TWI645999B - Weighting modulation may change lane model of lateral vehicle control system and method - Google Patents

Weighting modulation may change lane model of lateral vehicle control system and method Download PDF

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Publication number
TWI645999B
TWI645999B TW106139527A TW106139527A TWI645999B TW I645999 B TWI645999 B TW I645999B TW 106139527 A TW106139527 A TW 106139527A TW 106139527 A TW106139527 A TW 106139527A TW I645999 B TWI645999 B TW I645999B
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Taiwan
Prior art keywords
weight
vehicle
lane
steering
control
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TW106139527A
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Chinese (zh)
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TW201922546A (en
Inventor
古昆隴
徐錦衍
林泓邦
張統凱
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財團法人車輛研究測試中心
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Publication of TW201922546A publication Critical patent/TW201922546A/en

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Abstract

The invention provides a vehicle lateral control system capable of re-adjusting a lane change model, comprising a camera, an image processing device, a controller and a steering device, wherein the camera shoots and outputs the front picture data toward the front of the vehicle. The image processing device receives and analyzes the image of the front of the vehicle to obtain a lane feature point, and then establishes a lane fitting curve according to the lane feature point and the preview weight. The controller includes vehicle dynamic parameters and preview distances, and the preview weights vary according to changes in the preview distance. The controller generates the steering control force weight according to the lane fitting curve and the vehicle dynamic parameter calculation. The steering device controls the steering of the vehicle based on the steering control force weight. Thereby, the control force of the steering device intervention can be adjusted by the pre-view weight and the steering control force weight, and the control force can be smoothly switched.

Description

Vehicle lateral control system with weighted variable lane model System and its method

The present invention relates to a vehicle lateral control system and method thereof, and more particularly to a vehicle lateral control system and method thereof for a weight-adjustable lane change model.

The lane line tracking control system is a vehicle control system that detects a lane line using image information obtained from a camera sensor and prevents the vehicle from deviating from the lane line according to the lane line detection result, and may also be referred to as a vehicle lateral control system. The general lane line tracking control system controls the steering by causing the steering control device to generate an auxiliary steering torque, thereby controlling the vehicle to not deviate from the lane line during traveling. In addition, the lane line tracking control system has also developed a road center tracking control system that controls vehicle steering so that the vehicle tracks the road center to implement lane line tracking control.

At present, many vehicle lateral control systems are proposed, but the conventional vehicle lateral control system sets the reference and tracking position that the vehicle needs to track according to the driving tendency of the driver, so the state of the road or the driver is It has a big impact. When the vehicle deviates from the reference tracking position, in order to track the reference tracking position, the system suddenly exerts control and easily causes discomfort to the driver. Furthermore, the traditional vehicle lateral control system uses the lane model of equal weight to calculate the lateral error. In the process of lane curve fitting, lateral errors and inaccuracies are often prone to occur, and this phenomenon will cause the vehicle lateral control system to have The condition of misjudgment. Further, in the prior art, the process of switching the steering control force is prone to occurrence of sudden control force, unsafe conditions caused by sudden control force, and problems affecting the feeling of driving control.

It can be seen that there is a lack of a vehicle lateral control system and method for the weight-adjustable lane change model that can improve the ride comfort, safety and stability of man-machine switching steering control, so the relevant operators are seeking to solve it. The way.

Therefore, the object of the present invention is to provide a vehicle lateral control system and a method thereof, which can adjust the lane change model, and the lane marker can perform weight adjustment according to the required preview distance in the controller, and then perform the curve. The fitting results in a more accurate lane model. In addition, the steering control force weight is adjusted by multiple measures to adjust the control force of the steering device intervention, and can be flexibly adjusted and planned according to the demand, and the control force can be smoothly switched, thereby improving the safety of the switching control right and greatly reducing the safety. Control the adverse effects of driving and uncomfortable feelings. In addition, under the interaction of the target weighting and the steering control power weight, The system can smoothly switch the steering control force to solve the problem that the process of switching the steering control force in the prior art is prone to sudden control force generation, unsafe conditions caused by sudden control force, and problems affecting driving control feeling.

One embodiment of the structural aspect of the present invention provides a vehicle lateral control system that can be used to control a lane change model. The vehicle lateral control system of the weight-adjustable lane change model includes a camera, an image processing device, a controller, and a steering device, wherein the camera is disposed on the vehicle, and the camera photographs and outputs a front image of the vehicle toward the front of the vehicle. The image processing device is connected to the camera, and the image processing device receives and analyzes the front image data to obtain a plurality of lane feature points, and the image processing device establishes a lane fitting curve according to the lane feature point and the preview weight. In addition, the controller signal is coupled to the image processing device and includes a plurality of vehicle dynamic parameters and a preview distance, and the preview weight changes according to the change in the preview distance. The controller generates a steering control force weight according to the lane fitting curve and the vehicle dynamic parameter calculation. As for the steering device, the signal is connected to the controller and is provided on the vehicle, and the steering device controls the steering of the vehicle according to the steering control force weight.

Thereby, the vehicle lateral control system of the weight-adjustable lane model of the present invention adjusts the control force of the steering device intervention through multiple considerations of the steering control force weight, can be flexibly adjusted and planned according to requirements, and can be smoothly switched. Controlling power, thereby improving the safety of switching control rights and greatly reducing the adverse effects of unintended feelings of sudden control on driving.

