CN110155049A - A kind of transverse and longitudinal lane center keeping method and its keep system - Google Patents
A kind of transverse and longitudinal lane center keeping method and its keep system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
- 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
- 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
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Abstract
The invention discloses a kind of transverse and longitudinal lane center keeping method and its keep system, to overcome the problems, such as vehicle driving safety caused by lane center of the existing technology keeps the longitudinally controlled deficiency of system, holding system includes EMS, vehicle-state detection system, HMI system, lane center holding control system, lane center holding execution system, speed control system and early warning system；EMS, vehicle-state detection system and HMI system belong to identification layer system, identify that cabin is interior, driver's cabin is interior, the vehicle electrical harness under body platform connects using being arranged between layer system and lane center holding control system；Lane center keeps execution system, speed control system and early warning system to belong to execution layer system, and execution layer system and lane center keep using the vehicle electrical harness connection being arranged in cabin, in driver's cabin, under body platform between control system；The invention also discloses a kind of transverse and longitudinal lane center keeping methods.
Description
Technical field
The present invention relates to a kind of methods for belonging to vehicle security drive field, and more precisely, it is suitable that the present invention relates to one kind
Transverse and longitudinal lane center keeping method and lane center for vehicle keep system.
Background technique
In high speed or similar highway environment, over fatigue or for a long time traveling drive under dull scene situation
Member is easy absent minded, the case where causing vehicle unconscious run-off-road, makes vehicle driving there are security risk, lane is protected
It holds auxiliary system to come into being, it is that auxiliary driver keeps vehicle along lanes that lane, which keeps auxiliary system function, makes vehicle
Normally, safety traffic is on road.Lane keeps auxiliary system to be divided into two kinds: lane is kept in auxiliary system (LKA) and lane
The heart keeps system (LCKA).At present most of automobile using lane keep auxiliary system, lane center keep system be
Grow up on the basis of lane holding auxiliary system.It is that vehicle is made to be maintained at vehicle that lane center, which keeps the control target of system,
Travelled on road center line, basic principle be by predict lane center line tracking, determine the target trajectory of vehicle driving, and
Fitting being analyzed from vehicle current motion information and coming from wheel paths, handling from wheel paths and target trajectory for fitting will obtain
Required correction lateral distance, applying torque or corner to steering wheel makes vehicle return to lane center, reaches vehicle centroid
Along the purpose of lane center traveling.
In existing real vehicle and paper, lane keeps auxiliary system to only relate to vehicle lateral control and operates without longitudinal direction of car
Control operation, only just introduces vehicle longitudinal control concept in the case where lane-change operates, so that it is guaranteed that the safety of vehicle driving
Property.Individual enterprises vehicle longitudinal control involved in lane center holding technology at present, but longitudinally controlled degree is limited to
Camera identifies road speed(-)limit sign speed, carries out lane as the upper limit using the speed(-)limit sign speed recognized and keeps speed control
To guarantee the safety of vehicle driving.Remaining safety conditions is not paid attention to, and is defaulted as in any case, by speed(-)limit sign
Speed carries out lane and keeps auxiliary control, can guarantee that vehicle safety hugs the road on road surface.
Patent of invention CN 105711588A is related to lane and keeps the longitudinally controlled of auxiliary system, which is turned by power-assisted
To system and electronic stability program Collaborative Control real vehicle, lateral direction of car rotary transform tensor is carried out, is controlled by ESP and realizes control vehicle
Longitudinal safe distance, and warning note is carried out at the appropriate time.What it considered is that longitudinal and front truck is protected in vehicle travel process
Safe distance is held, safe distance just loses meaning when front does not have target vehicle, this does not ensure that vehicle travel process does not have
There is security risk, the driving performance of itself also can produce security risk.
The present invention proposes a kind of transverse and longitudinal lane center keeping method and lane center keeps system, and system passes through two sides vehicle
The variation real-time fitting of diatom goes out lane center trajectory line, travels vehicle along lane center trajectory line, works as automotive run-off-road
When central track trace, vehicle is set to return to lane center trajectory line by applying steering wheel torque manipulation steering system.It was rectifying a deviation
When Cheng Zhongruo steering system opereating specification is in the range that drives safely, vehicle safely, will be turned to comfortably；If the road encountered has urgency
Turning, when speed is excessively high or there is ponding on road surface, vehicle can have security risk, if steering system steering range exists at this time
Outside the range that drives safely, vehicle might have the generation of the dangerous situation beyond attachment characteristic, cannot be guaranteed vehicle in such situation
Safety traffic, at this moment needs that vehicle transverse and longitudinal speed is first reduced to safe speed, then carry out excessive demand and turn to, to make
Vehicle being capable of safety and steady correction traveling.Guarantee to continue to travel along lane center under the premise of vehicle safe driving.
Summary of the invention
The technical problem to be solved by the present invention is to overcome lane center of the existing technology system is kept longitudinally to control
Vehicle driving safety problem caused by system is insufficient the present invention provides a kind of transverse and longitudinal lane center keeping method and its keeps system
System.
In order to solve the above technical problems, the present invention is achieved by the following technical scheme: a kind of transverse and longitudinal vehicle
Road center keep system include EMS, vehicle-state detection system, HMI system, lane center keep control system,
Lane center keeps execution system, speed control system and early warning system；
EMS, vehicle-state detection system and the HMI system belongs to identification layer system, identifies layer system
Using be arranged in cabin, the vehicle electrical harness in driver's cabin, under body platform and lane center keep control system to be connected
It connects；Lane center keeps execution system, speed control system and early warning system to belong to execution layer system, executes layer system and uses cloth
Set the vehicle electrical harness in cabin, in driver's cabin, under body platform keeps control system to be connected with lane center.
EMS described in technical solution is made of CCD camera；CCD camera arranges front windshield in the car
The top of glass, video camera are connected by the microprocessor in the harness and lane center holding control system after being hidden in trim panel
It connects.
Vehicle-state detection system described in technical solution includes the identical velocity sensor of 4 structures, acceleration biography
Sensor, yaw-rate sensor, steering wheel torque sensor and steering wheel angle sensor；4 structures are identical
Velocity sensor is arranged on the spindle nose non-rotating part of the identical wheel set of 4 structures, and velocity sensor is by being fixed on
The wheel speed sensor wire harness on metal plate bracket on damper traveller or knuckle keeps micro- in control system with lane center
Processor connection；The acceleration transducer and yaw-rate sensor is integrated to be arranged under the left front floor of vehicle body, is passed through
It is arranged in underfloor body harness and keeps the microprocessor in control system to connect with lane center；The steering wheel torque
Diverter jackshaft lower end, steering wheel torque sensor and steering wheel are arranged in after sensor and steering wheel angle sensor are integrated
Rotary angle transmitter is connect by being arranged in the body harness at instrument board lower baffle plate with microprocessor.
HMI system described in technical solution includes instrument board, turn signal signalling means and lane hold button switching signal
Device；The dashboard layout is at face driver seat, turn signal signalling means and lane hold button are switched in driver's cabin
The equal nested arrangement of signalling means is on instrument board, and turn signal signalling means and lane hold button switching signal device are by being arranged in instrument
Body harness below disk keeps the data storage in control system to connect with lane center；The lane center keeps control
System processed includes microprocessor and data storage；The microprocessor and data storage is nested in ECU electronic control unit；
The ECU electronic control unit is arranged in the ventilation fan front before copilot room, and microprocessor is with data storage by being arranged in
Harness connection on cabin firewall.
