WO2018072647A1 - Procédé et système utilisés par un véhicule articulé à essieux multiples suivant une ligne de voie centrale - Google Patents

Procédé et système utilisés par un véhicule articulé à essieux multiples suivant une ligne de voie centrale Download PDF

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Publication number
WO2018072647A1
WO2018072647A1 PCT/CN2017/106045 CN2017106045W WO2018072647A1 WO 2018072647 A1 WO2018072647 A1 WO 2018072647A1 CN 2017106045 W CN2017106045 W CN 2017106045W WO 2018072647 A1 WO2018072647 A1 WO 2018072647A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lane line
steering
front wheel
heading
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Application number
PCT/CN2017/106045
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English (en)
Chinese (zh)
Inventor
许峻峰
李晓光
袁希文
肖磊
彭京
蒋小晴
刘小聪
张陈林
朱田
Original Assignee
中车株洲电力机车研究所有限公司
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Application filed by 中车株洲电力机车研究所有限公司 filed Critical 中车株洲电力机车研究所有限公司
Priority to NZ752017A priority Critical patent/NZ752017B2/en
Publication of WO2018072647A1 publication Critical patent/WO2018072647A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Definitions

  • the invention relates to the field of multi-axis steering vehicle control, and in particular to a multi-axis steering vehicle tracking central lane line steering control method and system.
  • Multi-axle steering rubber wheel train is a new type of urban public passenger transport vehicle. Its characteristics are that the rubber wheel is trackless, shares the right to the road with the traditional car, and no longer travels along the fixed track. It not only has the advantages of flexible bus driving, low construction and maintenance cost, but also has the advantage of large transportation capacity, and overcomes the infrastructure construction of subway, light rail, tram and other vehicles and the high cost of vehicle purchase. It requires a special power system and The shortcomings of the track fit design.
  • the multi-axle rubber wheel train canceled the rail. Instead, it was driven by the rubber wheel and the car to follow the ground marking line.
  • the ground marking line was flexible, so that the vehicle did not need to travel along the fixed track, and the infrastructure was greatly reduced. Cost has a greater operational advantage than trams.
  • the tram does not need to be manually controlled to turn, multi-axis steering rubber train requires the driver to constantly adjust the steering wheel to track the ground marking line (central lane line, white double dotted line) in real time, long-term driving, will inevitably cause driver fatigue. Therefore, how to invent a device for automatically recognizing a central lane line and realizing a lane keeping function of a multi-axis steering vehicle, thereby reducing driver fatigue, is an urgent problem to be solved.
  • the technical problem to be solved by the present invention is that, in view of the technical problems existing in the prior art, the present invention provides a method for ensuring that the vehicle effectively tracks the central lane line during the automatic driving process, and realizes automatic follow-up and automatic maintenance of the vehicle to the central lane line.
  • the technical solution proposed by the present invention is: a multi-axis steering vehicle tracking central lane line steering control method, comprising the following steps:
  • the visual heading deviation is obtained by the lane recognition visual system of the vehicle.
  • the heading estimate is calculated by calculating a longitudinal position within a preset time period of the vehicle The ratio of the shift to the turning radius of the vehicle is determined.
  • the turning radius of the vehicle is obtained by acquiring a distance between the front and rear axles of the vehicle and a steering angle of the front wheel, and according to a turning radius of the vehicle, a distance between the front and rear axles of the vehicle, and a steering angle of the front wheel.
  • the triangle relationship is determined.
  • the incremental PID algorithm in the step S2 is as shown in the formula (1).
  • ⁇ u is the increment of the steering angle of the front wheel of the vehicle
  • e(k) is the first Equivalent heading deviation at k sampling moments
  • ⁇ is the visual heading deviation, Estimated for the heading.
  • the present invention also provides a multi-axis steering vehicle tracking central lane line steering control system, including a lane line visual recognition module, a data acquisition unit, a decision control unit, and an execution unit; the lane line visual recognition module Means for identifying lane lines and providing visual heading deviation information to the decision control unit; the data acquisition unit is configured to collect and provide the decision unit with speed information of the vehicle and front wheel steering angle information of the vehicle; The control unit is configured to calculate a heading predicted amount according to the speed information and the front wheel steering angle information provided by the data collecting unit, and calculate a desired front wheel steering angle of the vehicle according to the heading predicted amount and the visual heading deviation, and Providing the desired front wheel steering angle to an execution unit; the execution unit controls vehicle steering based on the desired front wheel steering angle.
  • a lane line visual recognition module Means for identifying lane lines and providing visual heading deviation information to the decision control unit