Other implementations of the foregoing embodiments include: the steering control force weight of the controller may be a lateral offset weight value, and the vehicle and the lane The fitting curves are separated by a lateral offset distance, and the lateral offset weight values are incremented as the lateral offset distance increases. Furthermore, the steering control force weight of the controller may be an estimated over lane line time weight value, and the controller calculates an excess lane line time based on the vehicle speed, acceleration, and yaw rate calculations. When the lane line time is less than or equal to a preset time, the estimated lane line time weight value is equal to 1. Conversely, when the lane line time is greater than the preset time, the estimated lane line time weight value decreases as the lane line time increases. In addition, the steering control force weight of the controller may be determined according to a horizontal offset weight value and a maximum value of an estimated excess lane line time weight value. In addition, the steering control force weight of the controller may include a lateral offset weight value, a first percentage parameter, an estimated excess lane line time weight value, and a second percentage parameter. The steering control weight is equal to the lateral offset weight value multiplied by the first percentage parameter minus the estimated excess lane line time weight value multiplied by the second percentage parameter. The sum of the first percentage parameter and the second percentage parameter is 100%. Furthermore, the steering device may include a current control mechanism, a driving mechanism, and a steering mechanism, wherein the current control mechanism provides a driving current, and the current control mechanism regulates the magnitude of the driving current according to the steering control force weight. The drive mechanism is electrically connected to the current control mechanism and is controlled by the drive current. The steering mechanism is driven by a driving mechanism that controls the steering of the vehicle according to the driving current. Further, the aforementioned drive current may become larger as the steering control force weight increases, and the drive current becomes smaller as the steering control force weight decreases. Additionally, the aforementioned vehicle dynamics parameters may include vehicle speed, acceleration, yaw rate, angle, and driving torque. Furthermore, the preview weight within the aforementioned preview distance may be greater than the preview weight outside the preview distance.

According to an embodiment of the method aspect of the present invention, a vehicle lateral control method capable of adjusting a lane change model is provided for controlling a vehicle, and the vehicle lateral control method for the weight-adjustable lane model includes a front view of the vehicle , image processing steps, control force weight generation steps, and vehicle steering control steps. The front screen capture step provides a camera to photograph the front of the vehicle and output a pre-vehicle picture data. The image processing step provides an image processing device for receiving and analyzing the image of the front of the vehicle to obtain a plurality of lane feature points, and establishing a lane fitting curve according to the lane feature points and a preview weight. In addition, the control force weight generating step provides a controller to generate a steering control force weight according to the lane fitting curve and the plurality of vehicle dynamic parameter calculations. The controller includes a look-ahead distance, and the look-ahead weight changes according to the change in the look-ahead distance. The vehicle steering control step provides a steering device that controls the steering of the vehicle based on the steering control force weight.

Thereby, the vehicle lateral control method of the weight-adjustable lane changing model of the present invention can adapt the driving current according to the steering control force weight, which not only enables the steering control force to smoothly switch, but also improves the safety of the switching process. Sex and comfort.

Other implementations of the foregoing embodiments include: in the foregoing control power weight generating step, the steering control force weight of the controller is a lateral offset weight value. The vehicle is offset from the lane fitting curve by a lateral offset distance, and the lateral offset weight value is increased as the lateral offset distance increases. In addition, in the foregoing control power weight generating step, the steering control force weight of the controller may be an estimated exceeding the lane line time weight value, and the controller calculates an excess lane line time according to the vehicle speed, the acceleration, and the yaw angular speed operation. When the lane line is exceeded When the time is less than or equal to a preset time, the estimated timeline weight exceeding the lane line is equal to 1. Conversely, when the lane line time is greater than the preset time, the estimated lane line time weight value decreases as the lane line time increases. Furthermore, in the aforementioned control force weight generating step, the steering control force weight of the controller may be determined according to a horizontal offset weight value and a maximum value of the estimated excess lane line time weight value. In addition, in the foregoing control power weight generating step, the steering control force weight of the controller includes a lateral offset weight value, a first percentage parameter, an estimated over lane line time weight value, and a second percentage. The parameter, and the steering control force weight is equal to the lateral offset weight value multiplied by the first percentage parameter minus the estimated excess lane line time weight value multiplied by the second percentage parameter. The sum of the first percentage parameter and the second percentage parameter is 100%. In addition, the foregoing vehicle steering control step may include a current control sub-step, a driving sub-step, and a steering sub-step, wherein the current control sub-step provides a current control mechanism that adjusts the magnitude of a driving current according to the steering control force weight. The driver substep uses a drive current to control a drive mechanism. As for the steering sub-step, a steering mechanism driven by the driving mechanism is provided to control the steering of the vehicle according to the driving current. Further, in the aforementioned vehicle steering control step, the drive current becomes larger as the steering control force weight increases, and the drive current becomes smaller as the steering control force weight decreases. Furthermore, in the aforementioned control power weight generating step, the preview power within the preview distance is greater than the preview weight outside the preview distance.

