can Bei Xiao Minus.In changing Lane, according to excellent
The distance (or time) of the completion changing Lane of choosing, (or shortening) can be increased and see front distance.Finally, if row performed by vehicle
It is that track is kept to sail action, when vehicle will be travelling through lane line, can shorten sight front distance.When vehicle is very close to lane center row
When sailing, sight front distance can be increased.
In one embodiment, in order to obtain the position of target point, rotating direction control method is first according to the executory row of vehicle
Action is sailed to position target point.When vehicle, which is maintained at track, advances, rotating direction control method using the lane center line that travels as
Standard, (including zero offset) positioning is offset to target point.When vehicle is in changing Lane, after rotating direction control method is to convert
The Central Line in track is defined, and (including zero offset) positioning is offset to target point.When vehicle is in left-hand rotation or right-hand rotation, course changing control
The Central Line in track of the method after turning is defined, and (including zero offset) positioning is offset to target point.When vehicle is in position of dodging
When barrier in traveling lane, target point is then positioned at the available adjacent lane in left side or right side.Finally, according in track
Entreat line, deviation post and see front distance, rotating direction control method calculates the position of target point.
In one embodiment, it is assumed that vehicle just travels on the distance for seeing front distance, and maintains speed instantly and deflection
Speed.Under Ci Qing Condition, rotating direction control method predicts the progressive position of vehicle, and deflects speed instantly and then depend on vehicle instantly
Yaw rate (yaw rate) and/or be the steering angle of vehicle instantly.In addition, also there is another prediction vehicle progressive position
Mode.The distance of front distance is seen when vehicle travels on, assumes at this point that vehicle maintains speed instantly and steering angle.According to above-mentioned
Two kinds of hypothesis Zhuan Condition, the prediction of vehicle progressive position can be by geometrical relationship, and kinematics model or vehicle dynamic model are (such as
Two-dimentional auto model) reach.
Compared to prior art, disclosed herein rotating direction control method mainly have two advantages.First, it is disclosed
Rotating direction control method uses basis of the target point (or score) as control technology.Under Zhuan Condition being kept in track, target point
(or score) is defined by the lane center line that vehicle travels, and offsets (including zero offset) positioning.In other transport conditions, mesh
The Central Line in punctuate (or score) the then track after conversion is defined, and offsets (including zero offset) positioning.Therefore, for not
With traveling action and driving-situation, disclosed herein method save planning or produce the needs of different ideal paths.The
Two, disclosed herein rotating direction control method, first between predicted position and target point error carry out error criterion.
Then, rotating direction control method is just integrated to normalization errors, and integrated value is multiplied by into feedback gain (feedback
gain).When speed increase, error criterion causes the sight front distance of disclosed course changing control to increase therewith, but not to being
System stability adversely affects.Meanwhile disclosed course changing control can also shorten and see on the premise of the few feedback gains of Bu Minus
Front distance, to provide vehicle when travelling sharp turn bend, carry out suitable go to action.Two advantages due to more than, the present invention
Disclosed rotating direction control method provides easy Vehicular turn mechanism, and under the action of different travelings and driving situation all
It can ensure that high accurancy and precision and stability.
According to above-mentioned rotating direction control method, another embodiment of the present invention provides modified form control method.The method
It is not to ask for the target point in a segment distance of vehicle front, but is acted according to the executory traveling of vehicle, before obtains vehicle
The score of side.Then, the method estimates the vehicle progressive position in the sight front distance of vehicle front, and then calculates vehicle and advance
Position to score range difference.Next, it can be carried out by the range difference for vehicle progressive position to the score for seeing front distance
Standardization, to calculate normalization errors.Then, normalization errors are integrated, is then multiplied by gain, and then obtain turning to control
System instruction.Accordingly, instructed according to caused course changing control, actuator accordingly turns to vehicle tyre, drives vehicle to be held
Every trade sails action.
In one embodiment, the mode that disclosed rotating direction control method obtains score is first to be acted according to traveling to mesh
Graticule positions.Under keeping Zhuan Condition in track, score is defined by the lane center line that vehicle travels, offset (including zero
Skew) positioning.In the state of changing Lane, the Central Line in the score then new track after conversion is defined, offset (including zero
Skew) positioning.When vehicle will turn left or turn right, the Central Line in new track of the score after turning is defined, offset (including
Zero offset) positioning." skew " can be that position and/or angle are offset.Therefore, disclosed herein method according in corresponding
Line and skew are entreated, and then calculates the position of score.
According to disclosed herein rotating direction control method, the present invention further disclose a crosswise joint system.This is
System is installed on the vehicle with steering tire, and then controls the steering of vehicle.Crosswise joint system includes：Road Detection fills
Put, to provide the road data of vehicle front；Speed sensor, to provide GES；Steering angle inductor, turned with providing
To angle signal；Processor, to calculate steering angle instruction；And at least one turn to actuator, actuator refers to according to steering angle
Order turns to tire, and then drives vehicle to perform desired traveling action.Processor linking-up road detection means is to receive road
Data.Processor also connection speed inductor to receive GES.In addition, processor also connects steering angle inductor to take
Obtain steering angle signal.Actuator connection steering angle inductor is turned to receive steering angle signal.Actuator is turned to also to connect
Processor is connect to receive steering angle instruction.
In one embodiment, road detection apparatus includes CIS and image process unit.CIS direction
The road surface photograph of vehicle front.The image provided by CIS, image process unit calculate the shape of road simultaneously
As road data.In another embodiment, road detection apparatus includes satellite navigation system, numerical map and processing unit.
Satellite navigation system is responsible for determining vehicle position.Processing unit builds vehicle location in numerical map, and provides
The road data of vehicle front.In another embodiment, road detection apparatus includes laser scanner and processing unit.Laser is swept
Device is retouched to be responsible for transmitting laser light pulse wave and collect from reflective caused by the object before vehicle.Processing unit pass through collected it is anti-
Light and determine Road form, with as road data.
Processor decides to move to angle command according to following procedure：Determine to see front distance；Before the sight for calculating vehicle front
The aiming spot of distance；Estimate vehicle progressive position；Calculate the distance between target point position and vehicle progressive position
Difference；By range difference divided by front distance is seen to calculate normalization errors；And normalization errors integrate.
In one embodiment, processor sees front distance according at least one of following with decision：Speed, vehicle yaw, car
Transverse acceleration, vehicle steering angle, track camber, vehicle to lane line distance, vehicle to obstacle distance, standardization miss
The distance between difference, aiming spot and vehicle progressive position difference, and the executory traveling action of vehicle.Next, processor
The position of target point is determined by following procedure：The road data provided according to road detection apparatus, and then estimate road
Central Line；And according to road center line, skew and front distance is seen, and then calculate the position of target point.Target point is located at road
Deviation post (including zero offset) on the basis of the Central Line of road, and in the sight front distance of vehicle front.
The mode that processor estimates vehicle progressive position is：According to steering angle signal to estimate vehicle yaw speed；And
According to GES, vehicle yaw speed and front distance is seen, and then calculates vehicle progressive position.In another embodiment, it is horizontal
Deflection speed inductor and processor are further included to control system.Deflection speed inductor provides the deflection speed signal of vehicle.
The GES that processor is provided according to speed sensor, and the deflection speed signal that deflection speed inductor is provided,
And then estimate vehicle progressive position.
In another embodiment, crosswise joint system is connected to the traveling action decision package for being installed on vehicle.Processor
Traveling action command (such as track holding, changing Lane, left-hand rotation, right-hand rotation and barrier are dodged) is received from traveling decision package.
