基于平衡纵滑比差动制动控制的车道偏离辅助

Q4 Engineering

International Journal of Vehicle Safety Pub Date : 2015-07-27 DOI:10.1504/IJVS.2015.070767

Zhi Huang, Yiwan Wu

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引用次数: 3

摘要

研究了基于差速制动的车道偏离辅助系统(LDAS)。研究了由车辆航向误差、车速、路面附着力和人机系统反应时间决定的TLC动态阈值，以激活驾驶辅助。基于二自由度参考车辆模型和驾驶员预览模型，计算了避免车道偏离的理想横摆角速度。为了避免在制动过程中失去横向稳定性，提出了基于平衡纵向滑移率的制动力分配策略，旨在限制各车轮的滑移率。建立了硬件在环(HIL)试验台，对LDAS的快速成型进行了评估。结果表明，该方法得益于及时的辅助、与模型无关的控制算法和小而平衡的滑移率，能够有效地将车辆限制在车道内，保持横向稳定性和鲁棒性。

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Lane departure assistance based on balanced longitudinal slip ratio differential braking control

This paper presents studies on differential braking-based Lane Departure Assistance System (LDAS). The dynamic threshold of Time to Lane Crossing (TLC), determined by vehicle heading error, speed, road adhesion and reaction time of human-machine system, is studied to activate driving assistance. Based on 2-DOF reference vehicle model and driver preview model, the desired yaw rate to avoid lane departure is calculated. To avoid loss of lateral stability during braking, strategies for the distribution of braking force are developed based on balanced longitudinal slip ratio, which aim to limit the slip ratio on all wheels. The Hardware in Loop (HIL) test bench is established to evaluate the rapid prototyping of LDAS. Results show that the proposed methods can confine the vehicle in lane effectively with lateral stability maintained and operate robustly, benefiting from timely assistance, model-independent control algorithm, and small and balanced slip ratio.

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来源期刊

International Journal of Vehicle Safety Engineering-Automotive Engineering

CiteScore

0.30

自引率

0.00%

发文量

期刊介绍： The IJVS aims to provide a refereed and authoritative source of information in the field of vehicle safety design, research, and development. It serves applied scientists, engineers, policy makers and safety advocates with a platform to develop, promote, and coordinate the science, technology and practice of vehicle safety. IJVS also seeks to establish channels of communication between industry and academy, industry and government in the field of vehicle safety. IJVS is published quarterly. It covers the subjects of passive and active safety in road traffic as well as traffic related public health issues, from impact biomechanics to vehicle crashworthiness, and from crash avoidance to intelligent highway systems.