Automatic driving eps control method, device, equipment and storage medium

Abstract

The application belongs to the technical field of automatic driving, and discloses an EPS control method, device, equipment and storage medium for automatic driving. When a vehicle is in an automatic driving mode, whether a driver's steering intervention exists in a steering wheel of the vehicle is detected. If the driver's steering intervention exists in the steering wheel of the vehicle, operation information of the driver on the steering wheel is acquired. Control coefficients of an angle control module and a control coefficient of a power assistance control module are adjusted according to the operation information. In this way, the EPS angle control is more accurate, the angle is not over-adjusted, and in the automatic driving mode, the driver is allowed to adjust the steering wheel, a good operation feeling is achieved, and the driving experience and safety of the driver are improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an EPS control method, apparatus, device, and storage medium for autonomous driving. Background Technology

[0002] In normal driving mode, EPS (Electric Power Steering) uses torque control, applying electric motor assistance based on the driver's steering wheel input and vehicle speed to provide a comfortable feel. In autonomous driving mode, steering is controlled by the autonomous driving system, which sends angle commands to the EPS, which then turns the steering wheel to the specified angle.

[0003] The existing EPS angle control method has the following problems: poor EPS angle control accuracy in autonomous driving mode. When the driver corrects the steering wheel, the autonomous driving mode will be discontinued, making it impossible for the driver to correct the steering wheel in autonomous driving mode. At the same time, it also results in poor feel when the driver intervenes to operate the steering wheel, and large overshoot of angle control when the steering wheel is released, which reduces safety.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide an EPS control method, device, equipment, and storage medium for autonomous driving, aiming to solve the technical problems in the prior art where driver correction of the steering wheel causes the autonomous driving mode to exit, and also results in poor feel when the driver intervenes to operate the steering wheel, and large overshoot of angle control when the steering wheel is released, which reduces safety.

[0006] To achieve the above objectives, the present invention provides an EPS control method for autonomous driving. The EPS includes a power steering control module and an angle control module. The angle control module is used to automatically control the steering wheel angle in autonomous driving mode, and the power steering control module is used to control the steering wheel angle based on driver operation. The EPS control method for autonomous driving includes:

[0007] When the vehicle is in autonomous driving mode, detect whether the driver intervenes in steering the vehicle's steering wheel;

[0008] If the vehicle's steering wheel is subject to driver intervention, then the driver's operation information on the steering wheel is obtained;

[0009] The control coefficients of the angle control module and the assist control module are adjusted according to the operation information.

[0010] Optionally, adjusting the control coefficients of the angle control module and the assist control module based on the operation information includes:

[0011] The torque input by the driver and the duration corresponding to the torque are determined based on the operation information.

[0012] The control coefficients of the angle control module and the power assist control module are adjusted according to the torque input by the driver and the duration.

[0013] Optionally, adjusting the control coefficients of the angle control module and the power assist control module based on the torque input by the driver and the duration includes:

[0014] When the torque input by the driver reaches the preset torque, the duration is compared with the preset duration.

[0015] When the duration reaches a preset duration, the control coefficient of the angle control module is reduced and the control coefficient of the assist control module is increased, wherein the reduced control coefficient is not lower than the first coefficient threshold.

[0016] Optionally, reducing the control coefficient of the angle control module includes:

[0017] The adjustment rate is determined based on the torque input by the driver;

[0018] The control coefficient of the angle control module is reduced according to the adjustment rate.

[0019] Optionally, the preset torque includes a first preset torque and a second preset torque, the preset duration corresponding to the first preset torque is the first preset duration, the preset duration corresponding to the second preset torque is the second preset duration, the first preset torque is less than the second preset torque, and the first preset duration is greater than the second preset duration. Determining the adjustment rate based on the torque input by the driver includes:

[0020] When the torque input by the driver reaches the first preset torque, the adjustment rate is determined to be the first rate;

[0021] Alternatively, when the torque input by the driver reaches the second preset torque, the adjustment rate is determined to be the second adjustment rate, which is greater than the first adjustment rate.

