CN106114506A - A kind of track keeping method and device - Google Patents
A kind of track keeping method and device Download PDFInfo
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- CN106114506A CN106114506A CN201610711362.0A CN201610711362A CN106114506A CN 106114506 A CN106114506 A CN 106114506A CN 201610711362 A CN201610711362 A CN 201610711362A CN 106114506 A CN106114506 A CN 106114506A
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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
- 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
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
-
- 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
-
- 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
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/16—Driving resistance
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
Abstract
The embodiment of the present invention provides a kind of track keeping method and device, when obtaining track and keeping required forward moment, utilize track based on the feedforward to keep Controlling model, by Controlling model based on feedback, there is the advantage that amount of calculation is few, stability is high and is easily achieved.And, the vehicle parameter used includes the actual deviation distance of resistance torque, the side velocity of disalignment, vehicle and lane center and estimates deviation distance, due to when driving, each otherwise control moment can be there is, the forward moment finally given can be produced impact, and vehicle is currently at the state of run-off-road, if continuing traveling may continue run-off-road centrage, estimate the distance of vehicle disalignment in advance.The forward moment obtained in conjunction with above-mentioned parameter, it is possible to overcome the impact of extraneous moment, make vehicle overcome currently practical deviation distance to overcome the deviation distance estimating generation simultaneously such that it is able to real guarantee vehicle travels along current lane.
Description
Technical field
The invention belongs to Vehicular intelligent and control technical field, be specifically related to a kind of track keeping method and device.
Background technology
Along with the progress of the sensor technologies such as machine vision head, laser radar, Lane Keeping System receives more and more
Concern.The purpose of this system is, driver is unconscious do not disturb normal driving in the case of, pass through electric power steering
The dynamic moment that applies of owner corrects vehicle attitude to avoid traffic accident.
In prior art, keep controlling existing many achievements in research for track, such as, have when utilizing lane line to deviate
Between model, because it is contemplated that the factor to result in performance very little the best；The nonlinear model establishing vehicle having, real-time amount of calculation is non-
Chang great, is unfavorable for Project Realization.What is more important, model of the prior art does not accounts for the intention of driver, causes
Function is turned off after using a period of time, loses the meaning of active safety protection.
Summary of the invention
The embodiment of the present invention to solve the technical problem that being that track keeps function policy simple and can not identify that driver anticipates
Figure, thus a kind of track keeping method and device are provided.
For solving above-mentioned technical problem, the embodiment of the present invention following technical scheme of offer:
A kind of track keeping method, comprises the steps:
Set up track based on the feedforward and keep Controlling model；
Obtaining vehicle parameter, described vehicle parameter includes the side velocity of control moment, disalignment；
Obtaining the dispersed parameters of vehicle and lane center, described dispersed parameters includes actual deviation distance and estimates deviation
Distance；
Keep Controlling model to obtain track according to described dispersed parameters, described vehicle parameter and described track and keep required
Forward moment；
Export described forward moment, so that vehicle travels according to track hold mode.
Alternatively, in described track keeping method, obtaining the dispersed parameters of vehicle and lane center, described deviation is joined
During number includes actual deviation distance and estimates the steps of deviation distance, described in estimate deviation distance and obtained by following steps:
Obtain the described forward moment transmission delay time；
According to described time delay and described side velocity obtain described in estimate deviation distance.
Alternatively, in described track keeping method, obtaining vehicle parameter, described vehicle parameter includes control moment, partially
In the step of the side velocity of centrage, described control moment is obtained by following steps:
Obtain the moment applied by driver；
Obtain the lateral moment in vehicle travel process；
Lateral moment superposition in the moment applied according to described driver and described driving process obtains control moment；
Being resistance torque when described control moment is in opposite direction with described forward moment, described forward moment strengthens；
Described control moment is assist torque time identical with described forward moment direction, and described forward moment reduces.
Alternatively, in described track keeping method, set up track based on the feedforward and keep the step of Controlling model
In:
Described track keeps Controlling model for feedforward PID control parameter model.
Alternatively, in described track keeping method, set up track based on the feedforward and keep the step of Controlling model
In, described feedforward PID control parameter model is by realizing with minor function:
T (t)=Lc(t)×Pc+Lp(t)×Pp+I×Tr(t)+D×Vl(t)；
Wherein, T (t) represents forward moment, LcT () represents actual deviation distance, LpT deviation distance, T are estimated in () expressionr
T () represents resistance torque, VlT () represents side velocity, t represents current time, PcRepresent the ratio corresponding with actual deviation distance
The factor, PpRepresenting the scale factor corresponding with estimating deviation distance, I represents that integrating factor, D represent differential divisor.
Alternatively, in described track keeping method, set up track based on the feedforward and keep the step of Controlling model
In also comprise the steps:
Set up nominal data table, described nominal data table records the scale factor respectively corresponding with actual deviation distance
Pc, corresponding with estimating deviation distance scale factor PpWith differential divisor D these three parameter and vehicle turn radius R, the inclining of traveling
Angle angle [alpha], the corresponding relation characterized between travel flag outside curve inner side or bend；
According to described nominal data table, obtain the described scale factor corresponding with actual deviation distance, described by tabling look-up
The scale factor corresponding with estimating deviation distance and described differential divisor.
