CN114670921A - Vehicle steering angle correction method and system, storage medium and vehicle - Google Patents
Vehicle steering angle correction method and system, storage medium and vehicle Download PDFInfo
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- CN114670921A CN114670921A CN202210145086.1A CN202210145086A CN114670921A CN 114670921 A CN114670921 A CN 114670921A CN 202210145086 A CN202210145086 A CN 202210145086A CN 114670921 A CN114670921 A CN 114670921A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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Abstract
The invention discloses a vehicle steering angle correction method, a vehicle steering angle correction system, a storage medium and a vehicle, wherein the method comprises the following steps: in the process of straight-line running of a vehicle, controlling a corner sensor of the vehicle in real time to detect the steering angle of a steering wheel of the vehicle; when the fact that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected, whether the steering angle of the steering wheel is zero or not is judged; if not, the steering angle is corrected to be zero and then the vehicle is sent out, so that the situation that the steering wheel is actively corrected to cause the vehicle to deviate from a lane is avoided. The invention solves the problem that the vehicle deviates from the lane because the steering wheel actively corrects when the driver temporarily takes off the hand when the vehicle is in straight line running in the prior art.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle steering angle correction method, a vehicle steering angle correction system, a storage medium and a vehicle.
Background
In recent years, with the rapid development of the economy of China and the vigorous development of the modern logistics industry, light trucks have become very important transportation tools for terminal customers in the links of terminal logistics distribution and short-distance transportation, and the market has been increased year by year. In this context, the end customer has also put correspondingly higher demands on the steering comfort of the light truck.
At present, in the field of light trucks, a steering system still commonly used in the industry is a hydraulic power-assisted steering system, and the main defects of the hydraulic power-assisted steering system are that the low-speed steering power-assisted steering is small, the driving hand is heavy, the high-speed steering power-assisted steering is large, and the operation is unstable. Therefore, an electric circulating ball steering device (system) suitable for being used on a non-independent suspension type light commercial truck is produced, the electric circulating ball steering system can well overcome the defects of a hydraulic power-assisted steering system, the power assistance is large when the electric circulating ball steering system is used for low-speed steering, the hand power of a driver is light, the power assistance is small when the electric circulating ball steering system is used for high-speed steering, and the driving operation is stable.
However, since the non-independent suspension type light truck is loaded through the girder, and a container is fixed on the girder, a mechanism for connecting the girder and the front steering wheel is a plate spring, when the container on the girder is loaded from an unloaded state to a fully loaded state, the plate spring can have different degrees of bending deformation, which can cause the front steering wheel to generate relative displacement with the cab and the girder, and an electric recirculating ball steering gear is fixed on the girder, a steering pendant arm is assembled on the electric recirculating ball steering gear, and the steering pendant arm is connected with the front steering wheel through a steering drag link, the current steering wheel generates relative displacement with the girder, and the relative displacement can be transmitted through rigid connection of the steering drag link, the steering pendant arm, the electric recirculating ball steering gear, the steering column and the steering wheel, and finally the steering wheel rotates a certain angle (assuming 8 °). Meanwhile, the rotation angle sensor on the steering gear of the electric circulator can detect the rotation of the steering wheel and send out the angle value, so that when the non-independent suspension type light truck keeps straight running in different cargo allocation states such as empty and full load, although the wheel angles are consistent, the positions of the steering wheel are inconsistent, and the angle value sent out by the rotation angle sensor is inconsistent. Under the condition, after a driver takes off hands briefly or under the condition that the driver does not apply hand force, the steering wheel can actively deflect for a certain angle under the intervention of the active return function of the electric circulating ball steering gear (system), and then the steering wheel, the steering column, the electric circulating ball steering gear, the steering plumbing arm, the steering drag link and the front steering wheel are rigidly connected for transmission, so that the front steering wheel can deflect for a certain angle along with the steering column, and the straight-line running state of the vehicle can not be kept, namely, the active deviation of the whole vehicle is caused.
Disclosure of Invention
In view of the above, the present invention provides a method, a system, a storage medium and a vehicle for correcting a steering angle of a vehicle, and aims to solve the problem in the prior art that when a driver temporarily takes off his/her hands while the vehicle is traveling straight, the steering wheel is active, so that the vehicle deviates from a lane.
The embodiment of the invention is realized as follows: a vehicle steering angle correction method, the method comprising:
in the process of straight-line running of a vehicle, controlling a corner sensor of the vehicle in real time to detect the steering angle of a steering wheel of the vehicle;
when the fact that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected, whether the steering angle of the steering wheel is zero or not is judged;
if not, the steering angle is corrected to be zero and then the vehicle is sent out, so that the situation that the steering wheel is actively corrected to cause the vehicle to deviate from a lane is avoided.