100‧‧‧Vehicle lateral control system capable of re-adjusting the lane change model

110‧‧‧ Vehicles

200‧‧‧ camera

210‧‧ ‧ front screen information

300‧‧‧Image processing device

310‧‧‧ lane feature points

320‧‧‧ Lane feature point identification unit

330‧‧‧ Lane feature point weight adjustment unit

340‧‧‧Curve fitting unit

400‧‧‧ Controller

410‧‧‧ Vehicle dynamic parameters

420‧‧‧Preview distance calculation unit

430‧‧‧ lateral displacement compensation unit

440‧‧‧Start-stop condition calculation unit

600, 600a‧‧‧ Vehicle lateral control method capable of re-adjusting lane change model

S12, S22‧‧ ‧ front screen capture steps

S14, S24‧‧‧ image processing steps

S16, S26‧‧‧ control weight generation steps

S18, S28‧‧‧ Vehicle Steering Control Procedure

S282‧‧‧ Current Control Substep

S284‧‧‧Drive substeps

S286‧‧‧ Turning substeps

w image ( x i )‧‧‧Preview weight

y ‧‧‧ lane fitting curve

( x i , y i ) ‧ ‧ coordinates information

x i , y i , i , a , b , c , d , p , q , r ‧‧‧ parameters

442‧‧‧Start-stop signal

450‧‧‧ steering control weight calculation unit

500‧‧‧ steering gear

510‧‧‧Angle control unit

520‧‧‧Speed Control Unit

522‧‧‧current command

530‧‧‧weighted arithmetic unit

540‧‧‧Steering Control Decision Unit

550‧‧‧current control mechanism

552‧‧‧Drive current

560‧‧‧ drive mechanism

570‧‧‧steering mechanism

D‧‧‧Preview distance

W R ‧‧‧ steering control weight

W1‧‧‧ lateral offset weight value

Y_offset‧‧‧lateral offset distance

W2‧‧‧ Estimated over lane line time weight value

T‧‧‧Overline lane time

T 1 ‧‧‧Preset time

T F ‧‧‧ Preview time

E‧‧‧first percentage parameter

F‧‧‧second percentage parameter

Θ‧‧‧steering angle

EPS_ i ‧‧‧Power assisted steering parameters

1 is a schematic diagram showing a vehicle lateral control system of a weight-adjustable lane changing model according to an embodiment of the present invention.

2 is a schematic diagram showing the appearance of a vehicle lateral control system of the weight-adjustable lane changing model of FIG. 1.

Figure 3 is a schematic diagram showing the pre-view distance corresponding lane model of the present invention.

Figure 4 is a schematic diagram showing the lane fitting curve of the conventional and the present invention.

FIG. 5A is a schematic diagram showing the preview weight of the first embodiment of the present invention.

FIG. 5B is a schematic diagram showing the preview weight of the second embodiment of the present invention.

Fig. 6 is a schematic view showing the steering device of Fig. 1.

Fig. 7 is a view showing the lateral shift weight value of the steering control force weight of Fig. 6.

Fig. 8 is a schematic diagram showing the estimation of the steering control force weight of Fig. 6 exceeding the lane line time weight value.

FIG. 9 is a flow chart showing a vehicle lateral control method of a weight-adjustable lane changing model according to an embodiment of the present invention.

FIG. 10 is a schematic flow chart showing a vehicle lateral control method of a weight-adjustable lane changing model according to another embodiment of the present invention.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. For the sake of clarity, many practical details will be explained in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not necessary. In addition, some of the conventions used to simplify the schema The structures and elements used in the drawings are illustrated in a simplified schematic form; and the repeated elements may be represented by the same reference numerals.

Please refer to FIG. 1 to FIG. 1 together. FIG. 1 is a schematic diagram showing a vehicle lateral control system 100 of a weight-adjustable lane changing model according to an embodiment of the present invention. 2 is a schematic diagram showing the appearance of a vehicle lateral control system 100 of the weight-adjustable lane changing model of FIG. 1. FIG. 3 is a schematic diagram showing the lane-of-sight model corresponding to the preview distance D of the present invention. Figure 4 is a schematic diagram showing the lane fitting curve y of the conventional and the present invention. Fig. 5A is a schematic diagram showing the preview weight w image ( x i ) of the first embodiment of the present invention. FIG. 5B is a schematic diagram showing the preview weight w image ( x i ) of the second embodiment of the present invention. Fig. 6 is a schematic view showing the steering device 500 of Fig. 1. Fig. 7 is a view showing the lateral shift weight value W1 of the steering control force weight W R of Fig. 6. Fig. 8 is a view showing the prediction of the steering control force weight W R of Fig. 6 exceeding the lane line time weight value W2. As shown in the figure, the vehicle lateral control system 100 of the weight-adjustable lane model of the present invention is used to control a vehicle 110, and the vehicle lateral control system 100 of the weight-adjustable lane model includes a camera 200, an image processing apparatus 300, Controller 400 and steering device 500.

The camera 200 is disposed on the vehicle 110, and the camera 200 photographs and outputs a pre-vehicle picture material 210 toward the front of the vehicle 110. The front camera data 210 can be a two-dimensional or three-dimensional image, and the function of the camera 200 is viewed. The pre-vehicle picture data 210 output by the camera 200 is supplied to the image processing apparatus 300 for subsequent arithmetic processing.

