Journal of Mechanical Science and Technology

, Volume 33, Issue 6, pp 2929–2940 | Cite as

Lane departure avoidance by man-machine cooperative control based on EPS and ESP systems

  • Xuanyao WangEmail author
  • Yi Cheng


The ability to avoid lane departure has become an important feature for development of driving assistance technology, and the design of lane departure avoidance system (LDAS) which can achieve cooperative control with human driver is still a challenge. This paper presented a new lane departure decision algorithm along with main parameters of the electric power steering (EPS) and electronic stability program (ESP) system’s sensor. During normal situations, steering control based on EPS system was involved to avoid lane departure. However, when the vehicle reached the handling limits, both steering and braking control collaborated together to avoid lane departure based on EPS and ESP systems. Due to the time varying vehicle speed and the uncertainty of tire cornering stiffness, a gain scheduling brake controller was designed based on the energy-to-peak performance indicator, and an upper monitor was designed for activation the braking controller to ensure comfortable ride. Because the relationship between the lane departure degree with a lateral offset in the single- point preview and the driver torque could not be accurately described, a man-machine cooperative control fuzzy observer for the LDAS was designed. In order to accomplish smooth switching for driving mode to ensure ride comfort, a switching criterion was proposed. The proposed method was evaluated via numerical simulation by CarSim/Simulink. A hardware-in-the-loop test platform was set up, and the effectiveness of the proposed control strategy was compared via the driver-in-the-loop experiment. The obtained results show that the proposed man-machine cooperative control strategy not only can return the vehicle to the normal lane effectively, but also realize smooth switching from man-machine cooperative control to driver control.


Lane departure Fuzzy observer Man-machine cooperative control Smooth switching EPS and ESP systems 


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This work was supported by National Natural Science Foundation of China (Grant No. 51405004, 61471004), major science and technology projects in Anhui province (Grant No. 17030901060), Key research and development projects in Anhui province (Grant No. 1804a09020016) and Anhui Provincial Natural Science Foundation (Grant No. 1908085 ME159).


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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringAnhui University of Science and TechnologyHuainanChina
  2. 2.Anhui Key Laboratory of Mine Intelligent Equipment and TechnologyAnhui University of Science and TechnologyHuainanChina
  3. 3.State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal MinesAnhui University of Science and TechnologyHuainanChina

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