【作者】 陈晨；

【导师】 宗长富；

【作者基本信息】 吉林大学 ， 车辆工程， 2025， 硕士

【摘要】 随着汽车电动化和智能化的快速发展,线控底盘技术成为智能驾驶关键组成部分,其中线控转向系统是实现汽车自动和智能驾驶的关键。线控转向系统取消了方向盘与转向车轮之间的机械连接,通过电信号替代机械信号进行传导,提高了车辆的安全性、操控性和设计自由度,并且为自动驾驶系技术的实施提供了支持。变角传动比技术是线控转向系统关键技术之一,可以根据车速等动态调整角传动比,从而增强低速驾驶操控性和高速驾驶稳定性。线控转向系统由于变角传动比的特点,在客观上可以提升整车性能,而在主观上,具有机械转向系统车辆驾驶经验的驾驶员对线控转向系统存在一个适应过程。对驾驶员适应新系统的过程和特点进行研究,分析讨论驾驶员行为适应性影响因素,有助于参考无人机、平衡车新手模式对车辆新技术引导模式等进行研究。本文依托于吉林省科技发展计划项目“线控一体化底盘电动汽车自动换道决策与控制研究”(项目编号:20230101121JC)和中华环境保护基金项目“基于分布式驱动的智能底盘汽车协同控制研究”,拟对不同类型驾驶员对线控转向系统的行为适应性展开研究,并基于研究结果对线控转向系统引导模式展开设计验证。本文具体研究内容如下:1.线控转向系统车辆动力学建模与变角传动比设计验证基于线控转向系统的结构与工作原理,利用MATLAB/Simulink软件搭建线控转向系统动力学模型,同时在Car Sim中搭建车辆动力学模型,通过两个软件联合仿真功能建立线控转向车辆动力学模型,并选择典型工况对所建立的动力学模型进行仿真验证;研究选用速度分段和横摆角速度增益不变的方法设计线控转向系统的变角传动比方案,并选用典型试验工况进行仿真验证。2.不同驾驶经验驾驶员对线控转向系统行为适应性研究基于机械转向系统车辆驾驶经验的不同将驾驶员分为三类,对三类驾驶员进行驾驶员转向系统行为适应性实验设计,通过驾驶模拟器采集不同类型驾驶员在机械转向系统和线控转向系统两种不同转向系统下的驾驶数据,并对数据进行处理计算,研究三类驾驶员操作不同转向系统的驾驶特性以及在线控转向系统下的转向特性变化,对其行为适应性变化进行对比分析。3.基于不同类型驾驶员驾驶特性的线控转向系统引导模式设计及验证基于不同类型驾驶员转向特性及其变化特点,设计线控转向系统个性化变角传动比方案,并选择典型工况进行仿真验证;根据不同类型驾驶员的驾驶特性,结合力矩引导和纳什均衡模型预测跟踪控制策略,形成适用于不同类型驾驶员的线控转向系统引导控制策略;将驾驶过程划分为驾驶前、驾驶中、驾驶后三个阶段,结合个性化变角传动比方案和线控转向系统引导控制策略形成适用于不同类型驾驶员的线控转向系统引导模式。4.线控转向系统引导模式驾驶模拟器实验验证基于搭载线控转向系统引导模式的驾驶模拟器,对引导模式验证实验进行设计;实验涉及三个不同转向工况,采集三类驾驶员在无引导模式和有引导模式下的线控转向系统车辆驾驶数据;对实验数据进行处理计算,研究有无引导模式对不同类型驾驶员适应线控转向系统是否存在影响,验证所设计引导模式的有效性。更多还原

【Abstract】 With the rapid advancement of vehicle electrification and intelligence,drive-by-wire chassis technology has emerged as a pivotal component in intelligent driving systems.Among these,the steer-by-wire system is the linchpin for achieving automotive automation and intelligence.By eliminating the mechanical linkage between the steering wheel and the steering gears,steer-by-wire technology replaces mechanical signals with electrical ones,enhancing vehicle safety,maneuverability,and design flexibility.Furthermore,it provides the foundational support for the implementation of autonomous driving technologies.Steer-by-wire system can improve vehicle performance objectively due to the characteristics of variable angle transmission ratio,and subjectively,drivers with mechanical steering system experience have an adaptation process to steer-by-wire system.The research on the process and characteristics of drivers’adaptation to the new system,and the analysis and discussion of the factors affecting drivers’behavioral adaptation are helpful to research the vehicle’s new technology guidance mode with reference to the novice mode of unmanned aerial vehicles and balance vehicles.This paper relies on the Jilin Province Science and Technology Development Plan Project"Research on decision-making and control of automatic lane change of electric vehicle with X-by-Wire chassis"(Project Number:20230101121JC)and China Environmental Protection Fund Project"Research on Collaborative Control of Intelligent Chassis Vehicles Based on Distributed Drive".This paper intends to study the behavioral adaptability of different types of drivers to the steer-by-wire system,and based on the research results,design and verify the guidance mode of the steer-by-wire system.The specific contents of this paper are as follows:1.Vehicle dynamics modeling and variable angle transmission ratio design verification of the steer-by-wire systemBased on the structure and working principle of the steer-by-wire system,the dynamics model was built in MATLAB/Simulink,and the vehicle dynamics model was built in Car Sim.The vehicle dynamics model of the steer-by-wire system was established through the co-simulation function of the two software,and the established dynamic model was simulated and verified.The steer-by-wire system’s variable angle transmission ratio scheme is designed using the method of speed segmentation and constant yaw velocity gain,and the typical test conditions are used for simulation verification.2.Research on behavioral adaptability of steer-by-wire system by drivers with different driving experiencesBased on the different driving experiences of vehicles with mechanical steering systems,drivers are divided into three categories,and the behavioral adaptability experiment design of the driver steering system is carried out for these three categories of drivers.Driving data of different types of drivers under two different steering systems,the mechanical steering system and the steer-by-wire system,are collected through a driving simulator and processed and calculated.The driving characteristics of three types of drivers operating different steering systems and the changes of steering characteristics under the steer-by-wire system are studied,and the changes of their behavior adaptability are compared and analyzed.3.Design and verification of guidance mode of steer-by-wire system based on driving characteristics of different driversBased on the steering characteristics of different types of drivers and their changing characteristics,the personalized variable angle transmission ratio scheme of the steer-by-wire system is designed and verified by simulation.According to the driving characteristics of different types of drivers,combined with torque guidance and Nash equilibrium model prediction and tracking strategy,the steering control strategy of the steer-by-wire system suitable for different types of drivers is formed.The driving process is divided into three stages:before driving,during driving,and after driving.Combined with the personalized variable angle transmission ratio scheme and the steering control strategy of the steer-by-wire system,the guided mode of the steer-by-wire system suitable for different types of drivers is formed.4.Experimental verification of the steer-by-wire system’s guidance mode with the driving simulatorBased on the driving simulator equipped with the steering mode of steer-by-wire system,the pilot mode verification experiment is designed.The experiment involved three different steering conditions,and collected the driving data of three types of drivers in unguided mode and guided mode.The experimental data are processed and calculated to study whether there is any influence on the adaptability of different types of drivers to the steer-by-wire system,and to verify the effectiveness of the designed guidance mode.更多还原