Man-machine co-driving control method and device and medium

Abstract

The invention discloses a man-machine co-driving control method and device and a medium, and the method is applied to a power-assisted steering system and comprises the steps that basic power-assisted current and intelligent driving current are determined according to a steering wheel hand force input value and a steering request parameter value of a driving assistance system; determining a current attenuation parameter value according to the hand input value; attenuating one of the basic boosting current and the intelligent driving current through the current attenuation parameter, and calculating the attenuated current and the non-attenuated current of the other one to obtain the motor boosting current so as to perform direction control. Therefore, the manual input value and the steering request parameter value are respectively converted into the current values, and one of the current values is attenuated through the current attenuation parameter, so that arbitration of transverse control is realized. When basic power-assisted current is attenuated, manual control of a driver is weakened, and the situation that manual intervention of the driver is too sensitive under the intelligent driving function is avoided. When intelligent driving current is attenuated, control of a driving assistance system is weakened, and smooth taking-over of a driver is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of human-machine co-driving, and in particular to a control method, device and medium for human-machine co-driving. Background Art

[0002] In the development of human-machine co-driving, the current L3 and below intelligent driving functions still require the driver to be in the loop. The driver in the loop includes scenarios that require the driver to take over or human-machine co-driving. In the process of the driver taking over the vehicle, there is a dual input of the driver and the intelligent driving controller to control the steering wheel. If the dual input is not properly logically arbitrated, it will make the driver feel difficult to take over or have a poor feel.

[0003] At present, in a feasible logic arbitration method, the Electric Power Steering (EPS) system monitors the driver's hand force. If the driver's hand force is less than the threshold, the power assist current corresponding to the driver's hand force and the control current corresponding to the intelligent driving angle request are superimposed to control the steering wheel and maintain human-machine co-driving. If the driver's hand force is not less than the threshold, EPS will exit the intelligent driving function, stop the closed-loop control of the intelligent driving target angle superposition, and the driver will continue to drive manually.

[0004] In this arbitration method, if the hand force threshold is set too high, it will lead to difficulty in taking over or strong resistance between human and machine. If the hand force threshold is set too low, the intelligent driving function will be frequently exited, reducing the user's intelligent driving function experience.

[0005] It can be seen that in human-machine co-driving, how to properly arbitrate the dual inputs of the steering wheel when the driver takes over the vehicle so that the driver can take over the vehicle smoothly and improve the driving experience is a problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0006] In view of this, one aspect of the present application provides a human-machine co-driving control method, which is applied to a power steering system, and the method includes:

[0007] Obtain the hand force input value and hand force control direction of the vehicle steering wheel, as well as the steering request parameter value and steering request direction of the driving assistance system;

[0008] Determine a basic power-assisting current according to the hand force input value, and determine an intelligent driving current according to the steering request parameter value; and determine a current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value;

[0009] After attenuating one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, the attenuated current is calculated with the other current that has not been attenuated to determine the motor power-assisting current;

[0010] Based on the motor assist current, the steering of the steering wheel is controlled.

[0011] Optionally, when the current attenuation parameter value is a current attenuation coefficient, determining the current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value includes:

[0012] When the hand force input value is less than the first threshold, the following steps are performed:

[0013] If the hand force control direction and the steering request direction are in the same direction, the current attenuation coefficient is determined according to a pre-established first mapping relationship between the hand force input value and the current attenuation coefficient; in the first mapping relationship, the smaller the hand force input value, the smaller the current attenuation coefficient;

[0014] If the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is determined according to a pre-established second mapping relationship between the hand force input value and the current attenuation coefficient; in the second mapping relationship, the larger the hand force input value, the smaller the current attenuation coefficient.

[0015] Optionally, when the hand force input value is not less than the first threshold, the method further includes:

[0016] If the hand force control direction and the steering request direction are the same, the current attenuation coefficient is equal to 1;

[0017] If the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is equal to 0.

[0018] Optionally, when the current attenuation parameter value is a current attenuation amount, determining the current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value includes:

[0019] When the hand force input value is less than the second threshold, the following steps are performed:

[0020] If the hand force control direction and the steering request direction are in the same direction, the current attenuation amount is determined according to a pre-established first correspondence relationship between the hand force input value and the current attenuation amount; in the first correspondence relationship, the smaller the hand force input value, the smaller the current attenuation amount;

[0021] If the hand force control direction and the steering request direction are opposite, the current attenuation amount is determined according to a pre-established second correspondence relationship between the hand force input value and the current attenuation amount; in the second correspondence relationship, the larger the hand force input value, the smaller the current attenuation amount.

[0022] Optionally, when the hand force input value is not less than the second threshold, the method further includes:

[0023] If the hand force control direction and the steering request direction are the same, the current attenuation is equal to 0;

[0024] If the hand force control direction and the steering request direction are opposite, the current attenuation is equal to the intelligent driving current.

[0025] Optionally, after attenuating one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, calculating with the other current that has not been attenuated to determine the motor power-assisting current includes:

[0026] If the hand force control direction and the steering request direction are in the same direction, the basic power-assisting current is attenuated by the current attenuation parameter value to obtain a first target current; and the sum of the first target current and the intelligent driving current is used as the motor power-assisting current;

[0027] If the hand force control direction and the steering request direction are opposite, the intelligent driving current is attenuated by the current attenuation parameter value to obtain a second target current; and the sum of the second target current and the basic assist current is used as the motor assist current.

