CN106740811B - The self-steering method of bend automatic steering system and the bend based on the system - Google Patents
The self-steering method of bend automatic steering system and the bend based on the system Download PDFInfo
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- CN106740811B CN106740811B CN201611143147.1A CN201611143147A CN106740811B CN 106740811 B CN106740811 B CN 106740811B CN 201611143147 A CN201611143147 A CN 201611143147A CN 106740811 B CN106740811 B CN 106740811B
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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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
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
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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
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- 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
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
Abstract
The self-steering method of a kind of bend automatic steering system and the bend based on the system, including first information acquisition unit, the second information acquisition unit, control unit and execution unit；Control unit can come from driving trace, wheel steering torque and wheel steering angle of the vehicle by bend according to the first acquisition unit and the collected information calculating of the second acquisition unit, and when speed is larger, regulation speed is so as to pass through bend with making vehicle safety.The system can automatically analyze environment, and control vehicle and turned to, and improve the security performance of automobile.
Description
Technical field
The present invention relates to automobile automatic control technology field, especially a kind of bend automatic steering system and be based on the system
Bend self-steering method.
Background technique
With the development of science and technology, automobile also more and more enters our life, requirement of the people to driver comfort
Also higher and higher.In drive routine vehicle processes, driver is frequently encountered bend road conditions traveling, high speed exports annular bend,
The complex road conditions such as bend surrounded by mountains keep vehicle stabilization traveling in bend, driver's moment are needed to pay close attention to curve ahead feelings
Condition, and adjustment direction disk steering angle adapts to different operating conditions in time.Not due to the fatigue driving of driver's long-time, strange road conditions
It is familiar with, driving skills are unskilled etc., and reasons are easiest to that traffic accident, many traffic in life occur in bend road conditions traveling
Accident is occurred under the complex working condition of bend road conditions.
Current major automobile main frame maker's existing scheme both at home and abroad mainly passes through electric boosting steering system, turns in driver
The steering torque of the big driver of active release during mitigates driver and turns to burden.Prior art only has torque and helps
Power effect, the function of auto-steering can not be played in the case where driver does not apply and turns to.And assisted diversion is not can guarantee
Torque size is suitable, is unable to reach the purpose accurately turned to.
Summary of the invention
The purpose of the present invention is to provide a kind of bend automatic steering system and the auto-steerings of the bend based on the system
Method, the system can automatically analyze environment, and control vehicle and turned to, and improve the security performance of automobile.
The present invention provides a kind of bend automatic steering system, including first information acquisition unit, the second information acquisition unit,
Control unit and execution unit；
First information acquisition unit acquisition for analyzing road radius of curvature, Obstacle Position, from vehicle and roadside
Relative position and information from vehicle and the relative position of its vehicle, and the information is transferred to described control unit；
Second information acquisition unit acquisition is from vehicle wheel steering angle, wheel steering torque and from vehicle speed
Information, and the information is transferred to described control unit；
Described control unit handles the collected information of the first information acquisition unit institute, whether must come from vehicle
In bend, the radius of curvature of bend, the traveling angle from vehicle, the relative position from vehicle with roadside, from the phase of vehicle and its vehicle
To the driving trace of position and its vehicle；
Described control unit handles the collected information of the second information acquisition unit institute, and it is current must to come from vehicle
Driving trace and speed from vehicle；
When being in bend from vehicle, radius of curvature of the described control unit by bend, the traveling angle from vehicle, from vehicle
Current driving trace, the path for coming from vehicle steering from the relative position of vehicle and its vehicle and calculating from the relative position in vehicle and roadside
And required steering wheel torque and steering wheel angle when turning to, and the information is transferred to the execution unit；
The corresponding threshold speed of radius of curvature of different bends, described control unit are previously stored in described control unit
By comparing from vehicle speed threshold speed corresponding with the radius of curvature of the bend, judge whether exceed the speed limit from vehicle, when from vehicle
When hypervelocity, execution unit described in speed control signal value is sent；
The signal that the execution unit is sent according to described control unit controls steering wheel with scheduled torque and angle square
It is rotated, and when receiving speed control signal, controls from vehicle and travelled with the speed not higher than threshold speed.
