CN209921295U - Transverse and longitudinal lane center keeping system - Google Patents
Transverse and longitudinal lane center keeping system Download PDFInfo
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- CN209921295U CN209921295U CN201920828072.3U CN201920828072U CN209921295U CN 209921295 U CN209921295 U CN 209921295U CN 201920828072 U CN201920828072 U CN 201920828072U CN 209921295 U CN209921295 U CN 209921295U
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Abstract
The utility model discloses a transverse and longitudinal lane center keeping system, which aims to solve the problem of vehicle running safety caused by insufficient longitudinal control of the lane center keeping system in the prior art, and comprises an environment detection system, a vehicle state detection system, an HMI system, a lane center keeping control system, a lane center keeping execution system, a speed control system and an early warning system; the environment detection system, the vehicle state detection system and the HMI system belong to an identification layer system, and the identification layer system is connected with the lane center keeping control system by adopting whole vehicle electric wire harnesses which are arranged in an engine room, a cab and under a vehicle body floor; the lane center keeping execution system, the speed control system and the early warning system belong to an execution layer system, and the execution layer system and the lane center keeping control system are connected by adopting whole vehicle electric wire harnesses which are arranged in an engine room, a cab and under a vehicle body floor.
Description
Technical Field
The utility model relates to a belong to the device in car safe driving field, more exactly, the utility model relates to a horizontal vertical lane center keeps system suitable for vehicle.
Background
In a high-speed or similar road environment, when the vehicle is fatigued excessively or runs in a monotonous situation for a long time, the driver is easy to be distracted, the vehicle is prone to deviate from a lane unconsciously, potential safety hazards exist in the running of the vehicle, a lane keeping auxiliary system is brought into effect, and the lane keeping auxiliary system has the function of assisting the driver to keep the vehicle running along the lane, so that the vehicle can run on the road normally and safely. Lane keeping assist systems are divided into two categories: lane keeping assist system (LKA) and lane center keeping system (LCKA). At present, most of automobiles adopt a lane keeping auxiliary system, and a lane center keeping system is developed on the basis of the lane keeping auxiliary system. The basic principle of the lane center keeping system is that a target track for vehicle running is determined by predicting the track of the lane center line, the current motion information of a vehicle is analyzed and fitted to the track of the vehicle, the fitted track of the vehicle and the target track are processed to obtain a required deviation-correcting transverse distance, and torque or a turning angle is applied to a steering wheel to enable the vehicle to return to the center line of the lane, so that the purpose that the center of mass of the vehicle runs along the center line of the lane is achieved.
In the existing real vehicles and papers, the lane keeping assist system only involves the vehicle lateral control operation and does not involve the vehicle longitudinal control operation, and the vehicle longitudinal control concept is introduced only in the case of the lane changing operation, thereby ensuring the safety of the vehicle driving. At present, individual enterprises relate to vehicle longitudinal control in lane center keeping technology, but the longitudinal control degree is only limited to that a camera identifies the speed of a road speed limit sign, and lane keeping speed control is carried out by taking the identified speed limit sign speed as an upper limit to ensure the driving safety of the vehicle. The other safety conditions are not considered, and the default is that under any condition, the lane keeping auxiliary control is carried out according to the speed of the speed limit sign, so that the vehicle can be ensured to run on the road surface safely and stably.
The invention patent CN 105711588A relates to the longitudinal control of a lane keeping assist system, which uses a power steering system and an electronic stability program to cooperatively control a real vehicle, performs vehicle transverse alignment control, uses ESP control to control the longitudinal safety distance of the vehicle, and gives an alarm when appropriate. The safety distance is longitudinally kept from the front vehicle in the driving process of the vehicle, the safety distance loses significance when the front vehicle does not have a target vehicle, the safety hidden danger cannot be guaranteed in the driving process of the vehicle, and the safety hidden danger can be generated due to the driving characteristics of the front vehicle.
The utility model provides a horizontal longitudinal lane center keeps method and lane center and keeps system, the system goes out lane center trajectory line through the change real-time fit of both sides lane line, makes the vehicle travel along lane center trajectory line, when the vehicle deviates from lane center trajectory line, makes the vehicle get back to lane center trajectory line through applying steering wheel torque control steering system. If the operation range of the steering system is within the safe driving range in the deviation rectifying process, the vehicle can safely and comfortably steer; if the road that meets has when the sharp turn, speed is too high or the road surface has the condition such as ponding, the vehicle can have the potential safety hazard, if the steering system operating range is outside safe driving range this moment, the vehicle probably has the dangerous condition that surpasss the adhesion characteristic to take place, can not guarantee that the vehicle is gone safely under this kind of condition, at this moment need drop the vehicle transverse and longitudinal speed earlier to safe speed of a motor vehicle, carry out too much demand and turn to make the vehicle can the safe and stable deviation rectifying travel. And the vehicle continues to run along the center of the lane on the premise of ensuring the safe running of the vehicle.
Disclosure of Invention
The utility model aims to solve the technical problem that the not enough vehicle that leads to of lane center keeping system longitudinal control that has overcome prior art existence goes the safety problem, the utility model provides a horizontal and vertical lane center keeping system.
