Human-machine Cooperative Lane Departure Assist Control Considering Driver Manipulate Failure

doi:10.3901/JME.2019.16.091

Abstract

Abstract: Human-machine cooperative control of vehicle is one of the important ways to reduce road traffic accidents, according to the unintended lane departure caused by driver manipulate failure,a lane departure assist control based human-machine cooperative is proposed. Based on model predictive control, the lane departure assist controller is designed that ensure the vehicle tracks the lane stable at different speeds. The time to lane crossing is solved and with appropriate threshold value, which can trigger lane departure warning as well as start and shutdown the assist system. The cooperative control factor between the driver and the controller is decided in real time based on driver state,vehicle state and vehicle-road relative position,the assist torque of steering is determined by the cooperative control factor. Simulation in CarSim/Simulink and hardware in the loop test verified that:compared to the driver manipulate,the human-machine cooperative assist system can avoid the lane departure and decrease the lateral distance to some extent;Compared to the control without cooperative,human-machine cooperative reduced the intervention of the controller to the driver,which fully explained that the proposed method can improves the safety and comfort ability of vehicle driving.

Key words: driver failure, human-machine cooperative, lane departure assist, model predictive control

CLC Number:

U461

GAO Zhengang, CHEN Wuwei, TAN Dongkui, ZHAO Linfeng, WANG Hongbo. Human-machine Cooperative Lane Departure Assist Control Considering Driver Manipulate Failure[J]. Journal of Mechanical Engineering, 2019, 55(16): 91-103.

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