Upcoming vehicle generations will provide fault-tolerant onboard power supply systems and an increasing level of driving automation. These changes contribute to the applicability of Steer-by-Wire (SbW) 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 be cooperative, that implies it must permit driver interventions. This contribution proposes a cooperative control concept for the Handwheel Actuator (HWA) of a SbW system, which enables a true coexistence between steering position and steering torque control. The controller performs precise tracking of the reference steering position provided by a lateral vehicle guidance controller. In the event of a driver intervention, the driver can override the active control and experiences a natural steering feel. In contrast to existing approaches, the transitions hereby are seamless as no gain scheduling, switching or controller output saturation are required. Moreover, a consistent control performance is ensured. After the derivation of a mathematical system model, identification, and model evaluation, the cooperative control concept is systematically designed. Besides a frequency domain analysis of the nominal control performance and stability, real vehicle tests are conducted to verify simulation results and get a representative view of the controller performance.
Cooperative Control Concept for the Handwheel Actuator of a Steer-by-Wire System
Proceedings
International Munich Chassis Symposium ; 2023 ; München, Germany June 20, 2023 - June 21, 2023
24.12.2024
18 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch