CN110058595B - Control method and terminal for wire-controlled steering of unmanned vehicle - Google Patents
Control method and terminal for wire-controlled steering of unmanned vehicle Download PDFInfo
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Abstract
The invention discloses an angle sensor value respectively determining the linear control steering of an unmanned vehicle at a middle position, a left limit position and a right limit position, and respectively recording the angle sensor value as a middle position angle value, a left limit position angle value and a right limit position angle value; acquiring an input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value; determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value; through normalization processing, the overall angle control is uniformly distributed, the method is suitable for vehicle types with different steering ratios and different steering strokes, the control interface is more universal, and the control is more reasonable.
Description
Technical Field
The invention relates to the field of unmanned vehicle steering by wire control, in particular to a control method and a terminal for unmanned vehicle steering by wire control.
Background
The unmanned driving is a technical hotspot at present, and the steer-by-wire is responsible for the driving direction of the unmanned vehicle, is an important control part of the unmanned driving, and is widely applied to various unmanned vehicles. However, the types of vehicles are large, the steering mechanisms are various, the correspondence between the effective steering stroke and the steering angle sensor is uneven, and even the same vehicle may have variations, which are not allowed in terms of control.
The unmanned vehicle steer-by-wire controller receives control instructions from different terminals on one hand, and controls different steering mechanisms on the other hand, wherein the steering mechanisms have different steering ratios, steering errors, different initial angle positions and the like, and aiming at different steering mechanisms, the matched unmanned vehicle steer-by-wire controller is required to control in order to avoid the deviation in control caused by different steering mechanisms, and the universality and the applicability of the unmanned vehicle steer-by-wire controller are adjusted; and aiming at different steering mechanisms, the requirement on the machinery is too harsh or even impossible to realize to completely complete the unmanned vehicle steer-by-wire from the machinery, so that the deviation of different steering mechanisms is inevitable, and when the unmanned vehicle steer-by-wire controllers are matched, a control terminal is required to record the difference brought by different steering mechanisms, and extra work is required to be added.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the control method and the terminal for the wire-controlled steering of the unmanned vehicle are provided, can be suitable for different steering mechanisms, and are good in universality.
In order to solve the technical problems, the invention adopts a technical scheme that:
a control method for the wire-controlled steering of an unmanned vehicle comprises the following steps:
s1, determining the numerical values of angle sensors corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively, and recording the numerical values as a middle position angle value, a left limit position angle value and a right limit position angle value respectively;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a control terminal for steer-by-wire of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1, determining the numerical values of angle sensors corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively, and recording the numerical values as a middle position angle value, a left limit position angle value and a right limit position angle value respectively;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value.
The invention has the beneficial effects that: for the input steer-by-wire angle control quantity, based on the preset angle sensor range and the central position angle value, the left limit position angle value and the right limit position angle value of the steer-by-wire of the unmanned vehicle, the center angle is calibrated and then normalized, then the steer-by-wire of the unmanned vehicle is controlled according to the normalized angle value, the actual steering position and the communication protocol angle position are established in a one-to-one correspondence relationship, the external control interface protocol is unified, the control terminal does not need to record the angle values of the central position and the limit position of different steering mechanisms, does not need to consider the problem of different angles of the steering ratio and the problem of left and right asymmetry of the steering ratio, the integral angle control is uniformly distributed through the normalization processing, the steer-by-wire angle control can be suitable for the vehicles with different steering ratios and different steering strokes, and the control interface has more universality, the control is more reasonable.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for controlling an unmanned vehicle steering by wire according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control terminal for controlling steering by wire of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a steer-by-wire system according to an embodiment of the present invention;
description of reference numerals:
1. a control terminal for controlling steering by an unmanned vehicle line; 2. a memory; 3. a processor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for controlling a steer-by-wire of an unmanned vehicle includes the steps of:
s1, determining the numerical values of angle sensors corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively, and recording the numerical values as a middle position angle value, a left limit position angle value and a right limit position angle value respectively;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value.
From the above description, the beneficial effects of the present invention are: for the input steer-by-wire angle control quantity, based on the preset angle sensor range and the central position angle value, the left limit position angle value and the right limit position angle value of the steer-by-wire of the unmanned vehicle, the center angle is calibrated and then normalized, then the steer-by-wire of the unmanned vehicle is controlled according to the normalized angle value, the actual steering position and the communication protocol angle position are established in a one-to-one correspondence relationship, the external control interface protocol is unified, the control terminal does not need to record the angle values of the central position and the limit position of different steering mechanisms, does not need to consider the problem of different angles of the steering ratio and the problem of left and right asymmetry of the steering ratio, the integral angle control is uniformly distributed through the normalization processing, the steer-by-wire angle control can be suitable for the vehicles with different steering ratios and different steering strokes, and the control interface has more universality, the control is more reasonable.
