CN111332300A - Virtual direction control method and control system of L5-level intelligent vehicle - Google Patents
Virtual direction control method and control system of L5-level intelligent vehicle Download PDFInfo
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- CN111332300A CN111332300A CN202010219976.3A CN202010219976A CN111332300A CN 111332300 A CN111332300 A CN 111332300A CN 202010219976 A CN202010219976 A CN 202010219976A CN 111332300 A CN111332300 A CN 111332300A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
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Abstract
The invention discloses a virtual direction control method of an L5-level intelligent vehicle, which comprises the following steps: firstly, starting a virtual direction controller; secondly, the central processing element of the intelligent driving system detects that the parameters are out of limit and inhibits the virtual steering wheel from working; thirdly, fitting a virtual steering angle theta of the steering wheel; step four, setting a power-assisted torque curve MAP graph; and fifthly, sending the aligning angle according to time to ensure that the steering wheel is aligned. The invention also discloses a virtual direction control system of the L5-level intelligent vehicle, which comprises the following components: a starting module; a monitoring module: when the central processing element of the intelligent driving system detects that the parameters are out of limits, the virtual steering wheel is inhibited from working; a fitting operation module: fitting out a virtual corner of the steering wheel; an active control module: setting a power-assisted torque curve MAP graph; a correcting module: sending the aligning angle according to time to ensure that the steering wheel is aligned; a security measure module. The invention has the characteristics of high safety, good economic benefit and strong autonomy, and can be widely applied to the field of unmanned driving.
Description
Technical Field
The invention relates to the field of unmanned driving safety, in particular to a virtual direction control method and a virtual direction control system of an L5-level intelligent vehicle.
Background
The design of future vehicles will be very different from existing vehicles. Inside intelligent automobile passenger cabin, the key no longer is the driving in the traditional sense and controls, but more closes to daily life, for example, the effect of functions such as leisure and amusement in the car is more outstanding, and the process of removing will become more interesting, and this all relies on the autopilot function in the future to realize. However, unmanned driving is not a master key, and a driver still needs to deal with emergency even in emergency while the smart vehicle is running.
For a class L5 intelligent driving automobile (the final goal of the current research on automobile automatic driving technology is that the automobile reaching the L5 automatic driving level is basically in any scene and does not need to be operated manually in any situation), the departure of the action and idea of human from the daily driving operation is the sign of the L5 automatic driving. However, even today, while smart-drive cars have moved from driving vehicles to mobile cabs and no longer rely on humans to drive on daily driving, at critical times, appropriate virtual driving control strategies are still essential. In the traditional automobile structure, the steering wheel angle is consistent with the real steering wheel angle due to real powerful feedback of the real steering wheel, namely the control intention is basically consistent with the actual effect, so that the steering system can respond quickly. However, at present, the input end of the virtual steering wheel usually displays a picture, and the picture cannot reflect the feedback of force really, so that the real steering system cannot be responded, and therefore, how to solve the problem by using a visual processing method becomes an urgent issue to be solved. Furthermore, during the driving process of an L5-class intelligent driving automobile, the user of the virtual direction controller is not necessarily an experienced driver, and how to select a driving priority at an emergency and authorize the driver to control the automobile to a limited extent during normal driving is also a barrier for maintaining safety. These all make the safety issue facing the L5 class intelligent driving car very urgent, and need to solve the safety issue fundamentally.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a virtual direction control method and a virtual direction control system of an L5-grade intelligent vehicle, which have the characteristics of high safety, good economic benefit and strong autonomy.
The invention provides a virtual direction control method of an L5-level intelligent vehicle, which comprises the following steps: step one, when the vehicle can not be controlled autonomously and the vehicle still has speed, the virtual direction controller is automatically started; setting a plurality of threshold values during operation, monitoring the direction corner and the direction corner angular speed of a wheel end, the direction operation virtual moment of a driver and the change rate of the direction operation virtual moment of the driver in real time by a central processing element of the intelligent driving system, and inhibiting the corresponding virtual steering wheel from working for a plurality of times if the central processing element of the intelligent driving system detects that the parameters are out of limits; step three, fitting a virtual steering angle theta of the steering wheel in a normal working stage, and providing the virtual steering angle theta for a driver to observe; step four, in the active takeover control stage, under the corresponding vehicle speed and operation time, a corresponding power-assisted torque curve MAP (motor MAP graph, also called contour MAP or cloud graph, which is a data curve graph generated during motor test and mainly reflects the motor efficiency distribution condition under different rotating speeds and torques) graph is set, and the power-assisted torque does not exceed the set maximum value of the power-assisted torque curve; and step five, when manual intervention is not performed, sending the aligning angle according to time to ensure that the steering wheel is aligned.
