CN108622093A - The track of intelligent vehicle keeps control method and device - Google Patents
The track of intelligent vehicle keeps control method and device Download PDFInfo
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- CN108622093A CN108622093A CN201810418985.8A CN201810418985A CN108622093A CN 108622093 A CN108622093 A CN 108622093A CN 201810418985 A CN201810418985 A CN 201810418985A CN 108622093 A CN108622093 A CN 108622093A
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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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Abstract
The invention discloses a kind of tracks of intelligent vehicle to keep control method and device, belongs to vehicle active safety field.Method includes：Determine that intelligent vehicle is currently located the lane center in track according to the image recognition result of camera；According to lane center, intelligent vehicle historical movement track and intelligent vehicle on default Inertial Measurement Unit measurement result, determine the displacement of intelligent vehicle offset lanes center line；According to the displacement of lane center and intelligent vehicle offset lanes center line, the target travel path of intelligent vehicle is generated；The steering wheel angle of intelligent vehicle is determined according to target travel path；It is kept into runway according to the control of steering wheel angle displacement intelligent vehicle.Intelligent vehicle can be obtained due to being based on Inertial Measurement Unit and compare accurately position and drift condition, in addition the image recognition result of camera, so that track keeps control function more to stablize, the possibility that vehicle sails out of track can be reduced, and the safety of driving procedure can be improved.
Description
Technical field
The present invention relates to vehicle active safety technologies field, more particularly to the track of a kind of intelligent vehicle keeps control method
And device.
Background technology
In recent years, the active safety technologies of automobile autonomous driving rapidly developed.Active safety technologies refer to by sensor,
The means such as image monitor the operating status of intelligent vehicle in real time, to be reminded driver, be alerted or direct adjusting control intelligence
Energy vehicle drives function to reach auxiliary, mitigates accident rate and driver's burden.Track in active safety technologies keeps control
System refers to whether real-time monitoring intelligent vehicle travels on track always, when monitoring that intelligent vehicle may be detached from traveling lane
When, remind driver to pay attention to or directly steering wheel angle is adjusted.
At present when keeping controlling into runway, it is based only on monocular mostly and binocular camera is realized, that is, passes through camera shooting
Whether head obtains the image in intelligent vehicle driving process and carries out image recognition, to determine intelligent vehicle on track；When
When determining intelligent vehicle run-off-road, the steering wheel angle of intelligent vehicle could be adjusted to it is made to keep traveling on track.
In the implementation of the present invention, inventor has found that the relevant technologies have at least the following problems：
Since current camera is limited to the image recognition accuracy rate of lane line, there may be breakages for terrain vehicle diatom in addition
Or missing, thus be based only on camera and keep controlling into runway so that the track of intelligent vehicle keeps functional lability, into
And the possibility for causing vehicle to sail out of track is bigger.
Invention content
An embodiment of the present invention provides a kind of tracks of intelligent vehicle to keep control method and device, to solve the relevant technologies
The track of middle intelligent vehicle keeps functional lability, and vehicle is caused to sail out of the bigger technical problem of possibility in track.It is described
Technical solution is as follows：
On the one hand, a kind of track holding control method of intelligent vehicle is provided, the method includes：
Intelligent vehicle, which is currently located the lane center in track, to be determined to the recognition result of acquired image according to camera；
According to the lane center, the intelligent vehicle historical movement track and the intelligent vehicle on it is default used
The measurement result of property measuring unit, determines the displacement of the intelligent vehicle offset lanes center line；
According to the displacement of the lane center and the intelligent vehicle offset lanes center line, the intelligent vehicle is generated
Target travel path；
The steering wheel angle of the intelligent vehicle is determined according to the target travel path；
It is kept into runway according to intelligent vehicle described in the control of steering wheel angle displacement.
Optionally, the displacement according to the lane center and the intelligent vehicle offset lanes center line generates
The target travel path of the intelligent vehicle, including：
According to the displacement of the lane center and the intelligent vehicle offset lanes center line, track is selected to keep control
Multiple reference points；
The target travel path of the intelligent vehicle is generated according to the multiple reference point.
