The invention discloses an EPS man-machine co-driving control right distribution method, which is used for a lane keeping system and comprises the following steps: acquiring real-time hand power of a driver for controlling a steering wheel; judging whether the current mode is an emergency obstacle avoidance mode or a man-machine co-driving mode; if the mode is the emergency obstacle avoidance mode, exiting lane keeping after a first specified condition is met, and reducing lane keeping output force to zero within a first preset time period; if the man-machine co-driving mode is adopted, lane keeping force output is always maintained, meanwhile, lane keeping output force is gradually reduced, and when the hand power of a driver is larger than a first threshold value, the lane keeping output force is zero; when the hand force exerted on the steering wheel by the driver is reduced, the lane keeping output force is gradually increased within the first preset time period, and when the hand force of the driver is zero, the man-machine co-driving mode is quitted. According to the invention, when the lane keeping system works, the condition that the lane keeping function is directly quitted due to temporary intervention of a driver can be avoided, and meanwhile, the hand feeling is not abrupt in the intervention process of the driver.

    本发明公开了一种EPS人机共驾控制权分配方法,其用于车道保持系统,包括:获取驾驶员控制方向盘的实时手力;判断当前模式为紧急避障模式或人机共驾模式;若为紧急避障模式,满足第一指定条件后退出车道保持并在第一预设时段内将车道保持输出力减少至零;若为人机共驾模式始终维持车道保持力输出,同时逐渐减少车道保持输出力,当驾驶员手力大于第一阈值时车道保持输出力为零;当驾驶员施加在方向盘上的手力减低,在第一预设时段内逐渐增加车道保持输出力,当驾驶员驾驶员手力为零时,退出人机共驾模式。本发明能避免车道保持系统工作时,由于驾驶员临时干预时直接退出了车道保持功能的工况,同时能保证在驾驶员干预过程中,手感不会突兀。


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    Titel :

    EPS man-machine co-driving control right distribution method, controller and storage medium


    Weitere Titelangaben:

    EPS人机共驾控制权分配方法、控制器及存储介质


    Beteiligte:
    LI QIUYU (Autor:in) / LUO YI (Autor:in) / WANG JUN (Autor:in) / HUANG WEIXING (Autor:in) / ZHAO YE (Autor:in) / SUN GUOMING (Autor:in)

    Erscheinungsdatum :

    2024-01-30


    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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