基于Simscape的APA-EPS系统建模及人机共驾转向控制策略研究

doi:10.19562/j.chinasae.qcgc.2023.12.003

Abstract

Abstract:

Human-machine co-driving is a transitional stage before intelligent vehicles achieving a high degree of autonomous driving. As the driver and the driving assistance system are in the loop at the same time， there is a problem of assigning driving rights for human-machine co-driving. The steering system of an intelligent vehicle must execute the steering control commands of the driver and driving assistance system in real time and with agility. The human-machine co-driving steering control strategies based on the parallel-axis electric power steering system （APA-EPS） in a smart MPV is studied in this paper. Firstly， the APA-EPS system is modeled in Simscape and the accuracy of the model is verified by bench tests. Subsequently， the steering control strategies for human-driving and machine-driving modes are designed based on fuzzy PID control algorithm and fuzzy sliding mode control algorithm respectively. When the driver is driving the vehicle dominantly， the steering control weight is determined by the distance influence degree function and the angle influence degree function， when the driving assistance system is driving the vehicle dominantly， the driver’s takeover request is monitored by sliding time windows. The simulation results show that both the human-driving and machine-driving control strategies have good corner following effect， and in human-machine co-driving mode， the steering control rights can be switched in time， and the steering wheel angle response of the APA-EPS is rapid.

Key words: axially parallel electric power steering system, Simscape, human-machine co-driving system, driving rights allocation strategies

Haobin Jiang,Peichun Yuan,Kun Yang,Bin Tang,Chenxu Li. Simscape-Based APA-EPS System Modeling and Human-Machine Co-driving Steering Control Strategies Research[J].Automotive Engineering, 2023, 45(12): 2209-2221.

Figures/Tables 26

$s ˙$	$s$
$s ˙$	NB	NM	NS	ZO	PS	PM	PB
NB	NM	NM	NM	NS	NS	ZO	ZO
NM	NM	NB	NB	NS	NS	ZO	ZO
NS	NS	NM	NS	NS	ZO	PS	PS
ZO	ZO	NM	NS	ZO	PS	PS	PM
PS	PS	NS	ZO	PS	PS	PM	PM
PM	PM	ZO	PS	PM	PM	PB	PB
PB	PB	ZO	PS	PS	PM	PM	PB

References 24

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参数	数值	单位
转向盘转动惯量	0.032	kg·m²
上管柱转动惯量	1.163e-4	kg·m²
下管柱转动惯量	5.867e-5	kg·m²
转向小齿轮半径	10.755	mm
齿轮齿条传动比	61.98	mm/rev
同步带传动比	3.16
滚珠丝杠传动比	7
电机转动惯量	1.7e-4	kg·m²
电机电枢电阻	0.013 79	Ω
转向盘阻尼系数	0.03	N·m·s·rad^-1
上管柱阻尼系数	0.07	N·m·s·rad^-1
下管柱阻尼系数	0.096	N·m·s·rad^-1
转向轴扭力杆刚度	100	N·m·rad^-1
滚珠丝杠导程	7	mm

参数	数值
β₁	60
β₂	0.5
d_min	1 m
d_max	5 m
b	1.8 m

Simscape-Based APA-EPS System Modeling and Human-Machine Co-driving Steering Control Strategies Research

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References 24

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