Further, the vehicle steering angle correction method may further include, before the step of determining whether the steering angle of the steering wheel is zero when it is detected that the human intervention torque of the steering wheel is lower than a torque threshold value:
acquiring the running speed of the vehicle, and judging whether the running speed is higher than a speed threshold value;
And if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
Further, the vehicle steering angle correcting method may further include, before the step of determining whether the steering angle of the steering wheel is zero when the manual intervention torque of the steering wheel is detected to be lower than a torque threshold value:
acquiring the rotating speed of a steering wheel of the vehicle, and judging whether the rotating speed of the steering wheel is lower than a threshold value of the rotating speed of the steering wheel;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
Further, in the above vehicle steering angle correction method, the step of performing the outgoing after the steering angle is corrected to zero to avoid the vehicle deviating from the lane due to the steering wheel actively returning to the right includes:
and correcting the steering angle to be zero according to a preset amplitude, and then carrying out outward transmission so as to avoid the condition that the steering wheel is actively corrected to cause the vehicle to deviate from the lane.
Further, in the method for correcting a steering angle of a vehicle, the step of correcting the steering angle to zero according to a preset amplitude and then sending the corrected steering angle to the outside to avoid the situation that the steering wheel is actively corrected to cause the vehicle to deviate from the lane includes:
And acquiring the load of the vehicle, determining a correction amplitude according to the load of the vehicle, and correcting the steering angle to be zero according to the correction amplitude for outward transmission.
In another aspect of the present invention, there is provided a vehicle steering angle correction system, including:
the detection module is used for controlling a corner sensor of the vehicle to detect the steering angle of a steering wheel of the vehicle in real time in the process of straight-line running of the vehicle;
the judging module is used for judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected;
and the outward sending module is used for correcting the steering angle to be zero and then outward sending when the steering angle of the steering wheel is judged to be not zero so as to avoid the condition that the steering wheel actively returns to be positive to cause the vehicle to deviate from the lane.
Further, the vehicle steering angle correction system described above, wherein the system further includes:
the driving speed obtaining module is used for obtaining the driving speed of the vehicle and judging whether the driving speed is higher than a speed threshold value;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
Further, the above vehicle steering angle correction system, wherein the system further comprises:
the steering wheel rotating speed acquisition module is used for acquiring the rotating speed of a steering wheel of the vehicle and judging whether the rotating speed of the steering wheel is lower than a steering wheel rotating speed threshold value or not;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
It is a further object of embodiments of the present invention to provide a readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method as described above.
It is a further object of embodiments of the invention to provide a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
According to the invention, when the vehicle is in straight line driving, the steering angle of the steering wheel is monitored in real time, and when a driver is momentarily out of hand or does not apply hand force, the steering angle of the steering wheel is corrected and then is sent out, so that the angle sent out is zero, and the condition that the vehicle deviates from a lane due to the fact that the steering wheel in the vehicle is actively corrected is avoided.
Drawings
FIG. 1 is a schematic diagram of the position of a steering wheel during straight-line travel of a vehicle under both empty and full load conditions in accordance with an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle steering angle correction method provided in a first embodiment of the invention;
fig. 3 is a flowchart of a vehicle steering angle correction method provided in a second embodiment of the invention;
fig. 4 is a flowchart of a vehicle steering angle correction method provided in a third embodiment of the invention;
fig. 5 is a block diagram showing a configuration of a vehicle steering angle correction system according to a fourth embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed types.
In recent years, with the rapid development of the economy of China and the vigorous development of the modern logistics industry, light trucks have become very important transportation tools for terminal customers in the links of terminal logistics distribution and short-distance transportation, and the market has been increased year by year. In this context, the end customer has also put correspondingly higher demands on the steering comfort of the light truck.
At present, in the field of light trucks, a steering system still commonly used in the industry is a hydraulic power-assisted steering system, and the main defects of the hydraulic power-assisted steering system are that low-speed steering power assistance is small, a driver has heavy hand strength, high-speed steering power assistance is large, and the operation is unstable. Therefore, the electric circulating ball steering gear (system) suitable for being used on the non-independent suspension type light commercial truck is suitable for delivery, the electric circulating ball steering gear (system) can well overcome the defects of a hydraulic power steering system, the power is large when the electric circulating ball steering gear is used for low-speed steering, the hand power of a driver is light, the power is small when the electric circulating ball steering gear is used for high-speed steering, and the driving operation is stable.
