Control Strategy Development Of Lane Keeping Assistant Driving System For Semi-Trailer

Commercial semi-trailers are suitable for long-distance transportation with a large volume of goods and large volumes.It has become an important part of road traffic.In long-distance transportation,drivers are prone to driving fatigue due to a single working condition.This is an important cause of traffic accidents.Therefore,the research of commercial vehicle ADAS has important signifi CANce.ADAS CAN perceive changes in the external environment,analyze and decide to send out warning signals to the driver and even actively control the vehicle,which plays an important role in improving the safety of traffic.This article uses an electro-hydraulic coupled steering system to study the LDWS and LKA strategies applicable to commercial semi-trailers with trailers,and uses a laboratory commercial vehicle driving simulator platform for hardware-in-the-loop verification.The main contents of the article are as follows(1)Analyzed whether the driver actively deviated from the lane,turning the steering wheel,stepping on the accelerator pedal,and stepping on the brake pedal based on the driver’s relevant operations on the vehicle.Some driving conditions of the driver were used to identify the driver’s intention recognition model.The deviation of commercial vehicles with trailers on expressways,straight road driving and curved road driving,and the characteristics of each early warning algorithm are studied.Taking the lateral speed of the tractor as the demarcation point,an algorithm combining TLC and FOD is established.(2)After sending a warning signal to the driver,the driver did not respond to the warning signal.In order to ensure that the vehicle CAN drive in the middle of the lane,the article established a simplified 4-axis 4-DOF vehicle model based on the optimal preview driver model and established a driving model suitable for commercial semi-trailers with trailers.Member model.In order to calculate the reference vehicle trajectory,a more accurate eight-axis four-degree-of-freedom model was built.After research,the relationship between the center of the preceding vehicletrailer-semi-trailer and the center of the road surface was obtained to obtain the reference articulation angle of each unit and the reference of each unit The difference between these ideal values and the actual actual value in the vehicle model in the Truck Sim software is used as the input of the established LQR control algorithm to calculate the optimal active corner assigned to the trailer and transport it to the entire In the vehicle model,the closed-loop control of the entire control algorithm is thus completed.(3)This paper uses the commercial vehicle driving simulator in the laboratory to build a hardwarein-the-loop simulation environment.The driving simulator connects the steering system to the Truck Sim vehicle model,replaces the original steering system,uses Simulink software to build the LDWS algorithm and LKA control algorithm,uses Lab View software to build the path for collecting and sending signals,and uses NI The chassis is used to run the Truck Sim vehicle model.After the control strategy is compiled,it is sent to the d Space software to run,and the LDWS and LKAS algorithms of the commercial semi-trailer with the trailer are completed in the form of controlling the steering wheel angle of the vehicle.And perform hardware-in-the-loop verification in straight road conditions and curved road conditions...