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。


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    Titel :

    Automobile steering control method suitable for semi-automatic driving scene


    Weitere Titelangaben:

    一种适用于半自动驾驶场景的汽车转向控制方法


    Beteiligte:
    ZHU BO (Autor:in) / XIANG WENMING (Autor:in) / LIANG YANCHU (Autor:in) / LIAO XINSHEN (Autor:in)

    Erscheinungsdatum :

    2022-04-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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