[0022] Optionally, the preset torque further includes a maximum preset torque, wherein the maximum preset torque is greater than the second preset torque, and the EPS control method for autonomous driving further includes:

[0023] When the torque input by the driver reaches the maximum preset torque, the control coefficient of the angle control module is reduced until the reduced control coefficient reaches the second coefficient threshold. The first coefficient threshold is greater than the second coefficient threshold, and the control coefficient of the power assist control module is increased.

[0024] Optionally, when the reduced control coefficient is not lower than the first coefficient threshold, the vehicle remains in autonomous driving mode; when the reduced control coefficient reaches the first coefficient threshold, the vehicle exits autonomous driving mode. The first coefficient sum corresponding to the control coefficient of the angle control module and the control coefficient of the power assist control module, and the second coefficient sum corresponding to the reduced control coefficient of the angle control module and the increased control coefficient of the power assist control module are calculated respectively, wherein the first coefficient sum and the second coefficient sum are the same and are constant values.

[0025] Furthermore, to achieve the above objectives, the present invention also proposes an EPS control device for autonomous driving, wherein the EPS includes a power assist control module and an angle control module. The angle control module is used to automatically control the steering wheel angle in autonomous driving mode, and the power assist control module is used to control the steering wheel angle based on driver operation. The EPS control device for autonomous driving includes:

[0026] The detection module is used to detect whether the vehicle's steering wheel has driver intervention when the vehicle is in autonomous driving mode;

[0027] The acquisition module is used to acquire the driver's operation information on the steering wheel if the vehicle's steering wheel has driver intervention.

[0028] The control module is used to adjust the control coefficients of the angle control module and the assist control module according to the operation information.

[0029] Furthermore, to achieve the above objectives, the present invention also proposes an EPS control device for autonomous driving, the EPS control device for autonomous driving comprising: a memory, a processor, and an EPS control program for autonomous driving stored in the memory and executable on the processor, the EPS control program for autonomous driving being configured to implement the steps of the EPS control method for autonomous driving as described above.

[0030] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing an EPS control program for autonomous driving, wherein when the EPS control program for autonomous driving is executed by a processor, it implements the steps of the EPS control method for autonomous driving as described above.

[0031] This invention detects whether the vehicle's steering wheel is being used by the driver when the vehicle is in autonomous driving mode. If the driver is using the steering wheel, the invention acquires the driver's steering wheel operation information. Based on this operation information, the invention adjusts the control coefficients of the angle control module and the power assist control module. This method enables more precise EPS angle control, achieves zero angle overshoot, and allows the driver to adjust the steering wheel in autonomous driving mode, resulting in a good operating feel and improving the driver's driving experience and safety. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the EPS control device for autonomous driving in the hardware operating environment involved in the embodiments of the present invention;

[0033] Figure 2 This is a flowchart illustrating the first embodiment of the EPS control method for autonomous driving according to the present invention.

[0034] Figure 3 This is a schematic diagram of the conventional entry and exit gradual ascent and descent function of the angle control module coefficient in one embodiment of the EPS control method for autonomous driving of the present invention.

[0035] Figure 4 This is a schematic diagram of the segmented adjustment of the angle control module coefficients in one embodiment of the EPS control method for autonomous driving of the present invention.

[0036] Figure 5 This is a flowchart illustrating the second embodiment of the EPS control method for autonomous driving according to the present invention.

[0037] Figure 6 This is a structural block diagram of the first embodiment of the EPS control device for autonomous driving according to the present invention.

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0040] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the EPS control device for autonomous driving in the hardware operating environment involved in the embodiments of the present invention.

[0041] like Figure 1As shown, the EPS control device for autonomous driving may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0042] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the EPS control device for autonomous driving, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0043] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an EPS control program for autonomous driving.

[0044] exist Figure 1 In the EPS control device for autonomous driving shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the EPS control device for autonomous driving of the present invention can be set in the EPS control device for autonomous driving. The EPS control device for autonomous driving calls the EPS control program for autonomous driving stored in the memory 1005 through the processor 1001 and executes the EPS control method for autonomous driving provided in the embodiment of the present invention.

[0045] This invention provides an EPS control method for autonomous driving, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of an EPS control method for autonomous driving according to the present invention.