[0028] Optionally, the steering request parameter value is a steering angle request value or a torque request value, and determining the basic power-assisting current corresponding to the hand force input value and the intelligent driving current corresponding to the steering request parameter value includes:

[0029] The hand force input value and the steering request parameter value are calculated through a PID control algorithm to obtain the basic power-assisting current and the intelligent driving current.

[0030] Another aspect of the present application provides a control device for human-machine co-driving, which is applied to a power steering system, and the device comprises:

[0031] An acquisition module, used to acquire a hand force input value and a hand force control direction of a vehicle steering wheel, as well as a steering request parameter value and a steering request direction of a driving assistance system;

[0032] A first processing module is used to determine a basic power-assisting current according to the hand force input value, and to determine an intelligent driving current according to the steering request parameter value; and to determine a current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value;

[0033] A second processing module is used to attenuate one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, and then calculate it with the other current that has not been attenuated to determine the motor power-assisting current;

[0034] A control module is used to control the steering of the steering wheel based on the motor assist current.

[0035] Another aspect of the present application provides a control device for human-machine co-driving, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and when the processor executes the program, the steps of the control method for human-machine co-driving are implemented.

[0036] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, and the steps of the human-machine co-driving control method are performed when the program is executed by a processor.

[0037] The present application provides a control method, device and medium for human-machine co-driving, and the beneficial effects produced are: by converting the hand force input value of the steering wheel and the steering request parameter value of the driving assistance system into current values ​​respectively, and according to the hand force control direction and the steering request direction, one of the currents is attenuated by the current attenuation parameter, thereby realizing arbitration of lateral control. When the basic power-assisting current is attenuated, that is, the driver's manual control is weakened to avoid the driver's hand force intervention being too sensitive under the intelligent driving function. When the intelligent driving current is attenuated, that is, the driving assistance system control is weakened to ensure that the driver takes over the direction control smoothly. In addition, the attenuation amount of the current is determined by the current attenuation parameter value, and the current attenuation parameter value is determined according to the hand force input value, the hand force control direction and the steering request direction, so that the direction of the vehicle can be accurately controlled according to the actual hand force input value, the hand force control direction and the steering request direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a flow chart of a human-machine co-driving control method provided in an embodiment of the present application;

[0039] Figure 2 A flow chart of another method for controlling human-machine co-driving provided in an embodiment of the present application;

[0040] Figure 3 A schematic diagram of a first mapping relationship provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of a second mapping relationship provided in an embodiment of the present application;

[0042] Figure 5 A schematic flow chart of a method for controlling human-machine co-driving provided by another embodiment of the present application;

[0043] Figure 6 A schematic diagram of the structure of a control device for human-machine co-driving provided in an embodiment of the present application;

[0044] Figure 7 A schematic structural diagram of a control device for human-machine co-driving provided in another embodiment of the present application.

[0045] The reference numerals are as follows: 70 is a memory, 71 is a processor, 72 is a display screen, 73 is an input / output interface, 74 is a communication interface, 75 is a power supply, 76 is a communication bus, 701 is a computer program, 702 is an operating system, and 703 is data. DETAILED DESCRIPTION

[0046] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0047] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0048] Figure 1 A flow chart of a method for controlling human-machine co-driving provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method is applied to a power steering system, comprising:

[0049] S10: Acquire a hand force input value and a hand force control direction of a vehicle steering wheel, and a steering request parameter value and a steering request direction of a driving assistance system;

[0050] First of all, it should be noted that the control method for human-machine co-driving provided in the embodiment of the present application is applied to a power steering system, wherein the power steering system may include but is not limited to hydraulic power steering (HPS), electric power steering (EPS) and steer-by-wire technology. The following description will be made using EPS as an example.

[0051] In a specific embodiment, EPS interacts with Advanced Driver Assistance Systems (ADAS) to achieve vehicle directional control. ADAS includes, but is not limited to, Lane Keeping Support (LaneKeeping Support, LKS), Lane Departure Assistant (Lane Departure Assistant, LDP), Emergency Lane Keeping Assistant (Emergency Lane Keeping Assistant, ELK) and Navigation OnAuto Pilot (Navigate OnAuto Pilot, NOA) and other control modes. LKS is used as an example for explanation below.

[0052] Figure 2 A flow chart of another method for controlling human-machine co-driving provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, in a specific embodiment, EPS sends its own status signal (eg, EPS_LKS_ControlSts=ready) to the Advanced Driver Assistance Systems (ADAS) through step S1.

[0053] After ADAS receives its own status signal ready sent by EPS, ADAS sends an activation signal (for example, sends LKS activation signal: FCS_ALAD_AngleReqAct=active) to EPS through step S2, and sends the current turning angle value to EPS at the same time. It can be understood that the purpose of sending the current turning angle value is to control the direction on the basis of the current turning angle value when performing direction control at the next moment. For example, if the current turning angle value is 30 degrees and the turning angle value request at the next moment is 20 degrees, then the turning angle superposition is 50 degrees based on the current turning angle value.

