CN112109734B - A method and device for automatic driving switching based on C-EPS system - Google Patents

A method and device for automatic driving switching based on C-EPS system Download PDF

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CN112109734B
CN112109734B CN202011010112.7A CN202011010112A CN112109734B CN 112109734 B CN112109734 B CN 112109734B CN 202011010112 A CN202011010112 A CN 202011010112A CN 112109734 B CN112109734 B CN 112109734B
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steering
steering wheel
motor
mode
automatic driving
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CN112109734A (en
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虞忠潮
李强
王燮辉
朱兴旺
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Hangzhou Shibao Auto Steering Gear Co ltd
Zhejiang Lover Health Science and Technology Development Co Ltd
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Hangzhou Shibao Auto Steering Gear Co ltd
Zhejiang Lover Health Science and Technology Development Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

本发明公开了一种基于C‑EPS系统的自动驾驶切换方法，当转向盘输入转矩小于下阈值时，车辆切换成自动驾驶模式，当转向盘输入转矩大于下阈值时，车辆切换成人工驾驶模式，在切换成人工驾驶模式后，当转向盘的角加速度大于转向盘的角加速度阈值，且转向盘输入转矩超过转向盘输入转矩的上阈值，此时驾驶系统判断车辆处于紧急状态，若此时驾驶员操控的转向盘转角和C‑EPS系统的转向盘目标转角同向，且转向盘转角趋近于转向盘目标转角，驾驶系统切换成紧急转向模式，协助人工驾驶模式完成紧急情况的规避。本发明可以有效根据驾驶人的驾驶状况进行驾驶模式的切换，降低驾驶带来的危害。

Figure 202011010112

The invention discloses an automatic driving switching method based on a C-EPS system. When the steering wheel input torque is less than a lower threshold, the vehicle switches to the automatic driving mode, and when the steering wheel input torque is greater than the lower threshold, the vehicle switches to manual driving In the driving mode, after switching to manual driving mode, when the angular acceleration of the steering wheel is greater than the angular acceleration threshold of the steering wheel, and the input torque of the steering wheel exceeds the upper threshold of the input torque of the steering wheel, the driving system determines that the vehicle is in an emergency state. , if the steering wheel angle controlled by the driver is in the same direction as the steering wheel target angle of the C‑EPS system, and the steering wheel angle is close to the steering wheel target angle, the driving system switches to the emergency steering mode to assist the manual driving mode to complete the emergency circumvention of the situation. The present invention can effectively switch the driving mode according to the driving condition of the driver, thereby reducing the harm caused by driving.

Figure 202011010112

Description

Automatic driving switching method and device based on C-EPS system
Technical Field
The invention relates to the technical field of automatic driving of automobiles, in particular to an automatic driving switching method and device based on a C-EPS system.
Background
In the process of driving a vehicle generally, a driver can be tired in time after driving for a period of time due to time or physical reasons, and fatigue driving can be realized if the driver continues to drive the vehicle. Therefore, the degree of intellectualization of the current vehicle is higher and higher, and the automatic driving vehicle gradually appears. The automatic driving automobile becomes the focus of the modern automobile development, various advanced technologies are fused in the automatic driving automobile, so that the automobile can be safely driven in a non-driver state, the road safety is improved, the road efficiency is improved, and the traffic accident rate of the driver in dangerous behaviors is reduced. However, the advanced technology relates to a safety problem, and therefore, how to effectively avoid a traffic accident caused by driving behaviors by switching an automatic driving mode according to the driving condition of a driver and reduce the harm caused by driving becomes a technical problem which needs to be solved by the applicant.
Disclosure of Invention
The invention aims to provide an automatic driving switching method and device based on a C-EPS system. The invention can effectively switch the driving modes according to the driving conditions of the driver, thereby reducing the harm brought by driving. In addition, the invention can also realize the perception of the road surface quality and the adhesion coefficient of the road surface so as to improve the accuracy and the safety of the automatic driving system to the vehicle control.
The technical scheme of the invention is as follows: an automatic driving switching method based on a C-EPS system comprises a driving system, wherein an automatic driving mode, an emergency steering mode and a manual driving mode are arranged in the driving system; in the manual driving mode, the C-EPS system is in a power-assisted mode; in the automatic driving mode, the C-EPS system is in an active steering mode; in the emergency steering mode, the C-EPS system is in an emergency power-assisted active steering mode; the C-EPS system calculates a lower threshold and an upper threshold of the steering wheel input torque according to the rotating speed and the rotating inertia of the steering wheel; when the steering wheel input torque is smaller than a lower threshold value, the vehicle is switched to an automatic driving mode, and when the steering wheel input torque is larger than the lower threshold value, the vehicle is switched to an artificial driving mode; after the manual driving mode is switched, when the angular acceleration of the steering wheel is larger than the angular acceleration threshold of the steering wheel, and the input torque of the steering wheel exceeds the upper threshold of the input torque of the steering wheel, the driving system judges that the vehicle is in an emergency state, if the steering wheel angle controlled by the driver is in the same direction as the target steering wheel angle of the C-EPS system and the steering wheel angle approaches to the target steering wheel angle, the driving system is switched to the emergency steering mode, and the manual driving mode is assisted to complete the avoidance of the emergency.