In order to solve the technical problem, the utility model discloses an adopt following technical scheme to realize: the transverse and longitudinal lane center keeping system comprises an environment detection system, a vehicle state detection system, an HMI system, a lane center keeping control system, a lane center keeping execution system, a speed control system and an early warning system;
the environment detection system, the vehicle state detection system and the HMI system belong to an identification layer system, and the identification layer system is connected with a lane center keeping control system by adopting a whole vehicle electric wire harness arranged in a cabin, in a cab and under a vehicle body floor; the lane center keeping execution system, the speed control system and the early warning system belong to an execution layer system, and the execution layer system is connected with the lane center keeping control system by adopting whole vehicle electric wire harnesses which are arranged in an engine room, a cab and under a vehicle body floor.
The environment detection system in the technical scheme is composed of a CCD camera; the CCD camera is arranged above a front windshield in the vehicle, and the camera is connected with a microprocessor in the lane center keeping control system through a wire harness hidden behind the inner decorative plate.
The vehicle state detection system in the technical scheme comprises 4 speed sensors, an acceleration sensor, a yaw rate sensor, a steering wheel torque sensor and a steering wheel angle sensor which are identical in structure; the 4 speed sensors with the same structure are arranged on non-rotating parts of shaft heads of the 4 wheel assemblies with the same structure, and the speed sensors are connected with a microprocessor in a lane center keeping control system through wheel speed sensor wiring harnesses on a sheet metal bracket fixed on a shock absorber sliding column or a steering knuckle; the acceleration sensor and the yaw rate sensor are integrally arranged under the left front floor of the vehicle body and are connected with a microprocessor in the lane center keeping control system through a vehicle body wiring harness arranged under the floor; the steering wheel torque sensor and the steering wheel corner sensor are integrated and then arranged at the lower end of a middle shaft of the steering gear, and are connected with the microprocessor through a vehicle body wire harness arranged at a baffle below the instrument board.
The HMI system in the technical proposal comprises an instrument panel, a turn light annunciator and a lane keeping button switch annunciator; the instrument panel is arranged in the cab and right faces a driver seat, the turn light annunciator and the lane keeping button switch annunciator are both arranged on the instrument panel in a nested manner, and the turn light annunciator and the lane keeping button switch annunciator are connected with a data memory in the lane central keeping control system through a vehicle body wiring harness arranged below the instrument panel; the lane center keeping control system comprises a microprocessor and a data memory; the microprocessor and the data memory are nested in the ECU; the ECU is arranged in front of the ventilation fan in front of the copilot cab, and the microprocessor is connected with the data memory through a wire harness arranged on the firewall of the engine room.
The lane center keeping execution system in the technical scheme comprises an electric power steering system and a steering system; the steering system is connected with a steering front axle of the automobile, the electric power steering system is arranged on the steering system, and the electric power steering system and the steering system are connected through a wire harness and a microprocessor in the lane center keeping control system.
The speed control system in the technical scheme comprises an acceleration system and a brake system; the accelerating system is formed by connecting an accelerating pedal, a pedal displacement sensor and an engine assembly, the braking system is formed by a brake pedal, a brake oil pipe, a brake master cylinder and a brake cylinder, and the accelerating system and the braking system are connected through a wire harness and a microprocessor in the lane center keeping control system. The early warning system comprises a steering wheel vibration actuator, an alarm sound actuator and a safety belt tightening actuator; the steering wheel vibration actuator is arranged at the lower end of a middle shaft of the steering gear, the alarm sound actuator is arranged at a position close to the ears of a driver behind an automobile body interior trim panel on the left side of the backrest of the driver seat, and the safety belt tightening actuator is arranged in the safety belt retractor.
Compared with the prior art, the beneficial effects of the utility model are that:
detect driving environment comprehensively, the utility model discloses can improve the vehicle security of traveling to under the prerequisite of driving the security is guaranteed, showing and improving the riding comfort:
1. the utility model discloses a method for keeping the center of a transverse and longitudinal lane and a keeping system thereof can improve the running safety of a vehicle when a road sharply turns, the speed is too high or the road surface is ponding, and prevent the vehicle from running along the lane when running at high speed, so that the turning amplitude is too large and danger is caused;
2. the utility model discloses a horizontal longitudinal lane center keeps method and system is at the vehicle in-process of rectifying a deviation, do not once only correct the vehicle to the lane intermediate position, but step by step according to the boundary condition as correcting the orbit target of going, thus show and improve and take the travelling comfort, make the vehicle under the circumstances of turning, can turn to steadily;
3. a method for keeping the center of a transverse and longitudinal lane and a keeping system thereof, wherein the keeping system can satisfy the operation in the technical scheme, and the feasibility is provided.
