CN114275036B - Automatic lane-changing lateral control system and control method for intelligent vehicle - Google Patents
Automatic lane-changing lateral control system and control method for intelligent vehicle Download PDFInfo
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- CN114275036B CN114275036B CN202210009217.3A CN202210009217A CN114275036B CN 114275036 B CN114275036 B CN 114275036B CN 202210009217 A CN202210009217 A CN 202210009217A CN 114275036 B CN114275036 B CN 114275036B
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses an intelligent vehicle automatic lane-changing lateral control system and a control method. The automatic lane-changing lateral control system of the intelligent vehicle can improve stability and control precision during steering. The control method of the intelligent vehicle automatic lane-changing lateral control system improves the stability and control precision during steering.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an intelligent vehicle automatic lane-changing lateral control system and a control method.
Background
Autopilot is a key technology for realizing intelligent automobiles, intelligent transportation and intelligent internet of vehicles. With the progressive saturation of the development of the traditional automotive industry, autopilot will be a necessary trend in the future of automobile development. Vehicle motion control is classified into longitudinal motion control and lateral motion control. Longitudinal motion control refers to accurate subsequent control of the vehicle speed by controlling a vehicle throttle and a brake; lateral motion control is the tracking of a desired trajectory by controlling the front wheel angle of the vehicle, which is one of the key research issues in intelligent vehicle motion control.
The transverse motion control is based on a lane changing scene, the lane changing scene has more important points and difficulties to be solved, and the lane changing scene needs to consider the surrounding environment factors of the vehicle and the control stability and stability of the vehicle in the lane changing process. Meanwhile, track tracking in a lane change scene is a nonlinear constraint problem, and the requirements on lane change track planning and track tracking are higher. Especially when the road surface condition is poor and the wheels slip, the traffic accident can be caused if the steering angle cannot be controlled rapidly, flexibly and stably according to the real-time condition. In the actual driving process of the automobile, the road condition is complex. Subsystems of the steering system, such as tires, suspensions and EPS, have varying degrees of cohesion. At the same time, each subsystem has its own nonlinear characteristics. It is difficult to obtain better adaptability for horizontal control. And the servo drive motor may be delayed when the steering switching action is made. Accurate control of the rotation angle cannot be ensured.
In addition, the full electric drive controller and the motor operate during the automatic driving, if the main power supply is suddenly damaged to lose power, the main circuit is broken, or the main steering motor controller is suddenly damaged during the driving, the traffic accident is caused if a standby scheme is not available.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an automatic lane-changing lateral control system for an intelligent vehicle, by which stability and control accuracy in steering can be improved.
The invention solves the technical problems by the following technical means:
the invention discloses an intelligent vehicle automatic lane-changing lateral control system and a control method, wherein the intelligent vehicle automatic lane-changing lateral control system comprises a main servo driving motor, a main steering motor controller, a first speed reducer, an angular displacement sensor, a steering system and a transmission part, the steering system comprises a steering wheel, a steering shaft and a steering device, the steering device comprises a steering rocker arm, the steering device is used for changing the rotation of the steering wheel into the swing of the steering rocker arm, the intelligent vehicle automatic lane-changing lateral control system further comprises a transverse controller, the transverse controller comprises a millimeter wave laser radar and a plurality of cameras, the millimeter wave laser radar is arranged around a vehicle body, the cameras are arranged in front of a vehicle head and face the front of the vehicle body to shoot, the angular displacement sensor, the millimeter wave laser radar and the cameras are respectively connected with a circuit of the main steering motor controller, the main steering motor controller is connected with the circuit of the main servo driving motor, the main servo driving motor is in transmission connection with the steering shaft through the first speed reducer, and the angular displacement sensor is arranged on the steering shaft for measuring the rotation angle of the steering shaft.
Further, the steering control device further comprises a second speed reducer, a secondary servo driving motor and a secondary steering motor controller, wherein the secondary steering motor controller is connected with a secondary servo driving motor circuit, the secondary steering motor controller is respectively connected with the millimeter wave laser radar and the camera, and the secondary servo driving motor is in transmission connection with the steering shaft through the second speed reducer.
