CN112406885A - Vehicle turning radius calculation method, terminal device and storage medium - Google Patents

Vehicle turning radius calculation method, terminal device and storage medium Download PDF

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Publication number
CN112406885A
CN112406885A CN202011394871.8A CN202011394871A CN112406885A CN 112406885 A CN112406885 A CN 112406885A CN 202011394871 A CN202011394871 A CN 202011394871A CN 112406885 A CN112406885 A CN 112406885A
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Prior art keywords
front wheel
steering angle
right front
left front
vehicle
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叶德焰
朱进阳
陈从华
任赋
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Mingjian Xiamen Technology Co ltd
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Mingjian Xiamen Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed

Abstract

The invention relates to a vehicle turning radius calculation method, a terminal device and a storage medium, wherein the method comprises the following steps: the method comprises the following steps of acquiring the running speed of each wheel in the running process of a vehicle in real time by using a wheel speed sensor in the vehicle; judging the turning direction according to the turning principle that the speed of the outer side wheel is greater than that of the inner side wheel; according to the left front wheel running speed and the right front wheel running speed, the left front wheel running arc length and the right front wheel running arc length in a single sampling time are calculated, a binary equation set is solved through a trigonometric function and a geometric position relation to obtain a group of left front wheel steering angle and right front wheel steering angle, multiple groups of collected data are subjected to ambiguity values elimination and then averaged to obtain the final reliable left front wheel steering angle and right front wheel steering angle, and finally the left front wheel turning radius and the right front wheel turning radius are calculated. The method is simple to implement, high in accuracy, prospective, high in instantaneity, strong in practicability, stable and reliable, does not need to additionally increase accessories, and has good application value and economic benefit.

Description

Vehicle turning radius calculation method, terminal device and storage medium
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method for calculating a turning radius of a vehicle, a terminal device, and a storage medium.
Background
The conventional way to calculate the turning radius of a vehicle is: a steering wheel angle sensor is arranged on a vehicle steering wheel, steering wheel angle signals are collected in real time, the turning angle of an inner wheel and an outer wheel is calculated according to calibrated inner wheel and outer wheel steering transmission ratio factors of an automobile, and finally the turning radius of the automobile is calculated.
The traditional vehicle turning radius calculation technology adopts a hardware sensor mode, and the sensor needs to be accurately calibrated, so that the method has the following defects: firstly, the steering wheel angle sensor is additionally arranged, so that the structure is complex and is easy to damage, and the vehicle cost is increased; and secondly, the steering wheel rotating angle acquired by the steering wheel angle sensor needs to be converted into an inner wheel rotating angle and an outer wheel rotating angle through a transmission ratio, and the conversion precision depends on the precision and the calibration error of a vehicle transmission structure and cannot be guaranteed.
Disclosure of Invention
In order to solve the above problems, the present invention proposes a vehicle turning radius calculation method, a terminal device, and a storage medium.
The specific scheme is as follows:
a vehicle turning radius calculation method comprising the steps of:
s1: collecting the running speed of each wheel in the vehicle;
s2: judging the turning direction of the vehicle according to the magnitude relation of the running speeds of the left wheel and the right wheel;
s3: setting sampling time, and calculating the running arc length of the left front wheel and the running arc length of the right front wheel in the sampling time according to the turning direction, the running speed of the left front wheel and the running speed of the right front wheel;
s4: calculating the steering angle of the left front wheel and the steering angle of the right front wheel in the sampling time according to the running arc length of the left front wheel and the running arc length of the right front wheel in the sampling time;
s5: averaging the steering angles of the left front wheel and the right front wheel in a plurality of continuous sampling times to obtain the final steering angle of the left front wheel and the final steering angle of the right front wheel;
s6: and calculating the turning radius of the left front wheel and the turning radius of the right front wheel according to the final steering angle of the left front wheel and the final steering angle of the right front wheel.