Optionally, the displacement according to the lane center and the intelligent vehicle offset lanes center line, selection
Track keeps multiple reference points of control, including：
It selects to take aim in advance a little on the lane center, pre- the first reference point of a conduct is taken aim at by described；
Choose on the lane center it is described it is pre- take aim at a little the first pre-determined distance below o'clock as the second reference point；
The current location is determined as third reference point by the current location for determining the intelligent vehicle；
The current course angle of the intelligent vehicle is obtained, and chooses the second pre-determined distance before the current course angle direction
O'clock as the 4th reference point, in negative between second pre-determined distance and the displacement of the intelligent vehicle offset lanes center line
It is related.
Optionally, the target travel path that the intelligent vehicle is generated according to the multiple reference point, including：
Cubic kolmogorov's differential system is generated according to the multiple reference point, using the Cubic kolmogorov's differential system as the intelligence
The target travel path of vehicle.
Optionally, the steering wheel angle that the intelligent vehicle is determined according to the target travel path, including：
Obtain the current course angle of the intelligent vehicle；
According to the target travel path determine it is described it is pre- take aim at target course；
Heading angle deviation is calculated according to the current course angle and the target course；
Steering wheel angle is determined according to the heading angle deviation.
On the other hand, a kind of track holding control device of intelligent vehicle is provided, described device includes：
First determining module, for determining that intelligent vehicle is currently located to the recognition result of acquired image according to camera
The lane center in track；
Second determining module, for according to the lane center, the historical movement track of the intelligent vehicle and described
The measurement result of default Inertial Measurement Unit on intelligent vehicle determines the displacement of the intelligent vehicle offset lanes center line；
Generation module, it is raw for the displacement according to the lane center and the intelligent vehicle offset lanes center line
At the target travel path of the intelligent vehicle；
Third determining module, the steering wheel angle for determining the intelligent vehicle according to the target travel path；
Track keeps control module, for being kept into runway according to intelligent vehicle described in the control of steering wheel angle displacement.
Optionally, the generation module includes：
Selecting unit, for the displacement according to the lane center and the intelligent vehicle offset lanes center line, choosing
Select multiple reference points that track keeps control；
Generation unit, the target travel path for generating the intelligent vehicle according to the multiple reference point.
Optionally, the selecting unit includes：
First choice subelement is taken aim at a little for being selected on the lane center, pre- a conduct first is taken aim at by described in advance
Reference point；
First chooses subelement, for choosing the pre- point for taking aim at a little the first pre-determined distance below on the lane center
As the second reference point；
The current location is determined as third ginseng by determination subelement, the current location for determining the intelligent vehicle
Examination point；
Second chooses subelement, the current course angle for obtaining the intelligent vehicle, and chooses the current course angle
Before direction the second pre-determined distance o'clock as the 4th reference point, second pre-determined distance and the intelligent vehicle offset lanes
It is negatively correlated between the displacement of center line.
Optionally, the generation unit is used for：Cubic kolmogorov's differential system is generated according to the multiple reference point, by described three
Target travel path of the secondary Bezier as the intelligent vehicle.
Optionally, the third determining module includes：
Acquiring unit, the current course angle for obtaining the intelligent vehicle；
First determination unit, for according to the target travel path determine it is described it is pre- take aim at target course；
Computing unit, for calculating heading angle deviation according to the current course angle and the target course；
Second determination unit, for determining steering wheel angle according to the heading angle deviation.
The advantageous effect that technical solution provided in an embodiment of the present invention is brought is：
By determining that intelligent vehicle is currently located the lane center in track according to the image recognition result of camera, and tie
The measurement result of the historical movement track and default Inertial Measurement Unit of closing intelligent vehicle determines intelligent vehicle offset lanes center
The displacement of line, to form target travel path on this basis and determine steering wheel angle, provide it is a kind of based on camera and
The track of preset Inertial Measurement Unit keeps control method on intelligent vehicle.Intelligence can be obtained due to being based on Inertial Measurement Unit
Energy vehicle compares accurately position and drift condition, in addition the image recognition result of camera, so that track keeps control
Function is more stablized, and can reduce the possibility that vehicle sails out of track, and can improve the safety of driving procedure.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is that the track of intelligent vehicle provided in an embodiment of the present invention keeps the flow chart of control method；
Fig. 2 is the implementation method flow chart for selecting track to keep the multiple reference points controlled in Fig. 1 in step S3；
Fig. 3 is the implementation method flow chart of step S4 in Fig. 1；
Fig. 4 is that the track of intelligent vehicle provided in an embodiment of the present invention keeps the structural schematic diagram of control device.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is that the track of intelligent vehicle provided in an embodiment of the present invention keeps the flow chart of control method, this method can be with
It is realized by the LKA (Lane Keep Assist, track maintain auxiliary system) of intelligent vehicle.As shown in Figure 1, this method includes
Following steps S1 to S5：
S1 determines that intelligent vehicle is currently located the lane center in track according to camera to the recognition result of acquired image
Line.