Further, the determining the value of the angle sensor corresponding to the position of the unmanned vehicle in the middle position by the wire-controlled steering comprises:
the method comprises the steps of controlling the wire-controlled steering of the unmanned vehicle to be in a middle position by positioning four wheels of the unmanned vehicle and adjusting toe-in, and reading a corresponding angle sensor value when the wire-controlled steering of the unmanned vehicle is in the middle position to serve as a middle position angle value.
From the above description, it can be known that the accurate centering adjustment can be performed through the positioning of the four wheels of the unmanned vehicle and the adjustment of the toe-in, and the accuracy of the determined intermediate position angle value is ensured.
Further, the determining the values of the angle sensors corresponding to the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively comprises:
reading the value of an angle sensor and the driving current corresponding to the steer-by-wire in real time in the process that the steer-by-wire of the unmanned vehicle runs to the limit position;
and judging whether the numerical value of the angle sensor is unchanged within a preset time period and the driving current reaches the maximum value, and if so, judging that the linear control steering of the unmanned vehicle is in the limit position, reading the corresponding numerical value of the angle sensor to serve as the angular value of the limit position, wherein the limit position comprises a left limit position or a right limit position.
According to the description, whether the steer-by-wire is at the limit position can be accurately judged by monitoring the numerical value of the angle sensor and the driving current corresponding to the steer-by-wire, and the accuracy of the determined angle value of the left limit position and the determined angle value of the right limit position is ensured.
Further, the step S2 includes:
the input steer-by-wire angle control quantity is turn _ angle, the preset angle sensor range is [0, turn _ angle _ max ], the intermediate position angle value is turn _ angle _ middle, and then the calculation formula of the steer-by-wire angle control quantity turn _ angle' after the centering angle calibration is as follows:
turn_correction＝turn_angle_max/2-turn_angle_middle。
as can be seen from the above description, due to the uncertainty of the mechanical installation, the neutral position of the steer-by-wire may be any angle, and the actual angle of the neutral position needs to be converted to the middle, and at this time, an angular offset needs to be added to obtain the centered angle.
Further, the determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value, and the steer-by-wire angle control quantity after the centering angle calibration includes:
the normalized angle value turn _ angle "is calculated as follows:
in the formula, turn _ angle _ left represents the left extreme position angle value, and turn _ angle _ right represents the right extreme position angle value.
According to the description, the control quantity and the steering direction of the wheels can be uniformly corresponding through normalization processing instead of the control quantity and the steering wheel angle, and after centering and stroke calibration, the control quantities of different vehicle types and different steering ratios can be consistent, so that the universality and the consistency of a steering control system are realized.
Referring to fig. 2, a control terminal for controlling steering by wire for an unmanned vehicle includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the following steps when executing the computer program:
s1, determining the numerical values of angle sensors corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively, and recording the numerical values as a middle position angle value, a left limit position angle value and a right limit position angle value respectively;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value.
From the above description, the beneficial effects of the present invention are: for the input steer-by-wire angle control quantity, based on the preset angle sensor range and the central position angle value, the left limit position angle value and the right limit position angle value of the steer-by-wire of the unmanned vehicle, the center angle is calibrated and then normalized, then the steer-by-wire of the unmanned vehicle is controlled according to the normalized angle value, the actual steering position and the communication protocol angle position are established in a one-to-one correspondence relationship, the external control interface protocol is unified, the control terminal does not need to record the angle values of the central position and the limit position of different steering mechanisms, does not need to consider the problem of different angles of the steering ratio and the problem of left and right asymmetry of the steering ratio, the integral angle control is uniformly distributed through the normalization processing, the steer-by-wire angle control can be suitable for the vehicles with different steering ratios and different steering strokes, and the control interface has more universality, the control is more reasonable.
Further, the determining the value of the angle sensor corresponding to the position of the unmanned vehicle in the middle position by the wire-controlled steering comprises:
the method comprises the steps of controlling the wire-controlled steering of the unmanned vehicle to be in a middle position by positioning four wheels of the unmanned vehicle and adjusting toe-in, and reading a corresponding angle sensor value when the wire-controlled steering of the unmanned vehicle is in the middle position to serve as a middle position angle value.
From the above description, it can be known that the accurate centering adjustment can be performed through the positioning of the four wheels of the unmanned vehicle and the adjustment of the toe-in, and the accuracy of the determined intermediate position angle value is ensured.
