The invention discloses a man-machine co-driving control method applied to central control of an intelligent driving automobile. The man-machine co-driving control method comprises the following steps that (1) the torque TS of a steering wheel and the current EPS response coefficient Tf are monitored; 2) judging whether the TS changes relative to the previous moment so as to judge that the driver is or completely quits the vehicle transverse control; 3) when the driver is or completely quits the transverse control of the vehicle, judging whether Tf is 0 or not; 4) judging the numerical value of the TS, and raising the Tf at different slopes A according to different numerical values of the TS; and 5) calculating an actual output current through the EPS controller according to the size of the Tf and the ADAS corner request. According to the method, the parameters are added in the transverse control strategy of the ADAS system, so that the ADAS system can recognize the driving intention of the driver, it is guaranteed that the ADAS system can exit or intervene smoothly in the driver intervention process, and the comfort of the driver is improved.

    本发明公开了一种应用于智能驾驶汽车居中控制的人机共驾控制方法,其包括如下步骤:1)监控方向盘力矩TS与当前EPS响应系数Tf;2)判断TS相对于上一时刻是否有变化,从而判断驾驶员正在或完全退出车辆横向控制;3)当驾驶员正在或完全退出车辆横向控制时,判断Tf是否为0;4)判断|TS|的数值,并根据|TS|不同的数值对Tf进行不同斜率A的上升;5)通过EPS控制器根据Tf的大小和ADAS转角请求计算出实际输出电流。本发明通过在ADAS系统的横向控制策略中增加参数,使得ADAS系统能够识别驾驶员的驾驶意图,保证驾驶员介入的过程中,ADAS系统有较为平顺的退出或介入,提高驾驶员的舒适性。


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    Titel :

    Man-machine co-driving control method applied to central control of intelligent driving automobile


    Weitere Titelangaben:

    应用于智能驾驶汽车居中控制的人机共驾控制方法


    Beteiligte:
    LI XIANGYI (Autor:in) / SHEN JUN (Autor:in) / PEI SHUANGHONG (Autor:in) / WANG XIAYU (Autor:in) / LIU YULU (Autor:in)

    Erscheinungsdatum :

    2022-08-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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