CN107150682B - A kind of lane holding auxiliary system - Google Patents
A kind of lane holding auxiliary system Download PDFInfo
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- CN107150682B CN107150682B CN201710286011.4A CN201710286011A CN107150682B CN 107150682 B CN107150682 B CN 107150682B CN 201710286011 A CN201710286011 A CN 201710286011A CN 107150682 B CN107150682 B CN 107150682B
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- 230000008901 benefit Effects 0.000 abstract description 2
- 238000012857 repacking Methods 0.000 abstract description 2
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- 230000006870 function Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 11
- 238000011217 control strategy Methods 0.000 description 3
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- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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- 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
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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
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- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of lanes to keep auxiliary system, comprising: sensing module, for acquiring lane information and information of vehicles；Control module is separately connected sensing module and entire car controller, keeps auxiliary torque for calculating lane according to the information received, and be superimposed with the true steering moment of driver, forms Virtual drivers steering moment；Execution module, link control module, for responding the Virtual drivers steering moment.Compared with prior art, the present invention obtains Virtual drivers steering moment after being superimposed lane holding auxiliary torque with the true steering moment of driver, the true steering moment of driver that substitution is measured from steering torque sensor originally, to realize that lane keeps function, it is easy with hardware realization, convenient for repacking, it is at low cost the advantages that.
Description
Technical field
The invention belongs to automobile technical fields, are related to Senior Officer's auxiliary system, keep more particularly, to a kind of lane
Auxiliary system.
Background technique
Nowadays the traffic accident as caused by Driver's Factors is countless every year, thus intelligent automobile and Senior Officer
Auxiliary system becomes research and industrial hot spot instantly, and lane keeps auxiliary system as lateral driver assistance system
One of, it can effectively stop vehicle and deflect away from lane in scorch, to effectively prevent the friendship caused by deviation
The generation of interpreter's event.
Typical lane is kept in auxiliary system, and when vehicle reaches preset vehicle speed, i.e., will deflect away from lane, and driver does not have
Have if playing turn signal, lane holding auxiliary system can actively intervene the Heading control of vehicle.Relatively common has in unilateral vehicle
Apply a brake force on wheel, or applies a steering force in steering system.It is universal with electric boosting steering system,
By the power-assisted strategy in modification electric boosting steering system, the control strategy that lane is kept is added, one is excited on motor
Steering force, to correct vehicle course when vehicle gradually deflects away from lane, this method is easy to implement the function that lane keeps auxiliary
Energy.
But typical lane holding assistant is when vehicle will deflect away from lane, controller directly transmits one
A torque command is to the assist motor in electric boosting steering system.And with the Highgrade integration of system, steering system supply
Steering system assembly is usually supplied directly to main engine plants by quotient, and the torque command interface of power-assisted strategy and motor is not usually to master
Machine factory is open, or does not reserve the Torque Control interface in advance, thus if main engine plants want based on original electric boosted
System development lane keep auxiliary system, if without the support of steering system supplier, just can not directly transmit torque command to
Assist motor, so that cannot achieve lane keeps miscellaneous function.If the controller of self-developing electric boosting steering system, is replaced
The existing controller of former vehicle is changed, or increases the additional motor for keeping miscellaneous function for lane, although can be realized lane guarantor
Miscellaneous function is held, but it is excessive to the change of original system, and the integrality and reliability of original steering system function will be difficult to ensure,
Higher cost simultaneously.
Therefore, a kind of Lane Keeping System tool for being easy to reequip and can guarantee original steering system reliably working is developed
There is important meaning.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of lanes to keep assisting
System obtains Virtual drivers steering moment after being superimposed lane holding auxiliary torque with the true steering moment of driver, substitutes
Originally the true steering moment of driver measured from steering torque sensor, to realize that lane keeps function.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of lane holding auxiliary system, comprising:
Sensing module, for acquiring lane information and information of vehicles；
Control module is separately connected sensing module and entire car controller, protects for calculating lane according to the information received
Auxiliary torque is held, and is superimposed with the true steering moment of driver, Virtual drivers steering moment is formed；
Execution module, link control module, for responding the Virtual drivers steering moment.