In the above technical solution, in the first step, the vehicle being unable to autonomously control means that all control systems for determining a direction of the vehicle are disabled, and includes but is not limited to: 1. the fault of the camera leads to the failure of correctly identifying the lane line, so that the failure of the vehicle to locate the lane requires manual intervention; 2. the signal of the GPS (Global Positioning System) is weak or the accuracy cannot meet the control requirement of the 10cm level required for the automatic driving.
In the above technical solution, in the first step, after the virtual direction controller is automatically turned on, the virtual steering wheel and the prompt are displayed on each touch screen, wherein the operation priority is set or promoted by an additional button on the touch screen, and if the process does not work, the central processing element of the intelligent driving system is sorted according to the priority of the default order.
In the above technical solution, in the second step, the operating time of the corresponding virtual steering wheel is suppressed to 10S.
In the above technical solution, in the third step, the specific calculation manner of the virtual rotation angle θ of the steering wheel is as follows:
wherein, thetaElectric machineIs the rotation angle of the motor, and m is the reduction ratio;
and thetaElectric machine＝360*n+θnWherein n is the number of 0 passing times of the motor, positive 0 passing is positive, and negative is negative otherwise; thetanIs the motor rotor position.
In the technical scheme, the method further comprises a sixth step of displaying warning information to prompt further safety measures by an instrument panel and a touch screen when the virtual direction controller fails, namely, if the safety failure condition caused by failure of a sensor occurs, the vehicle can be parked while remembering according to the requirement of an evaluation standard of the intelligent driving vehicle; if the failure vehicles of the steering systems such as EPS and the like have no vehicles behind, emergency braking is carried out; and stopping the vehicle power output if the brake system fails.
In the above technical solution, in the second step, the central processing element of the intelligent driving system includes a Controller Area Network (CAN) bus, a power Steering structure, and an Electronic Power Steering (EPS) Steering Controller, the CAN bus monitors a Steering angle of the wheel end, a Steering angle angular velocity, a driver direction operation virtual torque, and a driver direction operation virtual torque change rate in real time, and the power Steering structure and the EPS Steering Controller suppress a corresponding virtual Steering wheel from operating for a plurality of times.
The invention also provides a virtual direction control system of the L5-level intelligent vehicle, which comprises the following parts: a starting module: when the vehicle cannot be controlled autonomously and the vehicle still has speed, the virtual direction controller is automatically started; a monitoring module: setting a plurality of threshold values during operation, monitoring the direction corner and the direction corner angular speed of a wheel end, the direction operation virtual moment of a driver and the change rate of the direction operation virtual moment of the driver in real time by a central processing element of the intelligent driving system, and inhibiting the corresponding virtual steering wheel from working for a plurality of times if the central processing element of the intelligent driving system detects that the parameters are out of limits; a fitting operation module: in the normal working stage, fitting out a virtual steering angle theta of the steering wheel, and providing the virtual steering angle theta for a driver to observe; an active control module: setting a corresponding power-assisted torque curve MAP graph under the corresponding vehicle speed and operation time, wherein the power-assisted torque does not exceed the set maximum value of the power-assisted torque curve; a correcting module: when manual intervention is not available, the steering wheel is ensured to be aligned by sending the aligning angle according to time;
a security measure module: when the virtual direction controller breaks down, the instrument panel and the touch screen display warning information to prompt further safety measures, namely, if the sensor fails to cause safety failure, the vehicle can be parked while being remembered according to the requirement of an intelligent driving automobile evaluation standard; if the failure vehicles of the steering systems such as EPS and the like have no vehicles behind, emergency braking is carried out; and stopping the vehicle power output if the brake system fails.
In the above technical solution, in the fitting operation module, a specific calculation manner of the virtual steering angle θ of the steering wheel is as follows:
wherein, thetaElectric machineIs the rotation angle of the motor, and m is the reduction ratio; and thetaElectric machine＝360*n+θnWherein n is the number of 0 passing times of the motor, positive 0 passing is positive, and negative is negative otherwise; thetanIs the motor rotor position.
In the above technical solution, in the starting module, each operation part of the virtual direction controller is as follows: a prompt unit: displaying a virtual steering wheel and a prompt on each touch screen; a prioritization unit: the intelligent driving system is set or promoted by an additional button on the touch screen, and if the unit does not work, the central processing element of the intelligent driving system is sorted according to the priority of a default sequence.
