摘要
自动驾驶车辆需具备独立完成转向操作的能力,传统的电动助力转向系统无法满足该要求。为了达到自动驾驶车辆自动转向的目的,设计可同时满足驾驶员驾驶和车辆自动驾驶两种工况的车辆转向系统,对转向系统关键零部件进行选型设计;根据不同驾驶工况建立转向系统数学模型,利用Matlab/Simulink进行系统仿真。仿真结果表明,该转向系统可以满足自动驾驶工况,且可以保证车辆的稳定性,但由于转向系统输出值与输入值存在误差,导致行驶轨迹存在一定的偏移。
Autonomous vehicles should have the ability that could independently complete steering operations,but traditional electric power steering systems cannot satisfy this function.In order to achieve the purpose of automatic steering of autonomous vehicles,the vehicle steering system is designed to meet both the driver’s driving and the vehicle’s automatic driving conditions,key parts of the system are selected and designed;The mathematical model of the steering system is established according to different driving conditions,and simulated in Matlab/Simulink environment.The simulation results show that this steering system can satisfy the automatic driving conditions,and can guarantee the stability of the vehicle,but due to the error between the output value and the input value of the steering system,there is a certain deviation in the trajectory.
作者
李学鋆
章菊
陈小兵
LI XueYun;ZHANG Ju;CHEN XiaoBing(School of Vehicle Engineering,Hubei University of Automotive Technology,Shiyan 442002,China;Key Laboratory of Automotive Power Train and Electronics,Hubei University of Automotive Technology,Shiyan 442002,China)
出处
《机械强度》
CAS
CSCD
北大核心
2019年第6期1429-1435,共7页
Journal of Mechanical Strength
基金
湖北省教育厅科学研究计划项目(Q20171803)
湖北省协同创新中心项目(2015XTZX0412)资助~~
关键词
自动驾驶车辆
驾驶权
自动驾驶
转向系统
Autonomous vehicle
Driving rights
Automatic driving
Steering system
