CN107150682A - A kind of track keeps accessory system - Google Patents
A kind of track keeps accessory system Download PDFInfo
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- CN107150682A CN107150682A CN201710286011.4A CN201710286011A CN107150682A CN 107150682 A CN107150682 A CN 107150682A CN 201710286011 A CN201710286011 A CN 201710286011A CN 107150682 A CN107150682 A CN 107150682A
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- 238000001514 detection method Methods 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 3
- 230000001629 suppression Effects 0.000 claims description 2
- 238000012857 repacking Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000011217 control strategy Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003446 memory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
Classifications
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Accessory system is kept the present invention relates to a kind of track, including：Sensing module, for gathering lane information and information of vehicles；Control module, connects sensing module and entire car controller respectively, and auxiliary torque is kept for calculating track according to the information received, and is superimposed with the true steering moment of driver, forms Virtual drivers steering moment；Performing module, link control module, for responding the Virtual drivers steering moment.Compared with prior art, the present invention obtains Virtual drivers steering moment after track holding auxiliary torque is superimposed with the true steering moment of driver, substitute the true steering moment of driver measured originally from steering torque sensor, so as to realize that track keeps function, it is easy to be realized with hardware, it is easy to repacking, low cost and other advantages.
Description
Technical field
The invention belongs to automobile technical field, it is related to Senior Officer's accessory system, is kept more particularly, to a kind of track
Accessory system.
Background technology
Nowadays it is annual due to caused by Driver's Factors traffic accident it is countless, thus intelligent automobile and Senior Officer
Accessory system becomes research and industrial hot spot instantly, and track keeps accessory system as horizontal driver assistance system
One of, it can effectively prevent vehicle to deflect away from track at scorch, so as to effectively prevent the friendship caused by deviation
The generation of interpreter's event.
Typical track is kept in accessory system, and when vehicle reaches preset vehicle speed, will deflect away from track, and driver does not have
Have if playing steering indicating light, track keeps accessory system actively to intervene the Heading control of vehicle.Relatively common has in unilateral car
Apply a brake force, or one steering force of application in steering on wheel.With the popularization of electric boosting steering system,
By changing the power-assisted strategy in electric boosting steering system, the control strategy that track is kept is added, one is excited on motor
Steering force, to correct vehicle course when vehicle gradually deflects away from track, this method is easy to implement the work(that track keeps auxiliary
Energy.
But, typical lane holding assistant is that controller directly transmits one when vehicle will deflect away from track
Individual torque command is to the assist motor in electric boosting steering system.And with the Highgrade integration of system, steering supply
Steering assembly is generally supplied directly to main engine plants by business, and the torque command interface of power-assisted strategy and motor is not generally to master
Machine factory opens, or does not reserve the Torque Control interface in advance, thus if main engine plants are wanted based on original electric boosted
System development track keep accessory system, if the support without steering supplier, just can not directly transmit torque command to
Assist motor, so as to can not realize that track keeps miscellaneous function.If the controller of self-developing electric boosting steering system, is replaced
The existing controller of former car is changed, or increases the additional motor that miscellaneous function is kept for track, although can realize that track is protected
Miscellaneous function is held, but the change to original system is excessive, the integrality and reliability of original steering function will be difficult to ensure,
Cost is higher simultaneously.
Therefore, a kind of Lane Keeping System tool for being easy to reequip and ensure that original steering reliably working is developed
There is important meaning.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of track keeps aiding in
System, obtains Virtual drivers steering moment after track holding auxiliary torque is superimposed with the true steering moment of driver, substitutes
Originally the true steering moment of driver measured from steering torque sensor, so as to realize that track keeps function.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of track keeps accessory system, including：
Sensing module, for gathering lane information and information of vehicles；
Control module, connects sensing module and entire car controller respectively, is protected for calculating track according to the information received
Auxiliary torque is held, and is superimposed with the true steering moment of driver, Virtual drivers steering moment is formed；
Performing module, link control module, for responding the Virtual drivers steering moment.
