WO2018006261A1 - 自动驾驶汽车转向控制方法和控制系统 - Google Patents

自动驾驶汽车转向控制方法和控制系统 Download PDF

Info

Publication number
WO2018006261A1
WO2018006261A1 PCT/CN2016/088559 CN2016088559W WO2018006261A1 WO 2018006261 A1 WO2018006261 A1 WO 2018006261A1 CN 2016088559 W CN2016088559 W CN 2016088559W WO 2018006261 A1 WO2018006261 A1 WO 2018006261A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque
driver
automatic driving
steering
steering wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/088559
Other languages
English (en)
French (fr)
Inventor
姜岩
彭进展
周鑫
张丹
周小成
罗赛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Uisee Technologies Beijing Co Ltd
Original Assignee
Uisee Technologies Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Uisee Technologies Beijing Co Ltd filed Critical Uisee Technologies Beijing Co Ltd
Priority to PCT/CN2016/088559 priority Critical patent/WO2018006261A1/zh
Priority to ES16907766T priority patent/ES2825374T3/es
Priority to US16/314,637 priority patent/US10562565B2/en
Priority to CN201680001431.7A priority patent/CN107223103B/zh
Priority to EP16907766.6A priority patent/EP3473527B1/en
Publication of WO2018006261A1 publication Critical patent/WO2018006261A1/zh
Anticipated expiration legal-status Critical
Priority to US16/735,866 priority patent/US11345399B2/en
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque

