Steering Coordination And Stability Optimization Control Of Human-machine Co-driving Intelligent Vehicle

The world's auto industry is currently undergoing a period of profound changes.With the rise of a new round of technological and industrial revolutions such as the Internet,cloud computing,big data and artificial intelligence,automotive intelligence has become the main development direction for automobiles in the future.In order to reduce the driver's operational burden and reduce the operational burden caused by the driver,autonomous driving technology has become a hot spot in the automotive industry research.However,the realization of fully autonomous driving is subject to factors such as technology,ethics,law and safety,and its promotion and application will require a long process.In the future,the driver and the intelligent driving system will share the decision-making and control rights of the car for a long time.In the process of man-machine co-driving,the intelligent system and the driver's steering coordination and the stability of the car are crucial.This paper studies the steering synergy and stability optimization control of humanmachine-assisted smart cars under the support of the China Automotive Industry Innovation and Development Joint Fund,“Research on the Dynamic Characteristics and Collaborative Control Methods of Human-Machine Driven Smart Cars”.The main research content of this paper is divided into the following parts:(1)This article takes heavy commercial vehicles as the research object.For the steering coordination and stability optimization control problems studied in this paper,firstly,a commercial vehicle dynamics model and its electro-hydraulic coupled steering system model are established.And the actual vehicle parameters obtained,based on Trucksim and Simulink,the established commercial vehicle dynamic model and the electro-hydraulic coupling steering system model are matched and verified.Provide the foundation for the follow-up design path tracking and stability cooperative controller and man-machine steering cooperative controller.(2)Due to the high center of gravity of commercial vehicles,when a smart commercial vehicle is driving at a high speed at a sharp turn or in an emergency avoidance condition,the commercial vehicle with a high center of gravity may roll over due to a large front wheel angle.This paper proposes a hierarchical control method to collaboratively control the path tracking performance and roll stability of intelligently driven commercial vehicles,which mainly includes supervision,upper model prediction controller and bottom steering controller.Rolling optimization path tracking and stability cooperative control based on variable weights of control design.When the roll index reaches the threshold,the weight of the optimized objective function of roll stability is adjusted to achieve cooperative control of path tracking and stability through active steering.(3)In order to reduce the driver's steering operation burden and improve the stability and safety of smart car driving,this paper designs a man-machine steering cooperative control strategy.Use the designed path tracking performance and roll stability as a collaborative controller as an intelligent auxiliary system that cooperates with the driver's steering,and use the driver's hand torque and lateral offset as the basis for determining the weight of the auxiliary system.Design the fuzzy controller to calculate The auxiliary system provides the weight value of the auxiliary torque.Through the sharing of haptic torque,the driver and the auxiliary system can work together in the electro-hydraulic coupling steering system of the commercial vehicle used.And considering the susceptibility to external disturbances during the manmachine coordinated steering operation,an auto disturbance rejection controller is used to control the steering system.