Intelligent driving steering control method and system

Abstract

The invention provides an intelligent driving steering control method and system, and the method comprises the following steps: obtaining an active intervention signal of a driver in a vehicle intelligent driving mode; according to the active intervention signal, adjusting an execution parameter for suppressing an intelligent driving mode; and outputting the adjusted execution parameters to a controller so as to inhibit the intelligent driving mode. According to the cooperative steering control between the driver active intervention mode and the intelligent driving mode, when the PSCM monitors that the driver has the subjective steering intention, the intelligent driving input steering wheel angle request is restrained, the normal steering intention of the driver is achieved, meanwhile, it is guaranteed that the intelligent driving function works continuously, and when the driver actively intervenes in steering, the intelligent driving function can be effectively controlled. By judging the vehicle speed, the hand torque and the angle, the driving safety of the vehicle is guaranteed as much as possible while comfortable driving is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an intelligent driving steering control method and system. Background Art

[0002] With the popularization of intelligent driving functions, more and more customers can experience the convenience brought by intelligent driving.

[0003] During the intelligent driving process, if the driver actively intervenes in the normal operation of the intelligent driving (or the host computer) (for example, when the vehicle is driving normally and a vehicle is approaching from the side, the driver wants to move away from the vehicle and will choose to actively steer), the intelligent driving function will conflict with the driver's driving intention. In this case, the intelligent driving function must keep the vehicle on the preset track, but the driver wants to deviate from the preset track of the intelligent driving. The actual performance is that the intelligent driving function (or the host computer) and the driver compete for the steering wheel. If the driver is not familiar with the intelligent driving function, he will feel abrupt and uncomfortable, which may cause danger in serious cases. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide an intelligent driving steering control method and system, which is used to solve the problem in the prior art that when the driver actively intervenes in the normal operation of the intelligent driving, the intelligent driving function will conflict with the driver's driving intention. If the driver is not familiar with the intelligent driving function, he will feel abrupt and uncomfortable, which may even lead to danger in serious cases.

[0005] To achieve the above objectives and other related objectives, the present invention provides an intelligent driving steering control method, comprising the following steps:

[0006] Obtain active intervention signals from the driver in the vehicle's intelligent driving mode;

[0007] According to the active intervention signal, the execution parameters of the suppression intelligent driving mode are adjusted;

[0008] The adjusted execution parameters are output to the controller to suppress the intelligent driving mode.

[0009] In one embodiment of the present invention, obtaining the active intervention signal of the driver in the vehicle intelligent driving mode includes: when the MCU (microcontroller unit) executes the angle request A of the ADCU (intelligent driving domain control module) according to the PID (proportional integral differential) control principle, monitoring the steering wheel hand torque T when the driver actively intervenes 1 .

[0010] In one embodiment of the present invention, the execution parameters for suppressing the intelligent driving mode are adjusted according to the active intervention signal, including: collecting the vehicle status data corresponding to when the active intervention signal is obtained, and adjusting the execution parameters of the MCU for suppressing the intelligent driving mode based on the active intervention signal and the vehicle status data.

[0011] In one embodiment of the present invention, based on the active intervention signal and the vehicle status data, the execution parameters of the MCU suppressing the intelligent driving mode are adjusted, including: determining the steering wheel hand torque T when the driver actively intervenes 1 Is it greater than the hand torque limit T? If T 1 >T, it is determined that the current driving state of the vehicle is that the driver has an active steering intention, and the control adjusts the execution parameters.

[0012] In one embodiment of the present invention, the control adjustment execution parameters include: clearing the KI integral term in the PID control principle executed by the MCU to zero, so that the vehicle deviates from the target vehicle trajectory H preset in the intelligent driving mode according to the driver's intention. 1 , in order to suppress the PSCM (electric power steering control module) in the intelligent driving mode from requesting additional torque T in the intelligent driving mode q Output.

[0013] In one embodiment of the present invention, the KI integral term in the PID control principle executed by the MCU is cleared to zero, including: monitoring the steering wheel hand torque T when the driver actively intervenes 1 The corresponding vehicle speed V is adjusted according to the size of the vehicle speed V.

[0014] In one embodiment of the present invention, the hand torque limit T increases as the vehicle speed V increases.

[0015] In one embodiment of the present invention, clearing the KI integral term in the PID control principle executed by the MCU also includes:

[0016] If the steering wheel torque T 1 If it is greater than the hand torque limit T, the KI integral term is controlled to decrease to zero according to the adjustable slope L to complete the zeroing.

