The invention relates to an automobile centering keeping control method which comprises the steps that a preview point is arranged in front of an automobile through a front camera, the position of the automobile is adjusted through PID algorithms, the included angle between the preview point X and lane lines on the two sides is controlled through a first set of PID algorithms, and the included angle between the preview point X and the lane lines is made to be 0; controlling the distances between the preview point X and the lane lines on the two sides through a second group of PID algorithms, so that the distances between the preview point X and the lane lines are equal, and obtaining a steering wheel request turning angle; curvature compensation is conducted on the steering wheel request turning angle, the curvature compensation is obtained through table look-up based on the road curvature, the vehicle weight and the vehicle speed, a compensation value is obtained through calibration, and the compensation value is feedforward compensation; the included angle between the preview point X and the lane center line is controlled through angle control PID parameters, curvature compensation is carried out on the steering wheel request turning angle, vehicle centering keeping control is achieved, and compared with an existing scheme, the control algorithm is simple in principle, convenient to operate, high in control precision and easy to achieve.
本发明涉及一种汽车居中保持控制方法,包括:通过前置摄像头在车辆前方设置预瞄点,通过PID算法调节车辆位置,其中通过第一组PID算法控制预瞄点X与两侧车道线的夹角,使预瞄点X与车道线夹角为0,通过第二组PID算法控制预瞄点X与两侧车道线的距离,使预瞄点X与车道线距离相等,得到方向盘请求转角;对方向盘请求转角进行曲率补偿,曲率补偿为基于道路曲率、车重及车速,进行查表获得,补偿值通过标定获得,且补偿值为前馈补偿;通过角度控制PID参数控制预瞄点X与车道中心线的夹角,通过对方向盘请求转角进行曲率补偿,使车辆居中保持控制,相比现有方案控制算法原理简单,操作方便,控制精度高,容易实现。
Automobile centering keeping control method
一种汽车居中保持控制方法
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 |
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