考虑驾驶员特性的商用车电液复合转向系统自动驾驶转向模式切换控制

doi:10.3901/JME.2025.12.204

机械工程学报 ›› 2025, Vol. 61 ›› Issue (12): 204-216.doi: 10.3901/JME.2025.12.204

• 运载工程 • 上一篇

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考虑驾驶员特性的商用车电液复合转向系统自动驾驶转向模式切换控制

陈翔, 侯凯龙, 赵万忠, 王春燕

南京航空航天大学能源与动力学院南京 210016

收稿日期:2024-08-12 修回日期:2025-02-08 发布日期:2025-08-07
作者简介:陈翔，男，1986年出生，副教授。主要研究方向为车辆动力学与控制及线控底盘技术。E-mail：chenxiang21@nuaa.edu.cn;侯凯龙，男，2000年出生。主要研究方向为线控底盘与智能控制技术。E-mail：sz2202017@nuaa.edu.cn;赵万忠(通信作者)，男，1982年出生，教授，博士研究生导师。主要研究方向为车辆主动安全技术及智能网联技术。E-mail：zwz@nuaa.edu.cn;王春燕，女，1976年出生，教授，博士研究生导师。主要研究方向为智能汽车及其协同控制技术。E-mail：wcy2000@126.com
基金资助:
国家自然科学基金(52372388)和江苏省重点研发计划(BE2022053)资助项目。

Driver Characteristics based Automatic Driving Steering Mode Switching Control for Commercial Vehicle with Electro-hydraulic Compound Steering System

CHEN Xiang, HOU Kailong, ZHAO Wanzhong, WANG Chunyan

Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2024-08-12 Revised:2025-02-08 Published:2025-08-07

摘要/Abstract

摘要： 为了解决自动驾驶商用车在自动驾驶与人工驾驶模式共存阶段面临的驾驶模式切换问题，提出一种考虑驾驶员特性的商用车电液复合转向系统自动驾驶转向模式切换控制策略。该策略首先设计μ/H₂混合鲁棒控制器，用于自动驾驶转向控制，确保在多不确定性条件下车辆转向的稳定性，并设计出超扭滑模控制器实现转角跟踪。随后，针对不同驾驶员的驾驶特性，提出个性化的自动驾驶转向模式切换控制策略，通过设计不同的驾驶员转向干预判断条件，提高转向干预判断的准确性。同时，结合切换时间、驾驶员手力矩和纵向速度等因素，设计个性化的驾驶权限转移策略，实现平滑的驾驶权限转移。最后，利用AMEsim、Simulink和Trucksim进行联合仿真，来验证该转向模式切换控制策略的有效性。结果表明所提出的考虑驾驶员特性的自动驾驶转向模式切换控制策略在保证可以实现商用车自动驾驶模式与人工驾驶模式的安全快速平稳切换的基础上，充分考虑了驾驶员的个体差异，提升了其驾驶体验。

关键词: 电液复合转向系统, 自动驾驶转向模式, 切换控制, 驾驶员特性, 多不确定性

Abstract: In order to solve the problem of driving mode switching faced by autonomous commercial vehicles during the coexistence of autonomous and manual driving modes, an automatic driving steering mode switching control strategy of electro-hydraulic compound steering(EHCS) system for commercial vehicle considering driver characteristics is proposed. The strategy first designed a μ/H2 hybrid robust controller for autonomous driving steering control, ensuring the stability of vehicle steering under multiple uncertainties, and designed a super-twisting sliding mode controller(STSMC) to achieve steering angle tracking. Subsequently, personalized autonomous driving steering mode switching control strategies are proposed based on the driving characteristics of different drivers. By designing different conditions for driver steering intervention judgment, the accuracy of steering intervention judgment is improved. At the same time, a personalized driving permission transfer strategy is designed based on factors such as switching time, driver hand torque, and longitudinal speed, achieving smooth driving permission transfer. Finally, a joint simulation is conducted using AMEsim, Simulink, and Trucksim to verify the effectiveness of the steering mode switching control strategy. The results indicate that the proposed autonomous driving steering mode switching control strategy considering driver characteristics not only ensures safe, fast, and smooth switching between commercial vehicle autonomous driving mode and manual driving mode, but also fully considers individual differences of drivers and improves their driving experience.

Key words: electro-hydraulic compound steering system, autonomous driving steering mode, switching control, driver characteristics, multiple uncertainties

中图分类号:

U463
TP273

陈翔, 侯凯龙, 赵万忠, 王春燕. 考虑驾驶员特性的商用车电液复合转向系统自动驾驶转向模式切换控制[J]. 机械工程学报, 2025, 61(12): 204-216.

CHEN Xiang, HOU Kailong, ZHAO Wanzhong, WANG Chunyan. Driver Characteristics based Automatic Driving Steering Mode Switching Control for Commercial Vehicle with Electro-hydraulic Compound Steering System[J]. Journal of Mechanical Engineering, 2025, 61(12): 204-216.

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考虑驾驶员特性的商用车电液复合转向系统自动驾驶转向模式切换控制

Driver Characteristics based Automatic Driving Steering Mode Switching Control for Commercial Vehicle with Electro-hydraulic Compound Steering System

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