Processor selection target line further according to traveling action command.Target point is located on score.Processor is then according to score
And front distance is seen, and then calculate the position of target point.The instruction acted according to traveling, in the track that score is travelled with vehicle
Entreat line, or on the basis of the Central Line in the track after converting, be positioned at skew (including zero offset) position.
Disclosed herein steering control system inherit disclosed herein rotating direction control method possessed by it is excellent
Gesture.Under different driving environments, this little control system can manipulate vehicle and be acted with completing different travelings, and realize high precision
Spend and possess stability.
Brief description of the drawings
Fig. 1 is the schematic diagram of existing rotating direction control method, and it cooks up the ideal path of changing Lane；
Fig. 2 is the target point schematic diagram of one embodiment of the invention, and it is the data of course changing control institute foundation, and then performs change
The traveling action changed trains；
Fig. 3 is the schematic diagram of existing rotating direction control method, central, and course changing control is instructed according to the reference point along ideal path
And determine；
Fig. 4 is the course changing control schematic diagram of one embodiment of the invention, and it is using the track travelled along vehicle or is converted into
The target point in track；
Fig. 5 is the flow chart of one embodiment of the invention, and it includes the course changing control built according to target point；
Fig. 6 is the course changing control schematic diagram of another embodiment of the present invention, its track travelled using vehicle or is converted into
The score offset on the basis of track；
Fig. 7 is the flow chart of one embodiment of the invention, and it includes the course changing control built according to score；
Fig. 8 is the block schematic diagram of the steering control system positioned at a vehicle of one embodiment of the invention, wherein turning to
Control system makes vehicle follow travelled road automatically；
Fig. 9 be another embodiment of the present invention the steering control system positioned at a vehicle block schematic diagram, its transfer
Vehicle is set to follow travelled road automatically to control system；
Figure 10 is the block schematic diagram of the steering control system positioned at a vehicle of the present invention, wherein steering control system
It is automatic vehicle is performed different traveling actions.
Wherein, reference：
102nd, 202 vehicle
104th, 106 track
108th, 110 Central Line
112 ideal paths
114th, 116,118 reference point
204th, 206 target point
208 actual paths
602 scores
A1, A2, A3, L1, L2, L3 position
D sees front distance
B2, P2 vehicle progressive position
R2 reference points
T2 target points
E, ε errors
500th, 700 program
Step 502 obtains aiming spot
Step 504, step 704 prediction progressive position
Step 506 calculates the distance between target point and progressive position
Step 508, step 708 calculate course changing control instruction
Step 702 obtains target line position
Step 706 calculates progressive position to the distance of score
800th, 900,1000 crosswise joint system
802 road detection apparatus
804 speed sensors
806 steering angle inductors
808 crosswise joint processors
810 estimate target location module
812 determine to see front distance module
814 estimate progressive position module
816 decide to move to instruction module
1002 choose target wire module
818 turn to actuator
902 deflection speed inductors
904th, 1004 crosswise joint processor
Specific embodiment
Disclosed herein a kind of vehicle steering control method and system.The method can be not required to ideality of plan with system
A variety of traveling actions are performed in the case of path.The method uses the road travelled positioned at vehicle with system, is intended to
Reference point of the target of the road of conversion or the road being transferred to as control.In order to assist the explanation present invention and existing method not
Together, the schematic diagram of method used by Fig. 1 is prior art, it cooks up the ideal path of changing Lane.Fig. 2 is then the present invention
The target point schematic diagram of one embodiment, it performs the traveling action of changing Lane by the foundation as course changing control.
It is existing automatic steering control system (not shown) in Fig. 1, used in vehicle 102.In non-arriving at location
Before A1, lane center line 108 of the vehicle 102 along track 104 travels.Existing system uses lane center line 108 as ideal
Path, and decide to move to control instruction by multiple reference points 114 along ideal path (lane center line 108).
Position A1, vehicle 102 need to be converted into track 106.Therefore, ideal path 112 is planned or produced to existing steering control system.
By ideal path 112, vehicle 102 can smoothly be converted into track 106.Then, existing steering control system is used positioned at reason
Think the reference point 116 in path 112 and then decide to move to control instruction, and guide vehicle 102 to travel on ideal path 112.Work as car
102 when position A3 completes changing Lane, and ideal path is changed to the Central Line 110 in track 106 by existing steering control system.
Therefore, for being kept for track thereafter, Central Line 110 of the existing steering control system along ideal path orients reference
Point 118.
In Fig. 2, used in vehicle 202 be one embodiment of the invention automatic steering control system it is (not shown
Go out).Similar in appearance to Fig. 1 Qing Condition, before arriving at location L1, vehicle 202 follows track 104 first.Then, vehicle 202 converts
To track 106, and persistently follow track 106.But different from existing steering control system, disclosed herein it is automatic
Control system is kept for track or changing Lane does not cook up ideal path；On the contrary, the automatic control system of the present invention
It is the reference index for directly regarding course changing control using multiple target points, and this little target point is travelled along vehicle 202
Track or the track to be converted and set.Before arriving at location L1, the traveling action that vehicle 202 is carried out is that track is kept.
Therefore, multiple target points 204 are set up along track 104, and the road that namely vehicle 202 is advanced of track 104.It is real one
Apply in example, target point 204 is set up along lane center line 108.In another embodiment, target point 204 is then located at offset lanes
The position of Central Line 108.When vehicle 202 is located at position L1 and after the L1 of position, the traveling action that vehicle 202 is carried out is
Changing Lane, now multiple target points 206 be located along track 106 and set up.The namely vehicle 202 of track 106 is intended to
The track of switching.In one embodiment, the lane center line 110 that is located along of target point 206 is set up.In another embodiment
In, target point 206 is then located at the position of offset lanes Central Line 110.By using benchmark of the target point as course changing control, sheet
The disclosed automatic steering control system of invention can smoothly guide vehicle 202 to be changed from track 104 to track 106.Namely
Say, the actual travel route 208 of vehicle 202 is the subsequent effect of course changing control, rather than the road cooked up before changing Lane
Footpath.After changing Lane is completed, vehicle 202 follows track 106, and target point 206 is maintained on track 106.
The present invention, for deciding to move to the difference of control instruction, can clearly illustrate with prior art by Fig. 3 and Fig. 4.
Fig. 3 is the schematic diagram of the rotating direction control method of prior art, and central use is along multiple reference points set by ideal path.Scheming
In 3, vehicle 102 is located at position A2, and just in changing Lane.As described in Figure 1, the rotating direction control method of prior art uses edge
The reference point 116 set by ideal path 112 as control benchmark.In each time occasion t, the course changing control of prior art
Method uses the specified reference point of the pre-determined distance along ideal path and positioned at vehicle front.Pre-determined distance can
Represented by sight front distance d.Therefore, when vehicle 102 is located at position A2, as the specified reference point for deciding to move to control instruction
116 be R2.Then, the rotating direction control method of prior art uses major prognostic or secondary prediction, and then before prediction vehicle 102
Enter position.For example, Fig. 3 schematically illustrates the situation of secondary prediction, therefore vehicle progressive position is B2 and before vehicle 102
Side.Wherein the distance between vehicle 102 and vehicle progressive position B2 are foregoing sight front distance d.Then, the steering of prior art
Control method calculates e (t), that is, the distance between reference point R2 and vehicle progressive position B2.Then, course changing control instructs
Calculation formula be δ (t)=k (Σ e (t)).It is worth noting that, vehicle 102 be not using the position A2 of ideal path as
Center, and the deflection of vehicle 102 is not the tangential direction towards ideal path.Because the Actual path of vehicle or
Track, generally all ideal path can be deviateed because of remainder error (residue errors).
