Development Of Vehicle Operation Test Platform Oriented To Man-machine Co-driving

In recent years,the research on automobile driving technology has continued to deepen,and it is in the transitional stage of the transition to human-machine co-driving and unmanned driving.The perception technology,decision-making technology and driving technology with embedded computer as the core are continuously introduced to relieve drivers.The driving burden is increased,and the driving safety of the car is improved.Human-machine co-driving mainly refers to the fact that the driver and the intelligent system share the control of the vehicle at the same time,and combine with the man-machine to complete the driving task,which is a hot spot in the current automotive research and application.The research and development of the control system is not only one of the core technologies of human-robot co-driving cars,but also one of the key technologies in its research field.This article is geared towards the development of a vehicle control test platform for a humanmachine co-driving car driven by in-wheel motors and differential steering between wheels.Based on the needs of the entire vehicle,research and design are carried out from the three aspects of the vehicle(drive system,steering system and brake system).The specific content of this article is as follows:(1)Carrying out the design of a vehicle handling test platform oriented to human-machine co-driving,and proposing a solution for the realization of the vehicle’s driving,braking and steering functions with independent control of the driving force and braking force of each wheel of the vehicle.(2)According to the design of the man-machine co-driving test platform,the structure of the power system of the electric vehicle drive is analyzed;according to the requirements of the vehicle power performance,the parameters of the in-wheel motor-driven vehicle drive system are matched to determine the parameters of the in-wheel motor and the test platform.Using the simulation results of the PMSM model,it can be seen that the motor can track a given speed of 1500 rpm,and the tracking response is fast and stable.After adding the load,it has good robustness.Use the Ackerman steering theory basis to establish a steering model.When steering,the vehicle speed and the inner wheel angle are used as input.According to the mathematical formula derived from Ackerman steering theory,the respective wheel speeds of the four wheels are obtained;after changing the expected speed,the four wheels’ speeds remain the same Meet the actual situation.(3)Researched and developed the electronic accelerator pedal,electronic steering wheel and electronic brake pedal,independently designed the EHBS electronic hydraulic brake system,and proposed a vehicle brake based on two independent EHBS with independent adjustable braking torque on the left and right wheels.Dynamic assistance steering control program.Complete the hardware design and development of the vehicle controller and the functional design of the software.(4)Based on ergonomics,the layout scheme of brake,drive pedal and steering wheel is analyzed and optimized,which meets the requirements of SAE standards.(5)Designed and trial-produced a vehicle handling test platform for man-machine co-driving,and initially carried out relevant experimental research,such as testing the designed electronic steering wheel’s handling feel and corner output characteristics.