The sensing module includes the Lane detection sensor for acquiring vehicle position information and road information, acquires currently
The rotary angle transmitter of steering wheel angle and the steering torque sensor for acquiring the true steering moment of driver；
The vehicle position information includes transversal displacement and yaw angle of the current vehicle relative to lane, the road letter
Breath includes road ahead curvature.
The control module includes:
State decision package, for according to vehicle position information, road information, the true steering moment of driver and from people
The switching signal that machine interactive device is sent determines that the lane keeps the working condition of auxiliary system, and generates corresponding auxiliary force
Square rejection coefficient α；
The automatic model- following control unit in lane, for according to vehicle position information, road information, current steering wheel angle and
The Full Vehicle Dynamics information sent from entire car controller calculates virtual lane and follows driver's torque T 'h；
Output torque decision package follows driver's torque to obtain lane and keeps according to the working condition and virtual lane
Auxiliary torque Tlka, Tlka=T 'h*α。
The state decision package obtains the detailed process of auxiliary torque rejection coefficient α are as follows:
1) according to switching signal judge lane keep auxiliary system whether close, if so, lane keep auxiliary system into
Enter closed state, auxiliary torque rejection coefficient α=0, return step 1), if it is not, then going to step 2)；
2) judge whether effectively to detect lane line according to the acquisition information of Lane detection sensor, if so, turning step
It is rapid 3), if it is not, then lane keep auxiliary system enter closed state, auxiliary torque rejection coefficient α=0, return step 1)；
3) it is calculated according to the vehicle position information of Lane detection sensor acquisition and road information close to lane line side
Front tread tripping to the time of the lane line, judge whether the time is greater than first threshold, if so, lane keep auxiliary
System is in standby, auxiliary torque rejection coefficient α=0, return step 1), if it is not, then going to step 4)；
4) judge whether the true steering moment of driver of steering torque sensor acquisition is greater than second threshold, if so,
Lane keeps auxiliary system to be in standby, auxiliary torque rejection coefficient α=0, return step 1), if it is not, then going to step 5)；
5) lane keeps auxiliary system to be in normal operating conditions, and auxiliary torque rejection coefficient α=1 is performed simultaneously step
6)；
6) judge whether current vehicle is greater than third threshold value relative to the transversal displacement in lane, if so, go to step 1),
If it is not, then lane keeps auxiliary system to be in standby, auxiliary torque rejection coefficient α=0, return step 1).
The automatic model- following control unit in lane is responded in the auxiliary torque rejection coefficient α=1.
The automatic model- following control unit in lane calculates virtual lane and follows driver's torque T 'hDetailed process are as follows:
Calculate target rotation angle θ ' required for keeping lane:
θ '=ky*y+kΨ*Ψ+kR*R
Wherein, y is transversal displacement of the current vehicle relative to lane, and Ψ is yaw angle, and R is road ahead curvature, ky、
kΨ、kRFor proportionality coefficient；
It is poor that the current steering wheel angle θ that the target rotation angle θ ' and rotary angle transmitter are measured makees, and obtains angular errors e；
It calculates virtual lane and follows driver's torque T 'h:
Wherein, kp、ki、kdRespectively ratio, integral, differential coefficient.
The control parameter that the automatic model- following control unit in lane uses is according to the vehicle speed information in Full Vehicle Dynamics information
Carry out acquisition of tabling look-up.
The output torque decision package includes the slope siding stopping list for limiting auxiliary torque rejection coefficient change rate
Member.
The output torque decision package includes the selection subelement for making lane that auxiliary torque be kept to change linearly
With memory subelement.
The execution module includes the electric booster steering system controller and assist motor being connected, described electric boosted
Steering system controller is connect with control module.
