The invention relates to the technical field of vehicle control, in particular to a course angular velocity deviation compensation method and system under lane centering control. The compensation method comprises the steps that the position of a vehicle in a lane where the vehicle is located is obtained; calculating an expected course angular velocity of the vehicle according to the lateral error, the cycle time and the current vehicle speed; the measured current course angular velocity is obtained, calibration compensation is carried out, and the actual course angular velocity is calculated; and calculating a course angular velocity error according to the expected course angular velocity and the actual course angular velocity, and regulating and controlling the driving direction of the vehicle according to the course angular velocity error. The compensation system comprises a lane centering control module and a sensing unit connected with the lane centering control module; the calculation module is connected with the sensing unit through a data transmission module; and the automatic driving module is connected with the calculation module. Objective data presentation is carried out according to the data collected by the sensing unit, the deviation of the course angular velocity of the vehicle is compensated, and the centering performance of the vehicle is improved.

    本申请涉及车辆控制技术领域,尤其涉及一种车道居中控制下的航向角速度偏差补偿方法及系统。补偿方法,包括,获取车辆在其所在车道中的位置;根据横向误差、周期时间和当前车速计算车辆的期望航向角速度;获取测量的当前航向角速度,进行标定补偿,计算实际航向角速度;根据期望航向角速度和实际航向角速度,计算航向角速度误差,并按照航向角速度误差对车辆行驶方向进行调控处理。补偿系统,包括,车道居中控制模块,以及与车道居中控制模块连接的感知单元;通过数据传输模块与感知单元连接的计算模块;与计算模块连接的自动驾驶模块。本发明根据感知单元采集的数据进行客观的数据呈现,为车辆航向角速度的偏差进行补偿,提升车辆居中性能表现。


    Access

    Download


    Export, share and cite



    Title :

    Course angular velocity deviation compensation method and system under lane centering control


    Additional title:

    一种车道居中控制下的航向角速度偏差补偿方法及系统


    Contributors:

    Publication date :

    2024-10-11


    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



    Yaw velocity deviation compensation method in lane centering control

    ZHANG HONGLIANG / WANG JIAXING | European Patent Office | 2023

    Free access



    Lane centering system and lane centering method for autonomous vehicle

    LU BIN | European Patent Office | 2022

    Free access

    Lane centering control method and system

    BI JIANGTAO / LI ZHENFENG / YANG MENGTING et al. | European Patent Office | 2025

    Free access