A Pull Drift Compensation Strategy for Heavy Commercial Vehicles with Electric Power Steering Assistance

Vehicle driving wandering is a common failure mode that affects the performance of vehicles. Due to the greater mass and higher center of gravity of commercial vehicles compared to passenger cars, pull drift not only increases driver fatigue but also increases the risk of rollover. Therefore, designing an effective compensation plan for commercial vehicle pull drift is an important and challenging issue. In this paper, based on the pull drift mechanism of heavy commercial vehicles, we propose an electric power steering pull drift compensation strategy for heavy commercial vehicles. Through three stages of functional scene recognition, compensation torque calculation, and compensation torque output, it can directly generate the torque demand for the steering system motor. Simulation experiments show that this method can accurately and quickly recognize pull drift scenarios and effectively reduce vehicle lateral error and roll angle.