CN109910883A - The holding control device and its method of lane center with redundancy protecting - Google Patents
The holding control device and its method of lane center with redundancy protecting Download PDFInfo
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- CN109910883A CN109910883A CN201910299162.2A CN201910299162A CN109910883A CN 109910883 A CN109910883 A CN 109910883A CN 201910299162 A CN201910299162 A CN 201910299162A CN 109910883 A CN109910883 A CN 109910883A
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Abstract
The invention belongs to intelligent driving control technology fields; it is related to the holding control device with the lane center of redundancy protecting; including being mounted on front part of vehicle for shooting the camera, the image processing module connecting with the camera and the LCKS controller connecting with described image processing module of information of road surface; the LCKS controller is connect with EPS controller, EBS controller respectively, and the EPS controller is connect with image processing module；The present invention obtains information of road surface by installation and the camera of front part of vehicle, after image procossing, extract lane line information, lane center line position is extracted, in conjunction with camera installation site, calculates lateral direction of car offset information, vehicle yaw angle, controlling steering angle instruction is issued to electric power steering according to lateral direction of car offset and vehicle yaw angle, and according to vehicle location and attitudes vibration dynamic adjusting angle angle value, make vehicle steadily close to lane center, and is travelled along lane center.
Description
Technical field
The present invention relates to a kind of control device, the holding of specially a kind of lane center with redundancy protecting controls dress
It sets and its method, belongs to intelligent driving control technology field.
Background technique
Currently, the accident quantity because caused by after run-off-road caused by the reasons such as driver fatigue rises year by year.In order to drop
Low-risk, in patent " lane CN102310858B keeps control method and device and apparatus for warning of a lane escape "
The alarm mechanism for run-off-road is disclosed, sound-light alarm is passed through in conjunction with driver status by the anticipation to run-off-road
It is alerted, driver is prompted to travel according to lane line.
Vehicle unconscious a possibility that deflecting away from lane, to improve Vehicular intelligentization horizontal in order to further decrease, inclined in lane
From electric power steering module is increased on the basis of alarm system, realizes and the active lateral of vehicle is controlled, will be deflected away from vehicle
When lane, direction controlling torque is provided, by vehicle control in lane line, i.e., lane keeps auxiliary LKA system.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of guarantors of lane center with redundancy protecting
Control device and its method are held, obtains information of road surface with the camera of front part of vehicle by installing, after image procossing, extracts vehicle
Diatom information extracts lane center line position, and in conjunction with camera installation site, it is inclined to calculate lateral direction of car offset information, vehicle
Angle, foundation lateral direction of car offset and vehicle yaw angle navigate to electric power steering sending controlling steering angle instruction, and according to
Vehicle location and attitudes vibration dynamic adjusting angle angle value, make vehicle steadily close to lane center, and travel along lane center.
To realize the above technical purpose, the technical scheme is that the holding of the lane center with redundancy protecting
Control device, which is characterized in that including being mounted on front part of vehicle for shooting the camera of information of road surface, connecting with the camera
The image processing module connect and the LCKS controller being connect with described image processing module, the LCKS controller respectively with EPS
Controller, the connection of EBS controller, the EPS controller are connect with image processing module.
Further, described image processing module is integrated with camera.
To realize that the above technical purpose, the present invention also propose a kind of holding control of lane center with redundancy protecting
Method, which comprises the steps of:
Step 1 when vehicle in the process of moving when, using be placed in front part of vehicle camera shoot information of road surface, and will clap
The image taken the photograph is sent to image processing module；
Step 2 image processing module identifies lane line information, vehicle position information, calculates travel road according to the information of identification
The curvature on road, yaw angle α, transversal displacement L, and it is sent to LCKS controller；
Step 3 LCKS controller is according to present road curvature, yaw angle α, transversal displacement L, in conjunction with the vehicle of current vehicle
Fast information obtains the corner value of demand, and is sent to EPS controller；
Step 4 EPS controller carries out redundant validation to the reasonability of the corner value of request, then in conjunction with the movement of driver,
Angle state amendment is executed, the posture of vehicle is had modified, and correction result feedback has been arrived in image processing module, forms control
Closed loop corrects corner value request in real time.
