面向自动驾驶汽车的新型转向系统设计及仿真分析

doi:10.16182/j.issn1004731x.joss.23-1027

摘要/Abstract

摘要：

针对目前由于法规要求和技术成熟度的限制，面向自动驾驶汽车的转向系统必须具备驾驶员接管功能的需求，将永磁耦合装置嵌入转向系统中，设计出一款新型转向系统，可实现自动驾驶模式和驾驶员接管模式的切换。对新型转向系统进行整体方案设计，该系统能够实现转向盘静默、路感模拟、过载保护和机械转向冗余等功能，在不增加额外硬件的情况下实现转向系统的冗余设计。对该系统的关键部件永磁耦合装置开展了仿真分析和台架测试，对其传递特性进行了研究。搭建了整车和转向系统模型。通过Simulink-CarSim-PreScan联合仿真对新型转向系统进行功能分析，验证了该系统功能安全和冗余设计的有效性。

关键词: 自动驾驶, 转向系统, 永磁耦合装置, 模式切换, 冗余设计

Abstract:

For the current requirements of regulations and technical maturity, the steering system for autonomous vehicles must have the driver takeover function, explore the permanent magnet coupling device embedded in the steering system, and design a new steering system, which can realize the switch between automatic driving mode and driver takeover mode. The overall design of the new steering system is carried out. The system can realize the functions of steering wheel silence, road sense simulation, overload protection and mechanical steering redundancy, and realize the redundant design of steering system without adding additional hardware. The key component of the system, the permanent magnet coupling device, is simulated and tested on the bench, and its transmission characteristics are studied. The model of the vehicle and steering system was built. Through Simulink-CarSim-PreScan co-simulation, the functional analysis of the new steering system is carried out, and the effectiveness of the functional safety and redundancy design of the system is verified.

Key words: autonomous driving, steering system, permanent magnet coupling device, mode switching, redundant design

中图分类号:

TP391.9

姬鹏,赵金鹏,姜利民 . 面向自动驾驶汽车的新型转向系统设计及仿真分析[J]. 系统仿真学报, 2025, 37(1): 211-219.

Ji Peng,Zhao Jinpeng,Jiang Limin . Design and Function Analysis of New Steering System for Autonomous Vehicle[J]. Journal of System Simulation, 2025, 37(1): 211-219.

