基于T-S模糊模型H_∞控制的车道保持性能研究  

Study on lane keeping performance based on H_∞ control of T-S fuzzy model

作　　者：黄杨成 赵林峰 HUANG Yangcheng;ZHAO Linfeng(School of Automobile and Traffic Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学汽车与交通工程学院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2018年第9期1244-1251,共8页Journal of Hefei University of Technology：Natural Science

摘　　要：为了有效控制并避免车道偏离造成的交通事故,文章提出一种基于模糊Takagi-Sugeno(T-S)的车道保持协调控制方法;基于远、近视角建立驾驶员模型,利用纵向速度的非线性变化,建立人-车-路闭环模型,设计基于T-S的控制器得到期望的辅助转矩;考虑到外部阻力对汽车转向跟踪的影响,增加前馈补偿控制模块;将电动助力转向(electric power steering,EPS)作为车道保持的执行机构,通过控制电机实现车辆的主动转向纠偏。仿真实验和实车实验结果均验证了该方法可以保证车辆稳定地在车道中心线附近行驶。A lane keeping coordinated control method based on the fuzzy Takagi-Sugeno(T-S)is proposed to effectively control and prevent the lane departure accidents.A driver model is established based on the near and far visual angles.According to the longitudinal velocity variation,a driver-road-vehicle closed-looped model is established.Then T-S controller is designed to determine the desired assist torque.Considering the influence of external resistance when the car is steering,feed-forward compensation control is designed.Electric power steering(EPS)serves as actuator for lane keeping and active steering is realized by motor.Simulation and real vehicle test results verify that the method can maintain the vehicle in the center lane line and ensure driving safety.

关 键 词：远近视角驾驶员模型 人-车-路闭环系统 控制 前馈补偿 主动转向纠偏 

分 类 号：U471.15[机械工程—车辆工程]