JP2003138954A - Lane follow-up control device - Google Patents
Lane follow-up control deviceInfo
- Publication number
- JP2003138954A JP2003138954A JP2001330791A JP2001330791A JP2003138954A JP 2003138954 A JP2003138954 A JP 2003138954A JP 2001330791 A JP2001330791 A JP 2001330791A JP 2001330791 A JP2001330791 A JP 2001330791A JP 2003138954 A JP2003138954 A JP 2003138954A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- lane
- control device
- modeling
- lane follow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000001514 detection method Methods 0.000 abstract description 4
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- 230000001771 impaired effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- FBOUIAKEJMZPQG-AWNIVKPZSA-N (1E)-1-(2,4-dichlorophenyl)-4,4-dimethyl-2-(1,2,4-triazol-1-yl)pent-1-en-3-ol Chemical compound C1=NC=NN1/C(C(O)C(C)(C)C)=C/C1=CC=C(Cl)C=C1Cl FBOUIAKEJMZPQG-AWNIVKPZSA-N 0.000 description 1
- 101100321669 Fagopyrum esculentum FA02 gene Proteins 0.000 description 1
- 101100340530 Homo sapiens MTIF3 gene Proteins 0.000 description 1
- 101001024616 Homo sapiens Neuroblastoma breakpoint family member 9 Proteins 0.000 description 1
- 102100037013 Neuroblastoma breakpoint family member 9 Human genes 0.000 description 1
- 102100039649 Translation initiation factor IF-3, mitochondrial Human genes 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
【０００１】
【発明の属する技術分野】本発明は、車線追従制御装置
に関し、車両重量やタイヤの接地特性の変化に対して安
定性を損なわずに済むように改良された車線追従制御装
置に関するものである。
【０００２】
【従来の技術】近年、自動車の知能化を向上し、運転者
の負担を軽減するために、自動的に車線を追従する車線
追従制御装置の研究が進められている（特開２００１−
１３４３２０号公報など参照）。この車線追従システム
は、車載カメラがとらえた路面上の白線の画像から現時
点の走行環境を認識すると共に、車両状態量検出手段で
現時点の走行状態を認識し、画像中の白線に対する自車
位置および車両状態量をフィードバックして自動的な車
線追従運動を達成するものである。
【０００３】この車線追従制御には、車両の力学モデル
が必要であり、車両車重、慣性モーメント、重心位置、
車速、タイヤのコーナリングパワー等といった各種の物
理パラメータを予め規定しておく必要がある。
【０００４】
【発明が解決しようとする課題】しかるに、例えば乗車
人員が変化すると車両重量が変化するとか、走行路面の
状況に応じてタイヤの接地特性が変化するとかいった不
確定要素が含まれるため、車両諸元の公称値に基づいて
上記の物理パラメータを規定すると、実際の走行状態に
おいては力学モデル通りの挙動とならないことがある。
このような実際とモデルとの間の誤差が制御に介入する
ことは、車線追従性能の劣化に繋がるので好ましいこと
ではない。
【０００５】本発明は、このような従来技術の問題点を
解消すべく案出されたものであり、その主な目的は、物
理パラメータの変動が車線追従性能の劣化に繋がらずに
済むように改良された車線追従制御装置を提供すること
にある。
【０００６】
【課題を解決するための手段】このような目的を果たす
ために、本発明においては、走行中の道路形状を検出す
る道路形状検出手段と、該道路形状検出手段の出力に基
づいて走行レーンをモデリングする手段と、運動状態量
の検出手段の出力と予め設定された車両諸元とに基づい
て車両の操舵系をモデリングする手段とを有する車線追
従制御装置であって車両諸元の不確かさをモデリングす
る手段を加味したことを特徴とする車線追従制御装置を
提供するものとした。
【０００７】
【発明の実施の形態】以下に添付の図面を参照して本発
明について詳細に説明する。
【０００８】図１は、本発明に基づく車線追従制御装置
が適用された車両の全体的構成を示している。図１にお
