Lane centering control method and device for vehicle

• Main Author: TANG CHENGYOU
• Format: Patent
• Language: Chinese; English
• Published: 21.06.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The embodiment of the invention discloses a lane centering control method and device for a vehicle. The method comprises the following steps: acquiring lane line data; based on the lane line data, control parameters are dynamically adjusted, and the control parameters comprise filtering parameters of a Kalman filter used for lane line data processing and/or control parameters of a PID controller used for trajectory tracking control. By dynamically adjusting the control parameters, the dynamic response capability of the lane centering control function is improved, so that the control requirements of more scenes are met. 本发明实施例公开了一种车辆的车道居中控制方法及装置。其中该方法包括：获取车道线数据；以及基于车道线数据，动态调整控制参数，其中控制参数包括：用于车道线数据处理的卡尔曼滤波器的滤波参数，和/或，用于轨迹追踪控制的PID控制器的控制参数。通过动态调整控制参数，以提高车道居中控制功能的动态响应能力，从而满足更多场景的控制需求。