[0054] After receiving the activation signal sent by ADAS, EPS feeds back a lateral control state signal (for example, the lateral state control signal is EPS_LKS_ControlSts=active) to ADAS in step S3. Further, after receiving the lateral control state signal fed back by EPS, ADAS sends the steering request parameter value to EPS.

[0055] In an optional embodiment, when the driver controls the steering wheel, the EPS obtains the hand force input value and hand force control direction of the steering wheel, as well as the steering request parameter value and steering request direction of the ADAS. The steering request parameter value sent by the ADAS is a signal that can identify the control direction, that is, the steering request signal can be directly obtained.

[0056] EPS includes devices such as torque sensors and electronic control units. When the driver operates the steering wheel, the torque sensor can collect the force applied by the driver on the steering wheel, and send the signal of hand force control direction and the collected hand force input value to the electronic control unit, so that the electronic control unit can output the corresponding control signal according to the hand force input value to realize the direction control of the steering wheel.

[0057] It should be noted that the steering request parameter value can be a steering angle request value or a torque request value, which is not limited in this application. In addition, it should be noted that the vehicles provided in the embodiments of the present application include but are not limited to sedans, sport utility vehicles (SUVs), multi-purpose vehicles (MPVs), off-road vehicles, pickup trucks, or other power-driven non-track-borne vehicles.

[0058] S11: determining a basic power-assisting current according to a hand force input value, and determining an intelligent driving current according to a steering request parameter value; and determining a current attenuation parameter value according to a hand force control direction, a steering request direction, and a hand force input value;

[0059] S12: after attenuating one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, the basic power-assisting current and the intelligent driving current are calculated with the other current that has not been attenuated to determine the motor power-assisting current;

[0060] S13: Control the steering of the steering wheel based on the motor assist current.

[0061] Furthermore, the basic power-assist current is determined according to the hand force input value obtained in step S10, and the intelligent driving current is determined according to the steering request parameter value. The basic power-assist current and the intelligent driving current refer to the current consumed by the motor to generate the corresponding power-assist torque. At the same time, according to the hand force control direction, the steering request direction and the hand force input value, the current attenuation parameter value used to attenuate the basic power-assist current or the intelligent driving current is determined.

[0062] The current attenuation parameter value may be a current attenuation coefficient or a current attenuation amount. If it is a current attenuation coefficient, the basic power assist current and the intelligent driving current are weighted based on the current attenuation coefficient. If it is a current attenuation amount, the attenuation purpose is achieved by subtracting the current attenuation amount from the basic power assist current or the intelligent driving current.

[0063] In an optional embodiment, according to the hand force control direction and the steering request direction, one of the basic assist current and the intelligent driving current is attenuated by a current attenuation parameter, and then summed with the other current that has not been attenuated to determine the motor assist current.

[0064] Specifically, when the hand force control direction and the steering request direction are in the same direction, that is, the driver's control direction is the same as the control direction of the driving assistance system, indicating that the direction control at this time meets the driver's expectations, then the driving assistance system can mainly complete the control. Therefore, at this time, the basic power assist current is attenuated by the current attenuation parameter, thereby weakening the driver's control, avoiding the driver's hand force intervention from being too sensitive, and the driving assistance system takes the lead in completing the direction control.

[0065] When the hand force control direction and the steering request direction are opposite, that is, the driver's control direction is opposite to the control direction of the driving assistance system, indicating that the direction control at this time does not meet the driver's expectations and needs to be completed according to the driver's hand force control. Therefore, at this time, the intelligent driving current is attenuated by the current attenuation parameter, thereby weakening the control of the driving assistance system, avoiding difficulties for the driver to take over, and the direction control is dominated by the driver's hand force input value.

[0066] Furthermore, after attenuating one of the basic power-assisting current and the intelligent driving current, the target current obtained after attenuation is summed with the current that has not been attenuated to obtain the motor power-assisting current. Based on the motor power-assisting current, the steering of the steering wheel is controlled.

[0067] Therefore, the human-machine co-driving control method provided in the embodiment of the present application realizes arbitration of lateral control by converting the hand force input value of the steering wheel and the steering request parameter value of the driving assistance system into current values ​​respectively, and attenuating one of the currents through the current attenuation parameter according to the hand force control direction and the steering request direction. When the basic power-assisting current is attenuated, the driver's manual control is weakened to avoid the driver's hand force intervention being too sensitive under the intelligent driving function. When the intelligent driving current is attenuated, the driving assistance system control is weakened to ensure that the driver takes over the direction control smoothly. In addition, the attenuation amount of the current is determined by the current attenuation parameter value, and the current attenuation parameter value is determined according to the hand force input value, the hand force control direction and the steering request direction, so that the direction of the vehicle can be accurately controlled according to the actual hand force input value, the hand force control direction and the steering request direction.

[0068] In an optional embodiment, when the current attenuation parameter value is a current attenuation coefficient, the current attenuation parameter value is determined according to the hand force control direction, the steering request direction and the hand force input value, including:

[0069] When the hand force input value is less than the first threshold, the following steps are performed:

[0070] If the hand force control direction and the steering request direction are in the same direction, the current attenuation coefficient is determined according to a first mapping relationship between the hand force input value and the current attenuation coefficient established in advance; in the first mapping relationship, the smaller the hand force input value, the smaller the current attenuation coefficient;

[0071] If the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is determined according to a pre-established second mapping relationship between the hand force input value and the current attenuation coefficient; in the second mapping relationship, the larger the hand force input value, the smaller the current attenuation coefficient.