The schematic diagram of the rotating direction control method of Fig. 4 one embodiment of the invention.In detail in this figure, vehicle 202 is located at position L2,
And just in changing Lane.As described in Figure 2, rotating direction control method uses benchmark of multiple target points 206 as control.This little mesh
Punctuate 206 is then positioned at the track that vehicle is travelled (being kept when the traveling of vehicle 202 acts for track) or the track to be converted
(when the traveling action of vehicle 202 is changing Lane).Since vehicle 202 is just in changing Lane, therefore the position of target point 206 is
Located at track 106, that is, along the lane center line 110 in track 106 or the position of offset lanes Central Line 110.Each
Time occasion t, rotating direction control method use a specific objective point, and specific objective point is located at the sight front distance d (t) of vehicle front.
(disclosed herein an advantage of method to see front distance d be transformable, and the change for seeing front distance d will not make
Unstable or sacrifice performance into system, this advantage can discuss subsequently.) therefore, when vehicle is located at position L2, do
It is T2 to decide to move to the specified reference point 206 of control instruction.In one embodiment, the next step of rotating direction control method is hypothesis
Vehicle maintains speed and deflection speed (yaw rate) instantly, then estimates the progressive position of vehicle.Therefore, the advanced potential of vehicle
It is P2 to put.Vehicle progressive position P2 is located at the front of vehicle 202, wherein the distance between vehicle 202 and vehicle progressive position P2
For foregoing sight front distance d (t).Then, rotating direction control method calculation error value ε (t).Error value epsilon (t) is target point T2 with before
Enter the distance between position P2 difference.Then, disclosed herein rotating direction control method error value epsilon (t) is standardized again
(normalization).The mode of standardization is by error value epsilon (t) divided by sees front distance d (t), is then standardized error
ε (t) integration：δ (t)=k (t) (Σ (ε (t)/d (t))).
By using see front distance d (t) error ε (t) is standardized, disclosed herein rotating direction control method with
Prior art has suitable advantage in comparison.As it was earlier mentioned, when vehicle travels on the bend at sharp turn, according to main pre-
Satisfied performance can not be reached by surveying operated steering control system.Major prognostic it is assumed that vehicle navigates on the road of straight line
Road.That is, when ideal path includes the bend at sharp turn, above-mentioned hypothesis differs greatly with actual conditions.Make
During with secondary prediction, the rotating direction control method of prior art will become unstable and can not also make car under high speed state
Travelled along ideal path.(for the viewpoint of control theory, a control system needs enough phase margins and increasing
Beneficial margin, it can stablize.In order to reach enough phase margins, control system needs enough phase-leads.In order to up to
To enough gain margins, the feedback gain of control system should not exceed the particular value determined by gain margin.) in high car
Under fast state, the sight front distance for being adapted to low speed to use is not enough to provide steering control system enough phase-leads.Lacking
Under enough phase-lead situations, steering control system is easier to become unstable.A kind of possible means to save the situation is to work as speed
During increase, front distance is seen in also increase.However, under same ideal path and predicted path situation, sight front distance is longer, error
ε is also bigger.Therefore, the time of increase sight front distance is substantially also equal to increase feedback gain.Case above, which also results in, to be turned
Gain margin is lost to control system, it is unstable also in turn result in system.
Disclosed herein rotating direction control method assume that vehicle maintains deflection instantly fast (or steering angle), and then predict
The progressive position of vehicle.Therefore, rectilinear stretch or sharp turn bend are navigated in vehicle, disclosed herein rotating direction control method
The progressive position of vehicle can all be predicted.Importantly, error value epsilon standardizes by seeing front distance, and result is done into product
Divide to calculate course changing control instruction.Under higher speed, disclosed herein course changing control method can increase sight front distance
D, and then more phase-leads are introduced into system.Error amount, error amount can be also increased although seeing the increase of front distance
Standardization (error divided by see front distance) caused negative effect when front distance is seen in increase in prior art can be removed.Simply
Say, by the standardization of error amount, disclosed herein rotating direction control method can flexibly adjust and see front distance d (t), enter
And stiffness of system and performance are still maintained under extensive vehicle speed range.
As described above, according to the further drawback of the previous course changing control of secondary prediction be exactly under the situation at sharp turn,
Vehicle is unable to maintain that along ideal path and travelled.In rectilinear stretch or the applicable sight front distance of gentle bend, for rapid change
The path of change is possible to long.Therefore, reference point too far, and then can lead to not the actual bend for capturing ideal path.One
The possible remedial measure of kind is when vehicle travels on the bend at sharp turn, and the length of front distance is seen in reduction.But in same reason
In the case of thinking path and Estimative path, stretch footpath is looked forward more in short-term, error value epsilon is also smaller.Therefore, the contracting of front distance is seen
It is short, substantially equal to reduce feedback gain.Situation above causes the control system of prior art needing to travel on vehicle
During the track at sharp turn, suitable course changing control instruction can not be provided.
The rotating direction control method of prior art limitation also by disclosed herein rotating direction control method among mistake
Difference is standardized and overcome.When travelling on the bend at sharp turn, disclosed herein steering control system can shorten sight front distance.
Also cause less error value epsilon although seeing the shortening of front distance, the influence to feedback gain is little, and main cause is smaller
Error value epsilon by it is less sight front distance have standardized.Therefore, disclosed herein steering control system there is enough return
Gain is awarded, to provide vehicle when travelling the bend at sharp turn, possesses enough course changing controls.
In summary, compared to prior art, disclosed herein rotating direction control method there are two big advantages.First,
Disclosed herein rotating direction control method use benchmark of the target point as control, and target point is located at the car that vehicle is travelled
The track for (keeping) or being converted for track when traveling acts on road (when traveling action is the action of other travelings).Therefore, it is right
In different traveling actions and driving condition, disclosed herein rotating direction control method without planning or produce different ideals
Path.Second, disclosed herein rotating direction control method be standardized for the error between predicted position and target point
Operation, normalization errors are integrated, the integration of normalization errors is then multiplied by feedback gain, and then calculated course changing control and refer to
Order.By error criterion, when speed increase, disclosed herein course changing control allow to see front distance and be consequently increased,
But not sacrificial system stability.In addition, error criterionization also make disclosed herein rotating direction control method, reduction see before
Apart from while, without reducing feedback gain.Therefore, vehicle possesses enough course changing controls when travelling the bend at sharp turn.Root
Shown according to the analysis of control theory, no matter speed (and bend of road) why, by the reason of error criterion, and then introduce
Two are opened loop zero point (open-loop zeroes), and it has preferable and fixed damping ratio.Due to closed loop control system
Limit it is close towards loop zero point is opened, error criterion and then closed loop control system is maintained under extensive vehicle speed range
Higher feedback gain, but not sacrificial system stability.In brief, under different traveling actions and driving situation, this hair
Bright disclosed rotating direction control method provides a kind of easy Vehicular turn mechanism, and it has high accurancy and precision and possesses stabilization
Property.
