CN112644581B - Steering zero offset automatic compensation method, controller and system of wire-controlled vehicle - Google Patents
Steering zero offset automatic compensation method, controller and system of wire-controlled vehicle Download PDFInfo
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- CN112644581B CN112644581B CN201910956648.9A CN201910956648A CN112644581B CN 112644581 B CN112644581 B CN 112644581B CN 201910956648 A CN201910956648 A CN 201910956648A CN 112644581 B CN112644581 B CN 112644581B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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 provides a steering zero offset automatic compensation method and a system for a wire-controlled vehicle, wherein the method comprises the following steps: controlling a steering motor of a wire-controlled vehicle through a decision controller, and keeping the angle value of the steering motor of the wire-controlled vehicle to be zero; and then the decision controller acquires the course angle value of the wire-controlled vehicle acquired by the inertial navigation unit, and performs steering zero offset compensation on the wire-controlled vehicle according to the acquired course angle value and the steering motor angle value. By adopting the technical scheme of the invention, the decision controller realizes automatic compensation of the steering zero-position deviation of the wire-controlled vehicle according to the steering motor angle value and the accurate course angle value of the wire-controlled vehicle, overcomes the defect of overlarge vehicle steering zero-position compensation error in the prior art, improves the operation efficiency and ensures the consistency of a steering zero-position compensation program of the wire-controlled vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle wire control, in particular to a steering zero offset automatic compensation method, a controller and a system of a wire control vehicle.
Background
The steer-by-wire system is a key component for realizing the transverse control of the intelligent driving vehicle, and the zero-position accuracy of the steer-by-wire system is directly related to the precision of the transverse control of the vehicle, so that an important work in debugging the steer-by-wire system is to perform zero-position compensation on steering.
The method for realizing zero compensation in the prior art mainly comprises the steps of manually calibrating, specifically, searching a straight reference object for a driver, driving a vehicle to run linearly according to the straight reference object, recording a steering angle value in the running process of the vehicle, and compensating the angle in a steering controller if the steering angle value is not zero to enable the fed-back steering angle value to be zero, wherein the steering angle of the steering wheel of the vehicle is generally adopted as the steering angle value in the compensation process. However, this method can only eliminate a large steering null error, and since this method mainly depends on the feeling and experience of the driver in controlling the straight running of the vehicle, it inevitably introduces an error to cause inaccurate null compensation.
In practical application, according to actual measurement data, the steering zero-position deviation compensation is carried out by adopting the method, the introduced zero-position error is usually more than +/-4 degrees, the steering zero-position error is overlarge, the compensated vehicle is easy to press lines to run on an open road, the situation that the vehicle cannot turn when running on a curve is caused, potential safety hazards in the running process of the vehicle are easily caused due to improper control, and the running track of the vehicle is easy to deviate from the preset track when the intelligent driving vehicle carries out track following; in addition, the adoption of the zero compensation method can cause the situation that the steering zero errors of a plurality of vehicles are inconsistent, and is not beneficial to ensuring the consistency of the steering program setting.
Disclosure of Invention
To solve the above problems, the present invention provides a steering null offset automatic compensation method for a steer-by-wire vehicle, which in one embodiment comprises:
step S1, the decision controller controls the steering motor of the wire-controlled vehicle to make the angle value of the steering motor of the wire-controlled vehicle be zero;
and S2, in the process of keeping the steering motor angle value of the wire-controlled vehicle to be zero, the decision controller acquires the course angle value of the wire-controlled vehicle acquired by the inertial navigation unit, and performs steering zero offset compensation on the wire-controlled vehicle according to the acquired course angle value.
Preferably, in step S2, the process of the decision controller acquiring the heading angle value of the steer-by-wire vehicle includes:
the decision controller controls the inertial navigation unit to acquire a course angle value of the wire-controlled vehicle in a parking state, and the acquired course angle value is used as an initial course angle;
the decision controller controls the wire-controlled vehicle to run at a set speed, and controls the inertial navigation unit to acquire course angle values of a set quantity in a time period under the running state of the wire-controlled vehicle in real time in the running process of the wire-controlled vehicle.
Further, in the step S2, the decision controller performs steering null offset compensation on the steer-by-wire vehicle by:
step A1, calculating course angle filtering values of course angle values of the set number in the time period;
and A2, comparing the filtered course angle value with the initial course angle, and increasing or decreasing the set degree of the angle value of the steering motor of the wire-controlled vehicle according to the difference value of the filtered course angle value and the initial course angle value until the difference value is smaller than the set compensation difference threshold value, thereby completing the steering zero offset compensation.
