Predictive control for lane control systems using a small deviation model

被引：0
作者：
Liu, Changchun [1 ]
Du, Dong [1 ]
Pan, Jiluan [1 ]
机构：
[1] Department of Mechanical Engineering, Tsinghua University, Beijing
来源：
Qinghua Daxue Xuebao/Journal of Tsinghua University | 2015年 / 55卷 / 10期
关键词：
Driver assistance system; Lane keeping; Model predictive control; Small deviation model;
D O I：
10.16511/j.cnki.qhdxxb.2015.22.011
中图分类号：
学科分类号：
摘要：
Lane control systems automatically keep a vehicle in its lane to improve driving safety. Such systems need to adapt to the driver's characteristics and should reduce unnecessary intervention. A small deviation model of the human-vehicle system is formulated for on-line prediction of the future vehicle trajectory with an assistance control strategy based on model predictive control (MPC). A corrective steering angle is computed by solving a quadratic programming problem. The nominal trajectory is predicted using the current vehicle information. Then, a deviation model is obtained by successively linearizing the human-vehicle system around the nominal prediction trajectory. A cost function and I/O constraints are designed according to a performance index. Simulations and real world tests show that this approach is able to avoid unintended lane departures while adapting to the driver's driving patterns and avoiding unnecessary intervention. © 2015, Press of Tsinghua University. All right reserved.
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页码：1087 / 1092
页数：5
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