Man and machine driven type electric power steering system and mode switching method

Abstract

The invention discloses a man and machine driven type electric power steering system and a mode switching method and belongs to the field of unmanned steering for intelligent cars. The electric power steering system comprises a front torque / angle sensor, a rear torque / angle sensor, a vehicle speed sensor, a man and machine driven type steering controller, a mode switching controller, a steering motor, a steering shaft, a speed reducing mechanism, a pinion and rack mechanism and a yaw velocity sensor. An existing electric power steering system is simply transformed, the rear torque / angle sensor is mounted on the original electric power steering system, torque / angle signals in man driving and machine driving modes are acquired in real time, and great convenience is brought to the work of a steering motor in the two modes; meanwhile, according to signals of the front torque / angle sensor and the rear torque / angle sensor, the steering mode of a current vehicle can be judged simply and quickly, and automatic and safe switching between the two steering modes can be realized.

Description

technical field [0001] The invention belongs to the field of unmanned steering of smart cars, and in particular relates to a human-machine co-driving electric power steering system and a mode switching method. Background technique [0002] A smart car is a complex system integrating high-tech in multiple fields such as environmental perception, planning and decision-making, and multi-level assisted driving. The continuous progress of autonomous driving to various road autonomous driving. The smart car plan launched by the German Continental Group is divided into three steps: to realize partial automatic driving by 2016, the car needs a monitoring system, and the driver must be ready to take over the driving at any time. The goal is to achieve automatic driving within 30km / h; Autonomous driving does not require a monitoring system, but the driver must take over the driving within the specified time; by 2025, fully autonomous driving will be achieved without the need for a mo...

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Problems solved by technology

[0004] Chinese patent CN103895691A discloses an intelligent steering compensation device for commercial vehicles, which can reduce understeer or alleviate oversteer through forward and reverse compensation according to the driving state of the vehicle, and improve the sensitivity of vehicle handling, but it only involves manual steering and does not Consider the implementation of automatic steering

[0005] Chinese patent CN101875370A discloses a car adaptive intelligent steering system, which can switch between automatic and manual (comfort / intelligent / sports) steering modes, but the switching process requires pressing the manual / automatic steering switch to switch, especially from The process of switching from automatic steering to manual steering cannot be realized automatically, and the degree of intelligence needs to be further improved

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