Fig. 5 is the flow chart of the program 500 of the rotating direction control method of one embodiment of the invention.Program 500 is built into pacifying
Mounted in the processor of vehicle.Processor uses instant operating type, and uses default process cycle, such as 10ms.Program
500 by step 502, it is the position for obtaining target point.According to the ongoing traveling action of vehicle, program 500 is first
Determine the track that target point is located at.When the traveling action that vehicle is carried out is that track is kept, target point is located at vehicle and gone
In the track sailed.When vehicle is in changing Lane, target point is then located at the track to be converted (as shown in Figures 2 and 4).Work as car
When turning left or turn right, target point is located at the vehicle track to be transferred to.It is obstacle when vehicle acts in the traveling carried out
Thing dodge with dodge the barrier in current track when, target point is located at the available track in left side or right side.In one embodiment,
The permanent Central Line for being located at track of target point.In another embodiment, target point is disposed offset from the position of lane center line, wherein partially
Shifting amount is revocable, can be zero offset or non-zero offset.
When program 500 it is determined that the track that target point is located at, program 500 then determines to see front distance, and use with
At least one of lower factor is as the foundation for determining sight front distance：Speed, vehicle yaw speed, vehicle lateral acceleration, vehicle turn
To the distance between the distance between angle, track camber, vehicle and track sideline, vehicle and barrier, normalization errors, target
Point and the distance between progressive position difference, the action of the traveling of vehicle and barrier position (if it is barrier that traveling, which acts,
When dodging).In one embodiment, the function that front distance is speed is seen.For example, d (t)=av (t), wherein d are to see front distance,
V is speed, and a can be constant or transformable gain.In another embodiment, the lower limit for seeing front distance can also following formula table
Show：D (t)=max (av (t), dmin).If that is, av (t)>Dmin, then d (t)=av (t)；Otherwise d (t)
=dmin.In another embodiment, the function that front distance d (t) is speed and vehicle yaw speed is seen：D (t)=f (v (t), ω
(t)), wherein ω (t) is the deflection speed (yaw rate) of vehicle.Function f (v (t), ω (t)) is designed to when speed increase,
Seeing front distance d (t) also increases；And when vehicle yaw speed increase, it is few to see front distance d (t) Ze Minus.In another embodiment,
Steering angle substitutes deflection speed to determine to see front distance d (t).In another embodiment, the decision for seeing front distance d (t) is basis
Speed and the camber in track.When camber is bigger, it is shorter to see front distance d (t).In addition, when normalization errors are compared and become big,
Front distance is seen also to shorten.When normalization errors, which are compared, becomes small, it is then elongated to see front distance.Similarly, when aiming spot is with before
Enter the distance between position difference it is larger when (or smaller), (or increase) can accordingly be successively decreased by seeing front distance.(due to each processing week
The sight front distance of phase, be between normalized error or target point and progressive position distance difference before just determined
.Therefore, the normalization errors of upper a cycle or the distance between target point and progressive position difference, can be used in decision
The sight front distance of next cycle.) finally, if the ongoing traveling action of vehicle keeps for track, when vehicle i.e. will
(lane center is relatively distant from when passing through track sideline), and seeing front distance can be reduced.When vehicle travels close to lane center, before sight
Distance can increase.Further, vehicle traveling action is included into also by following mode:For example, in the case of turning left and turning right,
Seeing front distance d (t) can be contracted by.For changing Lane, if longer distance (or more times) is changed trains for change
The prioritizing selection in road, then seeing front distance can increase.On the contrary, if changing Lane is Yaoed the short distances of More and completed, before seeing away from
Li Ke Minus are few.
When track with see front distance d (t) be determined after, program 500 then calculates be located at track Central Line on (or
Person offset Central Line) aiming spot.The distance of target point to vehicle, which is equal to, sees front distance d (t).In one embodiment, mesh
The position of punctuate is obtained by solving two formula：First formula represents lane center line (or skew Central Line), and
Second formula represents the distance between target point and vehicle, and it, which is equal to, sees front distance.
Next, in step 504, program 500 estimates the progressive position of vehicle.Progressive position also is located at vehicle front
See front distance d (t).The progressive position estimated is according to following hypothesis：When vehicle, which travels on, sees front distance, vehicle will be tieed up
Hold speed and deflection speed instantly.In other words, vehicle travels on curved path, and its radius is R=v (t)/ω (t), central
V (t) is speed, and ω (t) is vehicle yaw speed or yaw rate, and arc length is sight front distance d (t).The terminal of arc is to estimate
Progressive position.Therefore, according to simple geometrical relationship, the position of progressive position can be obtained.In one embodiment, estimate
During directly use vehicle yaw rate.In another embodiment, steering angle is then as the work for estimating deflection speed
Tool.
In step 506, the distance between target point and progressive position are calculated as error value epsilon (t).Then, in step
In 508, program 500 decides to move to control instruction in such a way：(1) error value epsilon (t) is carried out using sight front distance d (t)
Standardization, and then normalization errors ε (t)/d (t) is obtained, (2) normalization errors integration：Σ (ε (t)/d (t)), (3) are by standard
Change error intergal and be multiplied by gain, and then produce course changing control instruction：δ (t)=k (t) (Σ (ε (t)/d (t))).It is installed on car
Actuator receive caused by course changing control instruction, and according to course changing control instruct manipulate tire, make vehicle carry out institute
The traveling action needed.
In the embodiment of another crosswise joint method, target point is substituted by score.Then, the progressive position estimated
Distance to score is calculated as error value epsilon (t), and it is used in course changing control instruction：δ (t)=k (t) (Σ (ε (t)/d
(t))).In this embodiment, the score positioned at vehicle front is that the traveling carried out according to vehicle is acted and obtained.Work as car
Enter runway holding action when, this score is located in skew (including zero offset) track on the track that vehicle is travelled
Entreat the position of line.(when skew is zero, score is exactly the Central Line in the track that vehicle is advanced.) when vehicle is in changing Lane
When, score is located at the position of skew (including zero offset) Central Line in the vehicle track to be converted.To turn left when vehicle or
During right-hand rotation, score is located at the position of skew (including zero offset) Central Line in the vehicle track to be transferred to.When vehicle is entering
When row barrier is dodged, score is disposed offset from the position of the Central Line in the track that vehicle is travelled.The deviation post of score
Size and position and the left side of adjacent vehicle institute traveling lane and the availability of right-hand lane depending on barrier.Skew is originally
Body can be divided into position skew and/or angle skew again.When skew offsets for position, score is mutually flat with lane center
OK, a distance (including zero distance) and is differed each other.When skew offsets for angle, score is by rotary carriageway
Central Line positions to certain angle.When skew includes position skew and angle skew simultaneously, the positioning of score is to pass through：
Lane center line is done to the parallel shifted of position skew first, then the parallel lines of rotation displacement to specific angle is offset again.
