Vehicles and related systems and methods are provided for mitigating lane departure, or referred to as lane keeping assistance. A method of assisting operation of a vehicle involves determining a steering angle based at least in part on a current steering angle, a first difference between a control trajectory of the vehicle and a reference lateral trajectory, and a second difference between the control trajectory and a lane boundary, e.g., by minimizing a weighted sum of these differences. A control trajectory that the vehicle satisfies one or more steering angle constraints for operating a steering system of the vehicle within the predicted range is determined. The method continues to determine a steering angle command for the vehicle based at least in part on the control trajectory, and autonomously operate one or more actuators on the vehicle according to the steering angle command before the vehicle passes through the lane boundary.
提供了用于减轻车道偏离的车辆及相关系统和方法,或者被称为车道保持辅助。一种辅助车辆操作的方法涉及至少部分地基于当前转向角、车辆的控制轨迹与参考横向轨迹之间的第一差值以及控制轨迹与车道边界之间的第二差值,例如,通过最小化这些差值的加权和,确定车辆在预测范围内满足用于操作车辆的转向系统的一个或多个转向角约束的控制轨迹。该方法继续为至少部分地基于控制轨迹确定车辆的转向角命令,并且在车辆穿过车道边界之前,根据转向角命令自主地操作车辆上的一个或多个致动器。
Vehicle system and autonomous lane departure mitigation method
车辆系统和自主车道偏离减轻方法
2025-01-14
Patent
Electronic Resource
Chinese
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