In the automatic driving switching method based on the C-EPS system, the lower threshold of the steering wheel input torque is as follows:
Figure GDA0003175311500000021
in the formula: i iscIs the steering wheel moment of inertia;
Figure GDA0003175311500000022
is the angular acceleration of the steering wheel, i.e. the second derivative of the steering wheel angle;
in the foregoing automatic driving switching method based on the C-EPS system, the calculation process of the steering wheel angular acceleration threshold and the upper threshold of the steering wheel input torque is as follows: establishing a model of a C-EPS system:
Figure GDA0003175311500000023
in the formula: a is a system state space matrix, represented as:
Figure GDA0003175311500000031
Kcthe steering column mandrel stiffness; b iscDamping the steering column; j. the design is a squarecIs the rotational inertia of the steering column; j is the reduction ratio of the steering motor reducer; j. the design is a squareeqEquivalent rotational inertia of a steering transmission mechanism and a steering gear; keqThe equivalent rigidity of a steering transmission mechanism and a steering gear is provided; b iseqThe damping is equivalent to a steering transmission mechanism and a steering gear; kbIs the steering motor electromagnetic torque constant; keIs the counter electromotive force coefficient of the steering motor; rmIs the armature inductance of the steering motor; l ismArmature resistance of steering motor;
Figure GDA0003175311500000032
θcis the steering wheel angle;
Figure GDA0003175311500000033
steering wheel speed, the first derivative of steering wheel angle; thetamIs the motor corner;
Figure GDA0003175311500000034
is the rotating speed of the steering motor, namely the first derivative of the rotating angle of the steering motor; i ismIs the current of the steering motor; b is1To control the matrix, it is expressed as:
Figure GDA0003175311500000035
u＝udis the driving voltage; b is2Is an interference input matrix, expressed as:
Figure GDA0003175311500000036
w is the interference input, w ═ ThTR]T，ThFor steering input torque, when in the automatic driving mode, Th＝0；TRIs the steering drag torque;
Figure GDA0003175311500000041
Tmoutputting torque for a steering motor; c is the output matrix, expressed as:
Figure GDA0003175311500000042
according to a mathematical model of vehicle dynamics and a steering input torque ThVehicle speed v and current I of steering motormCalculated power-assisted torque TcCalculating the yaw angular velocity beta and the lateral acceleration a under the current vehicle speed in real timey(ii) a When yaw rate beta and lateral acceleration ayAre all larger than the upper threshold value of the yaw rate under the current vehicle speed
Figure GDA0003175311500000043
And an upper threshold for lateral acceleration
Figure GDA0003175311500000044
Current steering input torque ThAnd angular acceleration of steering wheel
Figure GDA0003175311500000045
I.e. the upper threshold value of the steering wheel input torque at the current vehicle speed
Figure GDA0003175311500000046
And steering wheel angular acceleration threshold
Figure GDA0003175311500000047
The yaw rate upper threshold value
Figure GDA0003175311500000048
And an upper threshold for lateral acceleration
Figure GDA0003175311500000049
Respectively as follows:
β(v)＝βmax(v)·k2；
Figure GDA00031753115000000410
aymax(v) maximum lateral acceleration at the current vehicle speed, betamax(v) Is the maximum yaw rate, k, at the current vehicle speed1And k2The safety factors are respectively, and the value is 0.5-0.7.
In the automatic driving switching method based on the C-EPS system, in an automatic driving mode, an automatic driving decision layer is used for releasing a steering control law that a steering system target corner gives to the C-EPS system, the steering control law controls a driving voltage to drive a steering motor to complete steering of the steering system, and in the steering process of the steering system, the steering resistance reference value, the steering resistance estimation value and the current estimation value of the steering motor are used for judging the road surface quality and the road surface adhesion coefficient, so that the road surface quality and the road surface adhesion coefficient are sensed.
According to the automatic driving switching method based on the C-EPS system, the steering resistance reference value is calculated according to the steering wheel angle and the automobile speed, and the steering resistance estimation value is calculated according to the steering wheel angle, the current of a steering motor and the driving voltage; calculating the current estimation value of the steering motor according to the steering resistance estimation value and the target rotation angle of the steering system; the method specifically comprises the following steps:
when in the automatic driving mode, D ═ B2 B1]TAnd constructing an unknown input observer:
Figure GDA0003175311500000051
in the formula, DTIs a transpose of matrix D; e is the base number of the natural logarithm; i is an identity matrix having the same dimension as matrix A;
obtaining the interference input w of the C-EPS system at the time k according to each parameter value in the x matrix of the C-EPS system at the time k +1, thereby obtaining the estimated value of the steering resistance at the time k
Figure GDA0003175311500000052
Calculating a steering resistance reference value T according to the automobile mathematical model and the automobile driving and steering working conditionsR0：
Figure GDA0003175311500000053
In the formula: f is TR0Refers to a calculation function; v is vehicle speed; mu.s0Taking 0.7 by reference to the adhesion coefficient;
steering the system by a target angle thetarefAngle of rotation theta of steering wheelcThe subtracted value is input into a PID controller and output to obtain a driving voltage ud(ii) a According to the rotation speed of the steering motor
Figure GDA0003175311500000054
And steering motor back electromotive force coefficient KeCalculating to obtain induced electromotive force epsilon, and driving voltage udSubtracting the induced electromotive force epsilon and inputting the subtracted result into a motor circuit transfer function, wherein the output of the motor circuit function is a current estimated value of the steering motor
Figure GDA0003175311500000055
Finally, the steering resistance reference value T is calculatedR0Steering resistance estimation value
Figure GDA0003175311500000061
And current estimation value of steering motor
Figure GDA0003175311500000062
Inputting the road surface quality and adhesion coefficient into a judging module for judging, wherein the judging result
Figure GDA0003175311500000063
Therefore, the average value of S is more than 0 in a period of time, the road adhesion coefficient is more than 0.7, and the road quality is good; and if the average value of S is less than 0 in a period of time, the road adhesion coefficient is less than 0.7, and the road quality is poor.