Alternatively, in described track keeping method, also comprise the steps:
Judge whether to detect and exit the operation that track keeps；
If the operation that track keeps is exited in detection, then judge that whether current driving speed is more than or equal to setting threshold value；
If current driving speed is more than or equal to setting threshold value, then continues to put out forward moment and make vehicle keep according to track
Mode travels；Otherwise export actually detected to moment make vehicle exit vehicle hold mode.
Alternatively, in described track keeping method, it may be judged whether the step exiting the operation requests that track keeps detected
In Zhou:
Described exit the operation that track keeps and include: operation, the operation trampling brake pedal of playing steering indicating light, trample acceleration
The operation of pedal, the operation of steering wheel rotation.
Based on same inventive concept, the embodiment of the present invention also provides for a kind of track holding means, comprises the steps:
Unit set up by model, keeps Controlling model for setting up track based on the feedforward；
First parameter acquiring unit, is used for obtaining vehicle parameter, and described vehicle parameter includes control moment, disalignment
Side velocity；
Second parameter acquiring unit, for obtaining the dispersed parameters of vehicle and lane center, described dispersed parameters includes
Actual deviation distance and estimate deviation distance；
Moment acquiring unit, for keeping controlling mould according to described dispersed parameters, described vehicle parameter and described track
Type obtains the forward moment needed for track keeps；
Moment output unit, is used for exporting described forward moment, so that vehicle travels according to track hold mode.
Alternatively, in described track holding means, described second parameter acquiring unit includes:
Time obtains subelement, is used for obtaining the described forward moment transmission delay time；
Distance obtain subelement, for according to described time delay and described side velocity obtain described in estimate deviation away from
From.
Alternatively, in described track holding means, described first parameter acquiring unit includes:
First moment obtains subelement, for obtaining the moment applied by driver；
Second moment obtains subelement, for obtaining the lateral moment in vehicle travel process；
Moment superposition subelement, the lateral moment in the moment applied according to described driver and described driving process
Superposition obtains control moment；It is resistance torque when described control moment is in opposite direction with described forward moment, described control moment
It is assist torque time identical with described forward moment direction；
Moment acquiring unit, is resistance torque at described control moment, and the described forward moment obtained strengthens；In described control
Moment processed is assist torque, and the described forward moment obtained reduces.
Alternatively, in described track holding means, set up track based on the feedforward and keep the step of Controlling model
In:
Model is set up the described track set up in unit and is kept Controlling model for feedforward PID control parameter model.
Alternatively, in described track holding means, the described feedforward PID set up in unit set up by model
Controlling model is by realizing with minor function:
T (t)=Lc(t)×Pc+Lp(t)×Pp+I×Tr(t)+D×Vl(t)；
Wherein, T (t) represents forward moment, LcT () represents actual deviation distance, LpT deviation distance, T are estimated in () expressionr
T () represents resistance torque, VlT () represents side velocity, t represents current time, PcRepresent the ratio corresponding with actual deviation distance
The factor, PpRepresenting the scale factor corresponding with estimating deviation distance, I represents that integrating factor, D represent differential divisor.
Alternatively, in described track holding means, also include:
Demarcate subelement, be used for setting up nominal data table, described nominal data table records and actual deviation distance respectively
Corresponding scale factor Pc, corresponding with estimating deviation distance scale factor PpWith differential divisor D these three parameter and turn inside diameter
Corresponding pass between radius R, the tilt angles α of traveling, sign travel flag outside curve inner side or bend
System；
Table look-up subelement, for according to described nominal data table, obtain by tabling look-up described corresponding with actual deviation distance
Scale factor, the described scale factor corresponding with estimating deviation distance and described differential divisor.
Alternatively, in described track holding means, also include:
First judging unit, exits, for judging whether to detect, the operation that track keeps；
Second judging unit, for when the judged result of described first judging unit is for being, determines whether current line
Whether sail speed more than or equal to setting threshold value；
Described moment output unit, for continuing to put out positive force when the judged result of described second judging unit is for being
Square makes vehicle travel according to track hold mode；When judged result at described second judging unit is no, export actually detected
To moment make vehicle exit vehicle hold mode.
Alternatively, in described track holding means, in described first judging unit, described in exit track keep operation
Including: the operation playing steering indicating light, the operation trampling brake pedal, the operation of step on the accelerator, the operation of steering wheel rotation.
Compared with prior art, the such scheme that the embodiment of the present invention provides at least has the advantages that
(1) the track keeping method described in the embodiment of the present invention and device, when obtaining track and keeping required forward moment,
Utilize track based on the feedforward to keep Controlling model, by Controlling model based on feedback, have that amount of calculation is few, stability
Advantage that is high and that be easily achieved.And, the vehicle parameter of employing includes resistance torque, the side velocity of disalignment, vehicle
With the actual deviation distance of lane center and estimate deviation distance, due to when driving, each other aspects can be there are
Control moment, the forward moment that finally gives can be produced impact, and vehicle is currently at the state of run-off-road, if
Continue traveling and may continue run-off-road centrage, estimate the distance of vehicle disalignment in advance.Obtain in conjunction with above-mentioned parameter
The forward moment arrived, it is possible to overcome the impact of extraneous moment, make vehicle overcome currently practical deviation distance to overcome pre-the yield by estimation simultaneously
Raw deviation distance such that it is able to real guarantee vehicle travels along current lane.