It includes electric boosting steering system and steering system that lane center described in technical solution, which keeps execution system,；Institute
The steering system stated is connected with bridge before motor turning, and electric boosting steering system is mounted in steering system, and electric boosted turn
Pass through harness with steering system to system and lane center keeps the microprocessor in control system to be connected.
Speed control system described in technical solution includes acceleration system and braking system；The acceleration system is by adding
Speed pedal, pedal displacement sensor, engine assembly connection composition, braking system is by brake pedal, brake pipe, master cylinder
It is formed with brake cylinder, acceleration system and braking system pass through the microprocessor in harness and lane center holding control system
It is connected.The early warning system includes vibration of steering wheel actuator, alarm sound actuator and safety belt tightening actuator；Institute
The vibration of steering wheel actuator stated is arranged in diverter jackshaft lower end, and alarm sound actuator is arranged in driver seat back
After left side body trim panel at nearly driver's ear, safety belt tightening actuator is arranged in seat belt retractor.
A kind of the step of described transverse and longitudinal lane center keeping method, is as follows:
1) judgement of system activation condition is kept to a kind of transverse and longitudinal lane center:
(1) judge whether activation system
It is 60km/h~120km/h that a kind of transverse and longitudinal lane center, which keeps system to be preferably applicable in vehicle speed range, works as speed
When lower than 60km/h, a kind of transverse and longitudinal lane center holding system inactive；When speed is higher than 120km/h, a kind of transverse and longitudinal
Lane center keeps system to be automatically closed, and keeps system to close by a kind of transverse and longitudinal lane center of warning reminding driver
It closes；
(2) decision condition that lane center keeps control system is opened
When speed is between 60km/h~120km/h, lane center hold button switch is pressed, described one is activated
Kind transverse and longitudinal lane center keeps system, and otherwise car alarming prompt system is not opened；
2) vehicle and road information detection；
3) judge that vehicle deviates target trajectory situation and controlled；
4) longitudinal direction of car security control.
Vehicle described in technical solution and road information detection refer to:
(1) lane center trajectory line equation is calculated
By the course angle of the CCD camera identification in EMS, transversal displacement, road curvature, work as front truck
The lower road curvature rate of change information of speed can be calculated lane center trajectory line according to Taylor expansion, and according to vehicle condition to vehicle
Road central track trace carries out parameters revision, obtains target trajectory curve of the accurate lane center trajectory line as vehicle, accurate vehicle
Road central track trace equation are as follows:
In formula: dylaneFor target trajectory curve；Y is vehicle away from lane center transversal displacement；ε is vehicle course angle；
dxFor longitudinal driving distance；C0For road curvature；C1For road curvature change rate under current vehicle speed；K is lane correction factor；
(2) vehicle driving trace line equation is calculated
By velocity sensor in vehicle-state detection system, acceleration transducer detection car speed, it is lateral plus
Velocity information calculates vehicle driving trace line, first drafts vehicle and moves in a circle traveling on road, by vehicle running state,
Vehicle movement can be regarded as numerous segment circular motion in real time to be formed by stacking；Regard straight-line travelling as traveling infinite radius
Greatly；It is the circular motion for determining radius that roundabout ahead operating condition, which regards driving trace as,.To estimate real-time vehicle driving trace line.Traveling
Trajectory line radius are as follows:
Wherein: R is vehicle driving trace radius；V is current driving speed；aLateralFor vehicle lateral acceleration.
(3) lane center keeps executing operating condition
It is vehicle driving difference security level region by driveway partition, wherein φ indicates vehicle centroid to lane center track
Line lateral run-out distance；
φ1lIt indicates threshold value on the left of lane center trajectory line, is left side weak domination range；φ1rIndicate lane center trajectory line
Right side threshold value is right side weak domination range；φ2lIt indicates that vehicle deviates and deviates threshold value on the left of left-hand lane trajectory line, for strong control
Range；φ2rIt indicates to deviate threshold value on the right side of automotive run-off-road trajectory line, is the strong control range in right side；ε is vehicle driving course
Angle；
Road range is divided into three kinds of situations to discuss:
1)φ≤φ1lOr φ≤φ1r；
2)φ1l≤φ≤φ2lOr φ1r≤φ≤φ2r；
3)φ≥φ2lOr φ >=φ2r；
(4) demand corner is calculated
Vehicle driving trace line and lane center trajectory line are put into same referential, find out vehicle driving trace line and vehicle
The angle of road central track trace, the coordinate for drafting present position point on vehicle driving trace line is (dy '2, dx '2), currently
For vehicle under the identical position of x-axis numerical value, the coordinate put in lane center trajectory line is (dy2, dx2) it may thereby determine that demand
Corner:
Wherein: Δ is demand corner；dx2Distance is longitudinally estimated for unit time vehicle driving trace；dy2For the unit time
Vehicle driving trace laterally estimates distance；dx2Distance is longitudinally estimated for unit time lane center track；dy2For unit time vehicle
Road centrode laterally estimates distance.
Judgement vehicle described in technical solution deviates target trajectory situation and carries out control and refers to: according to vehicle and road
The positional relationship of vehicle and road can be obtained in the testing result of infomation detection step；It detects vehicle and deviates target trajectory situation, root
It is proceeded as follows according to different situations:
(1) vehicle travels in lane center trajectory line threshold value
Whether detection vehicle travels in lane center trajectory line threshold value, if being travelled in lane center trajectory line threshold value,
That is φ1l>=φ or φ1r>=φ then executes lane center and keeps weak crosswise joint operation, by the demand corner of required low-angle
Δ is converted to steering wheel torque equivalent substitution, requires, reaches to realize to turn to by electric boosting steering system, steering system
Lane center under to weak domination keeps effect, and carries out closed-loop control, is maintained at vehicle in lane center trajectory line threshold value
Traveling executes whether following vehicle driving is more than lane center track when vehicle travels outside lane center trajectory line threshold value
Line alarming line step；
(2) whether vehicle driving is more than lane center trajectory line alarming line
In φ1l< φ or φ1rUnder the premise of < φ, continue to determine whether to meet: φ1l< φ≤φ2lOr φ1r< φ≤
φ2r, illustrate that automotive run-off-road belongs to controlled range if meeting, execute lane center and keep strong crosswise joint operation；It will
The demand corner Δ of required wide-angle, is converted to steering wheel torque equivalent substitution, to by electric boosting steering system, turn to
System realizes to turn to and require that the lane center reached under strong control keeps effect, turns vehicle to lane center trajectory line direction
To, and closed-loop control is carried out, until φ1l>=φ or φ1r>=φ is set up, then returns to the vehicle of execution above in lane center rail
Step is travelled in trace threshold value.