Further, the running speed in step S1 is calculated from the wheel speed pulse signal continuously collected by the wheel speed sensor mounted on each wheel.
Further, the arc length S of the left front wheel during the sampling time in step S3 is sampled1And the arc length S of the right front wheel2The calculation formula of (2) is as follows:
Figure BDA0002814399670000021
Figure BDA0002814399670000022
wherein v is1Indicating the speed of travel, v, of the left front wheel2Represents the traveling speed of the right front wheel, t represents time, t1、t2Respectively representing a sampling start time and a sampling end time corresponding to the sampling time.
Further, the left front wheel steering angle α within the sampling time in step S4iAnd right front wheel steering angle betaiThe calculation formula of (2) is as follows:
Figure BDA0002814399670000023
Figure BDA0002814399670000031
wherein S is1Indicating the arc length of travel of the left front wheel, S2Indicating the arc length of travel of the right front wheel, L1Indicating the track width of the vehicle, L2Representing the vehicle wheelbase.
Further, in step S5, the left front wheel steering angle and the right front wheel steering angle collected in each sampling time are stored as a set of data in the memory, and the maximum number of storage sets of the memory is set;
when data is stored every time, when the number of the groups stored in the memory is less than the maximum number of the stored groups, directly storing the group of data into the memory; when the number of the groups stored in the memory is equal to the maximum number of the storage groups, replacing a group of data with the earliest time in the memory with the group of data to be stored;
after each storage is finished, whether the number of the groups stored in the storage is equal to the maximum number of the storage groups is judged, if yes, all the groups of data stored in the storage are taken to be subjected to average value calculation, and the final left front wheel steering angle and the final right front wheel steering angle are obtained.
Further, the left front wheel turning radius R in step S61And the right front wheel turning radius R2The calculation formula of (2) is as follows:
Figure BDA0002814399670000032
Figure BDA0002814399670000033
wherein L is1Indicating the track width of the vehicle, L2Indicating the vehicle wheelbase, alpha the final left front wheel steering angle and beta the final right front wheel steering angle.
A vehicle turning radius calculation terminal device includes a processor, a memory, and a computer program stored in the memory and operable on the processor, the processor implementing the steps of the method described above in the embodiments of the present invention when executing the computer program.
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above for an embodiment of the invention.
The invention adopts the technical scheme, and has the following beneficial effects: firstly, the left front wheel steering angle and the right front wheel steering angle are calculated in real time by acquiring the running speed of each wheel in the running process of the vehicle, and the cost is not required to be increased through a software processing algorithm; and secondly, the steering angle of the left front wheel and the steering angle of the right front wheel are calculated through the wheel speed difference of the vehicle, so that the accuracy is high and the influence of the accuracy of a steering wheel corner sensor is avoided.
Drawings
Fig. 1 is a schematic top view of a left turn of a vehicle according to an embodiment of the present invention.
Fig. 2 is a left-turn driving path diagram of a vehicle according to a first embodiment of the invention.
Fig. 3 is a flowchart illustrating a method according to an embodiment of the invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
the left-turning overhead geometric model diagram of the vehicle shown in fig. 1 has the following meanings of the parameters:
point A is the central point of the left front wheel;
point B is the central point of the left rear wheel;
point C is the center point of the right rear wheel;
point D is the center point of the right front wheel;
the point O is a turning center point;
alpha is an included angle between a line segment OC and OA, namely a steering angle of a left front wheel;
beta is an included angle between the line segments OC and OD, namely a right front wheel steering angle;
L1the distance between the point A and the point D is used for representing the wheel track of the vehicle;
L2the distance between the point C and the point D is used for representing the vehicle wheelbase;
R1the distance between the point A and the point O is used for representing the turning radius of the left front wheel;
R2and the distance between the point D and the point O represents the turning radius of the right front wheel.
