Research On Servo Control Of Lane Departure Assistance System Based On Differential Braking

This paper have study lane departure assistance systems based on the keytechnology of hydraulic servo control differential braking.According to the driving lane departure assist decision-making mechanisms andhierarchical control thought， This paper studies of the deviation from the lanedifferential braking assist control methods. Hydraulic brake system was testedanalysis，have got operating characteristics of the braking system，This paper hasproposed the use of the wheel cylinder pressure closed-loop control and the slip ratebalanced servo control method to achieve servo control of yaw moment. The wheelcylinder pressure in a closed loop control method using the ratio of the braking forcedistribution method for setting the braking force distribution. In the slip rate balancedservo control method，proposed the concept of equivalent front wheel slip rate，selectthe brake wheel based on desired yaw rate deviation and yaw moment，according tothe equivalent front wheel and a rear wheel slip ratio slip rate proposed the slip rateequalization strategy and brake force distribution.Used fuzzy controller to designunderlying brake actuator servo controller fot additional yaw moment to vehicle inorder to correct the vehicle back to the lane purposes.Built a real-time simulation test platform based on CarSim/Labview. For benchtest the lane departure assistance method is put forward. The bench test showed aconditions：two control methods proposed to achieve the lane departure assistancecontrol objectives，by comparing the two methods found to deviate from the lanedeparture assistance method based on vertical slip rate can adjust lane system limithas better lateral stability conditions，without additional installation of sensors andactuators，it has good prospects.