The invention provides a method for controlling the steering wheel action with a lane centering auxiliary function of an automatic driving system. The control method comprises the steps that a currentactually measured value of the vehicle yaw velocity is obtained, the absolute value of the current actually measured value of the vehicle yaw velocity is judged, and when the absolute value of the current actually measured value of the vehicle yaw velocity is smaller than a first threshold value, the operation is ignored; when the absolute value of the current actually measured value of the yaw velocity of the vehicle is greater than or equal to a first threshold value and less than a second threshold value, a lateral deviation value of the vehicle is calculated according to a formula I; whenthe absolute value of the current actually measured value of the yaw velocity of the vehicle is larger than or equal to the second threshold value, the lane centering auxiliary function exits. The formula I is as follows: the vehicle lateral deviation value = the current actually measured value of the vehicle yaw velocity * the square of the preview distance/2 * the current speed of the vehicle,wherein the preview distance is the straight-line distance of forward driving of the vehicle predicted by the lane centering auxiliary function according to the planned path. According to the invention, the safety and comfort of automatic driving are improved.
本发明提供一种自动驾驶系统车道居中辅助功能方向盘动作的控制方法,所述控制方法包括:获取车辆横摆角速度当前实测值,对所述车辆横摆角速度当前实测值的绝对值进行判断,当所述车辆横摆角速度当前实测值的绝对值小于第一阀值,则忽略;当所述车辆横摆角速度当前实测值的绝对值大于等于第一阀值且小于第二阀值,则按公式一计算车辆横向偏移值;当所述车辆横摆角速度当前实测值的绝对值大于等于第二阀值,则车道居中辅助功能退出;公式一:车辆横向偏移值=车辆横摆角速度当前实测值*预瞄距离的平方/2*车辆当前速度,所述预瞄距离为车道居中辅助功能按规划的路径预测车辆向前行驶的直线距离。本发明提升了自动驾驶的安全性和舒适性。
Method for controlling steering wheel action with lane centering auxiliary function of automatic driving system
自动驾驶系统车道居中辅助功能方向盘动作的控制方法
2020-09-18
Patent
Electronic Resource
Chinese
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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