When the vehicle turns left, the left front wheel and the right front wheel generate different steering angles due to different turning radii, and according to a trigonometric function formula, the following formula can be obtained:
Figure BDA0002814399670000051
Figure BDA0002814399670000052
Figure BDA0002814399670000053
the left-turn driving path diagram of the vehicle as shown in fig. 2, wherein the inner circle is the left-turn left front wheel driving path of the vehicle, the outer circle is the left-turn right front wheel driving path of the vehicle, and O is the concentric circle center point of the turn.
Let us assume at t1At the moment, the left front wheel of the vehicle is at the point A, the right front wheel is at the point D, and when the vehicle is from t1Travel to time t2At time, the travel time Δ t is t2-t1，t2At time, the vehicle left front wheel is at point a 'and the right front wheel is at point D'.
Within the time delta t, the left front wheel of the vehicle runs from the point A to the point A ', and the running arc length between the point A and the point A' is S1；
Within the time delta t, the right front wheel of the vehicle runs from the point D to the point D ', and the running arc length between the point D and the point D' is S2；
Within the time delta t, the driving angles of the left front wheel and the right front wheel of the vehicle relative to the circle center are theta, and the unit is radian;
according to the circular arc calculation formula, the method can be obtained as follows:
S1＝θ*R1 (4)
S2＝θ*R2 (5)
substituting formula (1) into formula (4), substituting formula (2) into formula (5) yields:
Figure BDA0002814399670000061
Figure BDA0002814399670000062
dividing equation (6) by equation (7) yields:
Figure BDA0002814399670000063
substituting the formula (1) and the formula (2) into the formula (3) yields:
Figure BDA0002814399670000064
the running speed v of the left front wheel can be acquired by the wheel speed sensor of the left front wheel1According to v1And Δ t can be calculated as:
Figure BDA0002814399670000065
the running speed v of the right front wheel can be acquired through a right front wheel speed sensor2According to v2And Δ t can be calculated as:
Figure BDA0002814399670000066
finally, solving the equation set according to the binary equations of the formula (8) and the formula (9), wherein S1、S2、L1、L2All are known quantities, the values of alpha and beta can be solved, and then the left front wheel turning radius R is calculated according to the formula (1) and the formula (2)1And the right front wheel turning radius R2. The right turn calculation method is the same.
Based on the above calculation principle, an embodiment of the present invention provides a vehicle turning radius calculation method, as shown in fig. 3, which is a flowchart of the vehicle turning radius calculation method according to the embodiment of the present invention, the method including the steps of:
s1: the running speed of each wheel in the vehicle is collected.
The running speed in this embodiment is calculated from wheel speed pulse signals continuously collected by wheel speed sensors mounted on each wheel.
S2: and judging the turning direction of the vehicle according to the magnitude relation of the running speeds of the left wheel and the right wheel.
When the turning direction is the left side, the running speed of the right side wheel is higher than that of the left side wheel; when the turning direction is the right side, the running speed of the right side wheel is lower than that of the left side wheel.
S3: setting a sampling time Deltat, calculating a running arc length S of the left front wheel in the sampling time according to a formula (10) and a formula (11) according to the turning direction, the running speed of the left front wheel and the running speed of the right front wheel1And the arc length S of the right front wheel2。
S4: and calculating the steering angle of the left front wheel and the steering angle of the right front wheel in the sampling time according to the running arc length of the left front wheel and the running arc length of the right front wheel in the sampling time.
The arc length S of the left front wheel in the sampling time delta t solved in the step S31And the arc length S of the right front wheel2Substituting the formula (8) and the formula (9) into the formula (8) and the formula (9), solving a linear equation system of two elements to obtain the steering angle alpha of the left front wheel within the sampling time delta tiAnd right front wheel steering angle betai。
S5: and averaging the left front wheel steering angle and the right front wheel steering angle in a plurality of continuous sampling times to obtain a final left front wheel steering angle and a final right front wheel steering angle.
