CN112124305B

CN112124305B - Steering control method and device, automatic driving equipment and readable storage medium

Info

Publication number: CN112124305B
Application number: CN202010933691.6A
Authority: CN
Inventors: 左海成; 许军; 秦宝星; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2020-09-08
Filing date: 2020-09-08
Publication date: 2022-01-04
Anticipated expiration: 2040-09-08
Also published as: CN112124305A

Abstract

The application discloses a steering control method and device, an automatic driving device and a readable storage medium, wherein the method comprises the following steps: acquiring a target angle value and a detected actual angle value of the automatic driving equipment; calculating an angle difference between the actual angle value and the target angle value; determining the rotation speed of the automatic driving equipment according to the angle difference; and controlling the automatic driving equipment to rotate to the target angle value at the rotating speed. According to the steering control method, the rotating speed of the automatic driving equipment is determined according to the angle difference between the actual angle value and the target angle value, and the automatic driving equipment is accurately controlled to rotate to the target angle value.

Description

Steering control method and device, automatic driving equipment and readable storage medium

Technical Field

The present application relates to the field of automatic driving technologies, and more particularly, to a steering control method, a steering control apparatus, an automatic driving device, and a non-volatile computer-readable storage medium.

Background

The automatic driving apparatus senses the surrounding environment of the apparatus through an in-vehicle sensor, and obtains road, location and obstacle information according to the sensed data, and then controls various parts in the automatic driving apparatus, thereby enabling the apparatus to automatically travel to a predetermined target location. In the process of driving to the target position, the automatic driving equipment can safely reach the preset position by avoiding the obstacle through continuously adjusting the steering of the automatic driving equipment. How to accurately control the steering of the automatic driving equipment so as to improve the safety of the automatic driving equipment during driving is very critical.

Disclosure of Invention

In view of the above, the present invention is directed to solving, at least to some extent, one of the problems in the related art. To this end, the embodiment of the application provides a steering control method of an automatic driving device, a steering control device, the automatic driving device and a nonvolatile computer readable storage medium.

The steering control method according to the embodiment of the present application includes: acquiring a target angle value and a detected actual angle value of the automatic driving equipment; calculating an angle difference between the actual angle value and the target angle value; determining the rotation speed of the automatic driving equipment according to the angle difference; and controlling the automatic driving equipment to rotate to the target angle value at the rotating speed.

In the steering control method of the automatic driving device according to the embodiment of the application, the angle difference between the target angle value and the actual angle value of the automatic driving device is calculated, the rotation speed of the automatic driving device is determined according to the angle difference, and then the automatic driving device is controlled to rotate to the target angle value at the rotation speed. On one hand, the situation that the automatic driving equipment rotates by a target angle due to overlarge swing amplitude of the automatic driving equipment caused by overhigh rotating speed is avoided, the situation that the automatic driving equipment rotates for too long time due to overlow rotating speed is also avoided, and the accurate control of the rotating speed of the automatic driving equipment during the rotation is realized; on the other hand, the automatic driving equipment can reach the target angle value more efficiently.

In some embodiments, the obtaining a target angle value and a detected actual angle value of the autopilot device includes: obtaining an initial target angle value; judging whether the initial target angle value is within a preset angle range or not, wherein the preset angle range comprises a first critical value and a second critical value, and the first critical value is smaller than the second critical value; if so, determining the initial target angle value as the target angle value; if not, when the initial target angle value is smaller than the first critical value, determining the first critical value as the target angle value; determining the second critical value as the target angle value when the initial target angle value is greater than the second critical value.

In the embodiment, firstly, whether the initial target angle value is within a preset angle range is judged, and when the initial target angle value is within the preset angle range, the initial target angle value is determined as a target angle value; and when the initial target angle value is not in the preset angle range, judging the relation between the initial target angle value and the first critical value and the second critical value, and determining the first critical value or the second critical value as the target angle value. Therefore, the situation that the safety is low when the automatic driving equipment is steered by using an overlarge initial target angle value is avoided.

In some embodiments, the obtaining an initial target angle value includes: acquiring sensor data of at least one sensor detecting a surrounding environment; and calculating the initial target angle value according to the sensor data.

In the embodiment, the initial target angle value is calculated according to the detected surrounding environment data, so that the obtained initial target angle value is more accurate.

In some embodiments, after determining the first threshold value or the second threshold value as the target angle value, the steering control method further includes: calculating a first angle difference between the initial target angle value and the first critical value, or calculating a second angle difference between the initial target angle value and the second critical value; and determining the first angle difference or the second angle difference as the initial target angle value at the next time.

In this embodiment, after the first critical value or the second critical value is determined as the target angle value, the first angle difference between the initial target angle value and the first critical value or the second angle difference between the initial target angle value and the second critical value is calculated, and then the first angle difference and the second angle difference are determined as the initial target angle value of the next time, so that the autopilot device can rotate to the initial target angle value after rotating for many times, and the precision of the autopilot device during rotation is improved.

In some embodiments, said determining a rotational speed of said autonomous device from said angular difference comprises: if the angle difference is larger than a first preset difference, outputting a first proportional valve signal; if the angle difference value is between a second preset difference value and the first preset difference value, outputting a second proportional valve signal, wherein the second preset difference value is smaller than the first preset difference value; if the angle difference is smaller than the second preset difference, outputting a third proportional valve signal; and determining the rotation speed according to the first proportional valve signal, the second proportional valve signal or the third proportional valve signal; wherein the rotational speed determined from the first proportional valve signal is greater than the rotational speed determined from the second proportional valve signal, and the rotational speed determined from the second proportional valve signal is greater than the rotational speed determined from the third proportional valve signal.

In this embodiment, the corresponding first proportional valve signal, the second proportional valve signal, or the third proportional valve signal is output and determined according to the relationship between the determined angle difference and the first predetermined difference and the second predetermined difference, the determined rotation speed is higher when the angle difference is larger, and the determined rotation speed is lower when the angle difference is smaller. Therefore, the accurate control of the rotating speed is realized according to the angle difference, and the safety and the accuracy during rotation are improved.

