基于人机共享和分层控制的车道偏离辅助系统.pdf

51 22 Vol.51 No.22 2015 11 JOURNAL OF MECHANICAL ENGINEERING Nov. 2 0 1 5 DOI 10.3901/JME.2015.22.098 * ( 230009) -LPV/H∞ veDYNA/Simulink veDYNA/LabVIEW LPV/H∞ U461 Human-machine Sharing and Hierarchical Control Based Lane Departure Assistance System TAN Dongkui CHEN Wuwei WANG Jiaen WANG Hongbo HUANG He (School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009) Abstract According to the human-machine coordination of steering control for lane departure assistance system(LDAS), a human-machine shared decision-making and control method is proposed. Accounting for the driver torque, road curvature and longitudinal speed, the virtual strip width is determined using a fuzzy controller and assistance control is based on whether the wheels are beyond the virtual strip. Then, according to the position relation between vehicle and lane, the dynamic model of vehicle lateral deviation at look-ahead point is established. The LPV/H controller is designed to tracking center-line of the lane and determining the ∞ desired steering angle. A sliding mode observer with unknown inputs is designed to estimating the road reaction torque. A second-order sliding mode controller which take into account driver torque and road reaction torque is used to generate assist torque. The human-machine control auth