主办:陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊:1976年

Automobile Applied Technology ›› 2024, Vol. 49 ›› Issue (6): 61-66.DOI: 10.16638/j.cnki.1671-7988.2024.006.011

• Intelligent Connected Vehicle • Previous Articles    

Research on Lane Keeping Control Method of Sliding Mode Driver Based on Angle Compensation

LI Xiao   

  1. School of Automobile, Chang'an University
  • Published:2024-03-27
  • Contact: LI Xiao

基于转角补偿的滑模驾驶员车道保持 控制方法探究

李 潇   

  1. 长安大学 汽车学院
  • 通讯作者: 李 潇
  • 作者简介:李潇(1999-),男,硕士研究生,研究方向为智能汽车,E-mail:1446815843@qq.com。

Abstract: Aiming at the situation that the intelligent vehicle cannot effectively track the target trajectory due to insufficient steering or excessive steering during the lane keeping process, this paper designs the vehicle lateral preview driver model based on the sliding mode variable structure control, and introduces the front wheel angle compensation control to establish the lane keeping model. The model can correct and optimize the corner in time to ensure that the vehicle maintains stability during the turning process. The simulation results show that the proposed lane keeping control method can realize the lane keeping function under the condition of high speed, and can correct and compensate the front wheel angle in real time under the condition of continuous curve. At high speed, the preview lateral deviation and heading deviation are reduced by 38.4 % and 37.6 % respectively, which has good path tracking performance.

Key words: Lane keeping; Path following; Sliding mode control; Angle compensation

摘要: 针对智能车辆车道保持过程出现的转向不足或者转向过度而无法有效跟踪目标轨迹的 情况,文章在滑模变结构控制基础上设计了汽车横向预瞄驾驶员模型,并引入前轮转角补偿 控制建立车道保持模型,该模型能够及时修正和优化转角,确保车辆在转弯过程中保持稳定 性。仿真结果表明,所提出的车道保持控制方法能够在车速较高的情况下实现车道保持功能, 并能在连续弯道情况下实时修正并补偿前轮转角。高速下预瞄横向偏差和航向偏差分别降低 38.4%和 37.6%,具有良好的路径跟踪性能。

关键词: 车道保持;路径跟随;滑模控制;转角补偿