基于EPS的车道保持辅助系统设计

Design of Lane Keeping Assistance System Based on EPS

针对车道保持辅助系统与电动助力转向功能的集成问题,设计了一种车道保持辅助系统架构。车道保持辅助力矩与电动助力转向力矩相叠加,经EPS电机输出;电动助力转向功能始终开启,保证驾驶员可以随时介入转向。综合考虑车道线检测置信度、跨道时间以及驾驶员操作状态等信息,设计了车道保持辅助系统的介入和退出策略。利用驾驶模拟器对该策略进行了测试,并通过道路试验验证了该系统的安全性和舒适性。

To improve the integration of LKA and EPS,a lane keeping assistance system architecture was designed.The lane keeping assistance torque and electric power steering torque were superposed,and the superposition torque was output of EPS motor.The power steering function is switched off,to make sure the driver can steer safely at any time.Furthermore,the confidence coefficient of lane measurement,time to lane crossing and drivers’operation were taken into consideration to design the intervention or exit strategy of LKA system.Driving simulator experiments and road experiments were conducted to verify the safety and comfort of the system.