CN110058595A - A kind of control method and terminal of unmanned vehicle steering-by-wire - Google Patents

A kind of control method and terminal of unmanned vehicle steering-by-wire Download PDF

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Publication number
CN110058595A
CN110058595A CN201910382072.XA CN201910382072A CN110058595A CN 110058595 A CN110058595 A CN 110058595A CN 201910382072 A CN201910382072 A CN 201910382072A CN 110058595 A CN110058595 A CN 110058595A
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angle
wire
limit
steering
value
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CN110058595B (en
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何春洪
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Fujian Shenghai Intelligent Technology Co.,Ltd.
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Jiangsu Sheng Hai Intelligent Technology Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present invention discloses a kind of determines that unmanned vehicle steering-by-wire is in an intermediate position, the corresponding angular transducer numerical value in limit on the left position and limit on the right-right-hand limit position, is denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively respectively;The steering-by-wire angle control amount for obtaining input carries out centering angle calibration system to the steering-by-wire angle control amount according to preset angular transducer range and the middle position angle value;Normalized angle angle value corresponding with the steering-by-wire angle control amount is determined according to the steering-by-wire angle control amount after the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and centering angle calibration system, and the steering-by-wire of unmanned vehicle is controlled according to the normalized angle angle value;By normalized, it is uniformly distributed whole angle control, the vehicle of different turning rates, different steering travels can be applicable in, control interface is made to have more versatility, it is more reasonable to control.

Description

A kind of control method and terminal of unmanned vehicle steering-by-wire
Technical field
The present invention relates to the control methods and end of unmanned vehicle steering-by-wire field more particularly to a kind of unmanned vehicle steering-by-wire End.
Background technique
Unmanned is a current hot technology, and steering-by-wire is responsible for unmanned vehicle driving direction, is unmanned An important control section, be widely present on all kinds of unmanned vehicles.But the type of vehicle is more, steering mechanism is also just a variety of more Sample, the corresponding relationship between the effective travel and steering angle sensor of steering is also just irregular, even if can also deposit with money vehicle In deviation, but these deviations do not allow in control.
Unmanned vehicle steering-by-wire controller, on the one hand receives the control instruction from different terminals, on the other hand controls not Same steering mechanism, there are different turning rates, turning error and different initial angle positions etc. for steering mechanism, and in order to keep away Exempt from the deviation as present on steering mechanism's difference leads to control, for different steering mechanism, this nothing for just needing to match People fare control steering controller controls, and this brings tune to the versatility and applicability of unmanned vehicle steering-by-wire controller It is whole;And it is directed to different steering mechanism, finish unmanned vehicle steering-by-wire from machinery completely, excessively severe to mechanical requirement It carves, or even cannot achieve, so the deviation of different steering mechanism is inevitable, and the unmanned vehicle line traffic control different when matching When steering controller, it is also necessary to which controlling terminal records different steering mechanism's bring differences, needs to increase extra work.
Summary of the invention
The technical problems to be solved by the present invention are: providing the control method and terminal of a kind of unmanned vehicle steering-by-wire, energy It is enough applicable in different steering mechanism, versatility is good.
In order to solve the above-mentioned technical problem, a kind of technical solution that the present invention uses are as follows:
A kind of control method of unmanned vehicle steering-by-wire, comprising steps of
S1, determine that unmanned vehicle steering-by-wire is in an intermediate position, the corresponding angle in limit on the left position and limit on the right-right-hand limit position respectively Sensor values are spent, are denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition Angle setting angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and right Steering-by-wire angle control amount after middle angle calibration system determines normalization angle corresponding with the steering-by-wire angle control amount Value controls the steering-by-wire of unmanned vehicle according to the normalized angle angle value.
In order to solve the above-mentioned technical problem, the another technical solution that the present invention uses are as follows:
A kind of controlling terminal of unmanned vehicle steering-by-wire, including memory, processor and be stored on the memory And the computer program that can be run on the processor, the processor realize following step when executing the computer program It is rapid:
S1, determine that unmanned vehicle steering-by-wire is in an intermediate position, the corresponding angle in limit on the left position and limit on the right-right-hand limit position respectively Sensor values are spent, are denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition Angle setting angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and right Steering-by-wire angle control amount after middle angle calibration system determines normalization angle corresponding with the steering-by-wire angle control amount Value controls the steering-by-wire of unmanned vehicle according to the normalized angle angle value.