Further, when EPS controller failure, when cannot achieve the control of steering, LCKS controller is by the corner of request
Value is sent to EBS controller, and the EBS controller passes through the differential braking of this two or so two wheels, reaches dynamic steering
Effect.
Further, in the step 4, the redundant validation of EPS controller is to allow to call for exceeding under the speed
Angular range does not execute, and avoids corner controlling value is excessive from leading to vehicle unstability.
Further, in the step 4, EPS controller will consider driver in executing angle state makeover process
Driving condition:
When driver has operation behavior, it is considered as the conscious controlling behavior of driver, should be regarded as the suppression for keeping control to lane
Condition processed；
When driver's both hands leave steering wheel, it is considered as improper driving condition at this time, should be used as the inhibition of EPS controller intervention
Condition.
Compared with prior art, the invention has the following advantages that
1, redundancy check is carried out for the corner calling value range of LCKS controller and EPS controller, avoids corner value false triggering；
2, LCKS controller is for allowing the corner value called to limit according to different speeds, while EPS controller is to asking
The corner value asked obtains reasonability and carries out redundant validation, for avoiding beyond under the speed allowing that angular range is called not execute
Corner controlling value is excessive to lead to vehicle unstability；
3, for cannot achieve the control of steering after EPS controller failure the case where passes through the wheel of left and right two of EBS controller
Differential braking, achieve the effect that dynamic steering.
4, the calling of EPS controller will consider the driving condition of driver, and the behavior for having driver to operate is considered as and is driven
The conscious controlling behavior of the person of sailing should be regarded as the rejection condition that control is kept to lane；As transverse and longitudinal acceleration is excessive, turns to
Lamp, steering wheel angle are excessive, sideway angular rate of change is excessive etc.；
5, when driver's both hands leave steering wheel, it is considered as improper driving condition at this time, activates lane to keep control ten at this time
Divide danger, should be used as the rejection condition of EPS controller intervention, meanwhile, driver's autonomous control steering wheel should be prompted；
6, it for the judgement of driver's driving behavior, should be carried out by face recognition camera and driver's steering wheel hand-power square superfluous
Remaining judgement improves the accuracy identified to driver's driving condition, reduces LCKS controller override risk；
7, this patent effectively improves the safety of system control by various dimensions redundancy protecting scheme；Control is remained with center line
Target processed, vehicle stabilization are travelled along center line, and lateral direction of car is avoided to vibrate, and improve system comfortableness and security.
Detailed description of the invention
Fig. 1 is the distributed architecture schematic diagram of vehicle of the present invention run-off-road center line in the process of moving.
Fig. 2 is that lane center of the present invention keeps control principle schematic diagram.
Description of symbols: 1, camera；2, image processing module；3, LCKS controller；4, EPS controller；5, EBS is controlled
Device processed.
Specific embodiment
Below with reference to specific drawings and examples, the invention will be further described.
As shown in Fig. 2, the holding control device of the lane center in the present embodiment 1 with redundancy protecting, including peace
Mounted in front part of vehicle be used to shoot the camera 1 of information of road surface, the image processing module 2 being connect with the camera 1 and with institute
The LCKS controller 3 of the connection of image processing module 2 is stated, described image processing module 2 is integrated with camera 1, described
LCKS controller 3 is connect with EPS controller 4, EBS controller 5 respectively, and the EPS controller 4 is connect with image processing module 2.