In another embodiment, in the step S2, the process of obtaining the heading angle value of the steer-by-wire vehicle by the decision controller includes:
the decision controller controls the drive-by-wire vehicle to run at a set speed;
the decision controller controls the inertial navigation unit to respectively acquire the set number of heading angle values in two adjacent time periods T1 and T2 in the driving process of the wire-controlled vehicle.
Further, in the step S2, the decision controller performs steering null offset compensation on the steer-by-wire vehicle by:
step B1, respectively calculating a heading angle filtered value yaw1 of each heading angle value in a time period T1 and a heading angle filtered value yaw2 of each heading angle value in a time period T2;
And step B2, comparing the filtered value yaw1 with the filtered value yaw2, and increasing or decreasing the steering motor angle value of the wire-controlled vehicle by a set degree according to the difference value of the two values until the difference value is smaller than a set compensation difference threshold value, thereby completing the steering zero offset compensation.
Preferably, in one embodiment, the method further comprises:
and the decision controller acquires a compensation angle value of the drive-by-wire vehicle and stores the compensation angle value and the compensated zone bit.
Further, the method further comprises:
in the step S2, the decision controller determines whether the steering zero position of the steer-by-wire vehicle needs to be compensated by determining whether the obtained heading angle value of the steer-by-wire vehicle during the driving process changes, and if so, performs steering zero position deviation compensation on the steer-by-wire vehicle according to the heading angle value.
The present invention also provides a decision controller for automatic compensation of steering null offset, the decision controller performing the method and steps described in one or more of the embodiments above.
In addition, according to other aspects of the invention, a steering null error automatic compensation system for a wire-controlled vehicle is also provided, wherein the system comprises the decision controller in the embodiment; and
The steering angle sensor is arranged for acquiring the steering motor angle value of the steer-by-wire vehicle at the corresponding moment in real time according to the command from the decision controller and feeding the steering motor angle value back to the decision controller;
and the inertial navigation unit is arranged for acquiring the course angle value of the linear control vehicle at the corresponding moment in real time according to the command from the decision controller and feeding the course angle value back to the decision controller.
Compared with the closest prior art, the invention also has the following beneficial effects:
according to the automatic steering zero offset compensation method provided by the invention, a decision controller is used for controlling a steering motor of the wire-controlled vehicle, a control command is sent to the wire-controlled vehicle, and the angle value of the steering motor of the wire-controlled vehicle is enabled to be zero; and then in the process of keeping the steering motor angle value of the wire-controlled vehicle to be zero, acquiring the course angle value of the wire-controlled vehicle acquired by the inertial navigation unit, and automatically performing steering zero offset compensation on the wire-controlled vehicle according to the acquired course angle value. In the technical scheme of the invention, the steering motor angle value data and the course angle value data are set and collected by utilizing special functional components, the accuracy of the data can be ensured, reliable data support is provided for a decision controller to carry out steering zero offset compensation on a wire-controlled vehicle, and the accuracy of a zero compensation result is further ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a vehicle steering null compensation method according to the prior art;
FIG. 2 is a schematic flow chart of a method for automatic steering null offset compensation for a by-wire vehicle provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a decision controller in the automatic steering null shift compensation system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic steering null shift compensation system for a steer-by-wire vehicle according to an embodiment of the present invention.
Detailed Description
The following detailed description will be provided for the embodiments of the present invention with reference to the accompanying drawings and examples, so that the practitioner of the present invention can fully understand how to apply the technical means to solve the technical problems, achieve the technical effects, and implement the present invention according to the implementation procedures. It should be noted that, unless otherwise conflicting, the embodiments and features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are all within the scope of the present invention.
The steer-by-wire system is a key component for realizing the transverse control of the intelligent driving vehicle, the accuracy of the zero position of the steer-by-wire system, which is usually called as steering zero position, is directly related to the precision of the transverse control of the vehicle, the steering zero position is a straight line when a steering wheel of the vehicle steers to a certain position, and the steering position is the steering zero position.