(2) the track keeping method described in the embodiment of the present invention and device, by setting up nominal data table, record is with actual
The scale factor P that deviation distance is correspondingc, corresponding with estimating deviation distance scale factor PpWith differential divisor D these three parameter with
Between vehicle turn radius R, the tilt angles α of traveling, sign travel flag outside curve inner side or bend
Corresponding relation；According to described nominal data table, obtain the described scale factor corresponding with actual deviation distance, institute by tabling look-up
State the scale factor corresponding with estimating deviation distance and described differential divisor to be travelled in different road conditions by such scheme, vehicle
Time, it is possible to it is in curve inner side or these reality of outside according to lane curvature radius, tilt angles and the vehicle of actual road conditions
Situation, the comparative example factor and differential divisor make accommodation, so that the experience of driver reaches optimum state.
(3) the track keeping method described in the embodiment of the present invention and device, when the operation that track keeps is exited in detection, sentences
Whether disconnected current driving speed is more than or equal to setting threshold value；If current driving speed more than or equal to set threshold value, then according to
Track maintenance travels；Otherwise travel according to the actually detected operation arrived.Use this scheme, when the vehicle runs at a high speed,
Track of exiting that will not be unexpected keeps strategy, partly in order to the safety ensured in driving conditions, on the other hand also avoids
During running at high speed, remove suddenly the sense of discomfort that the power-assisted that track keeps is brought to driver.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to specifically
In embodiment, the required accompanying drawing used is briefly described.
Fig. 1 is the flow chart of track keeping method described in one embodiment of the invention；
Fig. 2 is that vehicle described in one embodiment of the invention travels schematic diagram；
Fig. 3 is the flow chart of track keeping method described in another embodiment of the present invention；
Fig. 4 is the theory diagram of track holding means described in one embodiment of the invention；
Fig. 5 is the theory diagram of track holding means described in one embodiment of the invention.
Detailed description of the invention
The track keeping method of following example of the present invention offer and device, its core point is to make vehicle running over
Journey realizes the Lane Keeping System in the case of hands departure direction dish, driving intention can be detected intelligently simultaneously thus close
Suitable opportunity exits control, it is to avoid interfere with normal driving.Further, in order to the scheme of the embodiment of the present invention is applied to height
Realize, on speed highway, the purpose that same track keeps, track based on the feedforward keep the scale factor in Controlling model,
Factor of a model can be adjusted according to the actual road conditions of highway, when therefore vehicle travels on bend, it is also possible to according to
The practical situation of bend realizes track and keeps function.And, during in order to avoid high vehicle speeds, remove suddenly track and just keeping
Cause security risk and sense of discomfort to moment to driver, before exiting track holding torque and getting involved, speed is judged, speed
Wouldn't perform to exit track when spending high and keep strategy.Below by specific embodiment, such scheme is described in detail.
It is further noted that term " first " herein, " second ", " the 3rd " etc., for similar key element it
Between distinguish, and be not necessarily description specific order or order temporally.It addition, herein for different step
The step number arranged, is easy for describing clear and arranging, and it should not be construed the necessary restriction to step sequencing, right
As long as between different step order exchange do not affect scheme implement, all should regard as the simple deformation to the embodiment of the present invention without
Pay creative work can realize.It is appreciated that these terms so used are interchangeable in the environment of suitably so that
The embodiment of theme described here in this way can with the order different from the order that those illustrate or with described here separately
Outer order operates.Term " connects " should be broadly interpreted and refer to electrical connection, mechanical connection, wireless company
Connect, be directly connected or by intermediate circuit and/or interelement grounding connection.
Below in conjunction with specific embodiment, the such scheme of the present invention is described in detail.
Embodiment 1
The present embodiment provides a kind of track keeping method, as it is shown in figure 1, comprise the steps:
S101: set up track based on the feedforward and keep Controlling model.The so-called feedforward refers to that finger is whole by collecting
Reason information, grasp rule, anticipation trend, the problem that correct anticipated future is likely to occur, take measures in advance, it would be possible to generation
Deviation eliminates in bud, for avoiding the problem being likely to occur at following different stages of development and the measure taked in advance.
S102: obtaining vehicle parameter, described vehicle parameter includes the side velocity of control moment, disalignment.See
Vehicle shown in Fig. 2 travels schematic diagram, and vehicle current running state has had deviated from lane center, and the vehicle in dotted line frame is pre-
The position that the vehicle surveyed will arrive.Therefore, according to vehicle current running state, it is possible to by entire car controller or vehicle
Central control system directly collects control moment Tr.The side velocity V of disalignment can obtain in the following way: obtains car
Current driving speed, it is thus achieved that the angle between vehicle current driving direction and lane center, vehicle current driving speed is taken advantage of
Cosine value using this angle can be as the lateral travel speed of run-off-road.
