A switching method of car driving mode based on eps

Abstract

The invention relates to the technical field of intelligent automobile unmanned steering, and discloses an EPS-based automobile driving mode switching method. The method for switching the driving mode of the vehicle based on EPS includes measuring the first torque value T t and the second torque value T t '. Judging whether |T t -T t '|>ΔT, if not, continue to maintain the automatic driving mode, if yes, enter the switching transition stage. After entering the switching transition stage, first calculate the first-hand torque T h and the second hand torque T h '. Then judge whether |T h '‑T h |<ΔT h , if yes, then enter the manual driving mode; if not, then according to the first-hand torque T h and the second hand torque T h 'Adjust the output torque T of the booster motor a , and continue to maintain the switching transition phase. In the switching transition stage of the present invention, by judging the first hand torque T h and the second hand torque T h Is the difference of ' less than the preset hand torque difference ΔT h , to decide whether to enter the manual driving mode, to prevent the steering wheel from thugs, jamming, etc., so that the driver can maintain a good driving feel during the mode switching process.

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.

Images