CN109398355A - It is a kind of for lane keeping method and vehicle based on distributed motor-driven vehicle - Google Patents
It is a kind of for lane keeping method and vehicle based on distributed motor-driven vehicle Download PDFInfo
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- CN109398355A CN109398355A CN201710712007.XA CN201710712007A CN109398355A CN 109398355 A CN109398355 A CN 109398355A CN 201710712007 A CN201710712007 A CN 201710712007A CN 109398355 A CN109398355 A CN 109398355A
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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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2710/08—Electric propulsion units
- B60W2710/083—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
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- Combustion & Propulsion (AREA)
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- Automation & Control Theory (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of for lane keeping method and vehicle based on distributed motor-driven vehicle, the present invention is based on image capture devices and image analyzing and processing technology, to vehicle whether run-off-road or there are run-off-road trend to judge, and adjust the torque of distributed driving motor in real time according to departure, to generate around vehicle perpendicular to the yaw moment of the shaft center line on ground, vehicle is driven to return lane, to realize that vehicle keeps lanes.Lane based on distributed driving motor remains able to precisely quickly be modified lane shift, and the response time is short and control mechanism is all made of former vehicle component, reduces costs.
Description
Technical field
The present invention relates to a kind of for lane keeping method and vehicle based on distributed motor-driven vehicle, belongs to automobile
Intelligence auxiliary driving field.
Background technique
In recent years, being continuously increased with car ownership, traffic accident sum constantly increase.Driving safety problem becomes
The Important Problems paid close attention in social traffic and automotive field.For the driving burden for improving drive safety, mitigating driver, first
Widely studied into driving assistance system (Advanced Driving Assistance System, ADAS), and by by
Step application.
As the Main Branches of ADAS, there are many kinds of forms for the transverse driving auxiliary system of vehicle, and wherein lane is kept auxiliary
Auxiliary system (Lane Keeping Assistance System, LKAS) is for driver because of fatigue or absent minded generation
Deviation and design.Particularly as being to identify lane or lane by sensing or imaging technique (such as high definition imaging device)
Line is analyzed by calculating, and when finding the trend of non-artificial automotive run-off-road, passes through manipulation (such as the amendment side to vehicle
To disk) to reach vehicle maintain a kind of automatic control technology travelled in lane line.Traditional lane keeps technical solution master
If carrying out lane holding by intervening electric steering system, or by ESP electric stabilizing system.If publication No. is CN
The Chinese patent document of 105711588 A discloses a kind of lane and auxiliary system and lane is kept to keep householder method, this method
The crosswise joint of vehicle is just realized by the Collaborative Control of electric boosting steering system and electronic stability program.
In recent years, as hybrid vehicle or the high speed development of pure electric automobile technology, new energy vehicle are more and more
Come into people's lives.Using distributed driving motor, such as the new-energy automobile of wheel motor, hub motor,
There is innate advantage in body gesture control；Compared to using distributed motor-driven vehicle, conventional truck is in body gesture
It in control, needs to carry out gesture stability to vehicle by electronic power assist steering system or ESP system, when controlling unit multiple response
Between long poor reliability, furthermore control is inaccurate, is easy to form snakelike swing in lane, and dash forward to steering system when high speed
So intervene to be easy to cause and even turn on one's side to lose control of one's vehicle, and need to improve electronic power assist steering system, increases cost.
Summary of the invention
The object of the present invention is to provide a kind of for lane keeping method and vehicle based on distributed motor-driven vehicle,
To solve in the prior art, when cooperating ESP to carry out lane holding by electric boosting steering system, the response time is long, reliable
Property difference and problem at high cost.