In some embodiments, the steering control method further comprises: calculating a null difference between an actual null and a predetermined null of the autopilot device; judging whether the zero difference value is larger than a preset zero difference value or not; if so, re-calibrating the zero position of the automatic driving equipment to obtain a calibrated zero position; and writing the nominal zero position to a first predetermined location of a memory.

In this embodiment, when the difference between the actual zero position and the predetermined zero position of the autonomous device is greater than the predetermined zero position difference, the zero position of the autonomous device is recalibrated, and then the calibrated zero position is written into the memory. The situation that the obtained actual angle value and the target angle value are inaccurate due to the fact that the difference value between the actual zero position and the preset zero position is too large is avoided, and the steering accuracy of the automatic driving equipment is improved.

In some embodiments, the steering control method further comprises: judging whether the memory is damaged or not; if not, determining the value of the first preset position of the memory as a preset zero position of the automatic driving equipment; and if so, determining a predetermined numerical value as a predetermined zero position of the automatic driving equipment.

In the embodiment, when the memory is normal, the value of the first preset position in the memory is determined as the preset zero position of the automatic driving equipment; when the memory is damaged, the predetermined value is determined as a predetermined zero position of the autopilot device. The condition that the obtained preset zero position is inaccurate when the memory is damaged can be avoided, and the steering accuracy is further improved.

In some embodiments, the determining whether the memory is corrupted comprises: writing a predetermined character to a second predetermined location within the memory; reading storage data of the second preset position of the memory; if the stored data is consistent with the preset character, determining that the memory is normal; and if the stored data is different from the preset character, determining that the memory is damaged.

In this embodiment, by writing a predetermined character to a second predetermined location of the memory and then reading the stored data at the second predetermined location of the memory, it is possible to determine whether the memory is damaged by determining whether the stored data is consistent with the predetermined character.

The steering control device of the automatic driving equipment comprises an acquisition module, a calculation module, a determination module and a control module, wherein the acquisition module is used for acquiring a target angle value and a detected actual angle value of the automatic driving equipment; the calculation module is used for calculating an angle difference value between the actual angle value and the target angle value; the determining module is used for determining the rotating speed of the automatic driving equipment according to the angle difference value; the control module is used for controlling the automatic driving equipment to rotate to the target angle value at the rotating speed.

In the steering control apparatus of an autopilot device according to an embodiment of the present application, the rotation speed of the autopilot device is determined by calculating the angle difference between the target angle value and the actual angle value of the autopilot device and then controlling the autopilot device to rotate to the target angle value at the rotation speed based on the angle difference. On one hand, the situation that the automatic driving equipment rotates by a target angle due to overlarge swing amplitude of the automatic driving equipment caused by overhigh rotating speed is avoided, the situation that the automatic driving equipment rotates for too long time due to overlow rotating speed is also avoided, and the accurate control of the rotating speed of the automatic driving equipment during the rotation is realized; on the other hand, the automatic driving equipment can reach the target angle value more efficiently.

In some embodiments, the obtaining module is further configured to: obtaining an initial target angle value; judging whether the initial target angle value is within a preset angle range or not, wherein the preset angle range comprises a first critical value and a second critical value, and the first critical value is smaller than the second critical value; if so, determining the initial target angle value as the target angle value; if not, when the initial target angle value is smaller than the first critical value, determining the first critical value as the target angle value; determining the second critical value as the target angle value when the initial target angle value is greater than the second critical value.

In some embodiments, the obtaining module is further configured to: acquiring sensor data of at least one sensor detecting a surrounding environment; and calculating the initial target angle value according to the sensor data.

In some embodiments, the steering control device is further configured to: calculating a first angle difference between the initial target angle value and the first critical value, or calculating a second angle difference between the initial target angle value and the second critical value; and determining the first angle difference or the second angle difference as the initial target angle value at the next time.

In certain embodiments, the determining module is further configured to: if the angle difference is larger than a first preset difference, outputting a first proportional valve signal; if the angle difference value is between a second preset difference value and the first preset difference value, outputting a second proportional valve signal, wherein the second preset difference value is smaller than the first preset difference value; if the angle difference is smaller than the second preset difference, outputting a third proportional valve signal; and determining the rotation speed according to the first proportional valve signal, the second proportional valve signal or the third proportional valve signal; wherein the rotational speed determined from the first proportional valve signal is greater than the rotational speed determined from the second proportional valve signal, and the rotational speed determined from the second proportional valve signal is greater than the rotational speed determined from the third proportional valve signal.

In some embodiments, the steering control device is further configured to: calculating a null difference between an actual null and a predetermined null of the autopilot device; judging whether the zero difference value is larger than a preset zero difference value or not; if so, re-calibrating the zero position of the automatic driving equipment to obtain a calibrated zero position; and writing the nominal zero position to a first predetermined location of a memory.

In some embodiments, the steering control device is further configured to: judging whether the memory is damaged or not; if not, determining the value of the first preset position of the memory as a preset zero position of the automatic driving equipment; and if so, determining a predetermined numerical value as a predetermined zero position of the automatic driving equipment.

In some embodiments, the steering control device is further configured to: writing a predetermined character to a second predetermined location within the memory; reading storage data of the second preset position of the memory; if the stored data is consistent with the preset character, determining that the memory is normal; and if the stored data is different from the preset character, determining that the memory is damaged.

The autopilot device of an embodiment of the present application includes one or more processors, memory; and one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs including instructions for performing the steering control method of any of the above embodiments.

