CN109774711A - Can weight modulation lane model vehicle lateral control system and method - Google Patents
Can weight modulation lane model vehicle lateral control system and method Download PDFInfo
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Abstract
The present invention provide it is a kind of can weight modulation lane model vehicle lateral control system and method.Can weight modulation lane model vehicle lateral control system include video camera, image processor, controller and transfer, wherein video camera towards vehicle fore direction photographing and export Chinese herbaceous peony picture data.Image processor receives and analyzes Chinese herbaceous peony picture data to obtain lane characteristic point, then establishes lane matched curve according to lane characteristic point and previewing weight.Controller includes vehicle dynamic parameter and the pre- apparent distance, and previewing weight changes according to the change of the pre- apparent distance.Controller calculates according to lane matched curve and vehicle dynamic parameter and generates steering control effort weight.Steering of the transfer according to steering control effort weight control vehicle.Whereby, the control force size of transfer intervention is adjusted through previewing weight and steering control effort weight, it can smoothly switching control power.
Description
Technical field
The present invention relates to a kind of vehicle lateral control system and method, can weight modulation lane especially with regard to one kind
The vehicle lateral control system and method for model.
Background technique
Lane line tracking control system be using obtained from camera sensing device image information detection lane line, and according to
Lane detection result prevents the vehicle control system of automotive run-off-road line, also referred to as vehicle lateral control system.Generally
Lane line tracking control system is to make steering control device that assisted diversion torque occur and control steering, is expert to control vehicle
Without departing from lane line in sailing.In addition, lane line tracking control system also develops a kind of control Vehicular turn and makes vehicle tracking
Road-center traveling, to implement the road-center tracking control system of lane line tracing control.
It is suggested at present there are many vehicle lateral control system, but traditional vehicle lateral control system is according to driver
Driving tendency setting vehicle need the benchmark and tracing positional that track, therefore the state of road or driver it is generated compared with
It is big to influence.When vehicle deviates benchmark tracing positional, in order to track benchmark tracing positional, system can apply control suddenly and be easy
Sense of discomfort is caused to driver.Furthermore traditional vehicle lateral control system calculates cross using the lane model of equal equal weight
To error, in lane during curve matching, tend to that there is a phenomenon where lateral error and inaccuracy, and this phenomenon
It will cause the situation that vehicle lateral control system has erroneous judgement.In addition, in known technology, the process for switching steering control effort is easy
The leading to the problem of of burst control power, unsafe conditions caused by burst control power occur and influence to drive manipulation to experience.
It follows that lack currently on the market a kind of ride comfort that can increase man-machine switching steering control effort, safety and
Stability can weight modulation lane model vehicle lateral control system and method, therefore related dealer is seeking its solution
Road.
Summary of the invention
Therefore, the purpose of the present invention is to provide it is a kind of can weight modulation lane model vehicle lateral control system and its
Method, the pre- apparent distance progress weight adjustment according to needed for controller of lane characteristic point, then carry out curve fitting to obtain
More accurately lane model.In addition, adjusting the control force of transfer intervention through the multiple steering control effort weight considered
Size, energy foundation demand are made flexibly adjustment and are planned, and can smoothly switching control power, and then the peace of raising switching control power
Simultaneously adverse effect and uncomfortable impression of the burst control power to driving is greatly reduced in full property.In addition, in previewing weight and turning to
Under the interaction regulation of control force weight, system can smoothly switch steering control effort, turn to control to solve switching in known technology
The process of power processed is easy to happen unsafe conditions caused by the generation of burst control power, burst control power and influences to drive behaviour
The problem of control is experienced.
One embodiment of structure aspect according to the present invention provide it is a kind of can weight modulation lane model lateral direction of car
Control system, to control a vehicle.This can weight modulation lane model vehicle lateral control system include video camera, shadow
As processing unit, controller and transfer, wherein video camera is set on vehicle, and video camera is towards the fore direction photographing of vehicle
And export a Chinese herbaceous peony picture data.And image processor signal connects video camera, image processor receives and analyzes Chinese herbaceous peony
Picture data is to obtain multiple lane characteristic points, and image processor establishes a lane according to lane characteristic point and previewing weight
Matched curve.In addition, controller signals connection image processor and include multiple vehicle dynamic parameters and a pre- apparent distance, and
Previewing weight changes according to the change of the pre- apparent distance.Controller is calculated according to lane matched curve and vehicle dynamic parameter and is generated
One steering control effort weight.As for transfer, then signal connects controller and is set on vehicle, and transfer is according to steering control
The steering of power weight control vehicle processed.
Whereby, it is of the invention can the vehicle lateral control system of weight modulation lane model penetrate the multiple steering control considered
Power weight processed adjusts the control force size of transfer intervention, can make flexibly adjustment and planning according to demand, and can be smooth
Ground switching control power, so improve the safety of switching control power and be greatly reduced burst control power to the adverse effect of driving and
Uncomfortable impression.