Definitions

  • the present invention relates to the field of vehicle control, and more particularly to a steering control method and control system for automatic driving of a vehicle.
  • the steering control system of the existing self-driving car is calculated by the planning control system in the automatic driving system to calculate the desired turning radius of the vehicle based on the sensing positioning result, and the steering wheel is controlled to rotate to the determined position.
  • the existing automotive EPS electric power steering system applies a steering assist torque according to the driver's operation on the steering wheel, and helps the driver to turn the steering wheel with a small torque.
  • the inventor analyzed that the steering control system of the existing self-driving car, whether using the torque control or the angle control method, ultimately aims to control the steering wheel to reach the desired rotation angle, so when the driver wants to intervene in the driving process, it must be driven automatically.
  • the system conflicts and grabs control of the steering wheel from the machine. This is not an ideal way to switch between manual driving and automatic driving. This means that the autonomous driving system can only work independently and cannot work in coordination with the human driver to complete the steering work.
  • the existing automotive EPS electric power steering system relies on the driver's input to assist the driver, and the active automatic driving function cannot be realized.
  • the object of the present invention is to overcome the shortcomings and deficiencies in the prior art, and to propose a completely new steering control method and control system for vehicle automatic driving, so that the driver and the automatic driving system participate in the driving process.
  • a steering control method for automatic driving of a vehicle which specifically includes:
  • the vehicle steering wheel angle calculation step is performed, and the desired steering wheel angle information of the vehicle is obtained based on the automatic planning control operation;
  • the automatic driving intention prompting torque determining step when detecting that the driver applies the effective torque to the steering wheel, calculating the deviation between the steering angle of the steering wheel controlled by the driver and the desired steering wheel angle of the vehicle, and determining according to the deviation between the two The automatic driving intention prompting torque, which is to be applied to the steering system.
  • the specific includes:
  • the steering torque applied to the steering wheel includes the steering torque of the driver, the assist steering torque of the vehicle steering assist system, and the automatic driving intention prompting torque.
  • ⁇ c -sig( ⁇ driver ) ⁇ f(fabs( ⁇ ))
  • ⁇ driver indicates the moment currently applied by the driver
  • ⁇ e indicates the desired angle of rotation of the automatic driving
  • ⁇ driver indicates the angle at which the steering wheel is located
  • sig( ⁇ driver ) indicates the direction of the moment currently applied by the driver
  • f is a positive correlation function of the absolute value of ⁇ , which satisfies the condition:
  • ⁇ eps indicates the steering assist torque
  • the method further includes the step of determining a trusted state of operation of the automatic driving system, specifically including:
  • the automatic driving intention prompting torque determining step the automatic driving intention prompting torque outputted by the steering controller is determined according to the deviation between the two;
  • the automatic driving intention prompting torque determining step the automatic driving intention prompting torque outputted by the steering controller is determined according to the deviation between the two.
  • the method for judging the trusted state of the operation of the automatic driving system is based on the complexity of the current self-driving road environment and the severity of the lighting conditions.
  • the steering controller performs the corner control of the steering wheel to reach the desired rotation angle of the automatic driving system.
  • an automotive steering control system comprising:
  • the vehicle desired steering wheel angle calculation unit obtains the desired steering wheel angle information of the vehicle based on the automatic planning control operation
  • the driver operates the detecting unit to detect whether the driver applies an effective torque to the steering wheel
  • the automatic driving intention prompting torque determining unit calculates a deviation between a steering angle of the steering wheel controlled by the driver and a desired steering wheel angle of the vehicle when detecting that the driver applies the effective torque to the steering wheel, and determines the automatic driving according to the deviation between the two.
  • the intention is to present a torque that will be applied to the steering system.
  • the automatic driving intention prompting torque determining unit determines the automatic driving intention prompting force
  • the moments include:
  • the larger the automatic driving intention prompting torque is determined, and the automatic driving intention prompting torque is opposite to the direction of the torque that the driver needs to provide, so that the larger the deviation, the larger the torque that the driver needs to provide.
  • the driving torque applied to the steering wheel includes a steering torque applied by the driver, a power steering torque applied by the vehicle steering assist system, and the automatic driving intention prompting torque.
  • the automatic driving intention prompting torque determining unit determines the automatic driving intention prompting torque ⁇ c by the following formula:
  • ⁇ c -sig( ⁇ driver ) ⁇ f(fabs( ⁇ ))
  • ⁇ driver indicates the moment currently applied by the driver
  • ⁇ e indicates the desired angle of the automatic driving
  • ⁇ driver indicates the steering wheel angle
  • sig( ⁇ driver ) indicates the direction of the moment currently applied by the driver
  • f is a positive correlation function of the absolute value of ⁇ , which satisfies the condition:
  • ⁇ eps indicates the steering assist torque
  • the automatic driving system working state determining unit is further configured to determine a trusted state of the working of the automatic driving system, and specifically includes:
  • the automatic driving intention prompting torque determining unit increases the automatic driving intention prompting torque output by the steering controller according to the deviation of the two;
  • the automatic driving intention prompting torque determining unit When judging that the automatic driving system is operating in a low reliability state, the automatic driving intention prompting torque determining unit reduces the automatic driving intention prompting torque outputted by the steering controller according to the deviation between the two.
  • the method for judging the trusted state of the operation of the automatic driving system is determined based on the complexity of the current autonomous driving road environment and the severity of the lighting conditions.
  • the automatic steering control unit further includes: when the driver operation detecting unit detects that the driver does not apply the effective torque to the steering wheel, performs the corner control on the steering wheel to reach the desired rotation angle of the automatic driving system.
  • the steering control method and the control system for the vehicle automatic driving can compare whether the driver operation is consistent with the automatic driving expectation according to the calculation result of the automatic driving system, and according to the degree of inconsistency, compared with the conventional EPS electric power steering system. Determining an automatic driving intention prompting torque to be applied, thereby being able to prompt the driver of the steering intention of the automatic driving system, instead of passively assisting the driver's operation only according to the driver's operation as in the EPS electric power steering system; Compared with the existing automatic driving steering control system, the driver can prompt the torque to be applied by the automatic driving intention prompting torque, thereby prompting the human driver to drive the steering intention of the automatic driving system, but ensuring that the human driver and the automatic driving coexist. Avoid the traditional conflict caused by the difference between the driver's steering intention and the automatic driving steering intention or exit the automatic driving state.
  • the steering control method and the steering control system of the present invention affect the driving operation of a person by changing the torque mode according to the desired steering wheel angle calculated by the automatic driving system. It does not forcefully change the driver's steering operation, but can prompt the driver for the recommended driving behavior from autonomous driving. At the same time, in most cases, the driver can participate in the steering control process in a near-zero operation, which improves the driving process. Safety and comfort.
  • FIG. 1 is a flow chart of a steering control method for automatic driving of a vehicle according to an embodiment of the present invention.
  • FIG. 2 is a structural block diagram of a steering control system for automatic driving of a vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic illustration of a steering including an automatic steering control unit in accordance with an embodiment of the present invention.
  • FIG. 4 is a general flow chart showing a steering control method for automatic driving of a vehicle according to an embodiment of the present invention.
  • FIG. 1 is a block diagram showing a schematic configuration of a steering control system 100 for automatic driving of a vehicle according to an embodiment of the present invention.
  • the steering control system 100 includes the following units: a driver operation detecting unit 110, a vehicle desired steering wheel angle calculating unit 120, and an automatic driving intention prompting torque determining unit 130.
  • the steering control system 100 may further include a steering torque applying unit 140.
  • the driver operation detecting unit 110 is configured to detect whether the driver applies an effective torque to the steering wheel.
  • the torque sensor detects the torque input. At this time, it is considered that the driver is operating the steering wheel, that is, the effective torque is applied to the steering wheel, and if the torque sensor does not detect the torque input. It is considered that the driver does not operate the steering wheel, that is, no effective torque is applied to the steering wheel.
  • the vehicle desired steering wheel angle calculation unit 120 is configured to obtain the desired steering wheel angle information of the vehicle based on an automatic planning control operation.
  • the desired steering wheel angle of the vehicle is obtained.
  • the automatic driving intention prompting torque determining unit 130 is configured to: when detecting that the driver applies the effective torque to the steering wheel, calculate a deviation between a steering angle of the steering wheel controlled by the driver and a desired steering wheel angle of the vehicle, and according to the two The deviation determines an automatic driving intention prompting torque that will be applied to the steering system.
  • the automatic driving intention prompting torque determining unit 130 is used to determine the automatic driving When the intentional moment is presented, the deviation between the corner of the steering wheel controlled by the driver and the desired steering angle of the vehicle is greater, then the automatic driving intention will prompt a larger torque, and the moment of the automatic driving intention prompting and the driver need to provide The direction of the torque is reversed so that the torque the driver needs to provide is greater.
  • the driver After the driver realizes the intention of the automatic driving control, he can judge whether he has made a mistake in the previous operation. If he confirms that he has made a mistake, he can make adjustments in time; if he confirms that his operation has not been mistaken, he can continue to ignore the intention of the automatic driving control, for example. Perform the operation as originally planned or temporarily turn off the automatic driving control (for example, the option button for exiting the automatic driving control on the vehicle), concentrate on driving the vehicle according to the driver's own intention.
  • the automatic driving control for example, the option button for exiting the automatic driving control on the vehicle
  • the torque for driving the steering of the wheel is composed of the steering torque of the driver and the steering torque of the steering assist system.
  • the automatic driving system and the driver participate in the steering process by applying the automatic driving intention prompting torque.
  • the driving torque applied to the steering wheel by the steering torque applying unit 140 includes a steering torque applied by the driver, and a steering torque applied by the vehicle steering assist system EPS.
  • the autonomous driving intention prompts the torque.
  • the steering torque at this time is determined by the following formula (1):
  • ⁇ driver is the driver's steering torque