The device of the automatic driving switching method based on the C-EPS system comprises a steering column assembly with a C-EPC system and a steering wheel; the lower end of the steering column assembly is connected with a planetary gear reducer through a coupler, and the lower end of the planetary gear reducer is connected with a steering motor; the upper end of the steering column assembly is provided with a steering mandrel gear and a steering column gear idler wheel which are meshed with each other; the lower end of the steering wheel is provided with a steering wheel gear; the steering wheel gear is meshed with the steering column gear idler wheel.
According to the device for the automatic driving switching method based on the C-EPS system, a steering wheel center piece is arranged in the middle of the steering wheel; the lower end of the steering wheel central piece is provided with a fixed shaft, and the fixed shaft is fixedly connected with the upper end of the steering column assembly through a nut.
Compared with the prior art, the C-EPC system calculates the lower threshold of the steering wheel input torque according to the steering wheel rotating speed and the steering wheel rotating inertia; when the input torque of the steering wheel is smaller than the lower threshold value, the vehicle is switched to an automatic driving mode, and when the input torque of the steering wheel is larger than the lower threshold value, the vehicle is switched to an artificial driving mode. Furthermore, the invention can judge the vehicle condition according to the angular acceleration of the steering wheel and the input torque condition of the steering wheel; if the steering wheel angle controlled by the driver is in the same direction as the target steering wheel angle of the C-EPS system and the steering wheel angle approaches to the target steering wheel angle, the driving system is switched into an emergency steering mode to assist the manual driving mode to complete the avoidance of the emergency situation. In the automatic driving mode, the automatic driving decision layer is utilized to release a steering control law of a steering system target corner to a C-EPS system, the steering control law controls driving voltage to drive a steering motor to complete steering of the steering system, and in the steering process of the steering system, the steering resistance reference value, the steering resistance estimation value and the current estimation value of the steering motor are utilized to judge the road surface quality and the road surface adhesion coefficient, so that the road surface quality and the road surface adhesion coefficient are sensed, and the accuracy and the safety of the automatic driving system on vehicle control are improved.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic flow chart of setting of the steering wheel angular acceleration threshold value and the upper threshold value;
FIG. 3 is a schematic flow diagram of the present invention automated driving perception augmentation;
FIG. 4 is a schematic flow chart of the calculation of the current estimation value of the steering motor;
fig. 5 is a schematic configuration diagram of the steering system.
Reference numerals:
1. a steering column assembly; 2. a steering wheel; 3. a coupling; 4. a planetary gear reducer; 5. a steering motor; 6. a steering spindle gear; 7. a steering column gear idler; 8. a steering wheel gear; 9. a steering wheel center; 10. and fixing the shaft.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Example 1: an automatic driving switching method based on a C-EPS system comprises a driving system, wherein an automatic driving mode, an emergency steering mode and a manual driving mode are arranged in the driving system; in the manual driving mode, the C-EPS system is in a power-assisted mode; in the automatic driving mode, the C-EPS system is in an active steering mode; in the emergency steering mode, the C-EPS system is in an emergency power-assisted active steering mode; the C-EPS system calculates a lower threshold value of the steering wheel input torque according to the rotating speed of the steering wheel and the rotating inertia of the steering wheel; when the steering wheel input torque is smaller than a lower threshold value, the vehicle is switched to an automatic driving mode, and when the steering wheel input torque is larger than the lower threshold value, the vehicle is switched to an artificial driving mode; after the manual driving mode is switched, when the angular acceleration of the steering wheel is larger than the angular acceleration threshold of the steering wheel, and the input torque of the steering wheel exceeds the upper threshold of the input torque of the steering wheel, the driving system judges that the vehicle is in an emergency state, if the steering wheel angle controlled by the driver is in the same direction as the target steering wheel angle of the C-EPS system and the steering wheel angle approaches to the target steering wheel angle, the driving system is switched to the emergency steering mode, and the manual driving mode is assisted to complete the avoidance of the emergency.
Example 2: an automatic driving switching method based on a C-EPS system comprises a driving system, wherein an automatic driving mode, an emergency steering mode and a manual driving mode are arranged in the driving system; as shown in fig. 1, after the vehicle starts, in the manual driving mode, the C-EPS system (abbreviated EPC in fig. 1) is in the assist mode (torque mode); only after the driving system receives an automatic driving request, the driving system starts an automatic driving mode and takes over the vehicle, in the automatic driving mode, the C-EPC system is in an active steering mode (angle mode), due to the existence of the rotational inertia of a steering wheel, the rotation of the steering wheel can cause a torque sensor to output a steering wheel torque signal (the rotating speed of the steering wheel and the rotational inertia of the steering wheel) during automatic driving, and in the emergency steering mode, the C-EPS system is in an emergency power-assisted active steering mode; thus, the C-EPC system calculates a lower threshold for steering wheel input torque based on steering wheel speed and steering wheel moment of inertiaT h(ii) a When steering wheel inputs torque ThLess than a lower thresholdT hWhen the vehicle is switched to or maintained in the automatic driving mode, the steering wheel inputs torque ThGreater than a lower thresholdT hWhen the vehicle is switched into a manual driving mode, the vehicle is taken over by a driver, but the automatic driving mode is in a standby state (all modules in the automatic driving mode keep working states, but do not participate in vehicle control); when angular acceleration of steering wheel
Figure GDA0003175311500000081
Greater than the angular acceleration threshold of the steering wheel
Figure GDA0003175311500000082
And steering wheel input torque ThExceeding an upper threshold value for steering wheel input torque
Figure GDA0003175311500000083
At the moment, the driving system judges that the vehicle is in an emergency state, and if the steering wheel angle theta controlled by the driver at the momentcAnd a target steering wheel angle theta of the C-EPS systemrefIn the same direction, i.e. thetac′θrefIs greater than 0, and the steering wheel rotating angle approaches to the target steering wheel rotating angle, namely
Figure GDA0003175311500000084
And the driving system is switched into an emergency steering mode to assist the manual driving mode to complete the avoidance of emergency situations.