S103: obtain the dispersed parameters of vehicle and lane center, described dispersed parameters includes that actual deviation distance is with pre-
Estimate deviation distance.According to Fig. 2, the actual deviation distance between vehicle and lane center is Lc.The concrete side obtaining this distance
Formula can be: arranging photographic head on vehicle, photographic head can gather the image between current location and lane center or regard
Frequently information, by being analyzed this image or video information, passing ratio conversion i.e. can obtain this actual deviation distance.For
Estimate deviation distance, as in figure 2 it is shown, dotted line frame is the position that the vehicle estimated will arrive, during concrete operations, can obtain pre-
Relative position between vehicle location and the current vehicle location of meter, obtains vehicle further according to this relative position and estimates deviation
Distance Lp。
S104: keep Controlling model to obtain track according to described dispersed parameters, described vehicle parameter and described track and protect
Hold required forward moment.
S105: export described forward moment, so that vehicle travels according to track hold mode.
In the such scheme of the present embodiment, track based on the feedforward is utilized to keep Controlling model, by based on feedback
Controlling model, there is the advantage that amount of calculation is few, stability is high and is easily achieved.And, the vehicle parameter of employing includes resistance
The actual deviation distance of moment, the side velocity of disalignment, vehicle and lane center and estimate deviation distance, due to
In driving conditions, each otherwise control moment can be there is, the forward moment finally given can be produced impact, Er Qieche
Being currently at the state of run-off-road, if continuing traveling may continue run-off-road centrage, estimating vehicle in advance inclined
Distance from centrage.The forward moment obtained in conjunction with above-mentioned parameter, it is possible to overcome the impact of extraneous moment, makes vehicle overcome and works as
Front actual deviation distance overcomes the deviation distance estimating generation simultaneously such that it is able to real guarantee vehicle is along current lane row
Sail.
The present embodiment also provides for a kind of preferred version, to doing following improvement in step S103 in such scheme, described pre-
Estimate deviation distance to be obtained by following steps:
S1031: obtain the described forward moment transmission delay time；If after the output of forward moment, according to forward moment control
Vehicle processed, can change direction and the speed of vehicle, make vehicle draw close to lane center.But under normal circumstances, forward moment
Necessarily having the time postponed in transmittance process, within this time delay, vehicle also can be according to current deviation angle and speed
Degree continues to travel, and therefore within this time, vehicle may proceed to run-off-road centrage.The time delay of transmission moment of torsion is according to real vehicle
Kinetic test test can draw.
S1032: according to described time delay and described side velocity obtain described in estimate deviation distance.In step S102
Through obtaining the side velocity in off-center county, can obtain estimating deviation distance according to side velocity and time delay.
In another preferred version that the present embodiment provides, step S102 being done following improvement, described control moment passes through
Following steps obtain:
S1021: obtain the moment applied by driver；I.e. driver by steering wheel exert a force, by stepping on accelerator pedal,
The moment that the modes such as brake pedal apply.
S1022: obtain the lateral moment in vehicle travel process；This moment can be real road in vehicle travel process
The lateral moment given, such as road inequality reason can apply certain side force to the vehicle run at high speed thus produce
Lateral moment.
S1023: the lateral moment superposition in the moment applied according to described driver and described driving process is controlled
Moment；In described step S104, when obtaining forward moment, for resistance when described control moment is in opposite direction with described forward moment
Force square, described forward moment strengthens；Described control moment is assist torque time identical with described forward moment direction, described just
Reduce to moment.
It is appreciated that, it is simply that the when that track keeping, the both hands of driver can also be put on the steering wheel, and if track
Keeping the in opposite direction of moment of torsion, this is exactly resistance torque, and the moment of torsion that correspondingly track keeps will increase；If protected with track
Holding the identical of moment of torsion, then contribute to correcting vehicle attitude, the moment of torsion that correspondingly track keeps will reduce.This programme is also simultaneously
Take into account the impact of side force and side velocity, when vehicle deviation angle is relatively big, lateral deviation speed is bigger when, accordingly
Correction moment also bigger.
The present embodiment also provides for a kind of preferred version, and in such scheme, the holding Controlling model of track described in step S101 is
Feedforward PID control parameter model.Specifically, described feedforward PID control parameter model is by realizing with minor function:
T (t)=Lc(t)×Pc+Lp(t)×Pp+I×Tr(t)+D×Vl(t)；
Wherein, T (t) represents forward moment, LcT () represents actual deviation distance, LpT deviation distance, T are estimated in () expressionr
T () represents control moment, VlT () represents side velocity, t represents current time, PcRepresent the ratio corresponding with actual deviation distance
The factor, PpRepresenting the scale factor corresponding with estimating deviation distance, I represents that integrating factor, D represent differential divisor.Above-mentioned function
Using the deformation of PID Controlling model to obtain, the concrete inventive point in conjunction with the embodiment of the present invention is adjusted, scale factor therein,
Integrating factor and differential divisor, all can be configured according to actual vehicle, actual road conditions.