Lane detection sensor of the sensing module including collection vehicle positional information and road information, collection are current
The rotary angle transmitter of steering wheel angle and the steering torque sensor for gathering the true steering moment of driver；
The vehicle position information includes transversal displacement and yaw angle of the Current vehicle relative to track, the road letter
Breath includes road ahead curvature.
The control module includes：
State decision package, for according to vehicle position information, road information, the true steering moment of driver and from people
The switching signal that machine interactive device is sent determines that the track keeps the working condition of accessory system, and generates corresponding auxiliary force
Square rejection coefficient α；
The automatic model- following control unit in track, for according to vehicle position information, road information, current steering wheel angle and
The Full Vehicle Dynamics information sent from entire car controller calculates virtual track and follows driver's torque T 'h；
Output torque decision package, follows driver's torque to obtain track and keeps according to the working condition and virtual track
Auxiliary torque Tlka, Tlka=T 'h*α。
The detailed process that the state decision package obtains auxiliary torque rejection coefficient α is：
1) judge that track keeps whether accessory system closes according to switching signal, if so, then track keeps accessory system to enter
Enter closed mode, auxiliary torque rejection coefficient α=0, return to step 1), if it is not, then going to step 2)；
2) judged whether effectively to detect lane line according to the collection information of Lane detection sensor, if so, then turning step
It is rapid 3), if it is not, then track keep accessory system enter closed mode, auxiliary torque rejection coefficient α=0, return to step 1)；
3) vehicle position information and road information gathered according to Lane detection sensor is calculated close to lane line side
Front tread tripping to the lane line time, judge the time whether be more than first threshold, if so, then track keep auxiliary
System is in holding state, auxiliary torque rejection coefficient α=0, return to step 1), if it is not, then going to step 4)；
4) judge whether the true steering moment of driver of steering torque sensor collection is more than Second Threshold, if so, then
Track keeps accessory system to be in holding state, auxiliary torque rejection coefficient α=0, return to step 1), if it is not, then going to step 5)；
5) track keeps accessory system to be in normal operating conditions, auxiliary torque rejection coefficient α=1, while performing step
6)；
6) judge whether Current vehicle is more than the 3rd threshold value relative to the transversal displacement in track, if so, then go to step 1),
If it is not, then track keeps accessory system to be in holding state, auxiliary torque rejection coefficient α=0, return to step 1).
The automatic model- following control unit in track is responded in the auxiliary torque rejection coefficient α=1.
The automatic model- following control unit in track calculates virtual track and follows driver's torque T 'hDetailed process be：
Calculate the target rotation angle θ ' required for holding track：
θ '=ky*y+kΨ*Ψ+kR*R
Wherein, y is transversal displacement of the Current vehicle relative to track, and Ψ is yaw angle, and R is road ahead curvature, ky、
kΨ、kRFor proportionality coefficient；
It is poor that the current steering wheel angle θ that the target rotation angle θ ' and rotary angle transmitter are measured makees, and obtains angular errors e；
Calculate virtual track and follow driver's torque T 'h：
Wherein, kp、ki、kdRespectively ratio, integration, differential coefficient.
Speed information of the control parameter that the automatic model- following control unit in track is used in Full Vehicle Dynamics information
Progress is tabled look-up acquisition.
The output torque decision package includes the slope siding stopping list for being used to limit auxiliary torque rejection coefficient rate of change
Member.
The output torque decision package includes the selection subelement for being used to make track keep auxiliary torque linearly to change
With memory subelement.
The performing module includes the electric booster steering system controller and assist motor being connected, described electric boosted
Steering controller is connected with control module.
