CN108482370B - 一种商用车车道保持系统及其控制策略设计 - Google Patents
一种商用车车道保持系统及其控制策略设计 Download PDFInfo
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- CN108482370B CN108482370B CN201810331279.XA CN201810331279A CN108482370B CN 108482370 B CN108482370 B CN 108482370B CN 201810331279 A CN201810331279 A CN 201810331279A CN 108482370 B CN108482370 B CN 108482370B
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- 238000011217 control strategy Methods 0.000 title description 6
- 238000013461 design Methods 0.000 title description 2
- 238000012937 correction Methods 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 2
- 230000001133 acceleration Effects 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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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
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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
-
- 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
-
- 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
- B60W40/107—Longitudinal acceleration
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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
- B60W40/114—Yaw movement
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2520/06—Direction of travel
-
- 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
- B60W2520/14—Yaw
-
- 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
-
- 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)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
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CN201810331279.XA CN108482370B (zh) | 2018-04-13 | 2018-04-13 | 一种商用车车道保持系统及其控制策略设计 |
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CN201810331279.XA CN108482370B (zh) | 2018-04-13 | 2018-04-13 | 一种商用车车道保持系统及其控制策略设计 |
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CN108482370A CN108482370A (zh) | 2018-09-04 |
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Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109466552B (zh) * | 2018-10-26 | 2020-07-28 | 中国科学院自动化研究所 | 智能驾驶车道保持方法及系统 |
CN109375502B (zh) * | 2018-10-31 | 2021-03-30 | 奇瑞汽车股份有限公司 | 智能汽车的控制方法、装置及存储介质 |
CN109795550A (zh) * | 2018-12-15 | 2019-05-24 | 阿尔特汽车技术股份有限公司 | 一种基于两路can总线的电动汽车电子助力转向控制方法 |
CN109606346A (zh) * | 2018-12-29 | 2019-04-12 | 武汉超控科技有限公司 | 一种自动驾驶的车道保持系统 |
CN109784234B (zh) * | 2018-12-29 | 2022-01-07 | 阿波罗智能技术(北京)有限公司 | 一种基于前向鱼眼镜头的直角弯识别方法及车载设备 |
CN111976824B (zh) * | 2019-05-21 | 2021-11-16 | 上海汽车集团股份有限公司 | 电动助力转向系统的惯量补偿方法及相关装置 |
CN110329254B (zh) * | 2019-07-11 | 2020-07-28 | 浙江吉利汽车研究院有限公司 | 用于车道保持系统的控制方法、控制器及车道保持系统 |
CN111175056A (zh) * | 2020-01-17 | 2020-05-19 | 金龙联合汽车工业(苏州)有限公司 | 一种商用车车道保持系统的硬件在环试验装置 |
CN112046482A (zh) * | 2020-08-10 | 2020-12-08 | 华人运通(上海)自动驾驶科技有限公司 | 车道偏离干预控制方法、装置及计算机可读存储介质 |
CN113371065B (zh) * | 2021-06-30 | 2023-06-16 | 中国科学技术大学先进技术研究院 | 一种智能驾驶人机共驾驶横向协同控制方法及系统 |
CN113415276B (zh) * | 2021-07-30 | 2022-10-14 | 东风商用车有限公司 | 一种智能驾驶预瞄控制方法、装置和存储介质 |
CN114179908A (zh) * | 2021-10-11 | 2022-03-15 | 恒大恒驰新能源汽车研究院(上海)有限公司 | 车辆的控制方法、车辆及可读存储介质 |
CN114919643B (zh) * | 2022-06-16 | 2023-03-07 | 北京理工大学 | 一种主动转向系统、主动转向控制方法及车辆的控制装置 |
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KR100857331B1 (ko) * | 2007-06-19 | 2008-09-05 | 현대자동차주식회사 | 차량의 차선 유지 지원 방법 |
DE102008001105A1 (de) * | 2008-04-10 | 2009-10-15 | Zf Lenksysteme Gmbh | Verfahren zur Beeinflussung des Lenkmoments in einem Fahrzeuglenksystem |
CN102285374A (zh) * | 2011-06-01 | 2011-12-21 | 金龙联合汽车工业(苏州)有限公司 | 一种客车用电液转向系统 |
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CN104442814A (zh) * | 2014-10-31 | 2015-03-25 | 重庆长安汽车股份有限公司 | 基于偏差预测算法的车道保持及自动对中系统和方法 |
CN107150682A (zh) * | 2017-04-27 | 2017-09-12 | 同济大学 | 一种车道保持辅助系统 |
CN107826109A (zh) * | 2017-09-28 | 2018-03-23 | 奇瑞汽车股份有限公司 | 车道保持方法和装置 |
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KR100857331B1 (ko) * | 2007-06-19 | 2008-09-05 | 현대자동차주식회사 | 차량의 차선 유지 지원 방법 |
DE102008001105A1 (de) * | 2008-04-10 | 2009-10-15 | Zf Lenksysteme Gmbh | Verfahren zur Beeinflussung des Lenkmoments in einem Fahrzeuglenksystem |
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Inventor after: Shi Guobiao Inventor after: Li Chunmao Inventor after: Nie Shiqi Inventor after: Tan Fulun Inventor after: He Chaodong Inventor after: Huang Suhang Inventor after: Gu Zhiping Inventor after: Wang Shuai Inventor after: Zhou Qian Inventor after: Wang Xin Inventor after: Qiu Yuanhong Inventor after: Li Chun Inventor after: Xing Zongzhi Inventor after: Wang Yifu Inventor after: Ma Yunzhen Inventor before: Shi Guobiao |
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