  • ⁇ eps is the EPS steering assist torque
  • ⁇ c is the automatic driving intention prompting torque
  • the automatic driving intention prompting torque ⁇ c is determined by the following formula (2):
  • ⁇ c -sig( ⁇ driver ) ⁇ f(fabs( ⁇ )) (2)
  • ⁇ driver indicates the moment currently applied by the driver
  • ⁇ e indicates the desired angle of rotation of the automatic driving
  • ⁇ driver indicates the angle at which the steering wheel is located
  • sig( ⁇ driver ) indicates the direction of the moment currently applied by the driver
  • f is a positive correlation function of the absolute value of ⁇ , which satisfies the condition (4):
  • ⁇ eps indicates the steering assist torque and fabs( ⁇ c ) represents the absolute value of ⁇ c .
  • the system gives the driver the feeling that it is more labor-saving to control the steering wheel to the steering wheel angle of the automatic driving system, and the steering wheel is desired to the automatic driving system. It is more laborious to turn the steering wheel in the opposite direction.
  • the automatic driving intention prompting torque strategy in the steering control system considers the working state of the automatic driving system in addition to the deviation between the driver's operation and the desired angle of the automatic driving system, according to the reliability of the automatic driving state. Changing the autonomous driving intention to indicate the magnitude of the torque, thereby changing the degree of participation of the machine in the driving process.
  • a steering control system that determines the automatic driving intention prompting torque in consideration of the operating state of the automatic driving system will be described below with reference to FIG.
  • FIG. 2 is a block diagram showing the structure of a steering control system 200 that determines an automatic driving intention prompting torque in consideration of an operating state of an automatic driving system according to another embodiment of the present invention.
  • the steering control system 200 is different from the steering control system 100 of FIG. 1 except for the driver operation detecting unit 210, the vehicle desired steering wheel angle calculating unit 220, the automatic driving intention prompting torque determining unit 230, and the optional
  • the steering torque applying unit 240 further includes an automatic driving system working state determining unit 250.
  • the functions and working principles of the driver operation detecting unit 210, the vehicle desired steering wheel angle calculating unit 220, and the steering torque applying unit 240 are similar to those of the corresponding unit of FIG. 1, and are not described herein again.
  • the driving system working state determining unit 250 and the following are mainly described below.
  • the driving intention prompts the torque determining unit 230.
  • the automatic driving system working state determining unit 250 is configured to determine a trusted state in which the automatic driving system operates. For example, the automatic driving system working state determining unit 250 can combine the week in which the vehicle is located The credible state of the operation of the automatic driving system is judged by the surrounding environment (geography, weather, lighting, etc.) and/or feedback given by the driver.
  • the automatic driving system working state determining unit 250 considers that the automatic driving system has a high probability of being in a low reliability working state.
  • the automatic driving system working state determining unit 250 considers that the automatic driving system is in the high reliability working state.
  • the automatic driving intention prompting torque determining unit 230 may reduce (down) the amplitude of the automatic driving intention prompting torque.
  • the system is close to the traditional EPS electronic power steering system.
  • the automatic driving intention prompting torque determining unit 230 may increase the magnitude of the automatic driving intention prompting torque for steering of the driver. The operation provides a noticeable enhanced driving feel.
  • a steering control system for automatic driving of a vehicle further includes an automatic steering control unit for not applying an effective steering wheel when the driver operation detecting unit does not detect that the driver operates the steering wheel At the time of torque, the steering wheel is controlled to achieve the desired angle of rotation of the steering system, which is consistent with the traditional automatic steering control system.
  • FIG. 3 schematically shows a schematic structural block diagram of a steering control system 300 including an automatic steering control unit according to an embodiment of the present invention.
  • the steering control system 300 of FIG. 3 further includes an automatic steering control unit 360 that receives the monitoring result of the driver operation detecting unit 310 and does not detect at the driver operation detecting unit 310.
  • the steering torque applying unit 340 applies the steering wheel to the torque corresponding to the desired direction angle of the vehicle determined by the automatic driving system to reach the automatic driving system. The corner is desired, and the torque applied by the steering torque applying unit 340 at this time does not include the driver-applied torque, the EPS assist torque, and the automatic driving intention prompting torque described above.
  • FIG. 4 is a general flow chart showing a steering control method for automatic driving of a vehicle according to an embodiment of the present invention.
  • an embodiment of the present invention provides a steering control method for automatic driving of a vehicle, including steps S410 to S430.
  • step S410 the desired steering wheel angle information of the vehicle is obtained based on the automatic planning control operation.
  • step S420 it is detected whether the driver applies an effective torque to the steering wheel.
  • step S430 when it is detected that the driver applies the effective torque to the steering wheel, the deviation between the steering angle of the steering wheel controlled by the driver and the desired steering wheel angle of the vehicle is calculated, and the driving intention prompting torque is determined according to the deviation between the two.
  • the autonomous driving intention prompting torque will be applied to the steering system.
  • the automatic driving system and the driver participate in the steering process by the automatic driving intention prompting torque application mode.
  • step S430 when the deviation of the steering wheel angle controlled by the driver and the desired steering wheel angle of the vehicle is determined, the steering angle of the steering wheel controlled by the driver and the desired steering wheel of the vehicle are determined.
  • the deviation between the corners is larger, the larger the automatic driving intention prompting torque is determined, and the moment of the automatic driving intention prompting is opposite to the direction of the torque that the driver needs to provide, so that the torque that the driver needs to provide is larger.
  • the steering torque applied to the steering wheel includes: a steering torque of the driver, a power steering torque of the steering assist system of the automobile, and an automatic driving intention prompting torque. That is, the steering torque ⁇ at this time is determined by the following formula:
  • ⁇ driver is the driver's steering torque
  • ⁇ eps is the steering assist torque
  • ⁇ c is the automatic driving intention prompting torque.
  • ⁇ c -sig( ⁇ driver ) ⁇ f(fabs( ⁇ ))
  • ⁇ driver indicates the moment currently applied by the driver
  • ⁇ e indicates the desired angle of rotation of the automatic driving
  • ⁇ driver indicates the angle at which the steering wheel is located
  • sig( ⁇ driver ) indicates the direction of the moment currently applied by the driver
  • f is a positive correlation function of the absolute value of ⁇ , which satisfies the condition:
  • ⁇ eps indicates the steering assist torque and fabs( ⁇ c ) represents the absolute value of ⁇ c .
  • the steering torque ⁇ required for steering is determined, which is determined by the resistance torque of the ground feedback; and the automatic driving intention prompting torque is opposite to the driver torque direction, thereby
  • the automatic driving intention prompting torque is large (the steering wheel angle and the desired deviation between the vehicle's desired angles are large)
  • a larger driver torque is required to obtain the required steering torque ⁇ , as the steering wheel angle changes, the steering wheel angle and the desired angle of the vehicle
  • the deviation changes, whereby the automatic driving intention prompts a torque change, whereby the torque that the driver needs to provide also changes, so that the driver can be provided with the purpose of providing an automatic driving intention.
  • the total steering torque is 4 Nm (Newton meters), wherein the power steering torque is 3 Nm, and when the automatic driving system is not activated, the driver provides an additional torque of 1 Nm.
  • the automatic driving system is started, if the deviation ⁇ between the desired angle of rotation and the driver's angle of the automatic driving system is 5 degrees, the automatic driving intention prompting torque ⁇ c is -1 Nm, then the torque that the driver needs to provide is 2 Nm. .
  • the automatic driving intention prompting torque ⁇ c is -3 Nm, and then the torque that the driver needs to provide becomes 4 Nm, so the driver There is a need to provide greater steering torque to maintain the current corner. It can be seen that when the automatic driving system expects the deviation ⁇ between the corner and the driver's corner, the driver feels laborious at this time, thereby being able to recognize the inconsistency between his current operation and the expectation of the automatic driving system.
  • the automatic driving intention prompting torque determination strategy considers the operating state of the automatic driving system in addition to the deviation between the driver's operation and the desired angle of the automatic driving system.
  • the trusted state of the operation of the automatic driving system can be judged according to the complexity of the current self-driving road environment and the severity of the lighting conditions. For example, if the automatic driving system detects that the current environment is complicated or the lighting conditions are bad, it can be considered that it may be in a low-reliability working state, at which time the amplitude of the automatic driving intention prompting torque is reduced, and the system is close to the conventional EPS electronic. Power steering system. Conversely, if the automatic driving system detects that the current environment is simple and the lighting conditions are good, and it is considered that it is in a high reliability working state, the amplitude of the automatic driving intention prompting torque will be increased to provide a significant enhanced driving feel for the driver's steering operation.
  • the automatic driving system when the driver does not detect that the steering wheel is operated, that is, when the driver does not apply the effective torque to the steering wheel, the automatic driving system performs the corner control of the steering wheel to reach the desired rotation angle of the automatic driving system. This is consistent with the traditional autonomous steering control system.
  • the steering control method and the control system for the vehicle automatic driving can compare whether the driver operation is consistent with the automatic driving expectation according to the calculation result of the automatic driving system, and according to the degree of inconsistency, compared with the conventional EPS electric power steering system. Determining an automatic driving intention prompting torque to be applied, thereby being able to prompt the driver of the steering intention of the automatic driving system, instead of passively assisting the driver's operation only according to the driver's operation as in the EPS electric power steering system; Compared with the existing automatic driving steering control system, the driver can prompt the torque to be applied by the automatic driving intention prompting torque, thereby prompting the human driver to drive the steering intention of the automatic driving system, but ensuring that the human driver and the automatic driving coexist. Avoid the traditional conflict caused by the difference between the driver's steering intention and the automatic driving steering intention or exit the automatic driving state.
  • the steering control method and the steering control system of the present invention affect the driving operation of a person by changing the torque mode according to the desired steering wheel angle calculated by the automatic driving system. It does not forcefully change the driver's steering operation, but can prompt the driver for the recommended driving behavior from autonomous driving. At the same time, in most cases, the driver can participate in the steering control process in a near-zero operation, which improves the driving process. Safety and comfort.
  • the vehicles in this article should be understood in a broad sense, including various large, medium and small vehicles, including water vehicles, air vehicles, and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

