CN112224280A - Control method and control device of steering system and vehicle - Google Patents
Control method and control device of steering system and vehicle Download PDFInfo
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- CN112224280A CN112224280A CN202010998129.1A CN202010998129A CN112224280A CN 112224280 A CN112224280 A CN 112224280A CN 202010998129 A CN202010998129 A CN 202010998129A CN 112224280 A CN112224280 A CN 112224280A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses a control method and a control device of a steering system and a vehicle. A control method of a steering system is used for a vehicle. The control method comprises the following steps: acquiring a lane line image, the vehicle speed and a corner signal of a vehicle; calculating the current lane offset according to the lane line image, and calculating the current steering wheel corner position according to the corner signal; when the vehicle speed of the vehicle is greater than the preset vehicle speed and the difference value between the offset values of the two adjacent lanes in the preset time is smaller than the preset threshold value, the counting is equal to the preset times, and when the current steering wheel corner position is smaller than the preset angle, the current steering wheel corner position is set to be zero. According to the control method, the steering wheel angle position is set to be zero by acquiring the lane line image, the vehicle speed and the steering wheel angle signal, so that self-learning calibration is successfully realized, and the condition that the vehicle runs and deviates due to deviation generated by calibration is avoided.
Description
Technical Field
The invention relates to the technical field of vehicle steering, in particular to a control method and a control device of a steering system and a vehicle.
Background
At present, the electric power steering system of the vehicle in the automobile industry is widely applied, a steering wheel corner sensor is used as a key part of the electric power steering system, provides a corner signal for a steering system controller to realize steering functions such as active return, active steering and the like, and can provide a corner signal for controllers such as an electronic vehicle body stabilizing system, a lane keeping system, an automatic parking system and the like to realize corresponding functions.
The calibration of the current corner signal mainly comprises the following steps: calibrating the middle position of the corner after the vehicle is off-line and calibrating the middle position of the corner by self-learning according to the wheel speed signal of the vehicle. Because the off-line calibration of the vehicle has certain deviation, and after the vehicle is used for a long time, factors such as mechanical system abrasion and the like can cause the deviation between the middle position of the corner and the middle position of the actual corner. The self-learning calibration can solve part of deviation generated by the rotation angle middle position of the wheel speed signal, but because the calibration strategy has high requirement on the accuracy of the wheel speed signal, the accuracy of the wheel speed signal is influenced by more factors, such as the specification of a tire, the abrasion condition of the tire, the tire pressure and the like. Therefore, the following two main problems exist at present: the calibration cannot be successfully self-learned, and the deviation is generated during calibration, so that the running deviation is caused.
Disclosure of Invention
The invention provides a control method and a control device of a steering system and a vehicle.
A control method of a steering system of an embodiment of the present invention is a control method for a vehicle, including:
acquiring a lane line image, the speed of the vehicle and a corner signal;
calculating the current lane offset according to the lane line image, and calculating the current steering wheel corner position according to the corner signal;
when the vehicle speed of the vehicle is greater than a preset vehicle speed and the difference value between the two adjacent lane offsets in a preset time length is smaller than a preset threshold value, the counting is equal to a preset number of times, and the current steering wheel corner position is smaller than a preset angle, the current steering wheel corner position is set to be zero.
In some embodiments, calculating a current lane offset from the lane line image includes:
processing the lane line image to generate a lane central line;
comparing the lane central line with the vehicle central line to obtain the transverse distance between the lane central line and the vehicle central line, wherein the transverse distance is used as the lane offset.
In some embodiments, processing the lane line image to generate a lane centerline comprises:
processing the lane line images to identify lane lines on the left and right sides in front of the vehicle;
and generating the lane central line according to the lane lines on the left side and the right side.
In certain embodiments, the control method comprises:
and when the vehicle speed of the vehicle is not greater than the preset vehicle speed or the difference value of the two adjacent lane offsets in the preset time is not less than a preset threshold value, setting the count value to be zero.
In certain embodiments, the control method comprises:
and when the count is less than the preset times, continuously calculating the current lane offset.
In certain embodiments, the control method comprises:
and when the vehicle speed of the vehicle is greater than the preset vehicle speed and the count of the difference value of the two adjacent lane offsets within the preset time length is smaller than the preset threshold value is equal to the preset number of times, setting the count to be zero.
In certain embodiments, the lane line image is captured by a forward looking camera of the vehicle.
In certain embodiments, the control method comprises:
acquiring a steering instruction sent by a driving assistance system of the vehicle;
and controlling the vehicle to steer according to the steering command and the current steering wheel angle position.
