基于串级MPC和EPS的集成驾驶员转向车道线保持

针对电动助力转向( EPS)作为转向执行机构的车道线保持的控制系统设计及保留驾驶员对车辆操控问题,提出基于串级模型预测控制( MPC)和EPS集成驾驶员转向的车道线保持系统. 在车道线识别视觉系统空间,建立车道线保持状态空间模型,设计基于MPC的车道线保持控制器( LMPC) . 建立EPS状态空间模型,设计基于MPC的EPS车辆前轮转角控制器( EMPC) . LMPC与EMPC经逆转向机构模型组成串级控制结构. 分析驾驶员转向对车道线保持控制的影响,进而通过保留驾驶员对车辆控制来提高处理紧急事件的能力. 仿真结果表明:在不同车速和不同曲率道路下,该控制策略均能快速消除横向位置偏差和航向角偏差,保证车辆沿着车道线行驶,具有较好的适应性和鲁棒性. 驾驶员转向可以改善车道线保持和提高车辆主动安全性.

Combined Driver' s Steering and EPS Lane Keeping Based on Cascade MPC

To solve the problem of automatic lane keeping for intelligent vehicles and integrating driver steering, a control strategy based on cascade model predictive control ( MPC ) and combining electric power steering ( EPS) and driver' s streering was proposed. In the vision space of lane recognition, the state space model keeping was established, and its controller based on MPC was designed( LMPC) . EPS was selected as actuator for the vehicle front wheel angle. The state space model of EPS was established, and the controller of the front wheel angle was designed based on MPC ( EMPC ) . A MPC cascade structure composed of LMPC and EMPC was built through the inverse model of steering mechanism. By analysing the driver's steering keeping control effect on the lane, the ability of dealing with emergency events was improved through holding control of driver to vehicle. The simulation results show that under different velocity and curvature of the road, the control strategy can quickly eliminate lateral position deviation and yaw angle deviation, and the vehicle can drive along the lane, and it has good adaptability and robustness. The driver's steering can improve the control of the lane keeping and the active safety of the vehicle.