With the global trend towards automated driving, fault-tolerant onboard power supply systems are introduced into modern vehicles and the level of driving automation is continuously increasing. These advancements contribute to the applicability of Steer-by-Wire systems and the development of automated lateral vehicle guidance control functions. For the market acceptance of automated driving, the lateral vehicle guidance control function must hereby be cooperative, that is it must accept driver interventions. Existing approaches for automated lateral vehicle guidance commonly do not consider driver interventions. If unconsidered in the control loop, the driver intervention is inter¬preted as an external disturbance that is actively compensated by feedback. This thesis addresses the development of a cooperative lateral vehicle guidance control concept, which enables a true coexistence between manual steering control by the driver and automated steering control. To this end, the subordinate controls of the Steer-by-Wire system for the manual and automated driving mode are initially presented. These in¬clude the steering feel generation and steering torque control of the Steer-by-Wire Handwheel Actuator for the manual driving mode, which is structurally extended to a cascade steering position control for the automated driving mode. Subsequently, a superposition control is introduced, which fuses steering torque and position control. The resulting cooperative Handwheel Actuator control achieves precise tracking of the reference steering position in automated driving mode but ac¬cepts driver interventions. Thus, the driver can override the active control and experi¬ences a natural steering feel. The transitions hereby are seamless as no blending, gain scheduling or controller output saturation is required. Subsequently, the superimposed lateral vehicle guidance control¬ler for the automated driving mode is described, which computes the reference steering position for the respective Steer-by-Wire controls. In contrast ...
Cooperative lateral vehicle guidance control for automated vehicles with Steer-by-Wire systems
2023-01-01
Hochschulschrift
Elektronische Ressource
Englisch
Cooperative lateral vehicle guidance control for automated vehicles with Steer-by-Wire systems
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