用于车辆自动驾驶的转向控制方法和转向控制系统(100,200,300)，所述方法包括：基于自动规划控制运算得到车辆期望方向盘转角信息(S410)；检测驾驶员是否对方向盘施加了有效转矩(S420)；在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上(S430)。根据自动驾驶系统计算的期望方向盘转角通过改变力矩方式对人的驾驶操作产生影响，不会强行改变驾驶员转向操作，但是可以为驾驶员提示来自自动驾驶的推荐驾驶行为，在大部分情况下可以使驾驶员以近乎零操作的方式参与转向控制过程，提高了驾驶过程的安全性和舒适性。

Description

自动驾驶汽车转向控制方法和控制系统 技术领域
本发明涉及车辆控制领域，特别是涉及一种用于车辆自动驾驶的转向控制方法和控制系统。
背景技术
随着车辆技术的发展，自动驾驶汽车已经逐步得到了生产和应用。
现有的自动驾驶汽车的转向控制系统，是由自动驾驶系统中的规划控制系统根据感知定位结果计算期望的车辆转弯半径，对方向盘进行转角控制使之转动到确定位置。
现有的汽车EPS电动助力转向系统，是根据驾驶员对方向盘的操作施加转向助力力矩，帮助驾驶员以较小的力矩转动方向盘。
发明内容
发明人分析得到，现有自动驾驶汽车的转向控制系统，无论采用力矩控制还是转角控制的方式，最终都以控制方向盘达到期望转角作为目标，因此当驾驶员想介入驾驶过程时，必须与自动驾驶系统发生冲突，从机器手中抢夺方向盘的控制权，这并不是一种理想的人工驾驶与自动驾驶的切换方式。这意味着该自动驾驶系统只能够独立工作，无法与人类驾驶员协同完成转向工作。这是因为，在传统技术中，当自动驾驶系统的期望转角与人类驾驶员的期望转角发生冲突时，或者自动驾驶系统会尽量使方向盘达到期望转角(这意味着与人类驾驶员的操作不同)，或者会导致退出自动驾驶状态(这意味着人工干预夺回车辆控制权)。
而现有的汽车EPS电动助力转向系统仅仅依靠驾驶员的输入对驾驶员进行助力操作，无法实现主动的自动驾驶功能。
本发明的目的在于克服现有技术中的缺点与不足，提出一种全新的用于车辆自动驾驶的转向控制方法和控制系统，使驾驶员与自动驾驶系统共同参与驾驶过程。
根据本发明的一个方面，提供一种用于车辆自动驾驶的转向控制方法，具体包括：
首先为车辆期望方向盘转角计算步骤，基于自动规划控制运算得到车辆期望方向盘转角信息；
其次为检测驾驶员操作方向盘的步骤，检测驾驶员是否对方向盘施加了有效转矩；
再次为自动驾驶意图提示力矩确定步骤，在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上。
进一步地，在根据两者的偏差确定自动驾驶意图提示力矩步骤中，具体包括：
当驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差越大，即确定越大的自动驾驶意图提示力矩，且自动驾驶意图提示力矩与驾驶员需要提供的力矩的方向相反，从而偏差越大，驾驶员需要提供的力矩越大。
进一步地，在驾驶员对方向盘施加有效转矩的情况下，对方向盘施加的转向力矩包括：驾驶员的转向力矩、汽车转向助力系统的助力转向力矩和所述自动驾驶意图提示力矩。
进一步地，自动驾驶意图提示力矩τc通过如下公式来确定：
τc＝-sig(τdriver)·f(fabs(Δβ))
其中，Δβ由下式决定：
Δβ＝βe-βdriver
其中τdriver指示驾驶员当前施加的力矩，βe指示自动驾驶期望转角，βdriver指示方向盘所处转角，sig(τdriver)表示驾驶员当前施加的力矩的方向；
f是Δβ绝对值的正相关函数，满足条件：
Figure PCTCN2016088559-appb-000001
其中τeps指示转向助力力矩。
进一步地，还包括判断自动驾驶系统工作的可信状态的步骤，具体包括：
当判断自动驾驶系统工作处于高可靠性状态时，将在自动驾驶意图提示力矩确定步骤中，增加根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩；
当判断自动驾驶系统工作处于低可靠性状态时，将在自动驾驶意图提示力矩确定步骤中，减小根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩。
进一步地，判断自动驾驶系统工作的可信状态的方法，是依据当前自动驾驶道路环境的复杂程度和光照条件的恶劣程度。
进一步地，在检测驾驶员操作方向盘的步骤中，当检测到驾驶员对方向盘未施加有效转矩时，转向控制器将对方向盘进行转角控制，使其达到自动驾驶系统的期望转角。
根据本发明的另一个方面，提供一种汽车转向控制系统，包括：
车辆期望方向盘转角计算单元，基于自动规划控制运算得到车辆期望方向盘转角信息；
驾驶员操作检测单元，检测驾驶员是否对方向盘施加了有效转矩；
自动驾驶意图提示力矩确定单元，在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上。
进一步地，自动驾驶意图提示力矩确定单元确定的自动驾驶意图提示力 矩包括：
当偏差越大，即确定越大的自动驾驶意图提示力矩，且自动驾驶意图提示力矩与驾驶员需要提供的力矩的方向相反，从而偏差越大，驾驶员需要提供的力矩越大。
进一步地，在驾驶员对方向盘施加有效转矩的情况下，对方向盘施加的驱动力矩包括：驾驶员施加的转向力矩、汽车转向助力系统施加的助力转向力矩和所述自动驾驶意图提示力矩。
进一步地，自动驾驶意图提示力矩确定单元通过如下公式来确定所述自动驾驶意图提示力矩τc：
τc＝-sig(τdriver)·f(fabs(Δβ))
其中，Δβ由下式决定：
Δβ＝βe-βdriver
其中τdriver指示驾驶员当前施加的力矩，βe指示自动驾驶期望转角，βdriver指示方向盘转角，sig(τdriver)表示驾驶员当前施加的力矩的方向；
f是Δβ绝对值的正相关函数，满足条件：
Figure PCTCN2016088559-appb-000002
其中τeps指示转向助力力矩。
进一步地，还包括自动驾驶系统工作状态判断单元，用于判断自动驾驶系统工作的可信状态，具体包括：
当判断自动驾驶系统工作处于高可靠性状态时，自动驾驶意图提示力矩确定单元增加根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩；
当判断自动驾驶系统工作处于低可靠性状态时，自动驾驶意图提示力矩确定单元减小根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩。
进一步地，判断自动驾驶系统工作的可信状态的方法为依据当前自动驾驶道路环境的复杂程度和光照条件的恶劣程度来判断。
进一步地，还包括自动转向控制单元，在驾驶员操作检测单元检测到驾驶员对方向盘未施加有效转矩时，对方向盘进行转角控制，使其达到自动驾驶系统的期望转角。
本发明实施例的车辆自动驾驶的转向控制方法和控制系统，与传统EPS电动助力转向系统相比，可以根据自动驾驶系统计算结果考察驾驶员操作是否与自动驾驶期望一致，并根据不一致的程度来确定要施加的自动驾驶意图提示力矩，从而能够向驾驶员提示自动驾驶系统的转向意图，而不是如EPS电动助力转向系统那样仅依据驾驶员的操作来被动对对驾驶员操作进行助力操作；与现有自动驾驶转向控制系统相比，可以通过自动驾驶意图提示力矩变化影响驾驶员需施加的力矩，从而提示人类驾驶员自动驾驶系统的转向意图，但保证人类驾驶员与自动驾驶共同存在，而避免传统的因驾驶员转向意图与自动驾驶转向意图不同导致的冲突或者退出自动驾驶状态。