In order to avoid misjudgment of automatic driving switching caused by input torque interference caused by the moment of inertia of a steering wheel and the angular velocity of the steering wheel in an automatic driving mode, the lower threshold value of the input torque of the steering wheel is as follows:
Figure GDA0003175311500000091
in the formula: i iscIs the steering wheel moment of inertia; thetacIs the angular acceleration of the steering wheel, i.e. the second derivative of the steering wheel angle;
in order to judge whether the vehicle is in an emergency state, the calculation mode of the steering wheel angular acceleration threshold value and the upper threshold value is as follows; as shown in fig. 2, a model of the C-EPS system is established:
Figure GDA0003175311500000092
in the formula: a is a system state space matrix, represented as:
Figure GDA0003175311500000093
Kcthe steering column mandrel stiffness; b iscDamping the steering column; j. the design is a squarecIs the rotational inertia of the steering column; j is the reduction ratio of the steering motor reducer; j. the design is a squareeqEquivalent rotational inertia of a steering transmission mechanism and a steering gear; keqThe equivalent rigidity of a steering transmission mechanism and a steering gear is provided; b iseqThe damping is equivalent to a steering transmission mechanism and a steering gear; kbIs the steering motor electromagnetic torque constant; keIs the counter electromotive force coefficient of the steering motor; rmIs the armature inductance of the steering motor; l ismArmature resistance of steering motor;
Figure GDA0003175311500000094
θcis the steering wheel angle;
Figure GDA0003175311500000095
steering wheel speed, the first derivative of steering wheel angle; thetamIs the motor corner;
Figure GDA0003175311500000101
is the rotating speed of the steering motor, namely the first derivative of the rotating angle of the steering motor; i ismIs the current of the steering motor; b is1To control the matrix, it is expressed as:
Figure GDA0003175311500000102
u＝udis the driving voltage; b is2Is an interference input matrix, expressed as:
Figure GDA0003175311500000103
w is the interference input, w ═ Th TR]T，ThFor steering input torque, when in the automatic driving mode, Th＝0；TRIs the steering drag torque;
Figure GDA0003175311500000104
Tmoutputting torque for a steering motor; c is the output matrix, expressed as:
Figure GDA0003175311500000105
according to a mathematical model of vehicle dynamics and a steering input torque ThVehicle speed v and current I of steering motormCalculated power-assisted torque Tc(Tc＝Im×Kb) Calculating the yaw angular velocity beta and the lateral acceleration a under the current vehicle speed in real timey(ii) a When yaw rate beta and lateral acceleration ayAre all larger than the upper threshold value of the yaw rate under the current vehicle speed
Figure GDA0003175311500000106
And an upper threshold for lateral acceleration
Figure GDA0003175311500000107
Current steering input torque ThAnd angular acceleration of steering wheel
Figure GDA0003175311500000108
I.e. the upper threshold value of the steering wheel input torque at the current vehicle speed
Figure GDA0003175311500000115
And steering wheel angular acceleration threshold
Figure GDA0003175311500000111
The yaw rate upper thresholdValue of
Figure GDA0003175311500000112
And an upper threshold for lateral acceleration
Figure GDA0003175311500000113
Respectively as follows:
β(v)＝βmax(v)·k2；
Figure GDA0003175311500000114
aymax(v) maximum lateral acceleration at the current vehicle speed, betamax(v) Is the maximum yaw rate, k, at the current vehicle speed1And k2The safety factors are respectively, and the value is 0.5-0.7.
Example 3: an automatic driving switching method based on a C-EPS system comprises a driving system, wherein an automatic driving mode, an emergency steering mode and a manual driving mode are arranged in the driving system; in the manual driving mode, the C-EPS system is in a power-assisted mode; in the automatic driving mode, the C-EPS system is in an active steering mode; in the emergency steering mode, the C-EPS system is in an emergency power-assisted active steering mode; the C-EPS system calculates a lower threshold value of the steering wheel input torque according to the rotating speed of the steering wheel and the rotating inertia of the steering wheel; when the steering wheel input torque is smaller than a lower threshold value, the vehicle is switched to an automatic driving mode, and when the steering wheel input torque is larger than the lower threshold value, the vehicle is switched to an artificial driving mode; after the manual driving mode is switched, when the angular acceleration of the steering wheel is larger than the angular acceleration threshold of the steering wheel, and the input torque of the steering wheel exceeds the upper threshold of the input torque of the steering wheel, the driving system judges that the vehicle is in an emergency state, if the steering wheel angle controlled by the driver is in the same direction as the target steering wheel angle of the C-EPS system and the steering wheel angle approaches to the target steering wheel angle, the driving system is switched to the emergency steering mode, and the manual driving mode is assisted to complete the avoidance of the emergency.