[0017] In one embodiment of the present invention, before clearing the KI integral term in the PID control principle executed by the MCU, the method further includes: determining the steering wheel hand torque T 1 Is the corresponding angle limit A greater than the set angle A? 1 If yes, then reset is not performed. If no, reset is performed. Here, set the angle A 1 It decreases with the increase of vehicle speed V.

[0018] The present invention also provides an intelligent driving steering control system, comprising:

[0019] A signal acquisition unit, the signal acquisition unit acquires an active intervention signal of a driver in an intelligent driving mode of the vehicle;

[0020] a parameter adjustment unit, the parameter adjustment unit adjusting an execution parameter for suppressing the intelligent driving mode according to the active intervention signal; and

[0021] The parameter execution unit outputs the adjusted execution parameters to the controller to suppress the intelligent driving mode.

[0022] Beneficial effects of the present invention: The present invention proposes an intelligent driving steering control method and system, which determines whether the current driver has a subjective steering intention based on the driver's active intervention signal obtained when the intelligent driving function works normally. And when there is a steering intention, the controller suppresses the steering wheel angle request input in the intelligent driving mode, thereby realizing the normal steering intention when the driver actively intervenes, and also ensures the continuous operation of the intelligent driving function at the same time, realizing the driver's active intervention and the intelligent driving mode to coordinate the vehicle. By analyzing, judging and setting parameters such as vehicle speed, steering wheel hand torque, and steering wheel angle when suppressing the intelligent driving mode, in order to determine whether the PSCM suppresses the steering wheel angle request in the intelligent driving mode, it is ensured that all intelligent driving conditions can achieve parameter adjustment under the condition of driver intervention, so as to achieve the comfort and safety of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a flow chart of the steering control method of the present invention.

[0024] Figure 2 Shown is a schematic diagram of the structure of the steering control in a preferred embodiment of the present invention.

[0025] Figure 3 It is a structural diagram of the steering control system of the present invention. DETAILED DESCRIPTION

[0026] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0028] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0029] See also Figure 1 The present invention provides an intelligent driving steering control method, comprising the following steps:

[0030] Obtain active intervention signals from the driver in the vehicle's intelligent driving mode;

[0031] According to the active intervention signal, the execution parameters of the suppression intelligent driving mode are adjusted;

[0032] The adjusted execution parameters are output to the controller to suppress the intelligent driving mode.

[0033] Through the steps to obtain the driver's active intervention signal in the vehicle's intelligent driving mode, it can be seen that the intelligent driving mode of the vehicle can be an intelligent driving function actively turned on by the driver, including LKA (lane keeping assist system), HWA (highway assisted driving system), NOA (navigation assisted driving system), etc. The active intervention signal obtained in the intelligent driving mode can be, for example, a feedback signal generated when the intelligent driving function works normally and the vehicle is driving normally, and the driver needs to stay away from the side vehicle, etc. when manually intervening in the intelligent driving mode. Specifically, the active intervention signal can be obtained through SAS (steering wheel angle sensor module) and TAS (torque angle sensor module) when the driver manually intervenes in the steering wheel.

[0034] Through the steps of adjusting the execution parameters of the intelligent driving mode according to the active intervention signal, it can be seen that when the driver actively intervenes, there will be a conflict between the intelligent driving mode and the driver's active intervention, that is, there will be a situation of fighting for the steering wheel. Therefore, after obtaining the driver's active intervention signal, it is necessary to adjust the execution parameters of the intelligent driving mode so that the intelligent driving mode no longer conflicts with the driver's active intervention, or the intensity of the confrontation between the two is relatively weakened. In this way, the intelligent driving mode and the driver's active intervention can coordinately control the vehicle to ensure the driver's comfort when steering.

[0035] Specifically, the adjusted execution parameters are output to the controller through the steps to suppress the intelligent driving mode. It can be seen that after determining the execution parameters for suppressing the intelligent driving mode, the execution parameters are output to the controller, and the controller further suppresses the intelligent driving mode according to the execution parameters. Specifically, it is achieved that in the intelligent driving mode, the controller can suppress the confrontation of the intelligent driving mode when the driver actively intervenes, and the intelligent driving mode and the driver's active intervention can be coordinated to control the vehicle, ensuring the driver's comfort when steering. Moreover, the intelligent driving function will not exit directly when actively intervened, thereby reducing the frequency of exiting the intelligent driving function and improving the smoothness of driving operations.

