基于可拓决策和人工势场法的车道偏离辅助系统研究

doi:10.3901/JME.2018.16.134

机械工程学报 ›› 2018, Vol. 54 ›› Issue (16): 134-143.doi: 10.3901/JME.2018.16.134

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基于可拓决策和人工势场法的车道偏离辅助系统研究

陈无畏¹, 胡振国¹, 汪洪波¹, 魏振亚¹, 谢有浩^1,2

1. 合肥工业大学汽车与交通工程学院合肥 230009;
2. 安徽猎豹汽车有限公司滁州 239064

收稿日期:2018-01-02 修回日期:2018-05-02 出版日期:2018-08-20 发布日期:2018-08-20
通讯作者: 汪洪波(通信作者),男,1981年出生,博士,副教授,硕士研究生导师。主要研究方向为车辆动力学与控制。E-mail:bob.627@163.com
作者简介: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;胡振国,男,1993年出生,硕士研究生。主要研究方向为车辆动力学与控制。E-mail:754031447@qq.com
基金资助:
国家自然科学基金（U1564201，51675151，51375131）、中国博士后科学基金（2016M602000）和安徽省科技重大专项（17030901060）资助项目。

Study on Extension Decision and Artificial Potential Field Based Lane Departure Assistance System

CHEN Wuwei¹, HU Zhenguo¹, WANG Hongbo¹, WEI Zhenya¹, XIE Youhao^1,2

1. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009;
2. Anhui Leopaard Co., Ltd., Chuzhou 239064

Received:2018-01-02 Revised:2018-05-02 Online:2018-08-20 Published:2018-08-20

摘要/Abstract

摘要： 为保障驾驶安全，车道偏离辅助系统成为一大研究热点。针对车道偏离辅助系统中的决策问题，提出采用可拓决策方法：以跨道时间和距车道中心线距离作特征量建立二维可拓集合，设计动态边界划分可拓域，不同域中分别采用自由驾驶模式、辅助驾驶模式和线控主动转向模式；求解出关联函数，确定可拓域中辅助驾驶模式人和车的控制权重。针对车道偏离辅助系统的横向运动控制问题，采用人工势场法设计转角控制器：建立了跨道时间模型，以跨道时间为变量设计势场函数，以得到的势场力代入参考车辆模型，用PID控制跟踪理想转向盘转角。针对不同域表征的车道偏离状态，实现自由驾驶模式、辅助驾驶模式和线控主动转向模式之间的切换。利用Carsim/Simulink联合仿真和硬件在环试验台验证了该方法的有效性。

关键词: 车道偏离辅助, 动态边界, 驾驶模式切换, 可拓决策, 人工势场法

Abstract: In order to ensure the driving safety, the research on the lane departure assistance system becomes hot recently. For the decision-making problem in the lane departure assistance system, the extension decision method is put forward:the time to lane crossing(TLC) and the distance to lane center(DLC) are used as the characteristic variables to establish the two-dimensional extension set, the dynamic boundary is designed to divide extensive domains, and the free driving mode, assistant driving mode and active steering-by-wire mode are adopted separately in the different domains; the correlative function is calculated to determine the control weights of human and vehicle of the assistant driving mode in the extensive domain. For the lateral motion control of the lane departure assistance system, the artificial potential field method is used to design the steering angle controller:the TLC model is established, the potential function is designed with TLC, the obtained potential force is substituted into the vehicle reference model, and PID control is used to track the ideal steering angles. For the lane departure state represented in different domains, the switching is achieved among the free driving mode, assistant driving mode and active steering-by-wire mode. The validity of the proposed method is verified through the Carsim/Simulink joint simulation and hardware-in-loop test.

Key words: artificial potential field method, driving mode switching, dynamic boundary, extension decision, lane departure assistance

中图分类号:

U461

陈无畏, 胡振国, 汪洪波, 魏振亚, 谢有浩. 基于可拓决策和人工势场法的车道偏离辅助系统研究[J]. 机械工程学报, 2018, 54(16): 134-143.

CHEN Wuwei, HU Zhenguo, WANG Hongbo, WEI Zhenya, XIE Youhao. Study on Extension Decision and Artificial Potential Field Based Lane Departure Assistance System[J]. Journal of Mechanical Engineering, 2018, 54(16): 134-143.

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基于可拓决策和人工势场法的车道偏离辅助系统研究

Study on Extension Decision and Artificial Potential Field Based Lane Departure Assistance System

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