The invention relates to the technical field of vehicle control, in particular to a lane centering control system and a lane centering keeping method based on the driving style of a driver, and the method comprises the steps: determining a basic compensation torque curve through obtaining a corresponding angle torque value; calculating torque compensation increment under different vehicle speeds and different steering angles; driving habits of a driver are analyzed, a vehicle safety driving area and vehicle crossing time are calculated according to corresponding operation parameters, whether the vehicle needs transverse intervention or not is judged according to the vehicle safety driving area and the vehicle crossing time, and course angle deviation and transverse deviation are calculated; then calculating a target steering torque and performing intervention control on the vehicle; and when the vehicle does not return, performing return control and damping compensation on the vehicle at different vehicle speeds. When transverse control is carried out, torque compensation is dynamically adjusted according to the motion state of the vehicle, a dead zone is broken through as soon as possible through the compensated torque value, the vehicle responds in time, and control errors caused by the dead zone are reduced.
本申请涉及车辆控制技术领域,尤其涉及一种基于驾驶员驾驶风格的车道居中控制系统及车道居中保持方法,其方法,包括,通过获取对应角度扭矩值,确定基本补偿扭矩曲线;计算不同车速、不同转向角度下的扭矩补偿增值;分析驾驶员行驶习惯,根据对应的操作参数计算车辆安全行驶区域和车辆跨道时间,根据车辆安全行驶区域和车辆跨道时间判断车辆是否需要进行横向干预,计算出航向角偏差及横向偏差,继而计算出目标转向扭矩并对车辆进行干预控制;车辆未回正时,在不同车速下对车辆进行回正控制和阻尼补偿。本申请在进行横向控制时,根据自车运动状态动态调整对扭矩补偿,通过补偿的扭矩值尽快突破死区,使车辆响应及时,减少因死区造成的控制的误差。
Lane centering control system and lane centering keeping method based on driving style of driver
基于驾驶员驾驶风格的车道居中控制系统及车道居中保持方法
2024-08-30
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 |