[0036] In one embodiment of the present invention, during the vehicle intelligent driving mode, the driver can actively turn on the intelligent driving function, such as LKA (lane keeping assist system), HWA (highway assisted driving system), NOA (navigation assisted driving system), etc. At this time, ADCU (intelligent driving domain control module) monitors the vehicle's surrounding environment information based on sensors (such as cameras, radars, etc.), and calculates the vehicle's target driving trajectory H 1 and the actual driving trajectory H 2 . And according to the target driving trajectory H 1 and the actual driving trajectory H 2 After the PSCM (electric power steering control module) receives the steering wheel angle request A from the intelligent driving mode, it executes the steering wheel angle A through the MCU (microcontroller) according to the PID (proportional integral differential) control principle, and outputs the intelligent driving request additional torque N to rotate the steering wheel, so that the vehicle can calculate the target vehicle trajectory H according to the ADCU. 1 Driving.

[0037] Specifically, obtaining the active intervention signal of the driver in the vehicle intelligent driving mode includes: when the MCU executes the angle request A of the ADCU according to the PID control principle, monitoring the steering wheel hand torque T when the driver actively intervenes 1 .

[0038] In this embodiment, the calculation formula of the intelligent driving PSCM responding to the intelligent driving angle request PID control principle is: Where, steering angle is the steering angle, Kp is the proportional system, e(t) is the deviation measure at time t, that is, the distance from the vehicle to the reference line, Kd is the differential coefficient, Ki is the integral coefficient, and t is the time. Recorded as KI integral term, this term is the actual driving trajectory H 2 Deviating from the target driving trajectory H 1 The cumulative deviation at the time of steering wheel torque T 1The larger the value, the actual driving trajectory H 2 Deviating from the target driving trajectory H 1 The more the KI integral term is, the more the accumulated deviation will be, which will result in the steering wheel torque T when the driver intervenes. 1 Therefore, it is necessary to monitor and obtain the steering wheel hand torque T when the driver actively intervenes in this case. 1 .

[0039] Furthermore, according to the active intervention signal, the execution parameters for suppressing the intelligent driving mode are adjusted, including: collecting the vehicle status data corresponding to when the active intervention signal is obtained, and adjusting the execution parameters for suppressing the intelligent driving mode of the MCU based on the active intervention signal and the vehicle status data.

[0040] In one embodiment of the present invention, when adjusting the execution parameters of the intelligent driving mode, the adjustment is mainly based on two types of data. One is the active intervention signal obtained by monitoring when the driver actively intervenes, and the other is the vehicle status data when the active intervention signal is obtained. And by using the data corresponding to the active intervention signal and the vehicle status data, the execution parameters of the intelligent driving mode are analyzed and adjusted, and the corresponding execution parameters of the intelligent driving mode are executed through MCU control. Specifically, the vehicle status data can be the vehicle speed V, and the vehicle speed V can be obtained through ESC (body stability control module).

[0041] Specifically, based on the active intervention signal and vehicle status data, the execution parameters of the MCU to suppress the intelligent driving mode are adjusted, including: determining the steering wheel hand torque T when the driver actively intervenes 1 Is it greater than the hand torque limit T? If T 1 >T, it is determined that the current driving state of the vehicle is that the driver has an active steering intention, and the control adjusts the execution parameters.

[0042] In one embodiment of the present invention, when the active intervention signal is obtained, the steering wheel hand torque T of the driver when actively intervening is obtained. 1 The steering wheel hand torque T 1 It can be obtained through TAS (torque angle sensor module). 1 After that, when adjusting the execution parameters of the MCU to suppress the intelligent driving mode, the steering wheel hand torque T 1 The relationship between the hand torque limit T and the hand torque limit T can further determine whether to execute the suppression of the intelligent driving mode. Specifically, the hand torque limit T is a calibrable value, that is, it can be calculated based on the maximum hand torque T of the driver in a static state when holding the steering wheel. max Calibrate. That is, the maximum hand torque T in the static state can be usedmax As the hand torque limit T. Therefore, when the driver applies the steering wheel hand torque T 1 >T, it can be further determined that the current state is not the driver's hand holding the steering wheel, but the driver's active steering intention. The MCU will control and adjust the execution parameters of the intelligent driving mode according to the driver's active steering intention.

