CN102039928B - The system and method that driver in automatic steering system intervenes - Google Patents

Abstract

The present invention relates to the system and method that the driver in automatic steering system intervenes.Specifically, it is provided that a kind of wheel steering system, comprising: automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state control wheel steering system；And driver intervention unit, described driver intervention unit is configured to during being automatically brought into operation state determine that driver intervenes.Driver intervention unit includes that decision software module, described decision software module are configured to determine driver and intervene.

Description

The system and method that driver in automatic steering system intervenes

Technical field

The art relates generally to make the system and method for vehicle auto-steering, more particularly, to being used for The system and method that driver intervenes.

Background technology

For combining semi-automatic and whole-automatic to the vehicle of system and method, from vehicle, the controlled driver of redirecting to is subject to The transformation that control turns to is very difficult.Such as, employ electrical power steering (EPS) system vehicle be automatically brought into operation period, Driver is generally instructed to remove hands from steering wheel and maybe need not hold steering wheel, this is because EPS makes vehicle at it When turning to, steering wheel is applied significant moment of torsion.When driver wants that surmounting auto-steering operation controls vehicle, promptly direction Dish is the intuition means providing the signal being intended to requisition wagon control for driver.But, by the EPS side of putting on Can suppress to intervene via the driver of steering wheel to the high pulling torque of dish.And, intervene driver and only need the least moment of torsion or not In the case of needing moment of torsion, it may will not be detected by the torque sensor measuring the moment of torsion on steering wheel, and this is Intervene and noise because torque sensor may not distinguish driver.Therefore, driver is detected with timely reliable way Intervene and still suffer from difficulty.

Summary of the invention

Prior art is overcome not by the system and method providing the driver during auto-steering to intervene Foot, wherein said system and method is configured to driver steering wheel applied (comparatively speaking) the least moment of torsion or do not apply During moment of torsion, driver is intervened and detect.It is enough that system and method teaching herein enables driver to intervene detecting system It is sensitive, so that driver is without applying big steering torque before intervention is detected.

According to the first exemplary embodiment, wheel steering system includes: steering angle sensor, described steering angle sensor quilt It is configured to steering angle is measured；Automatic steering control unit, described automatic steering control unit is configured to behaviour automatically Wheel steering system is controlled when making in state；And driver intervention unit, described driver intervention unit is configured to certainly Detect driver during dynamic mode of operation to intervene.Driver intervention unit includes decision software module, described decision software module It is configured to the function using driver intervenes as measuring steering angle and the second steering angle be determined.

According to the second exemplary embodiment, wheel steering system includes: memorizer, described memorizer storage steering From hands rotary inertia；Automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state Control wheel steering system；And driver intervention unit, described driver intervention unit is configured to be automatically brought into operation state Period detection driver intervenes.Driver intervention unit include decision software module, described decision software module be configured to by Driver intervene as from hands rotary inertia and calculate rotary inertia function be determined.

According to the 3rd exemplary embodiment, wheel steering system includes: torque sensor, and described torque sensor is configured To measure the operator torque applying the steering wheel to wheel steering system；Automatic steering control unit, described auto-steering control Unit processed is configured to when being automatically brought into operation in state control wheel steering system；And driver intervention unit, described driving Member intervenes unit and is configured to during being automatically brought into operation state detect driver's intervention.Driver intervention unit includes decision-making software Module, described decision software module is configured to intervene driver the height as the operator torque measured by torque sensor Frequently the function of noise is determined.

Present invention also offers below scheme:

1. 1 kinds of wheel steering systems of scheme, described wheel steering system includes:

Steering angle sensor, described steering angle sensor is configured to measure steering angle；

Automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state control institute State wheel steering system；And

Driver intervention unit, described driver intervention unit be configured to described be automatically brought into operation state during detect and drive The person of sailing intervenes, and described driver intervention unit includes that decision software module, described decision software module are configured to driver Intervene the function as measuring steering angle and the second steering angle to be determined.

Scheme 2. is according to the wheel steering system described in scheme 1, and wherein, described automatic steering control unit is configured to control Electric motor driven power steering system processed.

Scheme 3. is according to the wheel steering system described in scheme 1, and wherein, described decision software module is configured to described Measure in the case of the difference between steering angle and the second steering angle exceedes threshold value and determine that driver intervenes.

Scheme 4. is according to the wheel steering system described in scheme 1, and wherein, described driver intervention unit is configured to control The mode of operation of described wheel steering system, described mode of operation includes being automatically brought into operation and manual operation.