Longitudinal direction of car security control described in technical solution refers to:
(1) judge whether vehicle being capable of safe Turning travel
When deviation distance is more than that threshold value φ is deviateed in left side2lOr threshold value φ is deviateed on right side2rSituation, i.e. φ2l< φ or φ2r<
φ, then it is assumed that exception occurs in vehicle driving, i.e., keeps control system to take the photograph based on the CCD in EMS according to lane center
Acceleration transducer in the road condition information of camera, vehicle-state detection system detects current lateral acceleration aLateralValue
Lateral deviation power is obtained, in conjunction with attachment ellipse law, determines the threshold value F of maximum driving forceT, make driving force threshold value FTAs driving
Force boundary condition, and according to running car equation:
In formula: G is vehicle weight；F is coefficient of rolling friction；α is road grade；CDFor coefficient of air resistance；A is vehicle
Front face area；U is car speed；M is vehicle mass；δ is correction coefficient of rotating mass；T is the time；
The target vehicle speed threshold value of vehicle safe driving can be obtained, i.e. the maximum value of u is umax, pass through vehicle-state detection system
Can velocity sensor monitoring present speed guarantee vehicle with the security requirement of demand corner Turning travel in system；
(2) longitudinal driving speed is in safe range
If speed threshold value umaxVehicle can be reached with the security requirement of demand corner Turning travel, then continue to allow electricity
Dynamic servo steering system, steering system execute lane center and keep operation, export demand steering force, make vehicle steering angle on demand
γ traveling is spent, continues to drive to setting range φ on the right side of lane center trajectory line2rModel is set on the left of interior or lane center trajectory line
Enclose φ2lIt is interior, while the reaction that early warning system makes vibration steering wheel, issues alarm buzzer, safety belt tightening operation is triggered, from
And driver is prompted to carry out vehicle operating；This process is closed-loop control, and CCD camera real-time monitoring vehicle is with the steering of demand corner
Whether reach the strong control range of run-off-road central track trace afterwards, if being more than the strong control range of lane center trajectory line, continues
Execute current operation；Lane center is executed if amendment rear vehicle mass center is within the strong control range of lane center trajectory line to keep
Control returns to step 3 judgement vehicles and deviates target trajectory situation and controlled, step 4 longitudinal direction of car security control；
(3) longitudinal velocity is outside safety traffic range
1) adjusting acceleration system makes vehicle deceleration
For by transverse and longitudinal speed control, in safe range, vehicle first adjusts acceleration system, according to driver intention, driver is light
Accelerator pedal is lifted, the pedal displacement sensor being arranged on pedal transmits signal to related controller by harness, and control is started
Associated components reduce gas oil ratio in machine assembly, reduce engine acting；Reduce throttle opening, vehicle is made by running resistance
Reach slowing effect；
2) adjusting braking system makes vehicle deceleration
Braking system is opened if deceleration is unable to meet demand deceleration, after driver's brake pedal, with system
Brake fluid is output to the brake cylinder being arranged at four wheels by the connected master cylinder of dynamic pedal by brake pipe,
Brake cylinder realizes vehicle braking because the characteristic of structure itself can hinder vehicle wheel rotation using hydraulic coupling, make lateral velocity,
Longitudinal velocity reaches requirements；
3) whether closed-loop control monitoring requirements corner is greater than maximum safe corner
By closed-loop control, velocity sensor continues to monitor present speed, and observing car speed under current road conditions is
It is no to meet safety traffic state, until transverse and longitudinal speed is reduced to safe speed, continue to execute lane keeping operation, make vehicle by
Demand steering angle traveling continues to drive to strong control range φ on the right side of lane center trajectory line2rOr lane center trajectory line is left
The strong control range φ in side2lIt is interior；
4) early warning system is triggered
Triggering early warning system is made a response while executing longitudinal direction of car security control step, and driver is prompted to carry out vehicle
Operation.
Compared with prior art the beneficial effects of the present invention are:
Complete detection is carried out to driving environment, vehicle safety can be improved in the present invention, and is guaranteeing to drive peace
Under the premise of full property, riding comfort is significantly improved:
1. a kind of transverse and longitudinal lane center keeping method of the present invention and its keep system when occur road zig zag,
When speed is excessively high or surface gathered water situation, vehicle safety can be improved, prevent vehicle when running at high speed in order to along vehicle
Road traveling, causes turning amplitude excessive, causes danger；
2. a kind of transverse and longitudinal lane center keeping method of the present invention and its keep system during vehicle deviation rectifying,
Disposably vehicle is not corrected to lane middle position, but incremental be used as by terminal conditions corrects driving trace target,
To significantly improve riding comfort, makes vehicle in turning, can steadily be turned to；
3. holding system described in a kind of transverse and longitudinal lane center keeping method of the present invention and its holding system
It can satisfy and realize operation described in technical solution, there is feasibility.
Detailed description of the invention
The present invention will be further described below with reference to the drawings:
Fig. 1 is the deployment scenarios schematic diagram that a kind of transverse and longitudinal lane center of the present invention keeps system；
Fig. 2 is the schematic block diagram that a kind of transverse and longitudinal lane center of the present invention keeps system structure composition；
Fig. 3 is a kind of flow diagram of transverse and longitudinal lane center keeping method of the present invention；
Fig. 4 is a kind of deviation threshold value schematic diagram of transverse and longitudinal lane center keeping method of the present invention；
Fig. 5 is in a kind of vehicle driving trace line added turning lane of transverse and longitudinal lane center keeping method of the present invention
Heart trajectory line schematic diagram；
Fig. 6 is a kind of safe steering condition determination flow frame of transverse and longitudinal lane center keeping method of the present invention
Figure；
In figure: 100. EMSs, 200. vehicle-state detection systems, 300.HMI system, 400. lane centers are protected
Control system is held, 500. lane centers keep execution system, 600. speed control systems, 700. early warning systems, 01.CCD camera shooting
Machine, 02. velocity sensor, 03. acceleration transducer, 04. yaw-rate sensor, 05. steering wheel torque sensor, 06.
Steering wheel angle sensor, 07. instrument board, 08. turn signal signalling means, 09. lane hold button switching signal device, 10. micro- places
Reason device, 11. data storages, 12. electric boosting steering systems, 13. steering systems, 14. acceleration systems, 15. braking systems,
16. vibration of steering wheel actuator, 17. alarm sound actuators, 18. safety belts tighten actuator.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawing:
Referring to Fig.2, it includes EMS 100, vehicle that a kind of transverse and longitudinal lane center of the present invention, which keeps system,
Condition detecting system 200, HMI system 300, lane center keep control system 400, lane center keep execution system 500,
Speed control system 600 and early warning system 700.
The EMS 100, vehicle-state detection system 200, HMI system 300 belong to identification layer system, know
The lane center of other layer system and control layer keeps control system 400 by being arranged in cabin, in driver's cabin, under body platform
Vehicle electrical harness connection, identification layer system by the information recognized passed in the form of CAN signal lane center keep
Control system 400.EMS 100, vehicle-state detection system 200, HMI system 300 can be acquired as identification layer
The lane center that collected data pass to control layer is kept control system 400 by current driving data out, identification layer.Control
The lane center of layer keeps the lane center of control system 400 and execution level to keep execution system 500, speed control system 600
It is connect with vehicle electrical harness of the early warning system 700 by being arranged in cabin, in driver's cabin, under body platform, lane center
It keeps control system 400 to be output to execution level for signal is controlled, signal is changed into and executes order, makes execution level according in lane
The heart keeps the control result of control system 400 to execute operation, reaches acceleration, deceleration, steering that lane center keeps active control
With the purpose of early warning.
The EMS 100 is made of CCD camera 01.
