基于驾驶员变道意图识别的LDAS GC协调控制策略

GC Coordinated Control Strategy for Lane Departure Avoidance System Based on Driver's Lane Change Intention Recognition

基于Car Sim和Lab VIEW RT硬件在环仿真获得了正常变道转向盘角速度阈值,并基于中心区操纵特性设计了驾驶员变道意图识别模块。提出了车道偏离防止系统(LDAS)的分层控制算法,设计了基于保性能(GC)上层控制器和下层后轮制动控制律,其中,上层GC控制器用于产生保证车辆稳定性的转向角补偿和校正横摆力矩。基于车辆稳定性指标设计了监测器以限制后轮制动器的使用。基于Alt3 from FHWA道路模型仿真验证了GC协调控制器在保证LDAS性能的前提下,减少了制动,从而提高了乘坐舒适性。最后对驾驶员因疲劳或注意力不集中没有意识到前方的弯道而导致的车道偏离进行仿真。结果表明,当跨道时间小于设定的阈值时LDAS启动,验证了GC协调控制策略的有效性。

The threshold value of steering wheel angular speed in normal lane change is obtained based onhardware-in-the-loop simulation with CarSim and LabVIEW RT, and the recognition module for driver’s intention oflane change is designed based on on-center handling characteristics. A hierarchical control algorithm of lane departureavoidance system （LDAS） is proposed, and a guaranteed cost （ GC） -based upper-layer controller and a lowerlayercontrol law for rear wheel braking are designed, in which upper-layer GC controller is used for generating compensativesteering angle and corrective yaw moment. A monitor is designed based on vehicle stability indicators tolimit the use of rear wheel brakes. Based on the road model of Alt3 from FHWA, a simulation is conducted,verifyingthat on the premise of ensuring LDAS performance, GC coordinated controller can reduce the number of brakingapplied and hence improve the ride comfort of vehicle. Finally a simulation on the situation is performed that arisk of lane departure arises from driver’s ignorance of front bend due to his fatigue or distraction. The results showthat when the time to line crossing is less than its threshold value preset, LDAS is actuated and starts to work,verifyingthe effectiveness of the GC coordinated control strategy proposed.