In the autonomous driving mode, as shown in FIG. 3, an autonomous driving decision layer (i.e., an autonomous driving decision layer) is utilizedThe automatic-drive upper controller in fig. 3) issues a steering system target steering angle θrefGiving a steering control law of the C-EPS system, and controlling a driving voltage to drive a steering motor to complete steering of the steering system by the steering control law; however, the existing small passenger cars mostly adopt a rack and pinion steering gear, which has high reverse efficiency, and the steering wheel is deflected by wheel vibration and deflection caused by the road surface, commonly called as the driver. When the C-EPS is in an automatic driving mode, the working mode is an angle mode, when the wheel deflects due to uneven road surface, the steering motor needs extra current to maintain the wheel rotating angle to follow the target rotating angle, and therefore, the current I of the steering motor in a period of time is countedmAnd current estimation value of steering motor
Figure GDA0003175311500000121
Variance σ of the differenceIThe current road condition can be judged. If the variance of the difference between the current of the steering motor and the current estimation value of the steering motor is large, the steering motor needs extra current to overcome wheel deflection caused by uneven road, so that the actual turning angle of the steering system can better follow the target turning angle; thus, the steering resistance reference value T is used during steering of the steering systemR0Steering resistance estimation value
Figure GDA0003175311500000122
And current estimation value I of steering motormAnd judging the road surface quality and the road surface adhesion coefficient to realize the perception of the road surface quality and the road surface adhesion coefficient.
As shown in fig. 3, the steering resistance reference value TR0According to steering wheel rotation angle theta in the steering resistance modelcAnd calculating the speed v of the vehicle, and the estimated value of the steering resistance
Figure GDA0003175311500000123
According to steering wheel angle theta in unknown input observercCurrent I of steering motormAnd a driving voltage udCalculating; current estimation value I of the steering motormAccording to rotation in a mathematical model of a steering systemEstimation of the directional resistance
Figure GDA0003175311500000124
And a target steering angle theta of the steering systemrefCalculating; the method specifically comprises the following steps:
establishing a model of a C-EPS system:
Figure GDA0003175311500000125
in the formula: a is a system state space matrix, represented as:
Figure GDA0003175311500000126
Kcthe steering column mandrel stiffness; b iscDamping the steering column; j. the design is a squarecIs the rotational inertia of the steering column; j is the reduction ratio of the steering motor reducer; j. the design is a squareeqEquivalent rotational inertia of a steering transmission mechanism and a steering gear; keqThe equivalent rigidity of a steering transmission mechanism and a steering gear is provided; b iseqThe damping is equivalent to a steering transmission mechanism and a steering gear; kbIs the steering motor electromagnetic torque constant; keIs the counter electromotive force coefficient of the steering motor; rmIs the armature inductance of the steering motor; l ismArmature resistance of steering motor;
Figure GDA0003175311500000131
θcis the steering wheel angle;
Figure GDA0003175311500000132
steering wheel speed, the first derivative of steering wheel angle; thetamIs the motor corner;
Figure GDA0003175311500000133
is the rotating speed of the steering motor, namely the first derivative of the rotating angle of the steering motor; i ismIs the current of the steering motor; b is1To control the matrix, it is expressed as:
Figure GDA0003175311500000134
u＝udis the driving voltage; b is2Is an interference input matrix, expressed as:
Figure GDA0003175311500000135
w is the interference input, w ═ Th TR]T，ThFor steering input torque, when in the automatic driving mode, Th＝0；TRIs the steering drag torque;
Figure GDA0003175311500000136
Tmoutputting torque for a steering motor; c is the output matrix, expressed as:
Figure GDA0003175311500000141
when in the automatic driving mode, D ═ B2 B1]TAnd constructing an unknown input observer:
Figure GDA0003175311500000142
in the formula, DTIs a transpose of matrix D; e is the base number of the natural logarithm; i is an identity matrix having the same dimension as matrix A;
obtaining the interference input w of the C-EPS system at the time k according to each parameter value in the x matrix of the C-EPS system at the time k +1, thereby obtaining the estimated value of the steering resistance at the time k
Figure GDA0003175311500000143
Calculating a steering resistance reference value T according to the automobile mathematical model and the automobile driving and steering working conditionsR0：
Figure GDA0003175311500000144
In the formula: f is TR0Refers to a calculation function; v is vehicle speed; mu.s0Taking 0.7 by reference to the adhesion coefficient;
turning the steering system to the target steering angle theta as shown in FIG. 4refAngle of rotation theta of steering wheelcThe subtracted value is input into a PID controller and output to obtain a driving voltage ud(ii) a According to the rotation speed of the steering motor
Figure GDA0003175311500000145
And steering motor back electromotive force coefficient KeCalculating to obtain induced electromotive force epsilon, and driving voltage udSubtracting the induced electromotive force epsilon and inputting the subtracted result into a motor circuit transfer function, wherein the output of the motor circuit function is a current estimated value of the steering motor
Figure GDA0003175311500000151
Finally, the steering resistance reference value T is calculatedR0Steering resistance estimation value
Figure GDA0003175311500000152
And current estimation value of steering motor
Figure GDA0003175311500000153
Inputting the road surface quality and adhesion coefficient into a judging module for judging, wherein the judging result
Figure GDA0003175311500000154
Therefore, the average value of S is more than 0 in a period of time, the road adhesion coefficient is more than 0.7, and the road quality is good; if the average value of S is less than 0 in a period of time, the road surface adhesion coefficient is less than 0.7, and the road surface quality is poor; the accuracy and the safety of the automatic driving mode for vehicle control are improved through the feedback of the road adhesion coefficient and the road quality.