The invention discloses a virtual direction control method and a virtual direction control system of an L5-level intelligent vehicle, which have the following beneficial effects: the invention firstly fits the virtual steering angle of the steering wheel by a special calculation mode and provides the virtual steering angle for a driver to observe. When the driver operates the virtual steering wheel controller, the invention stipulates the corresponding limit requirements of the steering wheel operation under different vehicle speeds so as to ensure the stability of the operation. Sending the return angle in time ensures that the steering wheel is returned to normal without manual intervention. Therefore, through the technical scheme, the problem that a driver takes over reversely in an emergency situation of the L5-grade intelligent automobile without the steering wheel is solved. The method is characterized in that virtual control is performed through normal signals according to the existing real touch screen operation, and no hardware equipment is additionally added. On the other hand, the automatic control method for the final assembly plant to autonomously master the virtual steering saves the development cost of the project, is autonomously controllable, improves the safety of the driver, and has the following specific beneficial effects based on the summary:
safety benefits are as follows: this virtual direction controller of L5 level intelligent vehicle, priority driving authorization has ensured safety at the time of emergency, combines the reality of L5 volume production, has improved driving safety nature.
Economic benefits are as follows: the development cost is reduced without adding any hardware equipment by performing virtual control through daily signals.
Enterprise benefits: the final assembly plant independently masters the automatic control technology of virtual steering, so that the development cost of a project is saved, and the final assembly plant is independently controllable, has independent intellectual property rights and effectively maintains the national economic safety.
Drawings
FIG. 1 is a schematic flow chart of a virtual direction control method for a class L5 smart vehicle according to the present invention;
FIG. 2 is a diagram of the hardware architecture involved in the virtual direction control method of the level L5 intelligent vehicle according to the present invention;
FIG. 3 is a schematic diagram illustrating the calculation results of step three in the virtual direction control method of the intelligent vehicle of level L5 according to the present invention;
FIG. 4 is a MAP of a power torque curve MAP of step four in the virtual direction control method of the intelligent vehicle class L5 according to the invention;
FIG. 5 is a schematic diagram of a virtual directional control system of an L5 class smart vehicle according to the present invention;
FIG. 6 is a schematic structural diagram of a start module in a virtual direction control system of an L5-class smart vehicle according to the present invention;
fig. 7 is a schematic design diagram of a HMI (human machine Interface, also called human machine Interface) on a touch screen in the virtual direction control system of the L5-class intelligent vehicle according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.
Referring to fig. 1 to 2, the virtual direction control method of the L5 level smart vehicle according to the present invention includes the steps of:
step one, when a vehicle cannot be controlled autonomously and the vehicle still has speed, a virtual direction controller is automatically started, (wherein the condition that the vehicle cannot be controlled autonomously means that a control system for determining the direction of the vehicle fails completely, and the control system comprises but is not limited to 1, a lane line cannot be correctly identified due to the fault of a camera, so that the vehicle cannot be used for positioning the lane and manual intervention is needed, 2, a GPS signal is weak or the precision cannot meet the control requirement of the level of 10cm needed by automatic driving), after the virtual direction controller is automatically started, a virtual steering wheel and prompt words are displayed on each touch screen, wherein the operation priority is set or promoted by an additional button on the touch screen, if the process does not work, a central processing element of an intelligent driving system is sorted according to the priority of a default sequence, and after the function is automatically started, a client cannot actively close the function;
setting a plurality of threshold values during operation, monitoring the direction corner, the direction corner angular velocity, the driver direction operation virtual moment and the driver direction operation virtual moment change rate of a wheel end in real time by a central processing element of an intelligent driving system, and inhibiting the corresponding virtual steering wheel to work for 10S to prevent inexperienced personnel from dangerous operation if the central processing element of the intelligent driving system detects that the parameters exceed the limits, wherein the central processing element of the intelligent driving system comprises a CAN bus, a power-assisted steering structure and an EPS steering controller, the CAN bus monitors the direction corner, the direction corner angular velocity, the driver direction operation virtual moment and the driver direction operation virtual moment change rate in real time, and the power-assisted steering structure and the EPS steering controller inhibit the corresponding virtual steering wheel to work for 10S;
referring to fig. 3, in the third step, in the normal working stage, the virtual steering angle θ of the steering wheel is fitted and provided for the driver to observe, and the specific calculation mode is as follows:
wherein, thetaElectric machineIs the rotation angle of the motor, and m is the reduction ratio;
and thetaElectric machine＝360*n+θn，
Wherein n is the number of 0 times of passing of the motor, positive is positive when the motor passes 0 in the positive direction, and negative is negative otherwise; thetanIs the motor rotor position;
referring to fig. 4, in the step four, in the active takeover control stage, a corresponding boost torque curve MAP is set under the corresponding vehicle speed and operation time, and the boost torque does not exceed the set maximum value of the boost torque curve;
step five, when manual intervention does not exist, sending the aligning angle according to time to ensure that the steering wheel is aligned;
when the virtual direction controller fails, displaying warning information by an instrument panel and a touch screen to prompt further safety measures, namely, if the safety failure condition caused by failure of a sensor occurs, the vehicle can be parked while remembering according to the requirement of an intelligent driving automobile evaluation standard at the last moment; if the failure vehicles of the steering systems such as EPS and the like have no vehicles behind, emergency braking is carried out; and stopping the vehicle power output if the brake system fails.
