Intelligent driving based eps takeover control method and system, and automobile

Abstract

The application discloses an EPS takeover control method and system based on intelligent driving and a vehicle. The method can include: establishing and saving a calculation model of automatic driving exit force corresponding to different vehicle speed ranges; determining whether the intelligent EPS takeover control function is started according to the ADS signal and the capacitive sensing steering wheel module signal; after the intelligent EPS takeover control function is started, determining whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time within the driver takeover time, and if yes, starting to exit the automatic driving; determining the vehicle speed range according to the current speed, and then extracting the corresponding calculation model to calculate the automatic driving exit force; and gradually exiting the automatic driving according to the automatic driving exit force. The application can effectively identify the driver takeover intention by using the intelligent control logic according to the characteristics of the automatic driving system, improve the problem of large driver takeover force and poor feeling, and improve the safety during the process of taking over the automatic driving function by the driver.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving control for automobiles, and more specifically, to an EPS takeover control method, system, and automobile based on intelligent driving. Background Technology

[0002] With people's increasing demands for automotive safety, environmental protection, and comfort, the rapid development of electronic technology plays an irreplaceable role in improving vehicle safety and driving stability. Modern vehicles are equipped with autonomous driving systems, whose lateral control actuators are EPS (Electrical Power Steering) systems. Currently, autonomous driving and EPS control often employ angle control, meaning that when the driver intends to take over the vehicle and needs to turn the wheel at a certain angle, the autonomous driving function disengages. The advantage of this method is high control precision, but it has the disadvantage of requiring significant hand force and resulting in poor handling when the driver takes over.

[0003] Therefore, it is necessary to develop an EPS takeover control method, system, and vehicle based on intelligent driving.

[0004] The information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention proposes an EPS takeover control method, system, and vehicle based on intelligent driving. It can adopt different driver takeover autonomous driving strategies by setting different vehicle speed thresholds, and integrate autonomous driving lateral control strategies to add an autonomous driving exit control system. During the driver takeover process, it judges the driver's takeover intention and gradually and smoothly exits the autonomous driving function.

[0006] In a first aspect, embodiments of this disclosure provide an EPS takeover control method based on intelligent driving, including:

[0007] The intelligent EPS takeover control module establishes and saves calculation models of the manual force required to exit autonomous driving for different vehicle speed ranges.

[0008] The intelligent EPS takeover control module determines whether the intelligent EPS takeover control function is activated based on the ADS signal and the signal from the capacitive sensing steering wheel module.

[0009] After the intelligent EPS takeover control function is activated, it checks whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time during the driver takeover time. If so, it starts to exit the automatic driving mode.

[0010] The vehicle speed range is determined based on the current speed, and then the corresponding calculation model is extracted to calculate the manual force required to disengage autonomous driving.

[0011] The automatic driving system gradually disengages from manual control as described above.

[0012] Preferably, the calculation model for the automatic driving exit force is as follows:

[0013] T = T1 - T2

[0014] Where T is the driver's hand force, T1 is the real-time torque of the electric power steering column, T2 is the real-time output torque of ADS during the driver takeover time, T2=K*T3, T3 is the torque output value of ADS when |α1-α2| is greater than the set angle during the driver takeover judgment time, K is the control coefficient, K∈(0,100), where K=100 when the driver takeover is initiated and K=0 when the autonomous driving is discontinued, α1 is the real-time steering angle of the steering column angle sensor, and α2 is the target steering angle of ADS.

[0015] Preferably, the vehicle speed range includes 0km / h≤v≤30km / h, 30km / h<v≤90km / h, and v>90km / h.

[0016] Preferably, when the vehicle speed range is 0km / h≤v≤30km / h, the driver takeover time is 15s, the driver takeover judgment time is 1500ms, and the set angle is 5°.

[0017] Preferably, when the vehicle speed range is 30km / h<v≤90km / h, the driver takeover time is 10s, the driver takeover judgment time is 1000ms, and the set angle is 4°.

[0018] Preferably, when the vehicle speed range is v > 90 km / h, the driver takeover time is 5 seconds, the driver takeover judgment time is 500 ms, and the set angle is 3°.

[0019] Preferably, when the intelligent EPS takeover control module receives an ADS signal input of 1 and the capacitive sensing steering wheel module signal of 1, the intelligent EPS takeover control function is activated.

