Multi-mode human–machine cooperative control for lane departure prevention based on steering assistance and differential braking

摘要

Both steering assistance and differential braking have an irreplaceable advantage for man-machine cooperative control of lane departure prevention. To realise the human-machine cooperative control of lane departure prevention with minimal human-machine conflict, a multi-mode human-machine cooperative control algorithm based on steering assistance and differential braking is proposed. Taking the longitudinal velocity and road curvature as input and considering the driver torque, the fuzzy controller used to determine the virtual lane boundary is designed. The control system is divided into the driver control mode, the steering assistance cooperative control mode and the differential braking cooperative control mode by the driver state and the virtual lane boundary width. Next, the model predictive controller is developed to determine the front steering angle in the steering assistance cooperative mode and the additional yaw moment in the differential braking cooperative mode, respectively. Finally, the active disturbance rejection controller is used to determine the assistance torque, and single rear wheel brake control strategy is developed to calculate the wheel braking force. The effectiveness of the proposed multi-mode human-machine cooperative control algorithm is evaluated with numerical simulation and experiments on a human-in-the-loop platform.