The embodiment of the invention relates to the technical field of intelligent driving, and particularly discloses a yaw velocity deviation compensation method in lane centering control. According to the embodiment of the invention, when the lane centering control function is started, the left and right lane lines are detected, and the lane center line of the current lane of the vehicle is fitted; calculating an expected yaw velocity at a preview point of the vehicle; the measured current yaw velocity is obtained, calibration compensation is carried out, and the actual yaw velocity is calculated; and the yaw velocity error is calculated according to the expected yaw velocity and the actual yaw velocity, and regulation and control processing is carried out according to the yaw velocity error. By means of the technical scheme, the measured value of the yaw angle sensor can be compensated and adjusted, the actual yaw angle speed closer to the reality is obtained, then the more accurate steering wheel rotation angle or steering wheel torque can be output to control and adjust the vehicle when the vehicle is controlled in the middle, and therefore the comfort of the vehicle is effectively improved.

    本发明实施例涉及智能驾驶技术领域,具体公开了一种车道居中控制中横摆角速度偏差补偿方法。本发明实施例通过在车道居中控制功能开启时,进行左右车道线检测,拟合车辆当前所处车道的车道中心线;计算车辆的预瞄点处的期望横摆角速度;获取测量的当前横摆角速度,并进行标定补偿,计算实际横摆角速度;根据期望横摆角速度和实际横摆角速度,计算横摆角速度误差,并按照横摆角速度误差进行调控处理。能够对横摆角传感器的测量值进行补偿调整,得到更贴近真实的实际横摆角速度,进而能够在车辆居中控制时,可以输出更准确的方向盘转角或方向盘扭矩对车辆进行控制调节,从而有效提升车辆的舒适性。


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    Title :

    Yaw velocity deviation compensation method in lane centering control


    Additional title:

    一种车道居中控制中横摆角速度偏差补偿方法


    Contributors:

    Publication date :

    2023-09-29


    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




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