The invention belongs to the technical field of automobile intelligent driving, and discloses a lane keeping auxiliary method and system based on comprehensive corner control, and the method comprises the steps: 1, obtaining the vehicle speed V and the yaw angle alpha of a vehicle through a sensor, taking a camera as an origin of coordinates, and obtaining the transverse distance Dist from the origin of coordinates to the intersection of an abscissa axis and a deviating side lane line, the coordinate system takes a vehicle center line as a longitudinal coordinate axis; 2, whether the transverse distance Dist and the transverse deviation speed Vy meet preset conditions or not is judged, and when the preset conditions are met, a lane keeping assistance LKA system is activated; and step 3, calculating a comprehensive rotation angle, and taking the comprehensive rotation angle as an input control quantity of the lane assistance LKA system. According to the invention, the problems of low accuracy and weak robustness of lane keeping auxiliary control are solved.
本发明属于汽车智能驾驶技术领域,公开了一种综合转角控制的车道保持辅助方法及系统:步骤1、通过传感器获取车辆的车速V和偏航角α,并以摄像头为坐标原点,获取所述坐标原点到横坐标轴与偏出侧车道线的交叉点的横向距离Dist,其中,坐标系以车辆中心线作为纵坐标轴;步骤2,判断所述横向距离Dist和横向偏出速度Vy是否满足预设条件,满足所述预设条件时,激活车道保持辅助LKA系统;步骤3、计算综合转角,并将所述综合转角作为所述车道辅助LKA系统的输入控制量。本发明解决了车道保持辅助控制的精准性低和鲁棒性弱的问题。
Lane keeping auxiliary method and system based on comprehensive corner control
一种综合转角控制的车道保持辅助方法及系统
2023-08-11
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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