Compared with prior art, the present invention obtains after being superimposed lane holding auxiliary torque with the true steering moment of driver
Virtual drivers steering moment, the true steering moment of driver that substitution is measured from steering torque sensor originally, to realize
Lane keeps function, has the advantage that
1) the Torque Control instruction interface of the open assist motor of electric booster steering system controller of former vehicle is not needed, firmly
Part, which is realized, to be easy, at low cost convenient for repacking；
2) electric booster steering system controller and assist motor for not needing to change former vehicle, ensure that original steering system
The integrality and reliability of function；
3) it can be realized the function that complete lane keeps auxiliary system, convenient for the secondary development and expansion of function.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is that lane of the present invention keeps pilot controller control strategy schematic diagram；
Fig. 3 is the schematic diagram that lane of the present invention keeps pilot controller；
Fig. 4 is state decision package workflow schematic diagram of the present invention；
Fig. 5 is the automatic model- following control unit schematic illustration in lane of the present invention；
Fig. 6 is output torque decision package schematic illustration of the present invention；
Fig. 7 is that lane of the present invention keeps secondary outcome schematic diagram；
Fig. 8 is corner tracing control result schematic diagram of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
As shown in Figure 1, this lane keeps auxiliary system, including sensing module, control module and execution module, sensing module
For acquiring lane information and information of vehicles；Control module is that lane keeps pilot controller, is separately connected sensing module and whole
Vehicle controller keeps auxiliary torque for calculating lane according to the information received, and is superimposed with the true steering moment of driver,
Form Virtual drivers steering moment；Execution module link control module, for responding Virtual drivers steering moment.Control is calculated
Method keeps running in pilot controller in lane, and the lane being calculated keeps the input torque of auxiliary torque and driver's script
Virtual drivers steering moment is obtained after superposition, substitutes the true driver's input torque measured originally from torque sensor, from
And it realizes lane and keeps function.Wherein execution module continues to use the module of vehicle script, to guarantee the complete of former vehicle system function
Whole property and reliability.
1, hardware connects
In traditional electric booster steering device device, electric booster steering controller passes through the steering moment in steering system
The driver that sensor measures inputs steering moment and calculates electricity according to preset assist characteristic according to the torque numerical values recited
Machine assist torque, and the instruction is sent to motor drive module, realize power-assisted effect.
In order to realize that lane keeps miscellaneous function, lane holding auxiliary torque is added to the output of steering torque sensor
In signal, so that electric assist motor is responded additional lane and keep auxiliary torque.Steering torque sensor and electric power steering
Harness between system controller is divided into power supply harness and signal harness.For guarantee torque sensor function of supplying power reliability,
Without cutting off the power supply harness of script, shutoff signal harness is connected with the I/O of controller mouth.
The lane of the application keeps the control strategy block diagram of pilot controller as shown in Fig. 2, really being turned to according to driver
Torque, vehicle position information, road information, current steering wheel angle and Full Vehicle Dynamics information are calculated lane and keep auxiliary
Power-assisted square is superimposed with the true steering moment of driver, obtains Virtual drivers steering moment, which is substituted script steering force
True driver's steering moment of square sensor output, is sent to electric booster steering system controller, to realize that lane is protected
Hold function.
2, sensing module
Sensing module includes the Lane detection sensor for acquiring vehicle position information and road information, acquires and work as front direction
The rotary angle transmitter of disk corner and the steering torque sensor for acquiring the true steering moment of driver.Vehicle position information includes
Transversal displacement and yaw angle of the current vehicle relative to lane, road information include road ahead curvature etc..
3, control module
The system block diagram of control module is as shown in figure 3, include state decision package, the automatic model- following control unit in lane and defeated
Torque decision package out.
(1) state decision package
State decision package is used for according to vehicle position information, road information, the true steering moment of driver and from people
The switching signal control lane that machine interactive device is sent keeps the working condition of auxiliary system, and generates corresponding auxiliary torque suppression
Factor alpha processed.The input of state decision package includes the cross of the current vehicle that is measured by Lane detection sensor relative to lane
To the information such as position, yaw angle, road ahead curvature and the driver's input torque measured by steering torque sensor, output
For auxiliary torque rejection coefficient.