Further, the determining the values of the angle sensors corresponding to the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively comprises:
reading the value of an angle sensor and the driving current corresponding to the steer-by-wire in real time in the process that the steer-by-wire of the unmanned vehicle runs to the limit position;
and judging whether the numerical value of the angle sensor is unchanged within a preset time period and the driving current reaches the maximum value, and if so, judging that the linear control steering of the unmanned vehicle is in the limit position, reading the corresponding numerical value of the angle sensor to serve as the angular value of the limit position, wherein the limit position comprises a left limit position or a right limit position.
According to the description, whether the steer-by-wire is at the limit position can be accurately judged by monitoring the numerical value of the angle sensor and the driving current corresponding to the steer-by-wire, and the accuracy of the determined angle value of the left limit position and the determined angle value of the right limit position is ensured.
Further, the step S2 includes:
the input steer-by-wire angle control quantity is turn _ angle, the preset angle sensor range is [0, turn _ angle _ max ], the intermediate position angle value is turn _ angle _ middle, and then the calculation formula of the steer-by-wire angle control quantity turn _ angle' after the centering angle calibration is as follows:
turn_correction＝turn_angle_max/2-turn_angle_middle。
as can be seen from the above description, due to the uncertainty of the mechanical installation, the neutral position of the steer-by-wire may be any angle, and the actual angle of the neutral position needs to be converted to the middle, and at this time, an angular offset needs to be added to obtain the centered angle.
Further, the determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value, and the steer-by-wire angle control quantity after the centering angle calibration includes:
the normalized angle value turn _ angle "is calculated as follows:
in the formula, turn _ angle _ left represents the left extreme position angle value, and turn _ angle _ right represents the right extreme position angle value.
According to the description, the control quantity and the steering direction of the wheels can be uniformly corresponding through normalization processing instead of the control quantity and the steering wheel angle, and after centering and stroke calibration, the control quantities of different vehicle types and different steering ratios can be consistent, so that the universality and the consistency of a steering control system are realized.
Example one
Referring to fig. 1 and 3, fig. 3 is a general structural diagram of the steer-by-wire system, in which the functions of the components are as follows:
the controller main control MCU has high main frequency and complete interfaces, can correctly read the angle sensor, and can also correctly configure the driver to control the output of the starter;
the driver has PWM adjustable drive output, can configure and output peak current, and has the functions of overcurrent protection, overheat protection and undervoltage alarm;
the steering mechanism has the functions of wire control and manual operation, and a large-torque motor drives a steering wheel to rotate, so that the direction of wheels and the angle of the steering wheel are changed;
the angle sensor drives two angle gears in the sensor through a steering shaft, one angle gear has a large angle, and under the angle of one angle gear, the angle value is calculated through the angle difference of the two gears;
the method for controlling the wire-controlled steering of the unmanned vehicle based on the system comprises the following steps:
s1, the control terminal sends an automatic calibration instruction to the steering controller, and the controller respectively determines the angle sensor values corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle, and respectively records the angle sensor values as a middle position angle value, a left limit position angle value and a right limit position angle value;
wherein, confirm that unmanned vehicle steer-by-wire is in the angle sensor numerical value that the intermediate position corresponds and include:
controlling the wire-controlled steering of the unmanned vehicle to be in a middle position by positioning four wheels of the unmanned vehicle and adjusting toe-in, and reading a corresponding angle sensor value when the wire-controlled steering of the unmanned vehicle is in the middle position as a middle position angle value;
the angle sensor values respectively determining that the wire-controlled steering of the unmanned vehicle is at the left limit position and the right limit position respectively comprise:
reading the value of an angle sensor and the driving current corresponding to the steer-by-wire in real time in the process that the steer-by-wire of the unmanned vehicle runs to the limit position;
judging whether the numerical value of the angle sensor is unchanged within a preset time period and the driving current reaches the maximum value, and if so, judging that the wire-controlled steering of the unmanned vehicle is in the limit position, reading the corresponding numerical value of the angle sensor to serve as the angular value of the limit position, wherein the limit position comprises a left limit position or a right limit position;
specifically, the controller controls the driver to turn left to complete steering to the left limit position, and when the driver reaches the left limit position, the controller records a left limit position angle corresponding to the wire-controlled steering of the unmanned vehicle, controls the driver to turn right to reach the right limit position, and records a right limit position angle corresponding to the wire-controlled steering of the unmanned vehicle;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value.