The video camera 01 is arranged in the top of interior front windshield, and the video camera 01 is by being hidden in interior trim
Harness after plate keeps the microprocessor 10 in control system 400 to connect with lane center；The effect of CCD camera 001 is inspection
Lane line curvature variation under measuring car diatom curvature, current vehicle speed, lane line width, vehicle center apart from two sides lane line away from
From, vehicle course angle and tyre slip angle；
The vehicle-state detection system 200 includes the identical velocity sensor 02 of 4 structures, acceleration transducer
03, yaw-rate sensor 04, steering wheel torque sensor 05 and steering wheel angle sensor 06.
The identical velocity sensor 02 of 4 structures is arranged in the non-rotation of spindle nose of the identical wheel set of 4 structures
On transfer part point, velocity sensor 02 passes through the wheel speed sensors line on the metal plate bracket that is fixed on damper traveller or knuckle
Beam is connect with microprocessor 10, constitutes a part of vehicle-state detection system 200；Velocity sensor 02 is horizontal for real-time monitoring
To speed, longitudinal velocity；
The acceleration transducer 03 and yaw-rate sensor 04 is integrated to be arranged under the left front floor of vehicle body, is passed through
It is arranged in underfloor body harness to connect with microprocessor 10, constitutes a part of vehicle-state detection system 200；Acceleration
Sensor 03 is used for real-time detection vehicle lateral acceleration, longitudinal acceleration；Yaw-rate sensor 04 is used for real-time monitoring
Yaw velocity；
Diverter jackshaft is arranged in after the steering wheel torque sensor 05 and steering wheel angle sensor 06 is integrated
Lower end is connect by being arranged in the body harness at instrument board lower baffle plate with microprocessor 10, constitutes vehicle-state detection system
200 a part；Steering wheel torque sensor 05 is used for real-time monitoring steering wheel torque；Steering wheel angle sensor 06 is for real
When monitoring direction disk corner；
The HMI system 300 includes instrument board 07, turn signal signalling means 08 and lane hold button switching signal device
09；
The instrument board 07 is arranged in driver's cabin at face driver seat, and turn signal signalling means 08 and lane are kept
The equal nested arrangement of push-button switch signal device 09 enables driver to be clearly apparent and currently whether opens turn signal on instrument board 07
Or lane center keeps function, the instrument being connect by being arranged in data storage 11 of the body harness of 07 lower section of instrument board in
Dial plate 07, turn signal signalling means 08 and lane hold button switching signal device 09 constitute vehicle-state detection system 200.
It includes microprocessor 10 and data storage 11 that the lane center, which keeps control system 400,；
The microprocessor 10 and data storage 11 is nested in ECU electronic control unit.
The ECU electronic control unit is arranged in the ventilation fan front before copilot room, microprocessor 10 and data storage
11, which connect and compose lane center by the harness being arranged on cabin firewall, keeps control system 400.
It includes electric boosting steering system 12 and steering system 13 that the lane center, which keeps execution system 500,.
The steering system 13 is to change the mechanism of vehicle traveling direction, and electric boosting steering system 12 is mounted on steering
In system 13, steering system 13 is connected with bridge before motor turning, and electric boosting steering system 12 passes through with steering system 13
Harness is connected with microprocessor 10, and the mesh of crosswise joint is realized according to the reaction that lane center keeps control system 400 to make
's；Guarantee that automobile can carry out Turning travel by driver's will.Electric boosting steering system 12 and steering system 13 are according to lane
Center keep 400 decision of control system as a result, controlling steering torque, to reach correction control action；If current
Corner is less than demand corner, but when using demand corner as steering condition, current vehicle speed is unsatisfactory for security requirement, at this time in lane
The heart keeps the control of system 400 braking system 15 to slow down, and enables the vehicle to drive safely.Vibration of steering wheel actuator 16, report
Alert sound actuator 17 and safety belt tightening actuator 18 be used to reminding in the case where automotive run-off-road threshold value driver into
Row active correction processing.
The speed control system 600 includes acceleration system 14 and braking system 15.
The acceleration system 14 is made of accelerator pedal, pedal displacement sensor, engine assembly connection, and driver steps on
Lower accelerator pedal makes engine do work, and outputs power and drives vehicle wheel rotation, realizes and accelerates.Braking system 15 by brake pedal,
The components such as master cylinder, brake pipe, brake cylinder composition, according to driver's demand, depresses brake pedal with demand force, reaches
Deceleration purpose.Acceleration system 14 is connected by harness and microprocessor 10 with braking system 15, is kept according to lane center
The purpose of longitudinal velocity control is realized in the reaction that control system 400 is made.
The early warning system 700 includes that vibration of steering wheel actuator 16, alarm sound actuator 17 and safety belt are tightened
Actuator 18.
The vibration of steering wheel actuator 16 is arranged in diverter jackshaft lower end, and alarm sound actuator 17 is arranged in
After driver seat back left side body trim panel at nearly driver's ear, safety belt tightening actuator 18 is arranged in safety belt volume
It receives in device, to have the function that remind driver vehicle's run-off-road.
Lane center in a kind of transverse and longitudinal lane center holding system keeps control system 400 to examine by environment
100 input signal of examining system can estimate out the two sides lane line trajectory line under a distance, by two sides lane line tracing point cross
Lane center trajectory line can be averagely obtained to distance weighted, relatively accurate lane center trajectory line is obtained by real-time corrected parameter
Information.Lane center keep control system 400 combine vehicle opposite lane central track trace position, judge vehicle currently whether
It is travelled in lane center trajectory line, to determine how execution subsequent operation.
Lane center in a kind of transverse and longitudinal lane center holding system of the present invention keeps control system 400 to be based on
Car speed, acceleration, yaw velocity, steering wheel torque, the steering wheel angle letter of the offer of vehicle-state detection system 200
Breath, attachment information, information of road surface according to EMS 100 with the current road of the offer of vehicle-state detection system 200,
Judge vehicle under present speed with demand corner Turning travel whether in safe steering condition, if meet adhesion and want
It asks；When the correction operation of lateral direction of car run-off-road is in a safe condition, lane center keeps control system 400 to trigger in lane
The heart keeps execution system 500 to execute correction control operation；It rectifies a deviation and is operated so that vehicle is following when lateral direction of car run-off-road
When steering situation is unsatisfactory for attachment condition, while triggering and keeping control system 400, lane center holding to execute system lane center
The control of system 500, speed control system 600, early warning system 700.
Lane center in a kind of transverse and longitudinal lane center holding system of the present invention keeps control system 400 to be based on
The information that HMI system 300 provides determines that driver's run-off-road center traveling is that human error or driver want change vehicle
Road, after opening active lane holding function, the figure for being considered as driver if opening turn signal is change lane, is not executed
Lane center keeps auxiliary operation；If not opening turn signal, be considered as driver is intended to make vehicle along lane center track
Line traveling executes lane center and keeps operation.The present invention with do not open turn signal, open active lane center keep system,
Driver is intended to continue the condition premised on current lane traveling.