Vehicle is in the process of moving, it is often necessary to travel on a highway, and actual terrain vehicle diatom has straight line and curved
Road, the radius of curvature minima of the expressway bend being typically designed speed limit 120kph is 650m-1000m；Bend also district simultaneously
Divide inner side and outer side；Highway has been generally designed side tilt angle, also distinguishes left-leaning and Right deviation.In order to adapt to the most public
The road conditions on road, can use track hold mode equally when travelling on expressway, also carry out above-mentioned steps S101 changing as follows
Enter:
S1011: set up nominal data table, records the ratio corresponding with actual deviation distance respectively in described nominal data table
Factor Pc, corresponding with estimating deviation distance scale factor PpWith differential divisor D these three parameter and vehicle turn radius R, traveling
Tilt angles α, the corresponding relation that characterizes between travel flag outside curve inner side or bend；That is
The function that scale factor is all lane curvature radius with differential divisor, side tilt angle is relevant with curve inner side/outside.
S1012: according to described nominal data table, obtain by tabling look-up the described ratio corresponding with actual deviation distance because of
The scale factor corresponding with estimating deviation distance, described and described differential divisor.
Preferably, as it is shown on figure 3, also comprise the steps: after step S105
S106: judge whether to detect and exit the operation that track keeps, if then entering step S107.
S107: judge that whether current driving speed is more than or equal to setting threshold value；If then entering step S108, otherwise enter
Enter step S109.
S108: continue to put out forward moment and make vehicle travel according to track hold mode；
S109: export actually detected to moment make vehicle exit vehicle hold mode.
Track holding is the system of people-Che-Lu Huan, and Che-road feedforward final closed loop of intelligent PID control system is people.Cause
The First Essential of this active safety system performance evaluation is exactly the safest but also comfortable.The present embodiment is experienced to optimize driver
Impression, spy has carried out following improvement: track keeps the forward moment of input, is not arbitrarily to exit, but with speed is correlated with
Function, met driver under high-speed case and pursued safe psychology.In addition to routine plays steering indicating light, driver can be led to
Cross apply on the steering wheel the reverse moment of resistance, step on brake pedal, accelerator pedal and steering wheel rotation to exit track keep merit
Energy.After determining that exiting track keeps, then according to actually detected to the input torque of driver vehicle is controlled, with symbol
The driving closing driver is intended to.
Embodiment 2
A kind of track of the present embodiment offer holding means, as shown in Figure 4, including:
Unit 101 set up by model, keeps Controlling model for setting up track based on the feedforward；The so-called feedforward is
Refer to by compiling information, grasping rule, anticipation trend, the problem that correct anticipated future is likely to occur, take in advance to arrange
Execute, it would be possible to the deviation of generation eliminates in bud, for avoiding the problem that is likely to occur at following different stages of development
The measure taked in advance.
First parameter acquiring unit 102, is used for obtaining vehicle parameter, and described vehicle parameter includes in control moment, deviation
The side velocity of heart line.
Second parameter acquiring unit 103, for obtaining the dispersed parameters of vehicle and lane center, described dispersed parameters bag
Include actual deviation distance and estimate deviation distance.
Moment acquiring unit 104, for keeping controlling according to described dispersed parameters, described vehicle parameter and described track
Model obtains the forward moment needed for track keeps.
Moment output unit 105, is used for exporting described forward moment, so that vehicle travels according to track hold mode.
In the such scheme of the present embodiment, track based on the feedforward is utilized to keep Controlling model, by based on feedback
Controlling model, there is the advantage that amount of calculation is few, stability is high and is easily achieved.And, the vehicle parameter of employing includes resistance
The actual deviation distance of moment, the side velocity of disalignment, vehicle and lane center and estimate deviation distance, due to
In driving conditions, each otherwise control moment can be there is, the forward moment finally given can be produced impact, Er Qieche
Being currently at the state of run-off-road, if continuing traveling may continue run-off-road centrage, estimating vehicle in advance inclined
Distance from centrage.The forward moment obtained in conjunction with above-mentioned parameter, it is possible to overcome the impact of extraneous moment, makes vehicle overcome and works as
Front actual deviation distance overcomes the deviation distance estimating generation simultaneously such that it is able to real guarantee vehicle is along current lane row
Sail.
The present embodiment also provides for a kind of preferred version, and described second parameter acquiring unit 103 includes:
Time obtains subelement, is used for obtaining the described forward moment transmission delay time；If after the output of forward moment, root
According to forward Torque Control vehicle, direction and the speed of vehicle can be changed, make vehicle draw close to lane center.But normal condition
Under, forward moment transmittance process necessarily has the time postponed, within this time delay, vehicle also can be according to current inclined
Digression degree and speed continue to travel, and therefore within this time, vehicle may proceed to run-off-road centrage.When transmitting the delay of moment of torsion
Between according to real vehicle kinetic test test can draw.
