人机协同控制的车道保持辅助系统安全性能研究  

Research on Safety Performance of Lane Keeping Assist Systems Based on Human-machine Cooperative Control

作　　者：隋新[1,3] 刘春阳[1,2] 詹坤 王张飞 张毅晖 SUI Xin;LIU Chunyang;ZHAN Kun;WANG Zhangfei;ZHANG Yihui(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,471003;Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang,Henan,471003;Henan Key Laboratory for Machinery Design and Transmission System, Luoyang,Henan,471003)

机构地区：[1]河南科技大学机电工程学院,洛阳471003 [2]机械装备先进制造河南省协同创新中心,洛阳471003 [3]河南省机械设计及传动系统重点实验室,洛阳471003

出　　处：《中国机械工程》2021年第16期1994-2001,共8页China Mechanical Engineering

基　　金：国家自然科学基金(62005077);河南省科技攻关计划(工业领域)项目(192102210141);河南省高等学校重点科研项目计划(18A460018,18A460003,20A460009);河南省高等学校青年骨干教师培养计划(2019GGJS082)。

摘　　要：针对大部分车道保持辅助系统未考虑驾驶员行为和环境因素干扰,驾驶员模式和助力纠偏模式过渡困难,极易造成人机冲突等问题,提出了一种基于人机协同控制的车道保持辅助系统。该系统建立二自由度车辆动力学模型,通过最优线性二次型调节横向控制算法得到最优前轮转角;提出车辆偏离安全评估模型、扭矩控制和安全退出策略,实现了人机友好交互、协同共驾。基于CarSim/Simulink仿真平台对横向控制算法进行联合仿真,验证了控制算法的可行性,并在江淮轻卡试验车上进行了系统安全性能测试。仿真和试验结果表明该系统能够实现车道保持功能,获得较好的安全性。The overlook of interference of drivers'behavior and environmental factors might cause human-computer conflicts during the transition from drive mode to assistance mode.A human-machine cooperative based lane keeping assist(LKA)control system was proposed to aid the issue,where a two degrees-of-freedom vehicle dynamics model was established and linear quadratic regulation lateral control algorithm was employed to determine vehicle's optimal front wheel angle.Vehicle deviation safety assessment model,torque control and safety exit strategy were implemented in the proposed LKA system to realize human-computer interaction and co-driving.A collaborative simulation was fulfilled in CarSim and Simulink to validate the feasibility of LKA.As the feasibility was demonstrated,the LKA control system was further implemented on the JAC light truck to test the system safety performances.Both of the simulation and experimental results shows that better lane keeping and security performances are achieved with the proposed LKA system.

关 键 词：车道保持 人机协同控制 线性二次型调节 扭矩控制 安全退出策略 

分 类 号：U461[机械工程—车辆工程] TH39[交通运输工程—载运工具运用工程]