Drawings
The invention will be further described with reference to the accompanying drawings:
fig. 1 is a schematic view illustrating the arrangement of a transverse and longitudinal lane center keeping system according to the present invention;
fig. 2 is a schematic block diagram of the structural components of a transverse and longitudinal lane center keeping system according to the present invention;
fig. 3 is a block diagram illustrating a flow of a method for maintaining the center of a longitudinal and transverse lane according to the present invention;
fig. 4 is a schematic diagram of lane departure threshold values of a method for keeping the center of a transverse lane and a longitudinal lane according to the present invention;
FIG. 5 is a schematic diagram of a vehicle driving trajectory turning lane center trajectory according to the method for maintaining the center of a longitudinal and transverse lane according to the present invention;
fig. 6 is a block diagram illustrating a safe steering condition determination process of the method for maintaining the center of a transverse lane and a longitudinal lane according to the present invention;
in the figure: 100. the system comprises an environment detection system, 200 a vehicle state detection system, 300 an HMI system, 400 a lane center keeping control system, 500 a lane center keeping execution system, 600 a speed control system, 700 an early warning system, 01 a CCD camera, 02 a speed sensor, 03 an acceleration sensor, 04 a yaw rate sensor, 05 a steering wheel torque sensor, 06 a steering wheel corner sensor, 07 an instrument panel, 08 a steering lamp annunciator, 09 a lane keeping button switch annunciator, 10 a microprocessor, 11 a data storage, 12 an electric power steering system, 13 a steering system, 14 an acceleration system, 15 a brake system, 16 a steering wheel vibration actuator, 17 an alarm sound actuator, 18 a safety belt tightening actuator.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings:
referring to fig. 2, the system for keeping the center of a transverse and longitudinal lane according to the present invention includes an environment detecting system 100, a vehicle state detecting system 200, an HMI system 300, a lane center keeping control system 400, a lane center keeping executing system 500, a speed control system 600 and an early warning system 700.
The environment detection system 100, the vehicle state detection system 200 and the HMI system 300 belong to an identification layer system, the identification layer system is connected with a lane center keeping control system 400 of a control layer through a whole vehicle electric wire harness arranged in a cabin, a cab and under a vehicle body floor, and the identification layer system transmits identified information to the lane center keeping control system 400 in a CAN signal mode. The environment detection system 100, the vehicle state detection system 200, and the HMI system 300 may collect current driving data as a recognition layer, and the recognition layer transmits the collected data to the lane center keeping control system 400 of the control layer. The lane center keeping control system 400 of the control layer is connected with the lane center keeping execution system 500 of the execution layer, the speed control system 600 and the early warning system 700 through the whole vehicle electric wire harnesses which are arranged in the cabin, in the cab and under the floor of the vehicle body, the lane center keeping control system 400 outputs a control signal to the execution layer, the signal is converted into an execution command, the execution layer executes operation according to the control result of the lane center keeping control system 400, and the purposes of acceleration, deceleration, steering and early warning of the lane center keeping active control are achieved.
The environment detecting system 100 is composed of a CCD camera 01.
The camera 01 is arranged above a front windshield in the vehicle, and the camera 01 is connected with a microprocessor 10 in the lane center keeping control system 400 through a wire harness hidden behind an inner decorative plate; the CCD camera 001 is used for detecting lane line curvature, lane line curvature change rate at the current speed, lane line width, distance between the center of the vehicle and lane lines at two sides, vehicle course angle and wheel slip angle;
the vehicle state detection system 200 includes 4 speed sensors 02, an acceleration sensor 03, a yaw rate sensor 04, a steering wheel torque sensor 05, and a steering wheel angle sensor 06, which have the same configuration.
The 4 speed sensors 02 with the same structure are arranged on non-rotating parts of shaft heads of the 4 wheel assemblies with the same structure, and the speed sensors 02 are connected with the microprocessor 10 through wheel speed sensor wiring harnesses fixed on a sheet metal bracket on a shock absorber sliding column or a steering knuckle to form a part of a vehicle state detection system 200; the speed sensor 02 is used for monitoring the transverse speed and the longitudinal speed in real time;
the acceleration sensor 03 and the yaw rate sensor 04 are integrally arranged under the left front floor of the vehicle body, and are connected with the microprocessor 10 through a vehicle body wiring harness arranged under the floor to form a part of the vehicle state detection system 200; the acceleration sensor 03 is used for detecting the transverse acceleration and the longitudinal acceleration of the vehicle in real time; the yaw rate sensor 04 is used for monitoring the yaw rate in real time;
the steering wheel torque sensor 05 and the steering wheel corner sensor 06 are integrated and then arranged at the lower end of a middle shaft of the steering gear, and are connected with the microprocessor 10 through a vehicle body wire harness arranged at a lower baffle of an instrument board to form a part of the vehicle state detection system 200; the steering wheel torque sensor 05 is used for monitoring the steering wheel torque in real time; the steering wheel angle sensor 06 is used for monitoring the steering wheel angle in real time;
the HMI system 300 includes a dashboard 07, a turn signal 08, and a lane keeping button switch signal 09;
the instrument panel 07 is arranged in a cab and directly faces a driver seat, the turn light annunciator 08 and the lane keeping button switch annunciator 09 are both nested on the instrument panel 07, so that the driver can clearly see whether the turn light or the lane center keeping function is started or not, and the vehicle state detection system 200 is formed by the instrument panel 07, the turn light annunciator 08 and the lane keeping button switch annunciator 09, which are connected with the data storage 11 and are arranged below the instrument panel 07, through a vehicle body wiring harness.
The lane center keeping control system 400 comprises a microprocessor 10 and a data memory 11;
the microprocessor 10 and the data memory 11 are nested in the ECU.
