A model predictive control approach for angle tracking of steer-by-wire system with nonlinear transmission ratio

摘要

Steer-by-wire for full self-driving vehicles requires rapid angle tracking in the process of steering, making steering system stability paramount. This is particularly challenging for steering wheels accurately without handwheel, for which road feedback information is scarce. While much of the research on steer-by-wire has focused on improving the stability of vehicle dynamics, comparatively little is known about the angle tracking control of steer-by-wire system for full self-driving vehicle. Here, we discuss a series of studies on the steering dynamics model and nonlinear transmission ratio of steering system that, collectively, design an angle tracking approach of how the model predictive control algorithm steers the front wheels precisely. The designed approach has been downloaded into a steering control unit and tested by some steering cycles in a steering test bench to fully realize angle tracking control of steer-by-wire system in practical engineering.

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