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An Active Correction Method for Lane Departure Based on Torque Control

A lane departure and torque control technology, applied in the field of automobile control, can solve problems such as affecting the quality of driving control, and achieve the effect of good deviation correction effect, low memory consumption and low calculation amount.

Active Publication Date: 2021-12-17
DONGFENG COMML VEHICLE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] 2. Using steering wheel angle compensation, when the driver operates the steering wheel, it will affect the quality of driving control

Method used

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  • An Active Correction Method for Lane Departure Based on Torque Control
  • An Active Correction Method for Lane Departure Based on Torque Control
  • An Active Correction Method for Lane Departure Based on Torque Control

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Embodiment Construction

[0036] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

[0037] like Figure 1-4 As shown, the present invention proposes a lane departure active correction method controlled by the steering gear torque. During the driving process of the vehicle, road information and vehicle heading angle information are collected through a monocular camera installed on the front windshield. When the vehicle deviates from the lane When centering, the target yaw rate of vehicle deviation correction is calculated through the vehicle parameters ...

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Abstract

The invention discloses a lane deviation active correction method based on torque control. The process is: when the active deviation correction system meets the activation conditions, it enters the activation state, and the active deviation correction system obtains road information and vehicle parameter information in real time; calculates the feedforward torque based on the information obtained above; determines the target yaw rate for vehicle deviation correction based on the information obtained above , calculate the feedback torque according to the target yaw rate; calculate the compensation torque according to the feed-forward torque, feedback torque and steering wheel torque, and input the compensation torque to the steering system to complete the torque correction control. The present invention adopts the control scheme of feedforward and feedback, can quickly follow the target parameters, and complete the vehicle lane deviation correction action, the system is stable, and the calculation amount is low, and the memory consumption of the controller is low; by using the vehicle yaw angular velocity as the target control value , which ensures good deviation correction effect when driving in curves.

Description

technical field [0001] The invention belongs to the technical field of automobile control, and in particular relates to an active lane deviation correction method based on torque control. Background technique [0002] According to relevant reports, the proportion of road traffic accidents caused by vehicles not staying in the proper lane or leaving the lane is second only to speeding. It can be seen that how to ensure that the vehicle safely drives in the current lane is an urgent problem to be solved. . In addition, when driving for a long time, when the driver is prone to fatigue, the driving vehicle is prone to lane departure, resulting in traffic accidents. The active lane departure correction system can improve the active safety of driving and reduce the driver's driving burden. [0003] The existing solution is to obtain the image of the road ahead of the vehicle through the camera, process the image of the road ahead obtained by the camera, and extract the lane line ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/12B60W10/20
CPCB60W30/12B60W10/20
Inventor 陈钊万四禧潘学玉管杰刘庚李兆干
Owner DONGFENG COMML VEHICLE CO LTD
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