In the automatic driving equipment of the embodiment of the application, the angle difference between the target angle value and the actual angle value of the automatic driving equipment is calculated, the rotating speed of the automatic driving equipment is determined according to the angle difference, and then the automatic driving equipment is controlled to rotate to the target angle value at the rotating speed. On one hand, the situation that the automatic driving equipment rotates by a target angle due to overlarge swing amplitude of the automatic driving equipment caused by overhigh rotating speed is avoided, the situation that the automatic driving equipment rotates for too long time due to overlow rotating speed is also avoided, and the accurate control of the rotating speed of the automatic driving equipment during the rotation is realized; on the other hand, the automatic driving equipment can reach the target angle value more efficiently.

A non-transitory computer-readable storage medium containing a computer program according to an embodiment of the present application, which, when executed by one or more processors, causes the processors to execute a steering control method according to any one of the above-described embodiments.

In the computer-readable storage medium of an embodiment of the present application, the automatic driving apparatus is controlled to rotate to the target angle value at the rotation speed by calculating an angle difference between the target angle value and an actual angle value of the automatic driving apparatus and determining the rotation speed of the automatic driving apparatus according to the angle difference. On one hand, the situation that the automatic driving equipment rotates by a target angle due to overlarge swing amplitude of the automatic driving equipment caused by overhigh rotating speed is avoided, the situation that the automatic driving equipment rotates for too long time due to overlow rotating speed is also avoided, and the accurate control of the rotating speed of the automatic driving equipment during the rotation is realized; on the other hand, the automatic driving equipment can reach the target angle value more efficiently.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a steering control method according to an embodiment of the present application;

FIG. 2 is a block schematic diagram of an autopilot device according to an embodiment of the present application;

FIG. 3 is a block schematic diagram of a steering control apparatus according to an embodiment of the present application;

fig. 4 is a flowchart illustrating a steering control method according to an embodiment of the present application;

fig. 5 is a flowchart illustrating a steering control method according to an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a steering control method according to an embodiment of the present application;

fig. 7 is a flowchart illustrating a steering control method according to an embodiment of the present application;

fig. 8 is a flowchart illustrating a steering control method according to an embodiment of the present application;

fig. 9 is a flowchart illustrating a steering control method according to an embodiment of the present application;

fig. 10 is a flowchart illustrating a steering control method according to an embodiment of the present application;

fig. 11 is a flowchart illustrating a steering control method according to an embodiment of the present application;

fig. 12 is a schematic diagram illustrating a connection relationship between a computer-readable storage medium and a processor according to an embodiment of the present application.

Detailed Description

Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.

Referring to fig. 1 to 3, a steering control method according to an embodiment of the present invention includes the following steps:

010: acquiring a target angle value and a detected actual angle value of the automatic driving equipment 100;

020: calculating an angle difference between the actual angle value and the target angle value;

030: determining a rotation speed of the autopilot device 100 based on the angle difference; and

040: the autopilot device 100 is controlled to turn to the target angle value at the turning speed.

The steering control method of the autopilot apparatus 100 according to the embodiment of the present application includes an acquisition module 210, a calculation module 220, a determination module 230, and a control module 240, and the acquisition module 210, the calculation module 220, the determination module 230, and the control module 240 may be configured to implement step 010, step 020, step 030, and step 040, respectively. That is, the obtaining module 210 may be configured to obtain a target angle value and a detected actual angle value of the autopilot device 100; the calculation module 220 may be configured to calculate an angle difference between the actual angle value and the target angle value; the determination module 230 may be configured to determine a rotational speed of the autopilot device 100 based on the angular difference; the control module 240 may be used to control the autopilot device 100 to turn to a target angle value at a rotational speed.

The autopilot device 100 of the embodiment of the present application includes one or more processors 10, a memory 20, and one or more programs, wherein the one or more programs are stored in the memory 20 and executed by the one or more processors 10, the programs including instructions for executing the steering control method of the embodiment of the present application. When the processor 10 executes the program, the processor 10 may be configured to implement step 010, step 020, step 030, and step 040. That is, the processor 10 may be configured to: acquiring a target angle value and a detected actual angle value of the automatic driving equipment 100; calculating an angle difference between the actual angle value and the target angle value; determining a rotation speed of the autopilot device 100 based on the angle difference; and controlling the autopilot device 100 to rotate to the target angle value at the rotational speed.

In the steering control method, the steering control device 200, and the autopilot device 100 according to the embodiment of the present application, the rotation speed of the autopilot device 100 is determined by calculating the angle difference between the target angle value and the actual angle value of the autopilot device 100 and according to the angle difference, and then the autopilot device 100 is controlled to rotate to the target angle value at the rotation speed. On one hand, the situation that the automatic driving device 100 rotates by a target angle due to the fact that the swing amplitude of the automatic driving device 100 is too large due to too high rotating speed is avoided, the situation that the automatic driving device 100 rotates for too long time due to too low rotating speed is also avoided, and accurate control over the rotating speed of the automatic driving device 100 during rotation is achieved; on the other hand, the automatic driving apparatus 100 is made to reach the target angle value more efficiently.

The autonomous device 100 may be an autonomous vehicle (e.g., an unmanned articulated vehicle, an unmanned automobile), an unmanned ship, an intelligent robot (e.g., a sweeping robot, a service robot), and other devices capable of autonomous driving, which are not listed here. The autopilot device 100 may also comprise elements such as a communication interface 30, task performance means, autopilot device 100, for example, autopilot device 100 may be used for transporting goods, performing rescue, cruising, cleaning the ground, etc.

Specifically, in step 010, a target angle value and a detected actual angle value of the automatic driving apparatus 100 are acquired. The actual angle value of the autopilot device 100 may be the yaw angle of the wheels or steering wheel. The target angle value is an angle to which elements such as wheels, a head, or a steering wheel of the automatic driving device 100 need to be turned, the target angle value may be set during path planning, or may be calculated according to surrounding environment data during driving, so that the automatic driving device 100 can avoid an obstacle, or the target angle value may be input by a user, which is not particularly limited herein. The actual angle value may be angle data detected by the current angle sensor, or may be calculated by other sensors (e.g., a laser sensor) according to the acquired detection data, which is not limited herein. The target angle value may be stored in the memory 20 of the autopilot device 100, and the target angle value may be obtained by reading data in the memory 20. The actual angle value may be obtained by directly reading data of the angle sensor, or may be obtained by processing the actual angle value by hardware such as the processor 10.

