EPS based switching method for automobile driving modes

Abstract

The invention relates to the technical field of the unmanned steering of intelligent automobiles, and discloses an EPS based switching method for automobile driving modes. The method includes determining a first torque value Tt and a second torque value Tt'; judging whether |Tt - Tt'| > [delta]T is met, if no, continuously maintaining an automatic driving mode, and if yes, entering a switching transition phase; calculating a first hand moment Th and a second hand moment Th' after entering the switching transition phase; and judging whether |Th' - Th| < [delta]Th is met, if yes, entering a manual driving mode, if no, adjusting the output torque Ta of a power-assisted motor according to the first hand moment Th and the second hand moment Th', and continuously maintaining the switching transition phase. At the switching transition phase, whether the manual driving mode is entered can be determined by judging whether the difference value of the first hand moment Th and the second hand moment Th' is less than preset hand moment difference [delta]Th, so that phenomenon of hand hitting and stuttering of steering wheels can be prevented, and therefore, a driver can maintain good driving feel during mode switching.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle unmanned steering, in particular to an EPS-based switching method of vehicle driving modes. 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 driving modes of smart cars are divided into automatic driving mode and manual driving mode. In order to better adapt to the switching between the two driving modes, a clear requirement is put forward for the Electric Power Steering system (EPS) of the smart car: it must be compatible with the dual control modes of automatic steering and manual steering. [0003] When the existing smart cars switch the driving mode based on EPS, there may be steering wheel thugs, stuttering, etc., so that the driver cannot maintain a good driving feel. [0004] Therefore, there is an urgent need to provide a ...

AI Technical Summary

Problems solved by technology

[0005] Based on the above, the object of the present invention is to provide a method for switching driving modes based on EPS, to solve the problem that the driver's driving feel is affected by phenomena such as steering wheel thugs and stuttering due to driving mode switching.

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