The invention discloses a curve self-adaptive intelligent driving man-machine co-driving steering control method, which comprises the following steps of: firstly, acquiring a curve curvature, calculating a driver intervention torque threshold, a driver takeover torque threshold and a man-machine co-driving system maximum weight according to the curve curvature, and further obtaining an auxiliary driving system control weight in combination with a driver steering torque; and then the steering torque of the driver and the steering torque generated by the auxiliary driving system are superposed and synthesized according to the control weight of the auxiliary driving system, and finally executed steering torque is obtained.
本发明公开了一种弯道自适应的智能驾驶人机共驾转向控制方法,该方法首先获取弯道曲率,根据弯道曲率计算驾驶员介入力矩阈值、驾驶员接管力矩阈值、人机共驾驶系统最大权重,进而结合驾驶员转向力矩得到辅助驾驶系统控制权重;而后根据辅助驾驶系统控制权重对驾驶员转向力矩和辅助驾驶系统产生的转向力矩进行叠加综合,得到最终执行的转向力矩。
Curve-adaptive intelligent driving man-machine co-driving steering control method
一种弯道自适应的智能驾驶人机共驾转向控制方法
2024-02-06
Patent
Electronic Resource
Chinese
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