Further, the first information acquisition unit includes vehicle-mounted camera and trailer-mounted radar, the vehicle-mounted camera
For acquiring the image information of road stake or edge lane line on lane line and road edge, and the information is transferred to the control
Unit, the trailer-mounted radar is used to acquire the position of barrier and the location information of its vehicle, and the information is transferred to the control
Unit processed.
Further, described control unit includes electronic control unit, and the electronic control unit passes through collected vehicle
On diatom and road edge road stake or edge lane line image information analysis whether be on bend from vehicle, the curvature of bend
Radius, the traveling angle from vehicle and the relative distance from vehicle and roadside, and can be according to collected obstacle information and its vehicle
Position information analysis from the position of vehicle and barrier and from the relative position of vehicle and its vehicle.
Further, second information acquisition unit includes electric boosting steering system, the electric power steering system
System is transferred to the control list for acquiring wheel steering torque, wheel steering angle and vehicle speed information, and by the information
Member.
Further, the execution unit includes electric boosting steering system and body stabilization system, described electric boosted
Steering system turns to required wheel steering torque and wheel steering angle control from vehicle according to what described control unit was sent
Steering wheel processed is rotated；The speed control signal control that the body stabilization system is sent according to described control unit from vehicle with
Speed not higher than speed threshold value travels.
Further, the corresponding threshold speed of the radius of curvature of the bend is directly proportional.
Further, second information acquisition unit is also acquired from vehicle wheel steering torque and wheel steering angle
Variation information, and the information is transferred to described control unit, described control unit is according to above- mentioned information to the row from vehicle
Route is sailed to be analyzed, when that safely can pass through bend from vehicle, the function of the bend automatic steering system is suppressed, when
When cannot safely pass through bend from vehicle, bend automatic steering system control from vehicle with scheduled wheel steering torque and
Wheel steering angle is travelled.
Further, when described control unit carries out path analysis, what progress path of car and reversing path moved to
Extreme position is less than parking stall in the maximum distance of vehicle lengthwise direction.
The present invention also provides a kind of self-steering method of bend, this method is based on the bend provided by the invention
Automatic steering system, and include the following steps:
By first information acquisition unit acquisition for analyzing road radius of curvature, Obstacle Position, from the road Che Yu
The relative position on side and information from vehicle and the relative position of its vehicle, and the information is transferred to described control unit；
Vehicle wheel steering angle, wheel steering torque are picked up from by second information acquisition unit and from vehicle speed
Information, and the information is transferred to described control unit；
The collected information of first information acquisition unit is handled by described control unit, must come from vehicle is
It is no in the bend, the radius of curvature of bend, relative position from vehicle and roadside, the relative position and its vehicle from vehicle and its vehicle
Driving trace；
The collected information of the second information acquisition unit is handled by described control unit, vehicle must be come from and worked as
Preceding driving trace and the speed from vehicle；
Judge whether be in bend from vehicle by described control unit, when being in bend from vehicle, passes through bend
Radius of curvature, from the traveling angle of vehicle, from the current driving trace of vehicle, from the relative position of vehicle and its vehicle, from vehicle and roadside
Required steering wheel turns when relative position wheel steering torque required when calculating the path for coming from vehicle steering, steering and steering
To angle, and transmit the signal to the execution unit；
It will be from vehicle speed speed threshold corresponding from pre-stored different bend radius of curvature by described control unit
Value compares, and judges whether exceed the speed limit from vehicle, if exceed the speed limit from vehicle, sends speed to the execution unit and controls signal；
The signal that the execution unit is sent according to described control unit controls steering wheel with scheduled steering torque and turns
It is rotated to angle, and when receiving speed control signal, controls from vehicle and gone with the speed not higher than threshold speed
It sails.