Compared with prior art, the present invention is obtained after track holding auxiliary torque is superimposed with the true steering moment of driver
Virtual drivers steering moment, substitutes the true steering moment of driver measured originally from steering torque sensor, so as to realize
Track keeps function, with advantages below：
1) electric booster steering system controller of former car is not needed to open the Torque Control instruction interface of assist motor, firmly
It is easy that part is realized, is easy to repacking, and cost is low；
2) electric booster steering system controller and assist motor of former car need not be changed, it is ensured that original steering
The integrality and reliability of function；
3) it can realize that complete track keeps the function of accessory system, be easy to the secondary development and expansion of function.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is that track of the present invention keeps pilot controller control strategy schematic diagram；
Fig. 3 is the schematic diagram that track of the present invention keeps pilot controller；
Fig. 4 is state decision package workflow schematic diagram of the present invention；
Fig. 5 is the automatic model- following control unit principle schematic in track of the present invention；
Fig. 6 is output torque decision package principle schematic of the present invention；
Fig. 7 is that track of the present invention keeps secondary outcome schematic diagram；
Fig. 8 is corner tracing control result schematic diagram of the present invention.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As shown in figure 1, this track keeps accessory system, including sensing module, control module and performing module, sensing module
For gathering lane information and information of vehicles；Control module is that track keeps pilot controller, sensing module is connected respectively and whole
Vehicle controller, auxiliary torque is kept for calculating track according to the information received, and is superimposed with the true steering moment of driver,
Form Virtual drivers steering moment；Performing module link control module, for responding Virtual drivers steering moment.Control is calculated
Method keeps running in pilot controller in track, calculates the input torque that obtained track keeps auxiliary torque and driver's script
Virtual drivers steering moment is obtained after superposition, the true driver's input torque measured originally from torque sensor is substituted, from
And realize track and keep function.Wherein performing module continues to use the module of vehicle script, so as to ensure the complete of former car systemic-function
Whole property and reliability.
1st, hardware is connected
In traditional electric booster steering device device, electric booster steering controller passes through the steering moment in steering
Driver's input steering moment that sensor is measured, according to the torque numerical values recited, electricity is calculated according to default assist characteristic
Machine assist torque, and the instruction is sent to motor drive module, realize power-assisted effect.
In order to realize that track keeps miscellaneous function, the output for steering torque sensor that track holding auxiliary torque is added to
In signal, electric assist motor is responded extra track and keep auxiliary torque.Steering torque sensor and electric power steering
Wire harness between system controller is divided into power supply wire harness and signal wire harness.To ensure the reliability of torque sensor function of supplying power,
The power supply wire harness of script need not be cut off, a shutoff signal wire harness is connected with the I/O mouths of controller.
The track of the application keeps the control strategy block diagram of pilot controller as shown in Fig. 2 truly being turned to according to driver
Torque, vehicle position information, road information, current steering wheel angle and Full Vehicle Dynamics information, calculating obtain track and keep auxiliary
Power-assisted square, is superimposed with the true steering moment of driver, obtains Virtual drivers steering moment, and the torque is substituted into script steering force
True driver's steering moment of square sensor output, is sent to electric booster steering system controller, so as to realize that track is protected
Hold function.
2nd, sensing module
Front direction is worked as in Lane detection sensor of the sensing module including collection vehicle positional information and road information, collection
The rotary angle transmitter of disk corner and the steering torque sensor for gathering the true steering moment of driver.Vehicle position information includes
Current vehicle is relative to the transversal displacement and yaw angle in track, and road information includes road ahead curvature etc..
3rd, control module
The system block diagram of control module is as shown in figure 3, including state decision package, the automatic model- following control unit in track and defeated
Go out torque decision package.
(1) state decision package
State decision package is used for according to vehicle position information, road information, the true steering moment of driver and from people
The switching signal control track that machine interactive device is sent keeps the working condition of accessory system, and generates corresponding auxiliary torque suppression
Factor alpha processed.The input of state decision package includes horizontal stroke of the Current vehicle relative to track measured by Lane detection sensor
The driver's input torque measured to information such as position, yaw angle, road ahead curvature and by steering torque sensor, output
For auxiliary torque rejection coefficient.
