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.

低附着力路面上的商用车转向阻力扭矩大大降低。因此，在低附着力路面上行驶时，使用传统的EPS控制策略而不考虑附着系数会导致驾驶员的道路感觉降低甚至消失，从而危及驾驶安全。本文通过理论分析和仿真研究了附着系数与转向阻力扭矩之间的关系。设计了考虑附着系数的两种新型商用车EPS控制策略。第一种控制策略是通过在不同工况下的转向阻力扭矩来计算辅助系数，并使用辅助系数来调整具有不同附着系数的路面上的辅助扭矩。第二种控制策略是在传统EPS控制策略的基础上应用与附着系数有关的补偿电流，以改善低附着力道路的路感。最后，建立了TruckSim / Simulink联合仿真模型，对两种新颖的控制策略进行了仿真和验证。仿真结果表明，两种新颖的控制策略都可以改善驾驶员的路感，并在确保低黏性的同时提高驾驶安全性。