いて、車両１の運転席の上方のルーフ下面には、車両前
方の道路を単眼視し、その画像を処理することによって
走行車線を抽出し、その画像データから車線内に於ける
自車の位置並びに方向を判別するためのＣＣＤカメラ２
が取り付けられている。
【０００９】図２に併せて示すように、本発明が適用さ
れる操舵装置は、運転者が操舵するためのステアリング
ホイール６と、ステアリングホイール６に直結されたス
テアリング軸７と、ステアリング軸７の軸端に設けられ
たピニオン８と、これに噛合してピニオン８（即ちステ
アリングホイール６）の回転運動を直線運動に変換する
ためのラックギア９が設けられたラック軸１０と、ラッ
ク軸１０にタイロッド（図示せず）を介して連結された
ナックルアーム１１と、ナックルアーム１１が固設され
たハブキャリア（図示せず）に支持された前輪１２とか
らなっている。また、本操舵装置のステアリング軸７に
は、操舵力を付加するものとしてコグドベルト１３を介
して操舵アクチュエータとしての電動機１４の回転力が
加えられるようになっている。
【００１０】ＣＣＤカメラ２の信号は、付加操舵力設定
手段としての制御ユニット１６に入力され、電動機１４
の出力トルクを制御するための情報として用いられる。
【００１１】カメラ２によって車両前方の路面を撮像す
ると、図３に示すように、道路両端の白線が映るので、
画面上のある固定された複数のｙ座標に対してｘ方向に
走査し、その白線を２本の点列ｌｐｉ〜ｌｐｌ、ｒｐｉ
〜ｒｐｌとして認識する。この２本の点列に対する特徴
点、つまり２本の点列間の中点の点列は次式で定義され
る。
【００１２】
【数１】
【００１３】この特徴点は、前方道路形状に関連するス
カラー値で定義すると次式のように表される。なお、式
（２）中のａｉを変化させることでその車両の操縦性に
関わる特性を変化させることができる。
【００１４】
【数２】
【００１５】この特徴量を時間微分することにより、動
的な走行レーンモデルは次式のように表される。
【００１６】
【数３】
【００１７】このように複数個の特徴点を抽出し、その
Ｘ座標の特徴量を０に収束させるように車両の操舵角を
制御することにより、自動的な車線追従制御を実現し得
る。またこれによれば、車両の付近だけでなく遠方の道
路情報も得られるので、前方の道路形状への対応の柔軟
性の向上を企図し得る。
【００１８】次に、車両モデルは、近似的に平面２自由
度２輪モデル（図４参照）を用いると、次式のように表
される。
【００１９】
【数４】
【００２０】車両重心位置とカメラ２の取付位置とが一
致していると見なすと次式（５）（６）が成り立つの
で、この式（５）（６）を用いて走行レーンモデルの式
（３）と車両モデルの式（４）とを統合すると、車両の
横方向運動制御のための自動操舵系モデルとして式
（７）が得られる。
【００２１】
【数５】
【００２２】
【数６】
【００２３】この式（７）は、道路形状の変化による特
徴量の変化を未知外乱とし、未知外乱があっても特徴量
を０に収束させるように前輪操舵角θＨを決定すること
を意味している。
【００２４】さて、ここで式（７）において、車両重量
ｍおよび／またはコーナリングパワーＫｆ・Ｋｒに不確
かさがあったと仮定すると、この不確かさの数式モデル
は次の式（８）（９）で表される。これはＬＦＴ表現で
は、図５に示すように表現できる。図５において、符号
２２の部分は車重や前後輪のコーナリングパワーの不確
かさ、つまり不明確な部分であり、符号２３の部分は、
車両諸元の不確かさを考慮したモデルである。前輪操舵
角θＨの入力で、道路形状の特徴量Ｘｓｕｍ、つまり車
両が道路幅のどこにいるのかを出力する。
【００２５】
【数７】【００２６】車両諸元の不確かさを考慮した制御対象の
数式モデルである式（８）（９）に基づいて制御仕様を
設定した一般化プラントを図６に示す。なお、図６にお
いて、Ｗ１は道路形状の変化を表現する周波数重みであ
り、ν１、ν２は定数重みであり、入力は前輪操舵角θ
Ｈであり、観測量ｙは特徴量Ｘｓｕｍである。
【００２７】図６の一般化プラントについて、特徴量の
出力Ｘｓｕｍと前輪操舵角の入力θ Ｈとをコントローラ
Ｋで結合した場合、制御系設計は、ＷからＺまでの閉ル
ープ伝達関数において、次式のノルム条件を満たすＫと
スケーリング行列Ｄを見つける問題となる。
【００２８】‖ＤＴＺＷＤ−１‖∞＜１
【００２９】コントローラＫの設計は、ＭＡＴＬＡＢの
μシンセシスツールボックスを用いて行い、その結果導
出された１２次のコントローラを、実装を考慮して平衡
実現により４次に低次元化した。
【００３０】３０ｍ／ｓでの直進走行中に、前方の障害
物を回避する操舵を運転者が行った後、本発明による車
線追従制御装置で自動的に直進状態に復帰させることを
想定して行ったシミュレーション結果を図７に示す。こ
こで不確かさの大きさを、０、１、１．５と変化させた
ところ、本発明を適用した車両重心点の軌跡の変化は図
７（ａ）に示すように、図７（ｂ）に示した本発明を適
用しないものに比し、不確かさの大きさの影響が小さ
く、且つ収束性もより向上していることが分かる。
【００３１】
【発明の効果】このように本発明によれば、車両諸元に
不確かさがある場合でも、車線追従性能を損なわずに済
むので、車線追従制御装置の精度及び安定性を高める上
に多大な効果を奏することができる。DETAILED DESCRIPTION OF THE INVENTION
[0001]
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane following control device.
