基于横跨虚拟车道线时间的车道保持策略研究

Research on Lane Keeping Strategy Based on Time of Crossing Virtual Lane

提出了一种基于横跨虚拟车道线时间的车道偏离决策方法,对车速和道路曲率具有适应性。在车道偏离控制方面,设计了在Frenet坐标系下的线性二次型车道保持控制器以实现纠偏。仿真和实车试验表明:相比于单一的判别方法和联合度较低的联合车道偏离判别方法,文中的车道偏离判别能够提前准确判断车辆是否偏离并有效纠偏,避免车辆偏出车道。

Lane departure judgment method based on the time to cross virtual lane was proposed to judge whether lane departure happens,which is adaptive to vehicle speed and road curvature.In the aspect of lane departure control,lane keeping control algorithm based on linear quadratic regulator was designed in Frenet coordinate system.Simulation and real vehicle tests show that the lane departure algorithm and control method proposed in this paper can accurately judge whether the vehicle deviates in advance and effectively correct the deviation,so as to avoid the vehicle deviating from the lane.