In some embodiments, autopilot device 100 includes a Vehicle Control Unit (VCU) and an angle sensor. The output range of the voltage generated by the angle sensor during steering is 0-5000 mV, and the steering angle range is 0-180 degrees. When the autopilot device 100 is steering, the VCU may calculate an actual angle value according to a linear relationship between the steering angle and the voltage, and then send the actual angle value to a corresponding device in the autopilot device 100.

In step 020, an angle difference between the actual angle value and the target angle value is calculated. For example, the target angle value is 40 °, the actual angle value is 10 °, and the angular difference is 30 ° from 40 ° -10 °. Alternatively, the target angle value is-15 °, the actual angle value is 20 °, and the angular difference is 20 ° - (-15 °) to 35 ° or-15 ° -20 ° -35 °. The angle difference may be obtained by subtracting the target angle value from the actual angle value, may also be obtained by subtracting the actual angle value from the target angle value, and may also be an absolute value of "subtracting the actual angle value from the target angle value", which is not limited herein.

In step 030, the rotational speed of the autopilot device 100 is determined from the angular difference. Specifically, the angle difference may be mapped to the rotation speed. For example, when the angle difference is within the first interval, the rotation speed is the first speed; when the angle difference value is within a second interval, the rotating speed is a second speed; and when the angle difference value is within the third interval, the rotating speed is the third speed. Alternatively, the angular difference may be a function of the rotational speed, for example, the angular difference is Δ θ, the rotational speed is ω, and the function may be Δ θ ═ k × ω + a, or Δ θ ═ k × ω²+ a, or Δ θ ═ k × ω³+ a, where k and a are coefficient values, which may be fixed values or may be determined according to the environmental complexity of the task area being executedAnd are not limited in detail herein.

The rotation speed of the autopilot device 100 is determined by the angle difference, so that the rotation speed of the autopilot device 100 can be accurately controlled, and the safety and the precision of the autopilot device 100 during rotation are improved. The rotation speed may be an angular speed, and the rotation speed may further include an angular speed and a linear speed, that is, forward or backward while rotating.

In one embodiment, the angular difference is directly proportional to the rotational speed of the autopilot device 100. That is, the greater the angle difference, the greater the rotational speed of the corresponding autopilot device 100; the smaller the angle difference, the smaller the rotational speed of the corresponding autopilot device 100. Therefore, the accuracy of the automatic driving device 100 during rotation can be ensured, the time of rotation can be ensured not to be too long, and the efficiency of the automatic driving device 100 during rotation can be improved.

In step 040, the autopilot device 100 is controlled to turn at the rotational speed to the target angle value. The rotational speed of the autopilot device 100 has already been determined in step 030, so that the autopilot device 100 only has to be controlled to rotate at the determined rotational speed until the autopilot device 100 has rotated to the target angle value. In one embodiment, the autopilot device 100 obtains the actual angle value of the autopilot device 100 in real time during the rotation process, calculates the angle difference between the actual angle value and the target angle value in real time, and adjusts the rotation speed of the autopilot device 100 according to the real-time angle difference. It will be appreciated that the speed of rotation of the autopilot device 100 is varied during rotation to a target angular value to facilitate more precise control over the accuracy of the rotation of the autopilot device 100. For example, when the angle difference gradually decreases, the rotation speed gradually decreases, and when the target angle is reached, the rotation is stopped; thus, accurate control of the rotation speed can be achieved, the accuracy of the autopilot device 100 when rotating to the target angle is improved, and errors of the autopilot device 100 when rotation is completed are reduced.

In one embodiment, when the actual angle value is smaller than the target angle value, the autopilot device 100 needs to be controlled to rotate to the right; when the actual angle value is greater than the target angle value, the autopilot device 100 needs to be controlled to rotate to the left.

Referring to fig. 4, in some embodiments, step 010 includes the following steps:

011: obtaining an initial target angle value;

012: judging whether the initial target angle value is within a preset angle range, wherein the preset angle range comprises a first critical value and a second critical value, and the first critical value is smaller than the second critical value;

if yes, go to step 013: determining the initial target angle value as a target angle value;

if not, go to step 014: when the initial target angle value is smaller than a first critical value, determining the first critical value as a target angle value; and determining the second critical value as the target angle value when the initial target angle value is greater than the second critical value.

In some embodiments, the obtaining module 210 may be further configured to: obtaining an initial target angle value; judging whether the initial target angle value is within a preset angle range, wherein the preset angle range comprises a first critical value and a second critical value, and the first critical value is smaller than the second critical value; if not, determining the first critical value as the target angle value when the initial target angle value is smaller than the first critical value; and determining the second critical value as the target angle value when the initial target angle value is greater than the second critical value. That is, step 011, step 012, step 013, and step 014 can also be implemented by the acquisition module 210.

In some embodiments, the processor 10 may be further configured to: obtaining an initial target angle value; judging whether the initial target angle value is within a preset angle range, wherein the preset angle range comprises a first critical value and a second critical value, and the first critical value is smaller than the second critical value; if not, determining the first critical value as the target angle value when the initial target angle value is smaller than the first critical value; and determining the second critical value as the target angle value when the initial target angle value is greater than the second critical value. That is, the processor 10 may also implement step 011, step 012, step 013, and step 014.

Specifically, the initial target angle value may be determined according to a work task (e.g., a travel path), and the initial target angle may also be an angle value calculated according to detected environmental data (e.g., obstacle data, a road, etc.). The initial target angle value may be large, and if the autopilot apparatus 100 rotates by a large angle at once, a collision with an obstacle may occur or the autopilot apparatus 100 may easily shake, causing a large error. Therefore, in order to improve the safety when the automatic driving apparatus 100 turns, it is necessary to determine whether the initial target angle value is within a predetermined angle range.