Distance obtain subelement, for according to described time delay and described side velocity obtain described in estimate deviation away from
From.
In another preferred version that the present embodiment provides, described first parameter acquiring unit 102 includes:
First moment obtains subelement, for obtaining the moment applied by driver；I.e. driver is by executing steering wheel
Power, the moment applied by the mode such as stepping on accelerator pedal, brake pedal.
Second moment obtains subelement, for obtaining the lateral moment in vehicle travel process；This moment can be vehicle
The lateral moment that in driving process, real road is given, such as road inequality reason can apply one to the vehicle run at high speed
Fixed side force thus produce lateral moment.
Moment superposition subelement, the lateral moment in the moment applied according to described driver and described driving process
Superposition obtains control moment；It is resistance torque when described control moment is in opposite direction with described forward moment, described control moment
It is assist torque time identical with described forward moment direction；
Moment acquiring unit, is resistance torque at described control moment, and the described forward moment obtained strengthens；In described control
Moment processed is assist torque, and the described forward moment obtained reduces.
The when of it is to say, track keeps, the both hands of driver can also be put on the steering wheel, if kept with track
Moment of torsion in opposite direction, this is exactly resistance torque, and the moment of torsion that correspondingly track keeps will increase；If keeping turning round with track
Square identical, then contribute to correcting vehicle attitude, the moment of torsion that correspondingly track keeps will reduce.This programme further contemplates simultaneously
Arrive the impact of side force and side velocity, when vehicle deviation angle is relatively big, lateral deviation speed is bigger when, entangled accordingly
Positive moment is also bigger.
The present embodiment also provides for a kind of preferred version, and in such scheme, model is set up the described track set up in unit and protected
Holding Controlling model is feedforward PID control parameter model, realizes in particular by with minor function:
T (t)=Lc(t)×Pc+Lp(t)×Pp+I×Tr(t)+D×Vl(t)；
Wherein, T (t) represents forward moment, LcT () represents actual deviation distance, LpT deviation distance, T are estimated in () expressionr
T () represents resistance torque, VlT () represents side velocity, t represents current time, PcRepresent the ratio corresponding with actual deviation distance
The factor, PpRepresenting the scale factor corresponding with estimating deviation distance, I represents that integrating factor, D represent differential divisor.Above-mentioned function
Using the deformation of PID Controlling model to obtain, the concrete inventive point in conjunction with the embodiment of the present invention is adjusted, scale factor therein,
Integrating factor and differential divisor, all can be configured according to actual vehicle, actual road conditions.
In order to adapt to the road conditions of highway, when expressway travels, track hold mode can be used equally, right
Such scheme has also carried out following improvement, and model is set up unit and also included:
Demarcate subelement, be used for setting up nominal data table, described nominal data table records and actual deviation distance respectively
Corresponding scale factor Pc, corresponding with estimating deviation distance scale factor PpWith differential divisor D these three parameter and turn inside diameter
Corresponding pass between radius R, the tilt angles α of traveling, sign travel flag outside curve inner side or bend
System；
Table look-up subelement, for according to described nominal data table, obtain by tabling look-up described corresponding with actual deviation distance
Scale factor, the described scale factor corresponding with estimating deviation distance and described differential divisor.That is scale factor and
The function that differential divisor is all lane curvature radius, side tilt angle is relevant with curve inner side/outside.
It is further preferred that said apparatus also includes:
First judging unit 106, exits, for judging whether to detect, the operation that track keeps；
Second judging unit 107, for when the judged result of described first judging unit is for being, determines whether current
Whether travel speed is more than or equal to setting threshold value；
Described moment output unit 105, for just continuing to put out when the judged result of described second judging unit is for being
Vehicle is made to travel according to track hold mode to moment；When judged result at described second judging unit is no, output reality
The moment detected makes vehicle exit vehicle hold mode.
Track holding is the system of people-Che-Lu Huan, and Che-road feedforward final closed loop of intelligent PID control system is people.Cause
The First Essential of this active safety system performance evaluation is exactly the safest but also comfortable.The present embodiment is experienced to optimize driver
Impression, spy has carried out following improvement: track keeps the forward moment of input, is not arbitrarily to exit, but with speed is correlated with
Function, met driver under high-speed case and pursued safe psychology.In addition to routine plays steering indicating light, driver can be led to
Cross apply on the steering wheel the reverse moment of resistance, step on brake pedal, accelerator pedal and steering wheel rotation to exit track keep merit
Energy.After determining that exiting track keeps, then according to actually detected to the input torque of driver vehicle is controlled, with symbol
The driving closing driver is intended to.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of the present invention can use complete hardware embodiment, complete software implementation or combine software and hardware
Execute the form of example.And, the present invention can use at one or more computers wherein including computer usable program code
The upper computer program product implemented of usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.)
The form of product.
The present invention is with reference to method, equipment (system) and the flow process of computer program according to embodiments of the present invention
Figure and/or block diagram describe.It should be understood that can the most first-class by computer program instructions flowchart and/or block diagram
Flow process in journey and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
Instruction arrives the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device to produce
A raw machine so that the instruction performed by the processor of computer or other programmable data processing device is produced for real
The device of the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame now.
