The invention discloses a steer-by-wire man-machine sharing control method for an intelligent vehicle and the intelligent vehicle, and belongs to the technical field of driving assistance of the intelligent vehicle. The method comprises steps of designing a man-machine control right dynamic allocation coefficient according to a driver operation corner and a controller output corner; designing an automatic driving mode when driving authority is 0; designing a driver control mode when driving authority is 1; and designing a man-machine sharing control mode when the driving permission is between0 and 1, and adding additional torque to steering resistance torque outputted by a road sensing motor of the vehicle at the moment. The method is advantaged in that through the operation authority andthe steering action of the controller, an actual lane changing running track of the vehicle can be controlled in combination with the active operation intention of a driver, the driver is kept in-loop operation, moreover, additional torque is added to steering resistance torque, so safety of driver in-loop operation is guaranteed.

    本发明公开了一种用于智能汽车的线控转向人机共享控制方法及其智能汽车,属于智能汽车的驾驶辅助技术领域。所述方法包括:根据驾驶员操作转角和控制器输出转角,设计人机控制权动态分配系数;设计驾驶权限为0时的自动驾驶模式;设计驾驶权限为1时的驾驶员操控模式;设计驾驶权限处于0和1之间时的人机共享控制模式,且此时对汽车的路感电机输出的转向阻力矩增加附加力矩。本发明通过操作权限和控制器的转向动作,能够结合驾驶员的主动操作意图来控制车辆实际换道行驶轨迹,保持驾驶员在环操作,同时对转向阻力矩增加附加力矩,以保障驾驶员在环操作的安全性。


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    Title :

    Steer-by-wire man-machine sharing control method for intelligent vehicle and intelligent vehicle


    Additional title:

    用于智能汽车的线控转向人机共享控制方法及其智能汽车


    Contributors:
    WEI ZHENYA (author) / CHEN WUWEI (author) / ZHANG XIANFENG (author) / JIANG PENGFEI (author) / CUI GUOLIANG (author) / DING YUKANG (author)

    Publication date :

    2020-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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