Stability Control Of Shared Steering System Under Low Adhesion Road Conditions

Nowadays,the traffic flow visible with the car in the city can show that the car has naturally become a tool for people to travel in short distance,so the safety and comfort of car travel has become a hot topic of concern.With the vigorous development of artificial intelligence,intelligent car has become an effective way to comprehensively and effectively improve vehicle performance,but limited by electronic technology and ethics,Fully automatic driving vehicle is still difficult to apply to the ground.Therefore,there may be a long time in the present and the future,driver human and intelligent controllers will exist in the decision-making control process of the whole vehicle in the way of sharing the driving rights of vehicles.From a large number of existing literature studies,at present,there are few data and experiments on human vehicle sharing control on ice and snow roads.When the vehicle runs on low adhesion and asymmetric roads in ice and snow weather,its running state will inevitably be significantly adversely affected.The wheels are more likely to slip,and the vehicle is more likely to lose stability and cause accidents.Therefore,it is necessary and meaningful to explore the problem of human-machine sharing control on ice and snow roads.Therefore,this paper discusses the problem of sharing people and vehicles on ice and snow roads to improve vehicle tracking accuracy and driving stability.The work done in this paper will be introduced below:（1）Vehicles are more likely to lose stability on ice and snow roads.In this case,the commonly used monorail model can not well represent the nonlinear and asymmetric characteristics of vehicles.Therefore,this paper needs to establish a highdimensional vehicle model that can characterize the above characteristics,so as to provide a more accurate matching model for the follow-up research of people vehicle sharing.（2）Aiming at the problem of man-machine sharing control,the scheme of considering the direct interaction between the driver and the automatic system,and then mixing the output of communication is more complex,This seriously damages the driver’s supposed good driving intention,which is contrary to the original intention of the auxiliary system.Therefore,this paper transforms the man-machine shared steering problem into an optimization problem,and designs an indirect shared structure to directly obtain the corrected front wheel angle required by the vehicle.This structure can improve the defect of direct shared control to a certain extent.At the same time,the stability constraint of vehicle driving is transformed into the constraint in model predictive control,and the vehicle path tracking accuracy and operation stability are taken as the main optimization objectives in model predictive control.（3）Fuzzy reasoning is used to realize the weight distribution between the owner and the machine,that is,the weight coefficient of autonomous driving is adjusted adaptively through the set fuzzy reasoning rules,and the tracking accuracy and the driver’s intention are fully considered,so as to realize the reasonable distribution of driving rights.Finally,Matlab / Simulink and Car Sim are selected to jointly simulate the research results of this paper.The simulation results show that the structure can be effectively controlled even when the driver is tired or has operational risk.