Combined Driver's Steering and EPS Lane Keeping Based on Cascade MPC

To solve the problem of automatic lane keeping for intelligent vehicles and integrating driver steering,a control strategy based on cascade model predictive control( MPC) and combining electric power steering( EPS) and driver's streering was proposed. In the vision space of lane recognition,the state space model keeping was established,and its controller based on MPC was designed( LMPC). EPS was selected as actuator for the vehicle front wheel angle. The state space model of EPS was established,and the controller of the front wheel angle was designed based on MPC( EMPC). A MPC cascade structure composed of LMPC and EMPC was built through the inverse model of steering mechanism. By analysing the driver's steering keeping control effect on the lane,the ability of dealing with emergency events was improved through holding control of driver to vehicle. The simulation results show that under different velocity and curvature of the road,the control strategy can quickly eliminate lateral position deviation and yaw angle deviation,and the vehicle can drive along the lane,and it has good adaptability and robustness. The driver's steering can improve the control of the lane keeping and the active safety of the vehicle.