Scheme 5. is according to the wheel steering system described in scheme 1, and wherein, described second steering angle is for calculating steering angle, institute State the function calculating the model that steering angle is confirmed as described wheel steering system.

Scheme 6. is according to the wheel steering system described in scheme 5, and wherein, described model is:

$J_e{\stackrel{\·\·}{\mathrm{\θ}}}_s+B_e{\stackrel{\·}{\mathrm{\θ}}}_s+K_e{\mathrm{\θ}}_s=\mathrm{\ΣT}=T_d+T_m-T_a,$

In formula, J_eFor the equivalent moment of inertia of described wheel steering system, B_eEquivalence resistance for described wheel steering system Buddhist nun, K_eFor the equivalent stiffness of described wheel steering system, θ_sFor described steering angle, T_dThe steering torque applied for driver, T_mFor The motor auxiliary torque of equivalence, and T_aTire for equivalence adjusts moment of torsion.

Scheme 7. is according to the wheel steering system described in scheme 1, and wherein, described second steering angle is by described automatic turn The steering angle order produced to control unit.

Scheme 8. is according to the wheel steering system described in scheme 7, and wherein, described steering angle order is the letter of expected path Number.

Scheme 9. is according to the wheel steering system described in scheme 1, and wherein, described decision software module includes low-pass filtering Device, described low pass filter is configured to be filtered described measurement steering angle.

10. 1 kinds of wheel steering systems of scheme, described wheel steering system includes:

Memorizer, described memorizer store described wheel steering system from hands rotary inertia；

Automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state control institute State wheel steering system；And

Driver intervention unit, described driver intervention unit be configured to described be automatically brought into operation state during detect and drive The person of sailing intervenes, and described driver intervention unit includes that decision software module, described decision software module are configured to driver Intervene and be determined as the described function from hands rotary inertia and calculating rotary inertia.

Scheme 11. is according to the wheel steering system described in scheme 10, and wherein, described automatic steering control unit is configured to Control electric motor driven power steering system.

Scheme 12. is according to the wheel steering system described in scheme 10, and wherein, described decision software module is configured in institute State and determine that driver intervenes in the case of the difference between hands rotary inertia and described calculating rotary inertia exceedes threshold value.

Scheme 13. is according to the wheel steering system described in scheme 10, and wherein, described driver intervention unit is configured to control Making the mode of operation of described wheel steering system, described mode of operation includes being automatically brought into operation and manual operation.

Scheme 14. is according to the wheel steering system described in scheme 10, and wherein, described calculating rotary inertia is confirmed as described The function of the model of wheel steering system.

Scheme 15. is according to the wheel steering system described in scheme 14, and wherein, described model is:

$J_e{\stackrel{\·\·}{\mathrm{\θ}}}_s+B_e{\stackrel{\·}{\mathrm{\θ}}}_s+K_e{\mathrm{\θ}}_s=\mathrm{\ΣT}=T_d+T_m-T_a,$

In formula, J_eFor the calculating rotary inertia of described wheel steering system, B_eEquivalence resistance for described wheel steering system Buddhist nun, K_eFor the equivalent stiffness of described wheel steering system, θ_sFor steering angle, T_dFor operator torque, T_mMotor for equivalence is turned round Square, and T_aTire for equivalence adjusts moment of torsion.

16. 1 kinds of wheel steering systems of scheme, described wheel steering system includes:

Torque sensor, described torque sensor is configured to applying driving of the steering wheel to described wheel steering system The person's of sailing moment of torsion measures；

Automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state control institute State wheel steering system；And

Driver intervention unit, described driver intervention unit be configured to described be automatically brought into operation state during detect and drive The person of sailing intervenes, and described driver intervention unit includes that decision software module, described decision software module are configured to driver Intervene the function as the high-frequency noise of the described operator torque measured by described torque sensor to be determined.

Scheme 17. is according to the wheel steering system described in scheme 16, and wherein, described automatic steering control unit is configured to Control electric motor driven power steering system.

Scheme 18. is according to the wheel steering system described in scheme 16, and wherein, described decision software module includes high-pass filtering Device.

Scheme 19. is according to the wheel steering system described in scheme 16, and wherein, described decision software module is configured in institute State in the case of high-frequency noise exceedes threshold value and determine that driver intervenes.

