摘要
为集成电动助力转向系统与车道保持系统,提出了一种结合跨道时间与驾驶员操作行为判断的车道保持协调控制方法。在理论分析的基础上搭建了车道保持模型、魔术轮胎模型、7自由度整车模型和EPS模型,并进行仿真和硬件在环实验。结果表明,所设计的车道保持协调控制方法能解决EPS部件与车道保持执行部件之间的协调问题,将车辆维持在两车道线之间,保证车辆的行驶安全性。
For integrating electric power steering system and lane keeping system,a lane keeping coordinated control method combining time to lane cross and driver＇s operating behavior judgment is proposed.On the basis of theoretical analysis,lane keeping system model,Magic Formula tire model,7-DOF vehicle model and EPS model are built.Both simulation and hardware-in-the-loop experiment are conducted.The results show that the lane keeping coordinated control method proposed can solve the coordination issue between conventional EPS component and lane keeping executive component,and keep the vehicle within the lane,ensuring the driving safety of vehicle.
出处
《汽车工程》
EI
CSCD
北大核心
2013年第6期526-531,525,共7页
Automotive Engineering
基金
国家自然科学基金项目(50805081)
国家973计划(2011CB711204)资助
关键词
车道保持
协调控制
仿真
硬件在环实验
电动助力转向
lane keeping
coordinated control
simulation
hardware-in-the-loop experiment
EPS
