The invention discloses a lane keeping method in automobile running. The lane keeping method comprises the steps: classifying the automobile speed into a corresponding automobile speed interval according to the automobile running speed; 2, dividing the request torque coefficient value into a plurality of continuous request torque intervals from 0Nm to 3Nm; 3, ensuring that each request torque interval on each vehicle speed interval has a calibrated torque coefficient; 4, detecting the current vehicle speed; 5, selecting a corresponding vehicle speed interval according to the detected current vehicle speed; 6, selecting a corresponding request torque interval; 7, determining a calibrated torque coefficient; 8, transmitting the finally determined calibrated torque coefficient and the request torque value to an EPS motor, pushing a steering gear, and keeping the vehicle in a lane line. According to the invention, the jerking feeling of the LKA function can be obviously reduced, and a smoother, more stable and more reliable driving feeling and the driving state of the vehicle when the lane is kept are achieved.
本发明公开了一种汽车行驶中的车道保持方法,包括:一,根据汽车行驶速度将车速归入对应的车速区间内;二,将请求扭矩系数值从0Nm到3Nm范围内分为多个连续的请求扭矩区间;三,确保每一个车速区间上的每一个请求扭矩区间都有一个标定的扭矩系数;四,检测当前车速;五,检测到的当前车速选择对应的车速区间;六,选择对应的请求扭矩区间;七,确定的标定的扭矩系数;八,将最终确定的标定的扭矩系数以及请求扭矩值的大小输送至EPS电机,进而推动转向器,使车辆保持在车道线内;本发明能够明显降低LKA功能的顿挫感,具有更加平滑稳定可靠的驾驶感受以及车辆在车道保持时的驾驶状态。
Lane keeping method in automobile running
一种汽车行驶中的车道保持方法
2021-08-13
Patent
Electronic Resource
Chinese
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