商用车电液复合转向系统的车道保持策略

To improve the driving safety of commercial vehicles and avoid lane deviations owing to distracted driving, a lane-keeping assistance strategy for commercial vehicles based on an integrated electric-hydraulic steering system (IEHS) was proposed. Using this model, a two-degree-of-freedom vehicle and preview-driver model, a lane-keeping assistance control strategy based on driver-in-loop MPC and ADRC cascade was designed. First, the MPC algorithm was used to transform the optimal control of vehicle lateral position into a quadratic programming problem and obtain the target front-wheel angle. Then, considering the uncertainty and interference of the IEHS, the ADRC algorithm was used to compensate for the difference between the target steering-wheel angle and the actual steering-wheel angle in the form of a torque signal. Moreover, the intervention of a lane-keeping assistance system was studied, the concept of intervention coefficient was introduced, a fuzzy control method was adopted, the driver's hand force and vehicle motion state were used as input variables, and the intervention coefficient was used as the output variable to reduce the intervention of the lane-keeping auxiliary system on the premise of ensuring vehicle driving safety. Finally, the proposed control strategy was verified using MATLAB/Simulink simulations and hardware-in-the-loop tests. The results demonstrate that it can timely correct line deviations caused by distracted driving, particularly when the driver understeers or oversteers at corners, and can keep the vehicle in its travel lane, ensuring driving safety. Furthermore, the intervention coefficient is useful for positive human-machine interaction.