The workflow of state decision package is as shown in figure 4, be specially：
Judging part 01, the switching signal that track keeps accessory system is received from human-computer interaction device, if driver closes
Track keeps accessory system, then system enters closed mode, and auxiliary torque rejection coefficient α is equal to 0, is then return to judging part 01 and enters
Row judges next time, if track keeps accessory system to open, performs judging part 02.In judging part 02, if Lane detection is passed
Sensor judge currently can not effective detection to lane line, then system likewise enters closed mode, otherwise into judging part 03.Judge
Portion 03, positional information of the vehicle relative to current lane measured according to Lane detection sensor is calculated close to lane line one
The front tread tripping of side to the time of the lane line of current lane, compare the time whether be more than first threshold, if vehicle away from
The time of tripping to the lane line of current lane is more than first threshold, then it is assumed that vehicle does not deflect away from the trend in track, then track
Accessory system is kept to be in holding state, auxiliary torque rejection coefficient α is equal to 0, is then return to judging part 01 and is sentenced next time
It is disconnected, otherwise into judging part 04.Judging part 04, the driver's steering moment information measured according to steering torque sensor, compares
Whether the input torque of driver is more than Second Threshold, if the input torque of driver is more than Second Threshold, judges to drive
Member is now actively to carry out steering behavior, then track keeps accessory system to be in holding state, auxiliary torque rejection coefficient α etc.
In 0.Otherwise, track keeps accessory system to be in normal operating conditions, and auxiliary torque rejection coefficient α is equal to 1.When track keeps auxiliary
After auxiliary system is opened, judging part 05 is performed.Judging part 05, according to the information of Lane detection sensor, compare vehicle relative to
Whether the transversal displacement of lane center is more than the 3rd threshold value, if now transversal displacement is less than the 3rd threshold value, then it is assumed that
Vehicle has returned to lane center, and Lane Keeping System is in holding state, and auxiliary torque rejection coefficient α is equal to 0, otherwise, is
System then keeps normal operating conditions, returns to judging part 01.
(2) the automatic model- following control unit in track
The automatic model- following control unit in track be used for according to vehicle position information, road information, current steering wheel angle and
The Full Vehicle Dynamics information sent from entire car controller calculates virtual track and follows driver's torque T 'h.Track follows control automatically
The input of unit processed include the Current vehicle that is measured by Lane detection sensor relative to the lateral attitude in track, yaw angle,
The information such as road ahead curvature, the current steering wheel angle measured by rotary angle transmitter and the vehicle sent by entire car controller
Speed information, is output as virtual track and follows driver's torque.
The automatic model- following control unit in track can be responded only in auxiliary torque rejection coefficient α=1.
The schematic diagram of the automatic model- following control unit in track is as shown in figure 5, can be divided into lateral position controller and steering wheel turn
Angle controller.Road information and vehicle position information that lateral position controller is obtained according to Lane detection module, wherein wrapping
Include：Vehicle calculates the track institute that is maintained relative to the transversal displacement y of current lane, course angle Ψ and road ahead curvature R
The target rotation angle θ ' needed, lateral position controller can be wanted according to the vehicle pose closed loop system performance index for taking into account road curvature
Ask and be designed, also can adoption rate controller, its control algolithm is：
θ '=ky*y+kΨ*Ψ+kR*R
Obtained target rotation angle θ ' is calculated by lateral position controller with the actual steering wheel that rotary angle transmitter is measured to turn
It is poor that angle θ makees, and obtains angular errors e, and calculating obtains virtual vehicle road and follows driver's torque T 'h.The control of steering wheel angle displacement device can be according to
Be designed according to corner Performance of Closed Loop System index request, also can adoption rate-integral-derivative controller, its control algolithm is：
Meanwhile, the speed information sent according to entire car controller is obtained under default each speed in advance by lookup table mode
The control parameter of the automatic model- following control module in corresponding track, thus ensure under each speed system can effectively realize compared with
Function is kept for preferable track.
(3) output torque decision package
Output torque decision package follows driver's torque to obtain track and keeps aiding according to working condition and virtual track
Torque Tlka, Tlka=T 'h*α.The input of output torque decision package includes being suppressed by the auxiliary torque that state decision package is obtained
Coefficient and the virtual track obtained by the automatic model- following control unit in track follow driver's torque, are output as track and keep auxiliary force
Square.As auxiliary torque rejection coefficient α=1, the Virtual drivers steering moment T of Lane Keeping System outputlkaAs virtual vehicle
Road follows driver's torque T 'h；As auxiliary torque rejection coefficient α=0, the Virtual drivers of Lane Keeping System output are turned to
Torque TlkaEqual to 0.