The ECU electronic control unit is disposed in front of the ventilation fan in front of the passenger compartment, and the microprocessor 10 and the data storage 11 are connected by a wire harness disposed on the cabin firewall to form a lane center keeping control system 400.
The lane center keeping executing system 500 includes an electric power steering system 12 and a steering system 13.
The steering system 13 is a mechanism for changing the running direction of the automobile, the electric power steering system 12 is arranged on the steering system 13, the steering system 13 is connected with a front steering axle of the automobile, the electric power steering system 12 and the steering system 13 are both connected with the microprocessor 10 through a wire harness, and the purpose of transverse control is realized according to the reaction of the lane center keeping control system 400; ensure that the automobile can steer according to the intention of a driver. The electric power steering system 12 and the steering system 13 control the steering torque according to the decision result of the lane center keeping control system 400, so as to achieve the effect of deviation rectification control; if the current steering angle is smaller than the required steering angle but the required steering angle is taken as a steering condition, the current vehicle speed does not meet the safety requirement, and at the moment, the lane center keeping system 400 controls the brake system 15 to decelerate so that the vehicle can run safely. The steering wheel vibration actuator 16, the alarm sound actuator 17 and the safety belt tightening actuator 18 are used for reminding a driver of performing active deviation correction processing under the condition that the vehicle deviates from a lane threshold value.
The speed control system 600 includes an acceleration system 14 and a braking system 15.
The acceleration system 14 is formed by connecting an accelerator pedal, a pedal displacement sensor and an engine assembly, and a driver steps on the accelerator pedal to enable the engine to do work, so that power is output to drive wheels to rotate, and acceleration is achieved. The brake system 15 is composed of a brake pedal, a brake master cylinder, a brake oil pipe, a brake cylinder and the like, and the brake pedal is stepped on with a demand force according to the demand of a driver so as to achieve the purpose of speed reduction. The accelerator system 14 and the brake system 15 are connected to the microprocessor 10 via a wire harness to achieve longitudinal speed control in response to the lane centering control system 400.
The early warning system 700 includes a steering wheel vibration actuator 16, an alarm sound actuator 17, and a seat belt tightening actuator 18.
The steering wheel vibration actuator 16 is arranged at the lower end of a middle shaft of the steering gear, the alarm sound actuator 17 is arranged at the position close to the ears of a driver behind a vehicle body inner decoration plate on the left side of the backrest of the driver seat, and the safety belt tightening actuator 18 is arranged in the safety belt retractor so as to remind the driver of the vehicle deviating from a lane.
The lane center keeping control system 400 in the transverse and longitudinal lane center keeping system can predict the track lines of the lane lines at two sides at a distance through the input signal of the environment detection system 100, obtain the center track line of the lane by weighted average of the transverse distances of the track points of the lane lines at two sides, and obtain relatively accurate information of the center track line of the lane by correcting parameters in real time. The lane centering control system 400 determines whether the vehicle is currently traveling on the lane center trajectory line in conjunction with the position of the vehicle relative to the lane center trajectory line, thereby determining how to perform the subsequent operation.
The lane center keeping control system 400 in the transverse and longitudinal lane center keeping system according to the present road surface attachment information and road surface information provided by the environment detection system 100 and the vehicle state detection system 200, judges whether the vehicle is driven in the safe steering condition at the present speed by the required steering angle or not, and whether the attachment requirement is satisfied or not, based on the vehicle speed, acceleration, yaw rate, steering wheel torque and steering wheel steering angle information provided by the vehicle state detection system 200; when the deviation rectifying operation of the vehicle transversely deviating from the lane is in a safe state, the lane center keeping control system 400 triggers the lane center keeping execution system 500 to execute the deviation rectifying control operation; when the vehicle deviates from the lane transversely to correct the deviation so that the vehicle can not meet the attachment condition in the next turning condition, the control of the lane center keeping control system 400, the lane center keeping execution system 500, the speed control system 600 and the early warning system 700 is triggered at the same time.
The lane center keeping control system 400 of the transverse and longitudinal lane center keeping system of the present invention determines whether the driver has a human error or wants to change lanes by deviating from the lane center based on the information provided by the HMI system 300, and does not perform the lane center keeping auxiliary operation if the turn signal is turned on after the active lane keeping function is turned on, and the driver is regarded as the lane change lane; if the turn lamp is not turned on, it is considered that the driver's intention is to cause the vehicle to travel along the lane center trajectory line, and the lane center keeping operation is performed. The utility model discloses use not to open the indicator, open active lane center and keep system, driver and want to continue to go along current lane as the prerequisite.
