Driving lane tracking system
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorsShinya Nohtomi, Shinichiro Horiuchi
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Abstract
Preview information is obtained by processing data from image data of a CCD camera, and it is treated as a known disturbance. Then, models for a vehicle and a target road path, typically consisting of DARMA (deterministic auto-regressive moving average) models are prepared so as to give a relationship between a front wheel steering angle command and a lateral deviation of the vehicle. An extended generalized predictive control theory is applied to these models so as to compensate for tracking errors that may arise as a result of the known disturbance. Thus, a favorable tracking capability can be achieved with a relatively simple structure, by executing a prediction control which requires only such variable that can be measured both easily and accurately.
Claims6
A driving lane tracking system, comprising:
- road path previewing means for detecting a current position of a vehicle with respect to a road path, and previewing a target road path lying a certain distance ahead of a vehicle;
- a steering angle sensor for detecting a current steering angle of the vehicle;
- a storage unit for storing data obtained from said road path previewing means and said steering angle sensor;
- a steering actuator which at least assists a steering effort made by a vehicle operator;
- and
- a control unit for controlling said steering actuator so as to minimize a weighted sum of a square of the lateral deviation with respect to said target road path and a square of an increment of the steering angle command value at a plurality of future points according to data on the past, current and target road path.
Dependencies are inferred from the claim text.