[0046] In this embodiment, the EPS control method for autonomous driving includes the following steps:

[0047] Step S10: When the vehicle is in autonomous driving mode, detect whether there is driver steering intervention in the vehicle's steering wheel.

[0048] It should be noted that the execution subject in this embodiment is the EPS control device for autonomous driving. The EPS control device for autonomous driving has functions such as data processing, data communication and program execution. The EPS control device for autonomous driving can be a vehicle controller or control terminal, or other devices with similar functions. This embodiment does not limit the scope of these devices.

[0049] It's important to note that in normal driving mode, EPS (Electric Power Steering) uses torque control, applying electric motor assistance based on the driver's steering wheel input and vehicle speed to provide a comfortable feel. However, in autonomous driving mode, steering is controlled by the autonomous driving system. The system sends angle commands to the EPS, which then turns the steering wheel to the specified angle. The existing EPS angle control method has problems: poor accuracy in autonomous driving mode. Driver corrections to the steering wheel will cause the autonomous driving mode to disengage, making it impossible for the driver to correct the steering wheel in autonomous driving mode. Furthermore, it results in poor feel when the driver intervenes to operate the steering wheel, and significant overshoot when releasing the steering wheel, reducing safety.

[0050] To address the aforementioned technical issues, this embodiment detects whether the vehicle's steering wheel is being used by the driver when the vehicle is in autonomous driving mode. If the driver is using the steering wheel, the embodiment acquires the driver's steering wheel operation information. Based on this operation information, the control coefficients of the angle control module and the power assist control module are adjusted. This method enables more precise EPS angle control, achieving zero angle overshoot. Furthermore, in autonomous driving mode, the driver is allowed to adjust the steering wheel, resulting in a good handling feel and improving the driver's driving experience and safety. Specifically, this can be achieved as follows.

[0051] It should be noted that this embodiment focuses on the control of the Electronic Power Steering (EPS) system. EPS includes a power steering control module and an angle control module. The angle control module automatically controls the steering wheel angle in autonomous driving mode, allowing for automatic adjustment of the steering wheel angle. The power steering control module controls the steering wheel angle based on driver input, enabling manual adjustment of the steering wheel angle by the driver. Decoupling of the power steering and angle control is achieved by setting coefficients k1 for the angle control module and k2 for the conventional power steering module. At any given time, k1 + k2 = 1. When k1 = 1, it indicates that no driver is operating the system, and the steering wheel angle is entirely controlled by the autonomous driving mode. When k2 = 1, it indicates that the autonomous driving mode has been disengaged, and the steering wheel angle is entirely controlled by the driver. In practice, when the autonomous driving function is not activated, k1 = 0, meaning the angle control module output is disabled. When entering autonomous driving mode, k1 linearly increases from 0 to 1 within a fixed time T_up, and then remains at 1; when exiting autonomous driving mode, k1 linearly decreases from 1 to 0 within a fixed time T_down, and then remains at 0. It should also be noted that the coefficients k1 and k2 mentioned above represent the coefficients corresponding to the torque controlling the steering wheel angle. The current torque multiplied by these coefficients is the final torque input to the steering wheel. Adjusting the steering wheel angle can be achieved by varying the magnitude of this torque. The current control method, when detecting manual correction of the driver's steering wheel angle, will directly exit the autonomous driving mode if the torque input by the driver reaches the exit torque threshold. However, the current method has a problem: it has only one exit torque threshold and does not decouple the coefficients of automatic angle control and manual intervention. This means that when the driver's input torque does not reach the set exit torque threshold, both the automatic angle control and manual intervention coefficients are 1 (e.g., k1 and k2 are both 1). This leads to mutual interference and superposition between angle control and manual intervention, easily causing overshoot and affecting driving safety. In this embodiment, when manual correction of the driver's steering wheel angle is detected, the autonomous driving mode is not immediately exited. The driver is allowed to correct the steering wheel angle even when the vehicle is in autonomous driving mode. That is, k1 and k2 are both between 0 and 1, and k1 + k2 = 1. The greater the torque input by the driver, the larger k2 becomes, and the corresponding k1 gradually decreases. This smooth transition provides a better driving experience, avoids overshoot, and improves driving safety.