The other embodiments of aforementioned embodiments are as follows: the steering control effort weight of aforementioned controllers can be a lateral shift
Weighted value, and vehicle and lane matched curve are separated by a lateral shift distance, lateral shift weighted value is with lateral shift distance
Increase and is incremented by.Furthermore the steering control effort weight of aforementioned controllers can be estimated for one more than lane line time weighting value, and control
It is more than the lane line time that device processed, which acquires one according to speed, acceleration and yaw rate operation,.It is less than when more than the lane line time
When equal to a preset time, estimates and be equal to 1 more than lane line time weighting value.Conversely, when being more than to be greater than the lane line time to preset
When the time, estimates and successively decrease more than lane line time weighting value with increasing more than the lane line time.In addition, aforementioned controllers
Steering control effort weight can estimate the maximum value decision more than lane line time weighting value according to a lateral shift weighted value and one.
In addition, the steering control effort weight of aforementioned controllers may include lateral shift weighted value, the first percentage parameter, estimate more than vehicle
Diatom time weighting value and the second percentage parameter.Steering control effort weight is equal to lateral shift weighted value multiplied by the first percentage
Parameter, which subtracts, to be estimated more than lane line time weighting value multiplied by the second percentage parameter.First percentage parameter and the second percentage
The sum total of parameter is 100%.Furthermore aforementioned transfer may include current control mechanisms, driving mechanism and steering mechanism,
Middle current control mechanisms provide a driving current, this current control mechanisms is big according to steering control effort weight regulation driving current
It is small.Driving mechanism is electrically connected current control mechanisms and is driven current control.Steering mechanism is driven mechanism connection and drives, this
Steering of the steering mechanism according to driving current control vehicle.In addition, aforementioned driving current can increase with steering control effort weight
And become larger, and driving current becomes smaller as steering control effort weight is reduced.In addition, aforementioned vehicle dynamic parameter may include vehicle
Speed, acceleration, yaw rate, corner and driving torque.Furthermore the previewing weight in the aforementioned pre- apparent distance can be greater than pre- sighting distance
From outer previewing weight.
One embodiment of method aspect according to the present invention provide it is a kind of can weight modulation lane model lateral direction of car
Control method, to control vehicle, this can weight modulation lane model vehicle lateral control method include Chinese herbaceous peony picture pick
Step, image processing step, control force weight is taken to generate step and Vehicular turn rate-determining steps.Wherein Chinese herbaceous peony picture captures step
Suddenly it is to provide a video camera towards the fore direction photographing of vehicle and exports a Chinese herbaceous peony picture data.Image processing step is to provide a shadow
As processing unit receives and analyzes Chinese herbaceous peony picture data to obtain multiple lane characteristic points, and according to these lane characteristic points and one
Previewing weight establishes a lane matched curve.In addition, control force weight, which generates step, is to provide a controller according to lane fitting
Curve and multiple vehicle dynamic parameters, which calculate, generates a steering control effort weight.Controller includes a pre- apparent distance, and previewing is weighed
Repeated root changes according to the change of the pre- apparent distance.And Vehicular turn rate-determining steps are to provide a transfer and weigh according to steering control effort
The steering of vehicle is controlled again.
Whereby, it is of the invention can the vehicle lateral control method of weight modulation lane model can be according to steering control effort weight
Make the modulation of adaptability to driving current, can not only steering control effort be allowed smoothly to switch, the safety of handoff procedure also can be improved
Property and comfort level.
The other embodiments of aforementioned embodiments are as follows: aforementioned control force weight generates in step, the steering control of controller
Power weight processed is a lateral shift weighted value.Vehicle and lane matched curve are separated by a lateral shift distance, lateral shift weight
Value is incremented by as lateral shift distance increases.In addition, being generated in step in aforementioned control force weight, the course changing control of controller
Power weight can be estimated for one more than lane line time weighting value, and controller is according to speed, acceleration and yaw rate operation
Acquiring one is more than the lane line time.When being more than the lane line time to be less than or equal to a preset time, estimate more than the lane line time
Weighted value is equal to 1.Conversely, when be more than the lane line time be greater than preset time when, estimate more than lane line time weighting value with
Increase more than the lane line time and successively decreases.Furthermore it is generated in step in aforementioned control force weight, the steering control effort of controller is weighed
Weight can estimate the maximum value decision more than lane line time weighting value according to a lateral shift weighted value and one.In addition, aforementioned
Control force weight generates in step, and the steering control effort weight of controller includes a lateral shift weighted value, one first percentage
Parameter, one estimate more than lane line time weighting value and one second percentage parameter, and steering control effort weight is equal to laterally partially
Shifting weighted value is subtracted multiplied by the first percentage parameter to be estimated more than lane line time weighting value multiplied by the second percentage parameter.Wherein
The sum total of first percentage parameter and the second percentage parameter is 100%.In addition, aforementioned vehicle course changing control step may include electricity
Flow control sub-step, driving sub-step and steering sub-step, wherein current control sub-step is to provide a current control mechanisms
Regulate and control the size of a driving current according to steering control effort weight.And driving sub-step is to control a driving machine using driving current
Structure.One, which is then provided, as steering sub-step is driven the steering mechanism of mechanism connection drive according to driving current control vehicle
It turns to.In addition, driving current becomes larger as steering control effort weight increases, and drives in aforementioned vehicle course changing control step
Streaming current becomes smaller as steering control effort weight is reduced.Furthermore it is generated in step in aforementioned control force weight, in the pre- apparent distance
Previewing weight be greater than the pre- apparent distance outside previewing weight.
Detailed description of the invention
Fig. 1 be painted one embodiment of the invention can weight modulation lane model vehicle lateral control system signal
Figure；
Fig. 2 be painted Fig. 1 can weight modulation lane model vehicle lateral control system appearance diagram；
Fig. 3 is the schematic diagram for being painted the pre- apparent distance of the invention and corresponding to lane model；
Fig. 4 is to be painted the known schematic diagram with lane matched curve of the invention；
Fig. 5 A is the schematic diagram for being painted the previewing weight of first embodiment of the invention；
Fig. 5 B is the schematic diagram for being painted the previewing weight of second embodiment of the invention；
Fig. 6 is the schematic diagram for being painted the transfer of Fig. 1；
Fig. 7 is the schematic diagram for being painted the lateral shift weighted value of steering control effort weight of Fig. 6；
Fig. 8 is to be painted the steering control effort weight of Fig. 6 to estimate the schematic diagram more than lane line time weighting value；
Fig. 9 be painted one embodiment of the invention can the process of vehicle lateral control method of weight modulation lane model show
It is intended to；
Figure 10 be painted another embodiment of the present invention can weight modulation lane model vehicle lateral control method stream
Journey schematic diagram.
Specific embodiment
The following drawings illustrate multiple embodiments of the invention.As clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in section Example of the present invention, the details in these practices is non-essential.In addition, for the sake of simplifying attached drawing, it is some
Known usual structure will be painted in a manner of simply illustrating in the accompanying drawings with element；And duplicate element will likely use phase
Same number indicates.
Also referring to the 1st to 8 figure, Fig. 1 be painted one embodiment of the invention can weight modulation lane model vehicle
The schematic diagram of crosswise joint system 100.Fig. 2 be painted Fig. 1 can weight modulation lane model vehicle lateral control system 100
Appearance diagram.Fig. 3 is the schematic diagram for being painted pre- apparent distance D of the invention and corresponding to lane model.Fig. 4 is to be painted known and sheet
The schematic diagram of the lane matched curve y of invention.Fig. 5 A is the previewing weight w for being painted first embodiment of the inventionimage(xi) show
It is intended to.Fig. 5 B is the previewing weight w for being painted second embodiment of the inventionimage(xi) schematic diagram.Fig. 6 is the steering for being painted Fig. 1
The schematic diagram of device 500.Fig. 7 is the steering control effort weight W for being painted Fig. 6RLateral shift weighted value W1 schematic diagram.Fig. 8
It is the steering control effort weight W for being painted Fig. 6RThe schematic diagram estimated more than lane line time weighting value W2.As shown, this hair
It is bright can weight modulation lane model vehicle lateral control system 100 to control a vehicle 110, and this can weight modulation vehicle
The vehicle lateral control system 100 of road model includes video camera 200, image processor 300, controller 400 and turns to dress
Set 500.
Video camera 200 is set on vehicle 110, and the fore direction photographing and one Chinese herbaceous peony of output of video camera 200 towards vehicle 110 are drawn
Face data 210.This Chinese herbaceous peony picture data 210 can be two dimension or 3-dimensional image, and the function of video camera 200 is seen at end.200 institute of video camera
The Chinese herbaceous peony picture data 210 of output makees subsequent arithmetic processing to be supplied to image processor 300.
300 signal of image processor connects video camera 200, and image processor 300 receives and analyzes Chinese herbaceous peony frame numbers
According to 210 to obtain multiple lane characteristic points 310, and image processor 300 is according to lane characteristic point 310 and previewing weight wimage
(xi) establish a lane matched curve y.In detail, image processor 300 includes lane characteristic point identification unit 320, vehicle
Road characteristic point weight adjustment unit 330 and curve matching unit 340.Wherein lane characteristic point identification unit 320 is electrically connected
Video camera 200 simultaneously receives analysis Chinese herbaceous peony picture data 210 to obtain multiple lane characteristic points 310.Lane characteristic point 310 corresponds to vehicle
Lane line in preceding picture data 210 and the lane model to construction vehicle 110, and lane characteristic point 310 is by coordinate
Information (xi,yi) indicate it, wherein parameter xi、yiRespectively represent the coordinate position that lane line corresponds to X-axis, Y direction, parameter i generation
Table 1 to n positive integer.In addition, 330 signal of lane characteristic point weight adjustment unit connection lane characteristic point identification unit 320 with
Controller 400, and lane characteristic point weight adjustment unit 330 receives the coordinate information (x of lane characteristic point 310i,yi) and it is pre-
Apparent distance D union acquires previewing weight wimage(xi).Previewing weight wimage(xi) weight of lane model is represented, that is, represent
The weight of lane characteristic point 310.Previewing weight wimage(xi) can be according to parameter xiDifference and change.Under enumerate two examples come
Illustrate, the previewing weight w of one embodimentimage(xi) indicated using formula (1):
Wherein a and b is custom parameter, and a can adjust previewing weight wimage(xi) waveform the gradient, b represents previewing weight
wimage(xi) be 0.5 distance parameter xi, and b is greater than pre- apparent distance D.The pre- apparent distance D of above-mentioned one embodiment can be equal to
15m, a, which may be set to 1, b, may be set to 22, this previewing weight wimage(xi) as shown in Figure 5A.By Fig. 5 A it is found that pre- apparent distance D
Interior previewing weight wimage(xi) it is greater than the previewing weight w outside pre- apparent distance Dimage(xi).In addition, the previewing of second embodiment
Weight wimage(xi) indicated using formula (2):
Wherein c and d is custom parameter, and c can adjust previewing weight wimage(xi) waveform width, d can adjust previewing weight
wimage(xi) waveform the gradient.The pre- apparent distance D of above-mentioned second embodiment can be equal to 15m, and c, which may be set to 8, d, may be set to
4, this previewing weight wimage(xi) as shown in Figure 5 B.In addition, the connection lane characteristic point weight adjustment of 340 signal of curve matching unit
