Research On Lane Deviation Assistant Control Based On SBW System

As a new type of steering system,the steer-by-wire system breaks the bondage of the transmission steering system on the mechanical connection and plays a driving role in the intelligent development of the car.In this paper,the real-time simulation of the variable angle transmission ratio and road feel of the steer-by-wire system is studied.Based on this,the steering control advantage of the steering system is used to study the lane departure assist control.Firstly,introduction to the structure and working principle of the steer-by-wire system.The dynamic model is built and the parameters of the vehicle are designed in Carsim.The variable angle transmission ratio is designed based on the yaw rate gain at the time of steering,and the simulation is verified by Carsim/Simulink.Secondly,the composition of the road-sensing steering system is analyzed.The intrinsic friction torque of the steering wheel assembly is small and the difference is obvious.The improved Coulomb friction model and GA-BP neural network model are designed to compensate the friction torque.The step method stabilizes the current tracking.Then,using the unique steering advantage and road feeling of the steer-by-wire steering system,the advantages of individualized design can be realized.The lane departure auxiliary control system is designed.The control structure is mainly divided into auxiliary decision-making layer,auxiliary control layer and execution layer.The auxiliary control layer judges the safety of driving according to the lateral position deviation at the pre-pointing point;the auxiliary control layer designs the ideal angle,the correction angle and the damping angle according to the road information to perform steering control;the front wheel accurate tracking controller in the execution layer The output corner,the steering wheel provides the corresponding road feel according to the auxiliary working conditions.Finally,the motor performance test bench and the SBW system hardware-in-theloop test bench were built to carry out the bench test and the real vehicle test for the front wheel steering control;the hardware was verified to verify the rationality of the road feel design and the effectiveness of the friction compensation model.Ring experiment;after the steering control and road simulation are ideal,the hardware-in-the-loop experiment is carried out on the lane departure assist control.