The average value of the steering angles of the left front wheel in a plurality of sampling times is the final steering angle alpha of the left front wheel;
the average value of the right front wheel steering angle in a plurality of sampling times is the final right front wheel steering angle beta;
in order to acquire the left-front wheel steering angle and the right-front wheel steering angle in a plurality of consecutive sampling times, in this embodiment, the left-front wheel steering angle and the right-front wheel steering angle acquired in each sampling time are stored as a set of data in the RAM memory, and the maximum number of memory sets of the RAM memory is set to CT.
When the data is stored every time, when the number of the groups stored in the memory is less than the maximum storage group number CT, directly storing the group data into the memory; when the number of stored groups in the memory is equal to the maximum number of stored groups CT, the group of data to be stored is substituted for the group of data with the earliest time in the memory.
After each storage is finished, whether the number of the groups stored in the memory is equal to the maximum storage group number CT or not is judged, and if yes, all the groups of data stored in the memory are taken to perform average calculation.
Furthermore, in order to make the calculation result more accurate, it is preferable to perform average calculation after removing ambiguous values from the multiple sets of data.
S6: and calculating the turning radius of the left front wheel and the turning radius of the right front wheel according to the final steering angle of the left front wheel and the final steering angle of the right front wheel.
The final left front wheel steering angle α and the final right front wheel steering angle β calculated in step S5 are substituted into the equations (1) and (2) to obtain the left front wheel turning radius R1And the right front wheel turning radius R2。
The embodiment of the invention mainly utilizes a wheel speed sensor assembled on an ABS system or an ESC system of the vehicle to acquire the running speed of each wheel in the running process of the vehicle in real time; judging the turning direction according to the turning principle that the speed of the outer side wheel is greater than that of the inner side wheel; according to the left front wheel running speed and the right front wheel running speed, the left front wheel running arc length and the right front wheel running arc length in a single sampling time are calculated, a binary equation set is solved through a trigonometric function and a geometric position relation to obtain a group of left front wheel steering angle and right front wheel steering angle, multiple groups of collected data are subjected to ambiguity values elimination and then averaged to obtain the final reliable left front wheel steering angle and right front wheel steering angle, and finally the left front wheel turning radius and the right front wheel turning radius are calculated. The method in the embodiment is simple to realize, high in accuracy, prospective, high in real-time performance, strong in practicability, stable and reliable, does not need to additionally increase accessories, and has good application value and economic benefit.
Example two:
the invention also provides a vehicle turning radius calculation terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method embodiment of the first embodiment of the invention.
Further, as an executable solution, the vehicle turning radius calculation terminal device is a host device installed on the vehicle, typically ABS, ESC controller, etc., through which the wheel speed sensor of each wheel is connected by a connection harness to acquire the running speed of each wheel.
The vehicle turning radius calculation terminal device may include, but is not limited to, a processor, a memory. It will be understood by those skilled in the art that the above-described constituent structure of the vehicle turning radius calculation terminal device is only an example of the vehicle turning radius calculation terminal device, and does not constitute a limitation on the vehicle turning radius calculation terminal device, and may include more or less components than the above, or combine some components, or different components, for example, the vehicle turning radius calculation terminal device may further include an input-output device, a network access device, a bus, and the like, which is not limited by the embodiment of the present invention.
Further, as an executable solution, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being a control center of the vehicle turning radius calculation terminal device, and various interfaces and lines are used to connect the respective sections of the entire vehicle turning radius calculation terminal device.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the vehicle turning radius calculation terminal device by operating or executing the computer program and/or module stored in the memory and calling data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method of an embodiment of the invention.