  • the data acquisition unit is configured to collect and provide the decision unit with speed information of the vehicle and front wheel steering angle information of the vehicle
  • the control unit
  • the lane line visual recognition module includes a camera and an image processing system; the camera is configured to acquire a lane line image, and the image processing system analyzes the lane line image to obtain the vision Heading deviation.
  • the data acquisition unit includes a front wheel steering angle sensor and a vehicle speed sensor; the front wheel steering angle sensor is configured to acquire front wheel steering angle information of the vehicle, and the vehicle speed sensor is configured to acquire a speed of the vehicle information.
  • the decision control unit further includes a manual driving mode, and when the manual driving mode is turned on, the decision control unit does not provide the desired front wheel steering angle to the execution unit.
  • the data acquisition unit further includes a torque sensor for acquiring an external force applied to the steering wheel of the vehicle and transmitting the external force to the decision control unit; the decision control unit according to the external force Turn on manual driving mode.
  • the invention has the advantages that the invention can ensure that the vehicle effectively tracks the central lane line during the automatic driving process, realizes the automatic following and automatic maintenance of the vehicle to the central lane line, thereby improving driving safety and reducing driving.
  • the working intensity of the driver is the same.
  • FIG. 1 is a schematic flow chart of a specific embodiment of the present invention.
  • FIG. 2 is a schematic view showing the arrangement of a tracking center lane line system according to the present invention.
  • FIG. 3 is a schematic diagram of heading estimation and previewing of the present invention.
  • Figure 4 is a schematic view of the central lane line of the present invention.
  • FIG. 5 is a schematic diagram of a 2-DOF heading estimation model of the vehicle of the present invention.
  • FIG. 6 is a schematic diagram of a flow chart for calculating the steering angle of the front wheel according to the present invention.
  • FIG. 7 is a schematic structural diagram 1 of a tracking center lane line steering control system according to the present invention.
  • FIG. 8 is a schematic structural diagram 2 of a tracking center lane steering control system according to the present invention.
  • the multi-axis steering vehicle of the present embodiment tracks the central lane line steering control method, and the steps are: S1. acquiring the visual heading deviation and the heading prediction amount of the vehicle; S2. according to the visual heading deviation and the heading prediction amount.
  • the vehicle front wheel steering is controlled by an incremental PID algorithm that calculates the desired front wheel steering angle of the vehicle.
  • the lateral distance deviation yL of the preview point and the lane line center, the heading angle ⁇ , the road curvature and the like are calculated, and the desired corner of the front wheel is determined, and Sended to the steering execution unit to cause the vehicle to follow the desired path.
  • the visual heading deviation is acquired by the lane recognition visual system of the vehicle.
  • the lane recognition visual system acquires the central lane line image information by using a monocular camera through a camera module mounted on the front of the vehicle, and analyzes and processes the image information through the image processing system to obtain a vehicle center and lane line. Information such as lateral distance deviation, heading deviation, and road curvature are then converted to the heading angle deviation between the pre-pick point and the vehicle centerline.
  • the pre-peep point by setting the pre-peep point to a certain position in front of the vehicle, the internal consistency between the lane line automatic tracking control and the driver's manual steering is realized, so that the present invention recognizes the visual heading of the vision system according to the lane line.
  • the deviation has a driver's driving behavior characteristic for the steering control of the vehicle.
  • the heading prediction and preview in the lane recognition visual system are shown in Figure 3, where XOY is the ground coordinate system, xoy is the vehicle coordinate system, p is the pre-peep point, d is the preview distance, and y1 is the estimated deviation. f(d) is the distance deviation of the preview.
  • the lane image acquired by the camera is processed to accurately confirm the lane.
  • the controller obtains the heading deviation according to the desired heading and the actual heading of the vehicle. Calculating the amount of control, and when the actuator performs this control amount, it has to go through a sampling period, which is the actual heading of the vehicle has changed, that is, there is a sampling period lag when the control quantity is executed, and the present invention adopts the heading prediction method. By predicting the trend of the vehicle's heading in advance, the control deviation is included, and the trend of the heading can influence the output of the controller to better achieve the tracking of the central lane line.
  • the heading estimate is determined by calculating the ratio of the longitudinal displacement in the preset time period of the vehicle to the turning radius of the vehicle.
