Intelligent driving steering control method and system

Abstract

The application provides a kind of intelligent driving steering control method and system, the steering control method, including the following steps: obtaining the active intervention signal of driver in vehicle intelligent driving mode;According to active intervention signal, adjust the execution parameter of inhibiting intelligent driving mode;The adjusted execution parameter is output to controller to inhibit intelligent driving mode.The cooperative steering control between the active intervention of driver and intelligent driving mode provided by the application, when PSCM monitors that there is subjective steering intention of driver, inhibits the steering wheel angle request of intelligent driving input, realizes normal steering intention of driver, while guaranteeing that intelligent driving function continues to work, also can realize when driver actively intervenes steering, by judging speed, hand torque, angle, while guaranteeing comfortable driving, as far as possible guarantee the safety of vehicle travel.

Description

Technical Field

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

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

[0003] During intelligent driving, when the driver actively intervenes in the normal operation of the intelligent driving system (or the host computer) (for example, when a vehicle is approaching from the side while driving normally, the driver may actively turn the steering wheel to avoid it), a conflict may arise between the intelligent driving function and the driver's driving intentions. In this situation, the intelligent driving function aims to keep the vehicle on the preset trajectory, while the driver wants to deviate from the preset trajectory. In practice, this manifests as the intelligent driving function (or the host computer) and the driver vying for control of the steering wheel. If the driver is unfamiliar with the intelligent driving function, they may find it abrupt and uncomfortable, and in severe cases, it could lead to danger. Summary of the Invention

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

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

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

[0007] Adjust the execution parameters of the suppressed intelligent driving mode based on the active intervention signal;

[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 driver's active intervention signal in the intelligent driving mode of the vehicle 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 derivative) control principle, monitoring and obtaining the steering wheel torque T1 when the driver actively intervenes.

[0010] In one embodiment of the present invention, adjusting the execution parameters of the intelligent driving mode suppression based on the active intervention signal includes: collecting vehicle state data corresponding to the acquisition of the active intervention signal, and adjusting the execution parameters of the MCU to suppress the intelligent driving mode based on the active intervention signal and the vehicle state data.

[0011] In one embodiment of the present invention, the execution parameters of the MCU to suppress the intelligent driving mode are adjusted based on the active intervention signal and vehicle status data, including: determining whether the steering wheel torque T1 when the driver actively intervenes is greater than the torque limit T; if T1>T, then the current driving state of the vehicle is determined to be that the driver has an active steering intention, and the execution parameters are adjusted accordingly.

[0012] In one embodiment of the present invention, controlling and adjusting the execution parameters includes: clearing the KI integral term in the PID control principle executed by the MCU to zero, causing the vehicle to deviate from the preset target vehicle trajectory H1 of the intelligent driving mode according to the driver's intention, so as to suppress the PSCM (electric power steering control module) in the intelligent driving mode from applying additional torque T to the intelligent driving request in the intelligent driving mode. q The output of .

[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 vehicle speed V corresponding to the steering wheel torque T1 when the driver actively intervenes, and adjusting the torque limit T according to the magnitude of the vehicle speed V.

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

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

[0016] If the steering wheel torque T1 is greater than the torque limit T, the integral term of control KI will be reduced to zero sequentially 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 whether the angle limit A corresponding to the steering wheel torque T1 is greater than the set angle A1. If so, the clearing is not performed; if not, the clearing is performed. The set angle A1 decreases as the vehicle speed V increases.

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

[0019] The signal acquisition unit acquires the driver's active intervention signals in the vehicle's intelligent driving mode;

[0020] The parameter adjustment unit adjusts the execution parameters of the suppressed intelligent driving mode based on 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] The beneficial effects of this invention: This invention proposes an intelligent driving steering control method and system. This method and system, when the intelligent driving function is working normally, determines whether the driver has a subjective steering intention based on the acquired driver intervention signal. Furthermore, when a steering intention exists, 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, while simultaneously ensuring the continuous operation of the intelligent driving function. This achieves coordinated vehicle control by driver intervention and the intelligent driving mode. By analyzing and setting parameters such as vehicle speed, steering wheel torque, and steering wheel angle when suppressing the intelligent driving mode, it determines whether the PSCM suppresses the steering wheel angle request in the intelligent driving mode, ensuring that parameters can be adjusted in all intelligent driving conditions when the driver intervenes, achieving both comfort and safety in intelligent driving. Attached Figure Description

[0023] Figure 1 This is a flowchart of the steering control method of the present invention.

