Lane-keeping Control Systems Based on Human-machine Cooperative Driving

被引：0

作者：

Guo L. ^{[1
]}

Ge P.-S. ^{[2
,3
]}

Xia W.-X. ^{[1
]}

Qin Z.-K. ^{[1
]}

机构：

[1] School of Automotive Engineering, Dalian University of Technology, Dalian, 116024, Liaoning

[2] School of Mechanical and Electronic Engineering, Dalian Minzu University, Dalian, 116600, Liaoning

[3] School of Control Science and Engineering, Dalian University of Technology, Dalian, 116024, Liaoning

来源：

Zhongguo Gonglu Xuebao/China Journal of Highway and Transport | 2019年 / 32卷 / 12期

关键词：

Automotive engineering; Cascaded MPC-PID control; Cooperative driving coefficient; Fuzzy control; Lane-keeping;

D O I：

10.19721/j.cnki.1001-7372.2019.12.005

中图分类号：

学科分类号：

摘要：

Lane-keeping control systems can effectively improve the active safety of a vehicle and avoid unconscious deviation from the lane. At present, most of the lane-keeping control systems regard operation by the driver as an external disturbance when the system is activated. Such systems fail to take into account the allocation of control rights between the system and the driver, which results in human-machine conflict and affects the driving experience. To consider fully the advantages of both the driver and the control assist system, this paper presents a lane-keeping control system based on cooperative human-machine driving. To ensure accuracy and reduce computation complexity, a lane departure decision model was adopted by combining the safe driving area and the latest warning boundary. The decision threshold was adjusted dynamically according to the running state of the vehicle and road adhesion coefficient. The cascaded MPC (model predictive control)-PID (proportional-integral-derivative) control strategy was proposed to control the lateral position of the vehicle. The optimal problem was transformed into quadratic programming to obtain the target front-wheel steering angle, which was tracked by a PID control algorithm. A cooperative driving coefficient was put forward to distribute the control rights of the vehicle. The lateral position and the direction errors were used to define the error state of the vehicle. The error state of the vehicle and the steering torque of the driver were used as the input variables for the fuzzy controller. The cooperative driving coefficient was the output variable of the controller. CarSim and Simulink were used to simulate and verify the proposed lane-keeping control strategy. The results show that the cooperative driving coefficient can be adjusted dynamically according to the operation of the driver and a change in the running state of the vehicle. The assisted torque changes with the same tendency as that of the input torque from the driver. The vehicle can avoid deviating from the lane while preserving the rights of the driver to operate the vehicle and reduce human-machine conflict. © 2019, Editorial Department of China Journal of Highway and Transport. All right reserved.

引用

页码：46 / 57

页数：11

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