Wherein, lane center is the circuit among two lane lines on road.Lane center can be by track
Heart line equation is identified, can be by determining that lane center equation is realized when determining lane center.
The embodiment of the present invention is determining that intelligent vehicle is currently located vehicle according to camera to the recognition result of acquired image
It, can be with when the lane center in road：Intelligent vehicle, which is currently located vehicle, to be determined to the recognition result of acquired image according to camera
The lane line equation in road；Lane center is determined according to lane line equation.
Specifically, in the driving process of intelligent vehicle, camera can constantly shoot the driving path of intelligent vehicle, shooting
To image in some include lane line, camera can obtain intelligent vehicle by the way that the image including lane line is identified
The equation of two lane lines in track where.The embodiment of the present invention determines that intelligent vehicle is worked as according to the equation of this two lane lines
The lane center equation in preceding place track.
Specifically, if two lane lines are quadratic function, and the equation of two lane lines is respectively y=C0+C1x+
C2x2And y=A0+A1x+A2x2, C0、C1And C2The constant coefficient of respectively wherein one lane line equation, Monomial coefficient and secondary
Term coefficient, A0、A1And A2For the constant coefficient of another lane line equation, Monomial coefficient and two-term coefficient, then lane center
Equation be
The specific implementation of the equation to determine two lane lines how acquired image to be identified about camera
Mode, may refer to relevant way in the related technology, and the embodiment of the present invention is not explained in detail this.For example, camera can
To extract the information such as lane line, intelligent vehicle travel direction in acquired image according to Road Detection algorithm；Then, according to carrying
Result is taken to determine lane line equation.Such as, according to extraction result and vehicle can be determined in conjunction with the position that intelligent vehicle is currently located
Diatom equation.
S2, according to lane center, intelligent vehicle historical movement track and intelligent vehicle on default inertia measurement list
The measurement result of member, determines the displacement of intelligent vehicle offset lanes center line.
The specific implementation of step S2 can be：First, pass through the default Inertial Measurement Unit in intelligent vehicle
(IMU, Inertial Measurement Unit) measures real time acceleration and angular speed in intelligent vehicle driving process, should
Real time acceleration and angular speed are obtained measurement result；Then, according in the intelligent vehicle unit interval acceleration and angle
Speed, determines the displacement in the intelligent vehicle unit interval, and according in the unit interval displacement and historical movement track in certain
The current location of the location determination intelligent vehicle at one moment, finally determines that intelligent vehicle is inclined according to current location and lane center
Move the displacement of lane center.
Wherein, when determining the displacement in the intelligent vehicle unit interval, by carrying out two to the acceleration in the unit interval
Secondary integral obtains displacement, and angular deviation is obtained by carrying out integral to the angular speed in the unit interval, by the displacement and
Angular deviation is determined as the displacement in the intelligent vehicle unit interval.
Compare accurately displacement due to that can be obtained by Inertial Measurement Unit, so that the self-positioning essence of intelligent vehicle
Spend it is relatively high so that the displacement of intelligent vehicle offset lanes center line determined has more referential.
S3 generates the target line of intelligent vehicle according to the displacement of lane center and intelligent vehicle offset lanes center line
Sail path.
Target travel path is to make its driving path without departing from the path in track to what intelligent vehicle was planned, and intelligent vehicle is pressed
It can keep traveling on track according to target travel route.
Optionally, the embodiment of the present invention is in the displacement according to lane center and intelligent vehicle offset lanes center line, life
At intelligent vehicle target travel path when, can be first according to the position of lane center and intelligent vehicle offset lanes center line
It moves, track is selected to keep multiple reference points of control；Then, the target travel road of intelligent vehicle is generated according to multiple reference points
Diameter.
Wherein, as shown in Fig. 2, when selecting track to keep multiple reference points of control, the reference point and its correspondence of selection
Selection method include but not limited to as follows S31 to S34 realize：
S31 selects to take aim at a little in advance, will take aim at the first reference point of a conduct in advance on lane center.
Wherein, driver drive when it may be noted that front a position, the position of the point is as taken aim at a little in advance.