[0020] Preferably, it further includes:

[0021] When the vehicle speed v > 90 km / h and the steering column angle ≥ 90°, the intelligent EPS control function is turned off.

[0022] As one specific implementation of this disclosure,

[0023] Secondly, this disclosure also provides an EPS takeover control system based on intelligent driving, including an ADS module, an intelligent EPS takeover control module, a capacitive sensing steering wheel module, a steering column angle sensor, and a vehicle speed sensor, wherein:

[0024] The intelligent EPS takeover control module establishes and saves a calculation model of the manual force required to exit autonomous driving for different vehicle speed ranges.

[0025] The intelligent EPS takeover control module determines whether the intelligent EPS takeover control function is activated based on the ADS signal from the ADS module and the signal from the capacitive sensing steering wheel module.

[0026] After the intelligent EPS takeover control function is activated, the intelligent EPS takeover control module will determine whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time during the driver takeover time. If so, it will start to exit the automatic driving mode.

[0027] The intelligent EPS takeover control module determines the vehicle speed range based on the current speed, and then extracts the corresponding calculation model to calculate the manual force required to exit autonomous driving.

[0028] The automatic driving system gradually disengages from manual control as described above.

[0029] Preferably, the calculation model for the automatic driving exit force is as follows:

[0030] T = T1 - T2

[0031] Where T is the driver's hand force, T1 is the real-time torque of the electric power steering column, T2 is the real-time output torque of ADS during the driver takeover time, T2=K*T3, T3 is the torque output value of ADS when |α1-α2| is greater than the set angle during the driver takeover judgment time, K is the control coefficient, K∈(0,100), where K=100 when the driver takeover is initiated and K=0 when the autonomous driving is discontinued, α1 is the real-time steering angle of the steering column angle sensor, and α2 is the target steering angle of ADS.

[0032] Preferably, the vehicle speed range includes 0km / h≤v≤30km / h, 30km / h<v≤90km / h, and v>90km / h.

[0033] Preferably, when the vehicle speed range is 0km / h≤v≤30km / h, the driver takeover time is 15s, the driver takeover judgment time is 1500ms, and the set angle is 5°.

[0034] Preferably, when the vehicle speed range is 30km / h<v≤90km / h, the driver takeover time is 10s, the driver takeover judgment time is 1000ms, and the set angle is 4°.

[0035] Preferably, when the vehicle speed range is v > 90 km / h, the driver takeover time is 5 seconds, the driver takeover judgment time is 500 ms, and the set angle is 3°.

[0036] Preferably, when the intelligent EPS takeover control module receives an ADS signal input of 1 and the capacitive sensing steering wheel module signal of 1, the intelligent EPS takeover control function is activated.

[0037] Preferably, it further includes:

[0038] When the vehicle speed v > 90 km / h and the steering column angle ≥ 90°, the intelligent EPS control function is turned off.

[0039] Thirdly, embodiments of this disclosure also provide a vehicle, characterized in that it includes an EPS takeover control system based on intelligent driving.

[0040] The methods and apparatus of the present invention have other features and advantages that will be apparent from or will be set forth in detail in the accompanying drawings and following detailed description, which together serve to explain the particular principles of the invention. Attached Figure Description

[0041] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts.

[0042] Figure 1 A flowchart illustrating the steps of an EPS takeover control method based on intelligent driving according to an embodiment of the present invention is shown.

[0043] Figure 2 A block diagram of an EPS takeover control system based on intelligent driving according to an embodiment of the present invention is shown. Detailed Implementation

[0044] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0045] To facilitate understanding of the solutions and effects of the embodiments of the present invention, four specific application examples are given below. Those skilled in the art should understand that these examples are merely for the purpose of understanding the present invention, and any specific details therein are not intended to limit the present invention in any way.

[0046] Example 1

[0047] Figure 1 A flowchart illustrating the steps of an EPS takeover control method based on intelligent driving according to an embodiment of the present invention is shown.