[0052] In specific implementation, this embodiment needs to first detect the vehicle's driving mode to determine whether the current driving mode is autonomous driving mode. If the current driving mode is autonomous driving mode, it is then necessary to further detect whether there is driver intervention in the autonomous driving mode, that is, whether the driver has made correction operations on the steering wheel.

[0053] Step S20: If the vehicle's steering wheel is subject to driver intervention, obtain the driver's operation information on the steering wheel.

[0054] In specific implementation, if the driver's steering intervention is detected in the vehicle's steering wheel while in autonomous driving mode, this embodiment will not directly exit the autonomous driving mode. Instead, it will first obtain the driver's operation information on the steering wheel. This operation information can be obtained directly through sensors. The obtained operation information includes at least the torque input by the driver and the duration corresponding to the input torque.

[0055] Step S30: Adjust the control coefficients of the angle control module and the assist control module according to the operation information.

[0056] In this specific implementation, after obtaining the operation information, this embodiment can adjust the control coefficients of the angle control module and the power assist control module accordingly based on the operation information. Specifically, the control coefficient of the angle control module can be linearly reduced based on the torque input by the driver and the duration corresponding to that torque, as contained in the operation information. For example, setting a coefficient k1s can implement conventional entry and exit gradual ascent and descent functions. Figure 4 As shown, T_UP and T_DOWN represent gradual ascent and gradual descent, respectively. Figure 5 As shown, a coefficient k1t is set. When the driver's steering wheel torque is greater than T2 and the duration is greater than t2, k1t decreases from 1 to kmin, where kmin is a number greater than 0 and less than 1. The specific value can be set according to the control requirements of autonomous driving. This embodiment does not impose any restrictions on this. To achieve a better feel, the decrease can be divided into two segments with different slopes (i.e., Figure 5 As shown in S1 and S2, when the driver's steering wheel torque is greater than T3 and the duration is greater than t3, k1t linearly increases from kmin to 1. At any time, k1 takes the minimum value of k1s and k1t, that is, k1 = min(k1s, k1t). S3 represents the case where k1t increases to 1.

[0057] This embodiment detects whether the vehicle's steering wheel is being used by the driver when the vehicle is in autonomous driving mode. If the driver is using the steering wheel, the system obtains the driver's steering wheel operation information. Based on this operation information, the control coefficients of the angle control module and the power assist control module are adjusted. This method makes EPS angle control more precise, achieves zero angle overshoot, and allows the driver to adjust the steering wheel in autonomous driving mode, resulting in a good operating feel and improving the driver's driving experience and safety.

[0058] refer to Figure 5 , Figure 5 This is a flowchart illustrating a second embodiment of an EPS control method for autonomous driving according to the present invention.

[0059] Based on the first embodiment described above, in the EPS control method for autonomous driving in this embodiment, step S30 specifically includes:

[0060] Step S301: Determine the torque input by the driver and the duration corresponding to the torque based on the operation information.

[0061] In a specific implementation, after obtaining the operation information, this embodiment needs to first obtain the torque input by the driver and the duration corresponding to the torque from the operation information. For example, if the torque input by the driver is T, the duration t of the torque is detected.

[0062] Step S302: Adjust the control coefficients of the angle control module and the power assist control module according to the torque input by the driver and the duration.

[0063] In practical implementation, the control coefficients of the angle control module and the power assist control module can be adjusted according to the magnitude of the torque input by the driver and the duration of the corresponding torque. For example, the torque input by the driver can be compared with a preset torque, and the duration of the torque can be compared with a preset duration. If the above conditions are met simultaneously, the control coefficient of the angle control module is reduced, while the control coefficient of the power assist control module is increased, so that the sum of the control coefficients of the angle control module and the power assist control module is always at a fixed value. Specifically, this can be achieved in the following way.

[0064] In this specific implementation, the torque input by the driver is first compared with the preset torque. If the torque input by the driver does not reach the preset torque, the control coefficient of the angle control module is not adjusted. This method can effectively avoid the driver's misoperation of the steering wheel. The preset torque can be set according to the control requirements of autonomous driving. This embodiment does not impose any restrictions on this.

