主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2023, Vol. 48 ›› Issue (8): 10-16.DOI: 10.16638/j.cnki.1671-7988.2023.08.002

• 新能源汽车 • 上一篇    下一篇

基于常规助力与主动转向的车辆横向控制研究

王贵林，韩同群*，徐忠国   

  1. 湖北汽车工业学院 汽车工程学院，湖北 十堰 442002
  • 出版日期:2023-04-30 发布日期:2023-04-30
  • 通讯作者: 韩同群
  • 作者简介:王贵林（1996—），男，硕士研究生，研究方向为车辆动力学仿真与控制，E-mail:wgl1710@sina.com。 通信作者：韩同群（1967—），男，硕士，教授，研究方向为汽车及发动机仿真，E-mail:htqhtq67@sina.com。
  • 基金资助:
    汽车动力传动与电子控制湖北省重点实验室，汽车零部件技术湖北省协同创新项目（2015XTZX0425）。

Research on Lateral Control of Vehicles Based on Conventional Power Assist and Active Steering

WANG Guilin, HAN Tongqun*, XU Zhongguo   

  1. School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan 442002, China
  • Online:2023-04-30 Published:2023-04-30
  • Contact: HAN Tongqun

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摘要： 文章阐述了电动助力转向（EPS）系统在新能源汽车上的应用，探讨了新能源汽车自动 驾驶系统中的车道保持辅助系统（LKA）实现途径。首先，针对某品牌电动乘用车 EPS 建立 了模型，制定了基于上层直线助力控制和下层模糊比例-积分-微分（PID）控制的常规助力控 制模式；然后，建立二自由度车辆模型和车路误差模型，制定基于线性二次调节器（LQR） 的控制策略，根据车辆状态通过角度将 LKA 与 EPS 进行交互，实现车辆的主动前轮转向控 制。最后，利用 MATLAB/Simulink 与 CarSim 联合仿真平台进行仿真模拟验证，仿真结果显 示，制定的控制策略能够精确地实现新能源汽车的常规助力和 LKA 主动转向的功能，可极大 提高车辆的行驶安全性。

关键词: EPS；LKA；常规助力；主动转向；最优控制；联合仿真

Abstract: This paper describes the application of electric power steering (EPS) system in new energy vehicles, and discusses the implementation of lane keeping assist (LKA) System in the automatic driving system of new energy vehicles. Firstly, a model is established for a brand of electric passenger car EPS, and a conventional assist control mode based on upper-level linear assist control and lower-level fuzzy proportion integral differentia (PID) control is developed; then, a two degree-of-freedom vehicle model and a vehicle-road error model are established, and a control strategy based on linear quadratic regulator (LQR) is developed, which is based on the vehicle state. The LKA is interacted with the EPS through the angle to realize the active front wheel turn control of the vehicle. Finally, MATLAB/Simulink and CarSim joint simulation platform is used for simulation and validation. The simulation results show that the developed control strategy can accurately realize the function of conventional power assist and LKA active steering of new energy vehicles, which can greatly improve the driving safety of vehicles.

Key words: EPS; LKA; Conventional power; Active steering; Optimal control; Joint simulation