Scheme 20. is according to the wheel steering system described in scheme 16, and wherein, described driver intervention unit is configured to control Making the mode of operation of described wheel steering system, described mode of operation includes being automatically brought into operation and manual operation.

Some aspects and feature, these aspects and the feature of the extensive overview present invention only should be considered as the most Illustrate various possible application.By using disclosed information by different way or the different aspect of open embodiment being carried out Combination, other useful result available.Therefore, in addition to the scope being defined by the following claims, by with reference to combining The accompanying drawing detailed description to exemplary embodiment, available other aspect and be more completely understood by.

Accompanying drawing explanation

Fig. 1 is the partial schematic diagram of the vehicle including steering according to embodiments of the present invention；

Fig. 2 is the schematic diagram of the motor control unit in the steering showing Fig. 1；

Fig. 3 is the schematic diagram of the decision software module of the driver intervention unit in the steering showing Fig. 1；

Fig. 4 is the schematic diagram of the decision software module of the driver intervention unit in the steering showing Fig. 1；

Fig. 5 is the schematic diagram of the decision software module of the driver intervention unit in the steering showing Fig. 1；

Fig. 6 is the steering angle command signal being associated with the decision software module in Fig. 5 and the figure measuring steering angle signal Show；

Fig. 7 is the steering angle command signal being associated with the decision software module in Fig. 5 and the figure measuring steering angle signal Show；

Fig. 8 is the schematic diagram of the decision software module of the driver intervention unit in the steering showing Fig. 1；

Fig. 9 is the steering angle command signal being associated with decision software module in Fig. 8 and the diagram measuring steering angle signal；

Figure 10 is the diagram of the high-frequency noise measuring torque signal being associated with decision software module in Fig. 8.

Detailed description of the invention

As required, detailed embodiment is disclosed herein.It must be understood that the disclosed embodiments are merely illustrative Property, and various forms and alternative form can be implemented as, and combinations thereof.As used herein, word " example Property " be widely used, to refer to be used as illustration, example, model or the embodiment of pattern.These figures are all not necessarily to scale to, and one A little features can be exaggerated or minimized, in order to represents the details of particular elements.In other situation, for those of ordinary skill in the art Parts, system, material or method that known those are familiar with no longer are described in detail, in order to avoid obscuring the present invention.Therefore, Specific structural and functional details disclosed herein all be not construed as limit, but be only used as claim basis and Representative basis as teaching those skilled in the art.

Although illustrated embodiment is to be described in the background of electric motor driven power steering system, but this teaching is also applied for Include other driver assistance system of hydraulic system, electro-hydraulic system etc..

Vehicle and steering

With reference to Fig. 1, vehicle 10 includes that steering 12, steering 12 include steering wheel 20, steering spindle 22, rack-and-pinion Secondary 26 (described rack-and-pinion includes the first little gear 28 and tooth bar 30), tie-rod 32, wheel 34, velocity sensor 36, steering spindle Torque sensor 38, and steering angle sensor 40.Steering wheel 20 is connected with steering spindle 22, steering spindle 22 and the first little gear 28 It is connected so that the rotary motion of steering wheel 20 is transferred to the first little gear 28.This rotary motion is converted to by the first little gear 28 The linear motion of tooth bar 30.Tooth bar 30 is connected to take turns 34 by tie-rod 32, and the motion of tooth bar 30 is converted into the rotation of wheel 34.Turn round Square sensor 38 is measured and is applied the operator torque T to steering wheel 20_d, and with the torsional displacement of steering spindle 22 or torque rod be Basis.Here, operator torque T_dGeneration source be driver, and, if the hands departure direction dish 20 of driver, then will There is no operator torque T_dApply to steering spindle 22.The measurement car speed V of vehicle 10 measured by velocity sensor 36_s.Steering angle passes Sensor 40 measures the measurement steering angle θ of steering wheel 20_s.Generally, operator torque T_dThe noise of measurement result is more than measuring steering angle θ_sNoise.Steering angle sensor 40 includes digital encoder, and this digital encoder has higher essence than torque sensor 38 Degree, finer resolution and less noise.