本发明的转向控制方法和转向控制系统，根据自动驾驶系统计算的期望方向盘转角通过改变力矩方式对人的驾驶操作产生影响。不会强行改变驾驶员转向操作，但是可以为驾驶员提示来自自动驾驶的推荐驾驶行为，同时，在大部分情况下可以使驾驶员以近乎零操作的方式参与转向控制过程，提高了驾驶过程的安全性和舒适性。
附图说明
从下面结合附图对本发明实施例的详细描述中，本发明的这些和/或其它方面和优点将变得更加清楚并更容易理解，其中：
图1是根据本发明一个实施例的用于车辆自动驾驶的转向控制方法的流程图。
图2是根据本发明一个实施例的用于车辆自动驾驶的转向控制系统的结构框图。
图3示意性地示出了根据本发明实施例的包括自动转向控制单元的转向 控制系统300的示意性结构框图。
图4示出了本发明一个实施例的用于车辆自动驾驶的转向控制方法的总体流程图。
具体实施方式
为了使本领域技术人员更好地理解本发明，下面结合附图和具体实施方式对本发明作进一步详细说明。
图1示出了根据本发明实施例的车辆自动驾驶的转向控制系统100的示意结构框图。
转向控制系统100包括以下单元：驾驶员操作检测单元110、车辆期望方向盘转角计算单元120、自动驾驶意图提示力矩确定单元130。
可选地，转向控制系统100还可以包括转向力矩施加单元140。
驾驶员操作检测单元110配置为检测驾驶员是否对方向盘施加了有效转矩。
一般地，方向盘上有力矩传感器，当驾驶员转动方向盘时力矩传感器会检测到力矩输入，此时认为驾驶员在操作方向盘，即对方向盘施加了有效转矩，反之如果力矩传感器没有检测到力矩输入，则认为驾驶员没有操作方向盘，即没有对方向盘施加有效力矩。
车辆期望方向盘转角计算单元120，配置为基于自动规划控制运算得到车辆期望方向盘转角信息。
例如，基于根据感知和定位输入进行规划控制运算，得到车辆期望方向盘转角。
自动驾驶意图提示力矩确定单元130，配置为：在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上。
在一个示例中，自动驾驶意图提示力矩确定单元130在用于确定自动驾 驶意图提示力矩时，驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差越大，那么自动驾驶意图将提示越大的力矩，并且该自动驾驶意图提示的力矩与驾驶员需要提供的力矩的方向相反，从而驾驶员需要提供的力矩越大。由此，这样当驾驶员操作方向盘过程中，随着方向盘逐渐接近车辆期望方向盘转角，将会感觉越来越省力，因此能够体会到自己的驾驶过程与自动驾驶控制意图是一致的；反之在方向盘转角逐渐偏离期望方向盘转角时，会感觉越来越吃力，因此能够体会到自己的驾驶过程与自动驾驶控制意图是相反的。
在驾驶员意识到自动驾驶控制意图后，可以判断自己是否先前操作失误，如果确认自己操作失误，可以及时进行调整；如果确认自己的操作并未失误，则可以例如不理会自动驾驶控制意图，继续按原计划执行操作或者可以暂时关闭自动驾驶控制(例如车辆上可以提供退出自动驾驶控制的选项按钮)，专心按驾驶员自己意图来驾驶车辆。
传统的EPS电子助力转向系统中，驱动车轮转向的力矩由驾驶员的转向力矩和转向助力系统的助力转向力矩组成。
根据本发明实施例的转向控制系统，当检测到驾驶员对方向盘施加有效力矩时，通过施加自动驾驶意图提示力矩的方式使自动驾驶系统与驾驶员共同参与转向过程。
根据本发明的实施例，在驾驶员对方向盘施加有效转矩的情况下，转向力矩施加单元140对方向盘施加的驱动力矩包括：驾驶员施加的转向力矩、汽车转向助力系统EPS施加的助力转向力矩和自动驾驶意图提示力矩。
即此时的转向力矩由下式(1)确定：
τ＝τdriver+τeps+τc   (1)
其中，τdriver是驾驶员转向力矩，τeps是EPS转向助力力矩，τc是自动驾驶意图提示力矩。
规定方向盘转角为零时力矩为零，逆时针力矩为正数，顺时针力矩为负数。
在一个示例中，通过下述公式(2)来确定自动驾驶意图提示力矩τc：
τc＝-sig(τdriver)·f(fabs(Δβ))   (2)
其中，Δβ由下式(3)决定：
Δβ＝βe-βdriver   (3)
其中τdriver指示驾驶员当前施加的力矩，βe指示自动驾驶期望转角，βdriver指示方向盘所处转角，sig(τdriver)表示驾驶员当前施加的力矩的方向；
f是Δβ绝对值的正相关函数，满足条件(4)：
Figure PCTCN2016088559-appb-000003
其中τeps指示转向助力力矩，fabs(τc)表示τc的绝对值。
根据本发明实施例的转向控制系统，增加自动驾驶意图提示力矩后，该系统带给驾驶员的感觉是，控制方向盘向自动驾驶系统期望方向盘转角转动时更加省力，而控制方向盘向自动驾驶系统期望方向盘转角的反方向转动时更加费力。
在一个示例中，转向控制系统中的自动驾驶意图提示力矩策略除了考虑驾驶员操作与自动驾驶系统期望转角间的偏差之外，还考虑自动驾驶系统的工作状态，根据自动驾驶状态的可信程度改变自动驾驶意图提示力矩幅度，进而改变机器驾驶在驾驶过程中的参与程度。下面结合图2对考虑了自动驾驶系统的工作状态来确定自动驾驶意图提示力矩的转向控制系统进行描述。
图2示出了根据本发明另一实施例的考虑了自动驾驶系统的工作状态来确定自动驾驶意图提示力矩的转向控制系统200的结构示意图。
如图2所示，与图1的转向控制系统100相比，转向控制系统200除了驾驶员操作检测单元210、车辆期望方向盘转角计算单元220、自动驾驶意图提示力矩确定单元230，以及可选的转向力矩施加单元240外，还包括自动驾驶系统工作状态判断单元250。驾驶员操作检测单元210、车辆期望方向盘转角计算单元220和转向力矩施加单元240的功能和工作原理与图1的对应单元类似，这里不再赘述，下面重点描述驾驶系统工作状态判断单元250和自动驾驶意图提示力矩确定单元230。
自动驾驶系统工作状态判断单元250配置为判断自动驾驶系统工作的可信状态。例如，自动驾驶系统工作状态判断单元250可以结合车辆所处的周 围环境(地理、天气、照明等等)和/或驾驶员给出的反馈等判断自动驾驶系统工作的可信状态。
例如，如果自动驾驶系统检测到当前环境复杂或光照条件恶劣，自动驾驶系统工作状态判断单元250认为自动驾驶系统大概率处于低可靠性工作状态。反之，如果自动驾驶系统检测到当前环境简单而且光照条件良好，自动驾驶系统工作状态判断单元250认为自动驾驶系统处于高可靠性工作状态时。
在自动驾驶系统工作状态判断单元250认为自动驾驶系统大概率处于低可靠性工作状态的情况下，自动驾驶意图提示力矩确定单元230可以减小(下调)自动驾驶意图提示力矩的幅值，此时系统接近于传统的EPS电子助力转向系统。反之，在自动驾驶系统工作状态判断单元250认为自动驾驶系统大概率处于低可靠性工作状态的情况下，自动驾驶意图提示力矩确定单元230可以增加自动驾驶意图提示力矩的幅值，为驾驶员转向操作提供明显的增强驾驶触感。