The beneficial effects of the present invention are: for the steering-by-wire angle control amount of input, it is based on preset angle sensor The middle position angle value of device range and unmanned vehicle steering-by-wire, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value are to it It is normalized after carrying out centering angle calibration system, turns further according to the line traffic control of the angle value control unmanned vehicle after normalized To, actual steering position and communications protocol angle position are established into one-to-one relationship, unified external control interface agreement, Controlling terminal does not need to record the middle position of different steering mechanism and the angle value of extreme position, need not consider turning rate not yet With angle different problems, while it need not also consider that turning to left and right asymmetry problem is uniformly distributed entirety by normalized Angle control can be applicable in the vehicle of different turning rates, different steering travels, and control interface is made to have more versatility, and control is more closed Reason.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of the control method of unmanned vehicle steering-by-wire of the embodiment of the present invention;
Fig. 2 is a kind of structural schematic diagram of the controlling terminal of unmanned vehicle steering-by-wire of the embodiment of the present invention;
Fig. 3 is the structural schematic diagram of the wire-controlled steering system of the embodiment of the present invention;
Label declaration:
1, a kind of controlling terminal of unmanned vehicle steering-by-wire;2, memory;3, processor.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached Figure is explained.
Please refer to Fig. 1, a kind of control method of unmanned vehicle steering-by-wire, comprising steps of
S1, determine that unmanned vehicle steering-by-wire is in an intermediate position, the corresponding angle in limit on the left position and limit on the right-right-hand limit position respectively Sensor values are spent, are denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition Angle setting angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and right Steering-by-wire angle control amount after middle angle calibration system determines normalization angle corresponding with the steering-by-wire angle control amount Value controls the steering-by-wire of unmanned vehicle according to the normalized angle angle value.
As can be seen from the above description, the beneficial effects of the present invention are: for the steering-by-wire angle control amount of input, it is based on The middle position angle value of preset angular transducer range and unmanned vehicle steering-by-wire, limit on the left position angle angle value and limit on the right-right-hand limit Position angle angle value is normalized after carrying out centering angle calibration system to it, controls further according to the angle value after normalized Actual steering position and communications protocol angle position are established one-to-one relationship by the steering-by-wire of unmanned vehicle, have been unified outer Portion's control interface agreement, controlling terminal do not need to record the middle position of different steering mechanism and the angle value of extreme position, It need not consider turning rate different angle different problems, while need not also consider to turn to left and right asymmetry problem, pass through normalization Processing is uniformly distributed whole angle control, can be applicable in the vehicle of different turning rates, different steering travels, make control interface more Has versatility, it is more reasonable to control.
Further, the determining unmanned vehicle steering-by-wire corresponding angular transducer numerical value in an intermediate position includes:
It is in an intermediate position by the adjustment control unmanned vehicle steering-by-wire of the positioning and toe-in to unmanned vehicle four-wheel, it reads Unmanned vehicle steering-by-wire corresponding angular transducer numerical value when in an intermediate position, as middle position angle value.
Seen from the above description, precise alignment tune is able to carry out by the adjustment of positioning and toe-in to unmanned vehicle four-wheel It is whole, guarantee the accuracy of determining middle position angle value.
Further, described to determine that unmanned vehicle steering-by-wire is in the corresponding angle in limit on the left position and limit on the right-right-hand limit position respectively Spending sensor values includes:
During unmanned vehicle steering-by-wire is run toward extreme position, real-time reading angular sensor values and line traffic control turn To corresponding driving current;
Judge angular transducer numerical value whether in a preset time period the constant and described driving current reaches maximum value, Corresponding angular transducer numerical value is still constant, if so, judging that unmanned vehicle steering-by-wire is in extreme position, reads corresponding Angular transducer numerical value, as extreme position angle value, the extreme position includes limit on the left position or limit on the right-right-hand limit position.
Seen from the above description, by the monitoring to angle sensor values and the corresponding driving current of steering-by-wire, It can be accurately judged to whether steering-by-wire is in extreme position, ensure that the limit on the left position angle angle value and limit on the right-right-hand limit determined The accuracy of position angle angle value.
