CN107933686A - A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system - Google Patents
A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system Download PDFInfo
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- CN107933686A CN107933686A CN201610910594.9A CN201610910594A CN107933686A CN 107933686 A CN107933686 A CN 107933686A CN 201610910594 A CN201610910594 A CN 201610910594A CN 107933686 A CN107933686 A CN 107933686A
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- vehicle
- lane line
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- steering
- vision
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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, 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
- 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
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
Abstract
The invention discloses a kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system, method to include:S1. obtain the vision course deviation of vehicle and course is estimated in advance;S2. estimate the expectation front wheel steering angle that vehicle is calculated by incremental PID algorithm in advance according to the vision course deviation and course, control vehicle front-wheel steer.System includes:Lane line visual identity module, data acquisition unit, Decision Control unit and execution unit.It is of the invention that there is guarantee vehicle center lane line is effectively tracked during automatic Pilot, realize vehicle to central lane line the advantages of following automatically and keep automatically, improve traffic safety, reduce the working strength of driver.
Description
Technical field
The present invention relates to multi-shaft steering vehicle control field, more particularly to a kind of multi-shaft steering vehicle tracking center lane line
Rotating direction control method and system.
Background technology
Multi-axle steering rubber tire train is a kind of new city public passenger transport vehicle, its feature shows as rubber tire trackless, with passing
System Car sharing right of way, no longer travel along trapped orbit.It both possessed bus traveling flexibly, build it is low with maintenance cost excellent
Point, but also with the big advantage of transport capacity, and overcomes the infrastructure constructions such as subway, light rail, tramcar and vehicle is purchased
It is of high cost, it is necessary to the shortcomings that special electric system and track matching design.
Multi-axle steering rubber tire train eliminates rail, the substitute is carried rubber tire, by way of motor turning with
Travelled with ground tag line, land marking line arrangement circuit is flexible, makes vehicle without being travelled further along trapped orbit, and drop significantly
Low capital construction cost, there is larger operation advantage compared with tramcar.However, tramcar is not required people to turn in order to control,
Multi-axle steering rubber tire train then needs the continuous adjustment direction disk of driver, with real-time tracking land marking line (center lane line, in vain
Color doublet), long drives, necessarily cause driver fatigue.Therefore, a kind of dress of automatic identification center lane line how is invented
Put, realize that the track of multi-shaft steering vehicle keeps function, so that the problem of reducing driver fatigue, being in the urgent need to address.
The content of the invention
The technical problem to be solved in the present invention is that:For technical problem existing in the prior art, the present invention provides one
Kind can ensure that vehicle effectively tracks center lane line during automatic Pilot, realize that vehicle following the automatic of central lane line
Kept with automatic, so as to improve traffic safety, reduce the multi-shaft steering vehicle tracking center lane line of the working strength of driver
Rotating direction control method and system.
In order to solve the above technical problems, technical solution proposed by the present invention is:A kind of central car of multi-shaft steering vehicle tracking
Diatom rotating direction control method, includes the following steps:
S1. obtain the vision course deviation of vehicle and course is estimated in advance;
S2. the expectation front-wheel that vehicle is calculated by incremental PID algorithm is estimated in advance according to the vision course deviation and course
Steering angle, controls vehicle front-wheel steer.
As a further improvement on the present invention, the vision course deviation is obtained by the Lane detection vision system of vehicle
Take.
As a further improvement on the present invention, the course is estimated vertical in the preset period of time by calculating vehicle in advance
Determined to the ratio of displacement and the radius of turn of vehicle.
As a further improvement on the present invention, the radius of turn of the vehicle by obtain between vehicle antero posterior axis distance and
Front wheel steering angle, and according to the triangle between the radius of turn of the vehicle, vehicle antero posterior axis between distance and front wheel steering angle
Relation, which calculates, to be determined.