As shown in fig. 6, due to track keep accessory system from normal work be withdrawn into standby or closed mode be typically by
Cause in driver's active steering, now driver can hold steering wheel, hereby it is ensured that keeping accessory system in track from normal
It is particularly important that work is withdrawn into the steady and smooth that track during standby or closed mode this section keeps auxiliary torque to exit, it is to avoid
It is panic that driver turns to the uncomfortable even driving of feel.In order to achieve the above object, slope siding stopping unit R ate_limiter
It is excessive for limiting auxiliary torque rejection coefficient α rates of change.
Meanwhile, may be due to the change of vehicle location because being reduced in auxiliary torque rejection coefficient α from 1 among 0 process
So as to cause virtual track to follow driver's torque T 'hFluctuation so that output Virtual drivers steering moment TlkaChange
Turn to nonlinear, cause driver's feel not good.Thus the present invention combines selection subelement shown in Fig. 6 and memory subelement is protected
Demonstrate,prove the Virtual drivers steering moment T of outputlkaIn stateful switchover process linear change.Select subelement Switch and memory
Unit Memory effect is：When auxiliary torque rejection coefficient α is reduced to 0 from 1, it is ensured that virtual track follows driver's torque
T′hRemain constant, so as to ensure that the Virtual drivers steering moment T of final outputlkaWhen state switches, it changes
It is linear, so as to ensure the steering comfortable feel of driver.
4th, proof of algorithm
Fig. 7 is that the track under each speed keeps secondary outcome schematic diagram.Solid line shown in figure and dotted line are respectively 120kph
The working condition of accessory system, high level table are kept relative to the transversal displacement in track and track with vehicle under 80kph speeds
Show that system is in normal operating conditions, low level represents that system is in holding state.
Fig. 8 is the corner tracing control result schematic diagram under each speed.Solid line shown in figure is actual steering wheel corner.Figure
Shown in dotted line be the automatic model- following control module in track in lateral position controller export target rotation angle.Dotted line shown in figure
The working condition of accessory system is kept for track, high level represents that system is in normal operating conditions, and low level is represented at system
In holding state.
As a result show, under two kinds of speeds of 80kph and 120kph, the system can be opened when vehicle will deflect away from track
Auxiliary is opened, the effect of actual steering wheel corner tracking target rotation angle is preferable, while can effectively correct vehicle returns to car
To center.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of track keeps accessory system, it is characterised in that including：
Sensing module, for gathering lane information and information of vehicles；
Control module, connects sensing module and entire car controller respectively, keeps auxiliary for calculating track according to the information received
Power-assisted square, and be superimposed with the true steering moment of driver, form Virtual drivers steering moment；
Performing module, link control module, for responding the Virtual drivers steering moment.
2. track according to claim 1 keeps accessory system, it is characterised in that the sensing module includes collection vehicle
Lane detection sensor, the rotary angle transmitter of the current steering wheel angle of collection and the collection of positional information and road information are driven
The steering torque sensor of the true steering moment of the person of sailing；
The vehicle position information includes Current vehicle relative to the transversal displacement and yaw angle in track, the road information bag
Include road ahead curvature.