The power supply system comprises a UPS inverter, a main storage battery, a standby storage battery and a power supply controller, wherein the power supply controller is respectively connected with the UPS inverter, the main storage battery and a main steering motor controller through circuits; and the UPS inverter is also respectively connected with a standby battery and a secondary steering motor controller circuit.
Further, the power supply controller is connected with the UPS inverter through a circuit, and the UPS inverter further comprises a steering lamp switch assembly, wherein the steering lamp switch assembly is connected in series on the circuit, and the steering lamp switch assembly is respectively connected with the auxiliary steering motor controller and the main steering motor controller through signals.
Further, the steering lamp switch assembly is connected with the steering lamp switch assembly, and when the steering lamp switch assembly controls the steering lamp to flash, the electromagnetic clutch is closed, so that the auxiliary servo driving motor is connected with the second speed reducer to transmit power.
The second object of the invention is to provide a control method of the automatic lane-changing lateral control system of the intelligent vehicle, by which the stability and the control precision during steering can be improved.
The invention solves the technical problems by the following technical means:
the invention discloses a control method of an intelligent vehicle automatic lane-changing lateral control system, which comprises the following steps:
s1) when steering, a steering lamp switch controls a steering lamp to be turned on, an electromagnetic clutch is turned on, and meanwhile, a circuit between a power supply controller and a UPS inverter is disconnected;
s2) after a circuit between the power supply controller and the UPS inverter is disconnected, the UPS inverter is communicated with a circuit between the standby battery and the auxiliary steering motor controller;
s3) the auxiliary steering motor controller and the main steering motor controller respectively control the auxiliary servo driving motor and the main servo driving motor to drive the steering shaft to rotate at the same time, so that the control strength and the stability of the steering shaft during steering are improved;
s4) the auxiliary steering motor controller and the auxiliary servo driving motor are mainly used for correcting deviation, and the working method is as follows: when the main steering motor controller controls the main servo driving motor to steer, the auxiliary servo driving motor stops rotating to wait for an instruction, if the wheels slip or turn too much, the main servo driving motor stops continuously driving the steering shaft to steer in the same direction, and at the moment, the auxiliary steering motor controller controls the auxiliary servo driving motor to drive the steering shaft to reversely rotate so as to correct the steering angle, thereby eliminating delay generated when the main servo driving motor is switched in forward and reverse directions, and realizing accurate control on steering.
The third object of the present invention is to provide a control method of an automatic lane-changing lateral control system for an intelligent vehicle, by which traffic accidents caused by loss of power due to damage of a main power supply, disconnection of a main line, or sudden damage of a main steering motor controller can be avoided.
The invention solves the technical problems by the following technical means:
the invention discloses a control method of an intelligent vehicle automatic lane-changing lateral control system, which comprises the following steps:
s1) when the main storage battery suddenly loses power, the electromagnetic clutch is closed, so that the UPS inverter is communicated with a circuit between the standby storage battery and the auxiliary steering motor controller;
s2) the auxiliary steering motor controller controls the auxiliary servo driving motor to work to drive the steering shaft to rotate, so that the safety of automatic driving is improved.
The invention has the beneficial effects that:
1) The intelligent automatic lane-changing lateral control system for the vehicle comprises a transverse controller, wherein the transverse controller can emit electromagnetic waves in a wave band of 1-10 mm through a millimeter wave laser radar, the relative distance and azimuth angle between the vehicle and other objects can be calculated through measuring the frequency change of received reflected signals, the relative speed information of obstacles can be obtained, and whether the phenomenon of drifting and the like occurs when the vehicle turns can be detected by combining with analysis of the road surface moving direction shot by a camera, so that the turning angle can be timely adjusted to avoid accidents.
2) According to the intelligent vehicle automatic lane-changing lateral control system, the second speed reducer, the auxiliary servo driving motor and the auxiliary steering motor controller are arranged, so that delay generated during forward and reverse rotation switching of the main servo driving motor can be eliminated, accurate control and deviation correction of steering are realized, and the action sensitivity and the corresponding speed are improved.
