融合主动避撞功能的新型智能转向系统机理研究

Based on the traditional steering by wire and vision technology, a novel intelligent steering system with function of active collision avoidance is researched. It can not only explore the potential performance of equipped device for the existing vehicle, but also realize road feel in conventional conditions and automotive safety in emergency conditions. Therefore, it is the future of the automobile power steering system. Firstly, the models of the novel intelligent steering and vehicle system are built. Secondly, the visual perception and intelligent decision method are researched, and the mechanism of the force and displacement coupled control are studied for the novel intelligent steering system. Finally, the robust fault tolerant control mechanism is explored, and the comprehensive evaluation methods are put forward for the novel intelligent steering system. In a word, researching the problems mentioned above, a theoretical basis can be provided for the novel intelligent steering system with function of active collision avoidance.

在继承传统线控转向功能基础上，发展融合主动避撞功能的新型智能转向系统，既可充分挖掘车辆现有配备装置的潜能，又可实现常规工况下轻便而不失路感、紧急工况下主动避撞以保证汽车安全性，将是未来汽车动力转向技术的发展趋势。围绕新型智能转向力与位移耦合控制机理，建立新型智能转向与整车系统动力学模型，研究新型智能转向视觉感知及智能决策方法，探索新型智能转向力与位移耦合控制和鲁棒容错控制机理，形成较为系统的新型智能转向驾驶员综合评价方法，为新型智能转向系统的开发设计提供理论基础。

在继承传统线控转向功能基础上，发展了融合主动避撞功能的新型智能转向系统，不但充分挖掘了车辆现有配备装置的潜能，而且实现了常规工况下轻便而不失路感、紧急工况下主动避撞以保证汽车安全性的功能。首先，建立了新型智能转向系统、道路系统、驾驶员及整车系统动力学模型，构建了基于人-车-路闭环的新型智能转向车辆机电耦合系统动力学模型；其次，研究了新型智能转向视觉感知及智能决策方法，建立了联合转向和制动的车辆纵横向主动避撞体系；接着，探索了新型智能转向系统力与位移耦合控制机理，提出了主动避撞控制下的驾驶员路感补偿策略；进一步，研究了新型智能转向分布式鲁棒容错控制机理，实现了车辆在故障工况下的平稳安全运行；最后，研究了新型智能转向试验验证与驾驶员路感评价，为新型智能转向系统的开发设计提供理论基础。