Unit 330 and the coordinate information (x for receiving lane characteristic point 310i,yi) and previewing weight wimage(xi).Curve matching unit
340 can be by the coordinate information (x of each lane characteristic point 310i,yi) it is multiplied by previewing weight wimage(xi), and it is minimum through weighting
Quadratic method fits lane matched curve y.Wherein the fitting operation process of lane matched curve y can utilize formula (3)~(6) table
Show:
[p q r] T=[FT W F] -1FT W Y (5)；
Through formula (3)~(6) and parameter p, q, r can be acquired according to weighted least squares.Finally, curve matching unit
340 can operation obtain and export lane matched curve y=p+qx+rx2.Certainly, matched curve y in lane is not limited to second-order equation
Formula is also applicable in the equation of three ranks or more.Whereby, the present invention combines controller 400 using image processor 300, and
The biggish weighted value of lane characteristic point 310 is assigned through the location point of pre- apparent distance D needed for control, to carry out accurately lane
Model calculates, and the effect of system control and the accuracy of lane matched curve y can be substantially improved.
400 signal of controller connection image processor 300 and include multiple vehicle dynamic parameters 410 and pre- apparent distance D,
And previewing weight wimage(xi) changed according to the change of pre- apparent distance D.Controller 400 is according to lane matched curve y and vehicle
Dynamic parameter 410, which calculates, generates a steering control effort weight WR, as shown in Fig. 6, Fig. 7, Fig. 8.In detail, controller 400 wraps
Metrics calculation unit containing previewing 420, lateral displacement compensating unit 430, start and stop condition computing unit 440 and steering control effort power
Re-computation unit 450.Wherein previewing metrics calculation unit 420 can first pass through vehicle 110 vehicle dynamic parameter 410 (such as: vehicle
The steering angle of speed, steering wheel) and previewing time TFCalculate pre- apparent distance D.Previewing time TFSetting must be greater than control system
The delay time of system, such as: when the image processing of camera caused time delay or control command to real reaction when
Between postpone.Pre- apparent distance D is equal to speed multiplied by previewing time TF.If speed is faster, pre- apparent distance D can be longer.But if side
To disk steering angle it is larger when, system can turn previewing time T downF, pre- apparent distance D can be shorter.Pre- apparent distance D can be one
Or multiple restriction ranges or single or multiple numerical value.Then this pre- apparent distance D can be sent to image processor 300, and shadow
As processing unit 300 can calculate corresponding previewing weight w using formula (1) or (2)image(xi), then to each lane
Coordinate information (the x of characteristic point 310i,yi) it is multiplied by previewing weight wimage(xi), and lane is fitted through weighted least squares
Matched curve y.Whereby, the present invention is through pre- apparent distance D and corresponding previewing weight wimage(xi) lane model is calculated, it can be obtained
Precisely and more applicable lane matched curve y so that the adjustment of subsequent steering control effort uses, and then can smoothly switch
Steering control effort and the safety for improving switching control power.In addition, 430 signal of lateral displacement compensating unit connects pre- apparent distance meter
Unit 420 and curve matching unit 340 are calculated, and receives the lane matched curve y from curve matching unit 340 and pre- sighting distance
Pre- apparent distance D from computing unit 420.Within pre- apparent distance D, lateral displacement compensating unit 430 penetrates lane matched curve y
Operation generates steering angle θ to be supplied to the use of transfer 500.Furthermore 440 signal junction curve of start and stop condition computing unit is quasi-
It closes unit 340 and transfer 500 and receives vehicle dynamic parameter 410, start and stop condition computing unit 440 is joined according to vehicle dynamic
Number 410 and lane matched curve y, which are calculated, generates start stop signal 442, this start stop signal 442 can be sent to transfer 500, use
It (is controlled by system with deciding to move to device 500 for starting state；Turn on) or halted state (by Driving control；turn
off).In addition, 450 signal junction curve fitting unit 340 of steering control effort weight calculation unit and transfer 500 and receiving
Vehicle dynamic parameter 410, and steering control effort weight calculation unit 450 is according to lane matched curve y and vehicle dynamic parameter 410
It calculates and generates a steering control effort weight WR。
For example, referring to Figure 6 together and Fig. 7, the steering control effort weight W of one embodimentRIt is laterally inclined for one
Weighted value W1 is moved, vehicle 110 and lane matched curve y are separated by a lateral shift distance y_offset, lateral shift weighted value W1
It is incremented by as lateral shift distance y_offset increases.That is, when system estimation vehicle 110 is from lane matched curve y
When farther out (when lateral shift distance y_offset is smaller), steering control effort weight calculation unit 450 can provide lesser turn
To control force weight WR(i.e. lesser lateral shift weighted value W1) allows driving is leading to turn to and can manually adjust transfer
500；It (when lateral shift distance y_offset is larger), is turned to when system estimation vehicle 110 is closer from lane matched curve y
Control force weight calculation unit 450 can provide biggish steering control effort weight WR(i.e. biggish lateral shift weighted value W1),
It enables the system to leading control and turns to simultaneously adjust automatically transfer 500, and then vehicle 110 is allowed to return to lane center.In addition it is worth
One is mentioned that, if driving is actively to leave lane, start and stop condition computing unit 440 can be according to vehicle dynamic parameter 410 at this time
Driving torque and lane matched curve y calculate and generate start stop signal 442, this start stop signal 442 is 0 to decide to move to device
500 (are turned to for halted state by Driving control；turn off).On the contrary, if lane will not left by driving, start and stop item at this time
Part computing unit 440 can calculate according to the driving torque and lane matched curve y of vehicle dynamic parameter 410 and generate start stop signal
442, this start stop signal 442 be 1 with decide to move to device 500 be starting state (by system control turn to；turn on).
