Lane Keeping Control System Based On Electronic Hydraulic Steering System

Lane keeping control is a representative technology of active safety,which is a good solution to deal with the hidden dangers of lane departure accidents caused by improper driving or driver fatigue during highway driving.With the in-depth study of automobile intelligence and electrification,the application of lane keeping technology in commercial vehicles has become a key technology for automobile intelligence.When the vehicle actively deviates and returns to normal under highway conditions,Compared with the electric power steering system and the steer-by-wire system,the lane keeping system of the electronically controlled hydraulic power steering system is more practical and economical on commercial vehicles.The lane keeping system adopts a hierarchical control structure for logical design.According to the research content,it is divided into an environment awareness layer,a control logic layer and a hardware execution layer.The communication connection between the various modules is realized by sending and receiving information through the CAN network and by message analysis.The mobileye monocular camera is used as the visual sensor to collect road information,and the cubic spline curve is fitted to obtain the lane line trajectory.Recognize the steering wheel torque signal,accelerator pedal and brake pedal signals,turn signal signals and other comprehensive judgments through the body sensor to recognize the driver’s operating state.The algorithm layer is divided into lane departure warning algorithm and multi-point preview path tracking algorithm.Adopt the joint early warning algorithm of TLC and CCP and combine the driver’s operation intention to judge whether the driver needs to be warned.Select multiple camera preview point parameters to follow the speed change to complete adaptive path tracking.The electronically controlled hydraulic power steering system receives the control command to complete the switching between the power assist mode and the active return mode.In order to verify the designed lane keeping control strategy,a joint simulation platform was built and different experimental conditions were designed for simulation.On the basis of simulation,the system RCP model is built based on the Control Base rapid prototyping tool,and the embedded C code is compiled and compiled to complete the flashing of the rapid prototyping controller program,and the actual vehicle road test is carried out based on the modified commercial vehicle electric control hydraulic power steering platform.Through the simulation environment and real vehicle test platform verification,the results show that the designed control algorithm can well coordinate the active control of the electronically controlled hydraulic steering system at the speed of 70km/h and the width of the road at 3.5m.The relationship with the basic power,at the same time,it can ensure that the vehicle deviates and returns in time and completes a good path following effect.