Man-machine sharing steering control method of intelligent automobile
A technology for smart cars and steering control, applied in steering mechanisms, control devices, vehicle components, etc., to solve problems such as system instability, weakening controller performance, and limited in-vehicle network bandwidth.
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[0053] The invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given cannot be used as a limitation of the present invention.
[0054] figure 1 For the flow chart that the present invention implements, comprise the following steps:
[0055] Step 1. Establish a human-vehicle-road system model:
[0056] The vehicle dynamics behavior, kinematics behavior and driver steering behavior are considered in the modeling of the vehicle system. The human-vehicle-road system integrates vehicle dynamics, vehicle kinematics, driver steering behavior and road curvature information. closed-loop system.
[0057] 1) if figure 2 As shown, X-Y is a plane coordinate system fixed on the ground, where X represents the direction of the straight road surface, Y represents the direction perpendicular to the X axis; x-y is a coor...
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