The invention relates to a vehicle lane centering keeping system and method. According to the method, a lane line module can use vehicle forward camera lane line information, left side camera lane line information, right side camera lane line information and vehicle speed information to calculate a left side deviation distance and a right side deviation distance between a current vehicle and a lane line where the vehicle is located and a pre-anchor curvature of the lane line; the lane departure compensation module can use the left side departure distance information, the right side departure distance information and the vehicle speed to calculate a departure steering wheel rotation angle used for restraining lane departure, and the steering wheel rotation angle feed-forward module can use the lane line pre-anchor curvature and the vehicle speed to calculate a feed-forward steering wheel rotation angle. The steering wheel angle calculation module can calculate a target steering wheel angle by using the deviation steering wheel angle, the feed-forward steering wheel angle, the vehicle speed and the current steering wheel angle to complete steering control of the current vehicle so as to control the vehicle to be centered in the lane. Opening is not limited by low speed, and the valve is suitable for various working conditions.

    本发明涉及一种车辆车道居中保持系统及方法,本方法由车道线模块能够使用车辆前向摄像头车道线信息、左侧摄像头车道线信息、右侧摄像头车道线信息以及车辆车速信息计算当前车辆与车辆所在车道线的左侧偏离距离、右侧偏离距离以及车道线的预锚曲率,车道偏离补偿模块能够使用左侧偏离距离信息、右侧偏离距离信息及车辆速度计算用于抑制车道偏离的偏离方向盘转角,方向盘转角前馈模块能够使用车道线预锚曲率、车辆速度计算得出前馈方向盘转角,方向盘转角计算模块能够使用偏离方向盘转角、前馈方向盘转角、车辆车速以及当前方向盘转角计算出目标方向盘转角,完成当前车辆的转向控制,从而控制车辆在车道内居中。其开启不受低速限制,适合多种工况。


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    Titel :

    Vehicle lane centering keeping system and method


    Weitere Titelangaben:

    一种车辆车道居中保持系统及方法


    Beteiligte:
    CAO BAOHUA (Autor:in) / PAN ZEXUN (Autor:in) / WU DI (Autor:in) / CHEN HAO (Autor:in) / TIAN YUHE (Autor:in) / WANG ZHIWEI (Autor:in) / LI HONGJI (Autor:in) / SHI YING (Autor:in) / LIU GUANGYUAN (Autor:in) / LIU PENGCHENG (Autor:in)

    Erscheinungsdatum :

    2022-09-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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