[0072] It is understandable that when the driver takes over the control of the steering wheel, whether the driver or the driving assistance system ultimately controls the direction is closely related to the hand force input value, the hand force control direction, and the steering request direction. Therefore, if the current attenuation parameter value is the current attenuation coefficient, when determining the current attenuation coefficient, it is necessary to determine whether the hand force input value reaches the first threshold, and at the same time, it is necessary to determine whether the hand force control direction and the steering request direction are in the same direction.

[0073] Figure 3 This is a schematic diagram of the first mapping relationship provided in an embodiment of the present application. In an optional embodiment, when the hand force input value is less than the first threshold value and the hand force control direction and the steering request direction are in the same direction, it indicates that the current driver's control of the steering wheel is relatively small and the direction control meets the driver's expectations. At this time, in order to avoid the driver's hand force intervention being too sensitive, the basic assist current needs to be attenuated.

[0074] According to Figure 3 The first mapping relationship shown determines the current attenuation coefficient, which is Figure 3 It can be seen that the first mapping relationship is a corresponding relationship between the hand force input value and the current attenuation coefficient, and in the second mapping relationship, the smaller the hand force input value is, the smaller the current attenuation coefficient is.

[0075] At this time, the basic assist current is attenuated by the current attenuation coefficient to obtain the first target current, and the first target current = current attenuation coefficient * basic assist current. Further, the sum of the first target current and the intelligent driving current is used as the motor assist current. That is, the motor assist current = first target current + intelligent driving current = current attenuation coefficient * basic assist current + intelligent driving current.

[0076] It can be understood that when the hand force control direction and the steering request direction are in the same direction, it indicates that the direction control meets the driver's expectations. The hand force input value needs to be superimposed on the steering request parameter value, that is, the basic assist current needs to be superimposed on the intelligent driving current. However, in order to avoid the driver's hand force intervention being too sensitive when the hand force input value is very small, the basic assist current needs to be attenuated. The smaller the hand force input value, the greater the amount that needs to be attenuated, and the smaller the current attenuation coefficient.

[0077] It is worth noting that Figure 3As shown, in the first mapping relationship, the current attenuation coefficient is linearly related to the hand force input value. However, in an optional embodiment, the current attenuation coefficient and the hand force input value may be nonlinearly related, as long as the smaller the hand force input value, the smaller the current attenuation coefficient.

[0078] In addition, if Figure 3 As shown, in an optional embodiment, when the hand force input value is not less than the first threshold value, if the hand force control direction and the steering request direction are in the same direction, the current attenuation coefficient is equal to 1. It can be understood that when the driver's hand force input value is large, in order to ensure the driver's control feel, the current attenuation coefficient is 1 at this time, so that the basic power-assisting current is completely superimposed with the intelligent driving current to obtain the motor power-assisting current. In fact, it can be understood that when the driver's hand force input value is large, there is no need to attenuate the basic power-assisting current.

[0079] In an optional embodiment, the target attenuation coefficient for attenuating the basic power-assisting current and the intelligent driving current may be 1-current attenuation coefficient, then the first target current = (1-current attenuation coefficient) * basic power-assisting current. At this time, in the first mapping relationship, if the hand force input value is less than the first threshold, the larger the hand force input value, the smaller the current attenuation coefficient. If the hand force input value is not less than the first threshold, the current attenuation coefficient is equal to 0.

[0080] Figure 4 This is a schematic diagram of the second mapping relationship provided in an embodiment of the present application. In an optional embodiment, when the hand force input value is less than the first threshold value and the hand force control direction and the steering request direction are opposite, it indicates that the current driver's control of the steering wheel is relatively small and the direction control does not meet the driver's expectations. At this time, in order to make it difficult for the driver to take over, the intelligent driving current needs to be attenuated.

[0081] According to Figure 4 The second mapping relationship shown determines the current attenuation coefficient, which is Figure 4 It can be known that the second mapping relationship is a corresponding relationship between the hand force input value and the current attenuation coefficient, and in the second mapping relationship, when the hand force input value is larger, the current attenuation coefficient is smaller.

[0082] At this time, the intelligent driving current is attenuated by the current attenuation parameter value to obtain the second target current, and the second target current = current attenuation coefficient * intelligent driving current. Further, the sum of the second target current and the basic assist current is used as the motor assist current. That is, the motor assist current = basic assist current + second target current = basic assist current + current attenuation coefficient * intelligent driving current.

[0083] It can be understood that when the hand force control direction and the steering request direction are opposite, it means that the direction control does not meet the driver's expectations and the driver needs to take the lead in completing the direction control. At this time, the intelligent driving current needs to be attenuated. In order to avoid taking over difficulties, the larger the hand force input value, the greater the amount that the intelligent driving current needs to be attenuated, and the smaller the current attenuation coefficient.

[0084] Similarly, if Figure 4 As shown, in the second mapping relationship, the current attenuation coefficient is linearly related to the hand force input value. However, in an optional embodiment, the current attenuation coefficient and the hand force input value may be nonlinearly related, as long as the current attenuation coefficient is smaller when the hand force input value is larger.