Referring to Figure 6 together and Fig. 8, the steering control effort weight W of second embodimentRWhen estimating for one more than lane line
Between weighted value W2, and controller 400 according to speed, acceleration and yaw rate (yaw rate) operation acquire one be more than lane
Line time T, this is more than that lane line time T represents system and estimates the time that vehicle 110 can be more than lane matched curve y.When being more than
When lane line time T is less than or equal to a preset time T 1, estimates and be equal to 1 more than lane line time weighting value W2.When more than lane
Line time T be greater than preset time T 1 when, estimate more than lane line time weighting value W2 be more than lane line time T increase and pass
Subtract.In other words, when system, which estimates vehicle 110, to be more than in a short time lane matched curve y, steering control effort weight meter
Biggish steering control effort weight W can be provided by calculating unit 450R(i.e. biggish to estimate more than lane line time weighting value W2), makes
System can dominate control and turn to simultaneously adjust automatically transfer 500；Estimating vehicle 110 after some time when system can just surpass
When crossing lane matched curve y, steering control effort weight calculation unit 450 can provide lesser steering control effort weight WR(i.e. compared with
Small estimates more than lane line time weighting value W2), allow the dominant right of steering to return driving, steering dress can be manually adjusted by making to drive
Set 500.
Referring to Figure 6 together, Fig. 7 and Fig. 8, the steering control effort weight W of third embodimentRIt is to be weighed according to lateral shift
Weight values W1 and the maximum value estimated more than lane line time weighting value W2 determine, that is, steering control effort weight WR=max (W1,
W2).That is, steering control effort weight WRFor lateral shift weighted value W1 and estimate more than lane line time weighting value W2's
Reciprocation, and system can consider simultaneously lateral shift distance y_offset be more than lane line time T situation, if times
One reaches condition and increases weighted value, and system is that can adjust the weight of steering control effort.In addition, lateral shift weighted value W1
Openings of sizes can not be changed with speed, that is, the shape of the lateral shift weighted value W1 of Fig. 7 will not change with speed.And it is pre-
Estimate is more than that lane line time weighting value W2 then needs to consider the speed, acceleration and yaw rate of vehicle 110.Whereby, of the invention
Utilize the multiple steering control effort weight W consideredRCome adjust transfer 500 intervention control force size, can smoothly switch
Control force.
Referring to Figure 6 together, Fig. 7 and Fig. 8, the steering control effort weight W of the 4th embodimentRInclude lateral shift weight
Value W1, the first percentage parameter e, it estimates more than lane line time weighting value W2 and the second percentage parameter f.Steering control effort
Weight WRIt subtracts to estimate multiplied by the first percentage parameter e equal to lateral shift weighted value W1 and multiply more than lane line time weighting value W2
With the second percentage parameter f, wherein the sum total of the first percentage parameter e and the second percentage parameter f are 100%, that is, WR=
W1 × e+W2 × f and f=1-e.First percentage parameter e and the second percentage parameter f is adjustable parameter, can regard demand and determine it.
Whereby, the present invention penetrates the multiple steering control effort weight W consideredRTo adjust the control force size of the intervention of transfer 500, energy
Make flexibly adjustment and planning according to demand, and can smoothly switching control power, and then improve the safety of switching control power simultaneously
Adverse effect and uncomfortable impression of the burst control power to driving is greatly reduced.
