The invention discloses an EPS-based lane keeping auxiliary system which controls vehicle deviation through lane line detection, driver driving intention judgment, EPS power-assisted steering and active steering, and plays a great role in guaranteeing life and property safety of drivers and other people. According to the system, the time from lane departure early warning to control of a driver can be adjusted by setting a preview distance, meanwhile, a corresponding transverse distance threshold value is set to be used for judging whether a vehicle deviates when reaching a preview point position, and good timeliness is achieved; the system comprehensively judges whether the driver is in an operation state or not through three conditions, so that the false early warning probability can be reduced; in addition, two control modes including an active steering mode and an EPS power assisting mode are set, corresponding parameters are adjusted through a PID controller, and good robustness is achieved.

    本发明公开一种基于EPS的车道保持辅助系统,通过车道线检测、驾驶员驾驶意图判别、EPS助力转向以及主动转向来对车辆偏离进行控制,对驾驶员以及其他人的生命财产安全起到极大的保障作用;该系统通过设置预瞄距离可以调节驾驶员从车道偏离预警到控制的时间,同时设置相应的横向距离阈值,用来判断车辆到预瞄点位置时是否会发生偏移,具有很好的时效性;且该系统通过三个条件综合判断驾驶员是否处于操作状态,可减少误预警概率;另外,本申请设置了主动转向模式以及EPS助力模式这两种操控模式,用PID控制器对相应参数进行调节,具有很好的鲁棒性。


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    Title :

    Lane keeping auxiliary system based on EPS


    Additional title:

    一种基于EPS的车道保持辅助系统


    Contributors:
    LI ZHANFENG (author) / SHI WEI (author) / CHANG JIAWEI (author) / LIU BIN (author) / FENG GONGYUAN (author)

    Publication date :

    2021-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G06K Erkennen von Daten , RECOGNITION OF DATA



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