The invention discloses a steering wheel angle control method for vehicle man-machine co-driving. The method comprises the following steps that (1) transverse control information of a target vehicle is obtained; 2) calculating a steering wheel angle signal error of the target vehicle according to the transverse control information of the target vehicle; 3) obtaining a steering wheel angle error correction angle through interpolation calculation; and 4) outputting the corrected steering wheel control angle information, and controlling the steering wheel angle of the target vehicle. When the transverse function is opened or closed, the method that the actual steering wheel angle and the expected steering wheel angle are in smooth transition through the quintic polynomial spline curve is adopted for solving the problems that when a driver opens or closes the transverse function, the steering wheel is violently hit, and driving safety is affected; and bad riding experience is brought to drivers and passengers.
本发明公开了一种车辆人机共驾的方向盘角度控制方法,包括以下步骤:1)获取目标车辆的横向控制信息;2)根据所述目标车辆的横向控制信息计算目标车辆的方向盘角度信号误差;3)通过插值计算得到方向盘角度误差修正角度;4)输出修正后的方向盘控制角度信息,对目标车辆的方向盘角度进行控制。本发明在横向功能开启或关闭时,采用实际方向盘角度与期望方向盘角度以五次多项式样条曲线平滑过渡的方法,用于解决驾驶员在开启或关闭横向功能时出现方向盘猛打的情况,影响行车安全,带给驾驶员和乘客不良的乘坐体验的技术问题。
Steering wheel angle control method for vehicle man-machine co-driving
一种车辆人机共驾的方向盘角度控制方法
24.05.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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