Referring to fig. 5 to 6, the virtual direction control system of the L5 level smart vehicle according to the present invention includes the following components:
a starting module: when the vehicle cannot be controlled autonomously and the vehicle still has speed, the virtual direction controller is automatically started, and the running parts of the virtual direction controller are as follows:
a prompt unit: displaying a virtual steering wheel and a prompt on each touch screen,
a prioritization unit: the intelligent driving system is set or promoted by an additional button on the touch screen, and if the unit does not work, the central processing element of the intelligent driving system is sorted according to the priority of a default sequence;
a monitoring module: setting a plurality of threshold values during operation, monitoring the direction corner and the direction corner angular speed of a wheel end, the direction operation virtual moment of a driver and the change rate of the direction operation virtual moment of the driver in real time by a central processing element of the intelligent driving system, and inhibiting the corresponding virtual steering wheel from working for a plurality of times if the central processing element of the intelligent driving system detects that the parameters are out of limits;
a fitting operation module: in the normal working stage, fitting out a virtual steering wheel angle theta and providing the virtual steering wheel angle theta for a driver to observe, wherein the specific calculation mode of the virtual steering wheel angle theta is as follows:
wherein, thetaElectric machineIs the rotation angle of the motor, and m is the reduction ratio;
and thetaElectric machine＝360*n+θn，
Wherein n is the number of 0 times of passing of the motor, positive is positive when the motor passes 0 in the positive direction, and negative is negative otherwise; thetanIs the motor rotor position;
an active control module: setting a corresponding power-assisted torque curve MAP graph under the corresponding vehicle speed and operation time, wherein the power-assisted torque does not exceed the set maximum value of the power-assisted torque curve;
a correcting module: when manual intervention is not available, the steering wheel is ensured to be aligned by sending the aligning angle according to time;
a security measure module: when the virtual direction controller breaks down, the instrument panel and the touch screen display warning information to prompt further safety measures, namely, if the sensor fails to cause safety failure, the vehicle can be parked while being remembered according to the requirement of an intelligent driving automobile evaluation standard; if the failure vehicles of the steering systems such as EPS and the like have no vehicles behind, emergency braking is carried out; and stopping the vehicle power output if the brake system fails.
The invention aims to provide a virtual direction control technology of an L5-grade intelligent vehicle, which comprises a virtual driving steering wheel in an emergency and a virtual direction controller in the process of needing a driver to slightly switch in a steering direction, and mainly depends on the mechanical angle of a motor to calculate, compared with the conventional vehicle with the steering wheel, a steering shaft of the steering wheel and a rotor of an assisting motor are connected together through a speed reducer, and the L5-grade intelligent vehicle has no steering wheel and no steering shaft, so that a special calculation mode is firstly needed to fit a virtual steering angle of the steering wheel for the driver to observe. The invention provides a virtual steering wheel controller, which is characterized in that a virtual steering wheel animation of a two-dimensional plane operated by a driver is different from a real steering wheel in practice. Sending the return angle in time ensures that the steering wheel is returned to normal without manual intervention. It can be said that, the important technical characteristics of the invention are that the steering wheel rotation angle is calculated by over 0 feedback in the motor of the necessary power steering system and over head, and the steering wheel rotation angle is output to the driver through signals. Through the technical scheme, the problem that a driver of an L5-grade intelligent automobile without a steering wheel takes over reversely in emergency is solved. According to the existing real touch screen operation, virtual control is carried out through normal signals, and no hardware equipment is added, so that the cost expenditure is reduced. On the other hand, the automatic control method for the final assembly plant to autonomously master the virtual steering saves the development cost of the project, is autonomously controllable, and improves the driving safety.
