Research On Road Feel Simulation And Return Control Strategy For Vehicle Steer-by-Wire System

As a part of automobile intelligence,steer-by-wire breaks the shackles of traditional automobile mechanical structure,and brings fresh blood to the automobile industry.At the same time,it also promotes the development of vehicle integration technology and intelligence.As the key part of the line control steering system,the performance of the road sensing simulation is related to the safety of the driving.This article has done a lot of research on providing clear and true sense of road to the driver.According to the dynamic model built SBW system,including the system dynamics model and the tire brush model with seven degrees of freedom vehicle model,steering by wire,while in CarSim including the establishment of road adhesion coefficient,wind resistance of road environment model paves the way for the co simulation verified the effectiveness of the control strategy.Secondly,the simulation control strategy of road feel and the return control strategy under the low road adhesion coefficient are studied.Based on the analysis of the source of traditional vehicle's road sense,the method of measuring the current equivalent load of the steering motor by the current sensor is designed,and the road feel is designed.Considering the low adhesion road,vehicle self aligning torque is significantly reduced,through the establishment of SBW system dynamics model,and tire model,combined with the wheel moment information,using the extended Calman filter algorithm to estimate adhesion coefficient of road surface,and the return control strategy based on the adhesion coefficient of road surface is proposed.According to the demand of the road sensing analog control system,a road sense analog controller with fault self diagnosis function is designed and its feasibility is verified.Meanwhile,a hardware in the loop simulation platform of the steer-by-wire system is built,and the hardware in the loop test is carried out.The experiment shows that the proposed road feel simulation control strategy can provide a good sense of path for the driver,and the return control strategy improves the low road adhesion coefficient and the driver's perception of road sense.