The lane center keeping control system 400 of the transverse and longitudinal lane center keeping system performs the transverse control operation through the lane center keeping executing system 500. Judging whether the vehicle runs according to a lane central track line or not, and keeping weak transverse control running according to the current operation if the vehicle runs within a threshold value of the lane central track line; if the vehicle center trajectory line exceeds the threshold value of the lane center trajectory line, judging whether the lateral offset of the vehicle center of mass to the lane center trajectory line reaches a deviation threshold value, if not, executing a lane center transverse strong control operation by the vehicle, and correcting the torque of a steering wheel to enable the vehicle to return to the threshold value of the lane center trajectory line and run along the lane center trajectory line; if the lateral offset of the center of mass of the vehicle to the central track line of the lane exceeds a deviation threshold, triggering the early warning system 700 to send out lane deviation warning, triggering the lane central keeping execution system 500, correcting the torque of a steering wheel to enable the vehicle to approach to the central track line of the lane, simultaneously sending a signal to the lane central keeping control system 400 for closed-loop control, simultaneously judging whether the current vehicle speed meets a safe steering condition or not by the lane central keeping control system 400 according to the signal input of the environment detection system 100 and the vehicle state detection system 200, and executing the operation of the lane central keeping execution system 500 if the safe steering condition is met; and if the safe steering condition is not met, the vehicle continuously runs at the current steering angle and decelerates to ensure that the speed is less than or equal to the critical safe vehicle speed when the vehicle steers according to the required steering angle.
A lane center among horizontal and vertical lane center holding system keeps control system 400 to adjust current driving state through speed control system 600, makes assistance driver operation control according to the driver adjustment condition, helping hand driver makes speed fall to the critical speed of a motor vehicle of safe steering. While executing the steering control of the lane center holding execution system 500 requiring the turning angle.
The lane center among a horizontal and vertical lane center keeps the system keeps the reaction that control system 400 made through early warning system 700 to do: the steering wheel vibration actuator 16 performs steering wheel vibration, the alarm sound actuator 17 generates alarm buzzing, and the seat belt tightening actuator 18 performs seat belt tightening operation, thereby prompting the driver to perform control operation on the vehicle.
Referring to fig. 3, the environment detection system 100, the vehicle state detection system 200, and the HMI system 300 respectively perform road environment detection, vehicle state detection, and driver on-function detection, and the lane centering control system 400 analyzes and processes the detected data, thereby accurately detecting the state of the vehicle, and accordingly determining whether the vehicle has lane departure and whether a lane centering control operation is to be performed, when it is determined that the lane centering control operation is required, the lane centering execution system 500 performs a lane centering control mode, otherwise, continues the detection.
The steps of a method for keeping the center of a transverse lane and a longitudinal lane are as follows:
1. judging the activation condition of a transverse and longitudinal lane center keeping system
After the vehicle is started, firstly, the vehicle speed is judged to determine whether a transverse and longitudinal lane center keeping system is started and activated under the current condition;
(1) determining whether to activate the system
The preferable applicable vehicle speed range of the transverse and longitudinal lane center keeping system of the utility model is 60 km/h-120 km/h, when the vehicle speed is lower than 60km/h, the transverse and longitudinal lane center keeping system is not activated; when the speed of the vehicle is higher than 120km/h, a transverse and longitudinal lane center keeping system is automatically closed, and a driver is reminded of closing the transverse and longitudinal lane center keeping system through alarming;
(2) determination condition for turning on lane center keeping control system
When the speed is between 60km/h and 120km/h, pressing a lane center keeping button switch to activate the transverse and longitudinal lane center keeping system, otherwise, the vehicle alarm prompting system is not started; if the transverse and longitudinal lane center keeping system is started, executing step 1, namely judging the activation condition of a transverse and longitudinal active lane center keeping system, executing step 2, namely detecting vehicle and road information, and making early preparation for step 3, namely detecting the condition that the vehicle deviates from a target track, and step 4, namely calculating the required corner of lane center keeping;
2. vehicle and road information detection
The environment detection system 100 and the vehicle state detection system 200 collect road information and vehicle information, and the process is carried out simultaneously with the step 1, namely, the step of judging the activation condition of the transverse and longitudinal lane center keeping system; the lane center keeping control system 400 performs prediction of a lane center trajectory line and a vehicle running trajectory line as a preliminary preparation function for lane center keeping based on information provided by the environment detection system 100 and the vehicle state detection system 200;
(1) calculating the lane center trajectory equation
Calculating the lane central track line according to the Taylor expansion by using the course angle, the transverse offset, the road curvature and the road curvature change rate information under the current speed identified by the CCD camera 01 in the environment detection system 100, and performing parameter correction on the lane central track line according to the vehicle condition to obtain the accurate lane central track line as a target track curve of the vehicle, wherein the accurate lane central track line equation is as follows:
in the formula: dylaneA target track curve is obtained; y is the transverse offset of the vehicle from the center line of the lane; epsilon is the vehicle course angle; dxIs the longitudinal travel distance; c0Is the road curvature; c1The road curvature change rate under the current vehicle speed is obtained; k is a lane correction coefficient;
(2) calculating the equation of the vehicle driving trajectory
Calculating a vehicle running track line through vehicle speed and lateral acceleration information detected by a speed sensor 02 and an acceleration sensor 03 in a vehicle state detection system 200, firstly planning a vehicle to run on a road in a circular motion manner, and according to the vehicle running state, considering the vehicle motion as superposition of a plurality of small-segment circular motions in real time; the straight line driving is regarded as infinite driving radius; the rotary island driving working condition is regarded as circular motion with a fixed radius of a driving track. Thereby estimating the real-time vehicle driving track line. The radius of the travel trajectory line is:
wherein: r is the radius of the vehicle running track; v is the current running speed; a isLateralIs the vehicle lateral acceleration.