[0048] like Figure 1 As shown, the EPS takeover control method based on intelligent driving includes: Step 101, the intelligent EPS takeover control module establishes and saves the calculation model of the automatic driving exit force corresponding to different vehicle speed ranges; Step 102, the intelligent EPS takeover control module determines whether the intelligent EPS takeover control function is activated based on the ADS signal and the capacitive sensing steering wheel module signal; Step 103, after the intelligent EPS takeover control function is activated, it determines whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time during the driver takeover time. If so, it starts to exit automatic driving; Step 104, the vehicle speed range is determined based on the current speed, and then the corresponding calculation model is extracted to calculate the automatic driving exit force; Step 105, the automatic driving is gradually exited based on the automatic driving exit force.

[0049] In one example, the calculation model for the automatic driving system exiting manual force is as follows:

[0050] T = T1 - T2

[0051] Where T is the driver's hand force, T1 is the real-time torque of the electric power steering column, T2 is the real-time output torque of ADS during the driver takeover time, T2=K*T3, T3 is the torque output value of ADS when |α1-α2| is greater than the set angle during the driver takeover judgment time, K is the control coefficient, K∈(0,100), where K=100 when the driver takeover is initiated and K=0 when the autonomous driving is discontinued, α1 is the real-time steering angle of the steering column angle sensor, and α2 is the target steering angle of ADS.

[0052] In one example, the vehicle speed range includes 0km / h≤v≤30km / h, 30km / h<v≤90km / h, and v>90km / h.

[0053] In one example, when the vehicle speed range is 0km / h≤v≤30km / h, the driver takeover time is 15s, the driver takeover judgment time is 1500ms, and the set angle is 5°.

[0054] In one example, when the vehicle speed range is 30km / h < v ≤ 90km / h, the driver takeover time is 10s, the driver takeover judgment time is 1000ms, and the set angle is 4°.

[0055] In one example, when the vehicle speed range is v > 90 km / h, the driver takeover time is 5 seconds, the driver takeover judgment time is 500 ms, and the set angle is 3°.

[0056] In one example, when the intelligent EPS takeover control module receives an ADS signal input of 1 and the capacitive steering wheel sensor module signal is 1, the intelligent EPS takeover control function is activated.

[0057] In one example, it also includes:

[0058] When the vehicle speed v > 90km / h and the steering column angle ≥ 90°, the intelligent EPS takeover control function is turned off.

[0059] Specifically, the intelligent EPS takeover control module receives signals from the ADS (Autopilot System) and the capacitive steering wheel sensor module. When the ADS signal input is 1 (entering autonomous driving mode) and the capacitive steering wheel sensor module signal is 1 (detecting the driver's hands on the steering wheel), the intelligent EPS takeover control function is activated. When the capacitive steering wheel sensor module signal is 0 (detecting the driver's hands are off the steering wheel), the intelligent EPS takeover control function is deactivated.

[0060] The intelligent EPS takeover control module establishes and saves calculation models of the manual force required to exit autonomous driving for different vehicle speed ranges. The calculation model of the manual force required to exit autonomous driving is as follows:

[0061] T = T1 - T2.

[0062] The vehicle speed range includes 0km / h≤v≤30km / h, 30km / h<v≤90km / h, and v>90km / h:

[0063] When the vehicle speed range is 0km / h≤v≤30km / h, the driver takeover time is 15s, K is the control coefficient, K∈(0,100), where K=100 at 0s and K=0 at 15s, the driver takeover judgment time is 1500ms, and the set angle is 5°.

[0064] When the vehicle speed range is 30km / h<v≤90km / h, the driver takeover time is 10s, K∈(0,100), where K=100 at 0s and K=0 at 10s, the driver takeover judgment time is 1000ms, and the set angle is 4°.

[0065] When the vehicle speed is v > 90 km / h, the driver takeover time is 5s, K ∈ (0, 100), where K = 100 at 0s and K = 0 at 5s. The driver takeover judgment time is 500ms, and the set angle is 3°.

[0066] The driver takeover time is the period from when the EPS takeover control module determines the moment the driver begins to turn the steering wheel to when the driver fully takes control of the steering wheel. The driver takeover judgment time is the period during which the EPS takeover module determines whether the driver has taken over. If certain requirements are met within this period, the driver takeover is judged to be activated. The set time periods correspond to vehicle speeds from low to high as 1500ms, 1000ms, and 500ms, respectively. After the intelligent EPS takeover control module is activated, it periodically receives judgment signals until the conditions for driver takeover activation are met. The lower the vehicle speed, the longer the driver takeover time and the longer the driver takeover judgment time, and the larger the set angle, the more effective it is to enable rapid takeover at high speeds to ensure safety.