[0024] Figure 2 The diagram shown is a structural schematic of the steering control in a preferred embodiment of the present invention.

[0025] Figure 3 This is a diagram illustrating the architecture of the steering control system of this invention. Detailed Implementation

[0026] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0028] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0029] Please see Figure 1 This invention provides an intelligent driving steering control method, comprising the following steps:

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

[0031] Adjust the execution parameters of the suppressed intelligent driving mode based on the active intervention signal;

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

[0033] By acquiring the driver's active intervention signal in the vehicle's intelligent driving mode through the steps, it can be seen that the intelligent driving mode the vehicle is in can be an intelligent driving function actively activated by the driver, including LKA (Lane Keeping Assist), HWA (Highway Driver Assist), and NOA (Navigation Assist). The active intervention signal acquired in the intelligent driving mode can be, for example, the feedback signal generated when the driver manually intervenes in the intelligent driving mode when the intelligent driving function is working normally or the vehicle is driving normally and needs to keep away from vehicles approaching from the side. Specifically, this active intervention signal can be acquired through the SAS (Steering Wheel Angle Sensor Module) and TAS (Torque Angle Sensor Module) when the driver manually intervenes in steering.

[0034] By adjusting the execution parameters of the intelligent driving mode based on the active intervention signal, it can be seen that a conflict can occur between the intelligent driving mode and the driver's active intervention, resulting in a situation where the driver tries to take control of the steering wheel. Therefore, after receiving the driver's active intervention signal, it is necessary to adjust the execution parameters of the intelligent driving mode to prevent or reduce the conflict between them. This allows the intelligent driving mode and the driver's active intervention to coordinate vehicle control, ensuring driver comfort during steering.

[0035] Specifically, the adjusted execution parameters are output to the controller through a series of steps to suppress the intelligent driving mode. It can be seen that after determining the execution parameters for suppressing the intelligent driving mode, these parameters are output to the controller, which then further suppresses the intelligent driving mode based on these parameters. Specifically, this achieves the ability to suppress the intelligent driving mode's resistance to driver intervention during intelligent driving, enabling coordinated vehicle control between the intelligent driving mode and driver intervention, ensuring driver comfort during steering. Furthermore, the intelligent driving function does not immediately disengage upon active intervention, thereby reducing the frequency of intelligent driving function disengagement and improving the smoothness of driving operations.

[0036] In one embodiment of the present invention, during the intelligent driving mode of the vehicle, the driver can actively activate intelligent driving functions, such as LKA (Lane Keeping Assist), HWA (Highway Assist), and NOA (Navigation Assist). At this time, the ADCU (Advanced Driver Assist Unit) monitors the surrounding environment information of the vehicle based on sensors (e.g., cameras, radar, etc.) to calculate the vehicle's target driving trajectory H1 and actual driving trajectory H2. Based on the trajectory deviation between the target driving trajectory H1 and the actual driving trajectory H2, it outputs a steering wheel angle request A. Upon receiving the steering wheel angle request A from the intelligent driving mode, the PSCM (Electric Power Steering Control Module) executes the steering wheel angle A according to the PID (Proportional Integral Derivative) control principle through the MCU (Microcontroller Unit), outputting an additional torque N to rotate the steering wheel, thus enabling the vehicle to travel according to the target vehicle trajectory H1 calculated by the ADCU.

[0037] Specifically, the driver's active intervention signal in the vehicle's intelligent driving mode is obtained, including: when the MCU executes the ADCU's angle request A according to the PID control principle, the steering wheel torque T1 when the driver actively intervenes is monitored.

