In order to obtain the advantages of both manual control and assistance control for lane tracking, the vehicle lateral safety grade is evaluated based on driving action and position relationship of the vehicle and the lane. And control right is decided among the driver and the driver assistance system, so the man-machine coordinative control can be carried out. For the lane image recognition, segmental lane detection and candidate lane estimation is adopted. According to different vehicle lateral safety grading, different control strategies are applied. The assistance control index is calculated based on fuzzy control rules, and then the assistance control is performed when the man-machine coordinative control is needed. Under different road conditions, the road experiments are carried out by means of manual driving and man-machine cooperative driving with different vehicle speed. The results show that the lanes can be recognized efficiently, and the vehicle under man-machine coordinative control can track the lanes more accurately and reliably.
LI Jin
,
LIU Yangyang
,
HU Jinfang
. Lane Tracking of Driver Assistance System with Man-machine-coordination[J]. Journal of Mechanical Engineering, 2018
, 54(2)
: 169
-175
.
DOI: 10.3901/JME.2018.02.169
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