The workflow of state decision package as shown in figure 4, specifically:
Judging part 01 receives the switching signal that lane keeps auxiliary system from human-computer interaction device, if driver closes
Lane keeps auxiliary system, then system enters closed state, and auxiliary torque rejection coefficient α is equal to 0, be then return to judging part 01 into
Row judges next time, if lane keeps auxiliary system to open, executes judging part 02.In judging part 02, if Lane detection passes
Sensor judgement currently can not effectively detect lane line, then system likewise enters closed state, otherwise enter judging part 03.Judgement
Portion 03, location information of the vehicle measured according to Lane detection sensor relative to current lane are calculated close to lane line one
The front tread tripping of side to current lane lane line time, compare whether the time is greater than first threshold, if vehicle away from
Tripping to current lane lane line time be greater than first threshold, then it is assumed that vehicle does not deflect away from the trend in lane, then lane
Auxiliary system is kept to be in standby, auxiliary torque rejection coefficient α is equal to 0, is then return to judging part 01 and is sentenced next time
It is disconnected, otherwise enter judging part 04.Judging part 04, the driver's steering moment information measured according to steering torque sensor, compares
Whether the input torque of driver is greater than second threshold, if the input torque of driver is greater than second threshold, judges to drive
Member is actively to carry out steering behavior at this time, then lane keeps auxiliary system to be in standby, auxiliary torque rejection coefficient α etc.
In 0.Otherwise, lane keeps auxiliary system to be in normal operating conditions, and auxiliary torque rejection coefficient α is equal to 1.When lane keeps auxiliary
After auxiliary system is opened, judging part 05 is executed.Judging part 05, according to the information of Lane detection sensor, compare vehicle relative to
Whether the transversal displacement of lane center is greater than third threshold value, if transversal displacement is less than third threshold value at this time, then it is assumed that
Vehicle has returned to lane center, and Lane Keeping System is in standby, and auxiliary torque rejection coefficient α is equal to 0, otherwise, is
System then keeps normal operating conditions, returns to judging part 01.
(2) the automatic model- following control unit in lane
The automatic model- following control unit in lane be used for according to vehicle position information, road information, current steering wheel angle and
The Full Vehicle Dynamics information sent from entire car controller calculates virtual lane and follows driver's torque T 'h.Lane follows control automatically
The input of unit processed include the current vehicle that is measured by Lane detection sensor relative to the lateral position in lane, yaw angle,
The information such as road ahead curvature, the current steering wheel angle measured by rotary angle transmitter and the vehicle sent by entire car controller
Vehicle speed information exports and follows driver's torque for virtual lane.
The automatic model- following control unit in lane can be responded only in auxiliary torque rejection coefficient α=1.
The schematic diagram of the automatic model- following control unit in lane is as shown in figure 5, can be divided into lateral position controller and steering wheel turn
Angle controller.The road information and vehicle position information that lateral position controller is obtained according to Lane detection module, wherein wrapping
Include: vehicle is calculated relative to the transversal displacement y of current lane, course angle Ψ and road ahead curvature R and keeps lane institute
The target rotation angle θ ' needed, lateral position controller can be wanted according to the vehicle pose closed loop system performance index for taking into account road curvature
It asks and is designed, proportional controller, control algolithm also can be used are as follows:
θ '=ky*y+kΨ*Ψ+kR*R
The actual steering wheel that the target rotation angle θ ' and rotary angle transmitter being calculated by lateral position controller are measured turns
It is poor that angle θ makees, and obtains angular errors e, virtual lane is calculated and follows driver's torque T 'h.The control of steering wheel angle displacement device can be according to
It is designed according to corner Performance of Closed Loop System index request, proportional-integral derivative controller, control algolithm also can be used are as follows:
Meanwhile the vehicle speed information sent according to entire car controller, it is obtained under preset each speed in advance by lookup table mode
The control parameter of the automatic model- following control module in corresponding lane, thus guarantee under each speed system can effectively realize compared with
Function is kept for ideal lane.
(3) output torque decision package
Output torque decision package follows driver's torque to obtain lane and keeps auxiliary according to working condition and virtual lane
Torque Tlka, Tlka=T 'h*α.The input of output torque decision package includes that the auxiliary torque obtained by state decision package inhibits
Coefficient and driver's torque is followed by the virtual lane that the automatic model- following control unit in lane obtains, exports and keep auxiliary force for lane
Square.As auxiliary torque rejection coefficient α=1, the Virtual drivers steering moment T of Lane Keeping System outputlkaAs virtual vehicle
Road follows driver's torque T 'h；As auxiliary torque rejection coefficient α=0, the Virtual drivers of Lane Keeping System output are turned to
Torque TlkaEqual to 0.
