面向自动驾驶汽车的新型转向系统设计及仿真分析  

Design and Function Analysis of New Steering System for Autonomous Vehicle

作　　者：姬鹏 赵金鹏 姜利民 Ji Peng;Zhao Jinpeng;Jiang Limin(College of Mechanical and Equipment Engineering,Hebei University of Technology,Handan 056038,China)

机构地区：[1]河北工程大学机械与装备工程学院,河北邯郸056038

出　　处：《系统仿真学报》2025年第1期211-219,共9页Journal of System Simulation

基　　金：河北省引进留学人员资助项目(CL201704);河北省高等学校科学技术研究项目(ZD2019023)。

摘　　要：针对目前由于法规要求和技术成熟度的限制,面向自动驾驶汽车的转向系统必须具备驾驶员接管功能的需求,将永磁耦合装置嵌入转向系统中,设计出一款新型转向系统,可实现自动驾驶模式和驾驶员接管模式的切换。对新型转向系统进行整体方案设计,该系统能够实现转向盘静默、路感模拟、过载保护和机械转向冗余等功能,在不增加额外硬件的情况下实现转向系统的冗余设计。对该系统的关键部件永磁耦合装置开展了仿真分析和台架测试,对其传递特性进行了研究。搭建了整车和转向系统模型。通过Simulink-CarSim-PreScan联合仿真对新型转向系统进行功能分析,验证了该系统功能安全和冗余设计的有效性。For the current requirements of regulations and technical maturity,the steering system for autonomous vehicles must have the driver takeover function,explore the permanent magnet coupling device embedded in the steering system,and design a new steering system,which can realize the switch between automatic driving mode and driver takeover mode.The overall design of the new steering system is carried out.The system can realize the functions of steering wheel silence,road sense simulation,overload protection and mechanical steering redundancy,and realize the redundant design of steering system without adding additional hardware.The key component of the system,the permanent magnet coupling device,is simulated and tested on the bench,and its transmission characteristics are studied.The model of the vehicle and steering system was built.Through Simulink-CarSim-PreScan cosimulation,the functional analysis of the new steering system is carried out,and the effectiveness of the functional safety and redundancy design of the system is verified.

关 键 词：自动驾驶 转向系统 永磁耦合装置 模式切换 冗余设计 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]