考虑人机协调的基于转向和制动可拓联合的车道偏离辅助控制

doi:10.3901/JME.2019.04.135

机械工程学报 ›› 2019, Vol. 55 ›› Issue (4): 135-147.doi: 10.3901/JME.2019.04.135

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考虑人机协调的基于转向和制动可拓联合的车道偏离辅助控制

汪洪波, 夏志, 陈无畏

合肥工业大学汽车与交通工程学院合肥 230009

收稿日期:2018-05-31 修回日期:2018-11-01 出版日期:2019-02-20 发布日期:2019-02-20
通讯作者: 夏志(通信作者),男,1992年出生,硕士研究生。主要研究方向为智能汽车辅助驾驶技术。E-mail:810528787@qq.com
作者简介:汪洪波,男,1981年出生,博士,副教授,硕士研究生导师。主要研究方向为智能汽车动力学及控制,电动汽车控制技术,复杂机电系统建模与控制。E-mail:bob.627@163.com;陈无畏,男,1951年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制,发表论文300余篇。E-mail:hfgdcjs@126.com
基金资助:
国家自然科学基金（U1564201，51305118，51675151）、江苏省道路载运工具新技术应用重点实验室开放基金（BM20082061504）和中国博士后科学基金（2016M602000）资助项目

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

WANG Hongbo, XIA Zhi, CHEN Wuwei

School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009

Received:2018-05-31 Revised:2018-11-01 Online:2019-02-20 Published:2019-02-20

摘要/Abstract

摘要： 针对基于电动助力转向和差动制动的两种车道偏离辅助控制方法的局限性，提出可拓联合控制策略。基于可拓控制理论，充分考虑路面环境信息和车辆状态，设计可拓联合控制器，该控制器将电动助力转向和差动制动进行联合控制，以实现车道偏离辅助。为解决车道偏离辅助过程中的人机协调问题，应用模糊神经网络控制理论，设计考虑驾驶员转矩和车辆侧向偏差的人机协调控制器，通过输出辅助权重动态地调整车道偏离辅助系统的辅助转矩，实现驾驶员与辅助系统的协调控制。在CarSim/Simulink联合仿真平台和CarSim/LabVIEW硬件在环试验台架上对所提出的控制策略进行仿真和试验验证，结果表明所提出的控制策略能够有效地避免车辆偏离出车道，同时降低驾驶员和辅助系统之间的相互干扰，减小人机冲突，有较好的人机协调性能。

关键词: 车道偏离辅助系统, 可拓控制, 人机协调, 制动, 转向

Abstract: 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.

Key words: braking, extension control, human-machine coordination, LDAS, steering

中图分类号:

U461

汪洪波, 夏志, 陈无畏. 考虑人机协调的基于转向和制动可拓联合的车道偏离辅助控制[J]. 机械工程学报, 2019, 55(4): 135-147.

WANG Hongbo, XIA Zhi, CHEN Wuwei. Lane Departure Assistance Control Based on Extension Combination of Steering and Braking Systems Considering Human-machine Coordination[J]. Journal of Mechanical Engineering, 2019, 55(4): 135-147.

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考虑人机协调的基于转向和制动可拓联合的车道偏离辅助控制

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

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