Research on Active Safety Control of Steer-by-Wire Based on Warning Boundary
In order to improve the driving stability of conventional steer-by-wire vehicles,an active safety control strategy based on phase plane early warning boundary is proposed.Firstly,a phase plane of the sideslipand sideslipan-glerate was established;Secondly,in view of the shortcomings of the double-line method used in the traditional phase plane stabilization area division in the low road adhesion coefficient,the"parallelogram"boundary method was pro-posed to improve the division of the phase plane stability area,and an early warning boundary model was established with the stable domain boundary.Then,based on the early warning boundary,the steer-by-wire steering was designed to active safety controller,and the early warning degree PID controller and the pendulum angle speed sliding mode controller were designed to jointly decide the pendulum torque,play an active safety role in maintaining the stable driving of the vehicle.The simulation experiments based on Simulink and CarSim show that the control strategy de-signed in this paper can effectively improve the active safety and driving stability of steer-by-wire vehicles.
Steer-by-wirePhase planeParallelogram warning boundaryProactive securitySliding mode control
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