Further, this method further includes following steps: being acquired by second information acquisition unit from vehicle steering wheel
The information of the variation of steering torque and wheel steering angle, and the information is transferred to described control unit, the control is single
Member is analyzed according to above- mentioned information from the travel route of vehicle, and when that safely can pass through bend from vehicle, the bend is certainly
The function of dynamic steering system is suppressed, and when that safely cannot pass through bend from vehicle, the bend automatic steering system control is certainly
Vehicle is travelled with scheduled wheel steering torque and wheel steering angle.
Further, the corresponding threshold speed of the radius of curvature of the bend is directly proportional.
In conclusion bend automatic steering system provided by the invention can be automatic right in vehicle driving when in bend
Environment is analyzed, and is controlled vehicle and turned to, and the security performance of automobile is improved.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of bend automatic steering system provided in an embodiment of the present invention.
Fig. 2 is the control method schematic diagram of bend automatic steering system provided in an embodiment of the present invention.
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, it is as follows that the present invention is described in detail.
The purpose of the present invention is to provide a kind of bend automatic steering system and the auto-steerings of the bend based on the system
Method, the system can automatically analyze environment, and control vehicle and turned to, and improve the security performance of automobile.
Fig. 1 is the structural schematic diagram of bend automatic steering system provided in an embodiment of the present invention, as shown in Figure 1, of the invention
The bend automatic steering system that embodiment provides includes first information acquisition unit 11, the second information acquisition unit 12, control list
Member and execution unit 30, the acquisition of first information acquisition unit 11 for analyzing road radius of curvature, Obstacle Position, from the road Che Yu
The relative position on side and information from vehicle and the relative position of its vehicle, and the information is transferred to control unit；Second information is adopted
Collect the acquisition of unit 12 from vehicle wheel steering angle, wheel steering torque and information from vehicle speed, and the information is transmitted
To control unit 20.
The corresponding threshold speed of radius of curvature of different bends is previously stored in control unit 20, control unit 20 is to
The collected information of the institute of one information acquisition unit 11 are handled, must come from vehicle whether be in interior bend, radius of curvature of bend,
Traveling angle from vehicle, the relative position from vehicle and roadside, from vehicle and the relative position of its vehicle and the driving trace of its vehicle；Control
Unit 20 handles the collected information of the institute of the second information acquisition unit 12, must come from the current driving trace of vehicle and from vehicle
Speed；When being in bend from vehicle, radius of curvature of the control unit 20 by bend, the traveling angle from vehicle are worked as from vehicle
Preceding driving trace, calculated from the relative position of vehicle and its vehicle and from the relative position in vehicle and roadside the path for coming from vehicle steering and
Required steering wheel torque and steering wheel angle when steering, by from vehicle speed speed threshold corresponding with the radius of curvature of the bend
Value compares, and judges whether exceed the speed limit from vehicle, and control unit 20 is by steering wheel torque required when turning to from vehicle and steering wheel angle
Degree is sent to execution unit 30, and when exceeding the speed limit from vehicle, sends speed and controls signal to execution unit 30；
The signal that execution unit 30 is sent according to control unit 20 is controlled steering wheel and is carried out with scheduled torque and angle square
Rotation, and when receiving speed control signal, it controls from vehicle and is travelled with the speed not higher than threshold speed.
In the present invention, first information acquisition unit may include vehicle-mounted camera and trailer-mounted radar, and vehicle-mounted camera is used
In acquiring the image informations such as road stake or edge lane line on lane line and road edge, trailer-mounted radar is for acquiring obstacle level
It sets and the location information of its vehicle, and the information is transferred to control unit 20.
Second information acquisition unit may include electric boosting steering system (Electric Power Steering, abbreviation
EPS), electric boosting steering system can be used for acquiring wheel steering torque, wheel steering angle and vehicle speed information, and will
The information is transferred to control unit 20.
