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

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Abstract

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.

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Acknowledgments

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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Authors and Affiliations

  1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, China

    Xuanyao Wang & Yi Cheng

  2. Anhui Key Laboratory of Mine Intelligent Equipment and Technology, Anhui University of Science and Technology, Huainan, China

    Xuanyao Wang

  3. State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines, Anhui University of Science and Technology, Huainan, China

    Xuanyao Wang

Authors
  1. Xuanyao Wang
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  2. Yi Cheng
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Correspondence to Xuanyao Wang.

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Recommended by Associate Editor Sangyoon Lee

Xuanyao Wang received the B.Eng. and M.Eng. in mechanical engineering from Anhui University of Science and Technology, Anhui, China, in 2003 and 2006, respectively and the Ph.D. in automotive engineering from Hefei University of Technology, Anhui, China, in 2017. He is currently an Associate Professor with the School of Mechanical Engineering, Anhui University of Science and Technology, Anhui, China. His research interests mainly focus on vehicle system dynamics and control, automotive active safety technology and advanced driving assistance technology. He has authored about 20 publications in journals and conference proceedings.

Yi Cheng received the M.Eng. in mechanical engineering from Anhui University of Science and Technology, Anhui, China, in 2017. He is currently a master degree candidate at the School of Mechanical Engineering, Anhui University of Science and Technology, Anhui, China. His research interests mainly focus on automotive active safety technology and advanced driving assistance technology.

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Wang, X., Cheng, Y. Lane departure avoidance by man-machine cooperative control based on EPS and ESP systems. J Mech Sci Technol 33, 2929–2940 (2019). https://doi.org/10.1007/s12206-019-0540-6

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  • DOI: https://doi.org/10.1007/s12206-019-0540-6

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