| MECHANICAL ENGINEERING |
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Predictive control for lane control systems using a small deviation model |
| LIU Changchun, DU Dong, PAN Jiluan |
| Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China |
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Abstract Lane control systems automatically keep a vehicle in its lane to improve driving safety. Such systems need to adapt to the driver's characteristics and should reduce unnecessary intervention. A small deviation model of the human-vehicle system is formulated for on-line prediction of the future vehicle trajectory with an assistance control strategy based on model predictive control (MPC). A corrective steering angle is computed by solving a quadratic programming problem. The nominal trajectory is predicted using the current vehicle information. Then, a deviation model is obtained by successively linearizing the human-vehicle system around the nominal prediction trajectory. A cost function and I/O constraints are designed according to a performance index. Simulations and real world tests show that this approach is able to avoid unintended lane departures while adapting to the driver's driving patterns and avoiding unnecessary intervention.
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| Keywords
lane keeping
model predictive control
small deviation model
driver assistance system
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Issue Date: 15 October 2015
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2015,
Vol. 55
