The invention relates to the technical field of vehicle control, in particular to a lane keeping turning angle planning method and system. The method comprises the following steps: step S1, sensing and processing lane information through a camera; s2, establishing a vehicle motion model used for outputting a predicted value of vehicle position change based on the input steering wheel angle; s3, based on the vehicle motion model, performing optimization calculation on the steering wheel turning angle for lane keeping by adopting a particle swarm optimization algorithm so as to obtain an optimal steering wheel target turning angle; and S4, controlling the steering of the vehicle according to the optimal steering wheel target turning angle obtained through calculation. According to the method, the information of the center line of the road ahead is captured through the camera, the steering function of the vehicle is planned through the particle swarm optimization algorithm, the calculated amount is remarkably reduced, and therefore the driving comfort and safety of the vehicle can be improved.
本发明涉及车辆控制技术领域,更具体的说,涉及一种车道保持转角规划方法及系统。本方法包括以下步骤:步骤S1,通过摄像头对车道信息进行感知处理;步骤S2,建立车辆运动模型,用于基于输入方向盘转角输出车辆位置变化的预测值;步骤S3,基于车辆运动模型,采用粒子群优化算法对用于车道保持的方向盘转角进行优化计算,从而获得最优方向盘目标转角;步骤S4,根据计算获得的最优方向盘目标转角,对车辆的转向进行控制。本发明通过摄像头捕捉前方道路中心线的信息,采用粒子群优化算法对车辆的转向功能进行规划,显著降低了计算量,从而有助于提升车辆的行驶舒适性和安全性。
Lane keeping angle planning method and system
一种车道保持转角规划方法及系统
2024-12-06
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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