However, since the non-independent suspension type light truck is loaded through the girder, and a container is fixed on the girder, a mechanism for connecting the girder and the front steering wheel is a plate spring, when the container on the girder is loaded from an unloaded state to a fully loaded state, the plate spring can have different degrees of bending deformation, which can cause the front steering wheel to generate relative displacement with the cab and the girder, and an electric recirculating ball steering gear is fixed on the girder, a steering pendant arm is assembled on the electric recirculating ball steering gear, and the steering pendant arm is connected with the front steering wheel through a steering drag link, the current steering wheel generates relative displacement with the girder, and the relative displacement can be transmitted through rigid connection of the steering drag link, the steering pendant arm, the electric recirculating ball steering gear, the steering column and the steering wheel, and finally the steering wheel rotates a certain angle (assuming 8 °). Meanwhile, the steering angle sensor on the steering gear of the electric circulator detects the rotation of the steering wheel and sends out the angle value, so that when the non-independent suspension type light truck keeps straight running under different distribution states such as empty and full load, although the wheel angles are consistent, the positions of the steering wheel are inconsistent, as shown in fig. 1, and the angle value sent out by the steering angle sensor is inconsistent. Under the condition, after the driver takes off the hands briefly or under the condition that the driver does not apply hand force, the steering wheel can actively deflect for a certain angle under the intervention of the active return function of the electric recirculating ball steering gear (system), and then the steering wheel, the steering column, the electric recirculating ball steering gear, the steering vertical arm, the steering drag link and the front steering wheel are rigidly connected for transmission, so that the front steering wheel can deflect for a certain angle along with the steering column, the straight running state of the vehicle can not be maintained, and the active deviation of the whole vehicle can be caused.
The following will describe in detail how to correct the steering angle of the vehicle to avoid the vehicle running off the road when the driver briefly takes off his hands or the driver does not apply a hand force when the vehicle is running straight, with reference to the specific embodiments and the accompanying drawings.
Example one
Referring to fig. 2, a vehicle steering angle correction method according to a first embodiment of the present invention is shown, and the method includes steps S10 to S12.
And step S10, controlling a steering angle sensor of the vehicle to detect the steering angle of a steering wheel of the vehicle in real time in the process of the straight driving of the vehicle.
Wherein, all be equipped with corner sensor in the electronic circulation ball steering gear of vehicle for the steering angle of real-time detection steering wheel.
And step S11, when the torque of the steering wheel is detected to be lower than the torque threshold value, judging whether the steering angle of the steering wheel is zero, and if not, executing step S12.
The manual intervention torque is the torque applied to the steering wheel by the driver, when the manual intervention torque is lower than a torque threshold value, the situation that the driver is momentarily out of hand currently or the driver does not apply hand force currently is shown, and the current vehicle can be known to be in an idle load or cargo carrying state by judging whether the steering angle of the steering wheel is zero or not so as to avoid the situation that the vehicle deviates from a lane after the steering wheel is actively corrected.
And step S12, correcting the steering angle to be zero and then carrying out outward sending so as to avoid the situation that the steering wheel is actively corrected to cause the vehicle to deviate from the lane.
The active return function of the steering wheel in the vehicle is mainly that a program for driving the steering wheel to actively return to a function that a neutral angle is zero is stored on an ECU of the electric recirculating ball steering gear, and the outgoing steering angle is used as a reference, wherein the outgoing steering angle is an angle detected by a corner sensor, when the ECU receives an outgoing angle value signal which is not zero, the ECU drives a motor to work through a driving program, and the steering wheel is rotated to actively return to a position that the outgoing angle value signal is zero (namely, the position that the neutral angle is zero). The steering angle detected by the corner sensor is corrected to be zero to ensure that the steering angle is zero, so that the vehicle is prevented from deviating from a lane when the vehicle runs in a straight line and the driver is briefly out of hand or the driver does not apply hand force.
In summary, according to the vehicle steering angle correction method in the above embodiment of the present invention, when the vehicle is traveling straight, the steering angle of the steering wheel is monitored in real time, and when the driver is momentarily out of hand or does not apply a hand force, the steering angle of the steering wheel is corrected and then the vehicle is sent out, so that the angle of the sent out vehicle is ensured to be zero, and the vehicle is prevented from deviating from the lane due to the active return of the steering wheel in the vehicle.
Example two
Referring to fig. 3, a method for correcting a steering angle of a vehicle according to a second embodiment of the present invention is shown, and the method includes steps S20 to S23.
And step S20, controlling a steering angle sensor of the vehicle to detect the steering angle of a steering wheel of the vehicle in real time in the process of the straight driving of the vehicle.