Steering 12 also includes electric motor driven power steering (EPS) system 50, automatic steering control unit 52 and driver Intervene unit 54.EPS 50 includes motor control unit 60 and motor 62, and motor 62 drives two pinion 64, and second is little Gear 64 is attached to tooth bar 30.Seeing figures.1.and.2, motor control unit 60 includes manual software module 66 and automatic software mould Block 68.During manual operation, manual software module 66 determines motor torsional moment T_m, and produce driving motor 62 with to the second little tooth The respective drive signal of the wheel 64 suitable moment of torsion of applying.Motor torsional moment T_mIt is to measure car speed V_s, measure steering angle θ_sAnd driver Torque T_dFunction, and measure car speed V_s, measure steering angle θ_sWith operator torque T_dRespectively by velocity sensor 36, turn There is provided to angle transducer 40 and torque sensor 38.Here, motor torsional moment T_mTo applying the operator torque T to steering wheel 20_dEnter Row supplements.Being automatically brought into operation period, automatic software module 68 determines motor torsional moment T_m, and produce driving motor 62 with little to second Gear 64 applies the respective drive signal of suitable moment of torsion.Here, motor torsional moment T_mIt is turning from automatic steering control unit 52 To angle order θ_cWith vehicle speed command V_cFunction.Driver intervention unit 54 controls mode of operation.As used herein, " behaviour Make state " include manual operation and be automatically brought into operation.As in figure 2 it is shown, driver intervention unit 54 controls which software module 66,68 It is motor torsional moment T_mGeneration source, this generation source be used for produce the driving signal for motor 62.Alternately, steering bag Include hypoid gear rather than double pinion is arranged.

For the purpose of teaching, utilize following second-order equation, in a simplified manner steering 12 be modeled,

$J_e{\stackrel{\·\·}{\mathrm{\θ}}}_s+B_e{\stackrel{\·}{\mathrm{\θ}}}_s+K_e{\mathrm{\θ}}_s=\mathrm{\ΣT}=T_d+T_m-T_a$

J in formula_eFor the equivalent moment of inertia of steering 12, B_eFor the equivalent damping of steering 12, K_eFor steering The equivalent spring stiffness coefficient of 12 or rigidity, θ_sFor steering wheel angle, T_dThe steering torque applied for driver, T_mFor acting on The motor auxiliary torque of the equivalence in steering 12, and T_aAdjust for acting on the tire of the equivalence in steering 12 (alignment) moment of torsion.Operator torque T_dMeasured by torque sensor 38, motor torsional moment T_mBy motor control as above Unit 60 determines, tire adjusts torque T_aIt is to measure steering angle θ_sWith measurement car speed V_sFunction, as following by further in detail As thin description, and stiffness K_e, damping B_eWith rotary inertia J_eThen determined by experimental measurements etc. parameter.Parameter J_e、B_e And K_eIt is determined in the case of steering 12 is not disturbed by driver.In linear operating range, road surface effect is determining Tire adjusts torque T_aTime can be left in the basket.

Equivalent transfer function isIn formula, ζ is the equivalent damping ratio of steering 12, and ω_nEquivalent inherent frequency for steering 12.

Automatic steering control unit

With continued reference to Fig. 1, automatic steering control unit 52 is configured to choose desired path and produce steering angle order θ_cSo that vehicle 10 moves along desired path.This path is provided by path unit 70, such as visual system, with numerical map The global positioning system (GPS) of data base, and combinations thereof etc..Steering angle order θ_cAutomatic by motor control unit 60 Software module 68 uses, in order to produce motor torsional moment T_m, thus make vehicle 10 turn to as described above, and steering angle order θ_cAlso used by driver intervention unit 54, as following being described in further detail.

Driver intervention unit

Illustrated driver intervention unit 54 is configured to control the mode of operation of EPS 50.So, driver does Pre-unit 54 can make mode of operation change over manual operation, to allow the control of driver's adapter vehicle 10 from being automatically brought into operation.This Plant to change and include that instruction processing unit 69 performs the instruction of one of software module 66,68 to produce motor torsional moment as shown in Figure 2 T_m.With reference to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 8, driver intervention unit 54 include one or more decision software module 80,82, 84,86, these decision software module are configured to detect driver intervenes, and responsively produces instruction to change EPS 50 Duty.Decision software module 80,82,84,86 and the method being associated can use independently or in combination, drive to determine The person of sailing intervenes.The programming language of such as C, C++, C#, Java, JavaScript, Perl, PHP, Python, Ruby and SQL etc May be used to write software module, the instruction of described software module is performed by processor 88.