[0043] Furthermore, when it is determined that the driver has an active steering intention, the MUC will execute control to adjust the execution parameters. Specifically, the control to adjust the execution parameters includes: clearing the KI integral term in the PID control principle executed by the MCU to zero, so that the vehicle deviates from the target vehicle trajectory H preset in the intelligent driving mode according to the driver's intention 1 , in order to suppress the PSCM in the intelligent driving mode from responding to the intelligent driving request additional torque T in the intelligent driving mode q Output.

[0044] In this embodiment, when the control adjustment execution parameters are used, the calculation formula of the PID control principle is It can be seen that the KI integral term The actual driving trajectory H 2 Deviating from the target driving trajectory H 1 Therefore, when it is determined that the driver has an active steering intention, the KI integral item is cleared to zero, so that the vehicle deviates from the target vehicle trajectory H preset by the intelligent driving mode according to the driver's intention. 1 , and corresponds to suppressing the PSCM in the intelligent driving mode from requesting additional torque T in the intelligent driving mode q The output of the steering wheel hand torque T 1 Control the vehicle's driving trajectory. This prevents the driver's active steering direction from being opposite to the direction of the intelligent driving request angle A in the upper computer, that is, the intelligent driving mode, thereby ensuring the driver's driving comfort.

[0045] Furthermore, the KI integral term in the PID control principle executed by the MCU is cleared to zero, including: monitoring the steering wheel hand torque T when the driver actively intervenes 1 The corresponding vehicle speed V is adjusted according to the size of the vehicle speed V.

[0046] In one embodiment of the present invention, when executing the KI integral term clearing in the PID control principle, the influence of the vehicle speed V in the vehicle state data also needs to be considered. That is, when the vehicle speed V is different, in order to improve the driving comfort of the driver and the stability of vehicle control, the steering wheel hand torque T 1The corresponding hand torque limit T should also be adjusted accordingly to match the driver's active intervention control at different vehicle speeds V.

[0047] Specifically, the limit value T increases with the increase of vehicle speed V. In this embodiment, the MCU monitors the limit value T of the steering wheel hand torque of the TAS (torque angle sensor module) and adjusts it with the vehicle speed V to ensure vehicle stability. When the vehicle is in a low-speed driving condition, the MCU can turn on the clearing of the KI integral item at a smaller hand torque limit value T to suppress the data of the MCU intelligent driving request torque. Moreover, as the vehicle speed V increases, the hand torque limit value T can be appropriately increased to ensure the vehicle driving stability requirements.

[0048] Furthermore, the KI integral term in the PID control principle executed by the MCU is cleared to zero, and further includes:

[0049] If the steering wheel torque T 1 If it is greater than the hand torque limit T, the KI integral term is controlled to decrease to zero according to the adjustable slope L to complete the zeroing.

[0050] In one embodiment of the present invention, when the KI integral term in the PID control principle is cleared, when the vehicle speed V is constant, the MCU determines the steering wheel hand torque T 1 After reaching the hand torque limit T, the MCU will start clearing the KI integral item. During the specific clearing process, the KI integral item will be reduced to zero in sequence according to the adjustable slope L. Specifically, the time for the KI integral item to complete the clearing can be set. Therefore, based on the value of the KI integral item and the time to complete the clearing, the clearing speed of the KI integral item per unit time is calculated, which can be expressed as the adjustable slope L. Because the value of the KI integral item is different when the time is constant, the variable adjustable slope L can ensure that the intelligent driving request for additional torque T q There will be no sudden changes.

[0051] In addition, before clearing the KI integral term in the PID control principle executed by the MCU, it also includes: judging the steering wheel hand torque T 1 Is the corresponding angle limit A greater than the set angle A? 1 If yes, then reset is not performed. If no, reset is performed. Here, set the angle A 1 It decreases with the increase of vehicle speed V.

[0052] In one embodiment of the present invention, before clearing the KI integral term in the PID control principle, it is also necessary to consider whether the current state is a case where the driver accidentally touches the steering wheel. And whether to clear the KI integral term is determined based on whether the steering wheel is accidentally touched. Specifically, by judging the steering wheel hand torque T 1 The angle limit A and the set angle A1 The relationship between the steering wheel torque T and the steering wheel torque T is used to further determine whether to perform zeroing. 1 The angle limit A is greater than the set angle A 1 In order to avoid the driver accidentally touching the steering wheel when driving on a curve, the KI integral item will be cleared and deactivated, and the MCU will not respond to the request of the host computer, that is, the intelligent driving mode, in time, so that the vehicle maintains the original target vehicle trajectory H of the intelligent driving mode. 1 Continue driving. When the angle limit A is less than the set angle A 1 , it indicates that the current steering wheel operation is an executable operation. By controlling the activation of the clear KI integral item, the vehicle completes the vehicle's steering action according to the driver's steering intention. Specifically, when setting the set angle A 1 When setting the angle A 1 It decreases with the increase of vehicle speed V. That is to say, when the vehicle is traveling at a low speed, the angle A is set 1 It can be set to a larger value to ensure the driver's driving comfort. When the vehicle speed V is high, in order to ensure driving safety, the angle A is set 1 Then it can be set to a smaller value. Further, when determining the angle limit value A, it can be obtained through SAS (steering wheel angle sensor module).