3) The control method of the intelligent vehicle automatic lane-changing lateral control system improves the stability and control precision during steering. In addition, traffic accidents caused by loss of power due to damage of a main power supply, disconnection of a main circuit or sudden damage of a main steering motor controller are avoided.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic diagram of an automatic lane-changing lateral control system for an intelligent vehicle according to the present invention, wherein part of the lane connections are shown in dashed lines;
FIG. 2 is a schematic perspective view of an automatic lane-changing lateral control system for an intelligent vehicle according to the present invention;
FIG. 3 is a circuit connection block diagram of the automatic lane-changing lateral control system of the intelligent vehicle of the present invention.
Detailed Description
The invention will be described in detail below with reference to the attached drawings:
as shown in fig. 1 to 3, the intelligent vehicle automatic lane change lateral control system of the present invention comprises a main servo drive motor 1, a main steering motor controller 6, a first decelerator 2, an angular displacement sensor 5, a steering system including a steering wheel 4, a steering shaft 3, and a steering gear including a steering rocker arm for changing the rotation of the steering wheel into the swing of the steering rocker arm, and a transmission member, and the theoretical calculation method is to obtain the steering resistance torque of the vehicle by the pressure of the tire, the load of the steering shaft 3, and the dynamic friction coefficient between the tire and the ground, and then calculate the actual force applied to the steering mechanism by the transmission ratio.
Still include horizontal controller, horizontal controller includes millimeter wave laser radar 7 and camera 8, millimeter wave laser radar is provided with a plurality ofly, can set up around the automobile body respectively, camera 8 sets up in the locomotive the place ahead and shoots towards the place ahead ground, angular displacement sensor, millimeter wave laser radar and camera respectively with main steering motor controller circuit connection, main steering motor controller and main servo driving motor circuit connection, main servo driving motor is connected with the steering spindle transmission through first reduction gear, angular displacement sensor installs and is used for measuring steering spindle pivoted angle on the steering spindle. The steering system further comprises a second speed reducer 9, a secondary servo driving motor 10 and a secondary steering motor controller 11, wherein the secondary steering motor controller 11 is in circuit connection with the secondary servo driving motor 10, the secondary steering motor controller 11 is respectively connected with the millimeter wave laser radar 7 and the camera 8, and the secondary servo driving motor is in transmission connection with the steering shaft 3 through the second speed reducer 9. Specifically, the radar used in the sensing process is a millimeter wave laser radar, which can emit electromagnetic waves in a wave band of 1-10 mm, and by measuring the frequency change of the received reflected signals, the relative distance and azimuth angle between the automobile and other objects can be calculated, and the relative speed information of the obstacle can be obtained. In general, millimeter waves can detect objects outside 100 meters. The millimeter wave radar has strong stability, can work under severe conditions such as rain, snow, fog and the like, has low cost and has wide application in advanced driving auxiliary systems of automobiles. During automatic driving, the design of the transverse controller can improve the accuracy of the steering angle and can also avoid the occurrence of wheel slip caused by steering.
As a further improvement of the technical scheme, the power supply system further comprises a power supply system, wherein the power supply system comprises a UPS inverter, a main storage battery, a standby storage battery and a power supply controller, and the power supply controller is respectively connected with the UPS inverter, the main storage battery and a main steering motor controller through circuits; and the UPS inverter is also respectively connected with a standby battery and a secondary steering motor controller circuit. The UPS inverter is used for automatically switching the circuit to be connected with the standby battery when the main battery is powered off. The standby battery can avoid traffic accidents caused by main power supply damage and main circuit disconnection in the automatic driving process.
As a further improvement of the technical scheme, the power supply controller is connected with the UPS inverter through a circuit, the UPS inverter further comprises a steering lamp switch assembly, the steering lamp switch assembly is connected with the main steering motor controller, the steering lamp switch assembly is connected in series on the circuit, the steering lamp switch assembly is respectively connected with the auxiliary steering motor controller and the main steering motor controller through signals, and the steering lamp switch assembly is preferentially controlled by the main steering motor controller. Before steering, the main steering motor controller firstly controls the steering lamp switch assembly to turn on the steering lamp, and meanwhile, the circuit between the power supply controller and the UPS inverter is disconnected, so that the standby battery is connected and the auxiliary steering motor controller 11 is started, namely, when large-angle steering is not needed, the auxiliary steering motor controller 11 is in a dormant state.
