Self-adaptive control method of man-machine co-driving steering system

• Main Authors: LIANG YANCHU, LAN HONGXING, YAO SHUTONG, YANG NA
• Format: Patent
• Language: Chinese; English
• Published: 13.10.2023
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention discloses a self-adaptive control method of a man-machine co-driving steering system, which comprises the following steps of: calculating a coordinated basic power output torque and a final output torque of angle closed-loop control according to a safe vehicle speed, an initial output torque of angle closed-loop control and a co-driving coordination coefficient, and limiting the amplitude of the final output torque of angle closed-loop control; and the two are superposed as the final output torque of the power-assisted motor of the steering system. The purpose of the invention is to improve the robustness of the auxiliary driving function when the system shakes, and meanwhile, the intention of the driver can be identified more accurately, so that the control right of the driver and the advanced driving auxiliary system to the steering system can be smoothly coordinated, and the driving experience is improved. 本发明公开了一种人机共驾转向系统的自适应控制方法，根据安全车速、角度闭环控制的初始输出扭矩、共驾调协系数，计算协调后的基础助力输出扭矩和角度闭环控制的最终输出扭矩，并对角度闭