[0038] In this embodiment, the calculation formula for the PID control principle of the intelligent driving PSCM in response to the intelligent driving angle request is as follows: Where, steering angle is the turning angle, Kp is the proportional system, e(t) is the deviation measure at time t, i.e., the distance between the vehicle and the reference line, Kd is the differential coefficient, Ki is the integral coefficient, and t is time. This is denoted as the KI integral term, which represents the cumulative deviation of the actual driving trajectory H2 from the target driving trajectory H1. Furthermore, the greater the steering wheel torque T1, the more the actual driving trajectory H2 deviates from the target driving trajectory H1, resulting in a greater cumulative deviation of the KI integral term. This leads to a struggle between the steering wheel torque T1 at the time of driver intervention and the cumulative deviation of the KI integral term for steering control. Therefore, it is necessary to monitor and acquire the steering wheel torque T1 at the time of driver intervention under these circumstances.

[0039] Furthermore, based on the active intervention signal, the execution parameters of the suppressed intelligent driving mode are adjusted, including: collecting the vehicle state data corresponding to the acquisition of the active intervention signal, and adjusting the execution parameters of the MCU to suppress the intelligent driving mode based on the active intervention signal and the vehicle state data.

[0040] In one embodiment of the present invention, the adjustment of the execution parameters for suppressing the intelligent driving mode is mainly based on two types of data. One is the active intervention signal obtained from monitoring when the driver actively intervenes, and the other is the vehicle state data at the time the active intervention signal is acquired. Furthermore, by utilizing the data corresponding to the active intervention signal and the vehicle state data, the execution parameters for suppressing the intelligent driving mode are analyzed and adjusted, and the corresponding execution parameters for suppressing the intelligent driving mode are executed by the MCU. Specifically, the vehicle state data can be the vehicle speed V, and the vehicle speed V can be obtained through the ESC (Electronic 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 whether the steering wheel torque T1 when the driver actively intervenes is greater than the torque limit T. If T1>T, the current driving state of the vehicle is determined to be that the driver has an active steering intention, and the execution parameters are adjusted accordingly.

[0042] In one embodiment of the present invention, when an active intervention signal is obtained, the steering wheel torque T1 at the time of driver active intervention is correspondingly obtained. This steering wheel torque T1 can be obtained through a TAS (torque angle sensor module). After obtaining the steering wheel torque T1 at the time of driver active intervention, specifically when adjusting the execution parameters of the MCU to suppress the intelligent driving mode, the relationship between the steering wheel torque T1 and the torque limit T can be determined to further determine whether to execute the intelligent driving mode suppression. Specifically, the torque limit T is a calibrable value, that is, it can be determined based on the maximum torque T of the driver's hands in a static state when gripping the steering wheel. max Perform calibration. This allows you to use the maximum hand torque T under this static state. max This serves as the hand torque limit T. Therefore, when the driver's steering wheel hand torque T1 > T, it can be further determined that the current state is not the driver's hand gripping the steering wheel, but rather the driver's active steering intention. The MCU will then control and adjust the execution parameters of the suppressed intelligent driving mode based on the driver's active steering intention.

[0043] Furthermore, upon determining that the driver intends to actively steer, the MUC will adjust the control parameters. Specifically, the adjustment parameters include: resetting the KI integral term in the PID control principle executed by the MCU to zero, causing the vehicle to deviate from the preset target vehicle trajectory H1 of the intelligent driving mode according to the driver's intention, thereby suppressing the PSCM in the intelligent driving mode from applying additional torque T to the intelligent driving request. q The output of .

