Steering Controller for SBW Vehicle with Trajectory Curvature as Controlled Variable

以轨迹曲率为受控变量的SBW车辆转向控制器

• 批准号: 13650250
• 负责人: NISHIHARA Osamu
• 金额: $ 2.24万
• 依托单位: Kyoto University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650250/
• 关键词: steering control; driver model; preview point; preview control; active front steering; trajectory curvature; traction; braking force distribution; sideslip angle; 車両運動制御; ステアバイワイヤ; D^*制御; 操舵制御系; モデル追従制御; 走行軌跡

In this research project, we have studied a front active steering using a steer-by-wire system. The discussion is based on our curvature output driver model and the concept of D^* control, where the curvature command is translated into the reference D^* value taking accounts of the vehicle speed, and is fed to the vehicle controller. In the first year (2001), we have performed simulation experiments of path following cruising using this steering control concept and the basic version of curvature output driver model. The simulations were supported by a multi-degree-of-freedom vehicle simulation software (CarSim). For example, prevention effects for unwilled steep turns at hard brakings are tested. In 2002, we extended our driver model. Its framework is very similar to the conventional first order preview model . Our model no longer cares variation of dynamical characteristics of the real vehicle but assumes that the steering controller will realize the curvature command. This simple preview model is sufficiently effective for the path following and then the fact implies that the active front steered vehicle will be easily driven even with a violent fluctuation of road surface condition. We have experimented simulations to evaluate the effect of driver response time, the vehicle delay, and the phase-leading compensation. We constructed a real-time simulator based on VR technologies to experiment with human subjects. The active front steering was also augmented by a traction / braking force distribution. The augmentation is effective under severe driving conditions and will prevent large sideslip angles.

在本课题中，我们研究了一种采用线控转向系统的前主动转向系统。讨论基于我们的曲率输出驱动模型和D^*控制的概念，其中曲率命令被转换为考虑车辆速度的参考D^*值，并馈送给车辆控制器。在第一年（2001年），我们使用该转向控制概念和曲率输出驾驶员模型的基本版本进行了路径跟随巡航的仿真实验。仿真由多自由度车辆仿真软件CarSim支持。例如，测试了在硬制动时对非自愿急转弯的预防效果。2002年，我们扩展了我们的驾驶员模型。它的框架与传统的一阶预览模型非常相似。该模型不再关心实际车辆的动态特性变化，而是假设转向控制器将实现曲率指令。这一简单的预估模型对于路径跟踪是足够有效的，从而表明主动前转向车辆即使在路面条件剧烈波动的情况下也能很容易地进行驾驶。我们进行了仿真实验，以评估驾驶员响应时间、车辆延迟和超前相位补偿的影响。我们构建了一个基于虚拟现实技术的实时模拟器，以人体为实验对象。主动前转向也增强了牵引力/制动力分配。在恶劣的驾驶条件下，这种增强是有效的，可以防止大的侧滑角。

项目成果

Osamu Nishihara, Guokun Zuo, Hiromitsu Kumamoto: "Curvature Output Driver Model for a Steer-by-Wire Vehicle"Proceedings of 8th World Congress on Intelligent Transport Systems, Sydney, Australia. CD-ROM. (2001)

Osamu Nishihara、Guokun Zuo、Hiromitsu Kumamoto：“线控车辆的曲率输出驱动器模型”第八届世界智能交通系统大会论文集，澳大利亚悉尼。

西原 修: "ドライバによる操縦動作のモデル化と車両走行軌跡"日本機械学会Dynamics and Design Conference 2002 講演会アブストラクト集(講演論文集CD-ROM). No.02-9. 138 (2002)

Osamu Nishihara：“驾驶员转向运动和车辆行驶轨迹的建模”日本机械工程学会动力学和设计会议2002年演讲摘要集（演讲论文集CD-ROM No.02-9）。

西原 修, 左 国坤, 中野史郎, 熊本博光: "ステアバイワイヤ車両におけるバイラテラル・インタフェース"日本機械学会Dynamics and Design Conference 2001 講演会アブストラクト集. No.01-5. 219 (2001)

Osamu Nishihara、Kunikon Hidari、Shiro Nakano、Hiromitsu Kumamoto：“线控车辆中的双边接口”日本机械工程师学会动力学与设计会议 2001 年讲座摘要集第 01-5 号。

西原 修, 熊本博光: "ドライバによる操縦動作のモデル化と車両走行軌跡"日本機械学会Dynamics and Design Conference 2002 講演会アブストラクト集. No.02-9. 138 (2002)

Osamu Nishihara、Hiromitsu Kumamoto：“驾驶员转向运动和车辆行驶轨迹的建模”日本机械工程学会动力学与设计会议 2002 年讲座摘要集第 02-9 号（2002 年）。

Osamu Nishihara and Hiromitsu Kumamoto: "Modeling of Drivers Steering Action and Curvature of Vehicle Trajectory"Proceedings of JSME Dynamics and Design Conference (Abstracts). 138 (2002)

Osamu Nishihara 和 Hiromitsu Kumamoto：“驾驶员转向动作和车辆轨迹曲率建模”JSME 动力学与设计会议论文集（摘要）。