Design of Lane Keeping Assist Systems Based on Improved Preview Control Model

doi:10.3969/j.issn.1004-132X.2024.03.017

Abstract

Abstract: To address the issues of low robustness, consistency in vehicle manufacturing, and severe road surface interference in LKA system of torque control, a LKA system was designed based on angle control by using neural network technology, Autofix algorithm, and preview feedback control theory, through expected trajectory decision-making and following PID control algorithm. A hardware-in-the-loop simulation test platform was built to verify the effectiveness and accuracy of the design of the angle based lane protection systems through virtual simulation based on Carsim/Veristand/ MATLAB. Based on GB/T 39323—2020, CN-CAP—2021, Euro-NCAP—2022 and the testing requirements of the car retention systems based on real-road commissioning and user concern scenarios, the simulation and comparison with real-road scenarios show that the angle-controlled LKA system has better lane keeping capability, stability, adaptability and robustness than that of the torque-controlled LKA system in the same usage scenarios.

Key words: , lane keeping assist(LKA) system, angle control, preview control, Autofix algorithm, proportional-integral-derivative(PID) control

摘要： 为解决扭矩控制的车道保持（LKA）系统鲁棒性不高、受车辆制造一致性以及路面激烈干扰影响大的问题，采用神经网络技术、Autofix算法及预瞄反馈控制理论，利用预期轨迹决策和跟随PID控制算法设计了一套基于角度控制的车道保持系统。基于Carsim/Veristand/MATLAB搭建了硬件在环仿真试验平台，通过虚拟仿真验证了该车道保持系统设计的有效性与准确性。基于GB/T 39323—2020、CN-CAP—2021、Euro-NCAP—2022并结合实车调试及用户关注场景对车道保持系统的测试要求，通过仿真及实际场景对比验证得出以下结论：相对于扭矩控制的LKA系统，在相同使用场景下，使用角度控制的车道保持系统具有较好的车道保持能力、稳定性、适应性和鲁棒性。

关键词: 车道保持系统, 角度控制, 预瞄控制, Autofix算法, 比例积分微分控制

CLC Number:

U467.1

LIANG Yongbin, FU Guang, LIN Zhigui, HE Zhicheng, ZHANG Jialuo, CHEN Tao. Design of Lane Keeping Assist Systems Based on Improved Preview Control Model[J]. China Mechanical Engineering, 2024, 35(03): 548-558.

梁永彬, 付广, 林智桂, 何智成, 张家洛, 陈涛. 基于改进预瞄控制模型的车道保持系统设计[J]. 中国机械工程, 2024, 35(03): 548-558.

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