Lane center in a kind of transverse and longitudinal lane center holding system of the present invention keeps control system 400 to pass through
Lane center keeps execution system 500 to execute crosswise joint operation.Judge whether vehicle is travelled by lane center trajectory line, if vehicle
It is travelled in lane center trajectory line threshold value and then to keep weak crosswise joint to travel by current operation；If exceeding lane center track
Line threshold value, then judge whether vehicle centroid reaches deviation threshold value to the laterally offset amount of lane center trajectory line, if not up to inclined
From threshold value, then vehicle executes lane center and keeps laterally control operation by force, and amendment steering wheel torque makes vehicle return to lane center
It is travelled in trajectory line threshold value and along lane center trajectory line；If the laterally offset amount of vehicle centroid to lane center trajectory line is more than
Deviate threshold value, then triggers early warning system 700 and issue lane departur warning, triggering lane center holding execution system 500, amendment side
Draw close vehicle to lane center trajectory line to disk torque, at the same send signal to lane center keep control system 400 into
Row closed-loop control, while lane center keeps control system 400 according to EMS 100, vehicle-state detection system 200
Signal input judge whether current vehicle speed meets safe steering condition, executed if meeting safe steering condition lane center protect
Hold the operation of execution system 500；To continue to travel and slow down when front hook if being unsatisfactory for safe steering condition, to guarantee
Vehicle when corner is turned on demand speed be less than or equal to criticality safety speed.
Lane center in a kind of transverse and longitudinal lane center holding system of the present invention keeps control system 400 to pass through
Speed control system 600 is adjusted current running state, adjusts situation according to driver and makes assistance driver's operation control
System, power-assisted driver make speed drop to safety steering critical speed.Being performed simultaneously lane center keeps 500 demand of execution system to turn
The course changing control at angle.
Lane center in a kind of transverse and longitudinal lane center holding system of the present invention keeps control system 400 to pass through
The reaction that early warning system 700 is made are as follows: vibration of steering wheel actuator 16 carries out vibration of steering wheel, alarm sound actuator 17 issues
Alarm buzzer, safety belt tightening actuator 18 execute safety belt tightening operation, so that driver be prompted to control vehicle
Operation.
Refering to Fig. 3, by being carried out respectively to EMS 100, vehicle-state detection system 200, HMI system 300
Road environment detection, vehicle-state detection, the detection of driver's open function, and 400 pairs of control system inspections are kept by lane center
The data of survey are analyzed and processed, to accurately detect vehicle state in which, and it is inclined to determine whether vehicle lane occurs accordingly
From and whether to carry out lane center and keep control operation, when determining that needing to carry out lane center keeps operation, in lane
The heart keeps execution system 500 to carry out lane center and keeps control model, otherwise continues to test.
A kind of the step of transverse and longitudinal lane center keeping method of the present invention, is as follows:
1. a kind of pair transverse and longitudinal lane center holding system activation condition judgement
Speed is judged first after vehicle launch, activates a kind of transverse and longitudinal lane to determine whether conditions present starts
Center keeps system；
(1) judge whether activation system
A kind of transverse and longitudinal lane center of the present invention keep system be preferably applicable in vehicle speed range be 60km/h~
120km/h, when speed is lower than 60km/h, a kind of transverse and longitudinal lane center holding system inactive；When speed is higher than 120km/h
When, a kind of transverse and longitudinal lane center keeps system to be automatically closed, and passes through a kind of transverse and longitudinal lane center of warning reminding driver
Holding system is turned off；
(2) decision condition that lane center keeps control system is opened
When speed is between 60km/h~120km/h, lane center hold button switch is pressed, described one is activated
Kind transverse and longitudinal lane center keeps system, and otherwise car alarming prompt system is not opened；If transverse and longitudinal lane center keeps system
It opens, is then executed while executing step 1 and judging a kind of transverse and longitudinal active lane center holding system activation condition
Step 2 is vehicle and road information detection, and deviates target trajectory situation step, step 4 for step 3 i.e. detection vehicle and calculate
The demand corner step that lane center is kept does early-stage preparations；
2. vehicle and road information detection
EMS 100, vehicle-state detection system 200 acquire road information, information of vehicles, this process and step
Rapid 1 keeps system activation condition judgment step to carry out simultaneously a kind of transverse and longitudinal lane center；Lane center keeps control system
System 400 based on EMS 100, vehicle-state detection system 200 provide information carry out to lane center trajectory line with
The prediction of vehicle driving trace line, the early-stage preparations function of being kept as lane center；
(1) lane center trajectory line equation is calculated
The course angle that is identified by CCD camera 01 in EMS 100, transversal displacement, road curvature, when
Road curvature rate of change information can be calculated lane center trajectory line according to Taylor expansion under preceding speed, and according to vehicle condition
Parameters revision is carried out to lane center trajectory line, obtains target trajectory curve of the accurate lane center trajectory line as vehicle, essence
True lane center trajectory line equation are as follows:
In formula: dylaneFor target trajectory curve；Y is vehicle away from lane center transversal displacement；ε is vehicle course angle；
dxFor longitudinal driving distance；C0For road curvature；C1For road curvature change rate under current vehicle speed；K is lane correction factor；
(2) vehicle driving trace line equation is calculated
The car speed that is detected by velocity sensor 02 in vehicle-state detection system 200, acceleration transducer 03,
Side acceleration information calculates vehicle driving trace line, first drafts vehicle and moves in a circle traveling on road, passes through vehicle row
State is sailed, vehicle movement can be regarded as numerous segment circular motion in real time and be formed by stacking；Regard straight-line travelling as traveling half
Diameter is infinitely great；It is the circular motion for determining radius that roundabout ahead operating condition, which regards driving trace as,.To estimate real-time vehicle driving trace
Line.Driving trace line radius are as follows:
Wherein: R is vehicle driving trace radius；V is current driving speed；aLateralFor vehicle lateral acceleration.
(3) lane center keeps executing operating condition
It is vehicle driving difference security level region by driveway partition refering to Fig. 4, wherein φ indicates vehicle centroid to lane
Central track trace lateral run-out distance；
φ1lIt indicates threshold value on the left of lane center trajectory line, is left side weak domination range；φ1rIndicate lane center trajectory line
Right side threshold value is right side weak domination range；φ2lIt indicates that vehicle deviates and deviates threshold value on the left of left-hand lane trajectory line, for strong control
Range；φ2rIt indicates to deviate threshold value on the right side of automotive run-off-road trajectory line, is the strong control range in right side；ε is vehicle driving course
Angle.
Road range is divided into three kinds of situations and discussed by the present invention: 1. φ≤φ11Or φ≤φ1r；②φ1l≤φ
≤φ2lOr φ1r≤φ≤φ2r③φ≥φ2lOr φ >=φ2r；
(4) demand corner is calculated
Refering to Fig. 5, vehicle driving trace line and lane center trajectory line are put into same referential, find out vehicle driving rail
The angle of trace and lane center trajectory line, the coordinate for drafting present position point on vehicle driving trace line is (dy '2,
dx′2), for current vehicle under the identical position of x-axis numerical value, the coordinate put in lane center trajectory line is (dy2, dx2) so as to
To determine demand corner:
Wherein: Δ is demand corner；dx′2Distance is longitudinally estimated for unit time vehicle driving trace；dy2For the unit time
Vehicle driving trace laterally estimates distance；dx2Distance is longitudinally estimated for unit time lane center track；dy2For unit time vehicle
Road centrode laterally estimates distance.
According to required demand corner Δ, demand corner is converted into steering wheel torque equivalent substitution, to help by electronic
Power steering system 12, steering system 13 execute steering, achieve the effect that lane center is kept.