To achieve the above object, the solution of the present invention includes:
A kind of lane keeping method for distributed driving vehicle of the invention, including first scheme, steps are as follows:
1) judge that vehicle whether there is the deviation trend that non-driver is intended to；
If 2) vehicle is there are the deviation trend that non-driver is intended to, and vehicle left avertence, then point of vehicle left side is adjusted
The output torque of the distributed driving motor of the output torque and/or adjusting vehicle right side of cloth driving motor, makes vehicle left side
Distributed driving motor output torque be greater than vehicle right side distributed driving motor output torque；
If vehicle is there are the deviation trend that non-driver is intended to, and vehicle right avertence, then the distribution of vehicle right side is adjusted
The output torque of the distributed driving motor of the output torque and/or adjusting vehicle left side of formula driving motor, makes vehicle right side
The output torque of distributed driving motor is greater than the output torque of the distributed driving motor of vehicle left side.
By the control to driving motor, the instruction for adjusting vehicle body is applied directly to driving wheel, is realized accurate quick
Lane is kept, and does not need newly-increased control structure or component, effectively saves cost.
Alternative plan in step 1), judges that the method for deviation includes passing through image on the basis of first scheme
Equipment is acquired, the image of the identification line with lane where vehicle of vehicle at least side is acquired in real time, passes through the place to image
Reason judges that vehicle whether there is the trend of side run-off-road.
Third program acquires the figure with identification line on the left of lane of vehicle left side on the basis of alternative plan in real time
Picture, by recognizing the distance of line on the left of acquisition vehicle left side to lane first to image procossing；When the distance is pre- less than first
If judging vehicle left avertence when value；When the distance is greater than the second preset value, vehicle right avertence is judged；First preset value is small
In second preset value.
By image processing techniques, judge whether vehicle run-off-road or has the tendency that run-off-road, technology maturation, and energy
Enough setting wheel is to the distance of roadmarking as deviation activation threshold value.
Fourth program in step 1), judges that the method for driver intention includes on the basis of first scheme, and detection turns
To the switching signal of lamp；If there is turning indicator control signal, it is judged as the deviation trend of driver intention, if not turning to
Lamp switch signal, then there are the deviation trend that non-driver is intended to for judgement.
Judge whether driver has lane change intention by judging whether there is the switching signal of turn signal, scheme is simply easy
Row and accuracy of judgement.
5th scheme in step 1), judges that the method for driver intention includes detection side on the basis of first scheme
To disk corner or corner change rate；If steering wheel angle is greater than first setting value and/or steering wheel angle change rate is greater than
When the second setting value, then it is judged as the deviation trend of driver intention；If steering wheel angle less than the first setting value and/or
When steering wheel angle change rate is less than the second setting value, then there are the deviation trend that non-driver is intended to for judgement.
Judge whether driver has lane change intention by steering wheel angle angle, by setting corner threshold value, can effectively prevent
Only judge by accident.
6th scheme, on the basis of third program, in step 2), the distribution driving motor output torque is by vehicle
Controller is calculated: with preset, the distance of identification line is target on the left of vehicle left side to lane when vehicle is without departing from lane
Amount generates torque increase by PID loop section using the real-time range of vehicle left side to identification line on the left of lane as feedback quantity, and divides
The demand torque of cloth driving motor is superimposed to form the corresponding driving motor of total torque instruction control.
By in entire car controller PID controller calculate amendment deviate torque demand, and under vehicle current state
Torque demand combines, so that deviation adjustment will not accelerate vehicle, deceleration or the actual motion climbed impact.
A kind of vehicle of the invention, including entire car controller, further include image capture device；Described image acquires equipment and uses
The distance of lane identification line is taken turns in collecting vehicle；The entire car controller is executed instruction to realize that following lane keeps A scheme:
1) judge that vehicle whether there is the deviation trend that non-driver is intended to；
If 2) vehicle is there are the deviation trend that non-driver is intended to, and vehicle left avertence, then point of vehicle left side is adjusted
The output torque of the distributed driving motor of the output torque and/or adjusting vehicle right side of cloth driving motor, makes vehicle left side
Distributed driving motor output torque be greater than vehicle right side distributed driving motor output torque；
If vehicle is there are the deviation trend that non-driver is intended to, and vehicle right avertence, then the distribution of vehicle right side is adjusted
The output torque of the distributed driving motor of the output torque and/or adjusting vehicle left side of formula driving motor, makes vehicle right side
The output torque of distributed driving motor is greater than the output torque of the distributed driving motor of vehicle left side.
