Research on interactive steering control strategy between driver and AFS in different game equilibrium strategies and information patterns

In the past decade, several publications have shown that it is advisable to design an advanced driver assistance system using a shared control structure. This paper is concerned with the modelling and verification of an interactive steering control strategy between a driver and an active front steering (AFS) controller to investigate the complex interactions between human driver and an AFS system. Using game theory as a general framework, a more comprehensive mathematical model system of interactive steering control potentially applicable to explore human drivers’ behaviours in shared control of intelligent vehicles is presented and discussed in this paper. The effects of different information patterns, namely the open-loop pattern and the closed-loop feedback pattern on modelling shared steering control between driver and AFS have been investigated. Simulation and hardware-in-loop implementation results prove the validity of steering interactive modelling in different game information patterns. Specifically, the results show that, in the Nash equilibrium strategy situation, the driver and the AFS controller may become more rational and reasonable in the process of completing the same dynamic task in the closed-loop feedback information patterns compared to the open-loop ones; and the differences between feedback Nash and feedback Stackelberg may depend on the step size of discretisation.     

并行再生制动系统控制器的设计与开发

分析了混合动力汽车再生制动系统的特点及其应用前景,提出了一种基于并行控制的再生制动控制策略;针对某款并联式混合动力轿车,采用并行再生制动控制策略,进行了制动控制器的软硬件开发;搭建了硬件在环仿真试验系统对控制器进行了硬件在环仿真验证,并对控制器进行了实车测功机试验和实车道路试验。试验结果表明:该控制器运行稳定、可靠,整车平均制动能量回收效率达15%左右,显著提高了汽车的能源利用效率。     

船舶舵机硬件在环仿真系统

本文采用计算机-实物系统并行运行的技术途径,开发了船舶液压舵机系统的硬件在环仿真系统,完成船舶液压舵机系统工作过程的动态仿真,模拟了舵机浮动杆追随机构的工作过程,达到了较好的教学效果。     

电容式混合动力轿车硬件在环试验研究

针对电容式混合动力轿车整车控制器搭建了硬件在环试验平台,并作出了优化,实现了整个平台数据交互的“一线制”。详细论述了硬件在环试验流程,编制了上位机操控界面,配合使用基于CCP的在线标定软件在该硬件在环试验平台上对ISG电机基本助力扭矩MAP图和基本制动扭矩MAP图进行了初步标定,并在该实验台上取得了良好的仿真结果。     

基于RTAI的发动机快速原型仿真系统研究

以快速开发发动机实时仿真系统为目标,采用当前先进的快速原型开发技术,建立了发动机快速原型仿真系统。该系统可有效地解决发动机仿真系统开发周期较长、软硬件通用性差等不足。系统以计算机辅助设计软件Simulink和实时Linux为软件平台,采用PC兼容机和通用工业数据采集卡为硬件平台。详细阐述了快速原型仿真系统的软硬件组成、工作原理和实现步骤,并以6135柴油机为实例进行了实时仿真系统的快速开发,验证了所建立的快速原型仿真系统的有效性。