在一个示例中，根据本发明实施例的用于车辆自动驾驶的转向控制系统还包括自动转向控制单元，用于在驾驶员操作检测单元没有检测到驾驶员操作方向盘时，即对方向盘没有施加有效转矩时，对方向盘进行转角控制，使其达到自动驾驶系统的期望转角，此时与传统的自动驾驶转向控制系统功能一致。
图3示意性地示出了根据本发明实施例的包括自动转向控制单元的转向控制系统300的示意性结构框图。
与图2的转向控制系统200，图3的转向控制系统300还包括自动转向控制单元360，自动转向控制单元360接收驾驶员操作检测单元310的监测结果，并在驾驶员操作检测单元310没有检测到驾驶员操作方向盘时，即对方向盘没有施加有效转矩时，控制转向力矩施加单元340对方向盘进行施加为达到自动驾驶系统确定的车辆期望方向转角所对应的力矩，使其达到自动驾驶系统的期望转角，此时转向力矩施加单元340施加的力矩不包含前面所述的驾驶员施加的力矩、EPS助力力矩和自动驾驶意图提示力矩。
下面结合图4描述根据本发明实施例的、与上述转向控制系统协同工作的转向控制方法。
图4示出了本发明一个实施例的用于车辆自动驾驶的转向控制方法的总体流程图。
如图4所示，本发明的一个实施例提供了一种用于车辆自动驾驶的转向控制方法，包括步骤S410至步骤S430。
在步骤S410中，基于自动规划控制运算得到车辆期望方向盘转角信息。
在步骤S420中，检测驾驶员是否对方向盘施加了有效转矩。
在步骤S430中，在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上。
根据本发明实施例的转向控制方法，当检测到驾驶员对方向盘施加有效力矩时，将通过自动驾驶意图提示力矩施加方式使自动驾驶系统与驾驶员共同参与转向过程。
在一个示例中，在步骤S430中，在根据驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差确定自动驾驶意图提示力矩时，当驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差越大时，确定越大的自动驾驶意图提示力矩，并且该自动驾驶意图提示的力矩与驾驶员需要提供的力矩的方向相反，从而驾驶员需要提供的力矩越大。
具体讲，对方向盘施加的转向力矩包括：驾驶员的转向力矩、汽车转向助力系统的助力转向力矩和自动驾驶意图提示力矩。即此时的转向力矩τ由下式确定：
τ＝τdriver+τeps+τc
其中，τdriver是驾驶员转向力矩，τeps是转向助力力矩，τc是自动驾驶意图提示力矩。规定方向盘转角为零时力矩为零，逆时针力矩为正数，顺时针力矩为负数。而补偿力矩即自动驾驶意图提示力矩τc的计算公式由下式确定：
τc＝-sig(τdriver)·f(fabs(Δβ))
其中，Δβ由下式决定：
Δβ＝βe-βdriver
其中τdriver指示驾驶员当前施加的力矩，βe指示自动驾驶期望转角，βdriver指示方向盘所处转角，sig(τdriver)表示驾驶员当前施加的力矩的方向；
f是Δβ绝对值的正相关函数，满足条件：
Figure PCTCN2016088559-appb-000004
其中τeps指示转向助力力矩，fabs(τc)表示τc的绝对值。
需要说明的是，在某一时刻，为进行转向，所需要的转向力矩τ是确定的，是由地面反馈的阻力力矩决定的；而自动驾驶意图提示力矩与驾驶员力矩方向相反，由此在自动驾驶意图提示力矩大(方向盘转角和车辆期望转角间偏差大)时，就需要更大的驾驶员力矩，以得到需要的转向力矩τ，随着方向盘转角的变化，方向盘转角和车辆期望转角间偏差变化，由此自动驾驶意图提示力矩变化，由此驾驶员需要提供的力矩也变化，这样就能够起到向驾驶员提供自动驾驶意图的目的。
由上述公式和分析可以清楚看出，根据本发明实施例的转向控制方法，增加自动驾驶意图提示力矩之后，带给驾驶员的感觉就是，控制方向盘向自动驾驶系统期望方向盘转角转动时更加省力，而控制方向盘向自动驾驶系统期望方向盘转角的反方向转动时更加费力。
例如，假设根据当前方向盘转角，转向总力矩为4Nm(牛顿米)，其中助力转向力矩3Nm，当自动驾驶系统不启动时，驾驶员提供额外的力矩1Nm。当自动驾驶系统启动后，如果自动驾驶系统期望转角与驾驶员转角之间的偏差Δβ为5度时，自动驾驶意图提示力矩τc为-1Nm，则此时驾驶员需要提供的转矩为2Nm。当自动驾驶系统期望转角与驾驶员转角之间的偏差Δβ增加到10度时，自动驾驶意图提示力矩τc为-3Nm，则此时驾驶员需要提供的转矩变为4Nm，所以，驾驶员需要为维持当前转角提供更大的转向力矩。可见，当自动驾驶系统期望转角与驾驶员转角之间的偏差Δβ时，此时驾驶员会觉得费力，由此能够意识到自己当前操作与自动驾驶系统期望之间的不一致。
根据本发明实施例的转向控制方法，在一个示例中，自动驾驶意图提示力矩确定策略除了考虑驾驶员操作与自动驾驶系统期望转角间的偏差之外，还考虑自动驾驶系统的工作状态。
例如，可以依据当前自动驾驶道路环境的复杂程度和光照条件的恶劣程度来判断自动驾驶系统工作的可信状态。例如，如果自动驾驶系统检测到当前环境复杂或光照条件恶劣，可以认为自身可能处于低可靠性工作状态下，此时减小自动驾驶意图提示力矩的幅值，此时系统接近于传统的EPS电子助力转向系统。反之，如果自动驾驶系统检测到当前环境简单而且光照条件良好，认为自身处于高可靠性工作状态时，将增加自动驾驶意图提示力矩的幅值，为驾驶员转向操作提供明显的增强驾驶触感。
本实施例的转向控制方法中，当没有检测到驾驶员操作方向盘时，即驾驶员对方向盘没有施加有效转矩时，自动驾驶系统对方向盘进行转角控制，使其达到自动驾驶系统的期望转角，此时与传统的自动驾驶转向控制系统功能一致。
本发明实施例的车辆自动驾驶的转向控制方法和控制系统，与传统EPS电动助力转向系统相比，可以根据自动驾驶系统计算结果考察驾驶员操作是否与自动驾驶期望一致，并根据不一致的程度来确定要施加的自动驾驶意图提示力矩，从而能够向驾驶员提示自动驾驶系统的转向意图，而不是如EPS电动助力转向系统那样仅依据驾驶员的操作来被动对对驾驶员操作进行助力操作；与现有自动驾驶转向控制系统相比，可以通过自动驾驶意图提示力矩变化影响驾驶员需施加的力矩，从而提示人类驾驶员自动驾驶系统的转向意图，但保证人类驾驶员与自动驾驶共同存在，而避免传统的因驾驶员转向意图与自动驾驶转向意图不同导致的冲突或者退出自动驾驶状态。
本发明的转向控制方法和转向控制系统，根据自动驾驶系统计算的期望方向盘转角通过改变力矩方式对人的驾驶操作产生影响。不会强行改变驾驶员转向操作，但是可以为驾驶员提示来自自动驾驶的推荐驾驶行为，同时，在大部分情况下可以使驾驶员以近乎零操作的方式参与转向控制过程，提高了驾驶过程的安全性和舒适性。
需要说明的是，本文中的车辆应该做广义理解，包括各种大中小型车辆，也包括水上交通工具、空中交通工具等。
需要说明的是，有关方法的有关步骤可以在车辆本地执行，也可以在云端执行，或者在本地和云端结合起来执行。
需要说明的是，虽然在流程图中有关步骤被按一定顺序示出，但这并不 表示这些步骤只能按照这样的顺序执行，而是只要步骤之间不具有逻辑上的相互依赖关系，就可以按相反的顺序执行或者彼此并行执行。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。因此，本发明的保护范围应该以权利要求的保护范围为准。