[0053] See also Figure 2 In a preferred embodiment, during the intelligent driving steering control process, ADCU (intelligent driving domain controller or intelligent driving domain control module) monitors the vehicle's surrounding environment information based on sensors (cameras, radars, etc.) and calculates the vehicle's target driving trajectory H. 1 And the actual driving trajectory H 2 , output the steering wheel angle request A according to the deviation of the two trajectories. PSCM (electric power steering control module) receives the steering wheel angle request A from the intelligent driving, and the MCU executes the steering wheel angle A according to the PID control principle, outputs the intelligent driving request additional torque N to rotate the steering wheel, and realizes the vehicle according to the target vehicle trajectory H calculated by ADCU 1 Driving. When the driver actively intervenes, he will operate the steering wheel to turn. The SAS (steering wheel angle sensor module) will obtain the steering wheel angle signal and obtain the angle limit A. At the same time, the current vehicle speed V is obtained through the ESC (body stability control module) and sent to the PSCM motor controller assembly. The EPS (electronic power steering) system will set the angle A according to the current vehicle speed V 1 , and determine the angle limit A and the set angle A 1 If the angle limit A is greater than the set angle A 1, the KI integral term is not cleared, and if the angle limit A is less than the set angle A 1 , it is determined that the current state is that the driver has a steering intention, and the KI integral item can be cleared by a controller, such as an MCU (microcontroller unit), to suppress the intelligent driving mode. Specifically, when actively intervening in the steering wheel, the steering wheel hand torque T is also obtained through the TAS (torque angle sensor module). 1 And by judging the steering wheel hand torque T 1 The relationship between the hand torque limit T and the steering wheel hand torque T 1 When the hand torque limit T is greater than the hand torque limit T, it indicates that the current state is the driver's active intervention. 1 When the hand torque limit T is less than the hand torque limit T, it indicates that the current state is that the driver holds the steering wheel but does not make any steering action. When determining the hand torque limit T, it is also necessary to further set it according to the current vehicle speed V. Further, when determining the current state of the steering wheel hand torque T 1 After reaching the hand torque limit T, when the MCU starts to clear the KI integral item, the KI integral item is reduced and cleared in sequence according to the slope of the preset time to zero, thereby ensuring that the intelligent driving request additional torque T q Specifically, the hand torque limit T, vehicle speed V, setting angle A 1 The adjustable slope L is stored in the MCU, and the steering wheel sends mechanical signals to the EPS system through the SAS (angle sensor, also known as the steering wheel angle sensor module). The SAS, ESC, and ADCU establish a connection with the MCU through CAN signal transmission. The TAS in the EPS system establishes a connection with the MCU through EPS internal signal transmission. The MCU establishes a connection with the motor through EPS internal signal transmission, thereby driving the tires through the EPS system to complete mechanical steering.

[0054] like Figure 3 As shown, the present invention also provides an intelligent driving steering control system, comprising:

[0055] A signal acquisition unit, the signal acquisition unit acquires an active intervention signal of a driver in an intelligent driving mode of the vehicle;

[0056] a parameter adjustment unit, the parameter adjustment unit adjusting an execution parameter for suppressing the intelligent driving mode according to the active intervention signal; and

[0057] The parameter execution unit outputs the adjusted execution parameters to the controller to suppress the intelligent driving mode.

[0058] In one embodiment of the present invention, a signal acquisition unit is used to collect active intervention signals of the driver actively intervening in the intelligent driving mode while the vehicle is in the intelligent driving mode. A parameter adjustment unit is used to determine whether the current active intervention is established based on the active intervention signal currently acquired. And according to the corresponding situation of the active intervention, the execution parameters of the intelligent driving mode are adjusted to further output the execution parameters to the controller through the parameter execution unit to further suppress the intelligent driving mode. Active intervention when the intelligent driving function is turned on is realized, and the frequent exit of intelligent driving leads to reduced driving comfort. Moreover, by adjusting the execution parameters of suppressing the intelligent driving mode, the safety of vehicle driving can be guaranteed as much as possible while ensuring driving comfort.