[0067] After the intelligent EPS takeover control function is activated, during the driver takeover time, it checks whether the real-time steering wheel angle is greater than the set angle at every driver takeover judgment time. If so, it starts to disengage from autonomous driving. It determines the vehicle speed range based on the current speed, and then extracts the corresponding calculation model to calculate the manual force required to disengage from autonomous driving. It gradually disengages from autonomous driving based on the manual force required to disengage from autonomous driving.

[0068] When the vehicle speed v > 90km / h and the steering column angle ≥ 90°, the intelligent EPS takeover control function is turned off.

[0069] When the vehicle speed or turning angle changes within the above-mentioned speed range, the intelligent EPS takeover control function is set according to the original speed strategy.

[0070] This invention adds an intelligent EPS takeover control module by setting different vehicle speed thresholds. It sets the driver takeover time during the process from driver takeover to the exit of the autonomous driving function. Through an intelligent and gradual exit strategy, it adjusts the driver takeover control coefficient K, effectively identifies the driver's takeover intention, and improves the problem of excessive force and poor feel during driver takeover.

[0071] Example 2

[0072] Figure 2 A block diagram of an EPS takeover control system based on intelligent driving according to an embodiment of the present invention is shown.

[0073] like Figure 2 As shown, the EPS takeover control system based on intelligent driving includes an ADS module, an intelligent EPS takeover control module, a capacitive sensing steering wheel module, a steering column angle sensor, and a vehicle speed sensor, wherein:

[0074] The intelligent EPS takeover control module establishes and saves calculation models of the manual force required to exit autonomous driving for different vehicle speed ranges.

[0075] The intelligent EPS takeover control module determines whether the intelligent EPS takeover control function is activated based on the ADS signal from the ADS module and the signal from the capacitive sensing steering wheel module.

[0076] After the intelligent EPS takeover control function is activated, the intelligent EPS takeover control module will determine whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time during the driver takeover time. If so, it will start to exit the automatic driving mode.

[0077] The intelligent EPS takeover control module determines the vehicle speed range based on the current speed, and then extracts the corresponding calculation model to calculate the manual force required to exit autonomous driving.

[0078] The automatic driving system gradually disengages from manual control as described above.

[0079] In one example, the calculation model for the automatic driving system exiting manual force is as follows:

[0080] T = T1 - T2

[0081] Where T is the driver's hand force, T1 is the real-time torque of the electric power steering column, T2 is the real-time output torque of ADS during the driver takeover time, T2=K*T3, T3 is the torque output value of ADS when |α1-α2| is greater than the set angle during the driver takeover judgment time, K is the control coefficient, K∈(0,100), where K=100 when the driver takeover is initiated and K=0 when the autonomous driving is discontinued, α1 is the real-time steering angle of the steering column angle sensor, and α2 is the target steering angle of ADS.

[0082] In one example, the vehicle speed range includes 0km / h≤v≤30km / h, 30km / h<v≤90km / h, and v>90km / h.

[0083] In one example, when the vehicle speed range is 0km / h≤v≤30km / h, the driver takeover time is 15s, the driver takeover judgment time is 1500ms, and the set angle is 5°.

[0084] In one example, when the vehicle speed range is 30km / h < v ≤ 90km / h, the driver takeover time is 10s, the driver takeover judgment time is 1000ms, and the set angle is 4°.

[0085] In one example, when the vehicle speed range is v > 90 km / h, the driver takeover time is 5 seconds, the driver takeover judgment time is 500 ms, and the set angle is 3°.

[0086] In one example, when the intelligent EPS takeover control module receives an ADS signal input of 1 and the capacitive steering wheel sensor module signal is 1, the intelligent EPS takeover control function is activated.

[0087] In one example, it also includes:

[0088] When the vehicle speed v > 90km / h and the steering column angle ≥ 90°, the intelligent EPS takeover control function is turned off.

[0089] Example 3

[0090] This disclosure provides a vehicle characterized by including an EPS takeover control system based on intelligent driving.

[0091] Those skilled in the art should understand that the above description of the embodiments of the present invention is only intended to illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any of the examples given.

