Research On Lane Departure Warning System And Lane Keeping System Based On Co-simulation Method

The main cause of road traffic accidents is related to the driver,and a large proportion of lane departure accidents caused by driver’s distraction.Therefore,studying the lane departure warning algorithm and lane keeping control algorithm has important practical value.The lane departure warning system detects the road marking line through on-board sensors and monitors the current position of the vehicle on the road in real time.When the vehicle deviates from the lane center line and exceeds the alarm threshold,the system will send out warning signals such as lighting,sound and vibration to the driver.For the problem that the false alarm rate of the lane departure warning system for a single alarm threshold is high,this paper proposes an LDWS algorithm based on fuzzy inference.According to different types of driver’s personal driving habits,the time to lane cross(TLC)and the distance from the front wheel to the Lane boundary line,different alarm thresholds are obtained,and the false alarm rate has effectively reduced,and the adaptability of the lane departure warning algorithm is improved.In addition,due to the lack of adaptability of the single lane keeping control algorithm to the vehicle speed,this paper proposes a lane-keeping control law based on speed switching to ensure the optimal control effect in different vehicle speed ranges.In the low speed range,the lane keeping controller of the improved driver model is selected,and the lane keeping controller of the artificial potential field is selected in the high speed range.Simulation results show that the accuracy of the proposed algorithm is higher than the single control method.Finally,using the software of CarSim and MATLAB / Simulink to build a joint simulation model,the simulation results under the straight path indicate that when the vehicle deviates from the center line of the lane,the lane departure warning system can alarm according to the preset threshold of danger level,if the driver does not move and the risk level exceeds two levels,that is,the alarm signal for image and soft sound,the lane keeping system will take over the steering wheel.During the whole process of simulation,the departure warning and lane keeping switch work correctly,and the path tracking accuracy is high.The simulation results under the curve path show that the system has good adaptability to the road curvature,and the system’s design function is initially achieved.