The embodiment of the present invention selects to take aim at a little in advance on lane center, and selecting to take aim at mode a little in advance can be for：First obtain
The preview distance of intelligent vehicle, then using the current location of intelligent vehicle as starting point, lookup and present bit on lane center
Set apart from nearest point, and using this apart from nearest point as starting point, further search for this apart from nearest point differ it is pre- take aim at away from
From point, using the point as taking aim at a little in advance.Wherein, driver is when driving, often it may be noted that one section in front of vehicle traveling direction
Distance, to grasp next position of vehicle traveling, which is preview distance.
The embodiment of the present invention is determined by experiment preview distance and the current vehicle speed of intelligent vehicle is proportionate, and with intelligence
The min. turning radius number of vehicle is related, and therefore, the embodiment of the present invention can be based on when obtaining the preview distance of intelligent vehicle
What the current vehicle speed and min. turning radius of intelligent vehicle were realized.Specifically, can first obtain intelligent vehicle current vehicle speed and
Min. turning radius；Then, according to current vehicle speed and the preview distance of min. turning radius computational intelligence vehicle.
Wherein, the current vehicle speed of intelligent vehicle can be detected by its internal speed velocity sensor, therefore,
When obtaining the current vehicle speed of intelligent vehicle, current vehicle speed can be asked to velocity sensor.The min. turning radius of intelligent vehicle
Refer to when its steering wheel goes to extreme position, when automobile is with minimum stabilizing speed Turning travel, the central plane of outside deflecting roller
The trace radius rolled across on supporting plane.The attribute informations such as min. turning radius and the type of intelligent vehicle are related, such as most
Tight turn radius is related to the type of vehicle of intelligent vehicle, vehicle model etc., when obtaining the min. turning radius of intelligent vehicle,
It can be realized by following formula (3)：
In formula (3), m indicates that min. turning radius, L indicate that wheelbase, C indicate front overhang length, θmaxIndicate deflecting roller foreign steamer
Hard-over, K indicate that vehicle width, M indicate stub centre-to-centre spacing.
It, can be according to present speed when according to the preview distance of current vehicle speed and min. turning radius computational intelligence vehicle
And min. turning radius passes through the preview distance of following formula (1) computational intelligence vehicle；
In formula (1), Ld indicates that preview distance, v indicate that current vehicle speed, m indicate min. turning radius.For example, specific
When implementation, the value of m can be 5.
Wherein, the embodiment of the present invention combines the current vehicle of intelligent vehicle when calculating preview distance according to the formula (1)
Speed so that preview distance can be adjusted in real time according to the difference of intelligent vehicle speed, it is ensured that the preview distance being calculated is more
The practical operation of energy drive simulating person's driving procedure, so that the method for the embodiment of the present invention has more referential.
S32, choose taken aim in advance a little on lane center the first pre-determined distance below o'clock as the second reference point.
The concrete numerical value of first pre-determined distance can be determined according to experiment, specifically with according to the second reference point and other references
After point generates target travel path, it is that principle is tested to obtain that preferably can keep control into runway.It is of course also possible to
It is adjusted according to subsequent control result.
S33 determines the current location of intelligent vehicle, and current location is determined as third reference point；
At the current location for determining intelligent vehicle, RTK (Real-time kinematic, carrier phase difference can be based on
Point technology) it realizes.The real time position of intelligent vehicle can be obtained based on RTK.The real time position is intelligent vehicle position
Longitude and dimension.Therefore, at the current location for determining intelligent vehicle, can be first current based on RTK acquisition intelligent vehicles
Then the longitude and latitude are converted to the position in earth coordinates by longitude and latitude.Wherein, the current location of intelligent vehicle
It can be the position of axis point thereafter.
S34, obtains the current course angle of intelligent vehicle, and chooses the point of the second pre-determined distance before current course angle direction
As the 4th reference point, wherein negatively correlated between the second pre-determined distance and the displacement of intelligent vehicle offset lanes center line.
Wherein, between the 4th reference point and current location the second pre-determined distance is differed in current course angle direction.Second is pre-
Refer to intelligent vehicle offset lanes center line if negatively correlated between distance and the displacement of intelligent vehicle offset lanes center line
Displacement is bigger, and the second pre-determined distance is smaller, so that the target travel path generated can rapidly converge to lane center, into
And it realizes track that is quick, stablizing and keeps function.