As a further improvement on the present invention, shown in the incremental PID algorithm such as formula (1) in the step S2,
Δ u=u (k)-u (k-1)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)] (1)
In formula (1), Δ u is the increment of the front wheel steering angle of vehicle, and u (k) is kth (k=0,1,2 ...) a sampling instant
Front wheel steering angle, e (k) are the equivalent course deviation of k-th of sampling instant,Δ ψ is the vision course
Deviation,Estimate in advance for the course.
A kind of multi-shaft steering vehicle tracks center lane line steering control system, including lane line visual identity module, number
According to collecting unit, Decision Control unit and execution unit;The lane line visual identity module is used to identify lane line, and to institute
State Decision Control unit and vision course deviation information is provided;The data acquisition unit is used to gather and carry to the decision package
The front-wheel steer angle information of velocity information and vehicle for vehicle;The Decision Control unit is used for according to the data acquisition list
The velocity information and front-wheel steer angle information that member provides calculate course and estimate in advance, and according to the pre- appraisal in the course and the vision
Course deviation calculates the expectation front wheel steering angle of vehicle, and the expectation front wheel steering angle is supplied to execution unit;It is described to hold
Row unit is according to the expectation front wheel steering angle control Vehicular turn.
As a further improvement on the present invention, the lane line visual identity module includes camera and image procossing system
System;The camera is used to obtain track line image, and described image processing system analyzes and processes the track line image,
Obtain the vision course deviation.
As a further improvement on the present invention, the data acquisition unit includes front-wheel steer angle transducer and speed senses
Device;The front-wheel steer angle transducer is used for the front-wheel steer angle information for obtaining vehicle, and the vehicle speed sensor is used to obtain car
Velocity information.
As a further improvement on the present invention, the Decision Control unit further includes manual drive pattern, when described manual
When driving model is opened, Decision Control unit does not provide the expectation front wheel steering angle to the execution unit.
As a further improvement on the present invention, the data acquisition unit further includes torque sensor, applies for obtaining
External force on to steering wheel for vehicle, and the external force is sent to the Decision Control unit;The Decision Control unit according to
The external force opens manual drive pattern.
Compared with prior art, the advantage of the invention is that:The invention can ensure that vehicle is effective during automatic Pilot
Center lane line is tracked, realizes that vehicle follows with keeping automatically the automatic of central lane line, so as to improve traffic safety, reduces
The working strength of driver.
Brief description of the drawings
Fig. 1 is will invention specific embodiment flow diagram.
Fig. 2 is present invention tracking center lane linear system system arrangement schematic diagram.
Fig. 3 is estimated for course of the present invention and is taken aim at schematic diagram in advance.
Fig. 4 is center lane line schematic diagram of the present invention.
Fig. 5 is 2DOF vehicle course prediction model schematic diagram of the present invention.
Fig. 6 is present invention contemplates that front wheel steering angle calculation process schematic diagram.
Fig. 7 is present invention tracking center lane line steering control system structure diagram one.
Fig. 8 is present invention tracking center lane line steering control system structure diagram two.
Embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
As shown in Figure 1, the multi-shaft steering vehicle tracking center lane line rotating direction control method of the present embodiment, step are:S1.
The vision course deviation and course for obtaining vehicle are estimated in advance;S2. estimated in advance according to vision course deviation and course and pass through increment PI D
Algorithm calculates the expectation front wheel steering angle of vehicle, controls vehicle front-wheel steer.
In the present embodiment,
The bus or train route information provided according to Lane detection vision module, calculating take aim at a little lateral separation with lane line center in advance
The information such as deviation yL, course angle Δ ψ, road curvature, decision-making goes out front-wheel and it is expected corner, and is sent to steering execution unit, makes car
Expected path is followed to travel.
In the present embodiment, vision course deviation is obtained by the Lane detection vision system of vehicle.As shown in Fig. 2,
Lane detection vision system obtains center lane line chart by the camera module on headstock using monocular cam
As information, and by image processing system image information analyzed, handled, obtain vehicle center and lane line laterally away from
From information such as deviation, course deviation and road curvatures, then converse and pre- take aim at a little heading angle deviation with vehicle centre-line.