A control device of a steering system according to an embodiment of the present invention is a control device for a vehicle, including:
the acquisition module is used for acquiring lane line images, the vehicle speed and the corner signal of the vehicle;
the calculation module is used for calculating the current lane offset according to the lane line image and calculating the current steering wheel corner position according to the corner signal;
the calibration module is used for setting the current steering wheel corner position to be zero when the vehicle speed of the vehicle is greater than a preset vehicle speed and the difference value between the two adjacent lane offsets in a preset time length is smaller than a preset threshold value, wherein the count is equal to a preset number of times, and the current steering wheel corner position is smaller than a preset angle.
A vehicle according to an embodiment of the present invention includes the control device of the steering system according to the above embodiment.
According to the control method and the control device of the steering system and the vehicle, the steering wheel angle position can be set to zero by acquiring the lane line image, the vehicle speed and the steering wheel angle signal, the self-learning calibration is successfully realized, and the condition that the vehicle runs and deviates due to deviation generated by calibration is avoided.
Advantages of additional aspects of the invention 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 the invention.
Drawings
The above and/or additional aspects and advantages of the present invention 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 flowchart illustrating a control method of a steering system according to an embodiment of the present invention;
fig. 2 is a scene schematic diagram of a control method of a steering system of an embodiment of the present invention;
fig. 3 is another scene schematic diagram of a control method of a steering system of the embodiment of the invention;
fig. 4 is another flowchart illustrating a control method of the steering system according to the embodiment of the present invention;
fig. 5 is still another flowchart illustrating a control method of the steering system according to the embodiment of the present invention;
fig. 6 is still another flowchart of a control method of a steering system according to an embodiment of the present invention;
fig. 7 is a waveform diagram illustrating a count of a control method of a steering system according to an embodiment of the present invention;
fig. 8 is another flowchart illustrating a control method of the steering system according to the embodiment of the present invention;
fig. 9 is still another flowchart illustrating a control method of the steering system according to the embodiment of the present invention;
fig. 10 is a block schematic diagram of a control device of the steering system of the embodiment of the invention;
fig. 11 is a scene schematic diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of illustrating the embodiments of the present invention and are not to be construed as limiting the embodiments of the present invention.
Referring to fig. 1, a control method of a steering system according to an embodiment of the present invention is applied to a vehicle. The control method comprises the following steps:
step S12: acquiring a lane line image, the vehicle speed and a corner signal of a vehicle;
step S14: calculating the current lane offset according to the lane line image, and calculating the current steering wheel corner position according to the corner signal;
step S16: when the vehicle speed of the vehicle is greater than the preset vehicle speed and the difference value between the offset values of the two adjacent lanes in the preset time is smaller than the preset threshold value, the counting is equal to the preset times, and when the current steering wheel corner position is smaller than the preset angle, the current steering wheel corner position is set to be zero.
According to the control method of the steering system, the lane line image, the vehicle speed and the steering wheel angle signal are obtained, the steering wheel angle position is set to be zero, self-learning calibration is successfully achieved, and the situation that deviation is generated in calibration so as to cause running deviation of a vehicle is avoided.
Specifically, the vehicle may include a forward looking camera, a rotation angle sensor, an Electronic Stability Program (ESP) and an Anti-lock Braking System (ABS).
In step S12, in certain embodiments, the lane line image is captured by a forward looking camera of the vehicle. In this way, during the running of the vehicle, an image of the lane line in front of the vehicle can be acquired. In addition, a vehicle speed signal during the running of the vehicle can be acquired by the ESP or the ABS, and a steering angle signal during the running of the vehicle can be acquired by the steering angle sensor.
In step S14, the lane center line and the vehicle center line are captured at equal intervals in the driving direction of the vehicle, a plurality of lane offsets can be calculated, and the relationship between the difference between two adjacent lane offsets in the preset time period and the preset threshold is compared, so as to determine whether the vehicle is going straight along the current lane. By calculating the current steering wheel angle position, the relationship of the current steering wheel angle position to the preset angle can be compared.
In step S16, the preset number of times may be an integer greater than 1. When the vehicle speed is greater than the preset vehicle speed and the count that the difference value of the offsets of the two adjacent lanes is smaller than the preset threshold value in the preset time period is equal to the preset number of times, the vehicle can be judged to be in a straight-going state along the current lane. Under the condition that the vehicle is in a straight-driving state along the current lane, if the steering wheel corner signal is invalid, the calibration of the steering wheel corner position is not performed, or the steering wheel corner signal is valid, but the current steering wheel corner position is smaller than a preset angle, namely the calibration of the original steering wheel corner position has deviation, if the vehicle runs according to the originally calibrated steering wheel corner position, the deviation of the vehicle occurs, therefore, the steering wheel corner position should be calibrated again, namely, the current steering wheel corner position is set to be zero.
