Research On Lane Departure Assistance System Based On Electric Power Steering System

Lane Departure Assistance System as an important part of vehicle active safety system,has attracted more and more attention.It use various sensors installed in the vehicle,to perceive the surrounding environment and body state information,and combines the navigation map data,then real-time analyzes the impending danger,which is a good way to improve the safety and comfort of vehicle.With the development of vehicle technology and the increase of the number of vehicles,the vehicle has become the necessary traffic tool in the human life.And every year traffic accident rate is staying at a high level due to driver's unconscious behavior,so the study for Lane Departure Assistance System is very necessary and meaningful.In this paper,Lane Departure Assistance System based on EPS is designed,and the theory of lane departure warning and lane keeping control strategy is studied.Then lane departure assist control simulation and real vehicle test platform design are achieved.Firstly,this paper introduces the working principle of the Lane Departure Assistance System.On this basis,a driver model with near and far visual angels is established in order to reflect the characteristics of the driver.Then simulation model of steering system is built.TLC method is uesd when analyzing lane departure warning algorithm,and the calculation method of the time on straight road and curve road are discuss separately.Secondly,considering the nonlinear change of the speed when vehicles running on the road,this paper proposes a control method based on T-S fuzzy model.Vehicle speed is set as fuzzy variable,driver-vehicle-road closed loop model is established based on T-S fuzzy model.In order to minimize the external impact on the system for improving the performance of the system,the global feedback controller is designed.Considering the influence of the external resistance when vehicle steering,feedforward compensation fuzzy controller was designed to make up for insufficient steering caused by external resistance.The simulation experiment results validate the effectiveness of the algorithm proposed in this paper.Finally,complete the lane departure assistance real vehicle experiment platform combined with the existing experimental conditions and real vehicle tests are carried on.Results show that the designed control method can ensure the system warning when the vehicle deviating from its normal path,and can offer vehicle back to the rightdirection without driver operation.