An important task in commissioning steer-by-wire is zero compensation of steering. For example, the kinematic model of a vehicle in the case of a four-wheeled commercial vehicle running at low speed can be reduced to a single vehicle model, as shown in fig. 1, which is established in a local tangent plane rectangular coordinate system and defaults to non-steered wheels for the rear wheels. Defining heading angle value as yaw, steering wheel angle as steering angle, setting heading angle as yaw + kd, and Sterangle as kc deltaf(ii) a Where ψ is a yaw angle of the vehicle, kd is a deviation value between the north and east directions, kd is a constant, δfIs the front wheel slip angle, kc is the steering wheel drive ratio coefficient, and kc is a constant. Normally, when steepening is 0, the heading angle yaw of the vehicle should be kept constant during driving, and conversely, when the heading of the vehicle is kept constant, this time The position of the steering wheel is the zero position of the steering.
In the prior art, compensation of steering zero offset of a vehicle is mainly realized by a manual calibration method, specifically, a driver searches a straight reference object, drives the vehicle to run straight according to the straight reference object, records a steering angle value during the running of the vehicle, compensates the angle in a steering controller if the steering angle value is not zero, and makes the fed back steering angle value zero, for example, records a Steerangle value during the running of the vehicle, and if Steerangle at the moment is equal to a, compensation-a needs to be performed in the steering controller, so that Steerangle is equal to 0 during the running of the vehicle. The steering wheel angle of the vehicle is generally used as the steering angle value in the compensation process. The method can only eliminate large steering zero offset, cannot identify small steering zero offset, and cannot naturally compensate the steering zero with small offset. The method mainly depends on the feeling and experience of a driver in the process of controlling the vehicle to run linearly, so that zero compensation is inaccurate due to inevitable errors, the fact that steering zero offset compensation is carried out by adopting the method is found according to measured data, the introduced zero error often exceeds +/-4 degrees, the steering zero error is large, line pressing running is easy to occur in an open road, the situation that turning cannot be carried out in the process of running on a curve is easy to cause potential safety hazards in the running process of the vehicle due to improper control, and the running track of the vehicle is easy to deviate from a preset track when the intelligent driving vehicle carries out track following; in addition, the situation that the steering zero errors of a plurality of vehicles are inconsistent can exist by adopting the zero compensation method, and particularly the situation that the calibration is carried out by batch loading is not beneficial to ensuring the consistency of the setting of the steering program.
In order to solve the problems, the invention provides an automatic steering zero offset compensation method for a wire-controlled vehicle. Various embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of an automatic steering null offset compensation method for a steer-by-wire vehicle according to an embodiment of the present invention, and as can be seen from fig. 2, the method includes:
and S210, controlling a steering motor of the wire-controlled vehicle by the decision controller, and enabling the angle value of the steering motor of the wire-controlled vehicle to be zero.
In this step, the by-wire vehicle refers to a vehicle in which driving, braking, and steering of the vehicle CAN be controlled through a CAN network of the vehicle. The steering angle sensor for measuring the steering motor angle value is arranged for the wire-controlled vehicle, the actual value of the steering motor can be verified by utilizing the steering motor angle measurement value acquired by the steering angle sensor, the driver feeling verification is not relied on, and the steering motor angle value of the wire-controlled vehicle can be accurately zero.
And S220, in the process of keeping the steering motor angle value of the wire-controlled vehicle to be zero, the decision controller acquires the course angle value of the wire-controlled vehicle acquired by the inertial navigation unit, and performs steering zero offset compensation on the wire-controlled vehicle according to the acquired course angle value.
Preferably, in one embodiment, the process of the decision controller acquiring the heading angle value of the steer-by-wire vehicle in step S220 includes:
the decision controller controls the inertial navigation unit to acquire a course angle value of the wire-controlled vehicle in a parking state, and the acquired course angle value is used as an initial course angle.
The decision controller controls the wire-controlled vehicle to run at a set speed, and controls the inertial navigation unit to acquire course angle values of a set quantity in a time period under the running state of the wire-controlled vehicle in real time in the running process of the vehicle.
In the step, after the initial course angle of the wire-controlled vehicle is determined according to the operation, the decision controller generates a corresponding expected control instruction according to the actual requirement of the vehicle, and controls the vehicle to move according to the expected control instruction. The expected control command comprises an expected speed command V _ cmd and an expected steering motor Angle command Angle _ cmd, wherein the value of the Angle _ cmd is constantly 0, and the value range of the V _ cmd is generally set to be 3-12 km/h.