In one example, the preset vehicle speed is 20km/h, the preset duration is 5s, the preset threshold is 30mm, and the preset number of times is 4. And under the condition that the running speed of the vehicle is greater than 20km/h, intercepting the lane center line and the vehicle center line at equal intervals in the running direction of the vehicle, calculating to obtain 3 lane offset, judging that the vehicle is in a straight running state along the current lane when the difference value of the two adjacent lane offset values in 4 continuous 5s is less than 30mm and the current steering wheel corner position is less than a preset angle, and setting the current steering wheel corner position to be zero.
In some embodiments, calculating the current lane offset from the lane line image includes: processing the lane line image to generate a lane central line; and comparing the lane center line with the vehicle center line to obtain the transverse distance between the lane center line and the vehicle center line, wherein the transverse distance is used as the lane offset.
Thus, the lane offset is calculated by comparing the lane center line with the vehicle center line, and the driving state of the vehicle or the state of the lane can be further judged. Specifically, in the driving direction of the vehicle, a lane center line and a vehicle center line are equidistantly cut, each section line is simultaneously intersected with the lane center line and the vehicle center line, each section line is perpendicular to the vehicle center line, the length of the section line between the lane center line and the vehicle center line is a transverse distance, and the transverse distance is a lane offset.
Further, please refer to fig. 2, fig. 2 is a schematic diagram of a lane line image captured by a front-view camera when a vehicle is driving in a curve. The left figure is the case where the vehicle is not on the lane center line, and the right figure is the case where the vehicle is on the lane center line. The steering system may be an electric power assisted steering system. The electric power steering column controller can generate lane center lines according to the lane line images, intercept the lane center lines and the vehicle center lines at equal intervals in the vehicle driving direction, and obtain lane offsets of 3 vehicle body center lines and the lane center lines in a preset time length, which can be recorded as e1, e2 and e 3. At the moment, the difference values e3-e2 and e2-e1 of the offsets of two adjacent lanes in the preset time length are both larger than the preset threshold value e, and then the front part is judged to be a curve or the vehicle is in a straight-going state along the current lane.
Referring to fig. 3, fig. 3 is a schematic view of a lane line image collected by a front-view camera when a vehicle travels straight along a lane line. The left diagram shows the case where the vehicle is not traveling on the lane center line, and the right diagram shows the case where the vehicle is traveling on the lane center line. At the moment, the difference values e3-e2 and e2-e1 of the offsets of two adjacent lanes in the preset time length are both smaller than a preset threshold value e, so that the situation that the front is a straight lane and the vehicle is in a straight-going state along the current lane at the moment can be preliminarily judged.
In some embodiments, processing the lane line image to generate a lane centerline comprises: processing the lane line image to identify lane lines on both left and right sides in front of the vehicle; and generating lane central lines according to the lane lines on the left side and the right side.
Thus, the lane center line can be accurately generated according to the lane lines on the left and right sides in front of the vehicle. It can be understood that the lane lines on the left and right sides in front of the vehicle are substantially parallel to each other, the lane center line is substantially parallel to the lane lines on the left and right sides in front of the vehicle, and the lane center line is substantially located in the middle of the lane lines on the left and right sides in front of the vehicle, so that the lane is divided into two parts with equal left and right widths. The lane line of the curve is curved, and the lane center line of the curve is also curved; the lane line of the straight road is linear, and the lane center line of the straight road is also linear.
Referring to fig. 4, in some embodiments, the control method includes:
step S18: and when the vehicle speed of the vehicle is not greater than the preset vehicle speed or the difference value of the offsets of two adjacent lanes in the preset time length is not less than the preset threshold value, setting the count value to be zero.
Therefore, the calculation amount is reduced, and the steering wheel corner position is effectively prevented from being set to be zero when the vehicle does not run straight along the current lane. It can be understood that when the vehicle speed of the vehicle is not greater than the preset vehicle speed, the vehicle speed of the vehicle is slow, and the vehicle is intercepted at equal intervals in the driving direction of the vehicle to calculate the difference value of the offset of two adjacent lanes in the preset time length, so that the waiting time is long, more calculation amount is occupied, and the calculation speed of the vehicle is influenced. Under the condition that the difference value of the offset values of two adjacent lanes is not smaller than a preset threshold value within a preset time length, the central line of the vehicle and the central line of the lanes have large offset, the vehicle can run on a curve, and if the corner position of a steering wheel of the vehicle running along the curve is set to be zero, the vehicle cannot run straight normally. Therefore, when the vehicle speed of the vehicle is not greater than the preset vehicle speed or the difference value of the offset of two adjacent lanes in the preset time is not less than the preset threshold value, the counting number is set to be zero, and the calculation amount is reduced.
