The invention discloses an electronic control full-hydraulic steering system considering a man-machine driving mode and a control method. In the man-machine driving mode, the electronic control full-hydraulic system solves the real-time target position of a valve element of an electronic control full-hydraulic steering valve according to the difference value between the target front wheel steering angle and the actual front wheel steering angle; in the man-machine co-driving mode, the moving speed of a valve element of the electric control full-hydraulic steering valve is determined according to the direction of a steering wheel rotated by a driver and the current wheel direction, and then the real-time target position of the valve element of the electric control full-hydraulic steering valve is solved according to the moving speed of the valve element of the electric control steering valve and the initial position of the valve element; and in an automatic driving mode, a trajectory tracking controller based on MPC is adopted to obtain a target front wheel rotation angle, and then the displacement of the valve element of the electric control full-hydraulic conversion valve is obtained through a sliding mode controller according to the difference value between the target front wheel rotation angle and an actual front wheel rotation angle. According to the method, the vehicle steering precision is improved, and the problems of man-machine conflict and driving mode switching smoothness are solved.
本发明公开了考虑人机驾驶模式的电控全液压转向系统及控制方法,人驾模式时,电控全液压系统根据目标前轮转角与实际前轮转角之间的差值求解实时的电控全液压转向阀阀芯目标位置;人机共驾模式时,由驾驶员转动方向盘方向与当前车轮方向确定电控全液压转向阀阀芯的移动速度,然后根据电控转向阀阀芯的移动速度与阀芯的初始位置求解实时的电控全液压转向阀阀芯目标位置;自动驾驶模式时,采用基于MPC的轨迹跟踪控制器得到目标前轮转角,再根据目标前轮转角与实际前轮转角的差值,通过滑模控制器得出电控全液压转向阀阀芯位移。该发明不仅提高了车辆转向的精度,而且解决了人机冲突以及驾驶模式切换的平顺性问题。
Electric control full-hydraulic steering system considering man-machine driving mode and control method
考虑人机驾驶模式的电控全液压转向系统及控制方法
22.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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