车道保持辅助系统数据可视化及控制策略  

Data Visualization and Control Strategy of Lane Keeping Assist System

作　　者：刘春阳[1,2] 王张飞[1] 隋新 詹坤 郭楠 陈立海 LIU Chunyang;WANG Zhangfei;SUI Xin;ZHAN Kun;GUO Nan;CHEN Lihai(Mechatronics Engineering School,Henan University of Science&Technology,Luoyang 471003,China;Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province,Henan University of Science&Technology,Luoyang 471003,China;Henan Key Laboratory for Machinery Design&Transmission System,Henan University of Science&Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南科技大学机械装备先进制造河南省协同创新中心,河南洛阳471003 [3]河南科技大学河南省机械设计及传动系统重点实验室,河南洛阳471003

出　　处：《河南科技大学学报（自然科学版）》2021年第4期21-27,M0003,M0004,共9页Journal of Henan University of Science And Technology:Natural Science

基　　金：国家自然科学基金项目(51805151);河南省科技攻关计划(工业领域)项目(192102210141);河南省高等学校重点科研项目基础研究计划(18A460003,19A535001);河南省高等学校青年骨干教师培养计划(2019GGJS082)。

摘　　要：针对车道保持控制实车测试环节中下位机单独调试可视化不足以及时间效率低等问题,设计了一种基于PyQt的车道保持控制在线调试系统。通过Python中的Serial模块,与以STM32控制器为核心的车道保持下位机进行串口通信,下位机将获取的传感器数据信息实时传输给上位机,并按照设计的三段式车道保持控制策略进行车辆行驶状态的控制。上位机软件对监测的车辆状态信息及车道保持控制参数进行可视化展示,并根据需要进行控制参数的在线调整,实现车道保持功能的在线调试和参数优化。研究结果表明:系统识别车辆偏离的响应时间为0.1 s,进行扭矩等控制参数更新的时间间隔为20 ms,纠偏后能够在车道线内稳定行驶40 s以上。Aiming at the problem of insufficient visualization and time efficiency of the lower computer during the actual vehicle test of lane keeping control,a PyQt-based online debugging system for lane keeping control was designed.Taking the serial module in Python and the lane keeping lower computer with the STM32 controller as the core for serial communication,the lower computer transmited the acquired sensor data information to the upper computer in real time,and controleed the driving state of the vehicle according to the designed three-stage lane keeping control strategy.The host computer software visually displayed the monitored vehicle status information and lane keeping control parameters,and adjusted the control parameters online to realize online debugging and parameter optimization of the lane keeping function.The results show that the response time of the system to recognize vehicle deviation is 0.1 s,the time interval for updating control parameters such as torque is 20 ms,and the stable driving in the lane line is more than 40 s after correction.

关 键 词：PyQt 车道保持在线调试 三段式控制策略 STM32控制器 

分 类 号：TP302[自动化与计算机技术—计算机系统结构]