商用车车道保持辅助系统设计  

Design of lane keeping assistance system forcommercial vehicles

作　　者：詹坤 隋新[1] 刘春阳[1] 王张飞 ZHAN Kun;SUI Xin;LIU Chunyang;WANG Zhangfei(School of Mechanical and Electrical Engineering,Henan University of Science and Technology,Luoyang 471000,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471000

出　　处：《传感器与微系统》2022年第4期108-111,116,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51805151);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计划资助项目(18A460018,18A460003,20A460009);河南省高等学校青年骨干教师培养计划项目(2019GGJS082);洛阳市科技发展计划资助项目(1901016A)。

摘　　要：针对商用车质量大、轴距长、重心高的特性,难以精确建模和系统存在高迟滞等问题,综合考虑车速、车辆方位角、车道曲率、车道线置信度和驾驶员扭矩等信息,设计商用车车道保持辅助(LKA)系统激活策略;基于单点预瞄模型和比例-微分(PD)控制算法,提出一种仿人驾驶转向模型,输出辅助扭矩驱动电子助力转向器,控制助力电机实现车道保持功能。基于CarSim/Simulink软件平台进行了联合仿真,并在江淮轻卡试验车上进行实际道路测试,验证了控制系统的可行性和稳定性。结果表明:当车辆偏离车道边线时,系统能够及时纠正车辆偏移状态,维持车辆在车道中心线附近稳定行驶。Aiming at the characteristics of commercial vehicles such as large mass,long wheelbase and high center of gravity,it is difficult to accurately model and the system has high hysteresis.Considering the information of vehicle speed,vehicle azimuth,lane curvature,lane line confidence and driver torque,the activation strategy of lane keeping assistance(LKA)system of commercial vehicles is designed.Based on single-point preview model and proportional differential(PD)control algorithm,a kind of anthropomorphic steering model is proposed,output auxiliary torque to drive electronic power steering,control power motor to achieve lane keeping function.Based on the CarSim/Simulink software platform,the joint simulation is carried out,and the actual road test is carried out on the JAC light truck test vehicle,which verified the feasibility and stability of the control system.The results show that when the vehicle deviated from the lane boundary,the system can correct the vehicle deviation in time and maintain the vehicle running stably near the lane center line.

关 键 词：商用车车道保持 单点预瞄 电子助力转向 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] U416.91[自动化与计算机技术—控制科学与工程]