Step S21, acquiring the running speed of the vehicle, and judging whether the running speed is higher than a speed threshold value; if yes, go to step S22.
In order to improve the accuracy of correcting the steering angle of the vehicle, the determination of the steering angle of the vehicle is performed when the vehicle meets a predetermined condition, for example, when the driving speed of the vehicle is higher than a speed threshold, the vehicle will be deviated at this time.
Further, in some preferred embodiments of the present invention, in order to further improve the accuracy of the steering angle of the vehicle, the step of determining whether the steering angle of the steering wheel is zero when the human intervention torque of the steering wheel is detected to be lower than a torque threshold value further includes:
acquiring the rotating speed of a steering wheel of the vehicle, and judging whether the rotating speed of the steering wheel is lower than a steering wheel rotating speed threshold value or not;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
Step S22, when the torque of the steering wheel is lower than the torque threshold value, judging whether the steering angle of the steering wheel is zero; if yes, go to step S23.
And step S23, the steering angle is corrected to be zero and then the vehicle is sent out to avoid the situation that the steering wheel is actively corrected to cause the vehicle to deviate from the lane.
In summary, according to the vehicle steering angle correction method in the above embodiment of the present invention, when the vehicle travels straight, the steering angle of the steering wheel is monitored in real time, when the driver is momentarily out of hand or does not apply a hand force, the steering angle of the steering wheel is corrected and then the vehicle is sent out, so that the outgoing angle is zero, and when the vehicle is corrected, the current state of the vehicle is detected and confirmed many times, so that the accuracy of the correction of the steering angle of the vehicle is improved while the vehicle is prevented from deviating from the lane due to the active correction of the steering wheel in the vehicle.
EXAMPLE III
Referring to fig. 4, a vehicle steering angle correction method according to a third embodiment of the present invention is shown, which includes steps S30-S32.
And step S30, controlling a steering angle sensor of the vehicle to detect the steering angle of a steering wheel of the vehicle in real time in the straight-line driving process of the vehicle.
Step S31, when the torque of the steering wheel is lower than the torque threshold value, judging whether the steering angle of the steering wheel is zero; if not, go to step S32.
And step S32, correcting the steering angle to be zero according to a preset amplitude, and then carrying out outward transmission so as to avoid the situation that the steering wheel actively returns to be positive to cause the vehicle to deviate from the lane.
Specifically, in order to avoid vehicle errors in the correction process and smoothness during correction, the steering angle of the vehicle is corrected through a preset amplitude, for example, when correction is too fast, correction errors can be caused, and when correction is too slow, the vehicle can be deviated, but the steering angle is not corrected, at the moment, the steering angle of the vehicle is corrected through the preset amplitude, so that the correction accuracy is ensured, wherein the preset amplitude can be set according to the actual situation, for example, 2 degrees/S.
In addition, in some optional embodiments of the present invention, in order to improve accuracy of vehicle steering angle correction, a load of a vehicle may be further obtained, a correction amplitude is determined according to the load of the vehicle, and the steering angle is corrected to zero according to the correction amplitude and then the vehicle is sent out.
Further, in some preferred embodiments of the present invention, the movement track of the vehicle may be obtained during the correction, and the correction range may be adjusted according to the movement track of the vehicle, for example, when the vehicle is found to have a tendency to deviate from the lane during the correction, the correction range may be increased in time to avoid the vehicle deviating from the lane.
In summary, according to the vehicle steering angle correction method in the above embodiment of the present invention, when the vehicle travels straight, the steering angle of the steering wheel is monitored in real time, when the driver briefly gets out of hand or does not apply a hand force, the steering angle of the steering wheel is corrected and then the vehicle is steered, so that the steered angle is ensured to be zero, and when the vehicle is steered, the steering angle of the vehicle is corrected according to the preset amplitude, so that the accuracy of correcting the steering angle of the vehicle is improved while avoiding the lane departure of the vehicle due to the active correction of the steering wheel in the vehicle.
Example four
Referring to fig. 5, a vehicle steering angle correcting system according to a fourth embodiment of the present invention is shown, the system including:
the detecting module 100 is used for controlling a steering angle sensor of the vehicle to detect a steering angle of a steering wheel of the vehicle in real time in the process of straight driving of the vehicle;
The judging module 200 is configured to judge whether a steering angle of the steering wheel is zero when it is detected that a manual intervention torque of the steering wheel is lower than a torque threshold;
and an outward sending module 300, configured to, when it is determined that the steering angle of the steering wheel is not zero, correct the steering angle to zero and then send the vehicle outward, so as to avoid that the steering wheel actively returns to the right and the vehicle deviates from the lane.
