考虑人机协调的基于转向和制动可拓联合的车道偏离辅助控制
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摘要
针对基于电动助力转向和差动制动的两种车道偏离辅助控制方法的局限性,提出可拓联合控制策略。基于可拓控制理论,充分考虑路面环境信息和车辆状态,设计可拓联合控制器,该控制器将电动助力转向和差动制动进行联合控制,以实现车道偏离辅助。为解决车道偏离辅助过程中的人机协调问题,应用模糊神经网络控制理论,设计考虑驾驶员转矩和车辆侧向偏差的人机协调控制器,通过输出辅助权重动态地调整车道偏离辅助系统的辅助转矩,实现驾驶员与辅助系统的协调控制。在CarSim/Simulink联合仿真平台和CarSim/LabVIEW硬件在环试验台架上对所提出的控制策略进行仿真和试验验证,结果表明所提出的控制策略能够有效地避免车辆偏离出车道,同时降低驾驶员和辅助系统之间的相互干扰,减小人机冲突,有较好的人机协调性能。
Aiming at the limitations of lane departure assistance control based on electric power steering system and differential braking system, an extension combination control strategy is proposed. Based on the extension control theory, the road environment information and vehicle state are fully considered in the design of the combination controller, and the controller combines the electric power steering and differential braking to realize the lane departure assistance control. In order to solve the problem of human-machine coordination in the process of departure assistance, the fuzzy neural network control is applied to design the human-machine coordination controller which considers the driver torque and the lateral deviation of the vehicle. It can adjust the assistant torque of the lane departure assistance system(LDAS) dynamically by outputting the weight so as to realize the coordinated control between the driver and the assistance system. These proposed control strategies are simulated and tested on the CarSim/Simulink combination simulation platform and the CarSim/LabVIEW hardware-in-the-loop test bench. The results show that the proposed control strategies can effectively avoid the vehicle deviating from the lane, reduce the mutual interference between the driver and the assistance system at the same time so that reducing the man-machine conflict, and have better human-machine coordination performance.
Aiming at the limitations of lane departure assistance control based on electric power steering system and differential braking system, an extension combination control strategy is proposed. Based on the extension control theory, the road environment information and vehicle state are fully considered in the design of the combination controller, and the controller combines the electric power steering and differential braking to realize the lane departure assistance control. In order to solve the problem of human-machine coordination in the process of departure assistance, the fuzzy neural network control is applied to design the human-machine coordination controller which considers the driver torque and the lateral deviation of the vehicle. It can adjust the assistant torque of the lane departure assistance system(LDAS) dynamically by outputting the weight so as to realize the coordinated control between the driver and the assistance system. These proposed control strategies are simulated and tested on the CarSim/Simulink combination simulation platform and the CarSim/LabVIEW hardware-in-the-loop test bench. The results show that the proposed control strategies can effectively avoid the vehicle deviating from the lane, reduce the mutual interference between the driver and the assistance system at the same time so that reducing the man-machine conflict, and have better human-machine coordination performance.
引文
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[2]SAITO Y,ITOH M,INAGAKI T.Driver assistance system with a dual control scheme:effectiveness of identifying driver drowsiness and preventing lane departure accidents[J].IEEE Transactions on Human-Machine Systems,2016,46(5):660-671.
[3]TAN D K,CHEN W W,WANG H B,et al.Shared control for lane departure prevention based on the safe envelope of steering wheel angle[J].Control Engineering Practice,2017,64:15-26.
[4]ENACHE N M,NETTO M,MAMMAR S,et al.Driver steering assistance for lane departure avoidance[J].Control Engineering Practice,2009,17(6):642-651.
[5]KATZOURAKIS D,ALIREZAEI M,WINTER JCFD,et al.Shared control for road departure prevention[C]//IEEE International Conference on Systems,Man,and Cybernetics(SMC),October 9-12,2011,Anchorage,Alaska,USA,2011:1037-1043.
[6]LEE J,CHOI J,YI K,et al.Lane-keeping assistance control algorithm using differential braking to prevent unintended lane departures[J].Control Engineering Practice,2014,23:1-13.
[7]MAMMAR S,GLASER S,NETTO M.Time to line crossing for lane departure avoidance:a theoretical study and an experimental setting[J].IEEE Transactions on Intelligent Transportation Systems,2006,7(2):226-241.
[8]张海林,罗禹贡,江青云,等.基于电动助力转向的车道保持系统[J].汽车工程,2013,35(6):525-531.ZHANG Hailin,LUO Yugong,JIANG Qingyun,et al.Lane keeping system based on electric power steering system[J].Automotive Engineering,2013,35(6):525-531.
[9]于立娇.基于EPS的车道保持辅助控制算法设计与实验验证[D].长春:吉林大学,2016.YU Lijiao.Algorithm design and experimental verification for lane keeping assisted control based on electric power steering[D].Changchun:Jilin University,2016.
[10]吴乙万,黄智,刘李盼.基于差动制动的车道偏离辅助控制[J].中国机械工程,2013,24(21):2977-2981.Wu Yiwan,Huang Zhi,Liu Lipan.Differential braking control for lane departure avoidance[J].China Mechanical Engineering,2013,24(21):2977-2981.
[11]刘剑.基于差动制动的车道偏离辅助伺服控制研究[D].长沙:湖南大学,2014.LIU Jian.Research on servo control of lane departure assistance system based on differential braking[D].Changsha:Hunan University,2014.
[12]GOODARZI A,GHAJAR M.Integrating lane-keeping system with direct yaw moment control tasks in a novel driver assistance system[J].Proceedings of the Institution of Mechanical Engineers,2014,229(1):16-38.
[13]WU J,CHENG S,LIU B H,et al.AHuman-Machine-Cooperative-Driving Controller Based on AFS and DYC for Vehicle Dynamic Stability[J].Energies,2017,10(11):1-18.
[14]谈东奎,陈无畏,王家恩,等.基于人机共享和分层控制的车道偏离辅助系统[J].机械工程学报,2015,51(22):98-110.TAN Dongkui,CHEN Wuwei,WANG Jiaen,et al.Human-machine sharing and hierarchical control based lane departure assistance system[J].Journal of Mechanical Engineering,2015,51(22):98-110.
[15]MERAH A,HARTANI K,DRAOU A.A new shared control for lane keeping and road departure prevention[J].Vehicle System Dynamics,2015,54(1):86-101.
[16]张海林.基于电动转向的车道保持系统[D].北京:清华大学,2012.ZHANG Hailin.Lane keeping system based on electric steering[D].Beijing:Tsinghua University,2012.
[17]郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社,1991.GUO Konghui.Vehicle handling dynamics[M].Changchun:Jilin Science and Technology Press,1991.
[18]蔡文.可拓论及其应用[J].科学通报,1999,44(7):673-682.CAI Wen.Extension theory and its application[J].Chinese Science Bulletin,1999,44(7):673-682.