By the control to driving motor, the instruction for adjusting vehicle body is applied directly to driving wheel, is realized accurate quick
Lane is kept, and does not need newly-increased control structure or component, effectively saves cost.
Realize that following lane keeps B scheme, B scheme is on the basis of A scheme, in step 1), judges the side of deviation
Method includes, and by image capture device, acquires the image of the identification line with lane where vehicle of vehicle at least side in real time,
Judge that vehicle whether there is the trend of side run-off-road by the processing to image.
Realize that following lane keeps C Scheme, C scheme acquires the band of vehicle left side on the basis of B scheme in real time
There is the image of identification line on the left of lane, by recognizing the distance of line on the left of acquisition vehicle left side to lane first to image procossing；
When the distance is less than the first preset value, vehicle left avertence is judged；When the distance is greater than the second preset value, the vehicle right side is judged
Partially；First preset value is less than second preset value.
By image processing techniques, judge whether vehicle run-off-road or has the tendency that run-off-road, technology maturation, and energy
Enough setting wheel is to the distance of roadmarking as deviation activation threshold value.
Realize that following lane keeps D Scheme, D scheme in step 1), judges driver on the basis of A scheme
The method of intention includes detecting the switching signal of turn signal；If there is turning indicator control signal, it is judged as the vehicle of driver intention
Road deviates trend, if not having turning indicator control signal, there are the deviation trend that non-driver is intended to for judgement.
Judge whether driver has lane change intention by judging whether there is the switching signal of turn signal, scheme is simply easy
Row and accuracy of judgement.
Realize that following lane keeps E Scheme, E scheme in step 1), judges driver on the basis of A scheme
The method of intention includes detection direction disk corner or corner change rate；If steering wheel angle be greater than first setting value and/or
When steering wheel angle change rate is greater than the second setting value, then it is judged as the deviation trend of driver intention；If steering wheel turns
Angle less than the first setting value and/or steering wheel angle change rate less than the second setting value when, then judgement there are non-driver intentions
Deviation trend.
Judge whether driver has lane change intention by steering wheel angle angle, by setting corner threshold value, can effectively prevent
Only judge by accident.
Realize that following lane keeps F Scheme, F scheme is on the basis of C scheme, in step 2), the distribution
Driving motor output torque is calculated by entire car controller: with preset, vehicle left side is to lane when vehicle is without departing from lane
The distance that left side recognizes line is aim parameter, using the real-time range of identification line on the left of vehicle left side to lane as feedback quantity, passes through PID
Link generates torque increase, is superimposed that form the corresponding driving of total torque instruction control electric with the demand torque of distributed driving motor
Machine.
By in entire car controller PID controller calculate amendment deviate torque demand, and under vehicle current state
Torque demand combines, so that deviation adjustment will not accelerate vehicle, deceleration or the actual motion climbed impact.
Detailed description of the invention
Fig. 1 is that the lane based on distributed driving motor keeps auxiliary system configuration picture；
Fig. 2 is entire car controller algorithm pattern；
Fig. 3 is Lane Keeping System control flow schematic diagram.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
Of the invention is a kind of for based on the lane keeping method of distributed motor-driven vehicle and the embodiment of vehicle, sheet
The vehicle of invention includes image collecting device and lateral acceleration sensor.Described image acquisition device is at least 1, is set to
Vehicle left side, and the left side identification line in vehicle place lane can be taken, by image processing techniques, a vehicle left side can be obtained
Distance of the side to identification line on the left of the lane of place.
