Torque processing method for intelligent driving transverse control

Abstract

The invention provides a moment processing method for intelligent driving transverse control. The moment processing method comprises the steps of judging the deviation condition of a vehicle in a lane and whether the vehicle is inflexion deviation intervention or not; the driving intervention torque is partitioned, and a zooming breakpoint and a zooming coefficient are set; according to the bending degree of the road, symbols of torques on a curve and a straightway are modified; and according to the inflexion intervention condition and the road bending degree, modifying the zooming breakpoint and the zooming coefficient, and obtaining the output torque according to the final zooming coefficient. According to the method, straightway and curve scenes are comprehensively considered, the dead zone offset of the moment in the curve is calculated according to the road bending degree, the intervention condition in the curve and the like, the final steering moment is obtained through the method of correcting the zoom coefficient and the like, and discomfort caused by sudden intervention of the moment in different scenes can be accurately improved. And meanwhile, according to the actual driving feeling, the driving intervention torque is partitioned to set the zoom breakpoint, so that the torque can be smoothly transited and corrected, and the driver can be effectively reminded to take over the vehicle in time through confrontation to a certain degree, and the driving risk is avoided.

Description

technical field [0001] The invention relates to the field of intelligent driving vehicle control, and more particularly, to a torque processing method for intelligent driving lateral control. Background technique [0002] When the vehicle is driving on a structured road with the intelligent driving system turned on, if the driver's hands are not off the steering wheel, but the hand torque is small, and the vehicle deviates unconsciously, if the function request torque is directly weakened or withdrawn, the vehicle may rush The risk of an accident when leaving the lane; if the torque is still directly given by the system, the larger correction torque given by the lane keeping system will cause discomfort to the driver. [0003] The currently proposed solution is to determine the supplementary coefficient by comparing the magnitude relationship between the current torque and the two preset thresholds, as well as the duration, and then multiply the initial torque, the assist cu...

AI Technical Summary

Problems solved by technology

[0004] Its disadvantages are: it only compares the magnitude and duration of the torque with the two preset thresholds to determine the compensation coefficient, and multiplies the compensation coefficient with the torque and assist current to obtain the processed torque output. The processing is relatively simple, and intervention in different scenarios is not considered comprehensively. The situation is only to improve the driving experience and comfort, without considering driving safety

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