The preset angle range can be a safer angle range obtained through multiple tests, and the preset angle range can also be selected according to surrounding environment data, for example, if the surrounding environment is detected to be more complex (more moving people, more indoor obstacles and the like), a smaller preset angle range can be selected; when it is relatively simple to detect the surrounding environment (e.g., the environment is clear and moving obstacles are few), a larger preset angle range may be selected. In order to improve the safety during steering, the preset angle range needs to be within a reasonable interval. Therefore, the predetermined angle range includes a first threshold value and a second threshold value, and the first threshold value is smaller than the second threshold value. The absolute values of the first critical value and the second critical value may be equal or different, for example, the first critical value is-30 °, the second critical value is 30 °, and the preset angle range is [ -30 °, 30 ° ].

The preset angle range may be based on a zero position of the autopilot device 100 as a reference point, a maximum angle of the zero position turning to the left as a first critical value, and a maximum angle of the zero position turning to the right as a second critical value. With negative angle values to the left of the null and positive angle values to the right of the null. The first threshold value may be a maximum angle at the time of left steering, and the second threshold value may be a maximum angle at the time of right steering. For example, it is found through many tests that the maximum safety angle for a left turn is 45 °, the maximum safety angle for a right turn is 45 °, the first threshold value is-45 °, the second threshold value is 45 °, the predetermined angle range is [ -45 °,45 ° ].

Further, after the preset angle range is determined, whether the initial target angle value is within the preset angle range is judged. If the initial target angle value is within the predetermined angle range, the initial target angle value is determined as the target angle value. If the initial target angle value is not within the predetermined angle range, further comparing the magnitude relationship between the initial target angle value and the first and second critical values, and if the target angle value is less than the first critical value, determining the first critical value as the target angle value. If the initial target angle value is greater than the second critical value, the second critical value is determined as the target angle value. Thereby, the safety of the automatic driving apparatus 100 at the time of steering can be largely ensured.

In one embodiment, the predetermined angle range is [ -45 °,45 ° ]. When the initial target angle value is 30 degrees, determining that the target angle value is 30 degrees; when the initial target angle value is-20 degrees, determining that the target angle value is-20 degrees; when the initial target angle value is-60 degrees, determining that the target angle value is-45 degrees; when the initial target angle value is 55 °, the target angle value is determined to be 45 °.

Referring to FIG. 5, in some embodiments, step 011 includes the steps of:

0111: acquiring sensor data of at least one sensor detecting a surrounding environment; and

0112: an initial target angle value is calculated from the sensor data.

In some embodiments, the obtaining module 210 may be further configured to: acquiring sensor data of at least one sensor detecting a surrounding environment; and calculating an initial target angle value based on the sensor data. That is, the obtaining module 210 may also be used to implement step 0111 and step 0112.

In some embodiments, the processor 10 may be further configured to: acquiring sensor data of at least one sensor detecting a surrounding environment; and calculating an initial target angle value based on the sensor data. That is, the obtaining module 210 may also be used to implement step 0111 and step 0112.

Specifically, when the automatic driving apparatus 100 travels along the planned travel route, it may be found that an obstacle exists on the travel route, and the obstacle is likely to collide with the obstacle when traveling along the original travel route. In order to avoid collision with an obstacle, it is necessary to change the traveling direction so as not to collide with the obstacle during traveling. Therefore, it is possible to detect surrounding environment data by a sensor (for example, a laser sensor, an image sensor, or the like) and calculate a safe initial target angle value from the detected sensor data, that is, the automatic driving apparatus 100 will not collide with an obstacle after rotating to the initial target angle value, thereby further improving the safety of the automatic driving apparatus 100 during driving.

Further, referring to fig. 6, the automatic driving apparatus 100 finds that there is an obstacle S on the driving path L while driving, detects data of the obstacle S through a sensor, and calculates a minimum safe angle value θ 1, that is, if the automatic driving apparatus 100 continues to drive after turning to θ 1, the automatic driving apparatus will not collide with the obstacle S. Thus, the initial target angle value may be θ 1 or an angle value greater than θ 1. In fig. 6, the automatic driving apparatus 100 before steering is indicated by a solid line, and the automatic driving apparatus 100 after steering is indicated by a broken line in fig. 6.

Referring to fig. 7, in some embodiments, after determining the first threshold value or the second threshold value as the target angle value, the steering control method further includes the following steps:

051: calculating a first angle difference between the initial target angle value and a first critical value, or calculating a second angle difference between the initial target angle value and a second critical value; and

052: and determining the first angle difference or the second angle difference as the initial target angle value of the next time.

In some embodiments, steering control device 200 may also be used to: calculating a first angle difference between the initial target angle value and a first critical value, or calculating a second angle difference between the initial target angle value and a second critical value; and determining the first angle difference or the second angle difference as an initial target angle value at the next time. That is, steering control device 200 may also be used to implement step 051 and step 052.

In some embodiments, the processor 10 may be further configured to: calculating a first angle difference between the initial target angle value and a first critical value, or calculating a second angle difference between the initial target angle value and a second critical value; and determining the first angle difference or the second angle difference as an initial target angle value at the next time. That is, processor 10 may also be used to implement

steps

051 and 052.

Specifically, a preset angle range is set for safety during steering, and if the initial target angle value is not within the preset angle range, the first critical value and the second critical value are taken as the target angle value, but the autopilot device 100 needs to rotate to the initial target angle value to be able to run safely. Thus, rotation to the initial target angle value may be achieved by multiple rotations.

More specifically, after determining the first critical value as the target angle value, a first angle difference between the initial target angle value and the first critical value is calculated, and then the first angle difference is determined as the next initial target angle value, and the

steps

010, 020, 030, 040, and the like are further performed to rotate the autopilot device 100 to the initial target angle value. After the second critical value is determined to be the target angle value, a second angle difference between the initial target angle value and the second critical value is calculated, then the second angle difference is determined to be the next initial target angle value, and the steps of 010, 020, 030, 040 and the like are further executed, so that the automatic driving device 100 is rotated to the initial target angle value.