The image processing device 300 is connected to the camera 200. The image processing device 300 receives and analyzes the pre-vehicle image data 210 to obtain a plurality of lane feature points 310, and the image processing device 300 according to the lane feature point 310 and the preview weight w image ( x i ) Establish a lane fitting curve y . In detail, the image processing device 300 includes a lane marker recognizing unit 320, a lane marker weighting adjusting unit 330, and a curve fitting unit 340. The lane feature point identification unit 320 is electrically connected to the camera 200 and receives the analysis of the vehicle front screen data 210 to obtain a plurality of lane feature points 310. The lane feature point 310 corresponds to the lane line in the front picture data 210 and is used to construct the lane model of the vehicle 110, and the lane feature point 310 is represented by the coordinate information ( x i , y i ), wherein the parameters x i , y i respectively The representative lane line corresponds to the coordinate position of the X-axis and the Y-axis direction, and the parameter i represents a positive integer of 1 to n. In addition, the lane feature point weight adjustment unit 330 signals the lane feature point identification unit 320 and the controller 400, and the lane feature point weight adjustment unit 330 receives the coordinate information ( x i , y i ) of the lane feature point 310 and the preview distance D. The operation calculates the preview weight w image ( x i ). The look-ahead weight w image ( x i ) represents the weight of the lane model, that is, the weight of the lane feature point 310. The look-ahead weight w image ( x i ) will vary depending on the parameter x i . The following two examples are given to illustrate that the preview weight w image ( x i ) of the first embodiment can be expressed by the formula (1): Where a and b are custom parameters, a can adjust the slope of the pre-view weight w image ( x i ) waveform, b represents the distance parameter x i with the pre-view weight w image ( x i ) of 0.5, and b is greater than the pre-view distance D. The preview distance D of the first embodiment described above may be equal to 15 m, a may be set to 1, b may be set to 22, and the preview weight w image ( x i ) is as shown in Fig. 5A. Seen from the FIG. 5A, right preview preview weight within a distance D w image (x i) is greater than the right outer view of the pre-preview distance D weight w image (x i). In addition, the preview weight w image ( x i ) of the second embodiment can be expressed by the formula (2): Where c and d are custom parameters, c adjusts the width of the look-ahead weight w image ( x i ) waveform, and d adjusts the slope of the look-ahead weight w image ( x i ) waveform. The preview distance D of the second embodiment described above may be equal to 15 m, c may be set to 8, and d may be set to 4, and the preview weight w image ( x i ) is as shown in FIG. 5B. In addition, the curve fitting unit 340 signals the lane feature point weight adjustment unit 330 and receives the coordinate information ( x i , y i ) of the lane feature point 310 and the preview weight w image ( x i ). The curve fitting unit 340 multiplies the coordinate information ( x i , y i ) of each lane feature point 310 by the preview weight w image ( x i ), and fits the lane fitting curve y by the weighted least squares method. The fitting operation process of the lane fitting curve y can be expressed by the formulas (3)~(6): [ pqr ] T =[ F T WF ] -1 F T WY (5); The parameters p, q, and r can be obtained by the equations (3) to (6) and according to the weighted least squares method. Finally, the curve fitting unit 340 can calculate and output the lane fitting curve y = p + qx + rx 2 . Of course, the lane fitting curve y is not limited to the second-order equation, and can also be applied to equations of the third order or more. Therefore, the present invention utilizes the image processing device 300 in combination with the controller 400, and gives a greater weight value to the lane feature point 310 by controlling the position point of the required preview distance D to perform accurate lane model calculation, which can be greatly improved. The effect of the system control and the accuracy of the lane fitting curve y .

The controller 400 signals the image processing device 300 and includes a plurality of vehicle dynamic parameters 410 and a preview distance D, and the preview weight w image ( x i ) changes according to the change in the preview distance D. The controller 400 calculates a steering control force weight W R according to the lane fitting curve y and the vehicle dynamic parameter 410, as shown in FIGS. 6, 7, and 8. In detail, the controller 400 includes a target distance calculating unit 420, a lateral displacement compensating unit 430, a start/stop condition calculating unit 440, and a steering control force weight calculating unit 450. The preview distance calculation unit 420 first calculates the preview distance D by the vehicle dynamic parameters 410 of the vehicle 110 (for example, the vehicle speed, the steering angle of the steering wheel) and the preview time T F . The setting of the preview time T F must be greater than the delay time of the control system, for example, the time delay caused by the image processing of the camera or the time delay from the control command to the actual reaction. The preview distance D is equal to the vehicle speed multiplied by the preview time T F . If the speed is faster, the preview distance D will be longer. However, if the steering angle of the steering wheel is large, the system will reduce the preview time T F and the preview distance D will be shorter. The look-ahead distance D can be one or more defined ranges, or single or multiple values. Then, the preview distance D is transmitted to the image processing apparatus 300, and the image processing apparatus 300 calculates the corresponding preview weight w image ( x i ) by using the formula (1) or (2), and then for each lane feature. The coordinate information ( x i , y i ) of point 310 is multiplied by the pre-view weight w image ( x i ), and the lane fitting curve y is fitted by the weighted least squares method. Therefore, the present invention calculates the lane model by using the preview distance D and the corresponding preview weight w image ( x i ), so that a precise and applicable lane fitting curve y can be obtained for adjustment of the subsequent steering control force, and further It is possible to smoothly switch the steering control force and improve the safety of the switching control right. Further, the lateral displacement compensating unit 430 signals the pre-view distance calculating unit 420 and the curve fitting unit 340, and receives the lane fitting curve y from the curve fitting unit 340 and the preview distance D of the pre-view distance calculating unit 420. Within the preview distance D, the lateral displacement compensation unit 430 generates a steering angle θ through the lane fitting curve y operation for use by the steering device 500. Furthermore, the start and stop condition calculation unit 440 signals the curve fitting unit 340 and the steering device 500 and receives the vehicle dynamic parameter 410. The start and stop condition calculation unit 440 calculates the start and stop signal 442 according to the vehicle dynamic parameter 410 and the lane fitting curve y . The start and stop signal 442 is transmitted to the steering device 500 for determining whether the steering device 500 is in an activated state (controlled by the system; turned on) or stopped (by driving control; turn off). In addition, the steering control force weight calculation unit 450 signals the curve fitting unit 340 and the steering device 500 and receives the vehicle dynamic parameter 410, and the steering control force weight calculation unit 450 calculates a steering according to the lane fitting curve y and the vehicle dynamic parameter 410. Control weight W R .