[0085] In addition, if Figure 4 As shown, in an optional embodiment, when the hand force input value is not less than the first threshold value, and the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is equal to 0. It can be understood that when the driver's hand force input value is large, in order to ensure the driver's control feel and avoid the driver's difficulty in taking over, the current attenuation coefficient is 0 at this time, and the intelligent driving current is completely attenuated, that is, the intelligent driving current is 0. Make the motor assist current completely equal to the basic assist current, and the driver is in charge of completing the direction control.

[0086] In an optional embodiment, the target attenuation coefficient for attenuating the basic power-assisting current and the intelligent driving current may be 1-current attenuation coefficient, and the second target current = (1-current attenuation coefficient) * intelligent driving current. At this time, in the second mapping relationship, if the hand force input value is less than the first threshold, the greater the hand force input value, the greater the current attenuation coefficient. If the hand force input value is not less than the first threshold, the current attenuation coefficient is equal to 1.

[0087] In an optional embodiment, when the current attenuation parameter value is the current attenuation amount, the current attenuation parameter value is determined according to the hand force control direction, the steering request direction and the hand force input value, including:

[0088] When the hand force input value is less than the second threshold, the following steps are performed:

[0089] If the hand force control direction and the steering request direction are in the same direction, the current attenuation is determined according to a pre-established first correspondence relationship between the hand force input value and the current attenuation; in the first correspondence relationship, the smaller the hand force input value, the smaller the current attenuation;

[0090] If the hand force control direction and the steering request direction are opposite, the current attenuation is determined according to a pre-established second correspondence between the hand force input value and the current attenuation; in the second correspondence, the greater the hand force input value, the smaller the current attenuation.

[0091] It is understandable that when the current attenuation parameter value is the current attenuation, the current attenuation is directly attenuated on the basis of the basic power-assisted current or the intelligent driving current. In a specific embodiment, when determining the current attenuation, it is necessary to determine whether the hand force input value reaches the second threshold, and at the same time, it is necessary to determine whether the hand force control direction and the steering request direction are in the same direction.

[0092] In an optional embodiment, when the hand force input value is less than the second threshold value, and the hand force control direction and the steering request direction are in the same direction, the current attenuation is determined according to a first corresponding relationship. The first corresponding relationship is a mapping relationship between the hand force input value and the current attenuation. In the first corresponding relationship, the smaller the hand force input value, the smaller the current attenuation.

[0093] It can be understood that when the hand force input value is less than the second threshold and the hand force control direction is in the same direction as the steering request direction, it indicates that the current driver's control of the steering wheel is relatively small and the direction control meets the driver's expectations. At this time, in order to avoid the driver's hand force intervention being too sensitive, the basic assist current needs to be attenuated.

[0094] Specifically, the first target current is obtained by attenuating the basic assist current by the current attenuation, that is, the first target current = basic assist current - current attenuation. Further, the sum of the first target current and the intelligent driving current is used as the motor assist current, that is, the motor assist current = first target current + intelligent driving current = (basic assist current - current attenuation) + intelligent driving current.

[0095] It is worth noting that in an optional embodiment, when the hand force input value is not less than the second threshold value, and the hand force control direction and the steering request direction are in the same direction, the current attenuation is equal to 0. It can be understood that when the driver's hand force input value is large, in order to ensure the driver's control feel, the current attenuation is 0 at this time, so that the basic power-assisting current is completely superimposed with the intelligent driving current to obtain the motor power-assisting current. In fact, it can be understood that when the driver's hand force input value is large, there is no need to attenuate the basic power-assisting current.

[0096] In an optional embodiment, when the hand force input value is less than the second threshold value, and the hand force control direction and the steering request direction are opposite, the current attenuation is determined according to the second corresponding relationship. The second corresponding relationship is also a mapping relationship between the hand force input value and the current attenuation, but in the second corresponding relationship, the larger the hand force input value, the smaller the current attenuation.

[0097] It can be understood that when the hand force input value is less than the second threshold and the hand force control direction and the steering request direction are opposite, it indicates that the current driver's control of the steering wheel is weak and the direction control does not meet the driver's expectations. At this time, in order to avoid difficulties for the driver to take over, the intelligent driving current needs to be attenuated.

[0098] Specifically, the second target current is obtained by attenuating the intelligent driving current by the current attenuation, that is, the second target current = intelligent driving current - current attenuation. Further, the sum of the second target current and the intelligent driving current is used as the motor assist current, that is, the motor assist current = second target current + basic assist current = (intelligent driving current - current attenuation) + basic assist current.

[0099] It is worth noting that in an optional embodiment, when the hand force input value is not less than the second threshold value, and the hand force control direction and the steering request direction are opposite, the current attenuation is equal to the intelligent driving current. It can be understood that when the driver's hand force input value is large, in order to ensure the driver's control feel and avoid the driver's difficulty in taking over, the current attenuation is the intelligent driving current, that is, the intelligent driving current is completely attenuated, so that the motor assist current is completely equal to the basic assist current, and the driver is in charge of completing the direction control.

[0100] It should be noted that the first correspondence and the second correspondence are both mapping relationships between the hand force input value and the current attenuation amount that are pre-set based on empirical values. The first correspondence and the second correspondence can be presented in the form of a table or in the form of a curve graph, which is not limited in this application. In an optional embodiment, when the hand force input value is presented in the form of a curve graph, it can be a linear graph or a non-linear graph, as long as the first correspondence satisfies the condition that the smaller the hand force input value, the smaller the current attenuation amount. The second correspondence satisfies the condition that the larger the hand force input value, the smaller the current attenuation amount.

