The invention provides a moment processing method for intelligent driving transverse control. The moment processing method comprises the steps of judging the deviation condition of a vehicle in a lane and whether the vehicle is inflexion deviation intervention or not; the driving intervention torque is partitioned, and a zooming breakpoint and a zooming coefficient are set; according to the bending degree of the road, symbols of torques on a curve and a straightway are modified; and according to the inflexion intervention condition and the road bending degree, modifying the zooming breakpoint and the zooming coefficient, and obtaining the output torque according to the final zooming coefficient. According to the method, straightway and curve scenes are comprehensively considered, the dead zone offset of the moment in the curve is calculated according to the road bending degree, the intervention condition in the curve and the like, the final steering moment is obtained through the method of correcting the zoom coefficient and the like, and discomfort caused by sudden intervention of the moment in different scenes can be accurately improved. And meanwhile, according to the actual driving feeling, the driving intervention torque is partitioned to set the zoom breakpoint, so that the torque can be smoothly transited and corrected, and the driver can be effectively reminded to take over the vehicle in time through confrontation to a certain degree, and the driving risk is avoided.
本发明提供一种智能驾驶横向控制的力矩处理方法,判断车辆在车道内的偏离情况和是否为内弯偏离介入;将驾驶介入力矩分区,设置缩放断点和缩放系数;根据道路的弯曲程度,修改弯道、直道上扭矩的符号;根据内弯介入情况和道路弯曲程度,修改缩放断点和缩放系数,根据最终缩放系数得到输出扭矩。本发明综合考虑直道、弯道场景,根据道路弯曲程度、弯道内介入情况等计算弯道内力矩的死区偏置,修正缩放系数等方法求得最终转向力矩,能够精确改善不同场景下力矩突然介入引起的不适感。同时,根据实际驾驶感受,将驾驶介入力矩分区来设置缩放断点的方法,不仅能平滑过渡纠偏力矩,又能通过一定程度的对抗,有效提醒驾驶员及时接管车辆,避免驾驶风险。
Torque processing method for intelligent driving transverse control
一种智能驾驶横向控制的力矩处理方法
2022-06-24
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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