基于轮速信号的汽车巡航系统弯道行驶状态识别

Curved lane recognition algorithm of automobile cruise control system based on wheel speed signal

弯道识别是汽车巡航系统弯道控制的关键技术之一,直接决定汽车弯道巡航控制的效果。为提高汽车巡航控制系统的性能,完善巡航控制系统的弯道控制策略,提出了基于汽车弯道行驶动力学模型和4车轮轮速信号的汽车弯道运动状态识别方法。该方法不需要增加前轮转角传感器,根据汽车行驶时采集的4车轮轮速信号估算汽车弯道行驶状态参数。实车试验表明:计算结果和传感器实测结果比较接近,利用4车轮轮速信号能够对汽车弯道运动状态进行准确识别与判断,满足汽车巡航控制的需要。

The curve road recognition is one of the key technologies of automobile cruise control system, which determines directly vehicle cruise control effect on the curve road. In order to improve the performance of automobile cruise control system and perfect the cruise control sys tem control strategy, a recognition algorithm of curved lane is proposed. The method uses four wheel speed signals with data acquisition to estimate automobile driving state parameters on curved road based on automobile driving dynamics model, and does not need to increase the steering angle sensor. The experimental results show that the calculation results are close to the measured results, and it is feasible and accurate to identify and judge the vehicle driving state on curved road, and can meet the needs of automobile cruise control.