[0065] Furthermore, if the torque input by the driver reaches the preset torque, the duration of this torque will be recorded in this embodiment. If the duration of the torque reaching the preset torque is less than the preset duration, the control coefficient of the angle control module will not be adjusted in this embodiment either. If the duration of the torque reaching the preset torque reaches the preset duration, it indicates that the driver needs to manually correct the steering wheel angle. In this case, the control coefficient of the angle control module will be adjusted by reducing the control coefficient. It should be emphasized that if the control coefficient is reduced to 0, the automatic mode will be exited. However, in this case, the automatic driving mode will not be exited directly. Therefore, a certain threshold needs to be set for the control coefficient of the angle control module so that the reduced control coefficient cannot be lower than the threshold. Specifically, the threshold can be a first coefficient threshold, that is, the reduced control coefficient cannot be lower than the first coefficient threshold. The preset duration and the first coefficient threshold can be set according to the actual control requirements, and this embodiment does not impose any restrictions on them.

[0066] In this embodiment, the control coefficient decreases linearly. The control coefficient of the angle control module is gradually reduced at a certain adjustment rate. Specifically, the adjustment rate is related to the torque input by the driver and can be determined based on the torque input by the driver. It should be noted that the larger the torque input by the driver, the larger the steering wheel angle the driver corrects. In this case, the adjustment rate set in this embodiment is positively correlated with the torque input by the driver. That is, the larger the torque input by the driver, the larger the corresponding adjustment rate, which can ensure that the control coefficient of the angle control module drops to the set coefficient threshold as quickly as possible.

[0067] In an optional embodiment, the preset torque in this embodiment can be set as a first preset torque and a second preset torque. The preset duration set for different torques is also different. For example, the preset duration corresponding to the first preset torque is the first preset duration, and the preset duration corresponding to the second preset torque is the second preset duration. Moreover, the preset duration is negatively correlated with the corresponding torque. For example, when the first preset torque is less than the second preset torque, the corresponding first preset duration is greater than the second preset duration. The first preset torque, the second preset torque, the first preset duration, and the second preset duration can all be set according to actual control requirements. This embodiment does not impose any restrictions on this.

[0068] In practice, if the torque input by the driver reaches the first preset torque, the corresponding duration is checked to see if it has reached the first preset duration. If it has, the control coefficient of the angle module is reduced at a first rate. When the torque input by the driver reaches the second preset torque, the corresponding duration is checked to see if it has reached the second preset duration. If it has, the control coefficient of the angle module is reduced at a second rate. In this way, the control coefficient of the angle module can be adjusted at different rates to achieve a better feel.

[0069] Furthermore, in certain special cases, when the driver controls the steering wheel with a large torque, this embodiment will exit the automatic driving mode, and the control of the steering wheel angle will be completely handed over to the driver. Specifically, this embodiment sets a corresponding preset torque for this situation, assuming it is a maximum preset torque. Compared to the first preset torque and the second preset torque, the maximum preset torque is larger than both the first and second preset torques. If the torque input by the driver reaches the maximum preset torque, the automatic driving mode can be exited directly, and the control coefficient of the angle module is reduced to 0. Unlike the current control method, which sets only the exit torque threshold, meaning that without triggering the exit torque threshold, the automatic control mode and the manual intervention correction part are essentially a superposition state with a constant gain of 1, this application can decouple the coefficients corresponding to the automatic control mode and the manual intervention correction part, and adjust them separately. Of course, the automatic driving mode can also be exited via other in-vehicle buttons, and this embodiment does not restrict this.

[0070] This embodiment compares the duration of the input torque by the driver with the preset duration when the torque reaches the preset torque; when the duration reaches the preset duration, the control coefficient of the angle control module is reduced; multiple preset torques and durations corresponding to each torque are set; and the control coefficients of the angle module and the power assist control module are adjusted at different rates, thereby achieving zero angle overshoot, ensuring the accuracy of EPS angle control, and improving the driver's driving experience.

