基于电动助力转向的车道保持性能研究与分析

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (12): 2913-2919.

• 仿真建模与仿真算法及数值仿真 • 上一篇下一篇

基于电动助力转向的车道保持性能研究与分析

孙涛^1,2, 徐正进^1,2, 郑松林^1,2, 张振东^1,2, 孙跃东¹

1.上海理工大学机械工程学院汽车工程研究所,上海 200093;
2.机械工业汽车底盘机械零部件强度与可靠性评价重点实验室,上海 200093

收稿日期:2015-04-16 修回日期:2015-06-12 出版日期:2015-12-08 发布日期:2020-07-30
作者简介:孙涛(1974-),男,山西天镇,博士,副教授,研究方向为汽车系统动力学与控制;徐正进(1990-),男,山东青岛,硕士生,研究方向为车辆动力学控制;郑松林(1958-),男,河南温县,博士,教授,研究方向为汽车轻量化设计理论。
基金资助:
上海市科研创新项目(12ZZ145)

Study on Lane Keeping Performance with Electric Power Steering System

Sun Tao^1,2, Xu Zhengjin^1,2, Zheng Songlin^1,2, Zhang Zhendong^1,2, Sun Yuedong¹

1. School of Mechanical Engineering, Department of Automotive Engineering, Univ. of Shanghai for Science and Technology, Shanghai 200093, China;
2. Machinery Industry Key Laboratory for Mechanical Strength & Reliability Evaluation of Auto Chassis Components, Shanghai 200093, China

Received:2015-04-16 Revised:2015-06-12 Online:2015-12-08 Published:2020-07-30

摘要/Abstract

摘要： 由于电动助力转向系统在车辆转向中能提供辅助扭矩,考虑集成电动助力转向系统作为车道保持辅助系统的转向执行机构,并推导了EPS在助力转向和主动修舵转向下的力矩方程。在分析了车道保持辅助系统的基础上建立二自由度单轨车辆模型、非线性轮胎模型、单点预瞄驾驶员模型、EPS模型和最优控制器模型。采用某款量产车辆试验得到的EPS控制脉谱图,利用驾驶员模型在回路仿真的方法验证所建立的系统模型,结果显示整合EPS的车道保持辅助系统能有效提高车辆的路径跟踪能力。

关键词: 车道保持, 电动助力转向, 最优控制, 驾驶员在环

Abstract: With consideration of the characteristics of Electric Power Steering system (EPS), vehicle lane keeping system can make full use of EPS function as steering actuator for lane following assist. A couple of vehicle dynamic equations were derived for two operational modes including steering assistant mode and active steering mode. Meanwhile, vehicle single track handling model, nonlinear tire model, driver model, EPS model and corresponding optimal lane tracking algorithm were built and developed respectively. The lane keeping algorithm with EPS actuator was validated by virtue driver-in-the-loop approach based on the EPS experimental map from a certain type of production vehicle. It has been shown that the lane keeping system with EPS assist can effectively improve the capability of tracking the desired path.

Key words: lane-keeping, electric power steering, optimal control, driver in the loop

中图分类号:

TP391.9

孙涛, 徐正进, 郑松林, 张振东, 孙跃东. 基于电动助力转向的车道保持性能研究与分析[J]. 系统仿真学报, 2015, 27(12): 2913-2919.

Sun Tao, Xu Zhengjin, Zheng Songlin, Zhang Zhendong, Sun Yuedong. Study on Lane Keeping Performance with Electric Power Steering System[J]. Journal of System Simulation, 2015, 27(12): 2913-2919.

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基于电动助力转向的车道保持性能研究与分析

Study on Lane Keeping Performance with Electric Power Steering System

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