For example, the initial target angle value is 60 °, the preset angle range is [ -45 °,45 ° ], since 60 ° is greater than 45 °,45 ° is taken as the target angle value, and then the angle difference between 60 ° and 45 ° -60 ° -45 ° -15 ° is calculated, and 15 ° is taken as the next initial target angle value. That is, the automatic driving apparatus 100 is controlled to rotate to 45 °, and after the automatic driving apparatus 100 rotates to 45 °, the automatic driving apparatus 100 is controlled to rotate 15 °.

Thus, the autopilot device 100 can be rotated to the initial target angle value by one, two, three, or more rotations, which not only ensures the safety of the autopilot device 100 when steering, but also ensures the accuracy when steering.

Referring to FIG. 8, in some embodiments, step 030 includes the following steps:

031: if the angle difference is larger than a first preset difference, outputting a first proportional valve signal;

032: if the angle difference value is between a second preset difference value and the first preset difference value, outputting a second proportional valve signal, wherein the second preset difference value is smaller than the first preset difference value;

033: if the angle difference is smaller than a second preset difference, outputting a third proportional valve signal; and

034: the rotational speed is determined from the first proportional valve signal, or the second proportional valve signal, or the third proportional valve signal.

Wherein the rotational speed determined from the first proportional valve signal is greater than the rotational speed determined from the second proportional valve signal, and the rotational speed determined from the second proportional valve signal is greater than the rotational speed determined from the third proportional valve signal.

In some embodiments, the determination module 230 may be further configured to: if the angle difference is larger than a first preset difference, outputting a first proportional valve signal; if the angle difference value is between a second preset difference value and the first preset difference value, outputting a second proportional valve signal, wherein the second preset difference value is smaller than the first preset difference value; if the angle difference is smaller than a second preset difference, outputting a third proportional valve signal; and determining the rotation speed according to the first proportional valve signal, the second proportional valve signal or the third proportional valve signal. That is, the determining module 230 can also be used to implement step 031, step 032, step 033, and step 034.

In some embodiments, the processor 10 may be further configured to: if the angle difference is larger than a first preset difference, outputting a first proportional valve signal; if the angle difference value is between a second preset difference value and the first preset difference value, outputting a second proportional valve signal, wherein the second preset difference value is smaller than the first preset difference value; if the angle difference is smaller than a second preset difference, outputting a third proportional valve signal; and determining the rotation speed according to the first proportional valve signal, the second proportional valve signal or the third proportional valve signal. That is, the processor 10 may also be configured to implement step 031, step 032, step 033, and step 034.

Specifically, the angle difference refers to an absolute value of "subtracting the target angle value from the actual angle value", the first predetermined difference and the second predetermined difference may be preset fixed values, or may have a plurality of fixed values, and the corresponding fixed values are automatically selected as the first predetermined difference and the second predetermined difference according to the complexity of the task scene, so as to improve the security during rotation.

The first proportional valve signal, the second proportional valve signal and the third proportional valve signal all correspond to the rotating speed. For example, a first proportional valve signal corresponds to a first rotational speed, a second proportional valve signal corresponds to a second rotational speed, and a third proportional valve signal corresponds to a third rotational speed. The first proportional valve signal, the second proportional valve signal, and the third proportional valve signal may be signals such as a voltage signal and a current signal, and the adjustment of the rotation speed of the autopilot device 100 may be achieved by adjusting the voltage. And the rotating speed corresponding to the first proportional valve signal is greater than the rotating speed corresponding to the second proportional valve signal, and the rotating speed corresponding to the second proportional valve signal is greater than the rotating speed corresponding to the third proportional valve signal. That is, the first proportional valve signal, the second proportional valve signal, and the third proportional valve signal are different from each other.

Specifically, when the angle difference is greater than or equal to a first predetermined difference, indicating that the angle that needs to be rotated is large, a first proportional valve signal is output, and then a control voltage or current is determined according to the first proportional valve signal, so that the automatic driving apparatus 100 is rotated at a rotation speed corresponding to the first proportional valve signal. When the angle difference is between the first predetermined difference of the second predetermined differences, which indicates that the angle required to be rotated is moderate, a second proportional valve signal is output, and then the voltage or the current is adjusted according to the second proportional valve signal, so that the automatic driving device 100 rotates at the rotation speed corresponding to the second proportional valve signal. When the angle difference is less than or equal to the second predetermined difference, it indicates that the angle required to be rotated is small or the target angle value is about to be reached, outputs a third proportional valve signal, and then adjusts the voltage or current according to the third proportional valve signal, so that the automatic driving apparatus 100 rotates at a rotation speed corresponding to the third proportional valve signal.

In one embodiment, the first proportional valve signal represents 25% rotation at a predetermined speed, the second proportional valve signal represents 23% rotation at a predetermined speed, and the third proportional valve signal represents 21% rotation at a predetermined speed, wherein the predetermined speed may be a fixed value that is preset or a value that is automatically adjusted according to the job task.

Referring to fig. 9, in some embodiments, the rotation control method further includes the following steps:

061: calculating a null difference between an actual null and a predetermined null of the autopilot device 100;

062: judging whether the zero difference value is larger than a preset zero difference value or not;

if yes, go to step 063: recalibrating the zero position of the autopilot device 100 to obtain a calibrated zero position; and

064: the nominal zero bit is written to a first predetermined location of the memory 20.

In some embodiments, the rotation control device may be further configured to: calculating a null difference between an actual null and a predetermined null of the autopilot device 100; judging whether the zero difference value is larger than a preset zero difference value or not; if so, recalibrating the zero position of the automatic driving equipment 100 to obtain a calibrated zero position; and writing the nominal zero to a first predetermined location of the memory 20. That is, the rotation control means may also be used to implement step 061, step 062, step 063, and step 064.

