基于Kalman滤波器的车道保持辅助系统研究

摘要

以非线性车辆动力学模型作为系统被控对象，利用Matlab/Simulink软件设计一种基于Kalman滤波算法的车道保持驾驶辅助系统。运用Kalman算法估计车辆行驶状态信息，并利用“预瞄-跟随”驾驶员模型-车辆模型-控制器所组成的驾驶员模型在回路仿真的方式对所设计系统进行验证。结果显示所设计的车道保持辅助系统能有效提高车辆路径跟踪能力。%We take nonlinear vehicle dynamic model as the controlled object of the system,use Matlab/Simulink software to have designed a lane-keeping-assist system for driving which is based on Kalman filter algorithm.The Kalman algorithm is employed to evaluate the driving state information of the vehicle,and the driver model consisting of pre-targeting-following driver model,vehicle model and controller is utilised to verify the designed system in means of driver-in-the-loop simulation.Result demonstrates that the designed lane-keeping-assistance system can effectively improve the vehicle lane-following capability.