Fig. 6 be disclosed herein rotating direction control method an embodiment schematic diagram.Vehicle 202 in this figure is
Track 106 is shifted to from track 104.Vehicle 202 in changing Lane is located at position L2.Therefore, score is positioned at skew (bag
Include zero offset) position of the lane center line 110 in track 106.Track 106 and the road to be converted of vehicle 202.Yu Bentu
In embodiment, offset be zero position skew, and score 602 just be located at track 106 Central Line 110.The present invention's turns
Vehicle progressive position P2 is then estimated to control method, it is positioned at front distance d is seen, such as Fig. 4.See front distance d, and depending on
At least one of lower mesh:Speed, vehicle yaw speed, vehicle lateral acceleration, vehicle steering angle, track camber, standardization miss
Difference, the action of the range difference of progressive position to score, vehicle traveling and the size of barrier and position are (if traveling action is
When barrier is dodged).Then, rotating direction control method of the invention finds out the distance between progressive position P2 and score 602 difference,
And referred to as error term ε (t).Next, the rotating direction control method of the present invention calculates the error of standardization.The mode of calculating be away from
Deviation divided by sight front distance, that is, ε (t)/d (t).Afterwards, normalization errors are integrated, and is multiplied by gain, and then calculated
Go out course changing control instruction：δ (t)=k (t) Σ (ε (t)/d (t)).Finally, it is installed on caused by the actuator reception of vehicle
Course changing control instructs, and is instructed according to course changing control and manipulate tire, vehicle is carried out required traveling action.
Fig. 7 is flow chart, and it shows the program 700 of the rotating direction control method of one embodiment of the invention, and the base of program 700
In score, program 700.Program 700 is different from the program 500 in Fig. 5.Specifically, program 700 is according in step 702
Vehicle traveling action, and then obtain score position (rather than target point).Program 700 obtains the order of target line position
It is：(1) acted according to vehicle traveling, orient score, and (2) according between lane center line and score and Central Line
Skew (including zero offset), calculate the position of score.Then, in step 704, program 700 determines to see front distance, and
And estimate vehicle progressive position.Vehicle progressive position is located in the sight front distance in the front of vehicle.In step 706, program
700 calculate the distance from progressive position to score.Finally, in step 708, program 700 calculates course changing control instruction.Calculate
Mode be:(1) error term is standardized into (ε (t)/d (t)), (2) integrate normalization errors value, and (3) are by the product of error amount
Divide and multiplied by gains (δ (t)=k (t) Σ (ε (t)/d (t))).
Fig. 8 is the block schematic diagram for the crosswise joint system 800 for being installed on vehicle.Vehicle has multiple tires in itself, its
Control the travel direction of vehicle.Crosswise joint system 800 includes road detection apparatus 802, speed sensor 804, steering angle
Inductor 806, crosswise joint processor 808 and at least one turn to actuator 818.Road detection apparatus 802 provides vehicle front
Road data.Speed sensor 804 provides GES.Steering angle inductor 806 provides steering angle signal.Laterally control
Processor 808 processed determines that steering angle instructs.An at least actuator 818 instructs according to caused course changing control, is responsible for inclined
Runner tire, vehicle is set to carry out required traveling action.
In one embodiment, road detection apparatus 802 includes image sensor and image process unit.Image sensor is received
Collect the image of vehicle front, and image process unit calculates the shape of road according to collected image data.Citing comes
Say, road can be defined by lane markings, wherein lane markings composition graticule (straight line or curved line).These graticules (straight line or curved line)
It can be represented via mathematical equation, such as polynomial equation.Therefore, in one embodiment, image process unit is by image sense
Answer the image data collected by device to recognize lane markings, and the parameter of polynomial equation is determined according to lane markings.It is
So that in the road data that image detection device 802 is provided, it comprises the polynomial parameters of lane markings.Car in this
Road marks the left and right graticule for being commonly referred to as the track that vehicle is travelled.
In another embodiment, road detection apparatus 802 includes satellite navigation system, numerical map and processing unit.Defend
Star navigation system determines the position of vehicle.The species of satellite navigation system includes GPS/Global Positioning
System (global positioning system), GLONASS/Global Navigation Satellite System (global navigational satellites
System), Galileo Positioning System (GALILEO positioning system) and Beidou Navigation Satellite
System/BDS (Beidou navigation satellite system).Numerical map contains road data.Processing unit builds on vehicle location
In numerical map, and provide the road data in front of vehicle location.Satellite navigation system in geographical coordinate system (such as through
Degree, latitude and height above sea level coordinate system) position of vehicle is provided.By establishing vehicle location in numerical map, processing is single
Member can recognize vehicle position in map, and obtain peripheral path data.Road data may include road direction, road
The distance between bend degree, lane position, track quantity, lane width, node location, road junction (crossing) etc..
In a 3rd embodiment, road detection apparatus 802 includes laser scanner and processing unit to provide way
According to.Laser scanner sends laser pulse wave, and catches the light beam reflected from the object of vehicle front.Processing unit according to when
The principle (Time-Of-Flight/TOF) of poor ranging, determine the distance between vehicle and object.Measure on ground compared to whole
Survey, due to the high reflectance of lane markings, the measurement speed (reflected light captured) of lane markings is higher.Therefore, locate
The speed that unit can reflect according to light beam is managed, detects lane markings.Correspondingly, lane markings (straight line or curve) can be via not
Same equation represents, for example multinomial equation.Then, processing unit calculates multinomial according to detected lane markings
The parameter of equation.So include the polynomial parameters of lane markings in road data, the car in being advanced it typically is vehicle
The arranged on left and right sides lane markings in road.
Crosswise joint processor 808 is connected to road detection apparatus 802 to receive road data.Crosswise joint processor
808 are also connected to speed sensor 804 to receive GES.In addition, crosswise joint processor 808 is also connected to steering angle
Inductor 806 is to receive steering angle signal.According to the position of steering angle inductor, steering angle signal is the traveling of tire
The angle of rotating shaft in angle, steering wheel angle or steering between steering wheel and tire.
In order to decide to move to angle command, the program that crosswise joint processor 808 uses is similar with the program 500 in Fig. 5.
Crosswise joint processor 808 determines to see first front distance d in module 812.As described in Fig. 5 step 502, it is basis to see front distance
At least one of below mesh and determine：Speed, vehicle yaw speed (vehicle yaw), vehicle lateral acceleration, Vehicular turn
The distance between angle, track camber, normalization errors, progressive position and target point difference, the distance of vehicle to track sideline (when
When traveling action be that track is kept), the position of the action of vehicle traveling and barrier is (when traveling action is dodged for barrier
When).
Among module 810, crosswise joint processor 808 estimates the position of target point.The position of target point is provided at partially
The position of (including zero offset) lane center line is moved, and also is located in the sight front distance of vehicle front.In one embodiment, it is horizontal
Only have to control system 800 and perform the traveling action that track is kept.Therefore, the track that lane center line perseverance is travelled by vehicle
Central Line.(in other embodiments, crosswise joint system 800 performs the action of other travelings, and it includes track and keeps, becomes and change trains
Road, left/right turn and barrier is dodged.The details of this embodiment will arrange in pairs or groups Figure 10 discussion later.)
In one embodiment, the road way that crosswise joint processor 808 is provided according to road detection apparatus 802 first
According to estimating out lane center line, and then estimate the position of target point.As described above, if using image or laser
The road detection apparatus of sweep type, road data will include road shape, that is, represent left and/or right side lane markings
Equation.Therefore the Central Line in track can represent (such as polynomial equation) via the equation of same type.Moreover, by
The equation of left and/or right side lane markings, the parameter for representing the equation of lane center line can be estimated out.If road
Detection means is using Satellite Navigation Technique, then road data will include road direction, camber, lane position, number of track-lines
Amount, lane width etc..The Central Line in track can be estimated as camber line, and its radius is 1 divided by bend of road, and tangential direction is
Road direction.The center in the track that the starting point of camber line is travelled by vehicle.By any of the above road detection apparatus, in track
Heart line is estimated to represent the equation of Central Line's (straight line or curve).