In some embodiments, the processor 10 may be further configured to: calculating a null difference between an actual null and a predetermined null of the autopilot device 100; judging whether the zero difference value is larger than a preset zero difference value or not; if so, recalibrating the zero position of the automatic driving equipment 100 to obtain a calibrated zero position; and writing the nominal zero to a first predetermined location of the memory 20. That is, processor 10 may also be used to implement step 061, step 062, step 063, and step 064.

Specifically, the actual zero position refers to a zero position at which the automatic driving device 100 is currently balanced, and the predetermined zero position refers to a preset zero value (for example, a factory zero value or a calibrated zero value). Because the detected actual angle value is detected by sensors of angle sensors and the like, if the difference between the actual zero position and the preset zero position is large, the rotating speed and the actual angle reached after rotation can be influenced.

Therefore, it is necessary to obtain a real-time zero position in real time or every preset time period, calculate a zero position difference value between the real-time zero position and a preset zero position, and then determine whether the zero position difference value is greater than the preset zero position difference value. If the zero difference is greater than or equal to the predetermined zero difference, it indicates that the error of the acquired data is large, the actual zero of the automatic driving device 100 needs to be recalibrated, a calibrated zero is obtained, and the calibrated zero is written into the first predetermined position of the memory 20, so that the actual zero of the automatic driving device 100 is updated, the accuracy of the acquired angle data is improved, and the steering error is reduced. If the null difference is less than the predetermined null difference, indicating that the angular error of the autopilot device 100 is within the allowable range, the null need not be recalibrated.

The actual zero position can be detected by sensors such as an angle sensor. The specific process of calibrating the zero position is not described in detail herein, and may be to calibrate the zero position again by some existing calibration methods.

Referring to fig. 10, in some embodiments, the steering control method further includes the following steps:

065: judging whether the memory 20 is damaged;

066: if not, determining the value of the first predetermined position of the memory 20 as a predetermined zero position of the autopilot device 100; and

067: if so, the predetermined value is determined to be a predetermined zero position of the autopilot device 100.

In some embodiments, steering control device 200 may also be used to: judging whether the memory 20 is damaged; if not, determining the value of the first predetermined position of the memory 20 as a predetermined zero position of the autopilot device 100; and if so, determining the predetermined value as a predetermined zero position of the autopilot device 100. That is, steering control device 200 may also be used to implement step 065, step 066, and step 067.

In some embodiments, the processor 10 may be further configured to: judging whether the memory 20 is damaged; if not, determining the value of the first predetermined position of the memory 20 as a predetermined zero position of the autopilot device 100; and if so, determining the predetermined value as a predetermined zero position of the autopilot device 100. That is, the processor 10 may also be used to implement step 065, step 066 and step 067.

Specifically, the determination of whether the memory 20 is damaged may be writing data into the memory 20, and then reading the data in the memory 20 to see whether the read data is consistent with the written data. The determination of whether the memory 20 is damaged may also be a detection of the memory 20 by some detection module to determine whether the memory 20 is damaged. How to determine whether the memory 20 is damaged is not limited herein.

Further, in step 064, the calibrated zero position has been written into the first predetermined position of the memory 20, so that when the memory 20 is normal, the value of the first predetermined position of the memory 20 is determined as the predetermined zero position of the autopilot device 100, so that the read predetermined zero position is relatively accurate. When the memory 20 is damaged, the predetermined numerical value is determined as the predetermined zero position of the autopilot device 100, so that the problem that the error of the acquired angle data is large due to the wrong zero position value in the memory 20 is avoided, and the accuracy in steering is improved. In one example, the predetermined value may be a true zero position of the autopilot device 100. In another example, the predetermined value is a middle position of the autopilot device 100.

Referring to fig. 11, in some embodiments, step 065 includes the steps of:

0651: writing the predetermined character to a second predetermined location in the memory 20;

0652: reading the stored data of the second predetermined position of the memory 20;

0653: if the stored data is consistent with the predetermined character, determining that the memory 20 is normal; and

0654: if the stored data is different from the predetermined character, it is determined that the memory 20 is defective.

In some embodiments, steering control device 200 may also be used to: writing the predetermined character to a second predetermined location in the memory 20; reading the stored data of the second predetermined position of the memory 20; if the stored data is consistent with the predetermined character, determining that the memory 20 is normal; and determining that the memory 20 is defective if the stored data differs from the predetermined character. That is, steering control device 200 may also be used to implement step 0651, step 0652, step 0653, and step 0654.

In some embodiments, the processor 10 may be further configured to: writing the predetermined character to a second predetermined location in the memory 20; reading the stored data of the second predetermined position of the memory 20; if the stored data is consistent with the predetermined character, determining that the memory 20 is normal; and determining that the memory 20 is defective if the stored data differs from the predetermined character. That is, the processor 10 may also be used to implement step 0651, step 0652, step 0653 and step 0654.

Specifically, the memory 20 may be a memory of a type such as an Electrically Erasable Programmable Read Only Memory (EEPROM). The predetermined characters may be any user-defined characters, such as ABCD, 1234, etc. After writing the predetermined character to the second predetermined location of the memory 20, the stored data of the second predetermined location of the memory 20 is read, and then whether the predetermined character is consistent with the stored data is compared. If the predetermined character is consistent with the stored data, it indicates that the memory 20 is normally not damaged; if the predetermined regime is not consistent with the stored data, this is an indication that the memory 20 is corrupted, at which point the predetermined zero bits read from the memory 20 are inaccurate. Wherein the second predetermined position may not be the same as the first predetermined position in the above embodiments. For example, the second predetermined location may be the first page in the memory 20 and the first predetermined location may be the fourth page in the memory 20.

In one example, memory 20 is implemented as an EEPROM (e.g., AT24C512 device), and a predetermined word "ABCD" is first written to the first page of the EEPROM; the data in the first page of the EEPROM is then read again, and if the read data is "ABCD", it indicates that the memory 20 is normal. If the read data is "ABDE," then it indicates that the memory 20 is corrupted.

