Lane departure avoidance by man-machine cooperative control based on EPS and ESP systems
- 11 Downloads
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.
KeywordsLane departure Fuzzy observer Man-machine cooperative control Smooth switching EPS and ESP systems
Unable to display preview. Download preview PDF.
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).
- Y. Zhou, R. Xu, X. F. Hu and Q. T. Ye, A lane departure warning system based on virtual lane boundary, Journal of Information Science & Engineering, 24 (1) (2008) 293–305.Google Scholar
- T. Hong, J. Kwon, K. Park, K. Lee, T. Hwang and T. Chung, Development of a driver’s intention determining algorithm for a steering system based collision avoidance system, SAE Technical Paper, No. 2013-01-0054.Google Scholar
- H. L. Zhang, Y. G. Luo, Q. Y. Jiang and K. Q. Li, Lane keeping system based on electric power steering system, Automotive Engineering, 35 (6) (2013) 526–531.Google Scholar
- J. Lee and K. Yi, Development of a coordinated strategy of steering torque overlay and differential braking for unintended lane departure avoidance, SAE Technical Paper, No. 2012-01-0281.Google Scholar
- M. Mulder, D. A. Abbink and E. R. Boer, The effect of haptic guidance on curve negotiation behavior of young, experienced drivers, IEEE International Conference on Systems, Man and Cybernetics (SMC), Singapore (2008) 804–809.Google Scholar
- C. Sentouh, S. Debernard, J. C. Popieul and F. Vanderhaegen, Toward a shared lateral control between driver and steering assist controller, IFAC Proceedings Volumes, France (2010) 404–409.Google Scholar
- X. Wang, Q. Wang, Z. Gao and J. Wang, GC coordinated control strategy for lane departure avoidance system based on driver’s lane change intention recognition, Automotive Engineering, 38 (7) (2016) 848–856.Google Scholar