The invention relates to the technical field of semi-automatic driving, in particular to an automobile steering control method suitable for a semi-automatic driving scene. Compared with the prior art, the angle request of the vehicle control unit is received, a control closed loop of transverse control is made at the steering system end, the control precision is improved, and the control delay is shortened; the problems of abnormal jittering and unsmooth execution in the transverse control process are solved, and the request of the vehicle control unit can be accurately executed; the torque limit value of the whole vehicle during man-machine co-driving is collected, and the smoothness during man-machine co-driving can be well achieved. The method is suitable for a driving scene of a full vehicle speed section, is suitable for different whole vehicle automatic driving controllers, and is wide in application range.
本发明涉及半自动驾驶技术领域,具体地说是一种适用于半自动驾驶场景的汽车转向控制方法。本发明同现有技术相比,接收整车控制器的角度请求,将横向控制的控制闭环做在转向系统端,提高了控制的精准度,降低了控制延时;解决了横向控制过程中出现的异常抖动以及执行不平顺的问题,能够精准的执行整车控制器的请求;收整车对人机共驾时的扭矩限值,能够很好的解决人机共驾时的平顺性。本发明适应全车速段的驾驶场景,适用于不同的整车自动驾驶控制器,适用范围广。
Automobile steering control method suitable for semi-automatic driving scene
一种适用于半自动驾驶场景的汽车转向控制方法
2022-04-15
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Automobile steering control method suitable for automatic driving scene
Europäisches Patentamt | 2024
|Automatic driving automobile control method for expressway open scene
Europäisches Patentamt | 2023
|Dual-redundancy steering system suitable for automatic driving
Europäisches Patentamt | 2023
|