[0092] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An EPS takeover control method based on intelligent driving, characterized in that, include: The intelligent EPS takeover control module establishes and saves calculation models of the manual force required to exit autonomous driving for different vehicle speed ranges. The intelligent EPS takeover control module determines whether the intelligent EPS takeover control function is activated based on the ADS signal and the signal from the capacitive sensing steering wheel module. After the intelligent EPS takeover control function is activated, it checks whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time during the driver takeover time. If so, it starts to exit the automatic driving mode. The vehicle speed range is determined based on the current speed, and then the corresponding calculation model is extracted to calculate the manual force required to disengage autonomous driving. The automatic driving system gradually disengages from manual control as described above. The calculation model for the automatic driving exit force is as follows: T = T1 - T2 Where T represents the driver's hand force, T1 represents the real-time torque of the electric power steering column, and T2 represents the real-time output torque of the ADS during the driver's take-off time, T2=K T3 is the torque output value of ADS when |α1-α2| is greater than the set angle during the driver takeover judgment time. K is the control coefficient, K∈(0, 100), where K=100 at the start of driver takeover and K=0 at the end of autonomous driving. α1 is the real-time steering angle of the steering column angle sensor, and α2 is the target steering angle of ADS.

2. The EPS takeover control method based on intelligent driving according to claim 1, wherein, The speed range includes 0 km / h ≤ v ≤ 30 km / h, 30 km / h < v ≤ 90 km / h, and v > 90 km / h.

3. The EPS takeover control method based on intelligent driving according to claim 2, wherein, When the vehicle speed range is 0km / h≤v≤30km / h, the driver takeover time is 15s, the driver takeover judgment time is 1500ms, and the set angle is 5°.

4. The EPS takeover control method based on intelligent driving according to claim 2, wherein, When the vehicle speed range is 30 km / h < v ≤ 90 km / h, the driver takeover time is 10s, the driver takeover judgment time is 1000ms, and the set angle is 4°.

5. The EPS takeover control method based on intelligent driving according to claim 2, wherein, When the vehicle speed range is v > 90 km / h, the driver takeover time is 5s, the driver takeover judgment time is 500ms, and the set angle is 3°.

6. The EPS takeover control method based on intelligent driving according to claim 1, wherein, When the intelligent EPS takeover control module receives an ADS signal input of 1 and the capacitive sensing steering wheel module signal of 1, the intelligent EPS takeover control function is activated.

7. The EPS takeover control method based on intelligent driving according to claim 1, wherein, Also includes: When the vehicle speed v > 90 km / h and the steering column angle ≥ 90°, the intelligent EPS control function is turned off.

8. An EPS takeover control system based on intelligent driving, characterized in that, This includes an ADS module, an intelligent EPS control module, a capacitive steering wheel module, a steering column angle sensor, and a vehicle speed sensor, among which: The intelligent EPS takeover control module establishes and saves a calculation model of the manual force required to exit autonomous driving for different vehicle speed ranges. The intelligent EPS takeover control module determines whether the intelligent EPS takeover control function is activated based on the ADS signal from the ADS module and the signal from the capacitive sensing steering wheel module. After the intelligent EPS takeover control function is activated, the intelligent EPS takeover control module will determine whether the real-time steering wheel angle is greater than the set angle every driver takeover judgment time during the driver takeover time. If so, it will start to exit the automatic driving mode. The intelligent EPS takeover control module determines the vehicle speed range based on the current speed, and then extracts the corresponding calculation model to calculate the manual force required to exit autonomous driving. The automatic driving system gradually disengages from manual control as described above. The calculation model for the automatic driving exit force is as follows: T = T1 - T2 Where T represents the driver's hand force, T1 represents the real-time torque of the electric power steering column, and T2 represents the real-time output torque of the ADS during the driver's take-off time, T2=K T3 is the torque output value of ADS when |α1-α2| is greater than the set angle during the driver takeover judgment time. K is the control coefficient, K∈(0, 100), where K=100 at the start of driver takeover and K=0 at the end of autonomous driving. α1 is the real-time steering angle of the steering column angle sensor, and α2 is the target steering angle of ADS.

9. A car, characterized in that, Includes the EPS takeover control system based on intelligent driving as described in claim 8.

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