3. judging that vehicle deviates target trajectory situation and controlled
It is the testing result of vehicle and road information detecting step according to step 2, the position that vehicle and road can be obtained is closed
System；It detects vehicle and deviates target trajectory situation, proceeded as follows according to different situations:
(1) vehicle travels in lane center trajectory line threshold value
Whether detection vehicle travels in lane center trajectory line threshold value, if being travelled in lane center trajectory line threshold value,
That is φ1l>=φ or φ1r>=φ then executes lane center and keeps weak crosswise joint operation, by the demand corner of required low-angle
Δ is converted to steering wheel torque equivalent substitution, wants to realize to turn to by electric boosting steering system 12, steering system 13
It asks, the lane center reached under weak domination keeps effect, and carries out closed-loop control, and vehicle is made to be maintained at lane center trajectory line threshold
Traveling executes whether following vehicle driving is more than lane center when vehicle travels outside lane center trajectory line threshold value in value
Trajectory line alarming line step；
(2) whether vehicle driving is more than lane center trajectory line alarming line
In φ1l< φ or φ1rUnder the premise of < φ, continue to determine whether to meet: φ1l< φ≤φ2lOr φ1r< φ≤
φ2r, illustrate that automotive run-off-road belongs to controlled range if meeting, execute lane center and keep strong crosswise joint operation；It will
The demand corner Δ of required wide-angle, is converted to steering wheel torque equivalent substitution, to by electric boosting steering system 12, turn
It realizes to turn to system 13 and require, the lane center reached under strong control keeps effect, makes vehicle to lane center trajectory line side
To steering, and closed-loop control is carried out, until φ1l>=φ or φ1r>=φ is set up, then returns to the vehicle of execution above in lane
Step is travelled in heart trajectory line threshold value；
4. longitudinal direction of car security control
(1) judge whether vehicle being capable of safe Turning travel
Refering to Fig. 6, Fig. 6 is that a kind of bottom Fig. 3 dotted box, that is, transverse and longitudinal lane center keeping method safety turns to
The detailed diagram explanation of condition criterion flow diagram.When deviation distance is more than that threshold value φ is deviateed in left side2lOr threshold value is deviateed on right side
φ2rSituation, i.e. φ2l< φ or φ2r< φ, then it is assumed that exception occurs in vehicle driving, i.e., keeps control system according to lane center
It is in 400 road condition informations based on the CCD camera 01 in EMS 100, vehicle-state detection system 200 plus
Velocity sensor 03 detects current lateral acceleration aLateralValue obtains lateral deviation power, in conjunction with attachment ellipse law, determines maximum drive
The threshold value F of powerT, make driving force threshold value FTAs driving force boundary condition, and according to running car equation:
In formula: G is vehicle weight；F is coefficient of rolling friction；α is road grade；CDFor coefficient of air resistance；A is vehicle
Front face area；U is car speed；M is vehicle mass；δ is correction coefficient of rotating mass；T is the time；
The target vehicle speed threshold value of vehicle safe driving can be obtained, i.e. the maximum value of u is umax, pass through vehicle-state detection system
Can velocity sensor 02 monitors present speed in system 200 guarantee vehicle with the security requirement of demand corner Turning travel.
(2) longitudinal driving speed is in safe range
If speed threshold value umaxVehicle can be reached with the security requirement of demand corner Turning travel, then continue to allow electricity
Dynamic servo steering system 12, steering system 13 execute lane center and keep operation, export demand steering force, turn vehicle on demand
It is travelled to angle γ, continues to drive to setting range φ on the right side of lane center trajectory line2rIt is set on the left of interior or lane center trajectory line
Determine range φ2lIt is interior, at the same trigger early warning system 700 make vibration steering wheel, issue alarm buzzer, safety belt tightening operation
Reaction, so that driver be prompted to carry out vehicle operating；This process is closed-loop control, and 01 real-time monitoring vehicle of CCD camera is to need
Whether reach the strong control range of run-off-road central track trace after asking corner to turn to, if being more than that lane center trajectory line controls by force model
It encloses, then continues to execute current operation；Vehicle is executed if amendment rear vehicle mass center is within the strong control range of lane center trajectory line
Road center keeps control, returns to step 3 judgement vehicles and deviates target trajectory situation and controlled, step 4 longitudinal direction of car
Security control.
(3) longitudinal velocity is outside safety traffic range
If speed threshold value cannot be guaranteed that vehicle with this security requirement of demand corner γ Turning travel, slows down
Control, the information obtained at this time according to EMS 100 and vehicle-state detection system 200, can determine maximum transversal
Speed and maximum longitudinal velocity, this process vehicle is with current security condition hard-over γtContinue to travel.
1) adjusting acceleration system 14 makes vehicle deceleration
For by transverse and longitudinal speed control, in safe range, vehicle first adjusts acceleration system 14, according to driver intention, driver
Light lift accelerator pedal, the pedal displacement sensor being arranged on pedal transmit signal to related controller, control hair by harness
Associated components reduce gas oil ratio in motivation assembly, reduce engine acting；Reduce throttle opening, vehicle is made by running resistance
Reach slowing effect；
2) adjusting braking system 15 makes vehicle deceleration
Braking system 15 is opened if deceleration is unable to meet demand deceleration, after driver's brake pedal, with
Brake fluid is output to the braking point being arranged at four wheels by the connected master cylinder of brake pedal by brake pipe
Pump, brake cylinder realize vehicle braking, make lateral speed because the characteristic of structure itself can hinder vehicle wheel rotation using hydraulic coupling
Degree, longitudinal velocity reach requirements；
3) whether closed-loop control monitoring requirements corner is greater than maximum safe corner
By closed-loop control, velocity sensor 02 continues to monitor present speed, observes car speed under current road conditions
Whether the satisfaction state that drives safely continues to execute lane keeping operation, makes vehicle until transverse and longitudinal speed is reduced to safe speed
Steering angle travels on demand, continues to drive to strong control range φ on the right side of lane center trajectory line2rOr lane center trajectory line
The strong control range φ in left side2lIt is interior；
4) early warning system 700 is triggered
Triggering early warning system 700 is made a response while executing step 4, and the reaction made is vibration steering wheel, issues report
Alert buzzer, safety belt tightening operation indicating driver carry out vehicle operating.
It wherein, is closed-loop control for step 4 overall process, whether real-time monitoring vehicle reaches after being turned to demand corner
In the strong control range of lane center trajectory line, if vehicle centroid continues to execute current behaviour outside lane center trajectory line range
Make；Lane center is executed if amendment rear vehicle mass center is within the strong control range of lane center trajectory line and keeps control, is returned
It executes step 2 vehicle and road information detection, step 3 judges that vehicle deviates target trajectory situation and controlled.
The present invention passes through EMS 100,300 pairs of vehicle-state detection system 200, HMI detection system driving feelings
Condition carries out complete detection, will detect signal accordingly and keep control system 400 to carry out calculation process by lane center, and judge vehicle
Whether run-off-road, and by electric boosting steering system 12, steering system 13 control realize lane transverse direction rotary transform tensor,
And the control of vehicle transverse and longitudinal safe speed is realized in the control of speed control system 600, and is alarmed in due course
Prompt；It is closed-loop control that entire lane, which keeps process, and adjusting vehicle in real time and keeping executing in lane center has reality meaning
Justice, and there is certain feasibility.