(3) Lane center keeping performing operation condition
Referring to fig. 4, the lane is divided into regions of different safety levels of vehicle driving, where phi represents the lateral deviation distance from the center of mass of the vehicle to the center trajectory of the lane;
φ1lrepresenting a left threshold value of a lane central track line, which is a left weak control range; phi is a1rRepresenting a right threshold of a lane central track line, which is a right weak control range; phi is a2lThe left deviation threshold value of the trajectory line of the left lane is represented as a strong control range; phi is a2rThe right deviation threshold value of the lane deviation track line of the vehicle is represented and is a right strong control range; and epsilon is the vehicle running heading angle.
The utility model divides the road range into three conditions for discussion, ① phi is less than or equal to phi1lOr phi is less than or equal to phi1r；②φ1l≤φ≤φ2lOr phi1r≤φ≤φ2r③φ≥φ2lOr phi is more than or equal to phi2r；
(4) Calculating a demanded corner
Referring to fig. 5, the vehicle driving trajectory line and the lane center trajectory line are placed in the same reference system, an included angle between the vehicle driving trajectory line and the lane center trajectory line is obtained, and a coordinate of a current position point on the vehicle driving trajectory line is drawn to be (dy'2，dx′2) The coordinate of a point on the central track line of the lane is (dy) when the current vehicle is at the position with the same x-axis value2，dx2) The required turning angle can thus be determined:
wherein: delta is a required rotation angle; dx 'of'2Longitudinally estimating the distance of the vehicle running track in unit time; dy's'2The distance is transversely estimated for the vehicle running track in unit time; dx (x)2Longitudinally estimating the distance of the central track of the lane in unit time; dy2The distance is estimated transversely for the central track of the lane in unit time.
According to the required corner delta, the required corner is converted into equivalent substitution of steering wheel torque, so that the electric power steering system 12 and the steering system 13 are used for steering, and the effect of keeping the lane center is achieved.
3. Judging and controlling the condition that the vehicle deviates from the target track
Obtaining the position relation between the vehicle and the road according to the detection result of the step 2, namely the detection step of the vehicle and the road information; detecting the situation that the vehicle deviates from the target track, and performing the following operations according to different situations:
(1) vehicle travel within lane center trajectory threshold
Detecting whether the vehicle runs within the threshold value of the central track line of the lane, if so, determining that the vehicle runs within the threshold value of the central track line of the lane1lNot less than phi or phi1rIf the vehicle speed is more than or equal to phi, executing the operation of weak transverse control of the center of the lane, converting the required turning angle delta of the required small angle into equivalent substitution of steering wheel torque, so as to realize the steering requirement through the electric power steering system 12 and the steering system 13, achieving the lane center keeping effect under weak control, performing closed-loop control, keeping the vehicle running within the threshold value of the lane center track line, and executing the step of judging whether the following vehicle running exceeds the lane center track line alarm line or not when the vehicle runs outside the threshold value of the lane center track line;
(2) alarm line for judging whether vehicle running exceeds central track line of lane
At phi1l< phi or phi1rOn the premise of phi being less than phi, whether the following conditions are met or not is continuously judged: phi is a1l＜φ≤φ2lOr phi1r＜φ≤φ2rIf the lane departure is met, the lane departure is judged to belong to a controllable range, and strong transverse control operation of lane center keeping is executed; the required rotation angle delta of the large angle is converted into equivalent substitution of steering wheel torque, so that the steering requirement is realized through the electric power steering system 12 and the steering system 13, the lane center keeping effect under strong control is achieved, the vehicle is enabled to steer towards the direction of the lane center track line, closed-loop control is carried out until phi is reached1lNot less than phi or phi1lIf the value is more than or equal to phi, returning to execute the step that the vehicle drives in the central track line threshold of the lane;
4. vehicle longitudinal safety control
(1) Judging whether the vehicle can safely steer to run or not
Referring to fig. 6, fig. 6 is a detailed block diagram illustration of a safe steering condition determination flow diagram of a lowest dotted line block diagram of fig. 3, namely, a method for keeping the center of a transverse lane and a longitudinal lane. When the deviation distance exceeds the left deviation threshold phi2lOr right deviation from threshold phi2rSituation, i.e. + -.)2l< phi or phi2rIf < phi > it is considered that the vehicle is running abnormally, that is, the current lateral acceleration a is detected by the lane center keeping control system 400 based on the road condition information of the CCD camera 01 in the environment detecting system 100, the acceleration sensor 03 in the vehicle state detecting system 200LateralThe lateral bias force is obtained, and the threshold value F of the maximum driving force is determined by combining the law of attachment ellipseTMake the driving force threshold value FTAs a driving force boundary condition, and according to an automobile running equation:
in the formula: g is the vehicle weight; f is the rolling friction coefficient; alpha is the road gradient; cDIs the air resistance coefficient; a is the frontal area of the vehicle; u is the vehicle speed; m is the vehicle mass; delta is a rotating mass conversion coefficient; t is time;
obtaining a target vehicle speed threshold value of safe running of the vehicle, namely the maximum value of u is umaxWhether the current speed can ensure the safety requirement of the vehicle for steering at the required steering angle or not is monitored by the speed sensor 02 in the vehicle state detection system 200.
