The invention relates to the technical field of lane keeping auxiliary systems, in particular to a lane keeping auxiliary system based on a laser radar positioning technology, which comprises a high-precision map, positioning map matching, navigation calculation, control calculation, communication between a navigation control module and an actuating mechanism and a unified interactive software operation interface, wherein the high-precision map comprises a high-precision point cloud map and a high-precision vector map, and the high-precision point cloud map is three-dimensional reconstructionof a real scene. The system has the advantages that influence of external environments such as illumination and weather on the lane keeping function is fundamentally avoided, lane keeping can easily cope with harsh environmental conditions such as curves, night and rain and snow, the normalized control deviation is calculated in a front viewpoint mode, and the proportional, integral and differential controllers are used for controlling the steering wheel of the automobile to rotate, so that the problems of unstable control and swinging of the automobile are solved, the automobile runs more stably, and the experience is comfortable.
本发明涉及车道保持辅助系统技术领域,具体是基于激光雷达定位技术的车道保持辅助系统,包括高精度地图、定位地图匹配、导航计算、控制计算、导航控制模块与执行机构的通信和统一的交互式软件操作界面,高精度地图包括高精度点云地图和高精度矢量地图,高精度点云地图是真实场景的三维重建。本发明的有益效果本发明从根本上规避了光照、天气等外界环境对车道保持功能的影响,使得车道保持可以轻松应对弯道、黑夜、雨雪等苛刻的环境条件,利用前视点的方式来计算归一化的控制偏差,再利用比例、积分、微分控制器来控制汽车的方向盘转动,解决了车辆控制不稳定,摆动的问题,使车辆运行更加平稳,体验舒适。
Lane keeping auxiliary system based on laser radar positioning technology
基于激光雷达定位技术的车道保持辅助系统
2021-02-09
Patent
Electronic Resource
Chinese
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