  • the two-degree-of-freedom heading prediction model (half model) of the vehicle is shown in FIG. 5.
  • the sampling period T of the controller is a preset time period, and the vehicle heading is in a control period.
  • Amount of change Can be expressed as shown in equation (2),
  • Equation (2) For the heading estimate, v is the longitudinal speed of the vehicle, T is the sampling period of the controller, and R is the turning radius of the vehicle.
  • the turning radius of the vehicle is obtained by acquiring the distance between the front and rear axles of the vehicle and the steering angle of the front wheel, and calculating according to the triangular relationship between the turning radius of the vehicle, the distance between the front and rear axles of the vehicle, and the steering angle of the front wheel.
  • G is the center of gravity of the vehicle
  • R is the turning radius of the vehicle
  • a is the distance from the center of gravity of the vehicle to the front axle
  • b is the distance from the center of gravity of the vehicle to the rear axle
  • ⁇ f is the steering angle of the front wheel of the vehicle.
  • a + b is the distance between the front and rear axles of the vehicle. Since the vehicle steering center O is perpendicular to the line of the vehicle and the direction of the wheel, in the right triangle in FIG. 6, it is determined that the equation (3) is established according to the triangular relationship,
  • the incremental PID algorithm in step S2 is as shown in the formula (1).
  • ⁇ u is the increment of the steering angle of the front wheel of the vehicle
  • e(k) is the first Equivalent heading deviation at k sampling moments
  • ⁇ is the visual heading deviation, Estimated for heading.
  • the multi-axis steering vehicle of this embodiment tracks the central lane line steering control system, including the vehicle.
  • a lane line visual recognition module is used to identify the lane line and provide visual heading deviation information to the decision control unit;
  • the data acquisition unit is configured to collect and provide to the decision unit The speed information of the vehicle and the front wheel steering angle information of the vehicle;
  • the decision control unit is configured to calculate the heading forecast amount according to the speed information and the front wheel steering angle information provided by the data collecting unit, and calculate the vehicle according to the heading forecast amount and the visual heading deviation
  • the front wheel steering angle is desired and the desired front wheel steering angle is provided to the execution unit;
  • the execution unit controls the vehicle steering based on the desired front wheel steering angle.
  • the lane line visual recognition module includes a camera and an image processing system; the camera is configured to acquire a lane line image, and the image processing system analyzes and processes the lane line image to obtain a visual heading deviation.
  • the data acquisition unit includes a front wheel steering angle sensor and a vehicle speed sensor; the front wheel steering angle sensor is used to acquire front wheel steering angle information of the vehicle, and the vehicle speed sensor is used to acquire speed information of the vehicle.
  • the decision control unit further includes a manual driving mode, and when the manual driving mode is turned on, the decision control unit does not provide the desired front wheel steering angle to the executing unit.
  • the data acquisition unit further includes a torque sensor for acquiring an external force applied to the steering wheel of the vehicle and transmitting the external force to the decision control unit; and the decision control unit turns on the manual driving mode according to the external force.
  • the decision control unit can also obtain the manual driving mode on signal through the human-machine interaction interface connected thereto.
  • the decision control unit includes a computer communication interface through which the computer is connected to the decision control unit, and the control program is written by the CAN communication, and the change of each parameter can also be monitored.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un système utilisés par un véhicule articulé à essieux multiples qui suit une ligne de voie centrale. Le procédé comprend les étapes consistant à : S1. acquérir un écart de navigation visuelle et une estimation de navigation d'un véhicule ; et S2. calculer, en fonction de l'écart de navigation visuelle et de l'estimation de navigation du véhicule, et à l'aide d'un algorithme PID incrémentiel, un angle de braquage de roue avant attendu du véhicule, et commander une roue avant du véhicule pour changer de direction. Le système comprend : un module d'identification de ligne de voie, une unité d'acquisition de données, une unité de commande de détermination et une unité d'exécution. Le système présente les avantages de permettre à un véhicule de suivre efficacement, dans un processus de conduite automatique, une ligne de voie centrale, de mettre en œuvre un suivi automatique et une commande automatique du véhicule par rapport à la ligne de voie centrale, d'améliorer une conduite sûre et de réduire l'intensité de travail d'un conducteur.
PCT/CN2017/106045 2016-10-19 2017-10-13 Procédé et système utilisés par un véhicule articulé à essieux multiples suivant une ligne de voie centrale WO2018072647A1 (fr)