Control unit 20 can be electronic control unit (Electronic Control Unit, abridge ECU), can
Whether it is in curved from vehicle by image information analysis such as the stake of road on collected lane line and road edge or edge lane lines
On road, the radius of curvature of bend, the traveling angle from vehicle and the relative distance from vehicle and roadside, can be according to collected obstacle
The information analyses such as the position of object information and its vehicle from the position of vehicle and barrier, from vehicle and the relative position of its vehicle and the row of its vehicle
Sail track.Steering wheel torque and steering wheel angle required when the path for coming from vehicle steering and steering are calculated by above- mentioned information,
And by being compared from vehicle speed threshold speed corresponding with the radius of curvature of the bend, judges whether exceed the speed limit from vehicle, control
Steering wheel torque and steering wheel angle required when turning to from vehicle are sent to execution unit 30 by unit 20, and are exceeded the speed limit from vehicle
When, it sends speed and controls signal to execution unit 30；
Execution unit 30 includes electric boosting steering system and body stabilization system (Electronic
StabilityProgram, abridge ESP), what electric boosting steering system can be sent according to electronic control unit turns to from vehicle
Required wheel steering torque and wheel steering angle, control steering wheel are rotated.Body stabilization system being capable of basis
The speed control signal control that electronic control unit is sent is travelled from vehicle with the speed not higher than speed threshold value.
It is to be appreciated that in the present embodiment, the radius of curvature of bend is directly proportional to corresponding threshold speed, i.e. curvature half
The threshold speed that diameter can permit more greatly is also bigger.
Further, the second information acquisition unit can also detect the operation of driver, when driver carries out actively
When steering, the second information acquisition unit can acquire the information of the variation from vehicle wheel steering torque and wheel steering angle,
Control unit 20 is analyzed according to above- mentioned information from the travel route of vehicle, curved when that safely can pass through bend from vehicle
The function of road automatic steering system is suppressed, i.e., is subject to the operation of driver at this time.When cannot safely pass through bend from vehicle
When, the control of bend automatic steering system is travelled from vehicle with scheduled wheel steering torque and wheel steering angle.
The present invention also provides a kind of auto-steering sides of bend based on bend automatic steering system provided by the invention
Method, the method comprising the steps of:
By the acquisition of first information acquisition unit 11 for analyzing road radius of curvature, Obstacle Position, from vehicle and roadside
Relative position and information from vehicle and the relative position of its vehicle, and the information is transferred to control unit 20；
Vehicle wheel steering angle, wheel steering torque are picked up from by the second information acquisition unit 12 and from vehicle speed
Information, and the information is transferred to control unit 20；
The collected information of first information acquisition unit 11 is handled by control unit 20, must come from whether vehicle is located
In in bend, the radius of curvature of bend, from the relative position in vehicle and roadside, from vehicle and the relative position of its vehicle and the traveling of its vehicle
Track；
The collected information of second information acquisition unit 12 is handled by control unit 20, it is current that vehicle must be come from
Driving trace and speed from vehicle；
Judge whether be in bend from vehicle by control unit 20, when being in bend from vehicle, passes through the song of bend
Rate radius, from the traveling angle of vehicle, from the current driving trace of vehicle, the relative position from vehicle with its vehicle, the phase from vehicle and roadside
To position calculate from the path that vehicle turns to, turn to when required wheel steering torque and while turning to required wheel steering
Angle, and transmit the signal to execution unit 30；
It will be from vehicle speed and the pre-stored different corresponding threshold speed of bend radius of curvature by control unit 20
It compares, judges whether exceed the speed limit from vehicle, if exceed the speed limit from vehicle, send speed to execution unit 30 and control signal；
The signal that execution unit 30 is sent according to control unit 20 controls steering wheel with scheduled steering torque and steering angle
Degree is rotated, and when receiving speed control signal, is controlled from vehicle and travelled with the speed not higher than threshold speed.
Further, the second information acquisition unit can also detect the operation of driver, when driver carries out actively
When steering, the second information acquisition unit can detect the variation from vehicle wheel steering torque and wheel steering angle,
Control unit 20 is analyzed according to the signal from vehicle vehicle line, and when that safely can pass through bend from vehicle, bend is certainly
The function of dynamic steering system is suppressed, when safely bend cannot be passed through from vehicle, the control of bend automatic steering system from vehicle with
Scheduled wheel steering torque and wheel steering angle are travelled.