Next, crosswise joint processor 808 is according to lane center and sees front distance, the position of target point is calculated
Put.Substantially, calculating process include the equation for obtaining lane center line solution (such as：F (x, y)=0) and represent see before
Solution (the x of the equation of distance2+y2=d2).Positioned at vehicle front (Tx>0) answer (Tx, Ty) is exactly the position of target point.
In the present embodiment, target point is located in the sight front distance of lane center line and vehicle front.In another embodiment, target point can
The position of offset lanes Central Line is positioned at, and in the sight front distance of vehicle front.In the case of this embodiment, calculate
Process include obtain skew Central Line equation solution (such as：F (x, y, m)=0, wherein m are offsets) and represent see before
Solution (the x of the equation of distance2+y2=d2)。
In another embodiment, crosswise joint processor 808 under the feelings Condition for not estimating lane center line according to road way
According to the skew for directly estimating lane center line.For example, road data includes the equation of left and/or right-hand lane mark.Then,
Crosswise joint processor 808 is by the equation for obtaining offset lanes Central Line and the Xie Erji for the equation for representing sight front distance
Calculate the position of target point.
Among module 814, crosswise joint processor 808 predicts the progressive position of vehicle.Prediction process is that basis turns
To angle signal and see front distance.In one embodiment, it is assumed to be used in the estimation done：Vehicle maintains speed instantly
And deflection speed (yaw rate).That is, vehicle along camber line advance when radius be constant.According to the several of steering angle
What relation, the radius of camber line estimated for：R=L/tan (δ)=L/tan (α δmeas).In this formula, L is the axle of vehicle
Away from the steering angle that, δ is tire, δmeasThe steering angle data provided by steering angle inductor, and α is tire steering angle
Degree and the ratio of steering angle data (being provided by steering angle inductor).Installation site of the α value by steering angle inductor
And influence (such as positioned at steering column or electronic-controlled power steering unit).After the position of steering angle inductor is determined, so that it may learn
α。
In another embodiment, vehicle yaw speed is estimated by auto model according to steering angle.One vehicle
The example of model is exactly the two-dimentional auto model of name.Under the framework of two-dimentional auto model, vehicle yaw speed is model
State, and speed is the parameter of model.This model sets steering angle as input value, and the deflection speed for estimating vehicle is model
One of which state.On the other hand, when using vehicle dynamic model, vehicle yaw speed omega (t) can be estimated out to ω (t+
T time series data).It is to keep speed v (t) and steering angle instantly in the period of [t, t+T], vehicle that this, which estimates set hypothesis,
δ (t) is spent, wherein T can be set to d (t)/v (t).That is, T, which is vehicle, completes the time spent in traveling sees front distance d (t).Cause
This, according to speed and the vehicle yaw speed estimated, the progressive position of vehicle can determine to come via following equation:
x(tk+1)=x (tk)+v(t)·(tk+1-tk)·cos(θ(tk))；
y(tk+1)=y (tk)+v(t)·(tk+1-tk)·sin(θ(tk))；
θ(tk+1)=θ (tk)+ω(tk)·(tk+1-tk)。
In the state of coordinate is fixed on vehicle, the original state of model is (x (t0),y(t0),θ(t0))=(0,0,0).
Please note in the present embodiment, in the period of [t, t+T], because vehicle assumes that speed is v forever to keep speed instantly
(t).In another embodiment, can be pushed away in the period of [t, t+T], speed according to acceleration a (t) instantly or accelerating curve
Estimate out.Therefore, the progressive position of vehicle can estimate out via following equation：
x(tk+1)=x (tk)+v(tk)·(tk+1-tk)·cos(θ(tk))；
y(tk+1)=y (tk)+v(tk)·(tk+1-tk)·sin(θ(tk))；
θ(tk+1)=θ (tk)+ω(tk)·(tk+1-tk)；
v(tk+1)=v (tk)+a(tk)·(tk+1-tk)。
In one embodiment, the starting point of camber line is the position of vehicle instantly, and the tangent line of camber line is direction of traffic.When estimating
Target point is that vehicle fixes coordinate, and in the vehicle of this coordinate, position is (0,0) instantly, and tangent line is located at x-axis.Therefore, camber line
It can be fixed by the Te Do boundaries of a piece of land of function g (x, y)=0.Accordingly, g (x, y)=0 and the x of solving an equation are passed through2+y2=d2, it is located at
The progressive position seen in front distance can be determined out.Calculated solution (Px, Py), wherein Px>0, it is exactly progressive position.
When target location (Tx, Ty), progressive position (Px, Py) and front distance d is seen it is determined that after out, at crosswise joint
Reason device 808 calculates steering order in module 816.Processor 808 is calculated between aiming spot and progressive position first
Range difference：ε=sqrt ((Tx-Px)2+(Ty–Py)2).Then, range difference divided by sight front distance (ε/d), processor 808 are calculated
Go out normalization errors, then integrate normalization errors value：Σ(ε/d).Finally, processor 808 is by the product of normalization errors
Take separately with certain gain (δ=k Σ (ε/d)), determine that steering angle instructs.
Because range difference ε and sight front distance d are not fixed values, steering order is represented by δ (t)=k Σ (ε (t)/d (t))
It is appropriate.In another embodiment, the further adjust gain k of crosswise joint processor 808, its adjust way be according to
At least one of lower mesh：Range difference ε, see front distance d, normalization errors ε/d, speed, steering angle and bend of road.Therefore, increase
Beneficial k is also parameter, so steering order can be further rewritten into：δ (t)=k (t) Σ (ε (t)/d (t)).Implement one
In example, when normalization errors ε/d is more than certain critical value, or normalization errors have very big change, at this moment crosswise joint processing
Device 808 can reduce gain k.In another embodiment, (it is greater than certain critical value) when steering angle is mutually larger, crosswise joint
Processor 808 can increase gain k.Similarly, when the camber of road is mutually larger, crosswise joint processor 808 can improve gain
k.(crosswise joint processor 808 can obtain bend of road via the equation of lane center line.Another method is, if make
It is the road detection apparatus 802 of satellite navigation type, crosswise joint processor 808 can be carried by road detection apparatus 802
The road data of confession, directly obtains bend of road.)
After the calculating that module 816 completes steering order, crosswise joint processor 808 exports steering order to turning to start
Device 818.Actuator 818 is turned to according to steering order δ, manipulates tire so that vehicle is maintained in track.In one embodiment, quilt
The tire of manipulation is the front-wheel of vehicle.Actuator 818 is turned to according to steering order δ, manipulates the front-wheel of vehicle.In another embodiment
In, the tire that can be turned to includes front-wheel and trailing wheel, and crosswise joint system 800 includes a pair of steering actuator.Preceding actuator is born
The steering of front-wheel is blamed, then actuator is responsible for the steering of trailing wheel.Preceding actuator can make the steering angle of front-wheel to δf, then start
Device can make the steering angle of trailing wheel to δr, two of which angle meets following relation：δf–δr=δ.In one embodiment, δfAnd
δrSteering angle meets δ respectivelyr=(c/ (L-c)) δfRelation, wherein L is the wheelbase of vehicle, and 0<c<L.Therefore, pass through
Obtain two above equation (δf–δr=δ and δr=(c/ (L-c)) δf) solution, Two actuator can determine corresponding turn
To angle, it is subject to turn to front-wheel and trailing wheel.