When obtaining the current course angle of intelligent vehicle, RTK (Real-time kinematic, carrier wave phase can also be based on
Position differential technique) it realizes.Specifically, the course angle of intelligent vehicle can be exported in real time based on RTK, thus obtaining intelligent vehicle
Current course angle when, the course angle that RTK is currently exported is as its current course angle.
Preferably, the embodiment of the present invention, can be with when generating the target travel path of intelligent vehicle according to multiple reference points
Cubic kolmogorov's differential system is generated according to multiple reference points, using Cubic kolmogorov's differential system as the target travel path of intelligent vehicle.
For example, after selecting above-mentioned first reference point to four reference points, can be joined according to the first reference point, the second reference point, third
Examination point and the 4th reference point generate Cubic kolmogorov's differential system.Since Cubic kolmogorov's differential system is smoother, thus will shellfish plug three times
That curve is as target travel path so that the path smooth in target travel path, thus make intelligent vehicle along target travel
When route, it can more smoothly be returned to lane line.
Wherein, which can be expressed as formula (2)：
B (t)=P0(1-t)3+3P1t(1-t)2+3P2t2(1-t)+P3t3, t ∈ [0,1] (2)
In formula (2), P0、P1、P2And P3Respectively third reference point, the 4th reference point, the second reference point and the first reference
Point.That is, the starting point of Cubic kolmogorov's differential system is the current location of intelligent vehicle, terminal is to take aim at a little in advance, intermediate two
Point be followed successively by before current course angle direction on the point and lane center of the second pre-determined distance take aim in advance a little below first preset away from
From point.
In addition, the embodiment of the present invention can also generate B-spline curves according to multiple reference points, using B-spline curves as intelligence
The target travel path of energy vehicle.
S4 determines the steering wheel angle of intelligent vehicle according to target travel path.
Wherein, steering wheel angle includes the direction controlled steering wheel and size.
Optionally, as shown in figure 3, in the steering wheel angle for determining intelligent vehicle according to target travel path, can pass through
Following steps S41 to S44 is realized：
S41 obtains the current course angle of intelligent vehicle.
It wherein, can be current as it using the course angle that RTK is currently exported when obtaining the current course angle of intelligent vehicle
Course angle.
S42 determines the target course at taking aim in advance according to target travel path.
Wherein, target course is the course angle at intelligent vehicle is taken aim in advance on target travel path.Determining target
Driving path and it is pre- take aim at a little after, you can determine target course.The bogey heading at taking aim in advance is determined on target travel path
The mode at angle may refer to the mode for determining target course in the related technology, is not explained in detail herein to this.
S43 calculates heading angle deviation according to current course angle and target course.
Wherein, the heading angle deviation between current course angle and target course be current course angle and target course it
Between angle difference.
S44 determines steering wheel angle according to heading angle deviation.
Wherein, step S44 can pass through such as when determining steering wheel angle according to heading angle deviation according to heading angle deviation
Lower formula (3) determines steering wheel angle：
β=kα×Δα (3)
In formula (3), Δ α indicates that heading angle deviation, β indicate steering wheel angle, kαFor the weight system of heading angle deviation Δ α
Number.kαConcrete numerical value can be determined by experiment.
In addition, the embodiment of the present invention is according to heading angle deviation when determining steering wheel angle, can to heading angle deviation into
Row PID (proportion, integration, differentiation, ratio, integral, differential) controls to determine steering wheel
Corner.About the specific implementation for carrying out PID control to heading angle deviation, relevant pid control algorithm, this reality may refer to
Example is applied to be not explained in detail this.
S5 is kept according to the control of steering wheel angle displacement intelligent vehicle into runway.
It specifically, can be according to steering wheel angle when being kept into runway according to the control of steering wheel angle displacement intelligent vehicle
Steering wheel angle instruction is generated, steering wheel angle is carried in the instruction of direction disk corner；Steering wheel angle is instructed into the side of being sent to
To disk controller；After steering wheel controller receives the instruction of direction disk corner, after parsing obtains the steering wheel angle wherein carried,
The angle and direction rotated according to steering wheel angle adjustment direction disk so that intelligent vehicle is returned along target travel route
Return to track.Wherein it is possible to the CAN (Controller Area Network, controller local area network) for passing through intelligent vehicle
Steering wheel angle instruction is sent to steering wheel controller by network.