In the present embodiment, by set it is pre- take aim at a little as some position of vehicle front, so as to fulfill the automatic tracing control of lane line with driving
Internal requirement between the person's of sailing manual steering so that the vision course deviation pair of the invention according to Lane detection vision system
The course changing control of vehicle has driver's driving behavior characteristic.Estimate with taking aim in advance such as figure in course in Lane detection vision system
Shown in 3, wherein XOY is earth axes, and xoy is vehicle axis system, and for p to take aim at a little in advance, d is preview distance, and y1 is to estimate deviation,
F (d) is to take aim at place's range deviation in advance.Center lane line is the mark for being drawn in lane center ground, for certain length and width
Doublet, as shown in figure 4, l1=50cm, l2=50cm, l3=10cm, l4=25cm, passes through the track obtained to camera
Image is handled, and can accurately confirm track.
During traditional Heading control, it is inclined that controller according to the actual heading of desired course and vehicle obtains course
Difference, calculates controlled quentity controlled variable, and when executing agency performs this controlled quentity controlled variable, to pass through a sampling period, this is the reality of vehicle
Course has changed, i.e., the hysteresis in existing sampling period when controlled quentity controlled variable performs, the present invention uses course preestimating method, by carrying
The variation tendency in preceding prediction vehicle course, is included in control deviation, the output of controller can be influenced by course variation tendency,
Preferably to realize the tracking of center lane line.
In the present embodiment, length travel in the preset period of time by calculating vehicle and vehicle are estimated in course in advance
The ratio of radius of turn and determine.The 2DOF model (half model) of vehicle as shown in figure 5, in the present embodiment, with
The sampling period T of controller is the default time cycle, then variable quantity of the vehicle course in a controlling cycleCan be with
It is expressed as shown in formula (2),
In formula (2),Estimate in advance for course, v is vehicular longitudinal velocity, and in the sampling period of T devices in order to control, R is vehicle
Radius of turn.
In the present embodiment, the radius of turn of vehicle is by obtaining distance and front wheel steering angle between vehicle antero posterior axis, and
Calculated and determined according to the triangle relation between the radius of turn of vehicle, vehicle antero posterior axis between distance and front wheel steering angle.Such as Fig. 5
Shown, G is vehicle's center of gravity, and R is the radius of turn of vehicle, and a is the distance between vehicle's center of gravity to front axle, b for vehicle's center of gravity extremely
The distance between rear axle, δfFor vehicle front wheel steering angle, a+b is the distance between vehicle antero posterior axis.Since Vehicular turn is justified
Heart O vertical directions with wheel with the line of vehicle, therefore, in right angled triangle in figure 6, can determine that according to triangle relation
Formula (3) is set up,
R=(a+b)/sin (δf) (3)
Formula (3) is substituted into formula (2), you can obtain the course as shown in formula (4) and estimate in advance,
In formula (4), the definition to each parameter is identical with formula (2) and formula (3).
As shown in fig. 6, in the present embodiment, shown in the incremental PID algorithm such as formula (1) in step S2,
Δ u=u (k)-u (k-1)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)] (1)
In formula (1), Δ u is the increment of the front wheel steering angle of vehicle, and u (k) is kth (k=0,1,2 ...) a sampling instant
Front wheel steering angle, e (k) are the equivalent course deviation of k-th of sampling instant,Δ ψ is vision course deviation,Estimate in advance for course.
As shown in Figure 7 and Figure 8, the multi-shaft steering vehicle tracking center lane line steering control system of the present embodiment, including
Lane line visual identity module, data acquisition unit, Decision Control unit and execution unit;Lane line visual identity module is used for
Identify lane line, and vision course deviation information is provided to Decision Control unit;Data acquisition unit is used to gather and to decision-making
Unit provides the velocity information of vehicle and the front-wheel steer angle information of vehicle;Decision Control unit is used for according to data acquisition unit
The velocity information and front-wheel steer angle information of offer calculate course and estimate in advance, and are estimated in advance and vision course deviation meter according to course
The expectation front wheel steering angle of vehicle is calculated, and will it is expected that front wheel steering angle is supplied to execution unit;Execution unit is according to expectation front-wheel
Steering angle controls Vehicular turn.