Referring to fig. 5 and 6, in some embodiments, the control method includes:
step S15: when the count is less than the preset number, the current lane offset amount is continuously calculated.
Therefore, the reliability and the accuracy of judging the vehicle running state are improved. It can be understood that, under the condition that the curve of the lane is relatively gentle, when the vehicle just enters the curve, the calculated difference values of the offsets of the two adjacent lanes in the preset time period may be both smaller than the preset threshold, and then the running state of the vehicle is judged to be a straight-going state along the current lane by mistake, but along with the increase of the running distance of the vehicle, the calculated difference value of the offsets of the two adjacent lanes in the preset time period may gradually increase and be larger than the preset threshold. Therefore, the preset times are preset, the current lane offset is continuously calculated under the condition that the count is smaller than the preset times, the relation between the difference value of the two adjacent lane offsets in the preset time length and the preset threshold value is compared until the count is equal to the preset times, and then the vehicle is determined to be in a straight-going state along the current lane.
Specifically, under the condition that the count is less than the preset number of times, when the difference value of the offset of two adjacent lanes in the calculated preset time length is less than a preset threshold value, the count is increased by 1, otherwise, the count is set to be zero.
In one example, please refer to fig. 7, in the time periods (i), (ii), and (iii), since the Counting (COUNT) occurs before reaching the preset number (N) and does not satisfy the judgment condition of the straight-going state along the current lane, the counting is set to zero, and the counting is restarted. In the time periods of the fourth time period and the fifth time period, because the counting reaches the preset times, the steering wheel rotation angle position calibration is completed twice. That is, the steering wheel angle position can be continuously calibrated in the case where the condition is satisfied.
Referring to fig. 8, in some embodiments, the control method includes:
step S17: and when the vehicle speed of the vehicle is greater than the preset vehicle speed and the count of the difference value of the offset of the two adjacent lanes in the preset time length is smaller than the preset threshold value is equal to the preset number of times, setting the count to be zero.
Therefore, the self-learning calibration of the steering wheel angle position is facilitated. It can be understood that after the vehicle is used for a long time, factors such as mechanical system abrasion can cause deviation between the steering wheel corner position and the actual steering wheel corner position, the counting is set to be zero after the calibration of the steering wheel corner position is completed, the vehicle can automatically carry out self-learning calibration under the condition that the vehicle speed is greater than the preset vehicle speed and the difference value of the offset of two adjacent lanes is smaller than the preset threshold value within the preset time period, and the current steering wheel corner position is smaller than the preset angle, so that the deviation of the steering wheel corner position can be timely and automatically corrected, and the deviation of the vehicle in the driving process is avoided.
Referring to fig. 9, in some embodiments, the control method includes:
step S22: acquiring a steering instruction sent by a driving assistance system of a vehicle;
step S24: and controlling the vehicle to steer according to the steering command and the current steering wheel angle position.
Therefore, the driving assistance system of the vehicle can normally realize the assistance function, and the vehicle can accurately steer according to the steering instruction of the driving assistance system. It can be understood that in the case where the steering wheel angle position is not calibrated, the active return function of the steering system of the vehicle may fail, resulting in a failure of the driving assistance system of the vehicle; under the condition that the calibration of the steering wheel corner position has deviation, the vehicle runs and deviates, so that the function of a driving assistance system of the vehicle is abnormal.
Specifically, the driving assistance system may include an ESP, a Lane keeping assist system (LKA), and an Automatic park assist system (APA).
In one example, the steering wheel angle position is successfully calibrated during the straight-ahead driving of the vehicle, and the APA can normally assist the vehicle in completing the steering and backing-in operation.
It should be noted that the specific numerical values mentioned in the above embodiments are only for illustrating the implementation of the present invention in detail, and should not be construed as limiting the present invention. In other examples or embodiments or examples, other values may be selected in accordance with the present invention and are not specifically limited herein.
Referring to fig. 10, a control device 10 of a steering system according to an embodiment of the present invention is applied to a vehicle. The control apparatus 10 includes an acquisition module 12, a calculation module 14, and a calibration module 16. The acquisition module 14 is used for acquiring the lane line image, the vehicle speed and the corner signal of the vehicle. The calculation module 14 is used for calculating the current lane offset according to the lane line image and calculating the current steering wheel angle position according to the angle signal. The calibration module 16 is configured to set the current steering wheel corner position to zero when the vehicle speed of the vehicle is greater than a preset vehicle speed and the difference between the offsets of two adjacent lanes in a preset time period is less than a preset threshold, where the count is equal to a preset number of times and the current steering wheel corner position is less than a preset angle.