Embodiment 4 an apparatus of an automatic driving switching method based on a C-EPS system, as shown in fig. 5, includes a steering column assembly 1 having a C-EPC system, a steering wheel 2 being provided at an upper end of the steering column assembly 1; the lower end of the steering column assembly 1 is connected with a planetary gear reducer 4 through a coupler 3, and the lower end of the planetary gear reducer 4 is connected with a steering motor 5; the upper end of the steering column assembly 1 is provided with a steering mandrel gear 6 and a steering column gear idler gear 7 which are meshed with each other; the lower end of the steering wheel 2 is provided with a steering wheel gear 8; the steering wheel gear 8 is meshed with the steering column gear idler gear 7; the middle part of the steering wheel 2 is provided with a steering wheel center piece 9; a system control element, a display screen and the like are arranged in the steering wheel center piece 9; the lower end of the steering wheel center piece 9 is provided with a fixed shaft 10, and the fixed shaft 10 is fixedly connected with the upper end of the steering column assembly 1 through a nut.
In conclusion, the invention can effectively switch the driving modes according to the driving conditions of the driver, thereby reducing the harm brought by driving. In addition, the invention can also realize the perception of the road surface quality and the adhesion coefficient of the road surface so as to improve the accuracy and the safety of the automatic driving system to the vehicle control.

Claims (6)

1.一种基于C-EPS系统的自动驾驶切换方法，包括驾驶系统，驾驶系统中设置有自动驾驶模式、紧急转向模式和人工驾驶模式；在人工驾驶模式中，C-EPS系统处于助力模式；在自动驾驶模式中，C-EPS系统处于主动转向模式；在紧急转向模式中，C-EPS系统处于紧急助力主动转向模式；其特征在于：所述C-EPS系统根据转向盘转速和转向盘转动惯量计算转向盘输入转矩的下阈值；当转向盘输入转矩小于下阈值时，车辆切换成自动驾驶模式，当转向盘输入转矩大于下阈值时，车辆切换成人工驾驶模式；在切换成人工驾驶模式后，当转向盘的角加速度大于转向盘的角加速度阈值，且转向盘输入转矩超过转向盘输入转矩的上阈值，此时驾驶系统判断车辆处于紧急状态，若此时驾驶员操控的转向盘转角和C-EPS系统的转向盘目标转角同向，且转向盘转角趋近于转向盘目标转角，驾驶系统切换成紧急转向模式，协助人工驾驶模式完成紧急情况的规避；1. An automatic driving switching method based on a C-EPS system, comprising a driving system, wherein the driving system is provided with an automatic driving mode, an emergency steering mode and a manual driving mode; in the manual driving mode, the C-EPS system is in an assist mode; In the automatic driving mode, the C-EPS system is in the active steering mode; in the emergency steering mode, the C-EPS system is in the emergency power-assisted active steering mode; it is characterized in that: the C-EPS system is based on the rotation speed of the steering wheel and the rotation of the steering wheel. Inertia calculates the lower threshold of the steering wheel input torque; when the steering wheel input torque is less than the lower threshold, the vehicle switches to automatic driving mode, and when the steering wheel input torque is greater than the lower threshold, the vehicle switches to manual driving mode; After manual driving mode, when the angular acceleration of the steering wheel is greater than the angular acceleration threshold of the steering wheel, and the input torque of the steering wheel exceeds the upper threshold of the input torque of the steering wheel, the driving system determines that the vehicle is in an emergency state. The steering wheel angle of the control is in the same direction as the steering wheel target angle of the C-EPS system, and the steering wheel angle is close to the steering wheel target angle, and the driving system is switched to the emergency steering mode to assist the manual driving mode to complete the avoidance of emergency situations; 所述的转向盘角加速度阈值和转向盘输入转矩的上阈值的计算过程为：建立C-EPS系统的模型：The calculation process of the steering wheel angular acceleration threshold and the upper threshold of the steering wheel input torque is: establishing a model of the C-EPS system:
Figure FDA0003175311490000011
Figure FDA0003175311490000011
 式中：A为系统状态空间矩阵，表示为：In the formula: A is the system state space matrix, which is expressed as:
Figure FDA0003175311490000021
Figure FDA0003175311490000021
 Kc为转向管柱芯轴刚度；Bc为转向管柱阻尼；Jc为转向管柱转动惯量；j为转向电机减速器减速比；Jeq为转向传动机构、转向器等效转动惯量；Keq为转向传动机构、转向器等效刚度；Beq为转向传动机构、转向器等效阻尼；Kb为转向电机电磁转矩常数；Ke为转向电机反电势系数；Rm为转向电机的电枢电感；Lm为转向电机的电枢电阻；K c is the rigidity of the steering column core shaft; B c is the steering column damping; J c is the moment of inertia of the steering column; j is the reduction ratio of the steering motor reducer; J eq is the equivalent moment of inertia of the steering transmission mechanism and the steering gear; K eq is the equivalent stiffness of the steering transmission mechanism and the steering gear; B eq is the equivalent damping of the steering transmission mechanism and the steering gear; K b is the electromagnetic torque constant of the steering motor; Ke is the back EMF coefficient of the steering motor; R m is the steering motor The armature inductance of ; L m is the armature resistance of the steering motor;
