A lane keeping assist system for a motor vehicle includes an electric power steering assembly responsive to an output of a control system, a motor applying a torque to a portion of a steering gear to steer the vehicle along a road, the lane keeping assist system assisting a driver in keeping the vehicle in a lane of the road, where the control circuit includes a PID controller configured to control the motor to turn the vehicle along the road. And a controller receiving a target lane position of the closed-loop control system at an input and providing a control signal for a motor of the electric power steering assembly as an output, the controller and the motor being arranged in a closed loop configured to minimize an error value indicative of a difference between the target lane position and an actual lane position of the vehicle, and a neural network, a neural network having an input layer of neurons, at least one hidden layer of neurons, and an output layer including at least one output neuron, where the neural network includes a feed-forward neural network that receives a target lane position, a control signal output from the controller, and an error value at the input layer of the input neuron, and wherein the neural network is configured to determine P-gain, I-gain, and D-gain terms used by the PID controller, and further wherein the neural network receives, as a feed-forward term, one or more of a curvature of a lane in which the vehicle is to remain and a vehicle speed.

    一种用于机动车辆的车道保持辅助系统,包括响应于控制系统的输出的电动助力转向组件,马达向转向齿轮的一部分施加扭矩以使车辆沿着公路转向,车道保持辅助系统辅助驾驶员将车辆保持在公路的车道中,其中控制电路包括:PID控制器,其在输入端处接收闭环控制系统的目标车道位置,并提供用于电动助力转向组件的马达的控制信号作为输出,控制器与马达被布置在闭环中,被配置为最小化指示车辆的目标车道位置与实际车道位置之间的差异的误差值,以及神经网络,其具有神经元的输入层、神经元的至少一个隐藏层,以及包括至少一个输出神经元的输出层,其中神经网络包括前馈神经网络,其在输入神经元的输入层处接收目标车道位置、从控制器输出的控制信号和误差值,并且其中神经网络被配置为确定PID控制器使用的P增益、I增益和D增益项,并且进一步其中神经网络接收车辆要保持在其中的车道的曲率和车辆速度中的一个或多个作为前馈项。


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    Title :

    Motor vehicle lane keeping assist system


    Additional title:

    机动车辆车道保持辅助系统


    Contributors:

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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