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中文摘要：
针对高速公路上因驾驶员注意力不集中容易发生车辆偏离车道事故的问题，提出采用四轮差动制动对车辆施加辅助横摆力矩以避免车辆偏离车道的方法。基于预瞄点处的车一路偏差、车辆状态和道路附着限制计算期望的横摆响应，设计滑模控制器控制辅助横摆力矩。通过在同侧车轮定比例分配制动力产生横摆力矩，使车辆横摆响应跟踪目标值，达到车道偏离辅助控制的目的。在Carsim／Sim—ulink联合仿真平台上对基于差动制动的车道偏离辅助控制方法进行仿真实验，研究结果表明所提出方法将车辆限制在车道范围内，有效避免了车道偏离事故的发生。
英文摘要：
A large number of lane departure accidents in high way is due to inattention of the driv- ers. Herein,a new method for lane departure avoidance was presented,which is applied additional yaw moment to correct lane departure of the vehicle by means of four wheels differential braking. The de- sired yaw rate was calculated by considering vehicle--lane deviation, vehicle dynamics and limitation of road adhesion. A SMC was designed to control the additional yaw moment. The yaw moment was pro- duced by the distribution of break forces between the same side brakes with fixed ratio,and lane de- parture avoidance was carried out by tracking desired yaw response. The proposed LDAS was evalua- ted via Carsim/Simulink. Simulation results show that the proposed method can restrict the vehicle in- to lane range and avoid lane departure accidents.
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