As a further improvement of the technical scheme, the automobile steering device further comprises an electromagnetic clutch, wherein the electromagnetic clutch is arranged between the auxiliary servo driving motor and the power input and output shaft of the second speed reducer, the electromagnetic clutch is connected with the steering lamp switch assembly, and when the steering lamp switch assembly controls the steering lamp to flash, the electromagnetic clutch is closed to enable the auxiliary servo driving motor to be connected with the second speed reducer for transmitting power. By arranging the electromagnetic clutch, the transmission between the steering shaft 3 and the auxiliary servo driving motor can be disconnected, so that the load of the steering shaft 3 during rotation can be reduced, electric energy can be saved, and the sensitivity of the main servo driving motor can be improved.
The intelligent vehicle automatic lane-changing lateral control system has two control methods, wherein the first method is that under the condition that a main storage battery and a power supply circuit are normal, a main steering motor controller and a main servo driving motor control steering work, and specifically, the following steps are adopted:
s1) when steering, a main steering motor controller controls a steering lamp switch to turn on a steering lamp, at the moment, an electromagnetic clutch is closed, and meanwhile, a circuit between a power supply controller and a UPS inverter is disconnected;
s2) after a circuit between the power supply controller and the UPS inverter is disconnected, the UPS inverter is communicated with a circuit between the standby battery and the auxiliary steering motor controller;
s3) the auxiliary steering motor controller and the main steering motor controller respectively control the auxiliary servo driving motor and the main servo driving motor to drive the steering shaft to rotate at the same time, so that the control strength and the stability of the steering shaft during steering are improved;
s4) the auxiliary steering motor controller and the auxiliary servo driving motor are mainly used for correcting deviation, and the working method is as follows: when the main steering motor controller controls the main servo driving motor to steer, the auxiliary servo driving motor stops rotating to wait for an instruction, if the wheels slip or turn too much, the main servo driving motor stops continuously driving the steering shaft to steer in the same direction, and at the moment, the auxiliary steering motor controller controls the auxiliary servo driving motor to drive the steering shaft to reversely rotate so as to correct the steering angle, thereby eliminating delay generated when the main servo driving motor is switched in forward and reverse directions, and realizing accurate control on steering.
The other control method of the intelligent vehicle automatic lane-changing lateral control system is that under the condition that a main battery is powered off, steering control is completely taken over by a secondary steering motor controller and a secondary servo driving motor, and specifically the following steps are adopted: s1) when the main storage battery suddenly loses power, a steering lamp switch is controlled by a secondary steering motor controller to turn on a steering lamp, so that a UPS inverter is communicated with a circuit between the standby storage battery and the secondary steering motor controller, and an electromagnetic clutch is controlled to be closed to transmit power; s2) the auxiliary steering motor controller controls the auxiliary servo driving motor to work to drive the steering shaft to rotate, so that the safety of automatic driving is improved.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (3)
1. The utility model provides an automatic lane change side direction control system of intelligent vehicle, includes main servo driving motor, main steering motor controller, first reduction gear, angular displacement sensor, steering system and transmission part, steering system includes steering wheel, steering spindle and steering gear, the steering gear includes the steering rocker arm, the steering gear is used for turning into the swing of steering rocker arm with the rotation of steering wheel, its characterized in that: the vehicle steering system also comprises a transverse controller, the transverse controller comprises a plurality of millimeter wave laser radars and cameras, the millimeter wave laser radars are respectively arranged around the vehicle body, the cameras are arranged in front of the vehicle head and face to the front ground for shooting, the angular displacement sensor, the millimeter wave laser radars and the cameras are respectively connected with a main steering motor controller circuit, the main steering motor controller is in circuit connection with a main servo driving motor, the main servo driving motor is in transmission connection with a steering shaft through a first speed reducer, and the angular displacement sensor is arranged on the steering shaft and used for measuring the rotation angle of the steering shaft; the auxiliary steering motor controller is connected with the auxiliary servo driving motor circuit, the auxiliary steering motor controller is respectively connected with the millimeter wave laser radar and the camera, and the auxiliary servo driving motor is in transmission connection with the steering shaft through the second speed reducer; the power supply system comprises a UPS inverter, a main storage battery, a standby storage battery and a power supply controller, wherein the power supply controller is respectively connected with the UPS inverter, the main storage battery and a main steering motor controller through circuits; the UPS inverter is also respectively connected with the standby battery and the auxiliary steering motor controller circuit, and further comprises a steering lamp switch assembly, wherein the steering lamp switch assembly is connected in series with the circuit, and the steering lamp switch assembly is respectively connected with the auxiliary steering motor controller and the main steering motor controller through signals; the auxiliary servo motor is controlled by the auxiliary steering motor controller to drive the steering shaft to reversely rotate so as to correct the steering angle, so that delay generated during forward and reverse rotation switching of the main servo motor is eliminated, and accurate control of steering is realized.
