基于STM32的车道保持控制系统设计  

Design of lane keeping assistance control system based on STM32

作　　者：刘春阳[1] 陈帆[2] 王张飞 詹坤 陈立海 LIU Chunyang;CHEN Fan;WANG Zhangfei;ZHAN Kun;CHEN Lihai(College of Mechanical and Electrical Engineering,Henan University of Science and Technology,Luoyang 471003,China;AVIC OPTRONICS,Luoyang 471000,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]中国航空工业集团公司洛阳电光设备研究所,河南洛阳471000

出　　处：《传感器与微系统》2022年第3期68-71,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(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项目(18A460018);河南省高等学校青年骨干教师培养计划项目(2019GGJS082);洛阳市科技发展计划项目(1901016A)。

摘　　要：针对商用车道保持控制以及实车测试,设计了一种基于STM32的车道保持控制系统。通过CAN总线与车辆行驶状态监测的传感器、基于视觉的车道检测传感器建立通信;并对车身方位角、距左右车道线距离、车速、方向盘转角等数据进行解算;利用基于驾驶体验的三段式控制策略,实现对车道保持所需转向扭矩的计算,进而在实际道路上验证了系统的车道保持功能。系统通过对不同车速下,实验车车道保持算法参数进行优化,实现了90 km/h及以下车速的车道保持功能,在实验车上取得了较好的应用效果。A lane keeping assistance control system is designed based on STM32 for commercial vehicle and real vehicle test.The system communicates with driving state monitoring sensors of the vehicle and the lane detection sensor based on vision through the CAN bus.The vehicle body azimuth,the distance from left and right lane lines,the vehicle speed,the steering wheel angle and other data can be calculated by the microcontroller.By using three-stage control strategy,lane keeping assistance driving is realized by the designed system.The steering torque required for lane keeping is calculated and verified on the actual road test.Through the optimizing of the lane keeping algorithm parameters at different speed,the system realizes the lane keeping function at the speed of 90km/h and below,and achieves good application effect on the test vehicle.

关 键 词：车道保持 STM32处理器 三段式控制策略 CAN通信 传感器 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]