[0044] In this embodiment, when adjusting the execution parameters, the calculation formula based on the PID control principle is used. It can be seen that the integral term of KI This represents the cumulative deviation when the actual driving trajectory H2 deviates from the target driving trajectory H1, which is the resistance generated by the intelligent driving mode when actively intervening in the steering wheel. Therefore, when it is determined that the driver has an intention to actively steer, by clearing this KI integral term to zero, the vehicle deviates from the preset target vehicle trajectory H1 of the intelligent driving mode according to the driver's intention, and this corresponds to suppressing the additional torque T of the PSCM in the intelligent driving mode on the intelligent driving request. q The system outputs the steering wheel torque T1, which is used by the driver to control the vehicle's trajectory. This avoids the driver's steering direction being opposite to the direction of the intelligent driving request angle A in the intelligent driving mode, thus 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 vehicle speed V corresponding to the steering wheel torque T1 when the driver actively intervenes, and adjusting the torque limit T according to the magnitude of the vehicle speed V.

[0046] In one embodiment of the present invention, when the integral term KI in the PID control principle is cleared to zero, the influence of 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 driver's driving comfort and the stability of vehicle handling, the steering wheel torque limit T corresponding to the steering wheel torque T1 should also be adjusted accordingly to match the driver's active intervention control at different vehicle speeds V.

[0047] Specifically, the limit T increases with increasing vehicle speed V. In this embodiment, the MCU monitors the adjustment of the steering wheel torque limit T via the TAS (Torque Angle Sensor Module) as the vehicle speed V increases, ensuring vehicle stability. When the vehicle is traveling at low speeds, the MCU can reset the KI integral term to zero at a relatively small torque limit T, suppressing the MCU's intelligent driving torque request data. Furthermore, as the vehicle speed V increases, the torque limit T can be appropriately increased to ensure vehicle driving stability requirements.

[0048] Furthermore, clearing the KI integral term in the PID control principle executed by the MCU also includes:

[0049] If the steering wheel torque T1 is greater than the torque limit T, the integral term of control KI will be reduced to zero sequentially 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 to zero, when the vehicle speed V is constant, the MCU determines that the steering wheel torque T1 has reached the torque limit T, and then the MCU will initiate the clearing of the KI integral term. During the specific clearing process, the KI integral term is gradually reduced to zero according to an adjustable slope L. Specifically, the time for the KI integral term to complete clearing can be set. Therefore, based on the value of the KI integral term and the clearing time, the clearing speed of the KI integral term per unit time can be calculated, which can be expressed as the adjustable slope L. Since the value of the KI integral term varies with a fixed time, the variable adjustable slope L ensures that the additional torque T requested by the intelligent driving system is within acceptable limits. 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: determining whether the angle limit A corresponding to the steering wheel torque T1 is greater than the set angle A1. If yes, then clearing is not performed; if no, then clearing is performed. The set angle A1 decreases as the vehicle speed V increases.

[0052] In one embodiment of the present invention, before clearing the KI integral term in the PID control principle, it is necessary to consider whether the current state involves accidental steering wheel contact by the driver. The decision to clear the KI integral term is based on whether the steering wheel contact is accidental. Specifically, the decision to clear the KI integral term is further determined by judging the relationship between the angle limit A of the steering wheel torque T1 and the set angle A1. That is, when the angle limit A of the steering wheel torque T1 is greater than the set angle A1, it indicates that the current steering wheel operation is improper. To avoid accidental steering wheel contact by the driver on curves, the KI integral term clearing is not activated, and the MCU will not respond promptly to the request from the host computer (i.e., the intelligent driving mode), allowing the vehicle to maintain its original intelligent driving mode target vehicle trajectory H1. When the angle limit A is less than the set angle A1, it indicates that the current steering wheel operation is executable. By activating the KI integral term clearing, the vehicle completes the steering action according to the driver's steering intention. Specifically, when setting the set angle A1, the set angle A1 decreases as the vehicle speed V increases. In other words, when the vehicle is traveling at low speeds, the setting angle A1 can be set to a larger value to ensure driver comfort. However, at higher vehicle speeds V, to ensure driving safety, the setting angle A1 can be set to a smaller value. Furthermore, the angle limit A can be obtained through the SAS (steering wheel angle sensor module).