[0059] In summary, the present invention determines whether the current driver has a subjective steering intention based on the driver's active intervention signal obtained when the intelligent driving function works normally. And when there is a steering intention, the controller suppresses the steering wheel angle request input in the intelligent driving mode, thereby realizing the normal steering intention when the driver actively intervenes, and also ensures the continuous operation of the intelligent driving function at the same time, realizing the driver's active intervention and the intelligent driving mode to coordinate the control of the vehicle. By analyzing, judging and setting parameters such as vehicle speed, steering wheel hand torque, and steering wheel angle when suppressing the intelligent driving mode, in order to determine whether the PSCM suppresses the steering wheel angle request in the intelligent driving mode, it is ensured that all intelligent driving conditions can realize parameter adjustment under the condition of driver intervention, and realize the comfort and safety of intelligent driving. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0060] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An intelligent driving steering control method, characterized in that: The steps include: Obtain active intervention signals from the driver in the vehicle's intelligent driving mode; adjusting, according to the active intervention signal, execution parameters for suppressing the intelligent driving mode; The adjusted execution parameters are output to a controller to suppress the intelligent driving mode.

2. The intelligent driving steering control method according to claim 1, characterized in that: Obtain the driver's active intervention signal in the vehicle's intelligent driving mode, including: When the MCU executes the angle request A of the ADCU according to the PID control principle, the steering wheel hand torque T1 when the driver actively intervenes is monitored.

3. The intelligent driving steering control method according to claim 1, characterized in that: According to the active intervention signal, adjusting execution parameters for suppressing the intelligent driving mode includes: The vehicle status data corresponding to when the active intervention signal is obtained is collected, and based on the active intervention signal and the vehicle status data, the execution parameters of the MCU that suppress the intelligent driving mode are adjusted.

4. The intelligent driving steering control method according to claim 3, characterized in that: Adjusting the execution parameter of the MCU to suppress the intelligent driving mode based on the active intervention signal and the vehicle status data includes: It is determined whether the steering wheel hand torque T1 when the driver actively intervenes is greater than the hand torque limit T. If T1>T, it is determined that the current driving state of the vehicle is that the driver has an active steering intention, and the execution parameters are controlled and adjusted.

5. The intelligent driving steering control method according to claim 4, characterized in that: Controlling and adjusting the execution parameters includes: The KI integral term in the PID control principle executed by the MCU is cleared to zero, so that the vehicle deviates from the target vehicle trajectory H1 preset in the intelligent driving mode according to the driver's intention, so as to suppress the PSCM in the intelligent driving mode from requesting additional torque T in the intelligent driving mode. q Output.

6. The intelligent driving steering control method according to claim 5, characterized in that: Clear the KI integral term in the PID control principle executed by the MCU, including: The vehicle speed V corresponding to the steering wheel hand torque T1 when the driver actively intervenes is monitored, and the hand torque limit T is adjusted according to the size of the vehicle speed V.

7. The intelligent driving steering control method according to claim 6, characterized in that: The hand torque limit T increases as the vehicle speed V increases.

8. The intelligent driving steering control method according to claim 6, characterized in that: Clear the KI integral term in the PID control principle executed by the MCU, including: If the steering wheel hand torque T1 is greater than the hand torque limit T, the KI integral term is controlled to decrease to zero in sequence according to the adjustable slope L to complete the zeroing.

9. The intelligent driving steering control method according to claim 6, characterized in that: Before clearing the KI integral term in the PID control principle executed by the MCU, it also includes: It is determined whether the angle limit A corresponding to the steering wheel hand torque T1 is greater than the set angle A1. If so, the reset is not performed; if not, the reset is performed, wherein the set angle A1 decreases as the vehicle speed V increases.

10. An intelligent driving steering control system, characterized in that: include: A signal acquisition unit, wherein the signal acquisition unit acquires an active intervention signal of a driver in an intelligent driving mode of the vehicle; a parameter adjustment unit, wherein the parameter adjustment unit adjusts an execution parameter for suppressing the intelligent driving mode according to the active intervention signal; as well as A parameter execution unit is configured to output the adjusted execution parameter to a controller to suppress the intelligent driving mode.

Images