Claims (10)
1. a kind of transverse and longitudinal lane center keeps system, which is characterized in that a kind of transverse and longitudinal lane center keeps system
Control system is kept including EMS (100), vehicle-state detection system (200), HMI system (300), lane center
(400), lane center keeps execution system (500), speed control system (600) and early warning system (700)；
The EMS (100), vehicle-state detection system (200) and HMI system (300) belong to identification series of strata
System, cabin is interior, driver's cabin is interior, the vehicle electrical harness under body platform and lane center are kept using being arranged in for identification layer system
Control system (400) is connected；Lane center keeps execution system (500), speed control system (600) and early warning system
(700) belong to execution layer system, executing layer system, cabin is interior, driver's cabin is interior, the vehicle under body platform is electrical using being arranged in
Harness keeps control system (400) to be connected with lane center.
2. a kind of transverse and longitudinal lane center described in accordance with the claim 1 keeps system, which is characterized in that the environment measuring
System (100) is made of CCD camera (01)；CCD camera (01) arranges the top of front windshield in the car, video camera
(01) microprocessor (10) in control system (400) is kept to connect with lane center by being hidden in the harness after trim panel.
3. a kind of transverse and longitudinal lane center described in accordance with the claim 1 keeps system, which is characterized in that the vehicle-state
Detection system (200) includes the identical velocity sensor (02) of 4 structures, acceleration transducer (03), yaw velocity sensing
Device (04), steering wheel torque sensor (05) and steering wheel angle sensor (06)；
The spindle nose that the identical velocity sensor (02) of 4 structures is arranged in the identical wheel set of 4 structures is non-rotating
On part, velocity sensor (02) passes through the wheel speed sensors line on the metal plate bracket that is fixed on damper traveller or knuckle
Beam keeps the microprocessor (10) in control system (400) to connect with lane center；
The acceleration transducer (03) and yaw-rate sensor (04) is integrated to be arranged under the left front floor of vehicle body, is passed through
It is arranged in underfloor body harness and keeps the microprocessor (10) in control system (400) to connect with lane center；
Diverter jackshaft is arranged in after the steering wheel torque sensor (05) and steering wheel angle sensor (06) is integrated
Lower end, steering wheel torque sensor (05) and steering wheel angle sensor (06) pass through the vehicle body that is arranged at instrument board lower baffle plate
Harness is connect with microprocessor (10).
4. a kind of transverse and longitudinal lane center described in accordance with the claim 1 keeps system, which is characterized in that the HMI system
It (300) include instrument board (07), turn signal signalling means (08) and lane hold button switching signal device (09)；
The instrument board (07) is arranged in driver's cabin at face driver seat, and turn signal signalling means (08) and lane are kept
On instrument board (07), turn signal signalling means (08) and lane hold button switch push-button switch signal device (09) nested arrangement
Signalling means (09) keeps the number in control system (400) by the body harness and lane center that are arranged in below instrument board (07)
It is connected according to memory (11)；
It includes microprocessor (10) and data storage (11) that the lane center, which keeps control system (400),；
The microprocessor (10) and data storage (11) is nested in ECU electronic control unit；
The ECU electronic control unit is arranged in the ventilation fan front before copilot room, microprocessor (10) and data storage
(11) it is connected by the harness being arranged on cabin firewall.
5. a kind of transverse and longitudinal lane center described in accordance with the claim 1 keeps system, which is characterized in that the lane center
Keeping execution system (500) includes electric boosting steering system (12) and steering system (13)；
The steering system (13) is connected with bridge before motor turning, and electric boosting steering system (12) is mounted on steering system
(13) on, electric boosting steering system (12) and steering system (13) keep control system by harness and lane center
(400) microprocessor (10) in is connected.
6. a kind of transverse and longitudinal lane center described in accordance with the claim 1 keeps system, which is characterized in that the speed control
System (600) includes acceleration system (14) and braking system (15)；
The acceleration system (14) is made of accelerator pedal, pedal displacement sensor, engine assembly connection, braking system
(15) it is made of brake pedal, brake pipe, master cylinder and brake cylinder, acceleration system (14) and braking system (15) are logical
It crosses harness and keeps the microprocessor (10) in control system (400) to be connected with lane center.
The early warning system (700) includes that vibration of steering wheel actuator (16), alarm sound actuator (17) and safety belt are received
Tight actuator (18)；
The vibration of steering wheel actuator (16) is arranged in diverter jackshaft lower end, and alarm sound actuator (17) is arranged in
After driver seat back left side body trim panel at nearly driver's ear, safety belt tightening actuator (18) is arranged in safety belt
In coiler.
7. a kind of transverse and longitudinal lane center keeping method, which is characterized in that a kind of transverse and longitudinal lane center keeping method
The step of it is as follows:
1) judgement of system activation condition is kept to a kind of transverse and longitudinal lane center:
(1) judge whether activation system
It is 60km/h~120km/h that a kind of transverse and longitudinal lane center, which keeps system to be preferably applicable in vehicle speed range, when speed is lower than
When 60km/h, a kind of transverse and longitudinal lane center holding system inactive；When speed is higher than 120km/h, a kind of transverse and longitudinal lane
Center keeps system to be automatically closed, and keeps system to be turned off by a kind of transverse and longitudinal lane center of warning reminding driver；
(2) decision condition that lane center keeps control system is opened
When speed is between 60km/h~120km/h, lane center hold button switch is pressed, a kind of cross is activated
Longitudinal lane center keeps system, and otherwise car alarming prompt system is not opened；
2) vehicle and road information detection；
3) judge that vehicle deviates target trajectory situation and controlled；
4) longitudinal direction of car security control.
8. a kind of transverse and longitudinal lane center keeping method according to claim 7, which is characterized in that the vehicle and road
Road infomation detection refers to:
(1) lane center trajectory line equation is calculated
The course angle that is identified by CCD camera (01) in EMS (100), transversal displacement, road curvature, when
Road curvature rate of change information can be calculated lane center trajectory line according to Taylor expansion under preceding speed, and according to vehicle condition
Parameters revision is carried out to lane center trajectory line, obtains target trajectory curve of the accurate lane center trajectory line as vehicle, essence
True lane center trajectory line equation are as follows:
In formula: dylaneFor target trajectory curve；Y is vehicle away from lane center transversal displacement；ε is vehicle course angle；dxFor
Longitudinal driving distance；C0For road curvature；C1For road curvature change rate under current vehicle speed；K is lane correction factor；
(2) vehicle driving trace line equation is calculated
Pass through the vehicle speed of velocity sensor (02), acceleration transducer (03) detection in vehicle-state detection system (200)
Degree, side acceleration information calculate vehicle driving trace line, first draft vehicle and move in a circle traveling on road, pass through vehicle
Driving status can regard vehicle movement as numerous segment circular motion in real time and be formed by stacking；Regard straight-line travelling as traveling
Infinite radius is big；It is the circular motion for determining radius that roundabout ahead operating condition, which regards driving trace as,.To estimate real-time vehicle traveling rail
Trace.Driving trace line radius are as follows:
Wherein: R is vehicle driving trace radius；V is current driving speed；aLateralFor vehicle lateral acceleration.