These computer program instructions may be alternatively stored in and computer or other programmable data processing device can be guided with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in this computer-readable memory produces and includes referring to
Make the manufacture of device, this command device realize at one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The function specified in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing device so that at meter
Perform sequence of operations step on calculation machine or other programmable devices to produce computer implemented process, thus at computer or
The instruction performed on other programmable devices provides for realizing at one flow process of flow chart or multiple flow process and/or block diagram one
The step of the function specified in individual square frame or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then these embodiments can be made change and amendment.So, claims are intended to be construed to include being preferable to carry out
Example and fall into all changes and the amendment of the scope of the invention.
Claims (16)
1. a track keeping method, it is characterised in that comprise the steps:
Set up track based on the feedforward and keep Controlling model；
Obtaining vehicle parameter, described vehicle parameter includes the side velocity of control moment, disalignment；
Obtain the dispersed parameters of vehicle and lane center, described dispersed parameters include actual deviation distance and estimating deviate away from
From；
Needed for keeping Controlling model acquisition track to keep according to described dispersed parameters, described vehicle parameter and described track just
To moment；
Export described forward moment, so that vehicle travels according to track hold mode.
Track the most according to claim 1 keeping method, it is characterised in that obtain the deviation ginseng of vehicle and lane center
Number, during described dispersed parameters includes actual deviation distance and estimates the step of deviation distance, described in estimate deviation distance pass through with
Lower step obtains:
Obtain the described forward moment transmission delay time；
According to described time delay and described side velocity obtain described in estimate deviation distance.
Track the most according to claim 1 keeping method, it is characterised in that obtain vehicle parameter, described vehicle parameter bag
In the step of the side velocity including control moment, disalignment, described control moment is obtained by following steps:
Obtain the moment applied by driver；
Obtain the lateral moment in vehicle travel process；
Lateral moment superposition in the moment applied according to described driver and described driving process obtains control moment；
Being resistance torque when described control moment is in opposite direction with described forward moment, described forward moment strengthens；
Described control moment is assist torque time identical with described forward moment direction, and described forward moment reduces.
Track the most according to claim 1 keeping method, it is characterised in that set up track based on the feedforward and keep control
In the step of simulation:
Described track keeps Controlling model for feedforward PID control parameter model.
Track the most according to claim 4 keeping method, it is characterised in that set up track based on the feedforward and keep control
In the step of simulation, described feedforward PID control parameter model is by realizing with minor function:
T (t)=Lc(t)×Pc+Lp(t)×Pp+I×Tr(t)+D×Vl(t)；
Wherein, T (t) represents forward moment, LcT () represents actual deviation distance, LpT deviation distance, T are estimated in () expressionr(t) table
Show control moment, VlT () represents side velocity, t represents current time, PcRepresent the scale factor corresponding with actual deviation distance,
PpRepresenting the scale factor corresponding with estimating deviation distance, I represents that integrating factor, D represent differential divisor.
Track the most according to claim 5 keeping method, it is characterised in that set up track based on the feedforward and keep control
The step of simulation also comprises the steps:
Set up nominal data table, described nominal data table records the scale factor P respectively corresponding with actual deviation distancec, and pre-
Estimate the scale factor P that deviation distance is correspondingpWith differential divisor D these three parameter and vehicle turn radius R, the tilt angles of traveling
α, the corresponding relation characterized between travel flag outside curve inner side or bend；
According to described nominal data table, obtain the described scale factor corresponding with actual deviation distance, described and pre-by tabling look-up
Estimate scale factor corresponding to deviation distance and described differential divisor.
Track the most according to claim 1 keeping method, it is characterised in that also comprise the steps:
Judge whether to detect and exit the operation that track keeps；
If the operation that track keeps is exited in detection, then judge that whether current driving speed is more than or equal to setting threshold value；
If current driving speed is more than or equal to setting threshold value, then continues to put out forward moment and make vehicle according to track hold mode
Travel；Otherwise export actually detected to moment make vehicle exit vehicle hold mode.
Track the most according to claim 7 keeping method, it is characterised in that judge whether to detect and exit what track kept
In the step of operation requests:
The described operation exiting track holding includes: the operation playing steering indicating light, the operation trampling brake pedal, step on the accelerator
Operation, the operation of steering wheel rotation.
9. a track holding means, it is characterised in that including:
Unit set up by model, keeps Controlling model for setting up track based on the feedforward；
First parameter acquiring unit, is used for obtaining vehicle parameter, and described vehicle parameter includes the side of control moment, disalignment
To speed；
Second parameter acquiring unit, for obtaining the dispersed parameters of vehicle and lane center, described dispersed parameters includes reality
Deviation distance and estimate deviation distance；
Moment acquiring unit, for keeping Controlling model to obtain according to described dispersed parameters, described vehicle parameter and described track
Pick up the car keep needed for forward moment；
Moment output unit, is used for exporting described forward moment, so that vehicle travels according to track hold mode.