[0101] In an optional embodiment, after attenuating one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, the attenuation is performed with the other current that is not attenuated to determine the motor power-assisting current, including:

[0102] If the hand force control direction and the steering request direction are the same, the basic power assist current is attenuated by the current attenuation parameter value to obtain the first target current; and the sum of the first target current and the intelligent driving current is used as the motor power assist current;

[0103] If the hand force control direction and the steering request direction are opposite, the intelligent driving current is attenuated by the current attenuation parameter value to obtain the second target current; and the sum of the second target current and the basic assist current is used as the motor assist current.

[0104] In a specific embodiment, when the hand force control direction and the steering request direction are in the same direction, it indicates that the current vehicle control direction meets the driver's expectations. At this time, in order to avoid frequent interference with the driving assistance system when the driver's hand force input is very small, it is necessary to attenuate the basic assist current corresponding to the hand force input value, that is, the basic assist current is attenuated by the current attenuation parameter value to obtain the first target current.

[0105] When the current attenuation parameter value is the current attenuation coefficient, the basic assist current is attenuated by multiplying the current attenuation coefficient with the basic assist current. Further, the motor assist current is obtained by summing the attenuated first target current and the intelligent driving current.

[0106] When the current attenuation parameter value is the current attenuation amount, the current attenuation amount is subtracted from the basic assist current to achieve attenuation of the basic assist current. Similarly, the motor assist current is obtained by summing the attenuated first target current and the intelligent driving current.

[0107] In an optional embodiment, when the hand force control direction and the steering request direction are opposite, it indicates that the current vehicle control direction does not meet the driver's expectations. At this time, in order to avoid difficulties for the driver to take over and reduce the driver's operating experience, it is necessary to attenuate the intelligent driving current, that is, the intelligent driving current is attenuated by the current attenuation parameter value to obtain the second target current.

[0108] When the current attenuation parameter value is the current attenuation coefficient, the current attenuation coefficient is multiplied by the intelligent driving current to achieve the attenuation of the intelligent driving current. Further, the attenuated second target current is summed with the basic assist current to obtain the motor assist current.

[0109] When the current attenuation parameter value is the current attenuation amount, the current attenuation amount is subtracted from the intelligent driving current to achieve the attenuation of the intelligent driving current. Similarly, the motor assist current is obtained by summing the attenuated second target current and the basic assist current.

[0110] In an optional embodiment, the steering request parameter value is a steering angle request value or a torque request value, and determining the basic power assist current corresponding to the hand force input value and the intelligent driving current corresponding to the steering request parameter value includes:

[0111] The hand force input value and steering request parameter value are calculated through the PID control algorithm to obtain the basic power assist current and intelligent driving current respectively.

[0112] It is understandable that the driving assistance system can control the direction of the vehicle by sending a steering angle request or a torque request. Therefore, in an optional embodiment, the steering request parameter value can be one of a steering angle request value and a torque request value.

[0113] After obtaining the hand force input value and the steering request parameter value, they can be calculated separately through the PID control algorithm, that is, the hand force input value is calculated through the PID control algorithm to obtain the basic power assist current, and the steering request parameter value is calculated through the PID control algorithm to obtain the intelligent driving current.

[0114] Figure 5This is a flow chart of a control method for human-machine co-driving provided in another embodiment of the present application. In order to make the technical solution of the present application more clear to those skilled in the art, the following will be combined with Figure 5 Further detailed description is given.

[0115] like Figure 5 As shown, in an optional embodiment, the control method of human-machine co-driving provided by the present application includes:

[0116] S50: Acquire a steering wheel hand force input value and a steering request parameter value of a driving assistance system;

[0117] S51: determining a basic assist current according to a hand force input value;

[0118] S52: Determine the intelligent driving current according to the steering request parameter value;

[0119] In a specific embodiment, the hand force input value of the steering wheel and the steering request parameter value of the driving assistance system are obtained. In addition, the hand force control direction and the steering request direction are also obtained. If the hand force input value is obtained, the basic power assist current is calculated through step S51. If the steering request parameter value is obtained, the intelligent driving current is calculated through step S52. Among them, the specific calculation method refers to the above embodiment.

[0120] S53: Determine whether the hand force control direction and the steering request direction are in the same direction; if so, proceed to step S54 and step S55; if not, proceed to step S56 and step S57;

[0121] S54: attenuating the basic assist current to obtain a first target current;

[0122] S55: The first target current and the intelligent driving current are summed to obtain the motor assist current;

[0123] S56: attenuating the intelligent driving current to obtain a second target current;

[0124] S57: The second target current and the basic assist current are summed to obtain the motor assist current.

[0125] Furthermore, it is determined whether the hand force control direction and the steering request direction are in the same direction. If they are in the same direction, it indicates that the current direction control meets the driver's expectations. At this time, it is necessary to attenuate the basic power-assisting current generated by the driver's hand force input value. Specifically, the process proceeds to step S54 and step S55, attenuates the basic power-assisting current to obtain a first target current, and sums the first target current with the intelligent driving current to obtain the motor power-assisting current.

