基于改进预瞄控制模型的车道保持系统设计OA北大核心CSTPCD

To address the issues of low robustness,consistency in vehicle manufacturing,and se-vere 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 hard-ware-in-the-loop simulation test platform was built to verify the effectiveness and accuracy of the de-sign 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 re-quirements 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-con-trolled LKA system in the same usage scenarios.