As shown in fig. 6, due to lane keep auxiliary system from normal work be withdrawn into standby or closed state be usually by
Cause in driver's active steering, driver can hold steering wheel at this time, hereby it is ensured that keeping auxiliary system from normal in lane
It is particularly important that work is withdrawn into the steady and smooth that lane during this section of standby or closed state keeps auxiliary torque to exit, and avoids
Driver turns to feel discomfort and even drives fear.In order to achieve the above object, slope siding stopping unit R ate_limiter
It is excessive for limiting auxiliary torque rejection coefficient α change rate.
It, may be due to the variation of vehicle location meanwhile because being reduced in 0 process in auxiliary torque rejection coefficient α from 1
Driver's torque T ' is followed so as to cause virtual lanehFluctuation, thus make output Virtual drivers steering moment TlkaChange
It turns to nonlinear, causes driver's feel bad.Thus the present invention as shown in connection with fig. 6 protect by selection subelement and memory subelement
Demonstrate,prove the Virtual drivers steering moment T of outputlkaIn stateful switchover process linear change.Select subelement Switch and memory
The effect of unit Memory is: when auxiliary torque rejection coefficient α is reduced to 0 from 1, it is ensured that virtual lane follows driver's torque
T′hRemain constant, to ensure that the Virtual drivers steering moment T of final outputlkaIn state switching, variation
It is linear, to guarantee the steering comfortable feel of driver.
4, proof of algorithm
Fig. 7 is that the lane under each speed keeps secondary outcome schematic diagram.Solid line and dotted line as shown in the figure are respectively 120kph
The working condition of auxiliary system, high level table are kept relative to the transversal displacement in lane and lane with vehicle under 80kph speed
Show that system is in normal operating conditions, low level indicates that system is in standby.
Fig. 8 is the corner tracing control result schematic diagram under each speed.Solid line as shown in the figure is actual steering wheel corner.Figure
Shown in dotted line be the automatic model- following control module in lane in lateral position controller output target rotation angle.Dotted line as shown in the figure
The working condition of auxiliary system is kept for lane, high level indicates that system is in normal operating conditions, and low level indicates at system
In standby mode.
The result shows that the system can be opened when vehicle will deflect away from lane under two kinds of speeds of 80kph and 120kph
Auxiliary is opened, the effect that actual steering wheel corner tracks target rotation angle is preferable, and at the same time can effectively correct vehicle returns to vehicle
To center.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (8)
1. a kind of lane keeps auxiliary system characterized by comprising
Sensing module, for acquiring lane information and information of vehicles；
Control module is separately connected sensing module and entire car controller, keeps auxiliary for calculating lane according to the information received
Power-assisted square, and be superimposed with the true steering moment of driver, form Virtual drivers steering moment；
Execution module, link control module, for responding the Virtual drivers steering moment；
The sensing module includes the Lane detection sensor for acquiring vehicle position information and road information, acquires and work as front direction
The rotary angle transmitter of disk corner and the steering torque sensor for acquiring the true steering moment of driver；
The vehicle position information includes transversal displacement and yaw angle of the current vehicle relative to lane, the road information packet
Include road ahead curvature；
The control module includes:
State decision package, for according to vehicle position information, road information, the true steering moment of driver and from man-machine friendship
The switching signal that mutual device is sent determines that the lane keeps the working condition of auxiliary system, and generates corresponding auxiliary torque suppression
Factor alpha processed；
The automatic model- following control unit in lane, for according to vehicle position information, road information, current steering wheel angle and from whole
The Full Vehicle Dynamics information that vehicle controller is sent calculates virtual lane and follows driver's torque T 'h；
Output torque decision package follows driver's torque to obtain lane and keeps auxiliary according to the working condition and virtual lane
Torque Tlka, Tlka=T 'h*α。
