湖南大学学报（自然科学版）2016，Vol.43Issue(2)：1-7,7.
基于纵向滑移率均衡的车道偏离辅助控制研究
Research on Balanced Longitudinal Slip Rate Based Lane Departure Assistance
摘要
Abstract
This paper proposed a new differential braking without close-loop control of braking pres-sure.The expected yaw rate to correct vehicle trajectory was determined with a reference 2-DOF vehicle model and driver model.A slip model algorithm was adopted for the close-loop control of yaw rate to com-pute the additional yaw moment.A braking strategy based on balanced longitudinal slip rate was presen-ted,which improves the lateral stability of vehicle by limiting the max absolute longitudinal slip of wheels. A fuzzy controller was developed for the servo control of braking pressure.Experiments were done on hardware in loop (HIL)simulation platform based on Carsim and Labview RT.The results have shown that the presented method can effectively avoid lane departure accidents and work robustly under various operation conditions,and meanwhile,the lateral stability is maintained.关键词
车道偏离辅助/差动制动/纵向滑移率/滑模Key words
lane departure assistance/differential braking/longitudinal slip rate/slip model分类
交通工程引用本文复制引用
黄智,刘剑,吴乙万..基于纵向滑移率均衡的车道偏离辅助控制研究[J].湖南大学学报（自然科学版）,2016,43(2):1-7,7.基金项目
湖南省自然科学基金资助项目 （）
