The invention discloses a full-redundancy steering safety control method and system for coping with complex terrains, and relates to the technical field of intelligent control. The method comprises the following steps: when the number of curves is greater than or equal to a threshold value of the number of curves, receiving map data of a target area; a recommended turning torque and a recommended turning speed are generated, visually displayed and sent to an auxiliary motor control analysis unit of an auxiliary electronic control unit of the auxiliary EPS module at the same time, and a motor predicted turning direction and a motor predicted rotating speed are obtained; and when the steering wheel torque monitoring value is consistent with the recommended turning torque and the vehicle speed monitoring value is consistent with the recommended turning vehicle speed, the auxiliary electronic control unit is switched to control the auxiliary motor to perform steering auxiliary control. The technical problem that in the prior art, steering control safety is reduced due to the fact that steering auxiliary control cannot meet the steering requirement of rapid change under the complex terrain due to hysteresis is solved, and the technical effect of improving the steering control safety is achieved by monitoring the auxiliary electronic control unit in real time in a self-adaptive mode.
本发明公开了应对复杂地形的全冗余转向安全控制方法及系统,涉及智能控制技术领域。所述方法包括:当弯道数量大于或等于弯道数量阈值,接收目标区域地图数据;生成推荐转弯扭矩和推荐转弯车速,并进行可视化展示,同时发送至副EPS模块的副电子控制单元的副电机控制分析单元,获得电机预测转向和电机预测转速;当方向盘扭矩监测值与推荐转弯扭矩一致,且车速监测值与推荐转弯车速一致,切换副电子控制单元控制副电机进行转向辅助控制。解决了现有技术中转向辅助控制因滞后性难以满足复杂地形下快速变化的转向需求,导致转向控制安全性降低的技术问题,通过实时监测自适应切换副电子控制单元,达到了提高转向控制安全性的技术效果。
Full-redundancy steering safety control method and system for coping with complex terrains
应对复杂地形的全冗余转向安全控制方法及系统
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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