Research on Control Algorithm of Active Steering Control Based on the Driver Intention

摘要

Active steering technology can improve the operability of the driver by the involvement to the steering system. Driver is the major controller of the vehicle Therefore, the involvement of advanced technologies including the active steering technology shouldn’t interfere with the intention of the driver, and the driver should still have great control of the vehicle. The aim of this paper is to solve the problem of the driver’s control when the active steering system works to improve the flexibility of the low speed and the stability of the high speed, and the active steering model based on the driver’s steering intention is established. Through the CarSim simulation software, this paper adopts 9 parameters related to the vehicle steering of the DLC (Double Line Change). And PCA (Principal Component Analysis) algorithm, a tool of statistical analysis, is applied to select 4 parameters which can stand for the DLC from the 9 parameters, which makes the data processing easier. Through the 4 parameters, this model divide the driver’s steering intention into four categories (emergency steering, normal steering, turn left and turn right) having different weights of active steering angle by clustering analysis, which ensures the driver get better control to the vehicle than traditional active steering system at different steering conditions. Finally, the feasibility of this model is verified by the simulation results through the comparison with the curve of the ideal steering at DLC steering condition.