Track the most according to claim 9 holding means, it is characterised in that described second parameter acquiring unit includes:
Time obtains subelement, is used for obtaining the described forward moment transmission delay time；
Distance obtains subelement, estimates deviation distance described in obtaining according to described time delay and described side velocity.
11. track according to claim 9 holding meanss, it is characterised in that described first parameter acquiring unit includes:
First moment obtains subelement, for obtaining the moment applied by driver；
Second moment obtains subelement, for obtaining the lateral moment in vehicle travel process；
Moment superposition subelement, the lateral moment superposition in the moment applied according to described driver and described driving process
Obtain control moment；It is resistance torque when described control moment is in opposite direction with described forward moment, described control moment and institute
State forward moment direction identical time be assist torque；
Moment acquiring unit, is resistance torque at described control moment, and the described forward moment obtained strengthens；In described control power
Square is assist torque, and the described forward moment obtained reduces.
12. track according to claim 9 holding meanss, it is characterised in that set up track based on the feedforward and keep
In the step of Controlling model:
Model is set up the described track set up in unit and is kept Controlling model for feedforward PID control parameter model.
13. track according to claim 12 holding meanss, it is characterised in that:
Model sets up the described feedforward PID control parameter model set up in unit by realizing with minor function:
T (t)=Lc(t)×Pc+Lp(t)×Pp+I×Tr(t)+D×Vl(t)；
Wherein, T (t) represents forward moment, LcT () represents actual deviation distance, LpT deviation distance, T are estimated in () expressionr(t) table
Show resistance torque, VlT () represents side velocity, t represents current time, PcRepresent the scale factor corresponding with actual deviation distance,
PpRepresenting the scale factor corresponding with estimating deviation distance, I represents that integrating factor, D represent differential divisor.
14. track according to claim 13 holding meanss, it is characterised in that also include:
Demarcating subelement, be used for setting up nominal data table, in described nominal data table, record is corresponding with actual deviation distance respectively
Scale factor Pc, corresponding with estimating deviation distance scale factor PpWith differential divisor D these three parameter and vehicle turn radius
Corresponding relation between R, the tilt angles α of traveling, sign travel flag outside curve inner side or bend；
Table look-up subelement, for according to described nominal data table, obtain the described ratio corresponding with actual deviation distance by tabling look-up
The example factor, the described scale factor corresponding with estimating deviation distance and described differential divisor.
15. track according to claim 9 holding meanss, it is characterised in that also include:
First judging unit, exits, for judging whether to detect, the operation that track keeps；
Second judging unit, for when the judged result of described first judging unit is for being, determines whether current driving speed
Whether degree is more than or equal to setting threshold value；
Described moment output unit, makes for continuing to put out forward moment when the judged result of described second judging unit is for being
Vehicle travels according to track hold mode；Time judged result at described second judging unit is no, export actually detected arriving
Moment makes vehicle exit vehicle hold mode.
16. track according to claim 15 holding meanss, it is characterised in that:
In described first judging unit, described in exit track keep operation include: play the operation of steering indicating light, trample brake pedal
Operation, the operation of step on the accelerator, the operation of steering wheel rotation.
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| CN201610711362.0A CN106114506B (en) | 2016-08-23 | 2016-08-23 | A kind of lane keeping method and device |
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| CN108082285A (en) * | 2017-12-21 | 2018-05-29 | 奇瑞汽车股份有限公司 | The method and apparatus for controlling vehicle traveling |
| CN109606362A (en) * | 2018-11-19 | 2019-04-12 | 江苏大学 | It is a kind of that holding control method in feedforward lane is opened up based on road curvature |
| CN110386153A (en) * | 2019-07-30 | 2019-10-29 | 北京航空航天大学 | Lane based on Systems Theory hazard analysis keeps auxiliary system safety analytical method |
| CN110789534A (en) * | 2019-11-07 | 2020-02-14 | 淮阴工学院 | Lane departure early warning method and system based on road condition detection |
| CN110871794A (en) * | 2018-08-31 | 2020-03-10 | 上汽通用汽车有限公司 | Intelligent driving automobile path following method and intelligent driving automobile path following system |
| CN111086510A (en) * | 2019-12-30 | 2020-05-01 | 浙江大学 | Front wheel steering vehicle lane keeping control method based on prediction function control |
| CN111516686A (en) * | 2020-04-08 | 2020-08-11 | 中通客车控股股份有限公司 | Lane departure direction automatic correction system and method for vehicle |
| CN113484040A (en) * | 2021-06-21 | 2021-10-08 | 上汽通用五菱汽车股份有限公司 | Emergency lane keeping function test method, device and system and storage medium |
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| CN113928407A (en) * | 2020-06-29 | 2022-01-14 | 北京新能源汽车股份有限公司 | Method and device for determining output torque |
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| CN113484040A (en) * | 2021-06-21 | 2021-10-08 | 上汽通用五菱汽车股份有限公司 | Emergency lane keeping function test method, device and system and storage medium |
| CN113771848A (en) * | 2021-08-11 | 2021-12-10 | 江铃汽车股份有限公司 | Vehicle driving control method and device, electronic equipment and storage medium |
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