The invention is mainly applied to the following three occasions:
the virtual direction controller of the L5-level intelligent vehicle pops up the virtual direction controller on each touch screen in the vehicle under the condition that the vehicle cannot be automatically controlled, and an experienced driver operates the virtual direction controller to enable the vehicle to be controlled completely and to be far away from danger.
Referring to fig. 7, after the virtual direction controller is popped up by using the touch screen to control the vehicle, if the driver a operates the vehicle, the passenger B finds abnormality and takes over control to break away from danger by pressing a priority button on the screen; or when the system monitors that the control of the driver A exceeds the limit, the driving right of the driver A is temporarily restrained, and other people can freely control the system.
When the touch screen is used for popping up the virtual direction controller to control the normal driving of the vehicle, the system can control the operation amplitude according to the vehicle speed and other requirements, and the safety and the comfort are ensured; and when manual intervention is not available, the steering wheel is corrected by sending the correction angle according to time, and a mechanical steering wheel is simulated.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. A virtual direction control method of an L5-level intelligent vehicle is characterized by comprising the following steps: the method comprises the following steps:
step one, when the vehicle can not be controlled autonomously and the vehicle still has speed, the virtual direction controller is automatically started;
setting a plurality of threshold values during operation, monitoring the direction corner and the direction corner angular speed of a wheel end, the direction operation virtual moment of a driver and the change rate of the direction operation virtual moment of the driver in real time by a central processing element of the intelligent driving system, and inhibiting the corresponding virtual steering wheel from working for a plurality of times if the central processing element of the intelligent driving system detects that the parameters are out of limits;
step three, fitting a virtual steering angle theta of the steering wheel in a normal working stage, and providing the virtual steering angle theta for a driver to observe;
step four, in the active control stage, setting a corresponding power-assisted torque curve MAP graph under the corresponding vehicle speed and operation time, wherein the power-assisted torque does not exceed the set maximum value of the power-assisted torque curve;
and step five, when manual intervention is not performed, sending the aligning angle according to time to ensure that the steering wheel is aligned.
2. The virtual direction control method of an L5-class smart vehicle according to claim 1, wherein: in the first step, the vehicle being unable to autonomously control means that all control systems for determining the direction of the vehicle are disabled, and includes but is not limited to: 1. the fault of the camera leads to the failure of correctly identifying the lane line, so that the failure of the vehicle to locate the lane requires manual intervention; 2. the weak or accurate GPS signal cannot meet the 10cm level control requirements required for autonomous driving.
3. The virtual direction control method of an L5-class smart vehicle according to claim 2, wherein: in the first step, after the virtual direction controller is automatically started, the virtual steering wheel and the prompt words are displayed on each touch screen, wherein the operation priority is set or promoted by additional buttons on the touch screen, and if the process does not work, the central processing element of the intelligent driving system sorts according to the priority of the default sequence.
4. The virtual direction control method of an L5-class smart vehicle according to claim 3, wherein: and in the second step, the working time of the corresponding virtual steering wheel is restrained to be 10S.
5. The virtual direction control method of an L5-class smart vehicle according to claim 4, wherein: in the third step, the specific calculation method of the virtual steering angle θ of the steering wheel is as follows:
wherein, thetaElectric machineIs the rotation angle of the motor, and m is the reduction ratio;
and thetaElectric machine＝360*n+θn，
Wherein n is the number of 0 times of passing of the motor, positive is positive when the motor passes 0 in the positive direction, and negative is negative otherwise; thetanIs the motor rotor position.
6. The virtual direction control method of an L5-class smart vehicle according to claim 5, wherein: when the virtual direction controller fails, an instrument panel and a touch screen display warning information to prompt further safety measures, namely, if the safety failure condition caused by the failure of the sensor occurs, the vehicle can be parked while remembering according to the requirement of the evaluation standard of the intelligent driving vehicle; if the failure vehicles of the steering systems such as EPS and the like have no vehicles behind, emergency braking is carried out; and stopping the vehicle power output if the brake system fails.
7. The virtual direction control method of an L5-class smart vehicle according to claim 6, wherein: in the second step, the central processing element of the intelligent driving system comprises a CAN bus, a power-assisted steering structure and an EPS steering controller, the CAN bus monitors the direction corner, the direction corner angular speed, the driver direction operation virtual moment and the driver direction operation virtual moment change rate in real time, and the power-assisted steering structure and the EPS steering controller inhibit the corresponding virtual steering wheel from working for a plurality of times.
