考虑驾驶员个体差异的汽车EPS控制仿真分析

摘要

Road safety is closely related with the driver,vehicle,road,etc.,and there is large difference between different drivers' individual characteristics.Drivers can be divided into three categories,namely A,B and C(skilled,general and unskilled).A given driving path is taken as the input of the driver model,and the steering wheel torque as the output.Taking the output of the skilled driver's steering wheel torque as the desired value,considering the wrong operation torque caused by the unskilled drivers due to lack of perception of the lateral force,a control strategy of vehicle electric power steering(EPS) tracking the desired driving characteristics is proposed.The driver model which can characterize the driving characteristics like proficiency,etc.and consider the wrong operation torque is established,and the driver-vehicle closed-loop system is built with the model and the vehicle.Simulation results show that the control strategy of vehicle EPS tracking the desired driving characteristics improves the vehicle handling stability and reduces the driver's steering efforts,thus verifying the effectiveness of the proposed control strategy.%行车安全与驾驶员、车辆、道路等密切相关,而不同驾驶员个体之间的特性差异很大.文章将驾驶员分为A(熟练)、B(一般)、C(生手)3类,给定的行驶路径作为驾驶员模型的输入,转向盘转矩作为模型的输出;将A类驾驶员的输出转向盘转矩作为期望值,考虑不熟练驾驶员因对侧向力感知缺乏而导致的误操作转矩的影响,提出了一种跟踪期望驾驶特性的汽车电动助力转向系统(electric power steering,EPS)控制策略,建立了能够表征驾驶特性(熟练程度等)并考虑误操作转矩的驾驶员模型,与车辆组成人-车闭环系统.仿真结果表明,采用跟踪期望驾驶特性的汽车EPS控制策略,改善了汽车的操纵稳定性,减轻了驾驶员的转向负担,从而验证了该控制策略的有效性.