基于差动制动的车道偏离辅助控制

中国机械工程 ›› 2013, Vol. 24 ›› Issue (21): 2977-2981.

基于差动制动的车道偏离辅助控制

吴乙万;黄智;刘李盼

湖南大学汽车车身先进设计制造国家重点实验室,长沙,410082

出版日期:2013-11-10 发布日期:2013-11-15
基金资助:
教育部长江学者与创新团队发展计划资助项目（531105050037）;湖南省自然科学基金资助项目(13JJ4033);湖南大学汽车车身先进设计制造国家重点实验室自主研究课题(61075002);湖南大学青年教师科技创新扶持项目(531107040144)
Supported by Program for Changjiang Scholars and Innovative Research Team in University（No. 531105050037）;
Hunan Provincial Natural Science Foundation of China（No. 13JJ4033）

Differential Braking Control for Lane Departure Avoidance

Wu Yiwan;Huang Zhi;Liu Lipan

State Key Laboratory of Advanced Design and Manufacture for Vehicle Body,Hunan University,Changsha,410082

Online:2013-11-10 Published:2013-11-15
Supported by:

Supported by Program for Changjiang Scholars and Innovative Research Team in University（No. 531105050037）;
Hunan Provincial Natural Science Foundation of China（No. 13JJ4033）

摘要/Abstract

摘要：

针对高速公路上因驾驶员注意力不集中容易发生车辆偏离车道事故的问题,提出采用四轮差动制动对车辆施加辅助横摆力矩以避免车辆偏离车道的方法。基于预瞄点处的车-路偏差、车辆状态和道路附着限制计算期望的横摆响应，设计滑模控制器控制辅助横
摆力矩。通过在同侧车轮定比例分配制动力产生横摆力矩，使车辆横摆响应跟踪目标值,达到车道偏离辅助控制的目的。在Carsim/Simulink联合仿真平台上对基于差动制动的车道偏离辅助控制方法进行仿真实验，研究结果表明所提出方法将车辆限制在车道范围内，有效避免了车道偏离事故的发生。

关键词: 车道偏离辅助控制, 滑模控制, 差动制动, 横摆响应

Abstract:

A large number of lane departure accidents in high way is due to inattention of the drivers.Herein,a new method for lane departure avoidance was presented,which is applied additional yaw moment to correct lane departure of the vehicle by means of four wheels differential braking.The desired yaw rate was calculated by considering vehicle-lane deviation,vehicle dynamics and limitation of road adhesion.A SMC was designed to control the additional yaw moment.The yaw moment was produced by the distribution of break forces between the same side brakes with fixed ratio,and lane departure avoidance was carried out by tracking desired yaw response.The proposed LDAS was evaluated via Carsim/Simulink.Simulation results show that the proposed method can restrict the vehicle into lane range and avoid lane departure accidents.

Key words: lane departure avoidance system(LDAS), sliding mode control(SMC), differential breaking, yaw response

中图分类号:

U461.91

吴乙万;黄智;刘李盼. 基于差动制动的车道偏离辅助控制[J]. 中国机械工程, 2013, 24(21): 2977-2981.

Wu Yiwan;Huang Zhi;Liu Lipan . Differential Braking Control for Lane Departure Avoidance[J]. China Mechanical Engineering, 2013, 24(21): 2977-2981.

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