Example two
The present embodiment is different from the first embodiment in that the step S2 includes:
the input steer-by-wire angle control quantity is turn _ angle, the preset angle sensor range is [0, turn _ angle _ max ], the intermediate position angle value is turn _ angle _ middle, and then the calculation formula of the steer-by-wire angle control quantity turn _ angle' after the centering angle calibration is as follows:
turn_correction＝turn_angle_max/2-turn_angle_middle；
wherein turn _ correction is the angular offset in the centering process;
the step of determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the preset left limit position angle value, the preset right limit position angle value and the steer-by-wire angle control quantity after the alignment angle is calibrated comprises the following steps:
the normalized angle value turn _ angle "is calculated as follows:
wherein, turn _ angle _ left represents the left extreme position angle value, and turn _ angle _ right represents the right extreme position angle value;
the one-to-one correspondence between the actual steering angle and the communication protocol angle position is established through the normalization processing:
turn_angle：turn_angel_left--------turn_angle_middle---------turn_angle_right
turn_angle”：0---------------turn_angle_max/2--------turn_angle_max；
the preset angle sensor range can be set according to needs, and preferably, turn _ angle _ max is set to 1480 degrees;
through the normalization, the same set of control codes can be realized, the steering control of different vehicle types is realized, the control terminal does not need to be adapted to different vehicle types, for example, the steering mechanism writes a stroke for 30 degrees left and right, from the control side, 0 control quantity is corresponding to 30 degrees left turning, 740 control quantity is corresponding to 0 degree turning, 1480 control quantity is corresponding to 30 degrees right turning, and similarly, other vehicle types with different steering ratios and different steering strokes are also universal.
EXAMPLE III
Referring to fig. 2, a control terminal 1 for controlling steering by wire for an unmanned vehicle includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3, where the processor 3 implements the steps of the first embodiment when executing the computer program.
Example four
Referring to fig. 2, a control terminal 1 for controlling steering by wire for an unmanned vehicle includes a memory 2, a processor 3, and a computer program stored in the memory 2 and capable of running on the processor 3, wherein the processor 3 implements the steps of the second embodiment when executing the computer program.
In summary, the method and the terminal for controlling the steer-by-wire of the unmanned vehicle provided by the invention perform the normalization processing after the alignment angle calibration on the input steer-by-wire angle control quantity based on the preset angle sensor range and the intermediate position angle value, the left limit position angle value and the right limit position angle value of the steer-by-wire of the unmanned vehicle, and then control the steer-by-wire of the unmanned vehicle according to the angle value after the normalization processing, can accurately determine the intermediate position angle value, the left limit position angle value and the right limit position angle value, ensure the normalization to be correctly performed, establish the one-to-one correspondence relationship between the actual steering position and the communication protocol angle position, unify the external control interface protocol, and the control terminal does not need to record the intermediate position and the limit position angle value of different steering mechanisms and does not need to consider the problem of different angles of the steer ratios, meanwhile, the problem of left-right asymmetry of steering is not needed to be considered, the integral angle control is uniformly distributed through normalization processing, and the device can be suitable for vehicle types with different steering ratios and different steering strokes, so that the control interface is more universal and more reasonable in control.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (8)
1. A control method for the wire-controlled steering of an unmanned vehicle is characterized by comprising the following steps:
s1, determining the numerical values of angle sensors corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively, and recording the numerical values as a middle position angle value, a left limit position angle value and a right limit position angle value respectively;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value;
the step S2 includes:
the input steer-by-wire angle control quantity is turn _ angle, the preset angle sensor range is [0, turn _ angle _ max ], the intermediate position angle value is turn _ angle _ middle, and then the calculation formula of the steer-by-wire angle control quantity turn _ angle' after the centering angle calibration is as follows:
turn_correction＝turn_angle_max/2-turn_angle_middle；
turn _ correction is the angular offset in the centering process.
2. The method for controlling the steer-by-wire of the unmanned vehicle according to claim 1, wherein the determining the value of the angle sensor corresponding to the steer-by-wire of the unmanned vehicle being in the neutral position comprises:
the method comprises the steps of controlling the wire-controlled steering of the unmanned vehicle to be in a middle position by positioning four wheels of the unmanned vehicle and adjusting toe-in, and reading a corresponding angle sensor value when the wire-controlled steering of the unmanned vehicle is in the middle position to serve as a middle position angle value.
3. The method for controlling the steer-by-wire of the unmanned vehicle according to claim 1, wherein the determining the values of the angle sensors corresponding to the left limit position and the right limit position of the steer-by-wire of the unmanned vehicle respectively comprises:
reading the value of an angle sensor and the driving current corresponding to the steer-by-wire in real time in the process that the steer-by-wire of the unmanned vehicle runs to the limit position;
and judging whether the numerical value of the angle sensor is unchanged within a preset time period and the driving current reaches the maximum value, and if so, judging that the linear control steering of the unmanned vehicle is in the limit position, reading the corresponding numerical value of the angle sensor to serve as the angular value of the limit position, wherein the limit position comprises a left limit position or a right limit position.