With reference to Fig. 3, decision software module 80 is configured to driver be intervened as measuring steering angle θ_sWith calculating steering angle θ_s' function detect.Decision software module 80 includes adjusting torque module 90, adjusts torque module 90 and will adjust torque T_a As measuring steering angle θ_sWith measurement car speed V_sFunction calculate.Adjust torque T_aCan be from the form of experimental data Or chart is searched.Decision software module 80 also includes system model software module 92, and system model software module 92 is to calculating Steering angle θ_s' calculate.Utilize the function as above introduced, calculate steering angle θ_s' by Be given.Following each item is the input of system model software module 92: receive adjustment moment of torsion from adjusting torque module 90 T_a, receive motor torsional moment T from EPS 50_m, torque sensor 38 measure operator torque T_d, and obtain from memorizer 94 Take parameter J_e、B_e、K_e。

Decision software module 80 also includes that evaluation module 96, evaluation module 96 are configured to intervene as measurement driver Steering angle θ_sWith calculating steering angle θ_s' function be determined.According to illustrative methods, measuring steering angle θ_sTurn with calculating To angle θ_sBetween ' turn to angular difference △ θ to exceed predefined size or threshold value in the case of, detect that driver intervenes.Measurement turns to Angle θ_sWith calculating steering angle θ_s' can be compared by substituting known way, described known way includes utilizing one relatively Ratio in another.In response to detection, driver intervention unit 54 instruction motor control unit 60 is converted to from auto-steering Manual steering, thus allow driver to recover to control.In the illustrated embodiment of the invention, driver intervention unit 54 selects the softest Part module 66 is as motor torsional moment T_mGeneration source.It is favourable that the driver of decision software module 80 intervenes detection method, this Be because, due to above-mentioned, the poor △ θ of steering angle than the measurement result of torque sensor 38 for driver and steering wheel The interaction of 20 is more sensitive.

With reference to Fig. 4, decision software module 82 be configured to intervene driver as steering 12 " from hands (hands-off) " rotary inertia J_eWith calculating rotary inertia J_e' function detect.Decision software module 82 includes adjusting Torque module 100, adjusts torque module 100 and will adjust torque T_aAs measuring steering angle θ_sWith measurement car speed V_sFunction Calculate.Decision software module 80 also includes that system model software module 102, system model software module 102 determine meter Calculate rotary inertia J_e′.Utilize function introduced above, calculate rotary inertia J_e' can basisReally Fixed.Following each item is the input of system model software module 102: receive adjustment moment of torsion from adjusting torque module 100 T_a, receive motor torsional moment T from EPS 50_m, torque sensor 38 the operator torque T that measures_d, and from memorizer 104 In get parms B_e、K_e.Generally, the interaction of driver and steering wheel 20 can change or be reflected in the mould of steering 12 In shape parameter.So, rotary inertia J is calculated_e' need to consider to be caused by the hands of the driver being positioned on steering wheel 20 to from hands Rotary inertia J_eImpact.

Decision software module 82 also include evaluation module 106, evaluation module 106 to be configured to driver intervening as from Hands rotary inertia J_eWith calculating rotary inertia J_e' function be determined.According to illustrative methods, from hands rotary inertia J_e With calculating rotary inertia J_eIn the case of poor △ J between ' exceedes predefined size or threshold value, detect that driver intervenes.Response In detection, driver intervention unit 54 instruction motor control unit 60 is converted to manual steering from auto-steering, thus allows to drive The person of sailing recovers to control, as described above.The advantage of the method for decision software module 82 is, the change in the poor △ J of rotary inertia Change and driver is intervened sensitivity.As the least operator torque T_dOr there is no operator torque T_dWhen applying to steering wheel 20, also It is able to detect that driver intervenes.

With reference to Fig. 5～Fig. 7, decision software module 84 is configured to driver be intervened as measuring steering angle θ_sSignal and Steering angle order θ_cThe function of signal detects.Decision software module 84 includes signal delay module 110 and low-pass filtering Device 112.Signal delay module 110 regulates steering angle order θ_cThe delay of signal so that steering angle order θ_cSignal and measurement turn to Angle θ_sSignal homophase.Low pass filter 112 by high-frequency noise from measure steering angle θ_sSignal is removed.The steering angle signal obtained θ_s、θ_cIt is displayed in two examples of Fig. 6 and Fig. 7.

