基于视觉的重型车辆车道保持控制方法

Heavy Vehicle Lane Keeping System Development

重型车辆车道保持借助视觉传感器获取道路信息,以单点预瞄和道路中心线位置偏差实现对车辆的前馈控制。考虑重型车辆体积大导致响应慢,进入稳态时间较长等问题,本文将车辆质心和车道中心线横向偏差用于修正车辆位置。提出与速度成线性关系变化的P控制参数,应用PD控制算法得到输出转角对重型车辆进行横向控制,通过Simulink/TruckSim联合仿真验证算法可靠有效。同时经过实车测试车辆始终沿着车道中心向前行驶,实现了基于视觉控制车辆在车道内快速、平稳行驶。

The heavy vehicle lane keeps the road information acquired by means of the visual sensor,and the feed forward control of the vehicle is realized by the single point preview and the road center line position deviation.Considering the problem that the heavy vehicle is bulky,resulting in slow response and long steady-state time,this paper uses the vehicle center of mass and the vehicle center line lateral deviation to correct the vehicle position.The P control parameters which change linearly with speed are proposed.The PD control algorithm is used to obtain the output angle to control the heavy vehicles horizontally.The Simulink/TruckSim joint simulation verification algorithm is reliable and effective.At the same time,after passing the actual vehicle test,the vehicle always travels along the center of the lane,realizing that the vehicle is controlled to drive in the lane.