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Control method and control system for active steering system of pilotless automobile

An unmanned vehicle, active steering technology, applied in automatic steering control components, electric steering mechanisms, power steering mechanisms, etc., can solve the problems of low control accuracy, large errors, and long adjustment time.

Active Publication Date: 2021-06-08
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

The existing steering system control technology mostly adopts linear control algorithm, which has the disadvantages of low control precision and weak stability.
And the active steering system is a nonlinear time-varying system with multi-variable input, and the operating conditions vary widely. Therefore, the traditional algorithm has the defects of limited adaptive ability and weak anti-interference, which will cause the active steering to the target angle. There are problems such as large error, long adjustment time, and back and forth fluctuations

Method used

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  • Control method and control system for active steering system of pilotless automobile
  • Control method and control system for active steering system of pilotless automobile
  • Control method and control system for active steering system of pilotless automobile

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specific Embodiment

[0045] A specific embodiment of an active steering control method, the method steps comprising:

[0046] Step 1: Determine the target steering angle. After the active steering system is started, the controller at the decision-making level determines the target steering angle θ of the front wheels of the car according to the vehicle status information and environmental information m . The goal of the active steering system is to control the front wheels of the car to the target steering angle and maintain real-time and accurate follow-up.

[0047] Determine the target steering angle θ of the front wheels of the car m The process includes: the on-board camera obtains the surrounding environment information and then inputs the environment information to the upper controller; the sensor obtains the state information generated by the vehicle itself, and transmits its own state information to the upper controller; the upper controller performs vehicle monitoring according to the i...

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Abstract

The invention belongs to the technical field of motor vehicle electric control, and particularly relates to a control method and system for an active steering system of a pilotless automobile, and the method comprises the steps: obtaining an active steering current through a PID controller according to the difference between a target steering angle sent by a decision-making layer and an actual steering angle; inputting the active steering current into a motor, and outputting a target current; and applying motor output torque to front wheels through a steering system to form a main control ring. According to the method, the difference value between the actual current and the required reverse boosting current is eliminated through the proposed fuzzy self-adaptive PID control algorithm, and the motor can quickly and accurately output the target current.

Description

technical field [0001] The invention belongs to the technical field of motor vehicle electric control, and in particular relates to a control method and a control system for an active steering system of an unmanned vehicle. Background technique [0002] The steering system is one of the key systems that affect the steering stability and driving safety of the car. The steering system of the car has completed the transformation from the mechanical steering system to the electric power steering system. The future driverless active steering is the ultimate goal of the steering system. The research focus of unmanned driving is mainly divided into three parts: the perception layer, the decision-making layer and the execution layer. The main goal of the execution layer is to realize the corner following control through the steering control algorithm after receiving the steering wheel target angle signal sent by the decision-making layer. [0003] The traditional electric power stee...

Claims

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Application Information

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IPC IPC(8): B62D5/04B62D6/00B62D137/00
CPCB62D5/046B62D6/002
Inventor 禄盛胡玉祥赵洋陈翔马莹朴昌浩
Owner CHONGQING UNIV OF POSTS & TELECOMM
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