In the present embodiment, lane line visual identity module includes camera and image processing system;Camera is used to obtain
Pick-up road line image, image processing system analyze and process track line image, obtain vision course deviation.Data acquisition list
Member includes front-wheel steer angle transducer and vehicle speed sensor;Front-wheel steer angle transducer is used for the front wheel steering angle letter for obtaining vehicle
Breath, vehicle speed sensor are used for the velocity information for obtaining vehicle.
In the present embodiment, Decision Control unit further includes manual drive pattern, when manual drive pattern is opened, decision-making
Control unit is not provided to execution unit it is expected front wheel steering angle.Data acquisition unit further includes torque sensor, for obtaining
The external force being applied on steering wheel for vehicle, and external force is sent to Decision Control unit;Decision Control unit is opened according to external force
Manual drive pattern.In the present embodiment, Decision Control unit can also obtain hand by the human-computer interaction interface being attached thereto
Dynamic driving model open signal.Decision Control unit includes Computer Communications Interface, and computer passes through the Computer Communications Interface
It is connected with Decision Control unit, control program is write with a brush dipped in Chinese ink by CAN communication, the situation of change of each parameter can also be monitored.
Above-mentioned simply presently preferred embodiments of the present invention, not makees the present invention limitation in any form.It is although of the invention
It is disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, it is every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modifications, equivalents, and modifications made for any of the above embodiments, should all fall
In the range of technical solution of the present invention protection.
Claims (10)
1. a kind of multi-shaft steering vehicle tracks center lane line rotating direction control method, it is characterised in that includes the following steps:
S1. obtain the vision course deviation of vehicle and course is estimated in advance;
S2. the expectation front-wheel steer that vehicle is calculated by incremental PID algorithm is estimated in advance according to the vision course deviation and course
Angle, controls vehicle front-wheel steer.
2. multi-shaft steering vehicle according to claim 1 tracks center lane line rotating direction control method, it is characterised in that:Institute
Vision course deviation is stated to obtain by the Lane detection vision system of vehicle.
3. multi-shaft steering vehicle according to claim 2 tracks center lane line rotating direction control method, it is characterised in that:Institute
State course and estimate the ratio of the length travel in the preset period of time by calculating vehicle and the radius of turn of vehicle in advance and true
It is fixed.
4. multi-shaft steering vehicle according to claim 3 tracks center lane line rotating direction control method, it is characterised in that:Institute
The radius of turn of vehicle is stated by obtaining distance and front wheel steering angle between vehicle antero posterior axis, and according to the turning half of the vehicle
Triangle relation between footpath, vehicle antero posterior axis between distance and front wheel steering angle, which calculates, to be determined.
5. multi-shaft steering vehicle according to any one of claims 1 to 4 tracks center lane line rotating direction control method, it is special
Sign is:Shown in incremental PID algorithm such as formula (1) in the step S2,
Δ u=u (k)-u (k-1)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)] (1)
In formula (1), Δ u is the increment of the front wheel steering angle of vehicle, and u (k) is the front-wheel of kth (k=0,1,2 ...) a sampling instant
Steering angle, e (k) are the equivalent course deviation of k-th of sampling instant,Δ ψ is the vision course deviation,Estimate in advance for the course.
6. a kind of multi-shaft steering vehicle tracks center lane line steering control system, it is characterised in that:Know including lane line vision
Other module, data acquisition unit, Decision Control unit and execution unit;The lane line visual identity module is used to identify track
Line, and provide vision course deviation information to the Decision Control unit;The data acquisition unit is used to gather and to described
Decision package provides the velocity information of vehicle and the front-wheel steer angle information of vehicle;The Decision Control unit is used for according to
The velocity information and front-wheel steer angle information that data acquisition unit provides calculate course and estimate in advance, and are estimated in advance according to the course
The expectation front wheel steering angle of vehicle is calculated with the vision course deviation, and the expectation front wheel steering angle is supplied to and performs list
Member;The execution unit is according to the expectation front wheel steering angle control Vehicular turn.