Further, in the present embodiment, the radius of curvature of bend is directly proportional to corresponding threshold speed, i.e. radius of curvature
The threshold speed that can permit more greatly is also bigger.
In conclusion bend automatic steering system provided by the invention can be automatic right in vehicle driving when in bend
Environment is analyzed, and is controlled vehicle and turned to, and the security performance of automobile is improved.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
It is right according to the technical essence of the invention for the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention
Any simple modification, equivalent change and modification made by above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of bend automatic steering system, it is characterised in that: including first information acquisition unit (11), the second information collection list
First (12), control unit (20) and execution unit (30)；
The first information acquisition unit (11) acquisition for analyzing road radius of curvature, Obstacle Position, from vehicle and roadside
Relative position and information from vehicle and the relative position of its vehicle, and the information is transferred to described control unit (20)；
Second information acquisition unit (12) acquisition is from vehicle wheel steering angle, wheel steering torque and from vehicle speed
Information, and the information is transferred to described control unit (20)；
Described control unit (20) handles the collected information of first information acquisition unit (11) institute, must come from vehicle
Whether in the bend, the radius of curvature of bend, the traveling angle from vehicle, the relative position from vehicle and roadside, from vehicle and its vehicle
Relative position and its vehicle driving trace；
Described control unit (20) handles the collected information of the second information acquisition unit (12) institute, must come from vehicle
Current driving trace and the speed from vehicle；
When being in bend from vehicle, radius of curvature of the described control unit (20) by bend, the traveling angle from vehicle, from vehicle
Current driving trace, the path for coming from vehicle steering from the relative position of vehicle and its vehicle and calculating from the relative position in vehicle and roadside
And required steering wheel torque and steering wheel angle when turning to, and the information is transferred to the execution unit (30)；
The corresponding threshold speed of radius of curvature of different bends, described control unit are previously stored in described control unit (20)
(20) by comparing from vehicle speed threshold speed corresponding with the radius of curvature of the bend, judge whether exceed the speed limit from vehicle, when
When exceeding the speed limit from vehicle, execution unit (30) described in speed control signal value is sent；
The signal that the execution unit (30) sends according to described control unit (20) controls steering wheel with scheduled torque and angle
Degree square is rotated, and when receiving speed control signal, is controlled from vehicle and travelled with the speed not higher than threshold speed.
2. bend automatic steering system according to claim 1, it is characterised in that: the first information acquisition unit (11)
Including vehicle-mounted camera and trailer-mounted radar, the vehicle-mounted camera is for acquiring road stake or edge vehicle on lane line and road edge
The image information of diatom, and the information is transferred to described control unit (20), the trailer-mounted radar is for acquiring barrier
The location information of position and its vehicle, and the information is transferred to described control unit (20).
3. bend automatic steering system according to claim 2, it is characterised in that: described control unit (20) includes electronics
Control unit (20), the electronic control unit (20) pass through road stake or edge vehicle on collected lane line and road edge
Whether the image information analysis of diatom be on bend from vehicle, the radius of curvature of bend, from the traveling angle of vehicle and from the road Che Yu
The relative distance on side, and can be according to the information analysis of the position of collected obstacle information and its vehicle from vehicle and barrier
Position and from the relative position of vehicle and its vehicle.
4. bend automatic steering system according to claim 1, it is characterised in that: second information acquisition unit (12)
Including electric boosting steering system, the electric boosting steering system is for acquiring wheel steering torque, turning angle of steering wheel
Degree and vehicle speed information, and the information is transferred to described control unit (20).
5. bend automatic steering system according to claim 1, it is characterised in that: the execution unit (30) includes electronic
Servo steering system and body stabilization system, the electric boosting steering system according to described control unit (20) send from vehicle
Wheel steering torque and wheel steering angle control steering wheel needed for turning to are rotated；The body stabilization system root
The speed control signal control sent according to described control unit (20) is travelled from vehicle with the speed not higher than speed threshold value.
