Intelligent driving SBW steering wheel static control method and system and storage medium
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A technology of intelligent driving and control methods, applied in the field of automobiles, can solve the problems of no control of actuators, no relevant control logic, stop, etc., to achieve the effect of enhancing the sense of security and increasing the space of the cockpit
Active Publication Date: 2021-12-03
SAIC MOTOR +1
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[0007] In the prior art, when the third arrangement is used, when the control-by-wire system is switched from the conventional control-by-wire steering mode to the intelligent driving control mode, the steering wheel processing methods include: 1. The steering wheel and the actuator are synchronized to follow the angle command of the host computer Movement; 2. The steering wheel stays at the position before entering the smart driving, and there is no relevant control logic
3. The steering wheel maintains the normal feel mode, but (because in the smart driving mode) there is no control over the actuator without the driver's forcible intervention
Method used
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no. 1 example ；
[0060] The present invention provides a static control method for an intelligent driving SBW steering wheel, comprising the following steps:
[0061] S1, identifying whether the current steering wheel state and the state of the intelligent driving command allow the steering wheel to be stationary;
[0062] S2. If the steering wheel is allowed to be stationary, control the steering wheel to move from the current position to the target position within the target speed limit until the steering wheel reaches the neutral position of the steering wheel angle.
no. 2 example ；
[0064] refer to figure 1 As shown, the present invention provides a static control method for an intelligent driving SBW steering wheel, comprising the following steps:
[0065] S1, power-on initialization, if all the following working conditions are met, it is judged that the steering wheel is allowed to be static, otherwise it is judged that the steering wheel is not allowed to be static;
[0066] The smart driving command CAN signal is normal, the smart driving command is not requested, the target angle does not exceed the limit, the vehicle speed is less than or equal to the specified speed (for example, 10kph), the driver does not intervene, the assist state is turned on, the smart driving command is request and the smart driving command is smart driving control;
[0067] The above content only defines the state that must be satisfied to allow the steering wheel to be stationary, refer to figure 2 As shown, the present invention provides a judgment process, and also ex...
no. 3 example ；
[0086] The present invention provides a computer-readable storage medium for executing the steps in the method for controlling the static control of the steering wheel of the intelligent driving SBW described in the first embodiment or the second embodiment.
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Abstract
The invention discloses an intelligent driving SBW steering wheel static control method. The method comprises the steps that whether a current steering wheel state and an intelligent driving instruction state allow a steering wheel to be static or not is recognized; and if the steering wheel is allowed to be static, the steering wheel is controlled to move from the current position to the target position within the target rotating speed limiting range till the steering wheel reaches the steering wheel angle neutral position to be static. The invention further discloses a computer readable medium used for executing the steps in the intelligent driving SBW steering wheel static control method and an intelligent driving SBW steering wheel static control system. According to the invention, discomfort brought to a driver if the steering wheel rotates along with the upper computer in the intelligent driving mode can be avoided, and offset feeling brought to the driver if the steering wheel stays at the position before intelligent driving enabling all the time can also be avoided; and the driving illusion feeling that the action of the steering wheel is not matched with the steering of the whole vehicle when the steering wheel is kept in a conventional hand feeling mode can be avoided, and refreshing intelligent driving feeling is brought to drivers and passengers.
Description
technical field [0001] The invention relates to the field of automobiles, in particular to a static control method for an intelligent driving SBW steering wheel. The present invention also relates to a computer-readable medium for performing the steps in the method for controlling the static control of the steering wheel of the intelligent driving SBW, and a system for controlling the static control of the steering wheel of the intelligent driving SBW. Background technique [0002] Steer-By-Wire (SBW) system, referred to as SBW system, is of great significance to advanced automatic driving of automobiles and is considered to be one of the key executive components of intelligent driving. It is expected that highly and fully autonomous vehicles will enter the market in 2025 and begin to grow rapidly. The steering-by-wire system is a new steering technology that truly liberates human hands. Compared with the traditional EPS system, the SBW system has added features such as roa...
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