Lane Departure Assistance Control Based on Extension Combination of Steering and Braking Systems Considering Human-machine Coordination

被引：0
|
作者：
Wang H. [1 ]
Xia Z. [1 ]
Chen W. [1 ]
机构：
[1] School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 04期
关键词：
Braking; Extension control; Human-machine coordination; LDAS; Steering;
D O I：
10.3901/JME.2019.04.135
中图分类号：
学科分类号：
摘要：
Aiming at the limitations of lane departure assistance control based on electric power steering system and differential braking system, an extension combination control strategy is proposed. Based on the extension control theory, the road environment information and vehicle state are fully considered in the design of the combination controller, and the controller combines the electric power steering and differential braking to realize the lane departure assistance control. In order to solve the problem of human-machine coordination in the process of departure assistance, the fuzzy neural network control is applied to design the human-machine coordination controller which considers the driver torque and the lateral deviation of the vehicle. It can adjust the assistant torque of the lane departure assistance system (LDAS) dynamically by outputting the weight so as to realize the coordinated control between the driver and the assistance system. These proposed control strategies are simulated and tested on the CarSim/Simulink combination simulation platform and the CarSim/LabVIEW hardware-in-the-loop test bench. The results show that the proposed control strategies can effectively avoid the vehicle deviating from the lane, reduce the mutual interference between the driver and the assistance system at the same time so that reducing the man-machine conflict, and have better human-machine coordination performance. © 2019 Journal of Mechanical Engineering.
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页码：135 / 147
页数：12
相关论文
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