With respect to changes in vehicle weight and tire contact characteristics.
Lane-tracking control improved so as not to lose qualitative
Related to the location.
[0002]
2. Description of the Related Art In recent years, the intelligence of automobiles has been improved,
Lanes that automatically follow the lane to reduce the burden of traffic
Research on a tracking control device is in progress (Japanese Patent Application Laid-Open No. 2001-2001).
No. 134320). This lane tracking system
Indicates the current time from the white line image on the road surface captured by the onboard camera.
Along with recognizing the driving environment of the point,
Recognizes the current driving condition and the vehicle against the white line in the image
Automatic vehicle with position and vehicle state feedback
This achieves a line following motion.
In this lane tracking control, a dynamic model of a vehicle is used.
Is required, vehicle weight, moment of inertia, center of gravity position,
Various things such as vehicle speed and tire cornering power
It is necessary to define the physical parameters in advance.
[0004]
SUMMARY OF THE INVENTION However, for example,
When the number of people changes, the weight of the vehicle changes.
Such as changes in the grounding characteristics of the tires depending on the situation.
Based on the nominal values of the vehicle specifications,
When the above physical parameters are defined,
May not behave as the dynamic model.
Such an error between the actual and the model intervenes in the control.
This is preferable because it leads to deterioration of lane following performance
is not.
[0005] The present invention addresses these problems of the prior art.
It was devised to solve it, and its main purpose was
Of traffic parameters does not lead to deterioration of lane following performance
To provide an improved lane following control system
It is in.
[0006]
Means for Solving the Problems To achieve such an object
Therefore, in the present invention, the road shape during traveling is detected.
Road shape detecting means, and an output from the road shape detecting means.
Means to model the driving lane based on
Based on the output of the detection means of the
Lane tracking having means for modeling the steering system of a vehicle
Slave controller modeling vehicle specification uncertainty
Traffic lane tracking control device
Provided.
[0007]
BRIEF DESCRIPTION OF THE DRAWINGS FIG.
The details will be described.
FIG. 1 shows a lane tracking control device according to the present invention.
1 shows the overall configuration of a vehicle to which is applied. Figure 1
And on the lower surface of the roof above the driver's seat of the vehicle 1,
By looking at one of the roads monocularly and processing the image
The driving lane is extracted, and from the image data,
CCD camera 2 for determining the position and direction of the vehicle
Is attached.
As shown in FIG. 2, the present invention is applied.
The steering device used is a steering wheel for the driver to steer.
Wheel 6 and a wheel directly connected to the steering wheel 6.
Provided on the steering shaft 7 and at the shaft end of the steering shaft 7
And the pinion 8 meshed with the pinion 8,
Convert the rotary motion of the ringing wheel 6) to linear motion
A rack shaft 10 provided with a rack gear 9 for
To the shaft 10 via tie rods (not shown).
The knuckle arm 11 and the knuckle arm 11 are fixedly provided.
Front wheel 12 supported by a hub carrier (not shown)
It has become. Also, the steering shaft 7 of the steering system
Through the cogged belt 13 to add a steering force
And the rotational force of the electric motor 14 as a steering actuator
Has been added.
The signal of the CCD camera 2 is used to set an additional steering force.
Input to the control unit 16 as a means,
Is used as information for controlling the output torque of the motor.
An image of a road surface ahead of the vehicle is taken by the camera 2.
Then, as shown in FIG. 3, white lines at both ends of the road are reflected,
In the x direction for some fixed y coordinates on the screen
And scans the white line into two pointspi~ Lpl, Rpi
~ RplRecognize as Features for these two point sequences
The point, that is, the middle point sequence between two point sequences, is defined by the following equation.
You.
[0012]
(Equation 1)
[0013] This feature is a feature related to the shape of the road ahead.
When defined by the color value, it is represented by the following equation. Note that the expression
A in (2)iThe vehicle's maneuverability by changing
The properties involved can be changed.
