Modeling and simulation of the lane centering control system
To assist drivers in ensuring stable driving in the middle of the lane and to improve driving safety,modeling and simulation methods were used to study the lane center keeping system.This article first uses a multi-mode warning algorithm to determine whether a vehicle has deviated from the lane,and designs lateral control calculations based on the linear quadratic regulator(LQR)algorithm.Finally,Carsim software and MATLAB/Simulink software are used for modeling and simulation.The results show that the lateral deviation,steering wheel angle,and centroid sideslip angle of the vehicle on different roads all meet the requirements of lane centering control.
lane centering controlmulti-mode warninglateral controlCarsimmodeling and simulation
万方数据
维普
