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車道保持系統(tǒng)的車輛狀態(tài)預(yù)測模型
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    摘要:

    針對目前車道保持系統(tǒng)中車速變化較大時(shí),，被控車輛偏移量較大的問題,，通過狀態(tài)預(yù)測方法,，設(shè)計(jì)了用于單目視覺車道保持系統(tǒng)的狀態(tài)預(yù)測模型,。單目攝像頭識別預(yù)瞄點(diǎn)處車-路偏差，考慮車輛經(jīng)過預(yù)瞄時(shí)間后的狀態(tài)變化量,，設(shè)計(jì)基于車輛狀態(tài)的預(yù)瞄點(diǎn)處車-路偏差模型。通過仿真與實(shí)車試驗(yàn)驗(yàn)證，說明提出的車輛預(yù)測模型能夠準(zhǔn)確預(yù)測出預(yù)瞄點(diǎn)處的車-路偏差,，減小預(yù)測模型誤差，提高車道保持系統(tǒng)控制精度和準(zhǔn)確性,，一般工況下,，能夠使車-路偏移量控制在10 cm以下。與目前采用的簡化車路偏差模型相比較,，能夠提高被控車輛對于車道中心線的跟隨性能,。

    Abstract:

    To deal with the large offsets when the vehicle speed largely changes in lane keeping system, a vehicle lateral control model was designed based on states preview. Using the car-road deviation detected by monocular camera and the state variation after preview time, the car-road deviation model has been design at preview point. Simulation experiments and the real vehicle tests showed that by using the proposed model, lane keeping system could predict the preview of car-road deviation accurately, decrease preview model error. In general conditions, it could enable vehicles road offset control to maintain control within 10 cm. The algorithm could improve precision and accuracy of lane keeping control system, and improve the performance of follow the road centerline with the current model.

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楊志強(qiáng),譚彧.車道保持系統(tǒng)的車輛狀態(tài)預(yù)測模型[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(10):25-29.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(10):25-29.

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