CAJ | 학술논문

针对线控转向汽车在紧急转向时，按理想转向传动比控制得到的横摆角速度动态响应慢、超调量大、稳定时间长的问题，提出了一种基于驾驶员转向意图辨识的横摆角速度反馈控制方法。该方法在正常转向时，车辆按照理想转向传动比控制；在紧急转向时，在理想转向传动比控制基础上，叠加横摆角速度反馈控制。车辆紧急转向引入驾驶员转向意图辨识环节，以判定何时叠加横摆角速度反馈控制。转向意图辨识利用多维高斯隐马尔可夫模型建模，通过离线训练参数、在线辨识识别的方式实现。实验验证结果表明：该方法能够有效降低线控汽车瞬态转向响应的超调量、减少稳定时间。
침대선공전향기차재긴급전향시，안이상전향전동비공제득도적횡파각속도동태향응만、초조량대、은정시간장적문제，제출료일충기우가사원전향의도변식적횡파각속도반궤공제방법。해방법재정상전향시，차량안조이상전향전동비공제；재긴급전향시，재이상전향전동비공제기출상，첩가횡파각속도반궤공제。차량긴급전향인입가사원전향의도변식배절，이판정하시첩가횡파각속도반궤공제。전향의도변식이용다유고사은마이가부모형건모，통과리선훈련삼수、재선변식식별적방식실현。실험험증결과표명：해방법능구유효강저선공기차순태전향향응적초조량、감소은정시간。
To address the slow dynamic response,large overshoot and long stability time of yaw rate of a steer-by-wire vehicle in an emergency steering by the ideal steering ratio control,this paper proposed a yaw rate feedback control method on the basis of driver steering intention recognition.The proposed method focuses on normal steering and emergency steering.The vehicle was controlled according to the ideal steering ratio control in normal steering. And it was controlled according to the yaw rate feedback control superimposed on ideal steering ratio control in emer-gency steering.The method adopts driver steering intention recognition to determine in superimposing yaw rate feed-back control.The driver steering intention recognition was modeled and implemented by using multi-dimensional Gauss Hidden Markov Model,offline parameter training and online recognition.The results have indicated that the driver steering intention recognition model has good precision and the method can effectively improve the transient steering response of the steer-by-wire vehicle.