Identification Of Driver Steering Behavior And Individuality Variable Ratio Design For Steer-by-Wire System With Joystick

Along with the information technology high speed development,Drive-by-Wire technology has been used a lot of in auto control structure by research institutions as well as manufacturers.Vehicle drive-by-wire technology takes down mechanical control devices such as components in the steering system hydraulic,thereby the space inside the car was saved,the weight of the vehicle reduced.In addition,due to the flexibility and diversity of the drive-by-wire control system algorithm and its characteristics of system parameters adjustable,Steer-by-Wire(SBW)vehicle dynamics control system has greater development space and brighter prospects compared to the traditional mechanical steering system,SBW has become a research hotspot at home and abroad.The applications of Steer-by-Wire(SBW)make the car can break the shackles of the traditional steering wheel control form,new control forms such as joystick,touch screen,buttons also can be used for vehicle steering control.Among these new control forms,the joystick steering control system has its unique advantages,such as it’s more suitable for single-arm drivers and one arm with disabilities disabled driver to use.At the same time the joystick SBW control makes the steering system installation easier,and also improves the vehicle space utilization.The system also can solve the conflict of the "light" and "spirit" in the traditional steering system.How to ensure the excellent control stability of the vehicle by reasonable angle transmission design is one of the main contents of this paper.Considering the unique characteristics of the SBW system which can use variable transmission ratio,this paper uses this characteristic to carry out the targeted variable angle ratio design to meet the different steering behavior of the driver based on the identification of the steering behavior of the joystick SBW system.Thus this design enable the driver to steer personalize..This paper combined with the National Natural Science Foundation of China," Research on Joystick Steer-by-Wire system and its bidirectional control method "(No.51105165)," Control Mechanism and Evaluation Method of New Type of Steering System Based on Driver Characteristics "(No.51575223).The design of variable angle ratio control strategy for different steering behavior characteristics of the new Joystick SBW control system.This paper mainly carried out the following research work:(1)The driving simulator buildingA large number of experiments are essential to capture and analyze the steering characteristics of drivers.Because the adjustable parameters in the actual vehicle experiment are limited and the conditions can be realized are limited at the same time,this paper chooses to build the driving simulator test considering its flexibility and richness.The driving simulator test is to complete the data acquisition required for the identification and classification of steering behavior.This paper puts forward the composition and working principle of driving simulator.Subsequently,this paper describes the driving simulator main body,simulator console and other important components.(2)Classifying the driver’s steering behaviorIn this paper,the K-means algorithm is used to classify the driver’s behavior,using the driving simulator built in the paper,selecting the various steering test cases in Car Sim and collecting the pilot data for 25 drivers.On the basis of the existing research,this paper selects and collects the parameters that can characterize the steering behavior of the drivers,as well as establishes the parameter database.K-means algorithm is used to realize the clustering of characteristic parameters,and then the steering behavior of drivers is divided into four types: cautious,more cautious,more radical and radical.(3)Designing the target variable angle transmission ratioBased on the classification of driver ’s steering behavior identification,this paper designs the variable-angle ratio control strategy for the four types of steering behaviors,which are cautious,more cautious,more radical and radical,to meet the individual needs of different steering habits.In the smaller angle range of the joystick,the most suitable variable yaw rate gain strategy is designed for the four driving modes.(4)Simulation and experimentsBased on the design of the variable angle ratio for the driver’s steering behavior,the control strategy is first simulated by software Car Sim and MATLAB/Simulink.After this,hardware d SPACE1103 and software Car Sim,Simulink are used to establish hardware-in-loop experiment,and the use of Car Sim RT completed real-time simulation.The simulation and experimental results are analyzed to evaluate the variable angle ratio control strategy designed in this paper.