The invention discloses a self-adaptive man-machine co-driving electric power steering control method, which comprises the following steps of: obtaining a closed-loop current upper limit and a smooth intervention threshold value by using a table look-up module according to the actual speed and the actual turning angle of an automobile; a smooth processing module is used to obtain a closed-loop current dynamic upper limit according to the closed-loop current upper limit, a smooth intervention threshold and the basic assistance current of the automobile; acquiring a target rotation angle and a target rotation speed of the automobile, performing closed-loop control on the actual rotation speed and the actual rotation angle of the automobile according to the target rotation speed and the target rotation angle, and obtaining a closed-loop output current; the closed-loop output current is limited through the closed-loop current dynamic upper limit, and the closed-loop current of the driving assistance system is obtained; and the motor is controlled to conduct automobile steering through the closed-loop current and the basic assisting current. According to the electric power steering control method, decoupling of the electric power steering controller and the driving assistance system is achieved, control is more direct, response is faster, and the joint debugging difficulty is reduced.
本发明公开了一种自适应人机共驾的电动助力转向控制方法,包括:使用查表模块,根据汽车的实际车速和实际转角得到闭环电流上限和平滑介入阈值;使用平滑处理模块,根据闭环电流上限、平滑介入阈值和汽车的基础助力电流得到闭环电流动态上限;获取汽车的目标转角和目标转速,根据目标转速和目标转角对汽车的实际转速和实际转角进行闭环控制并得到闭环输出电流;通过闭环电流动态上限对闭环输出电流进行限制,得到驾驶辅助系统的闭环电流;通过闭环电流和基础助力电流控制电机进行汽车转向。本发明提出的电动助力转向控制方法实现了电动助力转向控制器与驾驶辅助系统的解耦,控制更直接,响应更快速,且降低了联调难度。
Self-adaptive man-machine co-driving electric power steering control method
自适应人机共驾的电动助力转向控制方法
2025-04-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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