[0014]
(Equation 2)
By time-differentiating this feature, the dynamic
A typical driving lane model is represented by the following equation.
[0016]
[Equation 3]
As described above, a plurality of feature points are extracted, and
The steering angle of the vehicle is adjusted so that the feature amount of the X coordinate converges to 0.
Control can realize automatic lane following control.
You. According to this, not only near vehicles but also on distant roads
Road information can also be obtained, so it is flexible to respond to road shapes ahead
Can be improved.
Next, the vehicle model is approximately plane 2 free.
Using the two-wheel model (see Fig. 4),
Is done.
[0019]
(Equation 4)
The position of the center of gravity of the vehicle and the mounting position of the camera 2 are the same.
If it is assumed that they are satisfied, the following equations (5) and (6) hold.
Then, using the equations (5) and (6), the equation of the traveling lane model
By integrating (3) with equation (4) of the vehicle model,
Formula as an automatic steering system model for lateral motion control
(7) is obtained.
[0021]
(Equation 5)
[0022]
(Equation 6)
This equation (7) is obtained by changing the shape of the road.
The change in the amount of collection is regarded as an unknown disturbance, and even if there is an unknown disturbance, the feature amount
Front wheel steering angle θ so thatHTo determine
Means
Now, in equation (7), the vehicle weight
m and / or cornering power Kf・ KrUncertain
Assuming that there was bulk, a mathematical model of this uncertainty
Is represented by the following equations (8) and (9). This is an LFT expression
Can be expressed as shown in FIG. In FIG.
22 is uncertainty of vehicle weight and cornering power of front and rear wheels
The bulk, that is, the unclear portion, and the portion denoted by reference numeral 23 is
This model takes into account the uncertainties of vehicle specifications. Front wheel steering
Angle θHIs input, the feature quantity X of the road shape is input.sumI.e. the car
Output where both are on the road width.
[0025]
(Equation 7)The control target considering the uncertainty of the vehicle specifications
The control specification is calculated based on the mathematical formulas (8) and (9).
FIG. 6 shows the set generalized plant. Note that FIG.
And W1Is the frequency weight representing the change in road shape.
Ν1, Ν2Is a constant weight, and the input is the front wheel steering angle θ
HAnd the observed quantity y is the feature quantity XsumIt is.
For the generalized plant shown in FIG.
Output XsumAnd input θ of front wheel steering angle HAnd the controller
When coupled with K, the control system design is a closed loop from W to Z.
In the loop transfer function, K satisfying the norm condition
The problem is to find the scaling matrix D.
‖DTZWD-1‖∞ <1
The design of the controller K is based on MATLAB.
using the μ Synthesis Toolbox and
Balance the issued 12th order controller in consideration of the implementation
The fourth order has been reduced by implementation.
Obstruction ahead while traveling straight at 30 m / s
After the driver performs steering to avoid an object, the vehicle according to the present invention
The line following control device automatically returns to the straight running state.
FIG. 7 shows a simulation result obtained on the assumption. This
Here, the magnitude of the uncertainty was changed to 0, 1, and 1.5
However, the change in the locus of the center of gravity of the vehicle to which the present invention is applied is shown in FIG.
As shown in FIG. 7A, the present invention shown in FIG.
The effect of the magnitude of uncertainty is smaller than that of
It can be seen that the convergence is further improved.
[0031]
As described above, according to the present invention, the vehicle specifications
Even if there is uncertainty, the lane following performance is not impaired
In order to improve the accuracy and stability of the lane following control device,
A great effect can be achieved.