Then signal connects controller 400 and is set on vehicle 110 transfer 500, and transfer 500 is according to course changing control
Power weight WRControl the steering of vehicle 110.In detail, transfer 500 includes angle control unit 510, speed control list
Member 520, weight arithmetic element 530, steering control effort determining means 540, current control mechanisms 550, driving mechanism 560 and turn
To mechanism 570.Wherein 510 signal connection speed control unit 520 of angle control unit and lateral displacement compensating unit 430, angle
It spends control unit 510 and receives the steering angle θ from lateral displacement compensating unit 430, and angle control unit 510 and speed control
Unit 520 generates the current order 522 needed for turning to operation.Furthermore 530 signal connection speed of weight arithmetic element controls
Unit 520 and steering control effort weight calculation unit 450, and weight arithmetic element 530 is by steering control effort weight WRWith electricity
Stream order 522 is multiplied and exports a current weights parameter.540 signal connection weight arithmetic element of steering control effort determining means
530 and current weights parameter and electronic assisted diversion parameter EPS_i are received, steering control effort determining means 540 can be according to electronic
Assisted diversion parameter EPS_i and current weights parameter determine to bestow the size of current of driving mechanism 560, electronic auxiliary with Integrate adjustment
Help steering (electric power steering；EPS) the control force size intervened.In addition, 550 signal of current control mechanisms
It connects steering control effort determining means 540 and a driving current 552 is provided, current control mechanisms 550 are weighed according to steering control effort
Weight WRRegulate and control the size of driving current 552.Driving current 552 is with steering control effort weight WRIncrease and become larger, and driving current
552 with steering control effort weight WRIt reduces and becomes smaller.In addition, driving mechanism 560 be electrically connected current control mechanisms 550 and by
Driving current 552 controls, and the driving mechanism 560 of the present embodiment is an electric motor.Steering mechanism 570 is driven company, mechanism 560
Ligament is dynamic, and steering mechanism 570 controls the steering of vehicle 110 by driving mechanism 560 according to driving current 552.The present embodiment
Steering mechanism 570 includes steering wheel, gear reducer, gear, transmission shaft, tire etc., and since it is known technology, therefore CONSTRUCTED SPECIFICATION is not
It repeats again.Whereby, transfer 500 of the invention combines electronic assisted diversion, and according to electronic assisted diversion parameter EPS_i with
Current weights parameter determines to bestow the size of current of driving mechanism 560, with the control force of the electronic assisted diversion intervention of Integrate adjustment,
And then increase the smooth degree of switching control power.
Also referring to Fig. 1 and Fig. 9, Fig. 9 be painted one embodiment of the invention can weight modulation lane model vehicle
The flow diagram of crosswise joint method 600.As shown, this can weight modulation lane model vehicle lateral control method
600, which capture step S12, image processing step S14, control force weight comprising Chinese herbaceous peony picture, generates step S16 and Vehicular turn
Rate-determining steps S18.
Chinese herbaceous peony picture captures step S12 and is to provide a video camera 200 towards the fore direction photographing of vehicle 110 and exports Chinese herbaceous peony picture
Face data 210.
Image processing step S14 is to provide an image processor 300 and receives and analyze Chinese herbaceous peony picture data 210 to obtain
Multiple lane characteristic points 310, and according to these lane characteristic points 310 and previewing weight wimage(xi) establish lane matched curve y.
Previewing weight wimage(xi) embodiment can be found in formula above-mentioned (1) and (2).And the fitting operation mistake of lane matched curve y
Journey can be found in formula above-mentioned (3)~(6).
Control force weight generates step S16 and is to provide a controller 400 according to lane matched curve y and multiple vehicles dynamic
Parameter 410, which calculates, generates a steering control effort weight WR.Controller 400 includes pre- apparent distance D, previewing weight wimage(xi) basis
The change of pre- apparent distance D and change, as shown in 5A and 5B figure.Wherein Fig. 5 A is it is found that previewing weight w in pre- apparent distance Dimage
(xi) it is greater than the previewing weight w outside pre- apparent distance Dimage(xi).Furthermore steering control effort weight WRFig. 7 and Fig. 8 is seen, it can
For lateral shift weighted value W1, estimate reciprocation more than lane line time weighting value W2 or both.Four implementations are lifted below
Example is illustrated, in one embodiment, the steering control effort weight W of controller 400RFor a lateral shift weighted value W1,
Vehicle 110 and lane matched curve y are separated by a lateral shift distance y_offset, and lateral shift weighted value W1 is with lateral shift
Distance y_offset increases and is incremented by, as shown in Figure 7.In the second embodiment, the steering control effort weight W of controller 400R
It estimates for one more than lane line time weighting value W2, and controller 400 is according to the speed of vehicle 110, acceleration and yaw angle speed
It is more than lane line time T that degree operation, which acquires one,.When being more than that lane line time T is less than or equal to a preset time T 1, estimates and be more than
Lane line time weighting value W2 is equal to 1；When being more than that lane line time T is greater than preset time T 1, estimate more than the lane line time
Weighted value W2 be more than lane line time T increase and successively decrease.In addition, in third embodiment, the steering control of controller 400
Power weight W processedRIt is determined according to lateral shift weighted value W1 and the maximum value estimated more than lane line time weighting value W2.And
In four embodiments, the steering control effort weight W of controller 400RComprising lateral shift weighted value W1, the first percentage parameter e,
Estimate is more than lane line time weighting value W2 and the second percentage parameter f, steering control effort weight WREqual to lateral shift weight
Value W1 is subtracted multiplied by the first percentage parameter e to be estimated more than lane line time weighting value W2 multiplied by the second percentage parameter f, and first
The sum total of percentage parameter e and the second percentage parameter f are 100%.
