关键词: 主动转向, 质心侧偏角观测, 改进滑模控制, 横向稳定性

Abstract: To enhance the driving stability and active safety of vehicles under steering conditions, a control strategy for active front-wheel steering based on dynamic observation of the center of mass sideslip angle is proposed. Firstly, a dynamic observer for real-time estimation of the center of mass sideslip angle is designed based on the vehicle kinematic model and the Extended Kalman Filter (EKF) algorithm, facilitating the design of the active front-wheel steering controller. Then, an adaptive variable transmission ratio control method is designed based on a fixed yaw rate gain. To address the contradiction between the response speed, stability and system chattering in traditional sliding mode control, an Improved Sliding Mode Control(ISMC) active front-wheel steering controller is designed. Finally, the proposed control strategy is verified on a co-simulation platform based on Simulink-CarSim software. The simulation results show that the proposed active front-wheel steering control strategy can more effectively compensate for the front-wheel steering angle compared with Proportional Integral Derivative (PID) control and Sliding Mode Control (SMC), improving the driving stability of the vehicle and realizing the active steering function.

Key words: active steering, center of mass side slip angle observation, Improved Sliding Mode Control (ISMC), lateral stability