Further, the step S2 includes:
The steering-by-wire angle control amount of the input be turn_angle, preset angular transducer range be [0, Turn_angle_max], middle position angle value is turn_angle_middle, then the steering-by-wire after centering angle calibration system The calculation formula of angle control amount turn_angle ' is as follows:
Turn_correction=turn_angle_max/2-turn_angle_middle.
Seen from the above description, due to the uncertainty of mechanical erection, the middle position of steering-by-wire may be random angle Degree, needs middle position actual angle being scaled to centre, needs to add an angle offset at this time, after just obtaining centering Angle.
Further, described according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position Steering-by-wire angle control amount determination after angle value and centering angle calibration system is corresponding with the steering-by-wire angle control amount Normalized angle angle value includes:
The calculation formula of normalized angle angle value turn_angle " is as follows:
In formula, turn_angle_left indicates limit on the left position angle angle value, and turn_angle_right indicates limit on the right-right-hand limit position Angle setting angle value.
Seen from the above description, by normalized, control amount and wheel steering direction can uniformly be corresponded to, without It is that control amount and steering wheel angle are corresponding again, after centering and stroke calibration, the control of different automobile types difference turning rate can be made Amount is consistent, realize steering control system versatility and can consistency.
Referring to figure 2., a kind of controlling terminal of unmanned vehicle steering-by-wire, including memory, processor and it is stored in institute The computer program that can be run on memory and on the processor is stated, the processor executes real when the computer program Existing following steps:
S1, determine that unmanned vehicle steering-by-wire is in an intermediate position, the corresponding angle in limit on the left position and limit on the right-right-hand limit position respectively Sensor values are spent, are denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition Angle setting angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and right Steering-by-wire angle control amount after middle angle calibration system determines normalization angle corresponding with the steering-by-wire angle control amount Value controls the steering-by-wire of unmanned vehicle according to the normalized angle angle value.
As can be seen from the above description, the beneficial effects of the present invention are: for the steering-by-wire angle control amount of input, it is based on The middle position angle value of preset angular transducer range and unmanned vehicle steering-by-wire, limit on the left position angle angle value and limit on the right-right-hand limit Position angle angle value is normalized after carrying out centering angle calibration system to it, controls further according to the angle value after normalized Actual steering position and communications protocol angle position are established one-to-one relationship by the steering-by-wire of unmanned vehicle, have been unified outer Portion's control interface agreement, controlling terminal do not need to record the middle position of different steering mechanism and the angle value of extreme position, It need not consider turning rate different angle different problems, while need not also consider to turn to left and right asymmetry problem, pass through normalization Processing is uniformly distributed whole angle control, can be applicable in the vehicle of different turning rates, different steering travels, make control interface more Has versatility, it is more reasonable to control.
Further, the determining unmanned vehicle steering-by-wire corresponding angular transducer numerical value in an intermediate position includes:
It is in an intermediate position by the adjustment control unmanned vehicle steering-by-wire of the positioning and toe-in to unmanned vehicle four-wheel, it reads Unmanned vehicle steering-by-wire corresponding angular transducer numerical value when in an intermediate position, as middle position angle value.
Seen from the above description, precise alignment tune is able to carry out by the adjustment of positioning and toe-in to unmanned vehicle four-wheel It is whole, guarantee the accuracy of determining middle position angle value.
Further, described to determine that unmanned vehicle steering-by-wire is in the corresponding angle in limit on the left position and limit on the right-right-hand limit position respectively Spending sensor values includes:
During unmanned vehicle steering-by-wire is run toward extreme position, real-time reading angular sensor values and line traffic control turn To corresponding driving current;
Judge angular transducer numerical value whether in a preset time period the constant and described driving current reaches maximum value, Corresponding angular transducer numerical value is still constant, if so, judging that unmanned vehicle steering-by-wire is in extreme position, reads corresponding Angular transducer numerical value, as extreme position angle value, the extreme position includes limit on the left position or limit on the right-right-hand limit position.
Seen from the above description, by the monitoring to angle sensor values and the corresponding driving current of steering-by-wire, It can be accurately judged to whether steering-by-wire is in extreme position, ensure that the limit on the left position angle angle value and limit on the right-right-hand limit determined The accuracy of position angle angle value.
Further, the step S2 includes:
The steering-by-wire angle control amount of the input be turn_angle, preset angular transducer range be [0, Turn_angle_max], middle position angle value is turn_angle_middle, then the steering-by-wire after centering angle calibration system The calculation formula of angle control amount turn_angle ' is as follows:
Turn_correction=turn_angle_max/2-turn_angle_middle.