[0071] Furthermore, this embodiment of the invention also proposes a storage medium storing an EPS control program for autonomous driving, wherein when the EPS control program for autonomous driving is executed by a processor, it implements the steps of the EPS control method for autonomous driving as described above.

[0072] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the EPS control device for autonomous driving according to the present invention.

[0073] like Figure 6 As shown, the EPS control device for autonomous driving proposed in this embodiment of the invention includes:

[0074] The detection module 10 is used to detect whether the steering wheel of the vehicle has driver intervention when the vehicle is in autonomous driving mode.

[0075] The acquisition module 20 is used to acquire the driver's operation information on the steering wheel if the steering wheel of the vehicle is subject to driver steering intervention.

[0076] The control module 30 is used to adjust the control coefficients of the angle control module and the assist control module according to the operation information.

[0077] This embodiment detects whether the vehicle's steering wheel is being used by the driver when the vehicle is in autonomous driving mode. If the driver is using the steering wheel, the system obtains the driver's steering wheel operation information. Based on this operation information, the control coefficients of the angle control module and the power assist control module are adjusted. This method makes EPS angle control more precise, achieves zero angle overshoot, and allows the driver to adjust the steering wheel in autonomous driving mode, resulting in a good operating feel and improving the driver's driving experience and safety.

[0078] In one embodiment, the control module 30 is further configured to determine the torque input by the driver and the duration corresponding to the torque based on the operation information; and adjust the control coefficient of the angle control module and the control coefficient of the power assist control module according to the torque input by the driver and the duration.

[0079] In one embodiment, the control module 30 is further configured to compare the duration with a preset duration when the torque input by the driver reaches a preset torque; and when the duration reaches the preset duration, reduce the control coefficient of the angle control module and increase the control coefficient of the power assist control module, wherein the reduced control coefficient is not lower than a first coefficient threshold.

[0080] In one embodiment, the control module 30 is further configured to determine the adjustment rate based on the torque input by the driver; and reduce the control coefficient of the angle control module according to the adjustment rate.

[0081] In one embodiment, the preset torque includes a first preset torque and a second preset torque. The preset duration corresponding to the first preset torque is the first preset duration, and the preset duration corresponding to the second preset torque is the second preset duration. The first preset torque is less than the second preset torque, and the first preset duration is greater than the second preset duration.

[0082] The control module 30 is further configured to determine the adjustment rate based on the torque input by the driver, including: determining the adjustment rate as a first rate when the torque input by the driver reaches the first preset torque; or, determining the adjustment rate as a second adjustment rate when the torque input by the driver reaches the second preset torque, wherein the second adjustment rate is greater than the first adjustment rate.

[0083] In one embodiment, the control module 30 is further configured to reduce the control coefficient of the angle control module when the torque input by the driver reaches the maximum preset torque, until the reduced control coefficient reaches a second coefficient threshold, wherein the first coefficient threshold is greater than the second coefficient threshold, and increase the control coefficient of the power assist control module.

[0084] In one embodiment, when the reduced control coefficient is not lower than the first coefficient threshold, the vehicle remains in autonomous driving mode; when the reduced control coefficient reaches the first coefficient threshold, the vehicle exits autonomous driving mode. The first coefficient sum corresponding to the control coefficient of the angle control module and the control coefficient of the power assist control module, and the second coefficient sum corresponding to the reduced control coefficient of the angle control module and the increased control coefficient of the power assist control module are calculated respectively. The first coefficient sum and the second coefficient sum are the same and are constant values.

