The invention discloses a man-machine co-driving steering control method for an automatic driving vehicle. The method comprises the following steps: obtaining a steering wheel angle instruction through an automatic driving controller; obtaining a steering wheel torque value; judging whether the torque value exceeds a preset take-over threshold value or not, and if so, executing power-assisted steering by the electric steering system EPS according to the torque value of the steering wheel; and if not, acquiring a steering wheel torque value through a steering wheel torque sensor, calculating acorrection angle theta demand for the steering wheel angle, superposing the correction angle theta demand with the automatic driving steering wheel angle instruction to obtain an angle request instruction, sending the angle request instruction to the electric steering system, and controlling the steering gear by the electric steering system in response to the angle instruction to realize man-machine co-driving. The steering intention of the driver is comprehensively considered on the basis of an automatic driving function normal control actuator and then sent to the steering actuator, and thegood steering experience of man-machine co-driving is achieved.
本发明公开了一种自动驾驶车辆的人机共驾转向控制方法,通过自动驾驶控制器获取方向盘转角指令;获取方向盘力矩数值;判断力矩数值是否超过预设的接管阈值,若是,则电动转向系统EPS依据方向盘力矩数值执行转向助力;若否,则通过方向盘力矩传感器采集到的方向盘力矩数值,计算对方向盘转角的修正角度θ需求,修正角度需求θ与自动驾驶方向盘转角指令叠加,得到转角请求指令,将转角请求指令发送至电动转向系统,电动转向系统响应转角指令控制转向器,实现人机共驾。本发明在自动驾驶功能正常控制执行器的基础上将驾驶员的转向意图综合考虑,再发送至转向执行器,实现人机共驾的良好转向体验。
Man-machine co-driving steering control method for automatic driving vehicle
一种自动驾驶车辆的人机共驾转向控制方法
11.08.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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