Figure FDA0003175311490000022
θc为转向盘转角；
Figure FDA0003175311490000023
转向盘转速，即转向盘转角的一阶导数；θm为电机转角；
Figure FDA0003175311490000024
为转向电机转速，即转向电机转角的一阶导数；Im是转向电机的电流；B1为控制矩阵，表示为：
Figure FDA0003175311490000022
θ c is the steering wheel angle;
Figure FDA0003175311490000023
Steering wheel speed, that is, the first derivative of the steering wheel angle; θ m is the motor rotation angle;
Figure FDA0003175311490000024
is the rotational speed of the steering motor, that is, the first derivative of the steering angle of the motor; I m is the current of the steering motor; B 1 is the control matrix, expressed as:
Figure FDA0003175311490000025
u＝ud，为驱动电压；B2为干扰输入矩阵，表示为：
Figure FDA0003175311490000025
u= ud , is the driving voltage; B 2 is the interference input matrix, expressed as:
Figure FDA0003175311490000026
w为干扰输入，w＝[Th TR]T，Th为转向输入力矩，当处于自动驾驶模式时，Th＝0；TR为转向阻力矩；
Figure FDA0003175311490000031
Tm为转向电机输出转矩；C为输出矩阵，表示为：
Figure FDA0003175311490000026
w is the disturbance input, w=[T h T R ] T , T h is the steering input torque, when in the automatic driving mode, T h =0; T R is the steering resistance torque;
Figure FDA0003175311490000031
T m is the output torque of the steering motor; C is the output matrix, expressed as:
Figure FDA0003175311490000032
Figure FDA0003175311490000032
 根据车辆动力学数学模型和转向输入力矩Th、车辆车速v以及转向电机的电流Im计算所得的助力力矩Tc，实时计算当前车速下的横摆角速度β及侧向加速度ay；当横摆角速度β及侧向加速度ay均大于当前车速下的横摆角速度上阈值
Figure FDA0003175311490000038
和侧向加速度的上阈值
Figure FDA0003175311490000039
当前的转向输入力矩Th和转向盘的角加速度
Figure FDA0003175311490000033
即为当前车速下的转向盘输入转矩的上阈值
Figure FDA0003175311490000034
和转向盘角加速度阈值
Figure FDA0003175311490000035
According to the vehicle dynamics mathematical model and the steering input torque Th , the vehicle speed v and the steering motor current Im to calculate the assist torque Tc , the yaw rate β and the lateral acceleration ay at the current vehicle speed are calculated in real time; Both the yaw rate β and the lateral acceleration a y are greater than the upper threshold of the yaw rate at the current vehicle speed
Figure FDA0003175311490000038
and the upper threshold of lateral acceleration
Figure FDA0003175311490000039
Current steering input torque Th and steering wheel angular acceleration
Figure FDA0003175311490000033
is the upper threshold of the steering wheel input torque at the current vehicle speed
Figure FDA0003175311490000034
and steering wheel angular acceleration threshold
Figure FDA0003175311490000035
 所述横摆角速度上阈值
Figure FDA00031753114900000310
和侧向加速度的上阈值
Figure FDA00031753114900000311
分别为：The upper threshold of the yaw rate
Figure FDA00031753114900000310
and the upper threshold of lateral acceleration
Figure FDA00031753114900000311
They are: β(v)＝βmax(v)·k2；β(v)= βmax (v)·k 2 ;
Figure FDA00031753114900000312
Figure FDA00031753114900000312
 aymax(v)为当前车速下最大侧向加速度，βmax(v)为当前车速下最大横摆角速度，k1和k2分别为安全系数，取值为0.5-0.7。a ymax (v) is the maximum lateral acceleration at the current vehicle speed, β max (v) is the maximum yaw angular velocity at the current vehicle speed, and k 1 and k 2 are the safety factors, respectively, ranging from 0.5 to 0.7. 2.根据权利要求1所述的基于C-EPS系统的自动驾驶切换方法，其特征在于：所述转向盘输入转矩的下阈值为：2. The automatic driving switching method based on the C-EPS system according to claim 1, wherein: the lower threshold of the steering wheel input torque is:
Figure FDA0003175311490000036
Figure FDA0003175311490000036
 式中：Ic为转向盘转动惯量；
Figure FDA0003175311490000037
为转向盘的角加速度，即转向盘转角的二阶导数。In the formula: I c is the moment of inertia of the steering wheel;
Figure FDA0003175311490000037
is the angular acceleration of the steering wheel, that is, the second derivative of the steering wheel angle. 3.根据权利要求1所述的基于C-EPS系统的自动驾驶切换方法，其特征在于：在自动驾驶模式中，利用自动驾驶决策层发布转向系统目标转角给C-EPS系统的转向控制律，转向控制律控制驱动电压驱动转向电机完成转向系统转向，在转向系统转向过程中，利用转向阻力参考值、转向阻力估计值和转向电机的电流估计值判断路面质量与路面附着系数，实现对道路路面质量和路面的附着系数的感知。3. the automatic driving switching method based on the C-EPS system according to claim 1, is characterized in that: in the automatic driving mode, utilize the automatic driving decision-making layer to issue the steering control law of the steering system target angle to the C-EPS system, The steering control law controls the driving voltage to drive the steering motor to complete the steering of the steering system. During the steering process of the steering system, the reference value of the steering resistance, the estimated value of the steering resistance and the estimated value of the current of the steering motor are used to judge the road surface quality and road adhesion coefficient, and realize the control of the road surface. Perception of mass and adhesion coefficient of pavement. 4.根据权利要求1所述的基于C-EPS系统的自动驾驶切换方法，其特征在于：所述转向阻力参考值根据转向盘转角和汽车车速计算，所述转向阻力估计值根据转向盘转角、转向电机的电流和驱动电压计算；所述转向电机的电流估计值根据转向阻力估计值和转向系统目标转角计算；具体为：4. The automatic driving switching method based on C-EPS system according to claim 1, is characterized in that: described steering resistance reference value is calculated according to steering wheel rotation angle and vehicle speed, and described steering resistance estimated value is calculated according to steering wheel rotation angle, The current and driving voltage of the steering motor are calculated; the estimated value of the current of the steering motor is calculated according to the estimated value of the steering resistance and the target angle of the steering system; specifically: 当处于自动驾驶模式时，D＝[B2 B1]T，构建未知输入观测器：When in autopilot mode, D=[B 2 B 1 ] T , construct an unknown input observer:
Figure FDA0003175311490000041
Figure FDA0003175311490000041
 式中，DT为为矩阵D的转置；e为为自然对数的底数；I是与矩阵A维数相同的单位矩阵；In the formula, D T is the transpose of the matrix D; e is the base of the natural logarithm; I is the identity matrix with the same dimension as the matrix A; 根据k+1时刻的C-EPS系统的x矩阵中的各参数值，得到k时刻时C-EPS系统的干扰输入w，从而得到k时刻时的转向阻力估计值
Figure FDA0003175311490000042
According to each parameter value in the x matrix of the C-EPS system at time k+1, the interference input w of the C-EPS system at time k is obtained, so as to obtain the estimated value of steering resistance at time k
Figure FDA0003175311490000042
 根据汽车数学模型、汽车行驶与转向工况，计算转向阻力参考值TR0：According to the mathematical model of the vehicle, the driving and steering conditions of the vehicle, the reference value of the steering resistance T R0 is calculated:
Figure FDA0003175311490000043
Figure FDA0003175311490000043
 式中：f为TR0指代计算函数；v为车辆车速；μ0参考附着系数，取0.7；In the formula: f is the calculation function of T R0 ; v is the vehicle speed; μ 0 refers to the adhesion coefficient, which is taken as 0.7; 将转向系统目标转角θref与转向盘转角θc相减后的值输入至PID控制器中，并输出得到驱动电压ud；根据转向电机转速
Figure FDA0003175311490000051
和转向电机反电势系数Ke计算得到感应电动势ε，再将驱动电压ud与感应电动势ε相减后输入电机电路传递函数，电机电路函数的输出为转向电机的电流估计值
Figure FDA0003175311490000052
Input the value obtained by subtracting the steering system target angle θ ref and the steering wheel angle θ c into the PID controller, and output the drive voltage ud ; according to the rotation speed of the steering motor
Figure FDA0003175311490000051
Calculate the induced electromotive force ε with the back EMF coefficient Ke of the steering motor, and then subtract the driving voltage ud from the induced electromotive force ε and input it into the transfer function of the motor circuit. The output of the motor circuit function is the estimated value of the current of the steering motor.
Figure FDA0003175311490000052
 最后将转向阻力参考值TR0、转向阻力估计值
Figure FDA0003175311490000053
和转向电机的电流估计值
Figure FDA0003175311490000054
输入至路面质量与附着系数判断模块中进行判断，其中，判断结果
Figure FDA0003175311490000055
因此在一段时间内S的均值大于0，则路面附着系数大于0.7，路面质量较好；在一段时间内S的均值小于0，则路面附着系数小于0.7，路面质量较差。Finally, the steering resistance reference value T R0 and the steering resistance estimated value are
Figure FDA0003175311490000053
and the current estimate for the steering motor
Figure FDA0003175311490000054
Input to the road quality and adhesion coefficient judgment module for judgment, wherein the judgment result
Figure FDA0003175311490000055
Therefore, when the mean value of S is greater than 0 in a period of time, the pavement adhesion coefficient is greater than 0.7, and the pavement quality is good; in a period of time, the mean value of S is less than 0, the pavement adhesion coefficient is less than 0.7, and the pavement quality is poor. 5.根据权利要求1-4任一项所述的基于C-EPS系统的自动驾驶切换方法的装置，其特征在于：包括具有C-EPC系统的转向管柱总成(1)，所述转向管柱总成(1)的上端设有转向盘(2)；所述转向管柱总成(1)的下端经联轴器(3)连接有行星齿轮减速器(4)，行星齿轮减速器(4)的下端连接有转向电机(5)；所述转向管柱总成(1)的上端设有相互啮合的转向芯轴齿轮(6)和转向管柱齿轮惰轮(7)；所述转向盘(2)的下端设有转向盘齿轮(8)；所述转向盘齿轮(8)与转向管柱齿轮惰轮(7)相啮合。5. The device for an automatic driving switching method based on a C-EPS system according to any one of claims 1-4, characterized in that it comprises a steering column assembly (1) with a C-EPC system, and the steering A steering wheel (2) is provided at the upper end of the pipe column assembly (1); the lower end of the steering column assembly (1) is connected with a planetary gear reducer (4) via a coupling (3), and the planetary gear reducer The lower end of (4) is connected with a steering motor (5); the upper end of the steering column assembly (1) is provided with a steering spindle gear (6) and a steering column gear idler (7) that mesh with each other; the The lower end of the steering wheel (2) is provided with a steering wheel gear (8); the steering wheel gear (8) meshes with the steering column gear idler (7). 6.根据权利要求5所述基于C-EPS系统的自动驾驶切换方法的装置，其特征在于：所述转向盘(2)的中部设有转向盘中心件(9)；6. The device for the automatic driving switching method based on the C-EPS system according to claim 5, characterized in that: the middle part of the steering wheel (2) is provided with a steering wheel center piece (9); 所述转向盘中心件(9)的下端设有一根固定轴(10)，固定轴(10)与转向管柱总成(1)的上端经螺母固定连接。The lower end of the steering wheel center piece (9) is provided with a fixed shaft (10), and the fixed shaft (10) is fixedly connected with the upper end of the steering column assembly (1) through a nut.
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