[0085] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0086] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0087] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0088] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0089] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0091] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An EPS control method for autonomous driving, characterized in that, The EPS includes a power steering control module and an angle control module. The angle control module is used to automatically control the steering wheel angle in autonomous driving mode, and the power steering control module is used to control the steering wheel angle based on driver operation. The EPS control method for autonomous driving includes: When the vehicle is in autonomous driving mode, detect whether the driver intervenes in steering the vehicle's steering wheel; If the vehicle's steering wheel is subject to driver intervention, then the driver's operation information on the steering wheel is obtained; Adjust the control coefficients of the angle control module and the assist control module according to the operation information; The step of adjusting the control coefficients of the angle control module and the assist control module according to the operation information includes: The torque input by the driver and the duration corresponding to the torque are determined based on the operation information. When the torque input by the driver reaches the preset torque, the duration is compared with the preset duration. The preset torque includes a first preset torque and a second preset torque. The preset duration corresponding to the first preset torque is the first preset duration, and the preset duration corresponding to the second preset torque is the second preset duration. The first preset torque is less than the second preset torque, and the first preset duration is greater than the second preset duration. When the duration reaches the preset duration, the adjustment rate is determined based on the torque input by the driver; the control coefficient of the angle control module is reduced according to the adjustment rate, and the control coefficient of the power assist control module is increased, wherein the reduced control coefficient is not lower than the first coefficient threshold. The step of determining the adjustment rate based on the torque input by the driver includes: when the torque input by the driver reaches the first preset torque, determining the adjustment rate as a first rate; Alternatively, when the torque input by the driver reaches the second preset torque, the adjustment rate is determined to be the second adjustment rate, which is greater than the first adjustment rate.

2. The EPS control method for autonomous driving as described in claim 1, characterized in that, The preset torque also includes a maximum preset torque, which is greater than the second preset torque. The EPS control method for autonomous driving further includes: When the torque input by the driver reaches the maximum preset torque, the control coefficient of the angle control module is reduced until the reduced control coefficient reaches the second coefficient threshold. The first coefficient threshold is greater than the second coefficient threshold, and the control coefficient of the power assist control module is increased.

3. The EPS control method for autonomous driving as described in claim 2, characterized in that, When the reduced control coefficient is not lower than the first coefficient threshold, the vehicle remains in autonomous driving mode; when the reduced control coefficient reaches the first coefficient threshold, the vehicle exits autonomous driving mode. Calculate the sum of the first coefficients corresponding to the control coefficients of the angle control module and the control coefficients of the assist control module, and the sum of the second coefficients corresponding to the control coefficients of the angle control module after the angle is lowered and the control coefficients of the assist control module after the angle is raised. The sum of the first coefficients and the sum of the second coefficients are the same and are constant values.

4. An EPS control device for automatic driving, characterized in that, The EPS includes a power steering control module and an angle control module. The angle control module is used to automatically control the steering wheel angle in autonomous driving mode, and the power steering control module is used to control the steering wheel angle based on driver operation. The EPS control device for autonomous driving includes: The detection module is used to detect whether the vehicle's steering wheel has driver intervention when the vehicle is in autonomous driving mode; The acquisition module is used to acquire the driver's operation information on the steering wheel if the vehicle's steering wheel has driver intervention. The control module is used to adjust the control coefficients of the angle control module and the assist control module according to the operation information. The control module is further configured to determine the torque input by the driver and the duration corresponding to the torque based on the operation information; when the torque input by the driver reaches a preset torque, compare the duration with a preset duration, wherein the preset torque includes a first preset torque and a second preset torque, the preset duration corresponding to the first preset torque is the first preset duration, the preset duration corresponding to the second preset torque is the second preset duration, the first preset torque is less than the second preset torque, and the first preset duration is greater than the second preset duration; when the duration reaches the preset duration, determine an adjustment rate based on the torque input by the driver; reduce the control coefficient of the angle control module according to the adjustment rate, and increase the control coefficient of the power assist control module, wherein the reduced control coefficient is not lower than a first coefficient threshold; the step of determining the adjustment rate based on the torque input by the driver includes: when the torque input by the driver reaches the first preset torque, determining the adjustment rate as a first rate; or, when the torque input by the driver reaches the second preset torque, determining the adjustment rate as a second adjustment rate, wherein the second adjustment rate is greater than the first adjustment rate.

5. An EPS control device for automatic driving, characterized in that, The device includes: a memory, a processor, and an automated driving EPS control program stored in the memory and executable on the processor, the automated driving EPS control program being configured to implement the steps of the automated driving EPS control method as described in any one of claims 1 to 3.

6. A storage medium, characterized in that, The storage medium stores an EPS control program for autonomous driving, which, when executed by a processor, implements the steps of the EPS control method for autonomous driving as described in any one of claims 1 to 3.

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