Title: Research on lane-keeping control strategy for bus

Authors: Xiaojian Han; Weiqiang Zhao; Hongyu Zheng; Lijiao Yu

Addresses: State Key Laboratory of Automotive Simulation and Control, College of Automotive Engineering, Jilin University, No. 5988, Renmin Street, Changchun, 130022, Jilin, China ' State Key Laboratory of Automotive Simulation and Control, College of Automotive Engineering, Jilin University, No. 5988, Renmin Street, Changchun, 130022, Jilin, China ' State Key Laboratory of Automotive Simulation and Control, College of Automotive Engineering, Jilin University, No. 5988, Renmin Street, Changchun, 130022, Jilin, China ' Department of Vehicle Dynamics, China FAW Group Corporation R&D Centre, No. 1063, Chuangye Street, Changchun, 130011, Jilin, China

Abstract: Owing to the frequent occurrence of commercial vehicle lane departure, a novel lane departure warning (LDW) system based on driver behaviour characteristics and a lane-keeping assist system (LKAS) based on electro-hydraulic steering system for buses are presented in this paper. Considering the differences between driver behaviour characteristics, a newly designed dynamic warning algorithm is proposed to predict the lane departure risk. Then, for the LKAS control, a simulation model of the electro-hydraulic steering system for buses is introduced for the active-steering-assist control and a multi-mode active control algorithm is designed for the lane keeping. To verify the effectiveness of the proposed control strategy, the co-simulation softwares of TruckSim, AMESim and MATLAB/Simulink are employed for the experiment validation. After extended simulation, it is found that the proposed LDW algorithm demonstrates an effective lane departure detection, and when the imminent lane departure is detected, the multi-mode active control algorithm can rapidly make adjustments to avoid the bus departing from the original lane.

Keywords: driver assistance systems; bus; warning system; driver types; dynamic warning line; steering system model; active steering control; piecewise PID controller.

DOI: 10.1504/IJHVS.2019.101469

International Journal of Heavy Vehicle Systems, 2019 Vol.26 No.3/4, pp.291 - 314

Received: 09 Feb 2017
Accepted: 23 Jul 2017
Published online: 11 Aug 2019 *

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