The holding control method of lane center of one of the embodiment 1 as above with redundancy protecting, including walk as follows
It is rapid:
Step 1 when vehicle in the process of moving when, using be placed in front part of vehicle camera 1 shoot information of road surface, and will clap
The image taken the photograph is sent to image processing module 2；
Step 2 image processing module 2 identifies lane line information, vehicle position information, calculates travel road according to the information of identification
The curvature on road, yaw angle α, transversal displacement L, and it is sent to LCKS controller 3；
Step 3 as shown in Figure 1, LCKS controller 3 according to present road curvature, yaw angle α, transversal displacement L, in conjunction with working as
The vehicle speed information of preceding vehicle obtains the corner value of demand, and is sent to EPS controller 4；
The reasonability of the corner value of 4 pairs of controller of step 4 EPS requests carries out redundant validation, then in conjunction with the dynamic of driver
Make, execute angle state amendment, has modified the posture of vehicle, and correction result feedback has been arrived in image processing module 2, formed
Closed loop is controlled, corrects corner value request in real time；
The redundant validation of EPS controller 4 is for avoiding corner control beyond under the speed allowing that angular range is called not execute
System value is excessive to lead to vehicle unstability；
Meanwhile EPS controller 4 will consider the driving condition of driver in executing angle state makeover process:
When driver has operation behavior, it is considered as the conscious controlling behavior of driver, should be regarded as the suppression for keeping control to lane
Condition processed；
When driver's both hands leave steering wheel, it is considered as improper driving condition at this time, should be used as the suppression of the intervention of EPS controller 4
Condition processed.
When 4 failure of EPS controller, when cannot achieve the control of steering, the corner value of request is sent to by LCKS controller 3
EBS controller 5, the EBS controller 5 pass through the differential braking of this two or so two wheels, achieve the effect that dynamic steering.
The present invention and its embodiments have been described above, description is not limiting, it is shown in the drawings also only
It is one of embodiments of the present invention, practical structures are not limited thereto.All in all if those skilled in the art
It is enlightened by it, without departing from the spirit of the invention, is not inventively designed similar with the technical solution
Frame mode and embodiment, are within the scope of protection of the invention.
Claims (6)
1. the holding control device of the lane center with redundancy protecting, which is characterized in that used including being mounted on front part of vehicle
In the camera (1) of shooting information of road surface, the image processing module (2) that is connect with the camera (1) and at described image
Manage module (2) connection LCKS controller (3), the LCKS controller (3) respectively with EPS controller (4), EBS controller (5)
Connection, the EPS controller (4) connect with image processing module (2).
2. the holding control device of the lane center according to claim 1 with redundancy protecting, it is characterised in that: institute
Image processing module (2) is stated to integrate with camera (1).
3. a kind of holding control method of the lane center with redundancy protecting as described in claim 1, which is characterized in that
Include the following steps:
Step 1 when vehicle in the process of moving when, using be placed in front part of vehicle camera (1) shoot information of road surface, and will
The image of shooting is sent to image processing module (2)；
Step 2 image processing module (2) identifies lane line information, vehicle position information, is calculated and is travelled according to the information of identification
The curvature of road, yaw angle α, transversal displacement L, and it is sent to LCKS controller (3)；
Step 3 LCKS controller (3) is according to present road curvature, yaw angle α, transversal displacement L, in conjunction with current vehicle
Vehicle speed information, obtain the corner value of demand, and be sent to EPS controller (4)；
Step 4 EPS controller (4) carries out redundant validation to the reasonability of the corner value of request, then in conjunction with the dynamic of driver
Make, execute angle state amendment, has modified the posture of vehicle, and correction result feedback has been arrived in image processing module (2), shape
At control closed loop, corner value request is corrected in real time.
4. the holding control method of the lane center according to claim 3 with redundancy protecting, it is characterised in that: when
EPS controller (4) failure, when cannot achieve the control of steering, the corner value of request is sent to EBS and controlled by LCKS controller (3)
Device (5) processed, the EBS controller (5) pass through the differential braking of this two or so two wheels, achieve the effect that dynamic steering.
5. the holding control method of the lane center according to claim 3 with redundancy protecting, it is characterised in that: institute
It states in step 4, the redundant validation of EPS controller (4) is for exceeding under the speed to allow that angular range is called not execute,
Avoid corner controlling value is excessive from leading to vehicle unstability.