8. A virtual directional control system for an L5 class smart vehicle, comprising: the method comprises the following steps:
a starting module: when the vehicle cannot be controlled autonomously and the vehicle still has speed, the virtual direction controller is automatically started;
a monitoring module: setting a plurality of threshold values during operation, monitoring the direction corner and the direction corner angular speed of a wheel end, the direction operation virtual moment of a driver and the change rate of the direction operation virtual moment of the driver in real time by a central processing element of the intelligent driving system, and inhibiting the corresponding virtual steering wheel from working for a plurality of times if the central processing element of the intelligent driving system detects that the parameters are out of limits;
a fitting operation module: in the normal working stage, fitting out a virtual steering angle theta of the steering wheel, and providing the virtual steering angle theta for a driver to observe;
an active control module: setting a corresponding power-assisted torque curve MAP graph under the corresponding vehicle speed and operation time, wherein the power-assisted torque does not exceed the set maximum value of the power-assisted torque curve;
a correcting module: when manual intervention is not available, the steering wheel is ensured to be aligned by sending the aligning angle according to time;
a security measure module: when the virtual direction controller breaks down, the instrument panel and the touch screen display warning information to prompt further safety measures, namely, if the sensor fails to cause safety failure, the vehicle can be parked while being remembered according to the requirement of an intelligent driving automobile evaluation standard; if the failure vehicles of the steering systems such as EPS and the like have no vehicles behind, emergency braking is carried out; and stopping the vehicle power output if the brake system fails.
9. The virtual direction control system of an L5-class smart vehicle of claim 8, wherein: in the fitting operation module, the specific calculation mode of the virtual steering angle theta of the steering wheel is as follows:
wherein, thetaElectric machineIs the rotation angle of the motor, and m is the reduction ratio;
and thetaElectric machine＝360*n+θn，
Wherein n is the number of 0 times of passing of the motor, positive is positive when the motor passes 0 in the positive direction, and negative is negative otherwise; thetanIs the motor rotor position.
10. The virtual direction control system of an L5-class smart vehicle of claim 9, wherein: in the starting module, each operation part of the virtual direction controller is as follows:
a prompt unit: displaying a virtual steering wheel and a prompt on each touch screen;
a prioritization unit: the intelligent driving system is set or promoted by an additional button on the touch screen, and if the unit does not work, the central processing element of the intelligent driving system is sorted according to the priority of a default sequence.
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| CN112000263A (en) * | 2020-08-05 | 2020-11-27 | 禾多科技（北京）有限公司 | Vehicle-mounted human-computer interaction device |
| CN113562065A (en) * | 2021-07-15 | 2021-10-29 | 东风汽车集团股份有限公司 | Control method and device for preventing data abnormality of electric power steering controller |
| CN113734277A (en) * | 2021-08-20 | 2021-12-03 | 上海汽车工业(集团)总公司 | Intelligent driving SBW steering wheel stillness control method, system and storage medium |
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| CN103010294A (en) * | 2011-09-26 | 2013-04-03 | 现代摩比斯株式会社 | ESC-MDPS comprehensive control device and method |
| KR20130052863A (en) * | 2011-11-14 | 2013-05-23 | 현대모비스 주식회사 | Method of back parking assist |
| CN107284512A (en) * | 2016-04-11 | 2017-10-24 | 操纵技术Ip控股公司 | Steering for autonomous vehicle |
| CN109693707A (en) * | 2017-10-24 | 2019-04-30 | 上汽通用汽车有限公司 | Electric power steering |
| CN110654450A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle and steering control system, method and device of vehicle |
| CN110654457A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle and steering control system, method and device of vehicle |
| CN110654451A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle, steering control system and method of vehicle, and server |
| CN110850855A (en) * | 2019-11-26 | 2020-02-28 | 奇瑞汽车股份有限公司 | Wireless network remote vehicle control system and method |
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| CN112000263A (en) * | 2020-08-05 | 2020-11-27 | 禾多科技（北京）有限公司 | Vehicle-mounted human-computer interaction device |
| CN113562065A (en) * | 2021-07-15 | 2021-10-29 | 东风汽车集团股份有限公司 | Control method and device for preventing data abnormality of electric power steering controller |
| CN113734277A (en) * | 2021-08-20 | 2021-12-03 | 上海汽车工业(集团)总公司 | Intelligent driving SBW steering wheel stillness control method, system and storage medium |
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