In order to ensure the driving safety, the research on the lane departure assistance system becomes hot recently. For the decision-making problem in the lane departure assistance system, the extension decision method is put forward:the time to lane crossing(TLC) and the distance to lane center(DLC) are used as the characteristic variables to establish the two-dimensional extension set, the dynamic boundary is designed to divide extensive domains, and the free driving mode, assistant driving mode and active steering-by-wire mode are adopted separately in the different domains; the correlative function is calculated to determine the control weights of human and vehicle of the assistant driving mode in the extensive domain. For the lateral motion control of the lane departure assistance system, the artificial potential field method is used to design the steering angle controller:the TLC model is established, the potential function is designed with TLC, the obtained potential force is substituted into the vehicle reference model, and PID control is used to track the ideal steering angles. For the lane departure state represented in different domains, the switching is achieved among the free driving mode, assistant driving mode and active steering-by-wire mode. The validity of the proposed method is verified through the Carsim/Simulink joint simulation and hardware-in-loop test.
CHEN Wuwei
,
HU Zhenguo
,
WANG Hongbo
,
WEI Zhenya
,
XIE Youhao
. Study on Extension Decision and Artificial Potential Field Based Lane Departure Assistance System[J]. Journal of Mechanical Engineering, 2018
, 54(16)
: 134
-143
.
DOI: 10.3901/JME.2018.16.134
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