Title: Lane departure assistance based on balanced longitudinal slip ratio differential braking control
Authors: Zhi Huang; Yiwan Wu
Addresses: State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China
Abstract: This paper presents studies on differential braking-based Lane Departure Assistance System (LDAS). The dynamic threshold of Time to Lane Crossing (TLC), determined by vehicle heading error, speed, road adhesion and reaction time of human-machine system, is studied to activate driving assistance. Based on 2-DOF reference vehicle model and driver preview model, the desired yaw rate to avoid lane departure is calculated. To avoid loss of lateral stability during braking, strategies for the distribution of braking force are developed based on balanced longitudinal slip ratio, which aim to limit the slip ratio on all wheels. The Hardware in Loop (HIL) test bench is established to evaluate the rapid prototyping of LDAS. Results show that the proposed methods can confine the vehicle in lane effectively with lateral stability maintained and operate robustly, benefiting from timely assistance, model-independent control algorithm, and small and balanced slip ratio.
Keywords: dynamic TLC; time to lane crossing; longitudinal slip ratio; differential braking control; lane departure assistance; vehicle heading error; vehicle speed; road adhesion; reaction time; human-machine systems; reference vehicle models; driver preview model; yaw rate; lateral stability; braking force; hardware in loop; HIL simulation; rapid prototyping; modelling.
International Journal of Vehicle Safety, 2015 Vol.8 No.3, pp.205 - 217
Received: 13 Oct 2014
Accepted: 20 Jan 2015
Published online: 24 Jul 2015 *