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

被引：0
|
作者：
Jiang H. [1 ]
Yuan P. [2 ]
Yang K. [1 ]
Tang B. [1 ]
Li C. [2 ]
机构：
[1] Automotive Engineering Research Institute, Jiangsu University, Zhenjiang
[2] Department of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang
来源：
Qiche Gongcheng/Automotive Engineering | 2023年 / 45卷 / 12期
关键词：
axially parallel electric power steering system; driving rights allocation strategies; human-machine co-driving system; Simscape;
D O I：
10.19562/j.chinasae.qcgc.2023.12.003
中图分类号：
学科分类号：
摘要：
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. © 2023 SAE-China. All rights reserved.
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页码：2209 / 2221
页数：12
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