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

doi:10.3901/JME.2019.04.135

Abstract

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

CLC Number:

U461

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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