基于纵向滑移率均衡的车道偏离辅助控制研究

提出了一种无压力闭环的差动制动实现车道偏离辅助的控制方法.根据车辆和驾驶员参考模型确定纠正车道偏离所需的目标横摆角速度.采用滑模算法设计横摆角速度跟踪控制器,确定附加横摆力矩.基于纵向滑移率均衡设计车轮制动压力调节策略,限制车轮最大滑移率,以提高车辆横向稳定性.设计模糊控制器对压力建立过程进行伺服控制.在Carsim/Labview-RT联合仿真平台上对提出的方法进行硬件在环仿真试验,试验结果表明,所提出方法能有效避免车辆偏离车道,鲁棒性强,且车辆横向稳定性好.

Research on Balanced Longitudinal Slip Rate Based Lane Departure Assistance

This paper proposed a new differential braking without close-loop control of braking pressure.The expected yaw rate to correct vehicle trajectory was determined with a reference 2-DOF vehicle model and driver model.A slip model algorithm was adopted for the close-loop control of yaw rate to compute the additional yaw moment.A braking strategy based on balanced longitudinal slip rate was presented, which improves the lateral stability of vehicle by limiting the max absolute longitudinal slip of wheels.A fuzzy controller was developed for the servo control of braking pressure.Experiments were done on hardware in loop (HIL) simulation platform based on Carsim and Labview RT.The results have shown that the presented method can effectively avoid lane departure accidents and work robustly under various operation conditions, and meanwhile, the lateral stability is maintained.