(2) Longitudinal running speed within a safe range
If the speed threshold umaxThe safety requirement that the vehicle steers at the required steering angle can be met, the electric power steering system 12 and the steering system 13 are continuously enabled to execute the lane center keeping operation, the required steering force is output, the vehicle is enabled to drive according to the required steering angle gamma, and the vehicle continuously drives to the set range phi on the right side of the central track line of the lane2rSet range phi on left side of central track line of inner lane or lane2lSimultaneously triggering early warning system 700 to makeVibrating the steering wheel, sending out alarm buzzing sound and reaction of safety belt tightening operation, thereby prompting a driver to carry out vehicle operation; the process is closed-loop control, the CCD camera 01 monitors whether the vehicle reaches a strong control range of a central track line deviating from a lane after turning at a required corner in real time, and if the strong control range of the central track line of the lane is exceeded, the current operation is continuously executed; and if the corrected vehicle center of mass is within the strong control range of the lane central track line, performing lane center keeping control, returning to the step 3, judging the condition that the vehicle deviates from the target track, controlling, and performing vehicle longitudinal safety control in the step 4.
(3) Longitudinal speed outside the safe driving range
If the speed threshold value can not ensure the safety requirement that the vehicle turns to drive at the required turning angle gamma, the deceleration control is carried out, at the moment, the maximum transverse speed and the maximum longitudinal speed can be determined according to the information obtained by the environment detection system 100 and the vehicle state detection system 200, and the vehicle can turn at the maximum turning angle gamma under the current safety condition in the processtAnd (5) continuing to drive.
1) Adjusting the acceleration system 14 to decelerate the vehicle
In order to control the transverse and longitudinal speed within a safe range, the vehicle firstly adjusts an acceleration system 14, according to the intention of a driver, the driver slightly lifts an accelerator pedal, a pedal displacement sensor arranged on the pedal transmits a signal to a relevant controller through a wire harness, relevant parts in an engine assembly are controlled to reduce oil-gas mixture ratio, and the engine is reduced to do work; the opening of a throttle valve is reduced, and the vehicle achieves the deceleration effect through the running resistance;
2) adjusting the braking system 15 to decelerate the vehicle
If the deceleration can not meet the required deceleration, the braking system 15 is started, after a driver steps on a brake pedal, a brake master cylinder connected with the brake pedal outputs brake fluid to brake cylinders respectively arranged at four wheels through brake oil pipes, and the brake cylinders can block the rotation of the wheels by using hydraulic pressure due to the characteristics of the structure, so that the vehicle is braked, and the transverse speed and the longitudinal speed reach required values;
3) closed-loop control monitoring whether the required corner is larger than the maximum safe corner
Through closed-loop control, the speed sensor 02 continuously monitors the current speed, observes whether the vehicle speed meets the safe driving state under the current road condition or not, continues to execute the road keeping operation until the transverse and longitudinal speeds are all reduced to the safe speed, enables the vehicle to drive according to the required steering angle, and continues to drive to the strong control range phi on the right side of the central track line of the lane2rOr strong control range phi on left side of lane central track line2lInternal;
4) trigger early warning system 700
And (4) triggering the early warning system 700 to react while executing the step 4, wherein the reaction is to shake the steering wheel, send out alarm buzzing sound and prompt a driver to carry out vehicle operation through safety belt tightening operation.
The whole process in the step 4 is closed-loop control, whether the vehicle turns at the required corner and reaches the strong control range of the central track line of the lane is monitored in real time, and if the center of mass of the vehicle is out of the range of the central track line of the lane, the current operation is continuously executed; and if the corrected vehicle center of mass is within the strong control range of the lane central track line, executing lane center keeping control, returning to execute the vehicle and road information detection in the step 2, and judging the condition that the vehicle deviates from the target track in the step 3 and controlling.
The utility model discloses an environment detecting system 100, vehicle state detecting system 200, HMI detecting system 300 detect the driving situation comprehensively, keep control system 400 to carry out the operation processing through lane center with corresponding detected signal, judge whether the vehicle deviates from the lane, and control through electric power assisted steering system 12, steering system 13 and realize the horizontal return of lane and just control, and speed control system 600 control realizes the horizontal vertical safe speed's of vehicle control, and the suggestion of reporting to the police when appropriate; the whole lane keeping process is closed-loop control, real-time adjustment of the vehicle on the lane center keeping execution has practical significance, and certain feasibility is achieved.
Claims (6)
1. A transverse and longitudinal lane center keeping system is characterized by comprising an environment detection system (100), a vehicle state detection system (200), an HMI system (300), a lane center keeping control system (400), a lane center keeping execution system (500), a speed control system (600) and an early warning system (700);
the environment detection system (100), the vehicle state detection system (200) and the HMI system (300) belong to an identification layer system, and the identification layer system is connected with a lane center keeping control system (400) by adopting a whole vehicle electric wire harness arranged in a cabin, in a cab and under a vehicle body floor; the lane center keeping execution system (500), the speed control system (600) and the early warning system (700) belong to an execution layer system, and the execution layer system is connected with the lane center keeping control system (400) by adopting a whole vehicle electric wire harness arranged in an engine room, a cab and under a vehicle body floor.
