Method for semi-autonomous driving of a vehicle with steer-by-wire system and steer-by-wire system for regulating operation of a vehicle

摘要

A method for semi-autonomous driving of a vehicle with a steer-by-wire system (100) comprising a steering wheel (103) mechanically decoupled from vehicle wheels (113), such that a steering angle of the steering wheel (103) is driven by a column motor (102) is regulated, regardless of a wheel angle of the vehicle wheels (113), which is regulated by a frame motor (112), comprising: reception (401, 901) of a semi-autonomous driving planning (SADP) system (121) of a target value ( 122) for the wheel angle; determining (403, 902) values (303, 313) for the steering angle and the wheel angle which follow the target value (122) of the wheel angle in dependence on restrictions (125), including a restriction of a movement of the vehicle wheels (113), a restriction of movement of the steering wheel (103), a restriction of an actuation of the steering wheel (103) and the vehicle wheels (113) and a restriction of a relative movement of the steering wheel (103) with respect to the movement of the F vehicle wheels (113); and generating (405,903) control commands (104, 114) to the column motor (102) and the rack motor (112) according to the values (303, 313) for the steering angle and the wheel angle, wherein steps of the method are carried out by a processor (123) ,