Automobile double-driving double-control method and system based on steering intervention

Abstract

The invention discloses a method and system for dual-driving and dual-control of automobiles based on steering intervention. An ECU controller receives instructions from a host computer to determine whether steering intervention occurs, and realizes the simultaneous operation or switching of the manual driving mode and the automatic driving mode; When in the state of manual driving mode and automatic driving mode at the same time, it receives the driver's steering wheel to turn the steering wheel and the auxiliary force output by automatic driving to assist the driver in steering manipulation; when in the automatic driving mode, the steering angle The upper computer sends it to the steering controller through the ECU controller, automatically controls the output shaft for steering, reads the feedback value of the rotation angle sensor, and sends the actual rotation angle to the ECU controller. The invention realizes switching between the manual driving controlled by the manual control and the automatic driving controlled by the ECU, and improves the safety of personnel and vehicles in the actual use process.

Description

technical field [0001] The invention relates to the technical field of automobile intelligent driving, in particular to a method and system for dual driving and dual control of automobiles based on steering intervention. Background technique [0002] The unmanned driving system mainly includes several main systems or components such as environmental perception, planning and decision-making, and control execution. Its realization uses technologies such as computers, modern sensing, information fusion, communication, artificial intelligence, and automatic control. Although artificial intelligence, the core technology of unmanned driving, has been proposed for 60 years, in the field of smart cars, it will still take a long time for automatic driving to completely replace manual driving, and even its necessity needs to be passed. It is fully demonstrated that the coexistence of manual driving and automatic driving (that is, dual driving) will surely become a normal state of driv...

AI Technical Summary

Problems solved by technology

[0003] In the bottom transformation process of the smart car, it mainly includes the transformation of the bottom speed, gear position, braking and steering four actuators. When the vehicle is working in the manned automatic driving mode, if there is a special situation or an emergency occurs, it needs to be done manually. When intervening, if someone or an animal rushes out suddenly while driving through a sharp curve and the vehicle has no time to slow down or change direction, in the automatic driving mode, the braking and steering time of the vehicle is generally longer than that of manual operation. When passing through a sharp turn at a fast speed, the time reserved by the sensor for the sudden appearance of the moving object from the detection to the decision of the upper layer to direct the lower executive agency to perform steering, braking and other actions will be relatively short, and no matter whether it is steering or braking, there is a corner time and braking distance (proportional to the braking time), which results in the possibility of accidents caused by incomplete execution of braking and steering actions

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