6. the holding control method of the lane center according to claim 3 with redundancy protecting, it is characterised in that: institute
It states in step 4, EPS controller (4) will consider the driving condition of driver in executing angle state makeover process:
When driver has operation behavior, it is considered as the conscious controlling behavior of driver, should be regarded as the suppression for keeping control to lane
Condition processed；
When driver's both hands leave steering wheel, it is considered as improper driving condition at this time, should be used as EPS controller (4) intervention
Rejection condition.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910299162.2A CN109910883A (en) | 2019-04-15 | 2019-04-15 | The holding control device and its method of lane center with redundancy protecting |
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| CN201910299162.2A CN109910883A (en) | 2019-04-15 | 2019-04-15 | The holding control device and its method of lane center with redundancy protecting |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356395A (en) * | 2019-06-25 | 2019-10-22 | 武汉格罗夫氢能汽车有限公司 | A kind of vehicle lane keeping method, equipment and storage equipment |
| CN111516686A (en) * | 2020-04-08 | 2020-08-11 | 中通客车控股股份有限公司 | Lane departure direction automatic correction system and method for 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 |
| CN112706746A (en) * | 2019-10-25 | 2021-04-27 | 通用汽车环球科技运作有限责任公司 | System and method for detecting and compensating for camera yaw angle offset for autonomous vehicles |
| CN113147758A (en) * | 2021-03-10 | 2021-07-23 | 北华航天工业学院 | Driving assistance system for lane departure early warning |
| CN113173177A (en) * | 2021-04-26 | 2021-07-27 | 安徽域驰智能科技有限公司 | Control method and system of automatic driving safety redundancy mechanism based on differential braking |
| CN113525233A (en) * | 2020-04-20 | 2021-10-22 | 上汽通用汽车有限公司 | Self-adaptive driving image monitoring system based on vehicle state and vehicle using scene |
| CN114275036A (en) * | 2022-01-06 | 2022-04-05 | 重庆交通职业学院 | Automatic lane-changing lateral control system and control method for intelligent vehicle |
| CN115092134A (en) * | 2022-06-29 | 2022-09-23 | 长春一汽富晟集团有限公司 | Vehicle lane centering keeping system and method |
| CN115123282A (en) * | 2022-06-24 | 2022-09-30 | 一汽解放汽车有限公司 | Driving state early warning method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110356395A (en) * | 2019-06-25 | 2019-10-22 | 武汉格罗夫氢能汽车有限公司 | A kind of vehicle lane keeping method, equipment and storage equipment |
| CN112706746A (en) * | 2019-10-25 | 2021-04-27 | 通用汽车环球科技运作有限责任公司 | System and method for detecting and compensating for camera yaw angle offset for autonomous vehicles |
| CN112706746B (en) * | 2019-10-25 | 2024-04-12 | 通用汽车环球科技运作有限责任公司 | System and method for detecting and compensating for camera yaw offset of autonomous vehicles |
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| CN111516686A (en) * | 2020-04-08 | 2020-08-11 | 中通客车控股股份有限公司 | Lane departure direction automatic correction system and method for vehicle |
| CN113525233A (en) * | 2020-04-20 | 2021-10-22 | 上汽通用汽车有限公司 | Self-adaptive driving image monitoring system based on vehicle state and vehicle using scene |
| 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 |
| CN113147758A (en) * | 2021-03-10 | 2021-07-23 | 北华航天工业学院 | Driving assistance system for lane departure early warning |
| CN113147758B (en) * | 2021-03-10 | 2022-07-08 | 北华航天工业学院 | Driving assistance system for lane departure early warning |
| CN113173177A (en) * | 2021-04-26 | 2021-07-27 | 安徽域驰智能科技有限公司 | Control method and system of automatic driving safety redundancy mechanism based on differential braking |
| CN114275036A (en) * | 2022-01-06 | 2022-04-05 | 重庆交通职业学院 | Automatic lane-changing lateral control system and control method for intelligent vehicle |
| CN115123282A (en) * | 2022-06-24 | 2022-09-30 | 一汽解放汽车有限公司 | Driving state early warning method, device, equipment and storage medium |
| CN115123282B (en) * | 2022-06-24 | 2024-05-28 | 一汽解放汽车有限公司 | Driving state early warning method, device, equipment and storage medium |
| CN115092134A (en) * | 2022-06-29 | 2022-09-23 | 长春一汽富晟集团有限公司 | Vehicle lane centering keeping system and method |
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