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

doi:10.3901/JME.2025.12.204

Abstract

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

CLC Number:

U463
TP273

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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