Abstract
At present, most stability control systems based on active steering are superposition control of steering Angle. For the steering system configuration commonly used in automatic driving vehicles, the active steering control system of steering angle superposition cannot be realized. In order to achieve man-machine collaborative driving, the co-driving intelligent vehicles usually realize automatic steering control based on the torque superposition, which solves the drawback that the driver of the Angle superposition cannot participate in the steering. In this paper, an active steering control method of superposition of steering torque based on Receding horizon control is proposed for man-machine collaborative driving of co-drive intelligent vehicles. This control method combines steering system with vehicle dynamics system, and takes steering motor torque as the sole control input, which ensures that the driver has the ultimate control right and makes the control of the system more stable. In order to solve the system uncertainties caused by model mismatch and external disturbances, the optimal control rate in predictive time domain can be calculated according to real-time vehicle state parameters by receding horizon control. In the design of the controller, the yaw rate deviation is the input of the controller, and then the calculated superposition torque is input into the vehicle model in real time, and the steering wheel angle is observed as a state variable. The control strategy can effectively compensate for the uncertainty of the system such as model mismatch and external disturbance, and enhance the robustness of the system.
Highlights
Before the realization of automatic driving, man-machine cooperative driving control is the necessary stage [1]
For the steering system configuration commonly used in automatic driving vehicles, the active steering control system with steering angle superposition cannot be realized [6]
In this paper, the main factors affecting the stability of active steering system are studied
Summary
Before the realization of automatic driving, man-machine cooperative driving control is the necessary stage [1]. Reference [19] designed an active steering controller based on H∞ control for two-degreeof-freedom model (2-DOF) linear vehicle with yaw and lateral, they improved the performance and robustness of the controller by compensating the uncertainties of vehicle parameters. In order to consider the driver’s driving automation in-the-loop, Reference [20] put forward the man-machine co-driving mode, which usually realizes automatic steering control based on the torque loop, they solved the disadvantage that the man could not participate in the steering of the steering angle loop. A receding horizon control algorithm based on steering torque superposition is proposed for man-machine cooperative driving mode of co-driving intelligent vehicles.
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