7. multi-shaft steering vehicle according to claim 6 tracks center lane line steering control system, it is characterised in that:Institute
Stating lane line visual identity module includes camera and image processing system;The camera is used to obtain track line image, institute
State image processing system to analyze and process the track line image, obtain the vision course deviation.
8. multi-shaft steering vehicle according to claim 7 tracks center lane line steering control system, it is characterised in that:Institute
Stating data acquisition unit includes front-wheel steer angle transducer and vehicle speed sensor;The front-wheel steer angle transducer is used to obtain car
Front-wheel steer angle information, the vehicle speed sensor is used to obtain the velocity information of vehicle.
9. multi-shaft steering vehicle according to claim 8 tracks center lane line steering control system, it is characterised in that:Institute
State Decision Control unit and further include manual drive pattern, when the manual drive pattern is opened, Decision Control unit is not to institute
State execution unit and the expectation front wheel steering angle is provided.
10. multi-shaft steering vehicle according to claim 9 tracks center lane line steering control system, it is characterised in that:
The data acquisition unit further includes torque sensor, for obtaining the external force being applied on steering wheel for vehicle, and will be described outer
Power is sent to the Decision Control unit;The Decision Control unit opens manual drive pattern according to the external force.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN201610910594.9A CN107933686B (en) | 2016-10-19 | 2016-10-19 | A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system |
PCT/CN2017/106045 WO2018072647A1 (en) | 2016-10-19 | 2017-10-13 | Method and system utilized by multi-axle articulated vehicle tracking central lane line |
NZ752017A NZ752017B2 (en) | 2016-10-19 | 2017-10-13 | Method and system utilized by multi-axle articulated vehicle tracking central lane line |
CL2019001024A CL2019001024A1 (en) | 2016-10-19 | 2019-04-15 | Method and system used by a multi-axis articulated vehicle that follows a center lane line. |
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CN201610910594.9A CN107933686B (en) | 2016-10-19 | 2016-10-19 | A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system |
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CN107933686B CN107933686B (en) | 2019-11-29 |
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CL (1) | CL2019001024A1 (en) |
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CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
CN108909716A (en) * | 2018-07-02 | 2018-11-30 | 奇瑞汽车股份有限公司 | Control method for vehicle and device |
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CN112577501A (en) * | 2019-09-29 | 2021-03-30 | 中车株洲电力机车研究所有限公司 | Track identification device and rescue engineering truck |
CN112577501B (en) * | 2019-09-29 | 2024-03-05 | 中车株洲电力机车研究所有限公司 | Track identification device and rescue engineering vehicle |
CN110861643A (en) * | 2019-10-18 | 2020-03-06 | 中国第一汽车股份有限公司 | Unmanned vehicle one-way tunnel passing method and unmanned vehicle |
CN111966104A (en) * | 2020-08-21 | 2020-11-20 | 上海电气集团智能交通科技有限公司 | Fusion navigation vehicle automatic driving system and method based on magnetic nail |
CN112092825A (en) * | 2020-08-31 | 2020-12-18 | 英博超算(南京)科技有限公司 | Lane keeping method based on machine learning |
CN112092825B (en) * | 2020-08-31 | 2022-04-29 | 英博超算(南京)科技有限公司 | Lane keeping method based on machine learning |
CN115593510A (en) * | 2022-11-30 | 2023-01-13 | 禾多科技(北京)有限公司(Cn) | Vehicle control method and device, storage medium, and electronic device |
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CN107933686B (en) | 2019-11-29 |
NZ752017A (en) | 2020-10-30 |
WO2018072647A1 (en) | 2018-04-26 |
CL2019001024A1 (en) | 2019-10-25 |
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