2. A longitudinal-transverse lane center keeping system according to claim 1, wherein said environment detecting system (100) is comprised of a CCD camera (01); the CCD camera (01) is arranged above a front windshield in the vehicle, and the camera (01) is connected with a microprocessor (10) in the lane center keeping control system (400) through a wire harness hidden behind an inner decoration plate.
3. A center keeping system for a longitudinal and transverse traffic lanes according to claim 1, characterized in that said vehicle condition detecting system (200) comprises 4 identically constructed speed sensors (02), acceleration sensors (03), yaw rate sensors (04), steering wheel torque sensors (05) and steering wheel angle sensors (06);
the 4 speed sensors (02) with the same structure are arranged on non-rotating parts of shaft heads of the 4 wheel assemblies with the same structure, and the speed sensors (02) are connected with a microprocessor (10) in a lane center keeping control system (400) through wheel speed sensor wiring harnesses fixed on a sheet metal bracket on a shock absorber sliding column or a steering knuckle;
the acceleration sensor (03) and the yaw rate sensor (04) are integrally arranged under the left front floor of the vehicle body and are connected with a microprocessor (10) in the lane center keeping control system (400) through a vehicle body wiring harness arranged under the floor;
the steering wheel torque sensor (05) and the steering wheel corner sensor (06) are integrated and then arranged at the lower end of a middle shaft of the steering gear, and the steering wheel torque sensor (05) and the steering wheel corner sensor (06) are connected with the microprocessor (10) through a vehicle body wiring harness arranged at a baffle plate under an instrument panel.
4. A longitudinal-transverse lane center keeping system according to claim 1, wherein said HMI system (300) comprises an instrument panel (07), a turn signal (08) and a lane keeping push button switch signal (09);
the instrument panel (07) is arranged in a cab and directly faces a driver seat, the turn light annunciator (08) and the lane keeping button switch annunciator (09) are all arranged on the instrument panel (07) in a nested mode, and the turn light annunciator (08) and the lane keeping button switch annunciator (09) are connected through a vehicle body wiring harness arranged below the instrument panel (07) and a data memory (11) in the lane center keeping control system (400);
the lane center keeping control system (400) comprises a microprocessor (10) and a data memory (11);
the microprocessor (10) and the data memory (11) are nested in the ECU;
the ECU is arranged in front of a ventilation fan in front of a copilot cab, and the microprocessor (10) is connected with the data memory (11) through a wire harness arranged on a firewall of the cabin.
5. A longitudinal and transverse lane center keeping system according to claim 1, wherein the lane center keeping performing system (500) comprises an electric power steering system (12) and a steering system (13);
the steering system (13) is connected with a steering front axle of the automobile, the electric power steering system (12) is arranged on the steering system (13), and the electric power steering system (12) and the steering system (13) are connected through a wire harness and a microprocessor (10) in the lane center keeping control system (400).
6. A longitudinal-transverse lane center keeping system according to claim 1, wherein said speed control system (600) comprises an acceleration system (14) and a brake system (15);
the accelerating system (14) is formed by connecting an accelerating pedal, a pedal displacement sensor and an engine assembly, the braking system (15) is formed by a brake pedal, a brake oil pipe, a brake master cylinder and a brake cylinder, the accelerating system (14) and the braking system (15) are connected with a microprocessor (10) in the lane center keeping control system (400) through a wire harness,
the early warning system (700) comprises a steering wheel vibration actuator (16), an alarm sound actuator (17) and a safety belt tightening actuator (18);
the steering wheel vibration actuator (16) is arranged at the lower end of a middle shaft of the steering gear, the alarm sound actuator (17) is arranged at the position close to the ears of a driver behind a vehicle body inner decoration plate on the left side of the backrest of the driver seat, and the safety belt tightening actuator (18) is arranged in the safety belt retractor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920828072.3U CN209921295U (en) | 2019-06-03 | 2019-06-03 | Transverse and longitudinal lane center keeping system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920828072.3U CN209921295U (en) | 2019-06-03 | 2019-06-03 | Transverse and longitudinal lane center keeping system |
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| CN209921295U true CN209921295U (en) | 2020-01-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155049A (en) * | 2019-06-03 | 2019-08-23 | 吉林大学 | A kind of transverse and longitudinal lane center keeping method and its keep system |
| CN113492907A (en) * | 2020-04-03 | 2021-10-12 | 郑州宇通客车股份有限公司 | Lane keeping method and system based on multipoint preview |
-
2019
- 2019-06-03 CN CN201920828072.3U patent/CN209921295U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155049A (en) * | 2019-06-03 | 2019-08-23 | 吉林大学 | A kind of transverse and longitudinal lane center keeping method and its keep system |
| CN113492907A (en) * | 2020-04-03 | 2021-10-12 | 郑州宇通客车股份有限公司 | Lane keeping method and system based on multipoint preview |
| CN113492907B (en) * | 2020-04-03 | 2022-10-28 | 宇通客车股份有限公司 | Lane keeping method and system based on multipoint preview |
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