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ID:51416683
大小:1.53 MB
页数:10页
时间:2020-03-23
《基于人机共驾的车道偏离防避控制.pdf》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、汽车工程2017年(第39卷)第7期AutomotiveEngineering2017(Vol.39)No.7doi:10.19562/j.chinasae.qcgc.2017.07.018∗基于人机共驾的车道偏离防避控制1,21,211汪选要,王其东,高振刚,王家恩(1.合肥工业大学汽车与交通工程学院,合肥230009;2.安徽理工大学机械工程学院,淮南232001)[摘要]提出了两层驾驶员转向预测模型,基于驾驶员视觉预瞄信息的第一层体现了路径跟踪特性,基于神经肌肉动力学模型的第二层体现了驾驶员转向操作特征,采用CarSim/Simulink对比了不同状态驾驶员的路径跟踪性能。设计了车道偏
2、离防避系统(LDAS)的期望横摆角速度观测器和转角PID控制器。建立了转向系统等效动力学模型,并基于滑模理论设计了LDAS的鲁棒转矩控制器。由于车辆偏离车道程度与预瞄点的侧向偏移量和驾驶员力矩的关系不能精确描述,故基于模糊控制理论设计了LDAS人机共驾模糊控测器。进行了基于CarSim/Simu-link的仿真和基于CarSim/LabVIEWRT的硬件在环试验,对比了驾驶员、LDAS控制器和人机共驾纠正车辆偏航的能力。结果表明,所提出的人机共驾策略能及时纠正车辆偏航,使之恢复到正常车道,并保证从人机共驾到驾驶员控制切换过程的平顺性。关键词:车道偏离;驾驶员模型;人机共驾;共控系数Man-m
3、achineSharedDrivingBasedLaneDepartureAvoidanceControl1,21,211WangXuanyao,WangQidong,GaoZhengang&WangJiaen1.SchoolofAutomotiveandTrafficEngineering,HefeiUniversityofTechnology,Hefei230009;2.SchoolofMechanicalEngineering,AnhuiUniversityofScienceandTechnology,Huainan232001[Abstract]Atwolayerdriverstee
4、ringpredictionmodelisproposed,inwhichthefirstlayerembodiespathfollowingcharacteristicbasedondrivervisualpreviewedinformation,thesecondlayerreflectsdriver’ssteeringbe-haviorsbasedondriverneuromuscularmodel,andthepathtrackingperformancesofdriverindifferentstatesarecomparedbyusingCarSim/Simulink.Thede
5、siredyawrateobserverandthesteeringwheelanglePIDcontrollerinLDASaredesignedandtheequivalentdynamicsmodelforsteeringsystemisestablished,withrobusttorquecontrol-lerofLDASdesignedbasedonslidingmodetheory.Duetotherelationshipofthedegreeoflanedeparturewiththelateraloffsetofpreviewedpointanddrivertorqueca
6、n’taccuratelybedescribed,thefuzzycontrollerforman-machineshareddrivinginLDASisdesignedbasedonfuzzycontroltheory.AsimulationwithCarSim/Simulinkandahard-ware-in-the-looptestwithCarSim/LabVIEWRTareconductedtocomparetherectificationabilityofvehicleinlanedeparturebydriver,LDAScontrollerandman-machinesha
7、reddrivingrespectively.Theresultsshowthatthepro-posedcontrolstrategyforman-machineshareddrivingcantimelyrectifylanedepartureandmakevehiclebacktonormallane,whileensuringsmoothswitchingfromman-machinesharedco
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