Seen from the above description, due to the uncertainty of mechanical erection, the middle position of steering-by-wire may be random angle Degree, needs middle position actual angle being scaled to centre, needs to add an angle offset at this time, after just obtaining centering Angle.
Further, described according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position Steering-by-wire angle control amount determination after angle value and centering angle calibration system is corresponding with the steering-by-wire angle control amount Normalized angle angle value includes:
The calculation formula of normalized angle angle value turn_angle " is as follows:
In formula, turn_angle_left indicates limit on the left position angle angle value, and turn_angle_right indicates limit on the right-right-hand limit position Angle setting angle value.
Seen from the above description, by normalized, control amount and wheel steering direction can uniformly be corresponded to, without It is that control amount and steering wheel angle are corresponding again, after centering and stroke calibration, the control of different automobile types difference turning rate can be made Amount is consistent, realize steering control system versatility and can consistency.
Embodiment one
Fig. 1 and Fig. 3 are please referred to, Fig. 3 show the overall structure figure of wire-controlled steering system, wherein the function of each component part It can be as follows:
Controller main control MCU, complete specific of, interface high with dominant frequency, can correct reading angular sensor, can also be correct Configuration driven device, control starter output;
Driver has the adjustable driving output of PWM, can configure output peak point current, has overcurrent protection, overheating protection, owes Press the function of alarm;
Steering mechanism has line traffic control and manual function, steering wheel rotation is driven by big torsion motor, to change wheel Direction and steering wheel angle;
Angular transducer is two angle gears that sensor internal is driven by steering shaft, an angle gear angle Greatly, poor by two angle of gear under an angle gear angle, to calculate angle value;
Control method based on a kind of unmanned vehicle steering-by-wire that above system is realized, comprising steps of
S1, controlling terminal send automatic calibration command to steering controller, then controller determines that unmanned vehicle line traffic control turns respectively To the corresponding angular transducer numerical value in an intermediate position, limit on the left position and limit on the right-right-hand limit position, it is denoted as interposition angle setting respectively Angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value;
Wherein, the determining unmanned vehicle steering-by-wire corresponding angular transducer numerical value in an intermediate position includes:
It is in an intermediate position by the adjustment control unmanned vehicle steering-by-wire of the positioning and toe-in to unmanned vehicle four-wheel, it reads Unmanned vehicle steering-by-wire corresponding angular transducer numerical value when in an intermediate position, as middle position angle value;
It is described to determine that unmanned vehicle steering-by-wire is in the corresponding angular transducer in limit on the left position and limit on the right-right-hand limit position respectively Numerical value includes:
During unmanned vehicle steering-by-wire is run toward extreme position, real-time reading angular sensor values and line traffic control turn To corresponding driving current;
Judge angular transducer numerical value whether in a preset time period the constant and described driving current reaches maximum value, Corresponding angular transducer numerical value is still constant, if so, judging that unmanned vehicle steering-by-wire is in extreme position, reads corresponding Angular transducer numerical value, as extreme position angle value, the extreme position includes limit on the left position or limit on the right-right-hand limit position;
Specifically, controller first controls driver left-hand rotation, port extreme position is completed, reaches limit on the left position, record The corresponding limit on the left position angle of lower unmanned vehicle steering-by-wire, then control driver and turn right, limit on the right-right-hand limit position is reached, is recorded The corresponding limit on the right-right-hand limit position angle of unmanned vehicle steering-by-wire;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition Angle setting angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and right Steering-by-wire angle control amount after middle angle calibration system determines normalization angle corresponding with the steering-by-wire angle control amount Value controls the steering-by-wire of unmanned vehicle according to the normalized angle angle value.
