The invention provides a lane centering driving control method and system, and the method comprises the steps: building a lane line geometric model through the perception capability of a camera, obtaining a steering wheel angle needed for passing a curve according to the vehicle wheelbase, the vehicle speed, the lane line radius and the transverse distance of a preview point, and carrying out the feedforward calculation, according to the lateral deviation and the course deviation of the vehicle and the lane line, a required lateral deviation compensation rotation angle and a course deviation compensation rotation angle are obtained, namely feedback calculation is carried out, finally, a total steering wheel rotation angle is obtained through calculation in combination with a feedforward and feedback algorithm, the lane line on the other side is virtualized when the vehicle enters a two-in-one scene or a one-in-two scene, and therefore the vehicle can enter the two-in-one scene or a one-in-two scene. A safe driving track is planned, a vehicle is smoothly controlled to enter a new lane in the middle, connection between lane lines is seamlessly achieved, and the situation that a driver frequently takes over the vehicle, and the driving experience is affected is avoided; and meanwhile, driving risks caused by line pressing and line riding of the vehicle are avoided.
本发明提供了一种车道居中行车控制方法及系统,通过摄像头感知能力建立车道线几何模型,根据车辆轴距、车速、车道线半径,以及预瞄点的横向距离,得到过弯道需要的方向盘转角,即进行前馈计算,再根据车辆与车道线的横向偏差和航向偏差得到所需的横向偏差补偿转角和航向偏差补偿转角,即进行反馈计算,最后结合前馈与反馈算法,计算得到总方向盘转角,使车辆在进入二合一或一和二场景中,虚拟出另一侧车道线,规划出安全的行车轨迹,平顺地控制自车居中驶入新车道,无缝实现车道线之间的衔接,避免频繁让驾驶员接管车辆,影响行车体验;同时避免车辆压线和骑线导致的行车风险。
Lane centering driving control method and system
一种车道居中行车控制方法及系统
30.05.2025
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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