Automobile steering control method suitable for semi-automatic driving scene

The invention relates to the technical field of semi-automatic driving, in particular to an automobile steering control method suitable for a semi-automatic driving scene. Compared with the prior art, the angle request of the vehicle control unit is received, a control closed loop of transverse control is made at the steering system end, the control precision is improved, and the control delay is shortened; the problems of abnormal jittering and unsmooth execution in the transverse control process are solved, and the request of the vehicle control unit can be accurately executed; the torque limit value of the whole vehicle during man-machine co-driving is collected, and the smoothness during man-machine co-driving can be well achieved. The method is suitable for a driving scene of a full vehicle speed section, is suitable for different whole vehicle automatic driving controllers, and is wide in application range. 本发明涉及半自动驾驶技术领域，具体地说是一种适用于半自动驾驶场景的汽车转向控制方法。本发明同现有技术相比，接收整车控制器的角度请求，将横向控制的控制闭环做在转向系统端，提高了控制的精准度，降低了