In some embodiments, the steering angle of the autopilot device 100 ranges from 0 to 180 °, and the angle dimension is enlarged by a predetermined factor for ease of calculation and to improve calculation accuracy. For example, if the angle dimension is enlarged by 100 times, the steering angle is 0 to 18000. The angle data detected by the angle sensor will also be expanded by 100 times, for example, the angle data detected by the angle sensor is 45 °, and the expansion by 100 times becomes 4500. The preset angle range in the above embodiment will also be expanded by 100 times, for example, the original preset angle range is [ -45 °,45 ° ], and then the expanded preset angle range is [ -4500,4500 ]. By enlarging the angle dimension by a preset multiple, the calculation can be facilitated, the calculation precision can be improved, and the control precision during steering can be further improved.

Referring to fig. 1 and fig. 2 again, the memory 20 is used for storing a computer program that can be executed on the processor 10, and the processor 10 executes the computer program to implement the steering control method according to any of the above embodiments.

The memory 20 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Further, the autopilot device 100 may also include a communication interface 30, the communication interface 30 being used for communication between the memory 20 and the processor 10.

If the memory 20, the processor 10 and the communication interface 30 are implemented independently, the communication interface 30, the memory 20 and the processor 10 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 2, but it is not intended that there be only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 20, the processor 10, and the communication interface 30 are integrated on a chip, the memory 20, the processor 10, and the communication interface 30 may complete communication with each other through an internal interface.

The processor 10 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

Referring to fig. 12, a non-transitory computer readable storage medium 300 according to an embodiment of the present application includes a computer program 301, and when the computer program 301 is executed by one or more processors 400, the processor 400 executes a steering control method according to any embodiment of the present application.

For example, referring to fig. 1 and 2, when the computer program 301 is executed by the processor 400, the processor 400 is configured to perform the following steps:

For another example, referring to fig. 9, when the computer program 301 is executed by the processor 400, the processor 400 is configured to perform the following steps:

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement 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 application 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. 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.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means 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 application. In this specification, schematic representations of the above terms 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.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.

Claims

1. A steering control method characterized by comprising:

acquiring a target angle value and a detected actual angle value of the automatic driving equipment;

the obtaining of the target angle value and the detected actual angle value of the autopilot device includes:

obtaining an initial target angle value;

judging whether the initial target angle value is within a preset angle range or not, wherein the preset angle range comprises a first critical value and a second critical value, and the first critical value is smaller than the second critical value;

if not, when the initial target angle value is smaller than the first critical value, determining the first critical value as the target angle value; determining the second critical value as the target angle value when the initial target angle value is greater than the second critical value;

calculating an angle difference between the actual angle value and the target angle value;

determining the rotation speed of the automatic driving equipment according to the angle difference; and

controlling the automatic driving equipment to rotate to the target angle value at the rotating speed;

after determining the first threshold value or the second threshold value as the target angle value, the steering control method further includes:

calculating a first angle difference between the initial target angle value and the first critical value, or calculating a second angle difference between the initial target angle value and the second critical value; and

determining the first angle difference or the second angle difference as the initial target angle value at the next time.

2. The steering control method according to claim 1,

and if so, determining the initial target angle value as the target angle value.

3. The steering control method according to claim 1, wherein the obtaining an initial target angle value includes:

acquiring sensor data of at least one sensor detecting a surrounding environment; and

calculating the initial target angle value from the sensor data.

4. The steering control method according to claim 1, wherein the determining a rotational speed of the autonomous driving apparatus according to the angle difference value includes:

if the angle difference is larger than a first preset difference, outputting a first proportional valve signal;

if the angle difference value is between a second preset difference value and the first preset difference value, outputting a second proportional valve signal, wherein the second preset difference value is smaller than the first preset difference value;

if the angle difference is smaller than the second preset difference, outputting a third proportional valve signal; and

determining the rotational speed from the first proportional valve signal, or the second proportional valve signal, or the third proportional valve signal;

5. The steering control method according to claim 1, characterized by further comprising:

calculating a null difference between an actual null and a predetermined null of the autopilot device;

judging whether the zero difference value is larger than a preset zero difference value or not;

if so, re-calibrating the zero position of the automatic driving equipment to obtain a calibrated zero position; and

writing the nominal zero position to a first predetermined location of a memory.

6. The steering control method according to claim 5, characterized by further comprising:

judging whether the memory is damaged or not;

if not, determining the value of the first preset position of the memory as a preset zero position of the automatic driving equipment; and

and if so, determining a preset numerical value as a preset zero position of the automatic driving equipment.

7. The steering control method according to claim 6, wherein the determining whether the memory is defective includes:

writing a predetermined character to a second predetermined location within the memory;

reading storage data of the second preset position of the memory;

if the stored data is consistent with the preset character, determining that the memory is normal; and

and if the stored data is different from the preset character, determining that the memory is damaged.

8. A steering control device characterized by comprising:

the acquisition module is used for acquiring a target angle value and a detected actual angle value of the automatic driving equipment;

the acquisition module is further configured to:

obtaining an initial target angle value;

a calculation module for calculating an angle difference between the actual angle value and the target angle value;

a determination module for determining a rotational speed of the autonomous device based on the angular difference; and

a control module for controlling the autopilot device to turn to the target angle value at the rotational speed;

after determining the first critical value or the second critical value as the target angle value, the steering control device is further configured to calculate a first angle difference between the initial target angle value and the first critical value, or calculate a second angle difference between the initial target angle value and the second critical value; and

9. An autopilot device, characterized in that the autopilot device comprises:

one or more processors, memory; and

one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the steering control method of any of claims 1-7.

10. A non-transitory computer-readable storage medium containing a computer program which, when executed by one or more processors, causes the processors to perform the steering control method of any one of claims 1 to 7.