The invention provides a lane centering transverse control method and system, and the system comprises a sensing unit which is used for recognizing a lane line of a lane where a vehicle is located; the judging unit is used for judging the identified confidence coefficient of the lane line according to the information sent by the sensing unit and obtaining a lane line validity signal; the compensation unit is used for compensating the lateral deviation of the center line of the lane of the vehicle; the delay unit is used for vehicle delay processing; and the control execution unit is used for performing transverse control torque output according to the lane line parameters. According to the lane centering transverse control method and system, when the confidence coefficient of the lane line where the vehicle is located is low or the lane line disappears suddenly, the transverse deviation distance value of the distance tracking trajectory of the vehicle can still be effectively obtained, and the using comfort and safety of the lane centering control function of a driver are improved.

    本发明提供了一种车道居中横向控制方法及系统,所述系统包括:感知单元,用于识别自车所处车道的车道线;判断单元,通过感知单元发送过来的信息对识别到的车道线置信度进行判断,并获得车道线有效性信号;补偿单元,用于对自车车道中心线横向偏差进行补偿处理;延时单元,用于车辆延时处理;控制执行单元,用于根据车道线参数进行横向控制扭矩输出。本发明通过车道居中横向控制方法及系统,对自车所处车道线置信度低或突然车道线消失时,仍可有效的得到自车距离跟踪轨迹线的横向偏差距离值,提升驾驶员车道居中控制功能使用的舒适性和安全性。


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    Title :

    Lane centering transverse control method and system


    Additional title:

    一种车道居中横向控制方法及系统


    Contributors:
    ZHANG HONGLIANG (author) / WANG YU (author) / YU CHAO (author)

    Publication date :

    2023-12-12


    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



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