6. bend automatic steering system according to claim 1, it is characterised in that: the radius of curvature of the bend is right with it
The threshold speed answered is directly proportional.
7. bend automatic steering system according to claim 1, it is characterised in that: second information acquisition unit (12)
The information of the variation from vehicle wheel steering torque and wheel steering angle is also acquired, and the information is transferred to the control
Unit (20), described control unit (20) are analyzed according to above- mentioned information from the travel route of vehicle, when can be safe from vehicle
When ground passes through bend, the function of the bend automatic steering system is suppressed, described when that safely cannot pass through bend from vehicle
The control of bend automatic steering system is travelled from vehicle with scheduled wheel steering torque and wheel steering angle.
8. a kind of self-steering method of bend, which is characterized in that this method is based on any in claim 1 to claim 7
Bend automatic steering system described in one, and include the following steps:
By the first information acquisition unit (11) acquisition for analyzing road radius of curvature, Obstacle Position, from the road Che Yu
The relative position on side and information from vehicle and the relative position of its vehicle, and the information is transferred to described control unit (20)；
Vehicle wheel steering angle, wheel steering torque are picked up from by second information acquisition unit (12) and from vehicle speed
Information, and the information is transferred to described control unit (20)；
The collected information of the first information acquisition unit (11) is handled by described control unit (20), must be come from
Whether vehicle be in bend, the radius of curvature of bend, from the relative position in vehicle and roadside, from the relative position of vehicle and its vehicle and it
The driving trace of vehicle；
The collected information of second information acquisition unit (12) is handled by described control unit (20), must be come from
The current driving trace of vehicle and the speed from vehicle；
Judge whether be in bend from vehicle by described control unit (20), when being in bend from vehicle, passes through bend
Radius of curvature, from the traveling angle of vehicle, from the current driving trace of vehicle, from the relative position of vehicle and its vehicle, from vehicle and roadside
Required steering wheel turns when relative position wheel steering torque required when calculating the path for coming from vehicle steering, steering and steering
To angle, and transmit the signal to the execution unit (30)；
It will be from vehicle speed speed threshold corresponding from pre-stored different bend radius of curvature by described control unit (20)
Value compares, and judges whether exceed the speed limit from vehicle, if exceed the speed limit from vehicle, sends speed to the execution unit (30) and controls signal；
The signal that the execution unit (30) sends according to described control unit (20) controls steering wheel with scheduled steering torque
And steering angle is rotated, and receive speed control signal when, control from vehicle with not higher than threshold speed speed into
Every trade is sailed.
9. the self-steering method of bend according to claim 8, it is characterised in that: this method further includes following steps:
The letter of the variation from vehicle wheel steering torque and wheel steering angle is acquired by second information acquisition unit (12)
Breath, and the information is transferred to described control unit (20), described control unit (20) is according to above- mentioned information to the traveling from vehicle
Route is analyzed, and when that safely can pass through bend from vehicle, the function of the bend automatic steering system is suppressed, when certainly
When vehicle cannot safely pass through bend, the bend automatic steering system control is from vehicle with scheduled wheel steering torque and side
It is travelled to disk steering angle.
10. the self-steering method of bend according to claim 8, it is characterised in that: the radius of curvature of the bend with
Its corresponding threshold speed is directly proportional.
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| CN108189838B (en) * | 2017-12-30 | 2019-10-22 | 吉利汽车研究院（宁波）有限公司 | A kind of pattern of fusion adaptive cruise curve control method and device |
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| CN109398479B (en) * | 2018-11-22 | 2021-07-06 | 广东工业大学 | Server, intelligent vehicle steering control method, device, medium and intelligent vehicle |
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| CN109784292B (en) * | 2019-01-24 | 2023-05-26 | 中汽研（天津）汽车工程研究院有限公司 | Method for automatically searching parking space by intelligent automobile in indoor parking lot |
| CN109910889B (en) * | 2019-03-06 | 2021-03-19 | 浙江吉利汽车研究院有限公司 | Vehicle turning control method and control device |
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