The invention provides a self-adaptive compensation lane keeping system and method, and belongs to the field of intelligent driving. The system comprises an input module, a calculation module, a judgment module and an output module which are connected in sequence, the input module is used for inputting parameters; the calculation module is used for calculating an angle compensation basic value, a torque offset compensation basic value, an LKA request angle mean value, a C0 mean value and an attenuation coefficient; the judgment module is used for judging whether compensation is carried out or not according to the LKA request angle mean value and the C0 mean value, if yes, the compensation direction is determined, an angle compensation value is obtained after the compensation direction is added in front of an angle compensation basic value, and a torque offset compensation value is obtained after the compensation direction is added in front of a torque offset compensation basic value; and the output module is used for obtaining the self-adaptively compensated planned angle according to the angle compensation value and the attenuation coefficient, and sending the self-adaptively compensated planned angle and the torque offset compensation value to the EPS. According to the invention, lane centering control is realized.
本发明提供了一种自适应补偿的车道保持系统及方法,属于智能驾驶领域。所述系统包括:依次连接的输入模块、计算模块、判断模块和输出模块;所述输入模块用于输入参数;所述计算模块用于计算角度补偿基础值、扭矩偏置补偿基础值、LKA请求角度均值、C0均值和衰减系数;所述判断模块用于根据LKA请求角度均值、C0均值判断是否进行补偿,如果是,则确定补偿方向,并在角度补偿基础值前加上补偿方向后得到角度补偿值、在扭矩偏置补偿基础值前加上补偿方向后得到扭矩偏置补偿值;所述输出模块用于根据角度补偿值和衰减系数获得自适应补偿后的规划角度,并将自适应补偿后的规划角度和扭矩偏置补偿值发送给EPS。本发明实现了车道居中控制。
Adaptive compensation lane keeping system and method
一种自适应补偿的车道保持系统及方法
09.06.2023
Patent
Elektronische Ressource
Chinesisch
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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