汽车工程

汽车工程 ›› 2019, Vol. 41 ›› Issue (8): 934-943.doi: 10.19562/j.chinasae.qcgc.2019.08.012

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基于主动转向与差动制动协调的双级预警车道偏离防止预测控制*

魏振亚1, 王其东1,2, 王慧然1, 陈无畏1, 梁修天1   

  1. 1.合肥工业大学汽车与交通工程学院,合肥 230009;
    2.合肥学院机械工程系,合肥 230071
  • 收稿日期:2018-08-31 出版日期:2019-08-25 发布日期:2019-09-03
  • 通讯作者: 魏振亚,博士,E-mail:18655186161@163.com
  • 基金资助:
    国家自然科学基金(51675151)、国家自然科学基金联合基金(重点)项目(U1564201)、安徽省科技重大专项(17030901060)和江苏省道路载运工具新技术应用重点实验室开放课题(BM20082061703)

Predictive Control for Lane Departure Prevention with Two-stage WarningBased on Coordination of Active Steering and Differential Braking

Wei Zhenya1, Wang Qidong1,2, Wang Huiran1, Chen Wuwei1, Liang Xiutian1   

  1. 1.School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009;
    2.Mechanical Engineering, Hefei University, Hefei 230071
  • Received:2018-08-31 Online:2019-08-25 Published:2019-09-03

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摘要： 在设计车道偏离防止系统时,为充分利用差动制动控制和主动转向控制,同时兼顾车辆行驶的安全性与驾驶员驾驶自由,提出了一种双级预警的利用主动转向与差动制动协调控制的车道偏离防止策略。当车辆危险程度较低时仅采用差动制动控制,保证驾驶员对转向盘的控制;当车辆危险程度较高时,采用预测控制实现主动转向与差动制动系统的协调控制,使车辆能快速地回到车道中心线。选取跨道时间来设计车辆偏离预警算法,并根据车辆转向系统的响应分别设定预警阈值。为保证车辆的稳定性,采用模型预测控制算法添加合理的约束,设计差动制动控制和主动转向与差动制动协调控制器。仿真与硬件在环试验结果表明,所设计的基于主动转向与差动制动协调的车道偏离防止控制策略在保证车辆行驶安全性的前提下给予了驾驶员充分的驾驶自由。

关键词: 主动转向, 差动制动, 跨道时间, 双级预警, 模型预测控制

Abstract: In order to make full use of differential braking control and active steering control with concurrent consideration of vehicle driving safety and the driving freedom of driver in designing lane departure prevention system, a lane departure prevention strategy with two-stage warning is proposed, utilizing coordinated control of active steering and differential braking. When the vehicle is in low risk, only differential braking control is used to ensure driver's control on steering wheel, and when the vehicle is in high risk, predictive control is adopted to achieve the coordination control of active steering and differential braking systems, so that the vehicle can quickly return back to the center-line of the lane. The time to lane crossing is selected to design the lane departure warning algorithm, with two warning thresholds set according to the response of the steering system of the vehicle respectively for low and high risk. To ensure vehicle stability, model predictive control with appropriate constraints is used to design the differential braking controller and coordinated controller of active steering and differential braking. The results of simulation and hardware-in-the-loop test show that the lane departure prevention control strategy designed based on the coordination of active steering and differential braking gives the driver full driving freedom while ensuring the premise of vehicle driving safety

Key words: active steering, differential braking, time to lane crossing, two-stage warning, model predictive control