Embodiment two
The present embodiment and the difference of embodiment one are that the step S2 includes:
The steering-by-wire angle control amount of the input be turn_angle, preset angular transducer range be [0, Turn_angle_max], middle position angle value is turn_angle_middle, then the steering-by-wire after centering angle calibration system The calculation formula of angle control amount turn_angle ' is as follows:
Turn_correction=turn_angle_max/2-turn_angle_middle;
Wherein, turn_correction is the angular deviation during centering;
It is described according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and Steering-by-wire angle control amount after centering angle calibration system determines normalized angle corresponding with the steering-by-wire angle control amount Angle value includes:
The calculation formula of normalized angle angle value turn_angle " is as follows:
In formula, turn_angle_left indicates limit on the left position angle angle value, and turn_angle_right indicates limit on the right-right-hand limit position Angle setting angle value;
A pair between actual steering angle and communications protocol angle position is just established by above-mentioned normalized It should be related to:
Turn_angle:turn_angel_left--------turn_angle_middle----- ----turn_ angle_right
Turn_angle ": 0---------------turn_angle_max/2--------turn_angle_max;
Wherein, preset angular transducer range, which can according to need, is configured, it is preferred that setting turn_angle_ Max is 1480 degree;
By above-mentioned normalization, same set of control routine can be realized, realize the course changing control of different automobile types, controlling terminal Stroke is write for 30 degree without being adapted to different automobile types, such as steering mechanism for left and right, in terms of controlling party, the corresponding left-hand rotation 30 of 0 control amount Degree turns to, and the corresponding 0 degree steering of 740 control amounts, corresponding turn right 30 degree of 1480 control amounts turns to, similarly, other difference turning rates, no It is similarly general with steering travel vehicle.
Embodiment three
Referring to figure 2., a kind of controlling terminal 1 of unmanned vehicle steering-by-wire, including memory 2, processor 3 and be stored in On the memory 2 and the computer program that can run on the processor 3, the processor 3 execute the computer journey Each step of embodiment one is realized when sequence.
Example IV
Referring to figure 2., a kind of controlling terminal 1 of unmanned vehicle steering-by-wire, including memory 2, processor 3 and be stored in On the memory 2 and the computer program that can run on the processor 3, the processor 3 execute the computer journey Each step of embodiment two is realized when sequence.
In conclusion the control method and terminal of a kind of unmanned vehicle steering-by-wire provided by the invention, for the line of input Controlling steering angle amount is controlled, based on preset angular transducer range and the middle position angle value of unmanned vehicle steering-by-wire, a left side Extreme position angle value and limit on the right-right-hand limit position angle angle value are normalized after carrying out centering angle calibration system to it, further according to returning One changes the steering-by-wire of treated angle value control unmanned vehicle, can be to interposition angle setting angle value, limit on the left position angle angle value It is accurately determined with limit on the right-right-hand limit position angle angle value, guarantees normalized correct progress, actual steering position and communication are assisted View angle position establishes one-to-one relationship, has unified external control interface agreement, and controlling terminal does not need different turns of record To the middle position of mechanism and the angle value of extreme position, turning rate different angle different problems need not be also considered, while It need not consider to turn to left and right asymmetry problem, by normalized, be uniformly distributed whole angle control, different turn can be applicable in To the vehicle than, different steering travel, control interface is set to have more versatility, it is more reasonable to control.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include In scope of patent protection of the invention.

Claims (10)

1. a kind of control method of unmanned vehicle steering-by-wire, which is characterized in that comprising steps of
S1, determine that unmanned vehicle steering-by-wire in an intermediate position, the corresponding angle in limit on the left position and limit on the right-right-hand limit position pass respectively Sensor numerical value is denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition angle setting Angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and centering angle Steering-by-wire angle control amount after degree calibration determines normalized angle angle value corresponding with the steering-by-wire angle control amount, root According to the steering-by-wire of normalized angle angle value control unmanned vehicle.
2. a kind of control method of unmanned vehicle steering-by-wire according to claim 1, which is characterized in that the determination nobody Fare control turns to corresponding angular transducer numerical value in an intermediate position
It is in an intermediate position by the adjustment control unmanned vehicle steering-by-wire of the positioning and toe-in to unmanned vehicle four-wheel, read nobody Fare control corresponding angular transducer numerical value when turning in an intermediate position, as middle position angle value.
3. a kind of control method of unmanned vehicle steering-by-wire according to claim 1, which is characterized in that described to determine respectively Unmanned vehicle steering-by-wire is in the corresponding angular transducer numerical value in limit on the left position and limit on the right-right-hand limit position
During unmanned vehicle steering-by-wire is run toward extreme position, real-time reading angular sensor values and steering-by-wire pair The driving current answered;
Judge angular transducer numerical value whether in a preset time period the constant and described driving current reaches maximum value, it is corresponding Angular transducer numerical value it is still constant, if so, judging that unmanned vehicle steering-by-wire is in extreme position, read corresponding angle Sensor values, as extreme position angle value, the extreme position includes limit on the left position or limit on the right-right-hand limit position.
