Lane Departure Assistance Coordinated Control System for In-Wheel Motor Drive Vehicles Based on Dynamic Extension Boundary Decision

作     者：WANG Hongbo CUI Wei YE Bin WANG Hongbo;CUI Wei;YE Bin

作者机构：School of Automotive and Transportation EngineeringHefei University of TechnologyHefei 230009China Anhui Intelligent Vehicle Engineering LaboratoryHefei 230009China 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2020年第33卷第4期

页      面：1040-1063页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 08[工学] 080204[工学-车辆工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China under Grant Nos.U1564201 the Science Fund of Anhui Intelligent Vehicle Engineering Laboratory under Grant No.PA2018AFGS0026 

主　　题：execution Extension heading 

摘      要：Aiming at the advantages in active safety control of in-wheel motor drive vehicles, the classified decision-control-execution is proposed to the lane departure assistance system under the premise of ensuring the stability of the vehicle. The dynamic extension boundaries which vary with vehicle speed, road curvature and road adhesion coefficient are designed in the decision layer by using the neural network algorithm, which divides different dangerous degrees into different decision regions.The active differential steering controller, the electronic differential controller and their coordinated control strategy are designed in the control layer, and the corresponding control is carried out among different decision regions. In order to avoid the dangerous situation of secondary deviation caused by the existence of drift angle when the vehicle is rectified to the lane centerline, the heading angle controller is then designed in the control layer. The different torque distribution modes are divided according to the current vehicle speed, road adhesion coefficient and lateral acceleration in the execution layer, and the economic distribution, stability distribution, joint distribution are correspondingly executed among different torque distribution modes. Finally, Carsim and Matlab/Simulink are used for simulation verification.