中国机械工程Issue(21)：2977-2981,5.DOI:10.3969/j.issn.1004-132X.2013.21.026
基于差动制动的车道偏离辅助控制
Differential Braking Control for Lane Departure Avoidance
摘要
Abstract
A large number of lane departure accidents in high way is due to inattention of the driv-ers.Herein,a new method for lane departure avoidance was presented,which is applied additional yaw moment to correct lane departure of the vehicle by means of four wheels differential braking.The de-sired yaw rate was calculated by considering vehicle-lane deviation,vehicle dynamics and limitation of road adhesion.A SMC was designed to control the additional yaw moment.The yaw moment was pro-duced by the distribution of break forces between the same side brakes with fixed ratio,and lane de-parture avoidance was carried out by tracking desired yaw response.The proposed LDAS was evalua-ted via Carsim/Simulink.Simulation results show that the proposed method can restrict the vehicle in-to lane range and avoid lane departure accidents.关键词
车道偏离辅助控制/滑模控制/差动制动/横摆响应Key words
lane departure avoidance system (LDAS)/sliding mode control (SMC)/differential breaking/yaw response分类
交通工程引用本文复制引用
吴乙万,黄智,刘李盼..基于差动制动的车道偏离辅助控制[J].中国机械工程,2013,(21):2977-2981,5.基金项目
教育部长江学者与创新团队发展计划资助项目(531105050037) （531105050037）
湖南省自然科学基金资助项目(13JJ4033) （13JJ4033）
湖南大学汽车车身先进设计制造国家重点实验室自主研究课题(61075002) （61075002）
湖南大学青年教师科技创新扶持项目(531107040144) （531107040144）