Further, the above vehicle steering angle correcting system further includes:
the driving speed obtaining module is used for obtaining the driving speed of the vehicle and judging whether the driving speed is higher than a speed threshold value;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
Further, the above vehicle steering angle correcting system further includes:
the steering wheel rotating speed acquisition module is used for acquiring the rotating speed of a steering wheel of the vehicle and judging whether the rotating speed of the steering wheel is lower than a steering wheel rotating speed threshold value or not;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
Further, in some alternative embodiments of the present invention, the outgoing module includes:
and the outward sending unit is used for correcting the steering angle to be zero according to a preset amplitude and then performing outward sending so as to avoid the condition that the steering wheel is actively corrected to cause the vehicle to deviate from the lane.
Further, in some optional embodiments of the present invention, the sending unit is specifically configured to:
and acquiring the load of the vehicle, determining a correction amplitude according to the load of the vehicle, and correcting the steering angle to be zero according to the correction amplitude to carry out outward transmission.
The functions or operation steps of the above modules when executed are substantially the same as those of the above method embodiments, and are not described herein again.
EXAMPLE five
In another aspect, the present invention further provides a readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method according to any one of the first to third embodiments.
EXAMPLE six
In another aspect, the present invention further provides a vehicle, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method according to any one of the first to third embodiments.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle steering angle correction method, characterized by comprising:
In the process of straight-line running of a vehicle, controlling a steering angle sensor of the vehicle in real time to detect the steering angle of a steering wheel of the vehicle;
when the fact that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected, whether the steering angle of the steering wheel is zero or not is judged;
if not, the steering angle is corrected to be zero and then the vehicle is sent out, so that the situation that the steering wheel is actively corrected to cause the vehicle to deviate from a lane is avoided.
2. The vehicle steering angle correction method according to claim 1, wherein the step of determining whether the steering angle of the steering wheel is zero when it is detected that the human intervention torque of the steering wheel is lower than a torque threshold value further comprises:
acquiring the running speed of the vehicle, and judging whether the running speed is higher than a speed threshold value;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
3. The vehicle steering angle correction method according to claim 1, wherein the step of determining whether the steering angle of the steering wheel is zero when it is detected that the human intervention torque of the steering wheel is lower than a torque threshold value further comprises:
Acquiring the rotating speed of a steering wheel of the vehicle, and judging whether the rotating speed of the steering wheel is lower than a threshold value of the rotating speed of the steering wheel;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
4. The vehicle steering angle correction method according to claim 1, wherein the step of performing the outward transmission after correcting the steering angle to zero to avoid the steering wheel from actively correcting to cause the vehicle to deviate from the lane comprises:
and correcting the steering angle to be zero according to a preset amplitude, and then carrying out outward transmission so as to avoid the condition that the steering wheel actively returns to be positive to cause the vehicle to deviate from the lane.
5. The vehicle steering angle correction method according to claim 4, wherein the step of correcting the steering angle to zero by a preset margin and then performing the outward transmission to avoid the steering wheel from actively returning to the right direction to cause the vehicle to deviate from the lane comprises:
and acquiring the load of the vehicle, determining a correction amplitude according to the load of the vehicle, and correcting the steering angle to be zero according to the correction amplitude to carry out outward transmission.
6. A vehicle steering angle correction system, characterized by comprising:
the detection module is used for controlling a steering angle sensor of the vehicle to detect the steering angle of a steering wheel of the vehicle in real time in the process of straight-line running of the vehicle;
the judging module is used for judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected;
and the outward sending module is used for correcting the steering angle to be zero and then performing outward sending when the steering angle of the steering wheel is judged to be not zero so as to avoid that the steering wheel actively corrects to cause the vehicle to deviate from a lane.
7. The vehicle steering angle correction system according to claim 6, characterized in that the system further comprises:
the driving speed acquisition module is used for acquiring the driving speed of the vehicle and judging whether the driving speed is higher than a speed threshold value;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
8. The vehicle steering angle correction system according to claim 6, characterized in that the system further comprises:
The steering wheel rotating speed acquisition module is used for acquiring the rotating speed of a steering wheel of the vehicle and judging whether the rotating speed of the steering wheel is lower than a steering wheel rotating speed threshold value or not;
and if so, executing a step of judging whether the steering angle of the steering wheel is zero or not when the condition that the manual intervention torque of the steering wheel is lower than a torque threshold value is detected.
9. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
10. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210145086.1A CN114670921A (en) | 2022-02-17 | 2022-02-17 | Vehicle steering angle correction method and system, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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