[0053] Please see Figure 2In a preferred embodiment, during intelligent driving steering control, the ADCU (Autonomous Driving Domain Controller or Autonomous Driving Domain Control Module) monitors the vehicle's surrounding environment using sensors (cameras, radar, etc.), calculates the target driving trajectory H1 and the actual driving trajectory H2, and outputs a steering wheel angle request A based on the deviation between the two trajectories. The PSCM (Electric Power Steering Control Module) receives the steering wheel angle request A from the intelligent driving system, and the MCU executes the steering wheel angle A according to the PID control principle, outputting an additional torque N to rotate the steering wheel, thus enabling the vehicle to travel according to the target vehicle trajectory H1 calculated by the ADCU. When the driver actively intervenes, they will operate the steering wheel. The SAS (Steering Wheel Angle Sensor Module) will acquire the steering wheel angle signal and obtain the angle limit A. Simultaneously, the current vehicle speed V is acquired through the ESC (Electronic Stability Control Module) and sent to the PSCM motor controller assembly. The EPS (Electronic Power Steering) system will set a set angle A1 based on the current vehicle speed V and determine the relationship between the angle limit A and the set angle A1. If the angle limit A is greater than the set angle A1, the KI integral term is not cleared. If the angle limit A is less than the set angle A1, it is determined that the current state indicates a driver's steering intention. This can be achieved by controlling the controller, for example, through the MCU (Microcontroller Unit), to clear the KI integral term and suppress the intelligent driving mode. Specifically, during active steering wheel intervention, the steering wheel torque T1 is obtained through the TAS (Torque Angle Sensor Module). The relationship between the steering wheel torque T1 and the torque limit T is then determined. If the steering wheel torque T1 is greater than the torque limit T, it indicates that the current state is one of active driver intervention. If the steering wheel torque T1 is less than the torque limit T, it indicates that the current state is one where the driver is holding the steering wheel but has not performed a steering action. The torque limit T is further set based on the current vehicle speed V. Furthermore, after determining that the steering wheel torque T1 has reached the torque limit T in the current state, when the MCU initiates the clearing of the KI integral term, the KI integral term is sequentially reduced to zero at a preset slope over a predetermined time, thereby ensuring that the intelligent driving system requests additional torque T. q The changes will not be sudden. Specifically, the hand torque limit T, vehicle speed V, set angle A1, and adjustable slope L are all stored in the MCU. The steering wheel sends mechanical signals to the EPS system via the SAS (steering wheel angle sensor module). The SAS, ESC, and ADCU establish a connection with the MCU via CAN signal transmission. The TAS in the EPS system establishes a connection with the MCU via internal EPS signal transmission. The MCU establishes a connection with the motor via internal EPS signal transmission, thereby driving the tires through the EPS system to complete mechanical steering.

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

[0055] The signal acquisition unit acquires the driver's active intervention signals in the vehicle's intelligent driving mode;

[0056] The parameter adjustment unit adjusts the execution parameters of the suppressed intelligent driving mode based on 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 collects active intervention signals for the driver's active intervention in the intelligent driving mode while the vehicle is in intelligent driving mode. A parameter adjustment unit determines whether the active intervention is valid based on the acquired active intervention signal. Furthermore, based on the corresponding active intervention, the execution parameters for suppressing the intelligent driving mode are adjusted. These execution parameters are then output to the controller via a parameter execution unit to further suppress the intelligent driving mode. This achieves active intervention even when the intelligent driving function is active, reducing the reduction in driving comfort caused by frequent exits of intelligent driving. Moreover, by adjusting the execution parameters for suppressing the intelligent driving mode, driving comfort can be ensured while maximizing vehicle safety.