Fig. 9 is the block schematic diagram of crosswise joint system 900.Crosswise joint system 900 is installed on vehicle.Vehicle includes
The steering tire of multiple control Vehicular turns.The embodiment of crosswise joint system 900 is different from the crosswise joint system in Fig. 8
800.Do not exist together and measure the inclined of vehicle using deflection speed inductor 902 (yaw rate inductor) for crosswise joint system 900
Rotary speed.Then, the deflection speed signal that crosswise joint processor 904 is provided using deflection speed inductor 902, is predicted
Vehicle progressive position is in module 814.The prediction that crosswise joint processor 904 is done, it is based on the assumption that vehicle keeps car instantly
Speed and deflection speed.That is, vehicle along circular arc advance when radius it is constant.There is provided via speed sensor 804
GES, and the deflection speed signal that deflection speed inductor 902 is provided, the radius R of circular arc can be by R=v/ ω's
Formula determines to come, and wherein v is speed and ω is deflection speed.The starting point of circular arc is the position of vehicle instantly, and circular arc starting point
Tangent line be vehicle forward direction.Used in one embodiment is carrier coordinate (vehicle-fixed
coordinates).Therefore, the starting point of circular arc is (0,0), and tangent line is x axes of coordinates.So Ke Do of circular arc pass through radius
And define and come out.In addition, via obtaining arc equation (g (x, y)=0) and see front distance equation (x2+y2=d2) solution,
Progressive position (Px, Py) can be computed.
Crosswise joint system 800 in Fig. 8 and performed by Fig. 9 crosswise joint system 900 be traveling that track is kept
Action, wherein, for the track travelled with vehicle, target point perseverance is disposed offset from the position of (including zero offset) lane center line
Put.Figure 10 is refer to, for the block schematic diagram for the steering control system 1000 being installed in vehicle.Steering control system 1000 is certainly
Make Vehicular turn to dynamic property, acted with performing different travelings.Compared to the crosswise joint system 800 in Fig. 8, crosswise joint system
System 1000 is further connected with a unit (not shown), to receive traveling action command.Then, crosswise joint processor
1004 determine steering order to perform traveling action.The unit for providing traveling action command can be self-discipline decision package, its work(
Can be：Reception starting point position and destination locations (such as：What driver was provided), determine road between starting point and destination
Driving environment arround footpath, monitoring and following the path to be travelled and ensuring that safe limitation is made decision vehicle needs
The traveling action of execution.
Acted to perform specific traveling (such as：Track holding, lane changing, left-hand rotation, right-hand rotation and barrier dodge
Keep away), crosswise joint processor 1004 further includes score selecting module 1002.The basis of score selecting module 1002
The road data that traveling action command and road detection apparatus 802 are provided, picks out score.According to traveling action command,
For the track travelled with vehicle or the track to be converted, score is to be disposed offset from (including zero offset) lane center
The position of line.For example, if traveling action command is track keeps, for that track travelled with vehicle, score is position
In the position of skew (including zero offset) lane center line.If traveling action command is to be converted into left (or right) track, that with
For the track of vehicle left side (or right side), score is the position for being disposed offset from (including zero offset) lane center line.If
Traveling action command is to turn left (or turn right), that with the vehicle track to be converted for, score is to be disposed offset from (including zero
Skew) lane center line position.If traveling action command is that (or right side) track progress barrier is dodged on the left of use, that
For the track on left side (or right side), score is the position for being disposed offset from (including zero offset) lane center line.Such as car
Road Central Line can be straight line or curve, and score similarly also can be straight line or curve.
In one embodiment, offset and offset for position, so score is parallel to lane center line.When position, skew is
Zero, score i.e. Central Line.In another embodiment, crosswise joint processor 1004 according to driving-situation Ji Zhuan Condition, right
Offset does gradual amendment.For example, when vehicle enters bend, crosswise joint processor 1004 can increase offset.If
Vehicle is travelled in bend, and offset remains unchanged.When vehicle leaves the bend, the Ke Minus of crosswise joint processor 1004 are inclined less
Shifting amount.By above-mentioned adjustable skew, vehicle is allowed by the way of " cut-offfing ", vehicle is travelled on ratio when excessively curved
Compared with the bend route of mitigation.
In another embodiment, the mode of skew be angle skew, wherein the position where score be will be specified in
Centre line does the rotation of angle skew.Again in another embodiment, the example of skew includes position and angle is offset, wherein score institute
Position be first to shift Central Line according to position, then the Central Line shifted is done and revolved according to angle skew again
Turn.
In one embodiment, crosswise joint processor 1004 further calculates in module 1002 and represents score
Equation.Then, crosswise joint processor 1004 obtains this little equation with seeing the equation (x of front distance again2+y2=d2)
Solution, estimate out the position of target point.In another embodiment, module 1002 directly exports above-mentioned score signals.Then,
Module 810 calculates the equation of score and estimates the position of target point.In both examples above, the equation of score
Formula is the road data (such as Fig. 8) provided by road detection apparatus and decision.Because different travelings acts, target point
Also correspond to and be located at different scores.Turn to actuator and reuse caused steering order, drive vehicle to carry out different rows
Sail action.
Although the present invention is disclosed above with foregoing embodiment, so it is not limited to the present invention, any to be familiar with ability
Domain person skilled, without departing from the spirit and scope of the present invention, when can make a little change and retouching, therefore the present invention
Claims must be defined depending on the application claims institute defender appended by this specification.
Claims (18)
1. a kind of rotating direction control method, be used in a vehicle, the vehicle has and makes the start that multiple tires of the vehicle turn to
Device, it is characterised in that the rotating direction control method includes:
Obtain the position for being located remotely from the one of the vehicle target point for seeing front distance；
A progressive position of the vehicle is predicted, the wherein progressive position is disposed far from the sight front distance of the vehicle；
Determine the range difference between the position of the target point and the progressive position；
One normalization errors are calculated by the range difference divided by the sight front distance；And
Determine that a course changing control instructs according to the integration of the normalization errors, wherein the actuator makes according to course changing control instruction
The multiple tire turns to, so that the vehicle performs different traveling actions.
2. rotating direction control method as claimed in claim 1, it is characterised in that the sight front distance be according at least with the next item down because
Element and determine：Speed, vehicle yaw speed, vehicle lateral acceleration, vehicle steering angle, track camber, the vehicle to track
The distance in sideline, the distance of the vehicle to barrier, the normalization errors, the range difference and vehicle traveling action.
3. rotating direction control method as claimed in claim 1, it is characterised in that the sight front distance is the linear function of speed.
4. rotating direction control method as claimed in claim 1, it is characterised in that the position of the target point is held according to the vehicle
What capable traveling was acted and positioned, wherein：
When the vehicle is performing track holding action, the target point is in the track that the vehicle is travelled, and offsets the car
One deviation post of the Central Line in road, and including zero offset；When the vehicle is performing lane changing action, the target point is position
In the track that the vehicle to be converted, a deviation post of the Central Line in the track is offset, and including zero offset；When the vehicle
When performing or right-hand rotation acts, the target point is located in the vehicle track to be transferred to, and offsets the center in the track
One deviation post of line, and including zero offset；And
The position of the target point is calculated according to the Central Line in the track, the deviation post and the sight front distance.
5. rotating direction control method as claimed in claim 1, it is characterised in that estimating for the progressive position is that basis works as the vehicle
When travelling the sight front distance, it is assumed that the vehicle keeps speed instantly and deflection speed instantly, and deflection speed instantly is
Determined according at least one of following：The yaw rate of vehicle instantly, and the steering angle of vehicle instantly.
