针对高校实验教学中缺乏面向人机协同的线控转向系统实践平台的问题,研发了一套基于多场景仿真的实验教学平台。该平台基于整车电动助力转向EPS(Electric Power Steering)系统和主动转向电机,实现人工/自动驾驶模式的无缝切换;并基于Mat...针对高校实验教学中缺乏面向人机协同的线控转向系统实践平台的问题,研发了一套基于多场景仿真的实验教学平台。该平台基于整车电动助力转向EPS(Electric Power Steering)系统和主动转向电机,实现人工/自动驾驶模式的无缝切换;并基于Matlab/Simulink构建快速控制原型算法,利用CarSim软件建立联合仿真模型并搭建多场景仿真环境,包括常规驾驶、紧急避障、执行器失效等典型工况。同时开发了分层次实验项目,线控执行机构特性测试、人机协同控制策略设计、多场景系统集成等内容。应用结果表明,该平台可有效提升学生对线控转向系统的认知和实践能力,为培养汽车智能化领域的复合型人才提供了有效支撑。展开更多
To improve the handling performance of a steer-by-wire (SBW) vehicle, a series of control logics are proposed. Firstly, an algorithm for enhancing the maneuvering in steady-state cornering is presented. On this basis,...To improve the handling performance of a steer-by-wire (SBW) vehicle, a series of control logics are proposed. Firstly, an algorithm for enhancing the maneuvering in steady-state cornering is presented. On this basis, two categories of control strategies are used to dynamically correct and compensate the transient state steering responses and vehicle behaviors. Simulator tests including subjective evaluations and virtual field tests are both conducted to make comprehensive investigations on the series of control logics. The subjective evaluations demonstrate that the SBW vehicle with a specifically selected value of steering sensitivity tends to be more desirable for driving than a conventional one in which a fixed steering ratio exists. The virtual field tests indicate that the control strategies for dynamical correction and compensation could effectively improve the handling per-formances of an SBW vehicle by reducing the work load of drivers, enhancing the track-holding performance, and improving steering response properties.展开更多
文摘针对高校实验教学中缺乏面向人机协同的线控转向系统实践平台的问题,研发了一套基于多场景仿真的实验教学平台。该平台基于整车电动助力转向EPS(Electric Power Steering)系统和主动转向电机,实现人工/自动驾驶模式的无缝切换;并基于Matlab/Simulink构建快速控制原型算法,利用CarSim软件建立联合仿真模型并搭建多场景仿真环境,包括常规驾驶、紧急避障、执行器失效等典型工况。同时开发了分层次实验项目,线控执行机构特性测试、人机协同控制策略设计、多场景系统集成等内容。应用结果表明,该平台可有效提升学生对线控转向系统的认知和实践能力,为培养汽车智能化领域的复合型人才提供了有效支撑。
基金Project (Nos. 50475009 and 50775096) supported by the National Natural Science Foundation of China
文摘To improve the handling performance of a steer-by-wire (SBW) vehicle, a series of control logics are proposed. Firstly, an algorithm for enhancing the maneuvering in steady-state cornering is presented. On this basis, two categories of control strategies are used to dynamically correct and compensate the transient state steering responses and vehicle behaviors. Simulator tests including subjective evaluations and virtual field tests are both conducted to make comprehensive investigations on the series of control logics. The subjective evaluations demonstrate that the SBW vehicle with a specifically selected value of steering sensitivity tends to be more desirable for driving than a conventional one in which a fixed steering ratio exists. The virtual field tests indicate that the control strategies for dynamical correction and compensation could effectively improve the handling per-formances of an SBW vehicle by reducing the work load of drivers, enhancing the track-holding performance, and improving steering response properties.