For example, referring to Figures 6 and 7, the steering control force weight W R of the first embodiment is a lateral offset weight value W1, and the vehicle 110 is separated from the lane fitting curve y by a lateral offset distance y_offset. The lateral offset weight value W1 is incremented as the lateral offset distance y_offset increases. That is, when the system estimates that the vehicle 110 is far from the lane fitting curve y (ie, when the lateral offset distance y_offset is small), the steering control force weight calculation unit 450 provides a smaller steering control force weight W R ( That is, the smaller lateral offset weight value W1) allows the driving to lead and can manually adjust the steering device 500; when the system estimates that the vehicle 110 is closer to the lane fitting curve y (ie, the lateral offset distance y_offset is larger) The steering control force weight calculation unit 450 provides a larger steering control force weight W R (ie, a larger lateral offset weight value W1), enabling the system to dominate the steering and automatically adjust the steering device 500, thereby allowing the vehicle 110 to return To the center of the driveway. It is also worth mentioning that if the driving is to leave the lane actively, the start and stop condition calculation unit 440 calculates the start and stop signal 442 according to the driving torque of the vehicle dynamic parameter 410 and the lane fitting curve y , and the start and stop signal 442 It is 0 to determine that the steering device 500 is in a stopped state (turned by driving control; turn off). Conversely, if the driving does not have to leave the lane, the start and stop condition calculation unit 440 calculates the start and stop signal 442 according to the driving torque of the vehicle dynamic parameter 410 and the lane fitting curve y , and the start and stop signal 442 is 1 to determine the steering. Device 500 is in an activated state (turned by system control; turn on).

Referring to FIGS. 6 and 8, the steering control force weight W R of the second embodiment is an estimated over lane line time weight value W2, and the controller 400 is based on the vehicle speed, the acceleration, and the yaw rate. The operation finds an excess of the lane line time T, which exceeds the lane line time T, which represents the time when the system predicts that the vehicle 110 will exceed the lane fitting curve y . When time T exceeds the lane line is less than a predetermined time T is equal to 1, the lane line than the estimated time is equal to a weight value W2. Lane line than temporal weighting value W2 as time T exceeds the lane line generally decrease when the time T exceeds the lane line. 1 greater than a preset time T, the prediction. In other words, when the system predicts that the vehicle 110 will exceed the lane fitting curve y in a short time, the steering control force weight calculation unit 450 will provide a larger steering control force weight W R (ie, a larger estimate exceeds the lane) The line time weight value W2) enables the system to dominate the steering and automatically adjusts the steering device 500; when the system predicts that the vehicle 110 will exceed the lane fitting curve y after a certain time, the steering control force weight calculation unit 450 provides a comparison The small steering control weight W R (i.e., the smaller estimate exceeds the lane line time weight value W2) allows the steering dominance to be returned to the drive so that the steering can manually adjust the steering device 500.

Referring to Figures 6, 7, and 8, the steering control force weight W R of the third embodiment is determined according to the horizontal offset weight value W1 and the estimated maximum value of the lane line time weight value W2, that is, the steering The control force weight W R =max(W1, W2). That is to say, the steering control force weight W R is an interaction between the lateral offset weight value W1 and the estimated excess lane line time weight value W2, and the system considers both the lateral offset distance y_offset and the lane line time T. As long as any of the conditions reaches the condition and the weight value increases, the system adjusts the weight of the steering control force. Further, the lateral offset weight value W1 may not change the opening size with the vehicle speed, that is, the shape of the lateral offset weight value W1 of FIG. 7 does not change with the vehicle speed. The estimated timeline weight value W2 exceeds the speed, acceleration and yaw rate of the vehicle 110. Thereby, the present invention utilizes the multi-measurement steering control force weight W R to adjust the magnitude of the control force involved in the steering device 500, and can smoothly switch the control force.

Referring to Figures 6, 7, and 8, the steering control force weight W R of the fourth embodiment includes a lateral offset weight value W1, a first percentage parameter e, an estimated excess lane line time weight value W2, and The second percentage parameter f. The steering control force weight W R is equal to the lateral offset weight value W1 multiplied by the first percentage parameter e minus the estimated excess lane line time weight value W2 multiplied by the second percentage parameter f, where the first percentage parameter The sum of e and the second percentage parameter f is 100%, that is, W R = W1 × e + W2 × f and f = 1 - e. The first percentage parameter e and the second percentage parameter f are adjustable parameters, which can be determined according to requirements. Thereby, the present invention adjusts the control force involved in the steering device 500 through multiple considerations of the steering control force weight W R , can be flexibly adjusted and planned according to requirements, and can smoothly switch the control force, thereby improving the switching control right. Safety and greatly reduce the adverse effects of sudden control on driving and uncomfortable feelings.

