面向人机共驾的线控转向系统双向跟随控制与状态迁移机制
打开文本图片集
中图分类号：U463.6 文献标识码：A 文章编号：1003-8639（2026）02-0058-06
Two-way Following Control and State Transition Mechanism for Human-machine Cooperative Driving Control System Based on Line Control Steering System
Li Lei，Song Huaiwen，Jiang Zhu'an，Li Shilong，Hu Xinyang （GeelyAutomobileResearch Institute （Ningbo） Co.，Ltd.，Ningbo 315ooo， China）
【Abstract】This paper addresses the issues of state transition and smooth folowing control of the vehicle in human driving，human-machinecooperativedriving，and inteligent driving modes.A state machinedrivingauthoritysmooth switching control strategybasedonthelinecontrolsteering system is proposed.Byconstructing astatemachine，this paper realizes the multi-mode state switching management of the system; during vehicle operation，a dynamic driving authority switching logic is designed to ensure seamlesstransition between human driving， human-machine cooperative driving， andintelligent driving modes.In terms of control methods，the human driving/human-machine cooperative driving mode adoptsthestrategyoffollowing thesteering whelactuatorbytheroad whelactuator，whiletheintelligent driving mode supports thefolowingofthesteringwheelactuatorbytheroadwhelactuatorormaintainingsilence toadapttodiffrent scenarios.Real vehicle tests show thatthis scheme mets the ISO 26262 functional safety requirementsand can achieve smooth switching with lowlatencyof lessthan 5Oms and precisefollowing，providing a feasible solutionforhuman-machine collaorative controlofthe line control steering system and also serving as areferenceforthedesign ofdriving authority switching in other line control systems.
【Key words】human driving;human-machine cooperative driving；inteligent driving；linecontrol steering; state transition
0 引言
线控转向系统（SteerByWire，SBW）作为智能驾驶汽车的核心执行机构，是汽车转向技术的一项革命性突破。（剩余6267字）
