A lane departure prevention ( LDP ) control scheme adapted to driver behavior characteristics is proposed. Firstly, the adaptively adjusted dynamic expected driving zone and virtual lane boundaries are proposed based on driver's natural driving behavior database and human-machine interaction database. Then on this basis, the decision parameters of LDP are determined and the LDP decision process and two-step control strategy are devised. Finally a LDP controller adapted to driver behavior characteristics is constructed by applying learning-based model predictive control theory and a driver-in-loop experiment is conducted on a driving simulator. The results show that the LDP scheme proposed can enhance driver acceptance of LDP control.%提出一种能自适应驾驶员行为特征的车道偏离防范控制方法.基于驾驶员自然驾驶行为和人机交互行为数据库,提出自适应调节的动态期望驾驶区间与车道虚拟边界,以之为基础确定了车道偏离防范的决策参数,设计了车道偏离防范的决策和分步控制策略,采用学习型模型预测控制理论构建自适应驾驶员行为特征的LDP控制器,以驾驶模拟器为平台进行驾驶员在环实验.结果表明,所提出的车道偏离防范方法能提高驾驶员对LDP控制的接受度.
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