The invention relates to the technical field of path tracking control, in particular to a multi-point preview-based lane keeping control method, which comprises the following steps of: establishing a vehicle coordinate system, establishing a lane line equation based on lane line information output by a camera under the vehicle coordinate system, and calculating a feedforward steering wheel turning angle based on a road curvature; then three preview points are selected on the target track, vehicle motion track trend judgment is carried out according to lateral deviation symbols and change trends at the preview points, lateral deviation at the optimal preview point is obtained through arbitration, and an optimal feedback rotation angle is obtained; the final target steering wheel rotation angle control quantity can be obtained by using the optimal feedback rotation angle and the feedforward rotation angle, and steering control is performed on the vehicle after final target steering wheel smoothing processing, so that the vehicle can be ensured to run along the target track, and the following stability of the vehicle to the target track is improved.
本发明涉及路径跟踪控制技术领域,具体涉及一种基于多点预瞄的车道保持控制方法,通过建立车辆坐标系,在车辆坐标系下基于摄像头输出车道线信息建立车道线方程,同时基于道路曲率计算出一个前馈方向盘转角;然后在目标轨迹上选取三个预瞄点,根据预瞄点处的侧向偏差符号和变化趋势来进行车辆运动轨迹趋势判断,仲裁得出最优预瞄点处的侧向偏差,并得到最优的反馈转角,利用最优反馈转角再加上前馈转角可得到最终的目标方向盘转角控制量,并利用最终的目标方向盘平滑处理后再对车辆进行转向控制,能够保证车辆沿着目标轨迹行驶,提高汽车对目标轨迹的跟随稳定性。
Lane keeping control method based on multi-point preview
一种基于多点预瞄的车道保持控制方法
2023-05-16
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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