Claims (14)

  1. 一种自动驾驶汽车转向控制方法，包括：
    车辆期望方向盘转角计算步骤，基于自动规划控制运算得到车辆期望方向盘转角信息；
    检测驾驶员操作方向盘的步骤，检测驾驶员是否对方向盘施加了有效转矩；
    自动驾驶意图提示力矩确定步骤，在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上。
  2. 根据权1的控制方法，根据两者的偏差确定自动驾驶意图提示力矩包括：
    所述偏差越大，确定越大的自动驾驶意图提示力矩，且自动驾驶意图提示力矩与驾驶员需要提供的力矩的方向相反，从而偏差越大，驾驶员需要提供的力矩越大。
  3. 根据权利要求2所述的方法，其特征在于，在驾驶员对方向盘施加有效转矩的情况下，对方向盘施加的转向力矩包括：驾驶员的转向力矩、汽车转向助力系统的助力转向力矩和所述自动驾驶意图提示力矩。
  4. 根据权利要求3所述的方法，通过如下公式来确定所述自动驾驶意图提示力矩τc：
    τc＝-sig(τdriver)·f(fabs(Δβ))
    其中，Δβ由下式决定：
    Δβ＝βe-βdriver
    其中τdriver指示驾驶员当前施加的力矩，βe指示自动驾驶期望转角,βdriver指示方向盘所处转角，sig(τdriver)表示驾驶员当前施加的力矩的方向；
    f是Δβ绝对值的正相关函数，满足条件：
    Figure PCTCN2016088559-appb-100001
    其中τeps指示转向助力力矩，fabs(τc)表示τc的绝对值。
  5. 根据权利要求1到4任一项所述的控制方法，还包括判断自动驾驶系统工作的可信状态的步骤，以及
    当判断自动驾驶系统工作处于高可靠性状态时，在所述自动驾驶意图提示力矩确定步骤中，增加根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩；
    当判断自动驾驶系统工作处于低可靠性状态时，在所述自动驾驶意图提示力矩确定步骤中，减小根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩。
  6. 根据权利要求5所述的方法，所述判断自动驾驶系统工作的可信状态的方法包括：
    依据当前自动驾驶道路环境的复杂程度和光照条件的恶劣程度来判断自动驾驶系统工作的可信状态。
  7. 根据权利要求1到4任一项所述的控制方法，还包括：
    在检测到驾驶员对方向盘未施加有效转矩时，对方向盘进行转角控制，使其达到自动驾驶系统的期望转角。
  8. 一种汽车转向控制系统，包括：
    车辆期望方向盘转角计算单元，基于自动规划控制运算得到车辆期望方向盘转角信息；
    驾驶员操作检测单元，检测驾驶员是否对方向盘施加了有效转矩；
    自动驾驶意图提示力矩确定单元，在检测到驾驶员对方向盘施加了有效转矩时，计算驾驶员控制的方向盘所处转角与车辆期望方向盘转角之间的偏差，并根据两者的偏差确定自动驾驶意图提示力矩，该自动驾驶意图提示力矩将被施加到转向系统上。
  9. 根据权利要求8的汽车转向控制系统，驾驶员操作检测单元根据两者的偏差确定自动驾驶意图提示力矩包括：
    所述偏差越大，确定越大的自动驾驶意图提示力矩，且自动驾驶意图提示力矩与驾驶员需要提供的力矩的方向相反，从而偏差越大，驾驶员需要提供的力矩越大。
  10. 根据权利要求8所述的汽车转向控制系统，其特征在于，在驾驶员对方向盘施加有效转矩的情况下，对方向盘施加的驱动力矩包括：驾驶员施加的转向力矩、汽车转向助力系统施加的助力转向力矩和所述自动驾驶意图提示力矩。
  11. 根据权利要求10所述的汽车转向控制系统，自动驾驶意图提示力矩确定单元通过如下公式来确定所述自动驾驶意图提示力矩τc：
    τc＝-sig(τdriver)·f(fabs(Δβ))
    其中，Δβ由下式决定：
    Δβ＝βe-βdriver
    其中τdriver指示驾驶员当前施加的力矩，βe指示自动驾驶期望转角,βdriver指示方向盘转角，sig(τdriver)表示驾驶员当前施加的力矩的方向；
    f是Δβ绝对值的正相关函数，满足条件：
    Figure PCTCN2016088559-appb-100002
    其中τeps指示转向助力力矩，fabs(τc)表示τc的绝对值。
  12. 根据权利要求8到11任一项所述的汽车转向控制系统，还包括自动驾驶系统工作状态判断单元，用于判断自动驾驶系统工作的可信状态，以及
    当判断自动驾驶系统工作处于高可靠性状态时，自动驾驶意图提示力矩确定单元增加根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力矩；
    当判断自动驾驶系统工作处于低可靠性状态时，自动驾驶意图提示力矩确定单元减小根据两者的偏差确定由转向控制器输出的自动驾驶意图提示力 矩。
  13. 根据权利要求12所述的汽车转向控制系统，所述判断自动驾驶系统工作的可信状态的方法包括：
    依据当前自动驾驶道路环境的复杂程度和光照条件的恶劣程度来判断自动驾驶系统工作的可信状态。
  14. 根据权利要求8到11任一项所述的汽车转向控制系统，还包括：
    自动转向控制单元，在驾驶员操作检测单元检测到驾驶员对方向盘未施加有效转矩时，对方向盘进行转角控制，使其达到自动驾驶系统的期望转角。
PCT/CN2016/088559 2016-07-05 2016-07-05 自动驾驶汽车转向控制方法和控制系统 Ceased WO2018006261A1 (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PCT/CN2016/088559 WO2018006261A1 (zh) 2016-07-05 2016-07-05 自动驾驶汽车转向控制方法和控制系统
ES16907766T ES2825374T3 (es) 2016-07-05 2016-07-05 Procedimiento y sistema de control de dirección de vehículo de conducción autónoma
US16/314,637 US10562565B2 (en) 2016-07-05 2016-07-05 Steering control method and system of self-driving vehicle
CN201680001431.7A CN107223103B (zh) 2016-07-05 2016-07-05 自动驾驶汽车转向控制方法和控制系统
EP16907766.6A EP3473527B1 (en) 2016-07-05 2016-07-05 Steering control method and system of self-driving vehicle
US16/735,866 US11345399B2 (en) 2016-07-05 2020-01-07 Steering control method and system of self-driving vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/088559 WO2018006261A1 (zh) 2016-07-05 2016-07-05 自动驾驶汽车转向控制方法和控制系统

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US16/314,637 A-371-Of-International US10562565B2 (en) 2016-07-05 2016-07-05 Steering control method and system of self-driving vehicle
US16/735,866 Continuation US11345399B2 (en) 2016-07-05 2020-01-07 Steering control method and system of self-driving vehicle

Publications (1)

Publication Number Publication Date
WO2018006261A1 true WO2018006261A1 (zh) 2018-01-11

Family

ID=59927630

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/088559 Ceased WO2018006261A1 (zh) 2016-07-05 2016-07-05 自动驾驶汽车转向控制方法和控制系统

Country Status (5)

Country Link
US (2) US10562565B2 (zh)
EP (1) EP3473527B1 (zh)
CN (1) CN107223103B (zh)
ES (1) ES2825374T3 (zh)
WO (1) WO2018006261A1 (zh)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108088686B (zh) * 2017-12-21 2020-11-20 驭势科技（浙江）有限公司 测试仿真方法和装置、计算机存储介质和电子设备
CN110654457A (zh) 2018-06-29 2020-01-07 比亚迪股份有限公司 车辆以及车辆的转向控制系统和方法、装置
CN111152833A (zh) * 2018-11-08 2020-05-15 财团法人车辆研究测试中心 自动迭加补偿的主动转向控制系统及方法
US20200180688A1 (en) * 2018-12-07 2020-06-11 Automotive Research & Testing Center System and method for active steering control with automatic torque compensation
US11623685B2 (en) * 2018-12-07 2023-04-11 Automotive Research & Testing Center System and method for active steering control with automatic torque compensation
CN109703616B (zh) * 2019-01-16 2020-10-02 东风汽车有限公司 自动驾驶转角控制方法、电子设备及存储介质
CN110058588B (zh) 2019-03-19 2021-07-02 驭势科技（北京）有限公司 一种自动驾驶系统升级的方法、自动驾驶系统及车载设备
CN110341787B (zh) * 2019-07-16 2021-08-03 上海高爱特汽车电子股份有限公司 一种基于eps的汽车驾驶模式的切换方法
CN111661140B (zh) * 2020-01-09 2021-06-11 吉林大学 一种电动助力转向系统助力特性表计算方法
DE102020203212B4 (de) * 2020-03-12 2021-09-23 Volkswagen Aktiengesellschaft Berücksichtigen von Handmomentenoffsets bei Fahrzeuglenksystem
CN111516752B (zh) * 2020-04-22 2021-07-06 东风汽车集团有限公司 一种自动驾驶车辆的人机共驾转向控制方法
CN111688797B (zh) * 2020-05-26 2022-03-29 上海汽车工业(集团)总公司 电动助力转向控制方法和控制单元
CN111874089B (zh) * 2020-07-14 2023-03-10 一汽奔腾轿车有限公司 一种基于c-eps采用角度接口的横向控制方法
JP7564048B2 (ja) * 2021-01-20 2024-10-08 トヨタ自動車株式会社 操舵システム
CN114802418B (zh) * 2021-01-20 2024-01-26 丰田自动车株式会社 转向操纵系统与转向操纵系统的控制方法
CN112722075B (zh) * 2021-01-29 2022-09-06 重庆长安汽车股份有限公司 一种智能驾驶方向盘的接管方法
US20220281473A1 (en) * 2021-03-05 2022-09-08 Continental Automotive Systems, Inc. Driver Effort Augmentation to Indicate Trajectory Planner Feedback
CN112937545B (zh) * 2021-03-18 2024-07-12 江苏大学 一种应对驾驶员干扰的自动驾驶汽车转向控制系统及方法
CN115027550B (zh) * 2022-06-14 2024-04-12 中国第一汽车股份有限公司 方向盘及其控制方法、车辆
CN117657290B (zh) * 2022-08-29 2024-10-11 比亚迪股份有限公司 车辆请求处理方法、装置、系统、车辆及存储介质
CN116238541A (zh) * 2023-03-31 2023-06-09 重庆长安汽车股份有限公司 一种辅助驾驶员自动驾驶的方法及装置
CN116198597B (zh) * 2023-04-13 2025-04-01 东风汽车集团股份有限公司 一种智能驾驶系统人机共驾转向控制方法
CN116572989A (zh) * 2023-04-27 2023-08-11 北京汽车股份有限公司 基于智能驾驶的eps接管控制方法、系统及汽车
US20250128760A1 (en) * 2023-10-20 2025-04-24 Ford Global Technologies, Llc Methods and apparatus to adjust a steering angle of a vehicle in a self-driving mode