As other embodiments, described image acquisition device may be several, be set to vehicle other positions, specifically
Principle is the image that can obtain lane identification line, and obtains the positional relationship in vehicle and lane from image；Such as it is arranged in vehicle
On the right side of, the distance of the identification line on the right side of vehicle right side to place lane is obtained；Also it can be set one to vehicle front, pass through
The distance of image procossing and certain algorithm, acquisition vehicle two sides or center to two sides lane identification line；Based on mentioned above principle, this hair
Bright quantity and installation site to image processing apparatus is without limitation.
Image collecting device by image procossing and can calculate acquisition respective distances using similar Moblieye
Device, can also can identify the sensor of lane identification line using other, the present invention to the sensor without limitation.
A kind of lane based on distributed driving motor as shown in Figure 1 keeps auxiliary system configuration picture, including drives meaning
Diagram analysis, full-vehicle control module, execution module.The driving intention parsing can pass through turning indicator control sensor or direction
Disk rotary angle transmitter；Full-vehicle control module is entire car controller；Execution module is each distributed driving motor.
Lane Keeping System control flow schematic diagram as shown in Figure 3, lane keeping method of the invention include following step
It is rapid:
1) judge that lane keeps whether functional switch is opened；Specific judgment mode may is that on vehicle control panel
Increase a lane and keep functional switch, driver is facilitated to be closed when being not intended to or intervening without Lane Keeping System
It closes.
2) judge whether vehicle has the tendency that run-off-road by being installed in the described image acquisition device of vehicle left side, have
Body is whether the distance of vehicle left side to place lane left-hand lane identification line exceeds a threshold range, if being less than the threshold value model
The lower limit value enclosed, then it is assumed that vehicle has the tendency that the run-off-road on the left of the lane of place, if more than the upper limit value of the threshold range,
Then think that vehicle has the tendency that from run-off-road on the right side of the lane of place.The threshold range can be according to vehicle width and lane width
It is arranged by experience, Specific Principles are to maintain the numberical range that can guarantee that vehicle is in always in lane to travel.For example, can be with
It is 25~40cm that this threshold range, which is arranged, i.e., the distance of identification line is in 25~40cm range on the left of vehicle left side to place lane
When, Lane Keeping System is not involved in control, when the distance of identification line is less than 25cm on the left of vehicle left side to place lane, it is believed that
There is the trend from left side run-off-road in vehicle；When the distance of identification line is greater than 40cm on the left of vehicle left side to place lane,
Think that vehicle has the trend from right side run-off-road.The threshold range also can be set as a fixed value, such as 30cm, when
When the distance of vehicle left side to identification line on the left of the lane of place is more than or less than 30cm, Lane Keeping System can all be intervened, and hold
The corresponding Motor torque amendment of row.
Equally, described image acquisition device also can be set in vehicle right side, and specific judgment principle and method are adopted with image
Acquisition means be mounted on left side it is similar, details are not described herein.
3) judge driver intention.If there are run-off-road trend for vehicle, then judge whether the deviation is driver
It is intended to.If specially detecting the steering modulating signal in the same direction with offset direction, then it is assumed that above-mentioned deviation is that the active of driver is grasped
Make, Lane Keeping System no longer intervenes；Or detection direction disk corner, if steering wheel exist more than certain setting value corner or
There are a certain size corner change rates, then it is assumed that and it is driver in operation steering wheel, above-mentioned deviation is driver's active operation,
Lane Keeping System no longer intervenes；Steering wheel angle and corner change rate can also be judged simultaneously, if steering wheel angle
It is greater than the set value and there are a certain size change rates, then it is assumed that be driver in operation steering wheel, Lane Keeping System is no longer
Intervention.
Modulating signal is turned to if it does not exist, or turning to modulating signal is the direction opposite with automotive run-off-road side, then it is assumed that vehicle
Deviate non-driver be intended to.Or the corner that a certain size is not present less than setting value and/or steering wheel in steering wheel angle becomes
When rate, it is believed that vehicle deviates non-driver and is intended to.
When whether judge to deviate is driver intention, can also be become based on steering modulating signal and steering wheel angle/corner
Rate is judged simultaneously.
