关键词: 车道保持辅助系统；联合仿真；单点预瞄；Stanley 算法；MATLAB/Simulink；TruckSim

Abstract: To address the issues of low tracking precision and poor driving stability of the lane keeping assistance (LKA) system when encountering curved roads, this paper focuses on the handling stability of vehicles equipped with the LKA system. A target steering angle module is established based on the single point preview optimal curvature model and the Stanley algorithm preview model. This module allows for a weighted combination of the steering angles calculated by each look-ahead model through the control steering angle weight model. With the collaborative work of other control modules, it ensures that the target steering angle module can provide accurate and appropriate steering guidance to help keep the vehicle centered in its lane and respond optimally to various driving and road conditions. This paper presents a vehicle simulation platform for the LKA system, built using MATLAB/Simulink and TruckSim. By setting various driving scenarios, the effects of different speeds and road shapes on trajectory tracking performance are studied. The co-simulation validates the effectiveness of the algorithm, demonstrating that the designed LKA fusion control algorithm model exhibits strong robustness, high tracking precision, and stability under curve interference. It keeps good performance and constraint satisfaction in various steering scenarios, ensuring precise and stable vehicle operation.

Key words: Lane keeping assistance system; co-simulation; Single point preview; Stanley algorithm; MATLAB/Simulink; TruckSim