2. lane according to claim 1 keeps auxiliary system, which is characterized in that the state decision package obtains auxiliary
The detailed process of torque rejection coefficient α are as follows:
1) judge that lane keeps whether auxiliary system closes according to switching signal, if so, lane keeps auxiliary system to enter pass
Closed state, auxiliary torque rejection coefficient α=0, return step 1), if it is not, then going to step 2)；
2) judge whether effectively to detect lane line according to the acquisition information of Lane detection sensor, if so, go to step 3),
If it is not, then lane keeps auxiliary system to enter closed state, auxiliary torque rejection coefficient α=0, return step 1)；
3) it is calculated before lane line side according to the vehicle position information of Lane detection sensor acquisition and road information
Wheelspan tripping judges whether the time is greater than first threshold to the time of the lane line, if so, lane keeps auxiliary system
It is in standby, auxiliary torque rejection coefficient α=0, return step 1), if it is not, then going to step 4)；
4) judge whether the true steering moment of driver of steering torque sensor acquisition is greater than second threshold, if so, lane
Auxiliary system is kept to be in standby, auxiliary torque rejection coefficient α=0, return step 1), if it is not, then going to step 5)；
5) lane keeps auxiliary system to be in normal operating conditions, and auxiliary torque rejection coefficient α=1 is performed simultaneously step 6)；
6) judge whether current vehicle is greater than third threshold value relative to the transversal displacement in lane, if so, go to step 1), if
No, then lane keeps auxiliary system to be in standby, auxiliary torque rejection coefficient α=0, return step 1).
3. lane according to claim 1 keeps auxiliary system, which is characterized in that the automatic model- following control unit in lane
It is responded in the auxiliary torque rejection coefficient α=1.
4. lane according to claim 1 keeps auxiliary system, which is characterized in that the automatic model- following control unit in lane
It calculates virtual lane and follows driver's torque T 'hDetailed process are as follows:
Calculate target rotation angle θ ' required for keeping lane:
θ '=ky*y+kΨ*Ψ+kR*R
Wherein, y is transversal displacement of the current vehicle relative to lane, and Ψ is yaw angle, and R is road ahead curvature, ky、kΨ、kR
For ratio control parameter；
It is poor that the current steering wheel angle θ that the target rotation angle θ ' and rotary angle transmitter are measured makees, and obtains angular errors e；
It calculates virtual lane and follows driver's torque T 'h:
Wherein, kp、ki、kdFor ratio, integral, differential control parameter.
5. lane according to claim 4 keeps auxiliary system, which is characterized in that the automatic model- following control unit in lane
The control parameter of use carries out acquisition of tabling look-up according to the vehicle speed information in Full Vehicle Dynamics information.
6. lane according to claim 1 keeps auxiliary system, which is characterized in that the output torque decision package includes
Slope for limiting auxiliary torque rejection coefficient change rate limits subelement.
7. lane according to claim 1 keeps auxiliary system, which is characterized in that the output torque decision package includes
Selection subelement and memory subelement for making lane that auxiliary torque be kept to change linearly.
8. lane according to claim 1 keeps auxiliary system, which is characterized in that the execution module includes being connected
Electric booster steering system controller and assist motor, the electric booster steering system controller are connect with control module.
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| CN201710286011.4A CN107150682B (en) | 2017-04-27 | 2017-04-27 | A kind of lane holding auxiliary system |
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| CN201710286011.4A CN107150682B (en) | 2017-04-27 | 2017-04-27 | A kind of lane holding auxiliary system |
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| CN107150682B true CN107150682B (en) | 2019-08-02 |
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| CN109927721B (en) * | 2017-12-18 | 2020-10-27 | 华创车电技术中心股份有限公司 | Lane keeping following system |
| CN107972667B (en) * | 2018-01-12 | 2019-07-02 | 合肥工业大学 | A kind of man-machine harmony control method of deviation auxiliary system |
| CN108327717B (en) * | 2018-02-06 | 2019-07-02 | 合肥工业大学 | A kind of man-machine deviation auxiliary system and its deviation householder method driven altogether |
| CN108466617B (en) * | 2018-02-27 | 2020-05-22 | 金龙联合汽车工业（苏州）有限公司 | Lane keeping system and lane keeping control method |
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