The invention discloses a driving control right distribution method, electronic equipment and a storage medium. The method comprises the steps of monitoring whether the hand torque of a driver meets the switching condition of a driving mode or not; under the condition that the hand torque of the driver meets the switching condition of the driving mode, the automatic driving control right proportion at the current moment is determined every preset time interval according to the automatic driving control right proportion at the previous moment, the whole vehicle aligning torque, the transverse offset, the course angle and the hand torque of the driver, and the driving mode is switched according to the automatic driving control right proportion at the current moment. And switching the driving mode according to the ratio of the automatic driving control right at the current moment. According to the method, the stable vehicle behavior is kept in the driver control right weakening process, and man-machine conflicts are reduced in the driver control right increasing process.
本发明公开驾驶控制权分配方法、电子设备及存储介质。方法包括:监测驾驶员手力矩是否满足驾驶模式的切换条件;在驾驶员手力矩满足驾驶模式的切换条件的情况下,每间隔预设时长,根据上一时刻的自动驾驶控制权占比、整车回正力矩、横向偏移量、航向角以及驾驶员手力矩,确定当前时刻的自动驾驶控制权占比,根据当前时刻的自动驾驶控制权占比进行驾驶模式的切换。本发明在驾驶员控制权减弱过程中保持平稳的车辆举动,以及在驾驶员控制权增大过程中减少人机冲突。
Driving control right distribution method, electronic equipment and storage medium
驾驶控制权分配方法、电子设备及存储介质
2023-07-04
Patent
Electronic Resource
Chinese
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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