Vehicle control method, device, apparatus, and storage medium
By fusing the driver's hand torque and the machine control torque attenuation coefficient, the problem of jerking when the driver takes over vehicle control is solved, and smooth driving mode switching is achieved.
CN117445953BActive Publication Date: 2026-07-21DONGFENG MOTOR CO LTD DONGFENG NISSAN PASSENGER VEHICLE CO
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Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DONGFENG MOTOR CO LTD DONGFENG NISSAN PASSENGER VEHICLE CO
- Filing Date
- 2023-11-30
- Publication Date
- 2026-07-21
AI Technical Summary
Technical Problem
In existing technologies, when the driver takes over vehicle control, the control lacks continuity, resulting in jerking.
Method used
The first torque attenuation coefficient is generated by acquiring the driver's hand torque and the machine control torque attenuation coefficient generated by the steering control system. The final attenuation coefficient is generated by merging them and adjusting the machine control torque to achieve smooth switching.
Benefits of technology
It achieves continuous vehicle control, avoids jerking, and ensures that the driver can smoothly take over the vehicle.
✦ Generated by Eureka AI based on patent content.
Smart Images
Figure CN117445953B_ABST
Abstract
The present application belongs to the technical field of automatic driving, and discloses a vehicle control method, device, equipment and storage medium. The present application obtains the driver hand torque when detecting that the vehicle is switched to the driving mode; generates the first torque attenuation coefficient according to the driver hand torque; obtains the machine control torque determined by the steering control system according to the request angle generated by the intelligent driving system and the second torque attenuation coefficient; fuses the first torque attenuation coefficient and the second torque attenuation coefficient to generate the final attenuation coefficient; attenuates the machine control torque according to the final attenuation coefficient, and drives and controls the vehicle steering wheel according to the attenuated machine control torque. Since the machine control is maintained when detecting that the vehicle is switched to the driving mode, and the machine control is appropriately attenuated according to the driver hand torque until the driver completely takes over manually, the control of the vehicle can be continuous, and the phenomenon of jerk is avoided.
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