The steering device 500 is coupled to the controller 400 and is disposed on the vehicle 110. The steering device 500 controls the steering of the vehicle 110 in accordance with the steering control force weight W R . In detail, the steering device 500 includes an angle control unit 510, a speed control unit 520, a weight calculation unit 530, a steering control force determination unit 540, a current control mechanism 550, a drive mechanism 560, and a steering mechanism 570. The angle control unit 510 signals the connection speed control unit 520 and the lateral displacement compensation unit 430. The angle control unit 510 receives the steering angle θ from the lateral displacement compensation unit 430, and the angle control unit 510 and the speed control unit 520 are used to generate the operation. Turn to the desired current command 522. Furthermore, the weight operation unit 530 signals the connection speed control unit 520 and the steering control force weight calculation unit 450, and the weight operation unit 530 multiplies the steering control force weight W R by the current command 522 to output a current weight parameter. Steering control decision unit 540 is signal connected to the weight calculation unit 530 and receives the current weighting parameter of the electric assist steering parameters EPS_ i, a steering control decision unit 540 will assist steering based on the electric parameters EPS_ i and the weighting parameter current decision administering drive mechanism 560 The current is sized to integrate the control force that regulates the electric power steering (EPS) intervention. In addition, the current control mechanism 550 is connected to the steering control force determining unit 540 and provides a driving current 552. The current control mechanism 550 regulates the magnitude of the driving current 552 according to the steering control force weight W R . The drive current 552 becomes larger as the steering control force weight W R increases, and the drive current 552 becomes smaller as the steering control force weight W R decreases. In addition, the driving mechanism 560 is electrically connected to the current control mechanism 550 and controlled by the driving current 552. The driving mechanism 560 of the embodiment is an electric motor. The steering mechanism 570 is coupled by the drive mechanism 560, and the steering mechanism 570 controls the steering of the vehicle 110 by the drive mechanism 560 according to the drive current 552. The steering mechanism 570 of the present embodiment includes a steering wheel, a speed reducer, a gear, a transmission shaft, a tire, and the like. Since it is a conventional technique, the details of the structure will not be described again. Accordingly, the steering apparatus 500 of the present invention in conjunction with the electric assist steering, and steering assist electric current parameters EPS_ i weighting parameter determining the current magnitude of the driving mechanism 560 is administered according to integrate the electric-assisted steering control intervention, thereby increasing the handover Control the smoothness of the force.

Please refer to FIG. 1 and FIG. 9 together. FIG. 9 is a schematic flow chart of a vehicle lateral control method 600 for a weight-adjustable lane changing model according to an embodiment of the present invention. As shown, the vehicle lateral control method 600 of the weight-adjustable lane model includes a vehicle front screen capture step S12, an image processing step S14, a control force weight generation step S16, and a vehicle steering control step S18.

The front screen capture step S12 provides a camera 200 to shoot toward the front of the vehicle 110 and output the front screen material 210.

The image processing step S14 provides an image processing device 300 for receiving and analyzing the pre-vehicle image data 210 to obtain a plurality of lane feature points 310, and establishing a lane fitting curve according to the lane feature points 310 and the preview weight w image ( x i ). y . For an embodiment of the preview weight w image ( x i ), reference can be made to the above equations (1) and (2). For the fitting operation process of the lane fitting curve y , refer to the above equations (3) to (6).

The control force weight generating step S16 provides a controller 400 to generate a steering control force weight W R according to the lane fitting curve y and the plurality of vehicle dynamic parameters 410. The controller 400 includes a preview distance D, preview weight w image (x i) change according to the preview distance D, as shown in 5A and 5B of FIG. Wherein FIG. 5A shows that the right preview preview weight within a distance D w image (x i) is greater than the right outer view of the pre-preview distance D weight w image (x i). Furthermore, the steering control force weight W R can be referred to in FIGS. 7 and 8 , which can be a lateral offset weight value W1 , an estimated excess lane line time weight value W2 , or an interaction of the two. The following four embodiments are described. In the first embodiment, the steering control force weight W R of the controller 400 is a lateral offset weight value W1, and the vehicle 110 is separated from the lane fitting curve y by a lateral offset distance. Y_offset, the lateral offset weight value W1 is incremented as the lateral offset distance y_offset increases, as shown in FIG. In the second embodiment, the steering control force weight W R of the controller 400 is an estimated excess lane line time weight value W2, and the controller 400 calculates an excess based on the vehicle speed, acceleration, and yaw rate calculations of the vehicle 110. Lane line time T. When the lane line time T is less than or equal to a preset time T 1 , the estimated lane line time weight value W2 is equal to 1; when the lane lane time T is greater than the preset time T 1 , the estimated lane line time weight value is exceeded. W2 decreases as the time T of the lane line increases. Further, in the third embodiment, the steering control force weight W R of the controller 400 is determined in accordance with the maximum value of the lateral offset weight value W1 and the estimated excess lane line time weight value W2. In the fourth embodiment, the steering control force weight W R of the controller 400 includes a lateral offset weight value W1, a first percentage parameter e, an estimated excess lane line time weight value W2, and a second percentage. The parameter f, the steering control force weight W R is equal to the lateral offset weight value W1 multiplied by the first percentage parameter e minus the estimated over lane line time weight value W2 multiplied by the second percentage parameter f, the first percentage The sum of the ratio parameter e and the second percentage parameter f is 100%.