[0059] In summary, this invention determines whether the driver has a subjective steering intention based on the acquired driver intervention signal during normal operation of the intelligent driving function. When a steering intention exists, the controller suppresses the steering wheel angle request input in intelligent driving mode, thereby ensuring normal steering intention during driver intervention while simultaneously guaranteeing the continuous operation of the intelligent driving function. This achieves coordinated vehicle control by driver intervention and intelligent driving mode. By analyzing and setting parameters such as vehicle speed, steering wheel torque, and steering wheel angle when suppressing intelligent driving mode, the PSCM determines whether to suppress the steering wheel angle request in intelligent driving mode, ensuring that parameter adjustments can be made in all intelligent driving conditions under driver intervention, achieving both comfort and safety in intelligent driving. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and has high industrial applicability.

[0060] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for intelligent driving steering control, characterized in that, Includes the following steps: When the intelligent driving MCU executes the ADCU's angle request through PID control of the steering angle... At the same time, it acquires the driver's active intervention signal in the vehicle's intelligent driving mode, including the steering wheel torque when the driver actively intervenes. Among them, steering angle Kp is a proportional system, e(t) is the deviation measure at time t, i.e., the distance between the car and the reference line, Kd is the differential coefficient, Ki is the integral coefficient, and KI is the integral term. Indicates the actual driving trajectory of the vehicle driving trajectory of the target The cumulative deviation between them, where t is time; Based on the active intervention signal, adjust the execution parameters for suppressing the intelligent driving mode, including: when the driver's active intervention signal is received, acquire corresponding vehicle status data, including at least vehicle speed. According to vehicle speed Size adjustment hand torque limit And determine the steering wheel torque when the driver actively intervenes. Is it greater than the stated hand torque limit? :like > If the current driving state of the vehicle is determined to be that the driver has an active steering intention, the KI integral term in the steering angle is cleared to zero, so that the vehicle deviates from the target vehicle trajectory preset by the intelligent driving mode according to the driver's intention. ; The adjusted execution parameters are output to the controller to suppress the intelligent driving mode.

2. The intelligent driving steering control method according to claim 1, characterized in that: The hand torque limit With the vehicle speed It increases with the increase of.

3. The intelligent driving steering control method according to claim 1, characterized in that: Clearing the KI integral term in the PID control principle executed by the MCU also includes: If the steering wheel torque Greater than the hand torque limit Then the KI integral term is controlled according to an adjustable slope. The process is repeated until the value is reduced to zero, thus completing the zeroing process.

4. The intelligent driving steering control method according to claim 1, characterized in that: Before clearing the KI integral term in the PID control principle executed by the MCU, the following steps are also included: Determine the steering wheel torque Corresponding angle limit Is it greater than the set angle? If yes, then the zeroing process is not performed; otherwise, the zeroing process is performed, wherein the angle is set. With vehicle speed It decreases as it increases.

5. An intelligent driving steering control system, characterized in that, include: The signal acquisition unit is used when the intelligent driving MCU executes the ADCU's angle request through PID control of the steering angle. At the same time, it acquires the driver's active intervention signal in the vehicle's intelligent driving mode, including the steering wheel torque when the driver actively intervenes. Among them, steering angle Kp is a proportional system, e(t) is the deviation measure at time t, i.e., the distance between the car and the reference line, Kd is the differential coefficient, Ki is the integral coefficient, and KI is the integral term. Indicates the actual driving trajectory of the vehicle driving trajectory of the target The cumulative deviation between them, where t is time; The parameter adjustment unit is used to adjust the execution parameters for suppressing the intelligent driving mode according to the active intervention signal, including: when the driver's active intervention signal is obtained, acquiring the corresponding vehicle status data, including at least the vehicle speed. According to vehicle speed Size adjustment hand torque limit And determine the steering wheel torque when the driver actively intervenes. Is it greater than the stated hand torque limit? :like > If the current driving state of the vehicle is determined to be that the driver has an intention to actively steer, the steering angle will be adjusted accordingly. The KI integral term in the system is reset to zero, causing the vehicle to deviate from the preset target vehicle trajectory of the intelligent driving mode according to the driver's intention. ;as well as The parameter execution unit is used to output the adjusted execution parameters to the controller to suppress the intelligent driving mode.

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