4. The method for controlling the steer-by-wire of the unmanned vehicle according to claim 1, wherein the determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle calibration comprises:
the normalized angle value turn _ angle "is calculated as follows:
in the formula, turn _ angle _ left represents the left extreme position angle value, and turn _ angle _ right represents the right extreme position angle value.
5. A control terminal for steer-by-wire of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the computer program when executing the computer program to:
s1, determining the numerical values of angle sensors corresponding to the middle position, the left limit position and the right limit position of the wire-controlled steering of the unmanned vehicle respectively, and recording the numerical values as a middle position angle value, a left limit position angle value and a right limit position angle value respectively;
s2, acquiring the input steer-by-wire angle control quantity, and carrying out centering angle calibration on the steer-by-wire angle control quantity according to a preset angle sensor range and the intermediate position angle value;
s3, determining a normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the centering angle is calibrated, and controlling steer-by-wire of the unmanned vehicle according to the normalized angle value;
the step S2 includes:
the input steer-by-wire angle control quantity is turn _ angle, the preset angle sensor range is [0, turn _ angle _ max ], the intermediate position angle value is turn _ angle _ middle, and then the calculation formula of the steer-by-wire angle control quantity turn _ angle' after the centering angle calibration is as follows:
turn_correction＝turn_angle_max/2-turn_angle_middle；
turn _ correction is the angular offset in the centering process.
6. The control terminal for the steer-by-wire of the unmanned vehicle of claim 5, wherein the determining the value of the angle sensor corresponding to the steer-by-wire of the unmanned vehicle being in the neutral position comprises:
the method comprises the steps of controlling the wire-controlled steering of the unmanned vehicle to be in a middle position by positioning four wheels of the unmanned vehicle and adjusting toe-in, and reading a corresponding angle sensor value when the wire-controlled steering of the unmanned vehicle is in the middle position to serve as a middle position angle value.
7. The control terminal for the steer-by-wire of the unmanned vehicle of claim 5, wherein the determining the values of the angle sensors corresponding to the left limit position and the right limit position of the steer-by-wire of the unmanned vehicle respectively comprises:
reading the value of an angle sensor and the driving current corresponding to the steer-by-wire in real time in the process that the steer-by-wire of the unmanned vehicle runs to the limit position;
and judging whether the numerical value of the angle sensor is unchanged within a preset time period and the driving current reaches the maximum value, and if so, judging that the linear control steering of the unmanned vehicle is in the limit position, reading the corresponding numerical value of the angle sensor to serve as the angular value of the limit position, wherein the limit position comprises a left limit position or a right limit position.
8. The control terminal for steer-by-wire of an unmanned vehicle according to claim 5, wherein the determining the normalized angle value corresponding to the steer-by-wire angle control quantity according to the preset angle sensor range, the left limit position angle value, the right limit position angle value and the steer-by-wire angle control quantity after the alignment angle calibration comprises:
the normalized angle value turn _ angle "is calculated as follows:
in the formula, turn _ angle _ left represents the left extreme position angle value, and turn _ angle _ right represents the right extreme position angle value.
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| CN201910382072.XA CN110058595B (en) | 2019-05-08 | 2019-05-08 | Control method and terminal for wire-controlled steering of unmanned vehicle |
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| US6363305B1 (en) * | 1999-09-17 | 2002-03-26 | Delphi Technologies, Inc. | Steer-by-wire system |
| WO2013094097A1 (en) * | 2011-12-22 | 2013-06-27 | 日産自動車株式会社 | Vehicle steering control device and steering control method |
| CN102941876B (en) * | 2012-11-23 | 2015-11-04 | 南京理工大学 | Automatic driving vehicle steering swivel system and control method thereof |
| CN203186417U (en) * | 2013-02-01 | 2013-09-11 | 奇瑞重工股份有限公司 | Forwards-moving forklift steering and centering mechanism |
| CN105083375A (en) * | 2015-09-16 | 2015-11-25 | 丹阳华磊电器有限公司 | Vehicle electric-control steering road-feel control method based on drive-by-wire technology |
| KR102419260B1 (en) * | 2016-07-12 | 2022-07-12 | 현대모비스 주식회사 | Apparatus for controlling steering in steer-by-wire system and method thereof |
| CN109823446A (en) * | 2019-01-23 | 2019-05-31 | 重庆长安汽车股份有限公司 | A kind of vehicle steering wheel centering method |
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