6. rotating direction control method as claimed in claim 1, it is characterised in that estimating for the progressive position is that basis works as the vehicle
When travelling the sight front distance, it is assumed that the vehicle keeps speed instantly and steering angle instantly.
7. a kind of rotating direction control method, be used in a vehicle, the vehicle has and makes the start that multiple tires of the vehicle turn to
Device, it is characterised in that the rotating direction control method includes:
Traveling action according to performed by the vehicle is taken at a score of the vehicle front；
A progressive position of the vehicle is estimated, the wherein progressive position is disposed far from the one of the vehicle and sees front distance；
Determine the progressive position to a range difference of the score；
One normalization errors are calculated by the range difference divided by the sight front distance；And
Determine that a course changing control instructs according to the integration of the normalization errors, wherein the actuator makes according to course changing control instruction
The multiple tire turns to, so that the vehicle performs traveling action.
8. rotating direction control method as claimed in claim 7, it is characterised in that the sight front distance be according at least with the next item down because
Element and determine：Speed, vehicle yaw speed, vehicle lateral acceleration, vehicle steering angle, track camber, the vehicle to track
The distance in sideline, the distance of the vehicle to barrier, the normalization errors, the range difference and vehicle traveling action.
9. rotating direction control method as claimed in claim 7, it is characterised in that the position of the score is held according to the vehicle
The position of the capable traveling operating position fixing score, wherein：
When the vehicle is performing track holding action, the score is in the track that the vehicle is travelled, and offsets the car
One deviation post of the Central Line in road, and including zero offset；When the vehicle is performing lane changing action, the score is position
In the track that the vehicle to be converted, a deviation post of the Central Line in the track is offset, and including zero offset；When the vehicle
When performing or right-hand rotation acts, the score is located in the vehicle track to be transferred to, and offsets the center in the track
One deviation post of line, and including zero offset；And
The position of the score is calculated according to the Central Line in the track and the deviation post.
10. a kind of crosswise joint system, the crosswise joint system is installed on the vehicle with multiple tires, to control the vehicle
Steering, it is characterised in that the crosswise joint system includes：
One road detection apparatus, for providing the road data of the vehicle front；
One speed sensor, for providing GES；
One steering angle inductor, for providing steering angle signal；
One processor, the processor connect the road detection apparatus to receive track data, and the processor is also connected with the speed sense
Device is answered to receive the GES, the processor also connects the steering angle inductor to receive the steering angle signal, at this
Manage device and calculate a steering angle order according to following steps：Determine a sight front distance, calculate before the sight of vehicle front away from
From a target point position, predict a vehicle progressive position, calculate between the aiming spot and the vehicle progressive position
One range difference, and a normalization errors are calculated by the range difference divided by the sight front distance, the normalization errors are integrated；With
And
At least one turns to actuator, and the steering actuator turns to the multiple tire according to the steering angle order, so that should
Vehicle performs traveling action.
11. crosswise joint system as claimed in claim 10, it is characterised in that the road detection apparatus includes a video sensing
Device and an image process unit, the image sensor catch the image of the vehicle front, and the image process unit is according to the image
The road data for the image that inductor is caught calculates road shape.
12. crosswise joint system as claimed in claim 10, it is characterised in that the road detection apparatus includes being used to determine one
A satellite navigation system, a numerical map and a processing unit for vehicle location, the processing unit build on the vehicle location
In the numerical map, and provide the road data in front of the vehicle location.
13. crosswise joint system as claimed in claim 10, it is characterised in that the road detection apparatus scans including a laser
Device and a processing unit, the laser scanner send laser pulse wave, and catch the light beam that the object in the vehicle front is reflected,
The processing unit determines road shape according to the road data of the reflected light.
14. crosswise joint system as claimed in claim 10, it is characterised in that the processor is according at least one of following factor
Determine the sight front distance：Speed, vehicle yaw, vehicle lateral acceleration, vehicle steering angle, track camber, the vehicle are extremely
The row that the distance in track sideline, the distance of the vehicle to barrier, the normalization errors, the range difference and vehicle are carrying out
Sail action.
15. crosswise joint system as claimed in claim 10, it is characterised in that the processor is carried according to road detection apparatus
The road data of confession estimates a lane center line, and the position of the target point is calculated according to the lane center line and the sight front distance
Put, wherein the target point is located at a deviation post of the offset lanes Central Line of the sight front distance of the vehicle front, and including zero
Skew.
16. crosswise joint system as claimed in claim 10, it is characterised in that the processor pushes away according to the steering angle signal
Estimate a vehicle yaw speed, the processor calculates the car further according to the GES, the vehicle yaw speed and the sight front distance
Progressive position.
17. crosswise joint system as claimed in claim 10, it is characterised in that further include a deflection speed inductor, be used for
A vehicle yaw rate signal is provided, the GES that wherein processor is provided according to the speed sensor, the deflection
Vehicle yaw rate signal and the sight front distance that speed sensor is provided predict the vehicle progressive position.
18. crosswise joint system as claimed in claim 10, it is characterised in that the crosswise joint system, which is further connected to, to be installed on
The vehicle traveling action decision package of the vehicle, the wherein processor receive what is sent by vehicle traveling action decision package
One traveling action command, the traveling action command include at least one of following instruction：Track holding instructs, lane changing instructs,
Turn left instruction, instruction of turning right, and barrier is dodged instruction, the processor according to the traveling action command one score of selection,
Wherein the target point is located at the score, and the processor calculates the position of the target point according to the score and the sight front distance.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103135702A TWI564193B (en) | 2014-10-15 | 2014-10-15 | System and method for vehicle steering control |
| TW103135702 | 2014-10-15 |
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| CN105752154A CN105752154A (en) | 2016-07-13 |
| CN105752154B true CN105752154B (en) | 2017-12-01 |
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| WO2018015811A1 (en) * | 2016-07-21 | 2018-01-25 | Mobileye Vision Technologies Ltd. | Crowdsourcing and distributing a sparse map, and lane measurements for autonomous vehicle navigation |
| JP6380919B2 (en) * | 2016-09-01 | 2018-08-29 | マツダ株式会社 | Vehicle control device |
| TWI633030B (en) * | 2016-11-28 | 2018-08-21 | 財團法人車輛研究測試中心 | Vehicle automatic lane following control system and method |
| US10267911B2 (en) * | 2017-03-31 | 2019-04-23 | Ford Global Technologies, Llc | Steering wheel actuation |
| JP6766006B2 (en) * | 2017-04-26 | 2020-10-07 | 株式会社クボタ | Automatic steering system |
| CN109270927B (en) * | 2017-07-17 | 2022-03-11 | 阿里巴巴（中国）有限公司 | Road data generation method and device |
| US10633024B2 (en) | 2017-12-27 | 2020-04-28 | Automotive Research & Testing Center | Vehicle lateral control system having lane model with modulation weighting and control method thereof |
| CN110962928B (en) * | 2018-09-30 | 2021-11-09 | 上海汽车集团股份有限公司 | Method and device for determining steering wheel angle of vehicle |
| DE112020006426T5 (en) * | 2020-01-03 | 2022-12-15 | David Boublil | SYSTEMS AND METHODS FOR VEHICLE NAVIGATION |
| CN111260957A (en) * | 2020-01-17 | 2020-06-09 | 巢湖学院 | Lane departure warning system |
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| CN105752154A (en) | 2016-07-13 |
| TW201613784A (en) | 2016-04-16 |
| TWI564193B (en) | 2017-01-01 |
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