(3) lane center keeps executing operating condition
It is vehicle driving difference security level region by driveway partition, wherein φ indicates that vehicle centroid is horizontal to lane center trajectory line
To deviation distance；
φ1lIt indicates threshold value on the left of lane center trajectory line, is left side weak domination range；φ1rIt indicates on the right side of lane center trajectory line
Threshold value is right side weak domination range；φ2lIt indicates that vehicle deviates and deviates threshold value on the left of left-hand lane trajectory line, be strong control range；
φ2rIt indicates to deviate threshold value on the right side of automotive run-off-road trajectory line, is the strong control range in right side；ε is vehicle driving course angle；
Road range is divided into three kinds of situations to discuss:
1)φ≤φ1lOr φ≤φ1r；
2)φ1l≤φ≤φ2lOr φ1r≤φ≤φ2r；
3)φ≥φ2rOr φ >=φ2r；
(4) demand corner is calculated
Vehicle driving trace line and lane center trajectory line are put into same referential, found out in vehicle driving trace line and lane
The angle of heart trajectory line, the coordinate for drafting present position point on vehicle driving trace line is (dy '2, dx '2), current vehicle
Under the identical position of x-axis numerical value, the coordinate put in lane center trajectory line is (dy2, dx2) it may thereby determine that demand corner:
Wherein: Δ is demand corner；dx′2Distance is longitudinally estimated for unit time vehicle driving trace；dy′2For unit time vehicle
Driving trace laterally estimates distance；dx2Distance is longitudinally estimated for unit time lane center track；dy2For unit time lane
Centrode laterally estimates distance.
9. a kind of transverse and longitudinal lane center keeping method according to claim 7, which is characterized in that the judgement vehicle
Deviate target trajectory situation and carry out control and refers to:
According to the testing result of vehicle and road information detecting step, the positional relationship of vehicle and road can be obtained；Detect vehicle
Deviate target trajectory situation, proceeded as follows according to different situations:
(1) vehicle travels in lane center trajectory line threshold value
Whether detection vehicle travels in lane center trajectory line threshold value, if travelling in lane center trajectory line threshold value, i.e. φ1l
>=φ or φ1r>=φ then executes lane center and keeps weak crosswise joint operation, by the demand corner Δ of required low-angle, conversion
For steering wheel torque equivalent substitution, requires, reach to realize to turn to by electric boosting steering system (12), steering system (13)
Lane center under to weak domination keeps effect, and carries out closed-loop control, is maintained at vehicle in lane center trajectory line threshold value
Traveling executes whether following vehicle driving is more than lane center track when vehicle travels outside lane center trajectory line threshold value
Line alarming line step；
(2) whether vehicle driving is more than lane center trajectory line alarming line
In φ1l< φ or φ1rUnder the premise of < φ, continue to determine whether to meet: φ1l< φ≤φ2lOr φ1r< φ≤φ2r,
Illustrate that automotive run-off-road belongs to controlled range if meeting, executes lane center and keep strong crosswise joint operation；It will be required
The demand corner Δ of wide-angle, is converted to steering wheel torque equivalent substitution, to by electric boosting steering system (12), turn to
System (13) realizes to turn to and require that the lane center reached under strong control keeps effect, makes vehicle to lane center trajectory line side
To steering, and closed-loop control is carried out, until φ1l>=φ or φ1r>=φ is set up, then returns to the vehicle of execution above in lane
Step is travelled in heart trajectory line threshold value.
10. a kind of transverse and longitudinal lane center keeping method according to claim 7, which is characterized in that the vehicle is vertical
Refer to security control:
(1) judge whether vehicle being capable of safe Turning travel
When deviation distance is more than that threshold value φ is deviateed in left side2lOr threshold value φ is deviateed on right side2rSituation, i.e. φ2l< φ or φ2r< φ, then
It is abnormal to think that vehicle driving occurs, i.e., keeps control system (400) to be based in EMS (100) according to lane center
Acceleration transducer (03) detection in the road condition information of CCD camera (01), vehicle-state detection system (200) is current
Transverse acceleration aLateralValue obtains lateral deviation power, in conjunction with attachment ellipse law, determines the threshold value F of maximum driving forceT, make to drive
Power threshold value FTAs driving force boundary condition, and according to running car equation:
In formula: G is vehicle weight；F is coefficient of rolling friction；α is road grade；CDFor coefficient of air resistance；A be vehicle windward
Area；U is car speed；M is vehicle mass；δ is correction coefficient of rotating mass；T is the time；
The target vehicle speed threshold value of vehicle safe driving can be obtained, i.e. the maximum value of u is umax, pass through vehicle-state detection system
(200) can velocity sensor (02) monitoring present speed guarantee vehicle with the security requirement of demand corner Turning travel in；
(2) longitudinal driving speed is in safe range
If speed threshold value umaxVehicle can be reached with the security requirement of demand corner Turning travel, then continue to allow electronic help
Power steering system (12), steering system (13) execute lane center and keep operation, export demand steering force, turn vehicle on demand
It is travelled to angle γ, continues to drive to setting range φ on the right side of lane center trajectory line2rIt is set on the left of interior or lane center trajectory line
Determine range φ2lIt is interior, while triggering early warning system (700) and making vibration steering wheel, issue alarm buzzer, safety belt tightening operation
Reaction, thus prompt driver carry out vehicle operating；This process is closed-loop control, CCD camera (01) real-time monitoring vehicle
Whether reach the strong control range of run-off-road central track trace after turning to demand corner, if being more than that lane center trajectory line is controlled by force
Range processed, then continue to execute current operation；It is held if amendment rear vehicle mass center is within the strong control range of lane center trajectory line
Runway center keeps control, returns to step 3 judgement vehicles and deviates target trajectory situation and controlled, step 4 vehicle
Longitudinal security control；
(3) longitudinal velocity is outside safety traffic range
1) adjusting acceleration system makes vehicle deceleration
For by transverse and longitudinal speed control, in safe range, vehicle first adjusts acceleration system (14), and according to driver intention, driver is light
Accelerator pedal is lifted, the pedal displacement sensor being arranged on pedal transmits signal to related controller by harness, and control is started
Associated components reduce gas oil ratio in machine assembly, reduce engine acting；Reduce throttle opening, vehicle is made by running resistance
Reach slowing effect；
2) adjusting braking system makes vehicle deceleration
Braking system (15) are opened if deceleration is unable to meet demand deceleration, after driver's brake pedal, with system
Brake fluid is output to the brake cylinder being arranged at four wheels by the connected master cylinder of dynamic pedal by brake pipe,
Brake cylinder realizes vehicle braking because the characteristic of structure itself can hinder vehicle wheel rotation using hydraulic coupling, make lateral velocity,
Longitudinal velocity reaches requirements；
3) whether closed-loop control monitoring requirements corner is greater than maximum safe corner
By closed-loop control, velocity sensor (02) continues to monitor present speed, and observing car speed under current road conditions is
It is no to meet safety traffic state, until transverse and longitudinal speed is reduced to safe speed, continue to execute lane keeping operation, make vehicle by
Demand steering angle traveling continues to drive to strong control range φ on the right side of lane center trajectory line2rOr lane center trajectory line is left
The strong control range φ in side2lIt is interior；
4) early warning system is triggered
Triggering early warning system (700) is made a response while executing longitudinal direction of car security control step, and driver is prompted to carry out vehicle
Operation.
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