In the control device 10 of the steering system according to the embodiment of the present invention, the steering wheel angle position can be set to zero by acquiring the lane line image, the vehicle speed and the steering wheel angle signal, so that the self-learning calibration is successfully realized, and the occurrence of the situation that the vehicle runs and deviates due to the deviation generated by the calibration is avoided.
It should be noted that the above explanation of the embodiment and the advantageous effects of the control method of the steering system is also applicable to the control device 10 of the steering system of the present embodiment and the vehicle of the following embodiment, and is not detailed here to avoid redundancy.
Referring to fig. 11, a vehicle 100 according to an embodiment of the present invention includes a control device 10 of a steering system according to the above embodiment.
In the vehicle 100 according to the embodiment of the invention, the steering wheel angle position can be set to zero by acquiring the lane line image, the vehicle speed and the steering wheel angle signal, so that the self-learning calibration is successfully realized, and the condition that the vehicle runs and deviates due to deviation generated by calibration is avoided.
Specifically, the vehicle 100 includes, but is not limited to, a pure electric vehicle, a hybrid electric vehicle, an extended range electric vehicle, a fuel vehicle, and the like.
The above disclosure provides many different embodiments or examples for implementing different configurations of embodiments of the invention. In order to simplify the disclosure of embodiments of the invention, specific example components and arrangements are described above. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, embodiments of the invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, embodiments of the present invention provide examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, 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.
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 alternate implementations are included within the scope of the preferred embodiment of the present invention 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 invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as 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, processing module-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 embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
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 invention 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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of a steering system for a vehicle, characterized by comprising:
acquiring a lane line image, the speed of the vehicle and a corner signal;
calculating the current lane offset according to the lane line image, and calculating the current steering wheel corner position according to the corner signal;
when the vehicle speed of the vehicle is greater than a preset vehicle speed and the difference value between the two adjacent lane offsets in a preset time length is smaller than a preset threshold value, the counting is equal to a preset number of times, and the current steering wheel corner position is smaller than a preset angle, the current steering wheel corner position is set to be zero.
2. The control method according to claim 1, wherein calculating a current lane offset amount from the lane line image includes:
processing the lane line image to generate a lane central line;
comparing the lane central line with the vehicle central line to obtain the transverse distance between the lane central line and the vehicle central line, wherein the transverse distance is used as the lane offset.
3. The control method of claim 2, wherein processing the lane line image to generate a lane centerline comprises:
processing the lane line images to identify lane lines on the left and right sides in front of the vehicle;
and generating the lane central line according to the lane lines on the left side and the right side.
4. The control method according to claim 1, characterized by comprising:
and when the vehicle speed of the vehicle is not greater than the preset vehicle speed or the difference value of the two adjacent lane offsets in the preset time is not less than a preset threshold value, setting the count value to be zero.
5. The control method according to claim 1, characterized by comprising:
and when the count is less than the preset times, continuously calculating the current lane offset.
6. The control method according to claim 1, characterized by comprising:
and when the vehicle speed of the vehicle is greater than the preset vehicle speed and the count of the difference value of the two adjacent lane offsets within the preset time length is smaller than the preset threshold value is equal to the preset number of times, setting the count to be zero.
7. The control method of claim 1, wherein the lane line image is captured by a forward looking camera of the vehicle.
8. The control method according to claim 1, characterized by comprising:
acquiring a steering instruction sent by a driving assistance system of the vehicle;
and controlling the vehicle to steer according to the steering command and the current steering wheel angle position.
9. A control device of a steering system for a vehicle, characterized by comprising:
the acquisition module is used for acquiring lane line images, the vehicle speed and the corner signal of the vehicle;
the calculation module is used for calculating the current lane offset according to the lane line image and calculating the current steering wheel corner position according to the corner signal;
the calibration module is used for setting the current steering wheel corner position to be zero when the vehicle speed of the vehicle is greater than a preset vehicle speed and the difference value between the two adjacent lane offsets in a preset time length is smaller than a preset threshold value, wherein the count is equal to a preset number of times, and the current steering wheel corner position is smaller than a preset angle.
10. A vehicle characterized by comprising the control device of the steering system according to claim 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112918482A (en) * | 2021-03-25 | 2021-06-08 | 东风汽车集团股份有限公司 | Method and system for detecting and analyzing vehicle deviation degree and storage medium |
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