Segmented Coordinated Control Based on Active Steering and Differential Braking for Lane Departure Prevention

摘要

To improve the control performance of the lane departure prevention system, a segmented coordinated control method of active steering and differential braking is proposed. Taking the longitudinal velocity and road curvature as input and considering the driving habits of the driver in different lanes, the fuzzy controller used to determine the virtual lane boundary is designed. The control decision of LDPS is determined by combining the steering behavior index, which characterizes the steering intervention of the driver with the virtual lane boundary width. Next, the segmented control strategy is designed. In the first stage of the assistance control, the intervening time of coordinated control mode based on active steering and differential braking and the additional yaw moment when working in coordinated control mode is determined. A single control mode based on active steering is adopted in the second phase of assistance control. Finally, the effectiveness of the proposed coordinated control method is evaluated with numerical simulation and experiments on a human-in-the-loop platform. The obtained results show that the designed method not only can avoid lane departures effectively, but also provides a smooth ride quality to the passenger.