Research On Driver-Vehicle-Road Closed Loop Lane-Keeping Assistance System Based On EPS System

Recently,the traffic safety problem is getting more and more severe.Lane-Keeping Assistance System(LKAS)is an important part of driving safety.It has a great effect on decreasing the lane departure accidents caused by unintended driving operations or tired driving.Former studies on the model simulation tend to consider the vehicle as an isolated individual moving on the road,ignoring the driver’s operating properties.Intend to solve this situation,this essay starts with the LKAS,researches the related performances and key technologies about the LKAS considering the driver-vehicle-road closed loop properties.The essay firstly presented a driver operation model and divided it into preview part and maneuver part based on real driving scenarios.The course of driver’s steering operation was analyzed by using related physiology knowledge.A Hardware-In-the-Loop(HIL)simulation platform was set up based on the former work done by the research group.Experiments were conducted by selected experimental drivers to validate the driver model.A joint decision-making algorithm was made to judge the possibilities of lane departure and identify the working area of the assistance steering operation.A changeable assistance torque control method based on Electric Power Steering(EPS)system was presented.This control method can apply a changeable assistance torque provided by EPS system based on the work mode judgment made by identifying the driver’s operation trend.A joint simulation model on the presented closed-loop LKAS with Carsim and Matlab/Simulink was made and simulations on typical working scenarios were conducted.The essay conducted 3 driving experiments on the HIL simulation platform.The results indicate that the presented driver operation model can represent the real driver operation properties properly.The results on the LKAS simulation show that the proposed system can enlarge the assistance torque and furthermore improve the steering quickness while lower assistance torque would be provided to alert the driver if steering operation was ineffective taken into consideration of the real driver operation properties.