Research On Vehicle Active Steering Control Strategy Based On Automobile State Parameter Estimation

The steering system of a car is the part that drivers rely on most when driving.The ability of all aspects of the steering system has a vital influence on the driver's control of the vehicle.Due to the lack of operating experience of the driver and the influence of external interference factors,sometimes the steering process of the vehicle will occur insufficient steering and excessive steering,resulting in traffic safety problems.Because the driver can't control the vehicle accurately in real time.Therefore,the active steering system of the car is needed for the auxiliary driving of the car.In the process of initiative to study,caused by the centroid side-slip Angle cannot be directly measured active steering control based on all kinds of algorithm can not reach the corresponding precision,therefore,this article through the establishment of vehicle dynamics model,tire model and driver model and road model for vehicle model set.Through nondestructive kalman filter algorithm on the vehicle's center of mass side-slip Angle estimation,and use the GPS differential positioning system to carry on the real data collected to calculate the actual centroid side-slip Angle,through the acquisition of car get estimate the centroid side-slip Angle of other related parameters,to verify the actual observation results of the algorithm.And considering the influence of road surface disturbance and sensor noise mixed sensitivity of robust controller is designed,based on observation of nondestructive kalman filtering algorithm is the center of mass of side-slip Angle values and expectations of the deviation of active steering control in controller design to ensure the stability of the vehicle in the center of mass within the scope of side-slip Angle,and through the Simulink to build control model,the simulation to verify the validity of the controller,finally to design the controller hardware in the loop simulation,through Labview RT is designed in this paper the experimental validation on stage mixed sensitivity of the active steering controller real effect.