汽车转向系统先后经历机械转向、液压助力转向和电动助力转向,然而目前电动助力转向系统(electric power steering,EPS)、电控液压助力转向(electronically controlled hydraulic power steering,EHPS)难以满足智能汽车对转向技术的需...汽车转向系统先后经历机械转向、液压助力转向和电动助力转向,然而目前电动助力转向系统(electric power steering,EPS)、电控液压助力转向(electronically controlled hydraulic power steering,EHPS)难以满足智能汽车对转向技术的需求。线控转向系统作为线控智能底盘重要组成部分,是智能汽车架构中必不可少的智能转向系统。为剖析线控转向中的关键技术和发展趋势,首先介绍了线控转向的发展概况,然后分别针对线控转向系统关键软硬件技术进行了全面概述,包括对比分析了4种路感反馈策略、智能算法在位置闭环的应用及双电机协同控制策略、基于线控转向中主动前轮转向的车辆稳定性控制研究、面向功能安全方面的软件冗余方案和硬件冗余方案;最后,对线控转向系统的未来研究趋势进行了展望,指出线控转向系统将朝着真实舒适、精准快速、安全可靠和集成控制的方向发展。展开更多
A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect...A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control(MPC) controller driving the vehicle along an optimal safe path.The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.展开更多
文摘汽车转向系统先后经历机械转向、液压助力转向和电动助力转向,然而目前电动助力转向系统(electric power steering,EPS)、电控液压助力转向(electronically controlled hydraulic power steering,EHPS)难以满足智能汽车对转向技术的需求。线控转向系统作为线控智能底盘重要组成部分,是智能汽车架构中必不可少的智能转向系统。为剖析线控转向中的关键技术和发展趋势,首先介绍了线控转向的发展概况,然后分别针对线控转向系统关键软硬件技术进行了全面概述,包括对比分析了4种路感反馈策略、智能算法在位置闭环的应用及双电机协同控制策略、基于线控转向中主动前轮转向的车辆稳定性控制研究、面向功能安全方面的软件冗余方案和硬件冗余方案;最后,对线控转向系统的未来研究趋势进行了展望,指出线控转向系统将朝着真实舒适、精准快速、安全可靠和集成控制的方向发展。
文摘A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control(MPC) controller driving the vehicle along an optimal safe path.The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.