[0126] Of course, if the hand force control direction and the steering request direction are opposite, the directions are the same. If they are the same, it indicates that the current direction control does not meet the driver's expectations. At this time, it is necessary to attenuate the intelligent driving current generated by the driving assistance system. Specifically, enter step S56 and step S57, attenuate the intelligent driving current to obtain the second target current, and sum the second target current with the basic assist current to obtain the motor assist current.

[0127] It should be noted that since the control method for human-machine co-driving provided in the embodiment of the present application corresponds to the above embodiment, the specific attenuation method refers to the above embodiment and will not be repeated here.

[0128] Furthermore, after the motor assist current is obtained, the direction of the steering wheel is controlled based on the motor assist current, thereby realizing intelligent control of the direction in human-machine co-driving.

[0129] In the above embodiments, the control method for human-machine co-driving is described in detail. The present application also provides an embodiment corresponding to a control device for human-machine co-driving.

[0130] Figure 6 A schematic diagram of the structure of a control device for human-machine co-driving provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the device comprises:

[0131] An acquisition module 60 is used to acquire a hand force input value and a hand force control direction of a vehicle steering wheel, and a steering request parameter value and a steering request direction of a driving assistance system;

[0132] The first processing module 61 is used to determine the basic power-assisting current according to the hand force input value, and to determine the intelligent driving current according to the steering request parameter value; and to determine the current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value;

[0133] The second processing module 62 is used to calculate one of the basic power-assisting current and the intelligent driving current after attenuating it according to the current attenuation parameter value, and the other current which has not been attenuated, so as to determine the motor power-assisting current;

[0134] The control module 63 is used to control the steering of the steering wheel based on the motor assist current.

[0135] In addition, the control device for human-machine co-driving provided in the embodiment of the present application also includes:

[0136] The first current attenuation coefficient determination module is used to determine the current attenuation coefficient according to a first mapping relationship between the hand force input value and the current attenuation coefficient if the hand force control direction and the steering request direction are in the same direction under the condition that the hand force input value is less than a first threshold value; in the first mapping relationship, the smaller the hand force input value, the smaller the current attenuation coefficient; if the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is determined according to a second mapping relationship between the hand force input value and the current attenuation coefficient established in advance; in the second mapping relationship, the larger the hand force input value, the smaller the current attenuation coefficient.

[0137] The first current attenuation coefficient determination module is also used to, under the condition that the hand force input value is not less than the first threshold, if the hand force control direction and the steering request direction are the same, the current attenuation coefficient is equal to 1; if the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is equal to 0.

[0138] A second current attenuation coefficient determination module is used to determine the current attenuation amount according to a pre-established first correspondence relationship between the hand force input value and the current attenuation amount if the hand force control direction and the steering request direction are in the same direction under the condition that the hand force input value is less than a second threshold value; in the first correspondence relationship, the smaller the hand force input value, the smaller the current attenuation amount; if the hand force control direction and the steering request direction are in opposite directions, determine the current attenuation amount according to a pre-established second correspondence relationship between the hand force input value and the current attenuation amount; in the second correspondence relationship, the larger the hand force input value, the smaller the current attenuation amount;

[0139] The second current attenuation coefficient determination module is also used to, under the condition that the hand force input value is not less than the second threshold, if the hand force control direction and the steering request direction are the same, then the current attenuation is equal to 0; if the hand force control direction and the steering request direction are opposite, then the current attenuation is equal to the intelligent driving current.

[0140] The motor assist current determination module is used to attenuate the basic assist current by the current attenuation parameter value to obtain the first target current if the hand force control direction and the steering request direction are the same; and use the sum of the first target current and the intelligent driving current as the motor assist current; if the hand force control direction and the steering request direction are opposite, attenuate the intelligent driving current by the current attenuation parameter value to obtain the second target current; and use the sum of the second target current and the basic assist current as the motor assist current.

[0141] The calculation module is used to calculate the hand force input value and the steering request parameter value respectively through the PID control algorithm to obtain the basic power-assisting current and the intelligent driving current.

[0142] Figure 7 A schematic diagram of a control device for human-machine co-driving provided in another embodiment of the present application is shown in FIG. Figure 7As shown, the control device for human-machine co-driving includes: a memory 70 for storing a computer program;

[0143] The processor 71 is used to implement the steps of the human-machine co-driving control method mentioned in the above embodiment when executing the computer program.

[0144] The control device for human-machine co-driving provided in this embodiment may include but is not limited to a vehicle controller, a domain controller, etc.

[0145] Among them, the processor 71 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 71 can be implemented in at least one hardware form of a digital signal processor (Digital Signal Processor, referred to as DSP), a field programmable gate array (Field-Programmable Gate Array, referred to as FPGA), and a programmable logic array (Programmable Logic Array, referred to as PLA). The processor 71 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (Central Processing Unit, referred to as CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 71 may be integrated with a graphics processing unit (Graphics Processing Unit, referred to as GPU), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 71 may also include an artificial intelligence (Artificial Intelligence, referred to as AI) processor, which is used to process computing operations related to machine learning.