Method provided in an embodiment of the present invention, by determining the current institute of intelligent vehicle according to the image recognition result of camera
Lane center in track, and the historical movement track of combination intelligent vehicle and the measurement result of default Inertial Measurement Unit are true
The displacement for determining intelligent vehicle offset lanes center line, to form target travel path on this basis and determine steering wheel angle,
It provides a kind of based on the track of camera and preset Inertial Measurement Unit holding control method.Due to being based on inertia measurement list
Member can obtain intelligent vehicle and compare accurately position and drift condition, in addition the image recognition result of camera, so that
Track keeps control function more to stablize, and can reduce the possibility that vehicle sails out of track, and can improve the peace of driving procedure
Quan Xing.
The embodiment of the present invention also provides a kind of track holding control device of intelligent vehicle, as shown in figure 4, the intelligent vehicle
Track keep control device include：
First determining module 401, for determining that intelligent vehicle is current to the recognition result of acquired image according to camera
The lane center in place track；
Second determining module 402, for according to lane center, the historical movement track of intelligent vehicle and intelligent vehicle
Default Inertial Measurement Unit measurement result, determine the displacement of intelligent vehicle offset lanes center line；
Generation module 403 generates intelligence for the displacement according to lane center and intelligent vehicle offset lanes center line
The target travel path of vehicle；
Third determining module 404, the steering wheel angle for determining intelligent vehicle according to target travel path；
Track keeps control module 405, for being kept into runway according to the control of steering wheel angle displacement intelligent vehicle.
Optionally, generation module 403 includes：
Selecting unit selects track to protect for the displacement according to lane center and intelligent vehicle offset lanes center line
Hold multiple reference points of control；
Generation unit, the target travel path for generating intelligent vehicle according to multiple reference points.
Wherein, selecting unit includes：
First choice subelement is taken aim at a little for being selected on lane center, will take aim at the first reference point of a conduct in advance in advance；
First chooses subelement, for choose taken aim in advance on lane center a little the first pre-determined distance below o'clock as second
Reference point；
Current location is determined as third reference point by determination subelement, the current location for determining intelligent vehicle；
Second chooses subelement, the current course angle for obtaining intelligent vehicle, and chooses before current course angle direction
Second pre-determined distance o'clock as the 4th reference point, wherein the position of the second pre-determined distance and intelligent vehicle offset lanes center line
It is negatively correlated between shifting.
Optionally, generation unit is used for：Cubic kolmogorov's differential system is generated according to multiple reference points, by Cubic kolmogorov's differential system
Target travel path as intelligent vehicle.
Optionally, third determining module 204 includes：
Acquiring unit, the current course angle for obtaining intelligent vehicle；
First determination unit, for determining the target course at taking aim in advance according to target travel path；
Computing unit, for calculating heading angle deviation according to current course angle and target course；
Second determination unit, for determining steering wheel angle according to heading angle deviation.
Device provided in an embodiment of the present invention, by determining the current institute of intelligent vehicle according to the image recognition result of camera
Lane center in track, and the historical movement track of combination intelligent vehicle and the measurement result of default Inertial Measurement Unit are true
The displacement for determining intelligent vehicle offset lanes center line, to form target travel path on this basis and determine steering wheel angle,
It provides a kind of based on the track of camera and preset Inertial Measurement Unit holding control device.Due to being based on inertia measurement list
Member can obtain intelligent vehicle and compare accurately position and drift condition, in addition the image recognition result of camera, so that
Track keeps control function more to stablize, and can reduce the possibility that vehicle sails out of track, and can improve the peace of driving procedure
Quan Xing.
The alternative embodiment that any combination forms the disclosure may be used, herein no longer in above-mentioned all optional technical solutions
It repeats one by one.
It should be noted that：The track for the intelligent vehicle that above-described embodiment provides keeps control device carrying out intelligent vehicle
Track keep control when, only the example of the division of the above functional modules, can be as needed in practical application
And complete above-mentioned function distribution by different function modules, i.e., the internal structure of device is divided into different function modules,
To complete all or part of the functions described above.In addition, the track for the intelligent vehicle that above-described embodiment provides keeps control
The track of device and intelligent vehicle keeps control method embodiment to belong to same design, and specific implementation process refers to method implementation
Example, which is not described herein again.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of track of intelligent vehicle keeps control method, which is characterized in that the method includes：
Intelligent vehicle, which is currently located the lane center in track, to be determined to the recognition result of acquired image according to camera；
According to the lane center, the intelligent vehicle historical movement track and the intelligent vehicle on default inertia survey
The measurement result for measuring unit, determines the displacement of the intelligent vehicle offset lanes center line；
According to the displacement of the lane center and the intelligent vehicle offset lanes center line, the mesh of the intelligent vehicle is generated
Mark driving path；
The steering wheel angle of the intelligent vehicle is determined according to the target travel path；
It is kept into runway according to intelligent vehicle described in the control of steering wheel angle displacement.