图/表 18

图1

图2

图3

图4

图5

图6

图7

图8

表1

图9

图10

图11

图12

图13

图14

图15

图16

图17

参考文献 18

1	陶伟男. 线控转向路感模拟研究[D]. 长春: 吉林大学, 2018.
	Tao Weinan. Research of Steering Feel Feedback System Applied to Steer-by-wire System[D]. Changchun: Jilin University, 2018.
2	杨沁杰. 面向多传感器故障的线控转向系统主动容错控制研究[D]. 大连: 大连理工大学, 2021.
	Yang Qinjie. Research on Active Fault Tolerant Control of Steer-by-wire System for Multi-sensor Failure[D]. Dalian: Dalian University of Technology, 2021.
3	刘祺. 自动驾驶线控系统开发及其在车道保持控制中的应用[D]. 北京: 清华大学, 2018.
	Liu Qi. Development of Control-by-wire System for Autonomous Driving and Its Application in Lane Keeping Control[D]. Beijing: Tsinghua University, 2018.
4	Mohammadi Sajjad, Mirsalim M, Vaez-Zadeh Sadegh, et al. Analytical Modeling and Analysis of Axial-flux Interior Permanent-magnet Couplers[J]. IEEE Transactions on Industrial Electronics, 2014, 61(11): 5940-5947.
5	Mi Junnan, Wang Tong, Lian Xiaomin. A System-level Dual-redundancy Steer-by-wire System[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2021, 235(12): 3002-3025.
6	孙冰. 线控转向系统冗余安全方案设计与测试研究[D]. 长春: 吉林大学, 2022.
	Sun Bing. Research on Design and Testing Scheme for Redundant Security of Steer-by-wire System[D]. Changchun: Jilin University, 2022.
7	Wei Chuanbin, Zhang Lizhu, Fu You, et al. Analysis on the Research Method of Road Sense Feedback in Steer-by-wire System[J]. Journal of Physics: Conference Series, 2021, 2121(1): 012031.
8	Cao Yu, Li Xiaoxue, Liu Wei. The Analysis of Thermal Magnetic Coupling of Tubular Permanent Magnetic Coupler[J]. Journal of Physics: Conference Series, 2020, 1550(4): 042044.
9	Li Ming, Feng Zhibo, Zhao Zhengyin. Symmetry and Magnetization Effect on the Selective Spin-valley Polarized Transport Through the Ferromagnetic-normal-ferromagnetic ZSiNR Junction[J]. Physica E: Low-Dimensional Systems and Nanostructures, 2023, 151: 115729.
10	Tan Ziliang, Liu Wei, Cheng Xikang, et al. Calculation and Analysis on Transmission Performance of Slotted Permanent Magnetic Coupler[C]//International Conference on Mechanical Engineering, Measurement Control, and Instrumentation. Bellingham: SPIE, 2021: 119303N.
11	Liu Bin, Lian Zheng, Liu Tong, et al. Study of MFL Signal Identification in Pipelines Based on Non-uniform Magnetic Charge Distribution Patterns[J]. Measurement Science and Technology, 2023, 34(4): 044003.
12	龚俭龙, 江美霞. 基于Ansys Maxwell的非接触式磁力驱动机构的仿真优化研究[J]. 中国设备工程, 2022(7): 118-120.
13	Heinrich Felix, Kaste Jonas, Sevsel Gamze Kabil, et al. Methods for Modeling the Steering Wheel Torque of a Steer-by-wire Vehicle[J]. Automotive and Engine Technology, 2022, 7(1): 53-64.
14	Bazios P, Khoshnoud F, Esat I. Energy Harvesting from Suspension System and Self-powered Vibration Control for a Seven Degree of Freedom Vehicle Model[J]. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2018, 232(3): 342-356.
15	Zheng Hongyu, Han Yaning, Zong Changfu. Road Feel Design for Vehicle Steer-by-wire System Based on Joystick[J]. Applied Mechanics and Materials, 2013, 336-338: 734-737.
16	Rahmani Mohsen, Behdinan Kamran. Investigation on the Effect of Coulomb Friction on Nose Landing Gear Shimmy[J]. Journal of Vibration and Control, 2019, 25(2): 255-272.
17	赵林峰, 从光好, 邵文彬, 等. 线控转向车辆转向盘转矩特性研究[J]. 机械工程学报, 2018, 54(24): 138-146.
	Zhao Linfeng, Cong Guanghao, Shao Wenbin, et al. Study on Steering Torque Characteristic for Steer-by-wire Vehicles[J]. Journal of Mechanical Engineering, 2018, 54(24): 138-146.
18	宗长富, 麦莉, 王德平, 等. 基于驾驶模拟器的驾驶员所偏好的转向盘力矩特性研究[J]. 中国机械工程, 2007, 18(8): 1001-1005.
	Zong Changfu, Li Mai, Wang Deping, et al. Study on Steering Effort Preference of Drivers Based on Driving Simulator[J]. China Mechanical Engineering, 2007, 18(8): 1001-1005.

磁环参数	设计值
外径R₂	96
内径R₁	27
厚度B	24
位移最大值X	60

[1]	王改华, 李柯鸿, 龙潜, 姚敬萱, 朱博伦, 周正书, 潘旭冉. 基于知识蒸馏的轻量化Transformer目标检测[J]. 系统仿真学报, 2024, 36(11): 2517-2527.
[2]	鲁斌, 王明晗, 孙洋, 杨振宇. 全局信息感知与局部特征融合的高效三维目标检测[J]. 系统仿真学报, 2024, 36(11): 2616-2630.
[3]	苏彤, 王颖, 邓启扬, 李兆彬. 基于YOLOv5改进的雾天行人与车辆检测算法[J]. 系统仿真学报, 2024, 36(10): 2413-2422.
[4]	王若萱, 吴建平, 徐辉. 自动驾驶汽车感知系统仿真的研究及应用综述[J]. 系统仿真学报, 2022, 34(12): 2507-2521.
[5]	尹智帅, 何嘉雄, 聂琳真, 管家意. 基于优化算法的自动驾驶车辆纵向自适应控制[J]. 系统仿真学报, 2021, 33(2): 409-420.
[6]	袁泉, 高岩, 裘晨璐. 基于人-机-环境因素的未来交通事故风险研究[J]. 系统仿真学报, 2019, 31(3): 566-574.
[7]	王健, 冯琦, 胡晓伟. 自动驾驶车辆在交叉口的通行模式研究[J]. 系统仿真学报, 2019, 31(2): 199-211.
[8]	曹凯, 刘秀芳, 杨旭, 沈鹏. 自主车辆动态冲突控制可达集建模方法[J]. 系统仿真学报, 2017, 29(8): 1658-1666.
[9]	胡仁伟, 郭楠, 孔霞, 彭军, 孙传伟. 米-171自动驾驶仪通用半实物仿真试验系统研究[J]. 系统仿真学报, 2016, 28(5): 1086-1093.
[10]	杜海东, 曹军海, 吴纬, 徐丹. 基于仿真的复杂系统可靠性冗余分配优化设计[J]. 系统仿真学报, 2016, 28(3): 648-653.