LAUSR

The steering resistance torque of commercial vehicles on low adhesion pavement is greatly reduced. Therefore, while driving on low adhesion pavement, the use of traditional EPS control strategies without considering adhesion coefficient will lead to driver’s road feeling being reduced or even lost, endangering driving safety. In this paper, the relationship between adhesion coefficient and steering resistance torque is researched through theoretical analysis and simulation. Two novel EPS control strategies of commercial vehicles considering adhesion coefficient are designed. The first control strategy calculates assist coefficient through steering resistance torque under different working conditions, and assist coefficient is used to adjust the assist torque on the pavements with different adhesion coefficients. The second control strategy applies a compensation current related to adhesion coefficient on the basis of traditional EPS control strategy to improve the road feeling of low adhesion roads. Finally, a joint simulation model of TruckSim/Simulink is established, the two novel control strategies are simulated and verified. The simulation results show that both the two novel control strategies can improve the road feeling of the driver and improve the driving safety on low-adhesion road while ensuring the steering portability.