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NZ752017A NZ752017B2 (en) 2016-10-19 2017-10-13 Method and system utilized by multi-axle articulated vehicle tracking central lane line

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CN201610910594.9A CN107933686B (zh) 2016-10-19 2016-10-19 一种多轴转向车辆跟踪中央车道线转向控制方法及系统
CN201610910594.9 2016-10-19

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CN110673593A (zh) * 2018-07-03 2020-01-10 杭州海康威视数字技术股份有限公司 车辆控制方法和装置
CN112362069A (zh) * 2020-11-16 2021-02-12 浙江大学 一种模块化自动驾驶算法开发验证系统和验证方法
CN112965373A (zh) * 2021-02-02 2021-06-15 上海华测导航技术股份有限公司 一种农用和矿用铰接式车辆路径跟踪控制方法
CN113624520A (zh) * 2021-07-29 2021-11-09 东风汽车集团股份有限公司 一种基于机器视觉技术的实时计算车辆不足转向梯度系数的系统、方法及介质
CN114355924A (zh) * 2021-12-28 2022-04-15 北京理工大学 一种改进型纯跟踪路径跟踪方法
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US11447374B2 (en) 2016-09-15 2022-09-20 Terex Australia Pty Ltd Crane counterweight and suspension
CN110673593A (zh) * 2018-07-03 2020-01-10 杭州海康威视数字技术股份有限公司 车辆控制方法和装置
CN112362069A (zh) * 2020-11-16 2021-02-12 浙江大学 一种模块化自动驾驶算法开发验证系统和验证方法
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CN113624520A (zh) * 2021-07-29 2021-11-09 东风汽车集团股份有限公司 一种基于机器视觉技术的实时计算车辆不足转向梯度系数的系统、方法及介质
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CN114355924A (zh) * 2021-12-28 2022-04-15 北京理工大学 一种改进型纯跟踪路径跟踪方法
CN114355924B (zh) * 2021-12-28 2023-10-13 北京理工大学 一种改进型纯跟踪路径跟踪方法
CN114906173A (zh) * 2022-06-30 2022-08-16 电子科技大学 一种基于两点预瞄驾驶员模型的自动驾驶决策方法
CN114906173B (zh) * 2022-06-30 2023-07-21 电子科技大学 一种基于两点预瞄驾驶员模型的自动驾驶决策方法

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