The vehicle steering control step S18 provides a steering device 500 that controls the steering of the vehicle 110 in accordance with the steering control force weight W R . In summary, the present invention adjusts the control force involved in the steering device 500 through multiple considerations of the steering control force weight W R , can be flexibly adjusted and planned according to requirements, and can smoothly switch the control force, thereby improving the switching control right. Safety and greatly reduce the adverse effects of sudden control on driving and uncomfortable feelings.

Please refer to FIG. 1 and FIG. 10 together. FIG. 10 is a schematic flow chart of a vehicle lateral control method 600a of a weight-adjustable lane changing model according to another embodiment of the present invention. As shown in the figure, the vehicle lateral control method 600a of the weight-adjustable lane change model includes a vehicle front screen capturing step S22, an image processing step S24, a control force weight generating step S26, and a vehicle steering control step S28.

Referring to FIG. 9, in the embodiment of FIG. 10, the front screen capture step S22, the image processing step S24, the control force weight generating step S26, and the front view screen capture step S12 of FIG. 9 and image processing. Step S14, the blocks of the control force weight generating step S16 are the same and will not be described again. In particular, the vehicle steering control step S28 of the embodiment of FIG. 10 includes a current control sub-step S282, a driving sub-step S284, and a steering sub-step S286, wherein the current control sub-step S282 provides a current control mechanism 550 according to the steering control force weight. W R regulates the magnitude of a drive current 552. The driving sub-step S284 controls a driving mechanism 560 by using the driving current 552. The steering sub-step S286 provides a steering mechanism 570 coupled by the drive mechanism 560 to control the steering of the vehicle 110 in accordance with the drive current 552. Further, the drive current 552 becomes larger as the steering control force weight W R increases, and the drive current 552 becomes smaller as the steering control force weight W R decreases. Thereby, the driving current 552 of the present invention can be adaptively adjusted according to the steering control force weight W R , which not only allows the steering control force to be smoothly switched, but also improves the safety and comfort of the switching process.

It can be seen from the above embodiments that the present invention has the following advantages: First, the image processing device is combined with the controller, and the weight point value of the lane feature point is given to the precise lane by controlling the position point of the required preview distance. Model calculation can greatly improve the effect of system control and the accuracy of the lane fitting curve. Secondly, the steering control force weight is adjusted by multiple measures to adjust the control force of the steering device intervention, and can be flexibly adjusted and planned according to the demand, and the control force can be smoothly switched, thereby improving the safety of the switching control right and greatly reducing The adverse effects of sudden control on driving and uncomfortable feelings. Third, the drive current can be adaptively adjusted according to the steering control force weight, which not only allows the steering control force to smoothly switch, but also improves the safety and comfort of the switching process. Fourth, under the interaction control of the weight of the preview and the weight of the steering control, the system can smoothly switch the steering control force to solve the problem that the process of switching the steering control force in the prior art is prone to occur. The generation of control power, the unsafe situation caused by sudden control, and the problems affecting the driving control experience.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and the present invention can be modified and modified without departing from the spirit and scope of the present invention. The scope is subject to the definition of the scope of the patent application attached.

Claims (17)