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004299604A (ja) * 2003-03-31 2004-10-28 Sumitomo Precision Prod Co Ltd ステアリング制御装置及びそのプログラム
CN101734278A (zh) * 2009-12-29 2010-06-16 奇瑞汽车股份有限公司 一种电动助力转向系统及其控制方法
CN102307774A (zh) * 2009-02-03 2012-01-04 大陆-特韦斯贸易合伙股份公司及两合公司 用于实施避让行动的方法和装置
CN103419839A (zh) * 2012-05-21 2013-12-04 铃木株式会社 动力转向控制系统
CN103921841A (zh) * 2013-01-15 2014-07-16 福特全球技术公司 转向角度误差的校正方法
JP2014205457A (ja) * 2013-04-15 2014-10-30 株式会社デンソー 車両の接触防止システム

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3947014B2 (ja) * 2002-01-25 2007-07-18 株式会社ジェイテクト 電動パワーステアリング装置
JP4329792B2 (ja) * 2006-08-10 2009-09-09 トヨタ自動車株式会社 電動パワーステアリング装置
US8401736B2 (en) * 2008-06-20 2013-03-19 Toyota Jidosha Kabushiki Kaisha Driving assistance apparatus and driving assistance method
WO2010028629A1 (de) * 2008-09-10 2010-03-18 Continental Teves Ag & Co. Ohg Verfahren zur lenkunterstützung bei notmanöver
US8930079B2 (en) * 2009-10-22 2015-01-06 GM Global Technology Operations LLC Systems and methods for driver intervention in an automatic steering system
JP5552339B2 (ja) * 2010-03-12 2014-07-16 トヨタ自動車株式会社 車両制御装置
US10095934B2 (en) * 2013-07-18 2018-10-09 Clarion Co., Ltd. In-vehicle device
JP6032161B2 (ja) * 2013-09-04 2016-11-24 トヨタ自動車株式会社 操舵装置、及び、操舵制御装置
FR3022515B1 (fr) * 2014-06-24 2016-07-29 Jtekt Europe Sas Assistance de direction mixte comprenant une boucle d'asservissement en couple pilotee en consigne par un controleur de position destine a l'asservissement en trajectoire
JPWO2016006013A1 (ja) * 2014-07-07 2017-04-27 三菱電機株式会社 操舵制御装置、操舵制御システム、操舵制御方法、及び操舵制御プログラム
JP6222063B2 (ja) * 2014-12-03 2017-11-01 株式会社デンソー 制御装置
JP6327198B2 (ja) * 2015-04-30 2018-05-23 株式会社デンソー 電動パワーステアリング制御装置
JP6376352B2 (ja) * 2015-08-07 2018-08-22 トヨタ自動車株式会社 車両の走行制御装置
JP6355167B2 (ja) * 2015-09-28 2018-07-11 トヨタ自動車株式会社 車両の運転支援制御装置
DE102016218424B4 (de) * 2015-10-13 2021-11-11 Ford Global Technologies, Llc Fahrerassistenzsystem
JP2017077830A (ja) * 2015-10-21 2017-04-27 Ｋｙｂ株式会社 電動パワーステアリング装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004299604A (ja) * 2003-03-31 2004-10-28 Sumitomo Precision Prod Co Ltd ステアリング制御装置及びそのプログラム
CN102307774A (zh) * 2009-02-03 2012-01-04 大陆-特韦斯贸易合伙股份公司及两合公司 用于实施避让行动的方法和装置
CN101734278A (zh) * 2009-12-29 2010-06-16 奇瑞汽车股份有限公司 一种电动助力转向系统及其控制方法
CN103419839A (zh) * 2012-05-21 2013-12-04 铃木株式会社 动力转向控制系统
CN103921841A (zh) * 2013-01-15 2014-07-16 福特全球技术公司 转向角度误差的校正方法
JP2014205457A (ja) * 2013-04-15 2014-10-30 株式会社デンソー 車両の接触防止システム

Also Published As

Publication number Publication date
US20200216115A1 (en) 2020-07-09
US20190337561A1 (en) 2019-11-07
US11345399B2 (en) 2022-05-31
US10562565B2 (en) 2020-02-18
EP3473527A4 (en) 2019-07-03
ES2825374T3 (es) 2021-05-17
CN107223103B (zh) 2019-05-24
CN107223103A (zh) 2017-09-29
EP3473527A1 (en) 2019-04-24
EP3473527B1 (en) 2020-08-26

Similar Documents

Publication Publication Date Title
WO2018006261A1 (zh) 自动驾驶汽车转向控制方法和控制系统
CN101081626B (zh) 一种汽车电动助力转向控制方法及其装置
CN111516752A (zh) 一种自动驾驶车辆的人机共驾转向控制方法
CN115107802A (zh) 一种人机共驾转向控制方法、系统及汽车
CN109895844B (zh) 用于车辆的行驶控制系统和方法
CN106809216A (zh) 车辆驾驶模式切换系统和方法
CN107150682A (zh) 一种车道保持辅助系统
TW201718297A (zh) 車輛駕駛模式切換系統和方法
CN107207043A (zh) 电动助力转向装置
CN110884563A (zh) 一种电动助力高级驾驶辅助系统
WO2024021311A1 (zh) 控制装置、转向系统、车辆和转向控制方法
CN110803161A (zh) 车道保持方法及车道保持辅助系统
CN107207045A (zh) 电动助力转向装置
JP2019001273A5 (zh)
CN106394673A (zh) 一种适用于不平路面的驾驶员注意力监测与警示系统
US20240034408A1 (en) Power steering controller and power steering control method
CN110884430A (zh) 车辆控制装置和车辆控制方法
JP5946497B2 (ja) 操舵制御装置
CN119840618A (zh) 基于可变扭矩限值的人机共驾控制方法、装置及系统
WO2025035959A1 (zh) 一种基于人机交互的自动驾驶车辆转向控制方法及装置
CN108466648A (zh) 用于eps的助力调节方法、装置、eps及汽车
JP2010111253A (ja) 電動式パワーステアリング制御装置
JP2001026278A (ja) パワーステアリング制御装置
CN119428847B (zh) 车辆线控转向优化方法、装置、设备及存储介质
CN118220322B (zh) 车辆方向盘的主动回正控制方法、设备、介质和车辆

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16907766

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2016907766

Country of ref document: EP

Effective date: 20190117