Vehicular turn rate-determining steps S18 is to provide a transfer 500 according to steering control effort weight WRControl vehicle 110
Steering.To sum up, the present invention penetrates the multiple steering control effort weight W consideredRTo adjust the control force of the intervention of transfer 500
Size, energy foundation demand are made flexibly adjustment and are planned, and can smoothly switching control power, and then the peace of raising switching control power
Simultaneously adverse effect and uncomfortable impression of the burst control power to driving is greatly reduced in full property.
Also referring to Fig. 1 and Figure 10, Figure 10 be painted another embodiment of the present invention can weight modulation lane model
The flow diagram of vehicle lateral control method 600a.As shown, this can weight modulation lane model vehicle lateral control
Method 600a includes that Chinese herbaceous peony picture captures step S22, image processing step S24, control force weight generation step S26 and vehicle
Course changing control step S28.
Cooperation is refering to Fig. 9, and in the embodiment in figure 10, Chinese herbaceous peony picture captures step S22, image processing step S24, control
Power weight generates step S26 and captures step S12, image processing step S14, the generation of control force weight with the Chinese herbaceous peony picture of Fig. 9
The square of step S16 is identical, repeats no more.Specifically, the Vehicular turn rate-determining steps S28 of Figure 10 embodiment includes electric current control
System step S282, driving sub-step S284 and steering sub-step S286, wherein current control sub-step S282 is to provide one
Current control mechanisms 550 are according to steering control effort weight WRRegulate and control the size of a driving current 552.And the sub-step S284 is driven to be
A driving mechanism 560 is controlled using driving current 552.It is to provide as steering sub-step S286 and is driven 560 linking belt of mechanism
Dynamic steering mechanism 570 controls the steering of vehicle 110 according to driving current 552.In addition, driving current 552 is with course changing control
Power weight WRIncrease and become larger, and driving current 552 is with steering control effort weight WRIt reduces and becomes smaller.Whereby, drive of the invention
Streaming current 552 can be according to steering control effort weight WRMake the modulation of adaptability, can not only steering control effort be allowed smoothly to switch, also
The safety and comfort level of handoff procedure can be improved.
By above embodiment it is found that the present invention has the advantage that first, combining control using image processor
Device, and the biggish weighted value of lane characteristic point is assigned through the location point of the pre- apparent distance needed for control, to carry out accurately vehicle
Road model calculates, and the effect of system control and the accuracy of lane matched curve can be substantially improved.Second, being considered through multiple
Steering control effort weight come adjust transfer intervention control force size, can according to demand make flexibly adjustment and planning,
And can smoothly switching control power, and then improve the safety of switching control power and burst control power be greatly reduced to driving not
Good influence and uncomfortable impression.Third, driving current can make the modulation of adaptability according to steering control effort weight, can not only allow
Steering control effort smoothly switches, and the safety and comfort level of handoff procedure also can be improved.Fourth, in previewing weight and turning to control
Under the interaction regulation of power weight processed, system can smoothly switch steering control effort, to solve to switch course changing control in known technology
The process of power is easy to happen unsafe conditions caused by the generation of burst control power, burst control power and influences to drive manipulation
The problem of experiencing.
Although the present invention is disclosed above with embodiment, however, it is not to limit the invention, any to be familiar with this skill
Person, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations, therefore protection scope of the present invention is worked as
Subject to the scope of which is defined in the appended claims.
Claims (17)
1. one kind can weight modulation lane model vehicle lateral control system, to control a vehicle, which is characterized in that this can
The vehicle lateral control system of weight modulation lane model includes:
One video camera is set on the vehicle, fore direction photographing and output one Chinese herbaceous peony picture data of the video camera towards the vehicle；
One image processor, signal connect the video camera, the image processor receive and analyze the Chinese herbaceous peony picture data with
Multiple lane characteristic points are obtained, and the image processor establishes a vehicle according to the multiple lane characteristic point and a previewing weight
Road matched curve；
One controller, signal connect the image processor and include multiple vehicle dynamic parameters and a pre- apparent distance, the previewing
Weight changes according to the change of the pre- apparent distance, which joins according to the lane matched curve and the multiple vehicle dynamic
Number, which calculates, generates a steering control effort weight；And
One transfer, signal connect the controller and are set on the vehicle, and the transfer is according to the steering control effort weight
Control the steering of the vehicle.
2. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that the control
The steering control effort weight of device processed is a lateral shift weighted value, and the vehicle and the lane matched curve are separated by a lateral shift
Distance, the lateral shift weighted value are incremented by as lateral shift distance increases.
3. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that the control
The steering control effort weight of device processed is estimated for one more than lane line time weighting value, and the controller adds according to a speed, one
It is more than the lane line time that speed and a yaw rate operation, which acquire one,；
Wherein, when this is more than the lane line time to be less than or equal to a preset time, this is estimated more than lane line time weighting value etc.
In 1；
Wherein, when this is more than the lane line time to be greater than the preset time, this is estimated more than lane line time weighting value with this
Increase more than the lane line time and successively decreases.
4. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that the control
The steering control effort weight of device processed estimates the maximum more than lane line time weighting value according to a lateral shift weighted value and one
Value determines.
5. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that the control
The steering control effort weight of device processed is estimated comprising a lateral shift weighted value, one first percentage parameter, one more than lane line
Time weighting value and one second percentage parameter, the steering control effort weight are equal to the lateral shift weighted value multiplied by the 100th
Point subtracting this than parameter estimates more than lane line time weighting value multiplied by the second percentage parameter, the first percentage parameter with
The sum total of the second percentage parameter is 100%.
6. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that this turn
Include to device:
One current control mechanisms provide a driving current, which regulates and controls the drive according to the steering control effort weight
The size of streaming current；
One driving mechanism is electrically connected the current control mechanisms and is controlled by the driving current；And
One steering mechanism, is linked by the driving mechanism and is driven, which controls the steering of the vehicle according to the driving current.
7. it is according to claim 6 can weight modulation lane model vehicle lateral control system, which is characterized in that the drive
Streaming current becomes larger as the steering control effort weight increases, and the driving current becomes as the steering control effort weight is reduced
It is small.
8. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that it is described
Multiple vehicle dynamic parameters include a speed, an acceleration, a yaw rate, a corner and a driving torque.
9. it is according to claim 1 can weight modulation lane model vehicle lateral control system, which is characterized in that this is pre-
The previewing weight in the apparent distance is greater than the previewing weight outside the pre- apparent distance.
10. one kind can weight modulation lane model vehicle lateral control method, to control a vehicle, which is characterized in that should
Can the vehicle lateral control method of weight modulation lane model comprise the steps of:
One Chinese herbaceous peony picture captures step, is to provide a video camera towards the fore direction photographing of the vehicle and exports a Chinese herbaceous peony frame numbers
According to；
One image processing step is to provide an image processor and receives and analyze the Chinese herbaceous peony picture data to obtain multiple lanes
Characteristic point, and a lane matched curve is established according to the multiple lane characteristic point and a previewing weight；
One control force weight generates step, is to provide a controller according to the lane matched curve and multiple vehicle dynamic parameter meters
It calculates and generates a steering control effort weight, which includes a pre- apparent distance, and the previewing weight is according to the change of the pre- apparent distance
And change；And
One Vehicular turn rate-determining steps are to provide the steering that a transfer controls the vehicle according to the steering control effort weight.
11. it is according to claim 10 can weight modulation lane model vehicle lateral control method, which is characterized in that
The control force weight generates in step, and the steering control effort weight of the controller is a lateral shift weighted value, the vehicle with
The lane matched curve is separated by a lateral shift distance, which passs as lateral shift distance increases
Increase.
12. it is according to claim 10 can weight modulation lane model vehicle lateral control method, which is characterized in that
The control force weight generates in step, and the steering control effort weight of the controller is estimated for one more than lane line time weighting
Value, and it is more than the lane line time that the controller, which acquires one according to a speed, an acceleration and a yaw rate operation,；
Wherein, when this is more than the lane line time to be less than or equal to a preset time, this is estimated more than lane line time weighting value etc.
In 1；
Wherein, when this is more than the lane line time to be greater than the preset time, this is estimated more than lane line time weighting value with this
Increase more than the lane line time and successively decreases.
13. it is according to claim 10 can weight modulation lane model vehicle lateral control method, which is characterized in that
The control force weight generates in step, and the steering control effort weight of the controller is estimated according to a lateral shift weighted value with one
Maximum value more than lane line time weighting value determines.
14. it is according to claim 10 can weight modulation lane model vehicle lateral control method, which is characterized in that
The control force weight generates in step, and the steering control effort weight of the controller includes a lateral shift weighted value, one first
Percentage parameter, one estimate more than lane line time weighting value and one second percentage parameter, which is equal to
The lateral shift weighted value multiplied by the first percentage parameter subtract this estimate more than lane line time weighting value multiplied by this second
The sum total of percentage parameter, the first percentage parameter and the second percentage parameter is 100%.
15. it is according to claim 10 can weight modulation lane model vehicle lateral control method, which is characterized in that should
Vehicular turn rate-determining steps include:
One current control sub-step is to provide a current control mechanisms according to the steering control effort weight and regulates and controls a driving current
Size；
One driving sub-step, is to control a driving mechanism using the driving current；And
One turns to sub-step, is to provide and is controlled the vehicle according to the driving current by the steering mechanism that driving mechanism connection drives
Steering.
16. it is according to claim 15 can weight modulation lane model vehicle lateral control method, which is characterized in that
In the Vehicular turn rate-determining steps, the driving current with the steering control effort weight increase and become larger, and the driving current with
The steering control effort weight reduce and become smaller.
17. it is according to claim 10 can weight modulation lane model vehicle lateral control method, which is characterized in that
The control force weight generates in step, and the previewing weight in the pre- apparent distance is greater than the previewing weight outside the pre- apparent distance.
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| CN201711127750.5A CN109774711B (en) | 2017-11-15 | 2017-11-15 | Vehicle transverse control system capable of weight-modulating lane model and method thereof |
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