Steering torque guide distribution curve design method based on driver intention recognition

Abstract

The invention discloses an intelligent vehicle steering torque guide distribution curve design method based on driver intention recognition. According to the intelligent vehicle steering torque guidedistribution curve design method based on the driver intention recognition, vehicle state information collected offline is classified and preprocessed, behavior of a driver is taken as input to identify the intention of the driver, a target steering-wheel steering angle is calculated through utilizing front road deviation, different torque guide distribution methods are designed according to a difference value between the target steering-wheel steering angle and an actual steering-wheel steering angle, and a torque guide distribution curve is fitted out. The intelligent vehicle steering torqueguide distribution curve design method has the parameter adjustable characteristic, namely, shape change can be performed on a steering torque guide characteristic curve through set parameters, the curve can be made to be changeable at any time, and independent calibration is performed on the curve parameters according to different steering torque guide requirements of a minor intervention stage,a linear increase stage and a linear saturation stage, the intelligent vehicle steering torque guide distribution curve design method has the advantages of being smooth in torque guide, independent in parameter function and easy to debug, and the expectation in steering hand feel of the driver can be met better.

Description

technical field [0001] The present invention relates to the automatic control of the vehicle, specifically to the design method of the steering moment guidance distribution curve based on the recognition of the driver's intention. Background technique [0002] The conventional lane keeping assist system does not consider some special working conditions, that is, it can only drive in the current lane without the function of changing lanes, so operations such as overtaking and obstacle avoidance cannot be completed. Therefore, in many cases, lane keeping will conflict with the driver's normal lane changing intention. In order to solve this problem and integrate the functions of lane keeping and lane changing assistance, an appropriate method should be used to identify the driver's intention. When the driver's lane changing intention is recognized, the system will switch the function of lane keeping control in time to the lane change assist function. [0003] With the applica...

AI Technical Summary

Problems solved by technology

This patent only divides the steering mode into human driving and machine driving and the switching between the two. It does not discuss the mode of man-machine interaction, and it is impossible to realize real man-machine co-driving.

[0008] The Chinese patent with the application number: 201810988401.0 discloses "a lane keeping assistance method for man-machine co-driving of smart cars". The steering wheel angle input of the steering wheel and the expected steering input of the controller are linearly superimposed, but for the traditional single-motor mechanical column steering system, the invention cannot realize the superposition of the steering wheel, so the interaction on the steering wheel must be realized in the form of torque superposition

[0009] In addition, the steering torque distribution curve in the prior art is a single assist mode, that is, the electronic control unit outputs the corresponding motor torque to assist driving according to the input parameter information such as steering wheel torque, steering wheel angle, and vehicle speed. Judgment of intention cannot be combined with the judgment of driver’s intention to realize torque guidance, that is, the driver cannot correctly control the vehicle through torque guidance, and cannot meet the needs of human-machine co-driving intelligent vehicles

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