车道居中控制系统的建模与仿真

Modeling and simulation of the lane centering control system

为辅助驾驶员使汽车稳定行驶在车道线中间,提高汽车行驶安全性,采用建模与仿真的方法对车道居中保持系统进行研究。首先采用多模式预警算法判断车辆是否偏离车道,并基于线性二次调节器(LQR)控制算法进行设计横向控制计算,然后运用Carsim软件及MATLAB/Simulink软件进行建模与仿真,结果显示车辆在不同道路上的横向偏差、方向盘转角和质心侧偏角均满足车道居中控制的要求。

To assist drivers in ensuring stable driving in the middle of the lane and to improve driving safety,modeling and simulation methods were used to study the lane center keeping system.This article first uses a multi-mode warning algorithm to determine whether a vehicle has deviated from the lane,and designs lateral control calculations based on the linear quadratic regulator(LQR)algorithm.Finally,Carsim software and MATLAB/Simulink software are used for modeling and simulation.The results show that the lateral deviation,steering wheel angle,and centroid sideslip angle of the vehicle on different roads all meet the requirements of lane centering control.