The vehicle turning radius calculation terminal device integrated module/unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. A vehicle turning radius calculation method characterized by comprising the steps of:
s1: collecting the running speed of each wheel in the vehicle;
s2: judging the turning direction of the vehicle according to the magnitude relation of the running speeds of the left wheel and the right wheel;
s3: setting sampling time, and calculating the running arc length of the left front wheel and the running arc length of the right front wheel in the sampling time according to the turning direction, the running speed of the left front wheel and the running speed of the right front wheel;
s4: calculating the steering angle of the left front wheel and the steering angle of the right front wheel in the sampling time according to the running arc length of the left front wheel and the running arc length of the right front wheel in the sampling time;
s5: averaging the steering angles of the left front wheel and the right front wheel in a plurality of continuous sampling times to obtain the final steering angle of the left front wheel and the final steering angle of the right front wheel;
s6: and calculating the turning radius of the left front wheel and the turning radius of the right front wheel according to the final steering angle of the left front wheel and the final steering angle of the right front wheel.
2. The vehicle turning radius calculation method according to claim 1, characterized in that: the running speed in step S1 is calculated from wheel speed pulse signals continuously collected by wheel speed sensors mounted on each wheel.
3. The vehicle turning radius calculation method according to claim 1, characterized in that: step S3 is a step of sampling the arc length S of the left front wheel during the time period1And the arc length S of the right front wheel2The calculation formula of (2) is as follows:
Figure FDA0002814399660000011
Figure FDA0002814399660000012
wherein v is1Indicating the speed of travel, v, of the left front wheel2Represents the traveling speed of the right front wheel, t represents time, t1、t2Respectively representing a sampling start time and a sampling end time corresponding to the sampling time.
4. The vehicle turning radius calculation method according to claim 1, characterized in that: left front wheel steering angle alpha within sample time in step S4iAnd right front wheel steering angle betaiThe calculation formula of (2) is as follows:
Figure FDA0002814399660000021
Figure FDA0002814399660000022
wherein S is1Indicating the arc length of travel of the left front wheel, S2Indicating the arc length of travel of the right front wheel, L1Indicating the track width of the vehicle, L2Representing the vehicle wheelbase.
5. The vehicle turning radius calculation method according to claim 1, characterized in that: in step S5, the steering angle of the front left wheel and the steering angle of the front right wheel collected in each sampling time are stored in a memory as a set of data, and the maximum number of storage sets of the memory is set;
when data is stored every time, when the number of the groups stored in the memory is less than the maximum number of the stored groups, directly storing the group of data into the memory; when the number of the groups stored in the memory is equal to the maximum number of the storage groups, replacing a group of data with the earliest time in the memory with the group of data to be stored;
after each storage is finished, whether the number of the groups stored in the storage is equal to the maximum number of the storage groups is judged, if yes, all the groups of data stored in the storage are taken to be subjected to average value calculation, and the final left front wheel steering angle and the final right front wheel steering angle are obtained.
6. The vehicle turning radius calculation method according to claim 1, characterized in that: left front wheel turning radius R in step S61And the right front wheel turning radius R2The calculation formula of (2) is as follows:
Figure FDA0002814399660000023
Figure FDA0002814399660000024
wherein L is1Indicating the track width of the vehicle, L2Indicating the vehicle wheelbase, alpha the final left front wheel steering angle and beta the final right front wheel steering angle.
7. A vehicle turning radius calculation terminal device characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, the processor implementing the steps of the method according to any one of claims 1 to 6 when executing the computer program.
8. A computer-readable storage medium storing a computer program, characterized in that: the computer program when executed by a processor implementing the steps of the method as claimed in any one of claims 1 to 6.
CN202011394871.8A 2020-12-03 2020-12-03 Vehicle turning radius calculation method, terminal device and storage medium Pending CN112406885A (en)

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CN113405819A (en) * 2021-06-18 2021-09-17 安徽江淮汽车集团股份有限公司 Vehicle turning radius measuring method and system based on GPS
CN115214281A (en) * 2021-11-12 2022-10-21 广州汽车集团股份有限公司 Vehicle suspension adjusting method and device and storage medium
CN115214281B (en) * 2021-11-12 2023-12-15 广州汽车集团股份有限公司 Vehicle suspension adjusting method, device and storage medium

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Application publication date: 20210226