Preferably, in practical application, the inertial navigation unit is controlled by the decision controller to collect course angle values of n vehicles in the advancing process in real time according to a set time interval in the driving process of the wire-controlled vehicle; wherein n is the number of the collected course angle values set according to the actual requirement, and n is more than or equal to 50.
Further, the decision controller performs steering zero offset compensation on the wire-controlled vehicle through the following steps:
step a1, calculating the heading angle filtering value of the set number of heading angle values in the time period. The course angle filtering value means that continuous n course angle value data are stored in an array, and each data in the array is averaged, wherein the average value is the filtering value.
And step A2, comparing the filtered value of the course angle with the initial course angle, and increasing or decreasing the angle value of the steering motor of the wire-controlled vehicle by a set degree according to the difference value of the two values until the difference value between the two values is smaller than a set compensation difference threshold value, thereby completing the steering zero offset compensation.
Specifically, in a preferred example, after the filtered value YAW of each course angle value is obtained through calculation, the filtered value YAW is compared with the initial course angle YAW0, if YAW-YAW0 is greater than or equal to a, the angle value of the expected steering motor is increased by 1 degree, the vehicle is controlled to continue to travel, if YAW0-YAW is greater than or equal to a, the angle value of the expected steering motor is decreased by 1 degree, the vehicle is controlled to continue to travel until the difference between the two values is smaller than a, the steering zero-position deviation compensation of the vehicle is completed, the change difference of the angle value of the expected steering motor is the compensation angle value, and the steering zero-position deviation compensation program exits. Wherein a is a compensation difference threshold value set according to actual requirements, and is generally set to be less than or equal to 0.01.
In another embodiment of the present invention, the process of acquiring the heading angle value of the steer-by-wire vehicle by the decision controller comprises:
the decision controller controls the wire-controlled vehicle to run at a set speed.
The decision controller controls the inertial navigation unit to respectively acquire the set number of heading angle values in two adjacent time periods T1 and T2 in the driving process of the wire-controlled vehicle.
In this embodiment, the method for controlling the drive-by-wire vehicle to run at the set speed by the decision controller is similar to that in the above embodiment, and is not described herein again, and only the different technical solutions are described. In the embodiment of the invention, the number of the course angle values set in two set time periods under the driving state of the wire-controlled vehicle is directly collected respectively, wherein the number n of the collected course angles is set according to the actual requirement and is generally set to be more than or equal to 50 and less than or equal to 200.
Further, the decision controller performs steering null offset compensation on the steer-by-wire vehicle by:
and step B1, respectively calculating the heading angle filtered value yaw1 of each heading angle value in the time period T1 and the heading angle filtered value yaw2 of each heading angle value in the time period T2.
And step B2, comparing the filtered value yaw1 of the heading angle with the filtered value yaw2 of the heading angle, and increasing or decreasing the angle value of the steering motor of the wire-controlled vehicle by a set degree according to the difference value of the filtered value yaw1 of the heading angle and the filtered value yaw2 of the heading angle until the difference value between the filtered value yaw and the angle value of the steering motor of the wire-controlled vehicle is smaller than a set compensation difference threshold value, so that steering zero offset compensation is completed.
Specifically, the calculated heading angle filtered value yaw1 and the calculated heading angle filtered value yaw2 are compared in the step, if yaw 2-yaw 1> a, the angle value of the steering motor of the wire-controlled vehicle is increased by 1 degree, and if yaw1-yaw2> a, the angle value of the expected steering motor of the wire-controlled vehicle is decreased by 1 degree until the difference between the angle value and the angle value is smaller than a, and the steering zero offset is compensated; wherein a is a compensation difference threshold value set according to actual requirements, a is less than or equal to 0.01, and the compensation angle value of the wire-controlled vehicle is the change value of the steering motor angle value of the wire-controlled vehicle.
In one embodiment, the method provided by the present invention further comprises: and the decision controller acquires a compensation angle value of the wire-controlled vehicle and stores the compensation angle value and the compensated zone bit. In the step, after the steering zero offset of the wire-controlled vehicle is compensated, the variation of the angle value of the steering motor in the compensation process is used as a compensation angle value, and a compensated zone bit is set for the current wire-controlled vehicle at the same time, for example, the compensation zone bit com _ flag can be set to 1 in practical application, and then the compensation angle value and the compensated zone bit can be stored in a data recording unit in the decision controller.