4) distributed driving motor torque is calculated, entire car controller algorithm pattern as shown in Figure 2, entire car controller is by dividing
(target range is preset to the current real-time range and target range of identification line on the left of analysis vehicle left side to place lane
The distance for recognizing line when vehicle is without departing from lane on the left of vehicle left side to lane, is specifically as follows in the threshold range according to warp
Test a distance values of selection, such as 32cm), calculate vehicle current path deviation, the PID controller root in entire car controller
Vehicle body torque Δ T needed for correcting this deviation is calculated according to the Path error and the real-time speed of vehicle, and based on required torque, partially
From direction and vehicle situation, correction strategy is selected, specific correction strategy includes: to increase deviation side (if vehicle exists from place vehicle
The trend that road left-hand lane line deviates, then vehicle left side is deviation side, and vice versa) it the torque of driving motor and/or reduces non-
The torque of deviation side driving motor；Or under such as vehicle acceleration mode, while increasing deviation side and non-deviation side driving motor
Torque, but deviation side driving motor torque increase is greater than non-deviation side；Or under such as vehicular deceleration state, while reducing inclined
From side and non-deviation side driving motor torque, but deviation side driving motor torque reduction is less than non-deviation side.Wherein, for a left side
The corrected parameter α and β of right side distribution driving motor setting, the positive and negative of α, β is determined by the offset direction of vehicle, for example, if vehicle
Left avertence, the then torque that the torque knots modification of the distributed driving motor in left side is α Δ T, the torque of right side distribution driving motor
Knots modification is the torque of-β Δ T；If vehicle right avertence, the torque of the distributed driving motor in left side changes into the torque of-α Δ T, right
The torque knots modification of side distribution driving motor is the torque of β Δ T.In addition, α, β also can be set to zero, then left side or right is corresponded to
The torque of side distribution driving motor is without modification.Torque knots modification (the i.e. above-mentioned α Δ of gained left and right sides distribution driving motor
T, the torque values such as β Δ T) merge with vehicle torque demand, obtain the output torque of revised each distributed driving motor, motor
The corresponding distributed driving motor of controller control responds the output torque, and the driving wheel of two sides is done to vehicle towards lane center
The required torque of weaving adjusts body gesture, and vehicle body is made to have the trend for returning lane center traveling.
This patent protection is to carry out deviation based on distributed driving motor (such as wheel motor or hub motor) to repair
The positive technical solution realizing lane and keeping.Rear-guard, the driving electricity are generally using the new energy vehicle of distributed driving motor
Machine is two, respectively drives two rear-wheels of vehicle two sides.But it is not excluded for the distributed driving new energy vehicle of other drive forms
, two front-wheels that such as two driving motors respectively drive vehicle two sides, or the 4 of corresponding vehicle are driven using 4 driving motors
A wheel.The new energy vehicle can be for using the hybrid vehicle of distributed driving motor, this method be for described mixed
Under the pure electric vehicle drive mode of motor-car, or using the pure electric vehicle of distributed driving motor.
Claims (10)
1. a kind of lane keeping method for distributed driving vehicle, which comprises the following steps:
1) judge that vehicle whether there is the deviation trend that non-driver is intended to；
2) if vehicle is there are the deviation trend that non-driver is intended to, and vehicle left avertence, then the distribution of vehicle left side is adjusted
The output torque of the distributed driving motor of the output torque and/or adjusting vehicle right side of driving motor, makes point of vehicle left side
The output torque of cloth driving motor is greater than the output torque of the distributed driving motor of vehicle right side；
If there are the deviation trend that non-driver is intended to for vehicle, and vehicle right avertence, the then distribution for adjusting vehicle right side are driven
The output torque of dynamic motor and/or the output torque for the distributed driving motor for adjusting vehicle left side, make the distribution of vehicle right side
The output torque of formula driving motor is greater than the output torque of the distributed driving motor of vehicle left side.