[0146] The memory 70 may include one or more computer-readable storage media, which may be non-transitory. The memory 70 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 70 is at least used to store the following computer program 701, wherein the computer program, after being loaded and executed by the processor 71, can implement the relevant steps of the human-machine co-driving control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 70 may also include an operating system 702 and data 703, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 702 may include Windows, Unix, Linux, etc. Data 703 may include, but is not limited to, relevant data involved in the human-machine co-driving control method, etc.

[0147] In some embodiments, the control device for human-machine co-driving may also include a display screen 72 , an input / output interface 73 , a communication interface 74 , a power supply 75 , and a communication bus 76 .

[0148] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the control device for human-machine co-driving, and may include more or fewer components than those shown in the figure.

[0149] The control device for human-machine co-driving provided in an embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, the control method for human-machine co-driving in the above embodiment can be implemented.

[0150] It should be noted that, although the operations are depicted in a specific order in the accompanying drawings, this should not be understood as requiring these operations to be performed in the specific order shown or to be performed sequentially, or requiring all illustrated operations to be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

Claims

1. A control method for human-machine co-driving, characterized in that: Applied to a power steering system, the method comprises: Obtain the hand force input value and hand force control direction of the vehicle steering wheel, as well as the steering request parameter value and steering request direction of the driving assistance system; Determine a basic power-assisting current according to the hand force input value, and determine an intelligent driving current according to the steering request parameter value; and determine a current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value; After attenuating one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, the attenuated current is calculated with the other current that has not been attenuated to determine the motor power-assisting current; Based on the motor assist current, the steering of the steering wheel is controlled.

2. The human-machine co-driving control method according to claim 1, characterized in that: When the current attenuation parameter value is a current attenuation coefficient, determining the current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value includes: When the hand force input value is less than the first threshold, the following steps are performed: If the hand force control direction and the steering request direction are in the same direction, the current attenuation coefficient is determined according to a pre-established first mapping relationship between the hand force input value and the current attenuation coefficient; in the first mapping relationship, the smaller the hand force input value, the smaller the current attenuation coefficient; If the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is determined according to a pre-established second mapping relationship between the hand force input value and the current attenuation coefficient; in the second mapping relationship, the larger the hand force input value, the smaller the current attenuation coefficient.

3. The human-machine co-driving control method according to claim 2, characterized in that: When the hand force input value is not less than the first threshold, the method further includes: If the hand force control direction and the steering request direction are the same, the current attenuation coefficient is equal to 1; If the hand force control direction and the steering request direction are opposite, the current attenuation coefficient is equal to 0.

4. The human-machine co-driving control method according to claim 1, characterized in that: When the current attenuation parameter value is the current attenuation amount, determining the current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value includes: When the hand force input value is less than the second threshold, the following steps are performed: If the hand force control direction and the steering request direction are in the same direction, the current attenuation amount is determined according to a pre-established first correspondence relationship between the hand force input value and the current attenuation amount; in the first correspondence relationship, the smaller the hand force input value, the smaller the current attenuation amount; If the hand force control direction and the steering request direction are opposite, the current attenuation amount is determined according to a pre-established second correspondence relationship between the hand force input value and the current attenuation amount; in the second correspondence relationship, the larger the hand force input value, the smaller the current attenuation amount.

5. The human-machine co-driving control method according to claim 4, characterized in that: When the hand force input value is not less than the second threshold, the method further includes: If the hand force control direction and the steering request direction are the same, the current attenuation is equal to 0; If the hand force control direction and the steering request direction are opposite, the current attenuation is equal to the intelligent driving current.

6. The human-machine co-driving control method according to any one of claims 1 to 5, characterized in that: After attenuating one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, the attenuation is performed with the other current that is not attenuated to determine the motor power-assisting current, including: If the hand force control direction and the steering request direction are in the same direction, the basic power-assisting current is attenuated by the current attenuation parameter value to obtain a first target current; and the sum of the first target current and the intelligent driving current is used as the motor power-assisting current; If the hand force control direction and the steering request direction are opposite, the intelligent driving current is attenuated by the current attenuation parameter value to obtain a second target current; and the sum of the second target current and the basic assist current is used as the motor assist current.

7. The human-machine co-driving control method according to claim 1, characterized in that: The steering request parameter value is a steering angle request value or a torque request value, and determining a basic power-assisting current corresponding to the hand force input value and an intelligent driving current corresponding to the steering request parameter value includes: The hand force input value and the steering request parameter value are calculated through a PID control algorithm to obtain the basic power-assisting current and the intelligent driving current.

8. A control device for human-machine co-driving, characterized in that: Applied to a power steering system, the device comprises: An acquisition module, used to acquire a hand force input value and a hand force control direction of a vehicle steering wheel, as well as a steering request parameter value and a steering request direction of a driving assistance system; A first processing module is used to determine a basic power-assisting current according to the hand force input value, and to determine an intelligent driving current according to the steering request parameter value; and to determine a current attenuation parameter value according to the hand force control direction, the steering request direction and the hand force input value; A second processing module is used to attenuate one of the basic power-assisting current and the intelligent driving current according to the current attenuation parameter value, and then calculate it with the other current that has not been attenuated to determine the motor power-assisting current; A control module is used to control the steering of the steering wheel based on the motor assist current.

9. A control device for human-machine co-driving, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the human-machine co-driving control method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the human-machine co-driving control method described in any one of claims 1 to 7 are implemented.

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