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 PDF

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Publication number
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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Prior art keywords
vehicle
lane line
course
steering
vision
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CN201610910594.9A
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CN107933686B (en
Inventor
许峻峰
李晓光
袁希文
肖磊
彭京
蒋小晴
刘小聪
张陈林
朱田
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CRRC Zhuzhou Institute Co Ltd
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CRRC Zhuzhou Institute Co Ltd
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Priority to CN201610910594.9A priority Critical patent/CN107933686B/en
Priority to PCT/CN2017/106045 priority patent/WO2018072647A1/en
Priority to NZ752017A priority patent/NZ752017B2/en
Publication of CN107933686A publication Critical patent/CN107933686A/en
Priority to CL2019001024A priority patent/CL2019001024A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/10Path keeping
    • B60W30/12Lane keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002Arrangements 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

A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system
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.
CN201610910594.9A 2016-10-19 2016-10-19 A kind of multi-shaft steering vehicle tracking center lane line rotating direction control method and system Active CN107933686B (en)

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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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