Decision software module 824 also include evaluation module 114, evaluation module 114 to be configured to driver intervening as The steering angle signal θ obtained_s、θ_cFunction be determined.According to illustrative methods, exceed predetermined big at the poor △ θ of steering angle In the case of little or threshold value, detect that driver intervenes.The poor △ θ of steering angle is repeatedly shown in figure 6 and figure 7.In response to Detection, driver intervention unit 54 instruction motor control unit 60 is converted to manual steering from auto-steering, thus allows to drive Member recovers to control, as described above.

With reference to Fig. 8～Figure 10, decision software module 86 is configured to intervene driver survey as by torque sensor 38 The operator torque T of amount_dThe high-frequency noise T of signal_d' function detect.Decision software module 86 includes high pass filter 120 and evaluation module 122.The high-frequency noise T obtained by high pass filter 120_d' signal is evaluated, in order to determine that driver does In advance.According to illustrative methods, at high-frequency noise T_dIn the case of ' signal exceedes upper threshold value or lower threshold value 124, driver detected Intervene.In response to detection, driver intervention unit 54 instruction motor control unit 60 is converted to manual steering from auto-steering, from And allow driver to recover to control, as described above.Fig. 9 shows steering angle signal, and Figure 10 also show high frequency and makes an uproar Sound T_d' signal.

When driver carries out turning to or the hands of driver is positioned on steering wheel 20, operator torque T_dSignal shows The high frequency amplitude increased.When the hands departure direction dish of driver, and when driver and steering wheel 20 during auto-steering When not interacting, the noise level from hands by experiment or can be determined in advance by estimation.Threshold value 124 is by as from hands The function of noise level and determine.

Above-described embodiment is only used to for being more clearly understood that the principle of the invention and illustrate show embodiment Example explanation.In the range of without departing from present claims, above-described embodiment can be changed, revise and combine.All of These change, revise and combine and be here contained in the disclosure and scope of the following claims.

Claims (19)

1. being used in the wheel steering system in vehicle, described wheel steering system includes:

Steering angle sensor, described steering angle sensor is configured to measure steering angle, thus produces measurement steering angle； And

Driver intervention unit, described driver intervention unit is configured to perform to operate as follows:

Model generation steering angle based on described wheel steering system, thus produce calculating steering angle, wherein said model includes:

Described measurement steering angle；

The equivalent moment of inertia of described wheel steering system；

The equivalent damping of described wheel steering system；

The equivalent stiffness of described wheel steering system；And

Moment of torsion and, described moment of torsion and including:

The steering torque that driver applies；

The motor auxiliary torque of equivalence；And

The tire of equivalence adjusts moment of torsion；And

Described vehicle be automatically brought into operation state during, determine whether to deposit according to described measurement steering angle and described calculating steering angle Intervene situation driver, wherein said determine that operation includes in response to determining described measurement steering angle and described calculating turns to Difference between angle exceedes threshold value and determines that there is described driver intervenes situation；

Wherein: relation is expressed by following equation:

$J_e^{\′}=\frac{\left(\mathrm{\Σ}T\right)-B_e{\stackrel{\·}{\mathrm{\θ}}}_s+K_e{\mathrm{\θ}}_s}{{\stackrel{\·\·}{\mathrm{\θ}}}_s}$

J_e' it is to calculate rotary inertia；

θ_sIt it is described measurement steering angle；

B_eEquivalent damping for described wheel steering system；

K_eEquivalent stiffness for described wheel steering system；And

∑ T be described moment of torsion and, described moment of torsion and equal to driver apply steering torque plus equivalence motor auxiliary torque The tire deducting equivalence again adjusts moment of torsion.

Wheel steering system the most according to claim 1, also includes automatic steering control unit, described automatic steering control Unit is configured to when described being automatically brought into operation in state control described wheel steering system, wherein, described automatic steering control Unit is configured to control electric motor driven power steering system.

Wheel steering system the most according to claim 1, wherein, described driver intervention unit includes decision-making software mould Block, the difference that described decision software module is configured between described measurement steering angle and described calculating steering angle exceedes threshold value In the case of determine that driver intervenes.

Wheel steering system the most according to claim 1, wherein, it is described that described driver intervention unit is configured to control The mode of operation of wheel steering system, described mode of operation includes being automatically brought into operation and manual operation.