2. according to the method described in claim 1, it is characterized in that, described according to the lane center and the intelligent vehicle
The displacement of offset lanes center line generates the target travel path of the intelligent vehicle, including：
According to the displacement of the lane center and the intelligent vehicle offset lanes center line, track is selected to keep the more of control
A reference point；
The target travel path of the intelligent vehicle is generated according to the multiple reference point.
3. according to the method described in claim 2, it is characterized in that, described according to the lane center and the intelligent vehicle
The displacement of offset lanes center line selects track to keep multiple reference points of control, including：
It selects to take aim in advance a little on the lane center, pre- the first reference point of a conduct is taken aim at by described；
Choose on the lane center it is described it is pre- take aim at a little the first pre-determined distance below o'clock as the second reference point；
The current location is determined as third reference point by the current location for determining the intelligent vehicle；
The current course angle of the intelligent vehicle is obtained, and chooses the point of the second pre-determined distance before the current course angle direction
It is in negative as the 4th reference point, between second pre-determined distance and the displacement of the intelligent vehicle offset lanes center line
It closes.
4. according to the method described in claim 3, it is characterized in that, described generate the intelligent vehicle according to the multiple reference point
Target travel path, including：
Cubic kolmogorov's differential system is generated according to the multiple reference point, using the Cubic kolmogorov's differential system as the intelligent vehicle
Target travel path.
5. the method according to any claim in Claims 1-4, which is characterized in that described according to the target line
The steering wheel angle that path determines the intelligent vehicle is sailed, including：
Obtain the current course angle of the intelligent vehicle；
According to the target travel path determine it is described it is pre- take aim at target course；
Heading angle deviation is calculated according to the current course angle and the target course；
Steering wheel angle is determined according to the heading angle deviation.
6. the track of intelligent vehicle a kind of keeps control device, which is characterized in that described device includes：
First determining module, for determining that intelligent vehicle is currently located track to the recognition result of acquired image according to camera
Lane center；
Second determining module, for according to the lane center, the historical movement track of the intelligent vehicle and the intelligence
The measurement result of default Inertial Measurement Unit on vehicle determines the displacement of the intelligent vehicle offset lanes center line；
Generation module generates institute for the displacement according to the lane center and the intelligent vehicle offset lanes center line
State the target travel path of intelligent vehicle；
Third determining module, the steering wheel angle for determining the intelligent vehicle according to the target travel path；
Track keeps control module, for being kept into runway according to intelligent vehicle described in the control of steering wheel angle displacement.
7. device according to claim 6, which is characterized in that the generation module includes：
Selecting unit selects vehicle for the displacement according to the lane center and the intelligent vehicle offset lanes center line
Road keeps multiple reference points of control；
Generation unit, the target travel path for generating the intelligent vehicle according to the multiple reference point.
8. device according to claim 7, which is characterized in that the selecting unit includes：
First choice subelement pre- taken aim at a conduct first and is referred to for selecting to take aim in advance on the lane center a little by described
Point；
First chooses subelement, for choosing the pre- point conduct for taking aim at a little the first pre-determined distance below on the lane center
Second reference point；
The current location is determined as third reference point by determination subelement, the current location for determining the intelligent vehicle；
Second chooses subelement, the current course angle for obtaining the intelligent vehicle, and chooses the current course angle direction
The second pre-determined distance of front o'clock as the 4th reference point, second pre-determined distance and intelligent vehicle offset lanes center
It is negatively correlated between the displacement of line.
9. device according to claim 8, which is characterized in that the generation unit is used for：According to the multiple reference point
Cubic kolmogorov's differential system is generated, using the Cubic kolmogorov's differential system as the target travel path of the intelligent vehicle.
10. the device according to any claim in claim 6 to 9, which is characterized in that the third determining module packet
It includes：
Acquiring unit, the current course angle for obtaining the intelligent vehicle；
First determination unit, for according to the target travel path determine it is described it is pre- take aim at target course；
Computing unit, for calculating heading angle deviation according to the current course angle and the target course；
Second determination unit, for determining steering wheel angle according to the heading angle deviation.
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