提高驾驶舒适性和稳定性的主动式前转向控制策略研究

Research on Active Front Steering Control Strategy for Improving Driving Comfort and Stability

为了提高车辆的稳定性和驾驶员的舒适性,提出了一种新的可变转向比主动前转向控制器。研究了转向灵敏度和偏航增益率之间的关系,并利用该特性建立了方向盘转角和纵向速度之间的三维图。在此基础上,采用模型预测控制方法设计了主动前转向控制器。在主动前转向控制器执行机构的约束条件下,确定了控制器的最优解。并利用商业软件CarSim和MATLAB/Simulink进行仿真验证。结果表明,所提出的基于3D-VSR图的主动式前转向控制器能够减轻驾驶员在低速时的转向负担,提高高速时的驾驶稳定性,并在紧急避让机动中提供快速的转向响应能力。

In this paper,a new variable steering ratio active front steering controller is proposed to improve vehicle stability and driver comfort.The relationship between steering sensitivity and yaw gain rate is studied,and the three-dimensional diagram between steering wheel angle and longitudinal velocity is established by using this characteristic.On this basis,the model predictive control method is used to design the active front steering controller.The optimal solution of the controller is determined under the constraint conditions of the actuator of the active front steering controller.Commercial software CarSim and MATLAB/Simulink are used to verify the simulation.The results show that the proposed active front steering controller based on 3D-VSR map can reduce the steering burden of drivers at low speed,improve driving stability at high speed,and provide fast steering response ability in emergency maneuvers.