4. a kind of control method of unmanned vehicle steering-by-wire according to any one of claim 1 to 3, which is characterized in that The step S2 includes:
The steering-by-wire angle control amount of the input is turn_angle, and preset angular transducer range is [0, turn_ Angle_max], middle position angle value is turn_angle_middle, then the steering-by-wire angle control after centering angle calibration system The calculation formula of amount turn_angle ' processed is as follows:
Turn_correction=turn_angle_max/2-turn_angle_middle.
5. a kind of control method of unmanned vehicle steering-by-wire according to claim 4, which is characterized in that described according to Line traffic control after preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and centering angle calibration system Controlling steering angle amount determines that normalized angle angle value corresponding with the steering-by-wire angle control amount includes:
The calculation formula of normalized angle angle value turn_angle " is as follows:
In formula, turn_angle_left indicates limit on the left position angle angle value, and turn_angle_right indicates limit on the right-right-hand limit position angle Angle value.
6. a kind of controlling terminal of unmanned vehicle steering-by-wire, including memory, processor and it is stored on the memory simultaneously The computer program that can be run on the processor, which is characterized in that the processor executes real when the computer program Existing following steps:
S1, determine that unmanned vehicle steering-by-wire in an intermediate position, the corresponding angle in limit on the left position and limit on the right-right-hand limit position pass respectively Sensor numerical value is denoted as middle position angle value, limit on the left position angle angle value and limit on the right-right-hand limit position angle angle value respectively;
S2, the steering-by-wire angle control amount for obtaining input, according to preset angular transducer range and the interposition angle setting Angle value carries out centering angle calibration system to the steering-by-wire angle control amount;
S3, according to the preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and centering angle Steering-by-wire angle control amount after degree calibration determines normalized angle angle value corresponding with the steering-by-wire angle control amount, root According to the steering-by-wire of normalized angle angle value control unmanned vehicle.
7. a kind of controlling terminal of unmanned vehicle steering-by-wire according to claim 6, which is characterized in that the determination nobody Fare control turns to corresponding angular transducer numerical value in an intermediate position
It is in an intermediate position by the adjustment control unmanned vehicle steering-by-wire of the positioning and toe-in to unmanned vehicle four-wheel, read nobody Fare control corresponding angular transducer numerical value when turning in an intermediate position, as middle position angle value.
8. a kind of controlling terminal of unmanned vehicle steering-by-wire according to claim 6, which is characterized in that described to determine respectively Unmanned vehicle steering-by-wire is in the corresponding angular transducer numerical value in limit on the left position and limit on the right-right-hand limit position
During unmanned vehicle steering-by-wire is run toward extreme position, real-time reading angular sensor values and steering-by-wire pair The driving current answered;
Judge angular transducer numerical value whether in a preset time period the constant and described driving current reaches maximum value, it is corresponding Angular transducer numerical value it is still constant, if so, judging that unmanned vehicle steering-by-wire is in extreme position, read corresponding angle Sensor values, as extreme position angle value, the extreme position includes limit on the left position or limit on the right-right-hand limit position.
9. a kind of controlling terminal of unmanned vehicle steering-by-wire according to any one of claim 6 to 8, which is characterized in that The step S2 includes:
The steering-by-wire angle control amount of the input is turn_angle, and preset angular transducer range is [0, turn_ Angle_max], middle position angle value is turn_angle_middle, then the steering-by-wire angle control after centering angle calibration system The calculation formula of amount turn_angle ' processed is as follows:
Turn_correction=turn_angle_max/2-turn_angle_middle.
10. a kind of controlling terminal of unmanned vehicle steering-by-wire according to claim 9, which is characterized in that described according to institute Line after stating preset angular transducer range, limit on the left position angle angle value, limit on the right-right-hand limit position angle angle value and centering angle calibration system Control controlling steering angle amount determines that normalized angle angle value corresponding with the steering-by-wire angle control amount includes:
The calculation formula of normalized angle angle value turn_angle " is as follows:
In formula, turn_angle_left indicates limit on the left position angle angle value, and turn_angle_right indicates limit on the right-right-hand limit position angle Angle value.
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