A method and apparatus for adjusting a steering angle of a vehicle in a self-driving mode is described herein. An example vehicle disclosed herein includes a steering controller including instructions and programmable circuitry to execute the instructions to: access a path follow (PF) angle request; generating a virtual reinforcement curve (VBC) angle request based on a torque input to the steering wheel; determining an angular mix weight based on the torque input and a speed of the vehicle; determining a final angle request based on the PF angle request, the VBC angle request, and the angle mix weight; and converting the final angle request to a torque request for adjusting a steering angle of the vehicle via a motor.
本文描述了“在自驾驶模式下调整车辆的转向角的方法和设备”。本文公开的一种示例车辆包括转向控制器,所述转向控制器包括指令和可编程电路系统,所述可编程电路系统用于执行所述指令以:访问路径跟随(PF)角度请求;基于对方向盘的扭矩输入来生成虚拟强化曲线(VBC)角度请求;基于所述扭矩输入和所述车辆的速度来确定角度混合权重;基于所述PF角度请求、所述VBC角度请求和所述角度混合权重来确定最终角度请求;以及将所述最终角度请求转换为扭矩请求以用于经由马达调整所述车辆的转向角。
Method and apparatus for adjusting steering angle of vehicle in self-driving mode
在自驾驶模式下调整车辆的转向角的方法和设备
2025-04-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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