  1. A vehicle lateral control system capable of re-adjusting a lane changing model for controlling a vehicle, wherein the vehicle lateral control system of the weight-adjustable lane changing model comprises: a camera disposed on the vehicle, the camera photographing toward the front of the vehicle And outputting a front camera data; an image processing device, the signal is connected to the camera, the image processing device receives and analyzes the front image data to obtain a plurality of lane feature points, and the image processing device is based on the lane feature points and a The preview weight establishes a lane fitting curve; a controller, the signal is connected to the image processing device and includes a plurality of vehicle dynamic parameters and a preview distance, the preview weight is changed according to the change of the preview distance, the controller is based on The lane fitting curve and the vehicle dynamic parameter calculations generate a steering control force weight; and a steering device, the signal is connected to the controller and disposed on the vehicle, and the steering device controls the steering of the vehicle according to the steering control force weight .
  2. The vehicle lateral control system of the weight-adjustable lane changing model described in claim 1, wherein the steering control force weight of the controller is a lateral offset weight value, and the vehicle is separated from the lane fitting curve by a A lateral offset distance that increases as the lateral offset distance increases.
  3. For example, the vehicle lateral control system of the weight-adjustable lane changing model described in claim 1 of the patent application, wherein the steering control of the controller The power weight is an estimated value exceeding the lane line time weight value, and the controller calculates an excess lane line time according to a vehicle speed, an acceleration and a yaw rate calculation; wherein, when the lane line time is less than or equal to one When the time is set, the estimated time exceeds the lane line time weight value is equal to 1; wherein, when the time exceeds the lane line time is greater than the preset time, the estimated excess lane line time weight value decreases as the excess lane line time increases .
  4. The vehicle lateral control system of the weight-adjustable lane changing model described in claim 1, wherein the steering control power weight of the controller is based on a lateral offset weight value and an estimated excess lane line time weight value. The maximum value is determined.
  5. The vehicle lateral control system of the weight-adjustable lane changing model described in claim 1, wherein the steering control force weight of the controller comprises a lateral offset weight value, a first percentage parameter, and a pre-control Estimating a lane line time weight value and a second percentage parameter, the steering control force weight being equal to the lateral offset weight value multiplied by the first percentage parameter minus the estimated excess lane line time weight value multiplied by The second percentage parameter, the total of the first percentage parameter and the second percentage parameter is 100%.
  6. The vehicle lateral control system of the weight-adjustable lane changing model described in claim 1, wherein the steering device comprises: a current control mechanism provides a driving current, the current control mechanism adjusts the magnitude of the driving current according to the steering control force weight; a driving mechanism electrically connected to the current control mechanism and controlled by the driving current; and a steering mechanism, Driven by the drive mechanism, the steering mechanism controls the steering of the vehicle according to the drive current.
  7. The vehicle lateral control system of the weight-adjustable lane changing model described in claim 6 wherein the driving current becomes larger as the steering control force weight increases, and the driving current decreases with the steering control force weight. And become smaller.
  8. The vehicle lateral control system of the weight-changeable lane change model described in claim 1, wherein the vehicle dynamic parameters include a vehicle speed, an acceleration, a yaw rate, a corner, and a driving torque.
  9. The vehicle lateral control system of the weight-adjustable lane changing model described in claim 1, wherein the preview power within the preview distance is greater than the preview weight outside the preview distance.
  10. A vehicle lateral control method capable of re-adjusting a lane change model for controlling a vehicle, wherein the vehicle lateral control method of the weight-adjustable lane change model comprises the following steps: a front camera capture step is to provide a camera to photograph the front of the vehicle and output a front image of the vehicle; an image processing step is to provide an image processing device to receive and analyze the front image of the vehicle to obtain a plurality of lane features. Pointing, and establishing a lane fitting curve according to the lane feature points and a preview weight; a control power weight generating step is to provide a controller to generate a steering control force according to the lane fitting curve and the plurality of vehicle dynamic parameter calculations The weight, the controller includes a preview distance, the look-ahead weight changes according to the change of the preview distance; and a vehicle steering control step provides a steering device to control the steering of the vehicle according to the steering control force weight.
  11. The vehicle lateral control method of the weight-adjustable lane changing model described in claim 10, wherein in the controlling force weight generating step, the steering control force weight of the controller is a lateral offset weight value, The vehicle is offset from the lane fitting curve by a lateral offset weight that increases as the lateral offset distance increases.
  12. The vehicle lateral control method of the weight-adjustable lane changing model described in claim 10, wherein in the controlling force weight generating step, the steering control force weight of the controller is an estimated exceeding lane line time weight And the controller calculates an excess lane line time according to a vehicle speed, an acceleration, and a yaw rate calculation; wherein, when the time exceeding the lane line is less than or equal to a preset time, the estimation exceeds the lane line time weight The value is equal to 1; Wherein, when the time exceeds the lane line time is greater than the preset time, the estimated excess lane line time weight value decreases as the excess lane line time increases.
  13. The vehicle lateral control method of the weight-adjustable lane changing model described in claim 10, wherein in the controlling force weight generating step, the steering control force weight of the controller is based on a lateral offset weight value and a Estimated over the maximum value of the lane line time weight value.
  14. The vehicle lateral control method of the weight-adjustable lane changing model described in claim 10, wherein in the controlling force weight generating step, the steering control force weight of the controller includes a lateral offset weight value, a first percentage parameter, an estimate exceeding a lane line time weight value, and a second percentage parameter, the steering control force weight being equal to the lateral offset weight value multiplied by the first percentage parameter minus the pre- The estimated lane line time weight value is multiplied by the second percentage parameter, and the sum of the first percentage parameter and the second percentage parameter is 100%.
  15. The vehicle lateral control method of the weight-adjustable lane changing model described in claim 10, wherein the vehicle steering control step comprises: a current control sub-step, providing a current control mechanism to adjust a weight according to the steering control force The magnitude of the driving current; a driving substep of controlling a driving mechanism by using the driving current; and A steering sub-step provides a steering mechanism that is coupled by the driving mechanism to control the steering of the vehicle according to the driving current.
  16. The vehicle lateral control method of the weight-adjustable lane changing model described in claim 15 , wherein in the vehicle steering control step, the driving current becomes larger as the steering control force weight increases, and the driving current As the steering control force weight decreases, it becomes smaller.
  17. The vehicle lateral control method of the weight-adjustable lane change model described in claim 10, wherein in the control force weight generating step, the preview power within the preview distance is greater than the preview distance Preview weights.
TW106139527A 2017-11-15 2017-11-15 Weighting modulation may change lane model of lateral vehicle control system and method TWI645999B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060220912A1 (en) * 2003-07-31 2006-10-05 Heenan Adam J Sensing apparatus for vehicles
CN102663356A (en) * 2012-03-28 2012-09-12 柳州博实唯汽车科技有限公司 Method for extraction and deviation warning of lane line
CN104392212A (en) * 2014-11-14 2015-03-04 北京工业大学 Method for detecting road information and identifying forward vehicles based on vision

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060220912A1 (en) * 2003-07-31 2006-10-05 Heenan Adam J Sensing apparatus for vehicles
CN102663356A (en) * 2012-03-28 2012-09-12 柳州博实唯汽车科技有限公司 Method for extraction and deviation warning of lane line
CN104392212A (en) * 2014-11-14 2015-03-04 北京工业大学 Method for detecting road information and identifying forward vehicles based on vision

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