2. a kind of lane keeping method for distributed driving vehicle according to claim 1, which is characterized in that step
1) in, judge that the method for deviation includes, by image capture device, acquire vehicle at least side in real time has vehicle institute
In the image of the identification line in lane, judge that vehicle whether there is the trend of side run-off-road by the processing to image.
3. a kind of lane keeping method for distributed driving vehicle according to claim 2, which is characterized in that in real time
The image with identification line on the left of lane for acquiring vehicle left side, by image procossing, first acquisition vehicle left side to lane
The distance of left side identification line；When the distance is less than the first preset value, vehicle left avertence is judged；When the distance is greater than second in advance
If judging vehicle right avertence when value；First preset value is less than second preset value.
4. a kind of lane keeping method for distributed driving vehicle according to claim 1, which is characterized in that step
1) in, judge that the method for driver intention includes detecting the switching signal of turn signal；If there is turning indicator control signal, judge
For the deviation trend of driver intention, if not having turning indicator control signal, there are the lanes that non-driver is intended to for judgement
Deviation trend.
5. a kind of lane keeping method for distributed driving vehicle according to claim 3, which is characterized in that step
2) in, the distribution driving motor output torque is calculated by entire car controller: with preset, when vehicle is without departing from lane
The distance of identification line is aim parameter on the left of vehicle left side to lane, and the real-time range with identification line on the left of vehicle left side to lane is
Feedback quantity generates torque increase by PID loop section, is superimposed to form total torque instruction control with the demand torque of distributed driving motor
Make corresponding driving motor.
6. a kind of vehicle, including entire car controller, which is characterized in that further include image capture device；Described image acquires equipment
The distance of lane identification line is taken turns to for collecting vehicle；The entire car controller is executed instruction to realize following method:
1) judge that vehicle whether there is the deviation trend that non-driver is intended to；
2) if vehicle is there are the deviation trend that non-driver is intended to, and vehicle left avertence, then the distribution of vehicle left side is adjusted
The output torque of the distributed driving motor of the output torque and/or adjusting vehicle right side of driving motor, makes point of vehicle left side
The output torque of cloth driving motor is greater than the output torque of the distributed driving motor of vehicle right side；
If there are the deviation trend that non-driver is intended to for vehicle, and vehicle right avertence, the then distribution for adjusting vehicle right side are driven
The output torque of dynamic motor and/or the output torque for the distributed driving motor for adjusting vehicle left side, make the distribution of vehicle right side
The output torque of formula driving motor is greater than the output torque of the distributed driving motor of vehicle left side.
7. a kind of vehicle according to claim 6, which is characterized in that in step 1), judge that the method for deviation includes,
By image capture device, the image of the identification line with lane where vehicle of vehicle at least side is acquired in real time, by right
The processing of image judges that vehicle whether there is the trend of side run-off-road.
8. a kind of vehicle according to claim 7, which is characterized in that having for acquisition vehicle left side is distinguished on the left of lane in real time
The image for knowing line, by recognizing the distance of line on the left of acquisition vehicle left side to lane first to image procossing；When described apart from small
When the first preset value, vehicle left avertence is judged；When the distance is greater than the second preset value, vehicle right avertence is judged；Described first
Preset value is less than second preset value.
9. a kind of vehicle according to claim 6, which is characterized in that in step 1), judge the method packet of driver intention
It includes, detects the switching signal of turn signal；If there is turning indicator control signal, it is judged as the deviation trend of driver intention,
If not having turning indicator control signal, there are the deviation trend that non-driver is intended to for judgement.
10. a kind of vehicle according to claim 8, which is characterized in that in step 2), the distribution driving motor output
Torque is calculated by entire car controller: with preset, identification line on the left of vehicle left side to lane when vehicle is without departing from lane
Distance is aim parameter, using the real-time range of identification line on the left of vehicle left side to lane as feedback quantity, generates torque by PID loop section
Increment is superimposed to form the corresponding driving motor of total torque instruction control with the demand torque of distributed driving motor.
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