【図面の簡単な説明】
【図１】本発明による車線追従制御装置が適用される車
両の構成図
【図２】ず１に示した車両に搭載される操舵装置の概略
構成図
【図３】路面撮像画面の概念図
【図４】車両モデル図
【図５】不確かさのモデル図
【図６】本発明の一般化プラントのブロック図
【図７】シミュレーションによる車両の重心位置の軌跡
線図
【符号の説明】
１ 車両
２ カメラ
１６ 制御ユニットBRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of a vehicle to which a lane tracking control device according to the present invention is applied; FIG. 2 is a schematic configuration diagram of a steering device mounted on the vehicle shown in FIG. 1; Conceptual diagram of road surface imaging screen [Fig. 4] Vehicle model diagram [Fig. 5] Model diagram of uncertainty [Fig. 6] Block diagram of generalized plant of the present invention [Fig. 7] Locus diagram of vehicle center of gravity position by simulation [ DESCRIPTION OF SYMBOLS 1 vehicle 2 camera 16 control unit
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０８Ｇ 1/16 Ｇ０８Ｇ 1/16 Ｃ // Ｂ６２Ｄ 113:00 Ｂ６２Ｄ 113:00 Ｆターム(参考） 3D032 CC05 CC19 CC20 DA03 DA23 DA46 DA82 DA84 DA88 DC38 EB04 3D044 AA21 AB01 AC00 AC26 AC31 AC35 AC55 AC56 AD00 AE01 AE04 AE14 AE21 3G093 AA01 BA23 CB01 CB09 CB10 DB00 DB05 DB18 EB00 EC02 FA02 FA04 FA11 FA12 5H180 AA01 CC04 CC24 LL01 LL09 5H301 AA01 BB20 CC03 CC06 DD01 DD16 EE08 EE12 GG09 HH01 HH04 LL01 LL06 QQ06 ──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) G08G 1/16 G08G 1/16 C // B62D 113: 00 B62D 113: 00 F-term (Reference) 3D032 CC05 CC19 CC20 DA03 DA23 DA46 DA82 DA84 DA88 DC38 EB04 3D044 AA21 AB01 AC00 AC26 AC31 AC35 AC55 AC56 AD00 AE01 AE04 AE14 AE21 3G093 AA01 BA23 CB01 CB09 CB10 DB00 DB05 DB18 EB00 EC02 FA02 FA04 FA11 FA12 5H180 AA01 CC01 CC01 CC DD16 EE08 EE12 GG09 HH01 HH04 LL01 LL06 QQ06
Claims (1)
出手段と、該道路形状検出手段の出力に基づいて走行レ
ーンをモデリングする手段と、運動状態量の検出手段の
出力と予め設定された車両諸元とに基づいて車両の操舵
系をモデリングする手段とを有する車線追従制御装置で
あって車両諸元の不確かさをモデリングする手段を加味
したことを特徴とする車線追従制御装置。Claims: 1. A road shape detecting means for detecting a road shape during traveling, a means for modeling a driving lane based on an output of the road shape detecting means, and a motion state amount detecting means. A lane tracking control device having means for modeling a steering system of a vehicle based on an output and vehicle parameters set in advance, wherein a means for modeling uncertainty of vehicle specifications is added. Tracking control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001330791A JP4050492B2 (en) | 2001-10-29 | 2001-10-29 | Lane tracking control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001330791A JP4050492B2 (en) | 2001-10-29 | 2001-10-29 | Lane tracking control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2003138954A true JP2003138954A (en) | 2003-05-14 |
| JP4050492B2 JP4050492B2 (en) | 2008-02-20 |
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ID=19146463
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001330791A Expired - Fee Related JP4050492B2 (en) | 2001-10-29 | 2001-10-29 | Lane tracking control device |
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| JP (1) | JP4050492B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008072515A1 (en) * | 2006-12-07 | 2008-06-19 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device |
| CN111873991A (en) * | 2020-07-22 | 2020-11-03 | 中国第一汽车股份有限公司 | Vehicle steering control method, device, terminal and storage medium |
| CN112262067A (en) * | 2018-06-11 | 2021-01-22 | 雷诺股份公司 | Method and device for implementing a closed loop of an advanced driving assistance device |
-
2001
- 2001-10-29 JP JP2001330791A patent/JP4050492B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008072515A1 (en) * | 2006-12-07 | 2008-06-19 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device |
| US8401737B2 (en) | 2006-12-07 | 2013-03-19 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device |
| CN112262067A (en) * | 2018-06-11 | 2021-01-22 | 雷诺股份公司 | Method and device for implementing a closed loop of an advanced driving assistance device |
| KR20210018447A (en) * | 2018-06-11 | 2021-02-17 | 르노 에스.아.에스. | Method and apparatus for implementing a closed loop of an intelligent driving assistance device |
| JP2021526101A (en) * | 2018-06-11 | 2021-09-30 | ルノー エス．ア．エス．Ｒｅｎａｕｌｔ Ｓ．Ａ．Ｓ． | Methods and Devices for Implementing Closed Loops in Advanced Driver Assistance Systems |
| JP7118517B2 (en) | 2018-06-11 | 2022-08-16 | ルノー エス．ア．エス． | Methods and devices for implementing closed-loop advanced driver assistance devices |
| KR102523556B1 (en) * | 2018-06-11 | 2023-04-20 | 르노 에스.아.에스. | Method and Apparatus for Implementing Closed Loop of Intelligent Driving Assistance Devices |
| CN111873991A (en) * | 2020-07-22 | 2020-11-03 | 中国第一汽车股份有限公司 | Vehicle steering control method, device, terminal and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4050492B2 (en) | 2008-02-20 |
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