3. track according to claim 2 keeps accessory system, it is characterised in that the control module includes：
State decision package, for according to vehicle position information, road information, the true steering moment of driver and from man-machine friendship
The switching signal that mutual device is sent determines that the track keeps the working condition of accessory system, and generates corresponding auxiliary torque suppression
Factor alpha processed；
The automatic model- following control unit in track, for according to vehicle position information, road information, current steering wheel angle and from whole
The Full Vehicle Dynamics information that vehicle controller is sent calculates virtual track and follows driver's torque T 'h；
Output torque decision package, follows driver's torque to obtain track and keeps aiding according to the working condition and virtual track
Torque Tlka, Tlka=T 'h*α。
4. track according to claim 3 keeps accessory system, it is characterised in that the state decision package obtains auxiliary
Torque rejection coefficient α detailed process is：
1) judge that track keeps whether accessory system closes according to switching signal, if so, then track keeps accessory system to enter to enter the GATT
Closed state, auxiliary torque rejection coefficient α=0, return to step 1), if it is not, then going to step 2)；
2) judged whether effectively to detect lane line according to the collection information of Lane detection sensor, if so, then go to step 3),
If it is not, then track keeps accessory system to enter closed mode, auxiliary torque rejection coefficient α=0, return to step 1)；
3) vehicle position information and road information gathered according to Lane detection sensor is calculated before lane line side
Wheelspan tripping judges whether the time is more than first threshold to the time of the lane line, if so, then track keeps accessory system
In holding state, auxiliary torque rejection coefficient α=0, return to step 1), if it is not, then going to step 4)；
4) judge whether the true steering moment of driver of steering torque sensor collection is more than Second Threshold, if so, then track
Accessory system is kept to be in holding state, auxiliary torque rejection coefficient α=0, return to step 1), if it is not, then going to step 5)；
5) track keeps accessory system to be in normal operating conditions, auxiliary torque rejection coefficient α=1, while performing step 6)；
6) judge whether Current vehicle is more than the 3rd threshold value relative to the transversal displacement in track, if so, then go to step 1), if
No, then track keeps accessory system to be in holding state, auxiliary torque rejection coefficient α=0, return to step 1).
5. track according to claim 3 keeps accessory system, it is characterised in that the automatic model- following control unit in track
Responded in the auxiliary torque rejection coefficient α=1.
6. track according to claim 3 keeps accessory system, it is characterised in that the automatic model- following control unit in track
Calculate virtual track and follow driver's torque T 'hDetailed process be：
Calculate the target rotation angle θ ' required for holding track：
θ '=ky*y+kΨ*Ψ+kR*R
Wherein, y is transversal displacement of the Current vehicle relative to track, and Ψ is yaw angle, and R is road ahead curvature, ky、kΨ、kR
For ratio control parameter；
It is poor that the current steering wheel angle θ that the target rotation angle θ ' and rotary angle transmitter are measured makees, and obtains angular errors e；
Calculate virtual track and follow driver's torque T 'h：
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Wherein, kp、ki、kdFor ratio, integration, differential control parameter.
7. track according to claim 6 keeps accessory system, it is characterised in that the automatic model- following control unit in track
Speed information of the control parameter of use in Full Vehicle Dynamics information carries out acquisition of tabling look-up.
8. track according to claim 3 keeps accessory system, it is characterised in that the output torque decision package includes
Slope for limiting auxiliary torque rejection coefficient rate of change limits subelement.
9. track according to claim 3 keeps accessory system, it is characterised in that the output torque decision package includes
For the selection subelement and memory subelement for making track keep auxiliary torque linearly to change.
10. track according to claim 1 keeps accessory system, it is characterised in that the performing module includes being connected
Electric booster steering system controller and assist motor, the electric booster steering system controller is connected with control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286011.4A CN107150682B (en) | 2017-04-27 | 2017-04-27 | A kind of lane holding auxiliary system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286011.4A CN107150682B (en) | 2017-04-27 | 2017-04-27 | A kind of lane holding auxiliary system |
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| Publication Number | Publication Date |
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| CN107150682A true CN107150682A (en) | 2017-09-12 |
| CN107150682B CN107150682B (en) | 2019-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710286011.4A Active CN107150682B (en) | 2017-04-27 | 2017-04-27 | A kind of lane holding auxiliary system |
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| CN (1) | CN107150682B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108482370B (en) * | 2018-04-13 | 2022-05-17 | 北京奥特尼克科技有限公司 | Commercial vehicle lane keeping system and control strategy design thereof |
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| CN110239513A (en) * | 2019-05-07 | 2019-09-17 | 浙江吉利控股集团有限公司 | A kind of adaptive Lane Keeping System and method |
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