2. The intelligent vehicle automatic lane-changing lateral control system of claim 1, wherein: the electromagnetic clutch is connected with the turn signal lamp switch assembly, and when the turn signal lamp switch assembly controls the turn signal lamp to flash, the electromagnetic clutch is closed to enable the auxiliary servo driving motor to be connected with the second speed reducer for transmitting power.
3. A control method of an automatic lane-changing lateral control system for an intelligent vehicle according to claim 2, comprising the steps of:
s1) when steering, a steering lamp switch controls a steering lamp to be turned on, an electromagnetic clutch is turned on, and meanwhile, a circuit between a power supply controller and a UPS inverter is disconnected;
s2) after a circuit between the power supply controller and the UPS inverter is disconnected, the UPS inverter is communicated with a circuit between the standby battery and the auxiliary steering motor controller;
s3) the auxiliary steering motor controller and the main steering motor controller respectively control the auxiliary servo driving motor and the main servo driving motor to drive the steering shaft to rotate;
s4) the auxiliary steering motor controller and the auxiliary servo driving motor are mainly used for correcting deviation, and the working method is as follows: when the main steering motor controller controls the main servo driving motor to steer, the auxiliary servo driving motor stops rotating to wait for an instruction, if the wheels slip or turn too much, the main servo driving motor stops continuously driving the steering shaft to steer in the same direction, and at the moment, the auxiliary steering motor controller controls the auxiliary servo driving motor to drive the steering shaft to reversely rotate to correct the steering angle, so that delay generated when the main servo driving motor is switched in forward and reverse directions is eliminated, and accurate control of steering is realized.
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| CN202210009217.3A CN114275036B (en) | 2022-01-06 | 2022-01-06 | Automatic lane-changing lateral control system and control method for intelligent vehicle |
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| CN202210009217.3A CN114275036B (en) | 2022-01-06 | 2022-01-06 | Automatic lane-changing lateral control system and control method for intelligent vehicle |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203020367U (en) * | 2012-12-04 | 2013-06-26 | 北汽福田汽车股份有限公司 | Automobile steering system and automobile |
| CN204250150U (en) * | 2014-11-04 | 2015-04-08 | 广西科技大学 | A kind of novel wire-controlled steering system power-off failure protective device |
| CN104960523A (en) * | 2015-06-25 | 2015-10-07 | 奇瑞汽车股份有限公司 | Intelligent lane changing assisting system for intelligent vehicle and control method thereof |
| CN108045430A (en) * | 2018-01-02 | 2018-05-18 | 中国第汽车股份有限公司 | Dual redundant electrically powered steering apparatus using same |
| CN209581609U (en) * | 2019-03-01 | 2019-11-05 | 安徽安凯汽车股份有限公司 | A kind of intelligent steering system |
| CN109910883A (en) * | 2019-04-15 | 2019-06-21 | 一汽解放汽车有限公司 | The holding control device and its method of lane center with redundancy protecting |
| CN214420544U (en) * | 2020-12-18 | 2021-10-19 | 天津电达汽车部件有限公司 | Steer-by-wire EPS controller with two motor safety redundant control |
| CN112810692A (en) * | 2020-12-31 | 2021-05-18 | 北京新能源汽车技术创新中心有限公司 | Redundant power supply based on automobile steering system, power supply topological structure and power supply method |
| CN112918550B (en) * | 2021-03-04 | 2022-06-03 | 重庆邮电大学 | Control method and control system for active steering system of unmanned automobile |
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