Wheel steering system the most according to claim 1, wherein, described model is:

$J_e{\stackrel{\·\·}{\mathrm{\θ}}}_s+B_e{\stackrel{\·}{\mathrm{\θ}}}_s+K_e{\mathrm{\θ}}_s=\mathrm{\Σ}T=T_d+T_m-T_a,$

In formula, J_eFor the equivalent moment of inertia of described wheel steering system, B_eFor the equivalent damping of described wheel steering system, K_e For the equivalent stiffness of described wheel steering system, θ_sFor described steering angle, T_dThe steering torque applied for driver, T_mFor equivalence Motor auxiliary torque, and T_aTire for equivalence adjusts moment of torsion.

Wheel steering system the most according to claim 2, wherein, described calculating steering angle is by described auto-steering control The steering angle order that unit processed produces.

Wheel steering system the most according to claim 6, wherein, described steering angle order is the function of expected path.

Wheel steering system the most according to claim 1, wherein, described driver intervention unit includes decision-making software mould Block, described decision software module includes low pass filter, described low pass filter to be configured to described measurement steering angle carrying out Filtering.

9. a wheel steering system, described wheel steering system includes:

Steering angle sensor, described steering angle sensor is configured to measure steering angle；

Memorizer, described memorizer store described wheel steering system from hands rotary inertia；

Automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state control described car Steering；And

Driver intervention unit, described driver intervention unit includes: the first decision software module, described first decision-making software mould Block is configured to intervene driver as described from hands rotary inertia with calculate the function of rotary inertia and be determined；And Second decision software module, described second decision software module is configured to driver be intervened as measuring steering angle and second The function of steering angle is determined, and wherein, described second steering angle is for calculating steering angle, and described calculating steering angle is confirmed as The function of the model of described wheel steering system；Wherein said driver intervention unit is configured to be automatically brought into operation state described Period uses described first decision software module and described second decision software module to intervene to detect driver in combination.

Wheel steering system the most according to claim 9, wherein, described automatic steering control unit is configured to control Electric motor driven power steering system.

11. wheel steering systems according to claim 9, wherein, described first decision software module is configured in institute State and determine that driver intervenes in the case of the difference between hands rotary inertia and described calculating rotary inertia exceedes threshold value.

Wheel steering system described in 12. claim schemes 9, wherein, described driver intervention unit is configured to control institute Stating the mode of operation of wheel steering system, described mode of operation includes being automatically brought into operation and manual operation.

13. wheel steering systems according to claim 9, wherein, described calculating rotary inertia is confirmed as described vehicle The function of the model of steering.

14. wheel steering systems according to claim 13, wherein, described model is:

$J_e{\stackrel{\·\·}{\mathrm{\θ}}}_s+B_e{\stackrel{\·}{\mathrm{\θ}}}_s+K_e{\mathrm{\θ}}_s=\mathrm{\Σ}T=T_d+T_m-T_a,$

In formula, J_eFor the calculating rotary inertia of described wheel steering system, B_eFor the equivalent damping of described wheel steering system, K_e For the equivalent stiffness of described wheel steering system, θ_sFor steering angle, T_dFor operator torque, T_mFor equivalence motor torsional moment, and T_aTire for equivalence adjusts moment of torsion.

15. 1 kinds of wheel steering systems, described wheel steering system includes:

Steering angle sensor, described steering angle sensor is configured to measure steering angle；

Torque sensor, described torque sensor is configured to the driver applying the steering wheel to described wheel steering system Moment of torsion measures；

Automatic steering control unit, described automatic steering control unit is configured to when being automatically brought into operation in state control described car Steering；And

Driver intervention unit, described driver intervention unit includes: the first decision software module, described first decision-making software mould Block is configured to driver is intervened the high-frequency noise as the described operator torque measured by described torque sensor Function is determined；And second decision software module, described second decision software module is configured to intervene driver Being determined as the function measuring steering angle and the second steering angle, wherein, described second steering angle is for calculating steering angle, institute State the function calculating the model that steering angle is confirmed as described wheel steering system；Wherein said driver intervention unit is configured Become described be automatically brought into operation state during use described first decision software module and described second decision software module in combination Detect driver to intervene.

16. wheel steering systems according to claim 15, wherein, described automatic steering control unit is configured to control Electric motor driven power steering system.

17. wheel steering systems according to claim 15, wherein, described first decision software module includes high-pass filtering Device.

18. wheel steering systems according to claim 15, wherein, described first decision software module is configured in institute State in the case of high-frequency noise exceedes threshold value and determine that driver intervenes.

19. wheel steering systems according to claim 15, wherein, described driver intervention unit is configured to control institute Stating the mode of operation of wheel steering system, described mode of operation includes being automatically brought into operation and manual operation.