In another embodiment, the method further comprises: in step S220, the decision controller determines whether the steering zero position of the steer-by-wire vehicle needs to be compensated by determining whether the obtained heading angle value of the steer-by-wire vehicle during the driving process changes, and if so, performs steering zero position offset compensation on the steer-by-wire vehicle according to the heading angle value.
Specifically, in this embodiment, before the zero offset compensation of the wire-controlled vehicle is started in step S220, that is, before the decision controller obtains the course angle value of the wire-controlled vehicle collected by the inertial navigation unit, the zero offset compensation state of the current wire-controlled vehicle is determined, and if the wire-controlled vehicle has already undergone the steering zero offset compensation or the steering zero is completely error-free, the steering zero offset compensation is not required. The process of determining the by-wire vehicle null offset compensation state may specifically include: whether a compensated zone bit exists in a decision controller of the wire-controlled vehicle is judged firstly, if yes, the wire-controlled vehicle is indicated to have already performed zero offset compensation, the current compensation state judgment operation and the steering zero offset compensation operation are stopped, and other conventional operation modes are continuously executed.
If the compensated zone bit does not exist, the decision controller sets the angle value of the steering motor of the vehicle to be zero, controls the drive-by-wire vehicle to keep the angle value of the steering motor to be zero for driving, acquires the course angle value of the vehicle in the advancing process through the inertial navigation unit, judges that the zero compensation state of the drive-by-wire vehicle is uncompensated if the course angle value change value of the drive-by-wire vehicle in the driving process exceeds a set threshold value, acquires the course angle value of the drive-by-wire vehicle collected by the inertial navigation unit through the decision controller, and enters a steering zero offset compensation program.
The technical scheme provided by the embodiment of the invention is utilized to carry out steering zero compensation, the steering zero compensation of a wire-controlled vehicle can be automatically realized, compared with the prior art, the technical requirement on the professional technology is not high, the operation of drivers with rich experience is not required, common users can also effectively implement the steering zero compensation, and the steering zero compensation has higher universality.
Based on the above method, the present invention further provides a decision controller for automatic compensation of steering null offset, wherein the decision controller executes the steps and the method in one or more of the embodiments.
Specifically, fig. 3 shows a schematic structural diagram of a decision controller for automatic steering null offset compensation according to an embodiment of the present invention, and as shown in fig. 3, the decision controller 30 includes:
A data recording unit 31 configured to receive and store data fed back to the decision controller by the steering angle sensor and the inertial navigation unit, and record and store data generated by the policy controller; specifically, the steering motor angle value acquired by the steering angle sensor, the course angle value data acquired by the inertial navigation unit and the compensated flag bit data are all transmitted to the data recording unit of the decision controller for storage.
A decision control unit 33 arranged to generate and send control instructions for the steer-by-wire vehicle, the steering angle sensor and the inertial navigation unit according to the settings.
And the compensation state judging unit 35 is set to determine whether the steering zero position of the wire-controlled vehicle needs to be compensated or not by judging whether the obtained heading angle value of the wire-controlled vehicle in the running process is changed or not.
Specifically, the compensation state determination unit 35 first determines whether a compensated flag bit exists in a decision controller of the steer-by-wire vehicle, and if so, indicates that the steer-by-wire vehicle has already performed zero offset compensation, terminates the current compensation state determination operation and the steering zero offset compensation operation, and continues to execute other normal operation modes.
If the compensated zone bit does not exist, the decision controller sets the angle value of the steering motor of the wire-controlled vehicle to be zero, controls the wire-controlled vehicle to keep the angle value of the steering motor to be zero to run, acquires the course angle value of the wire-controlled vehicle in the running process through the inertial navigation unit, judges that the zero compensation state of the wire-controlled vehicle is uncompensated if the change value of the course angle value of the wire-controlled vehicle in the running process exceeds a set threshold value, acquires the course angle value of the wire-controlled vehicle collected by the inertial navigation unit through the decision controller, and enters a steering zero offset compensation program.
The present invention further provides an automatic steering null shift compensation system for a by-wire vehicle, and fig. 4 is a schematic structural diagram of the automatic steering null shift compensation system according to the embodiment of the present invention, and as shown in fig. 4, the system includes the above-mentioned decision controller 30;
the steering angle sensor 41 is arranged for acquiring the steering motor angle value of the steer-by-wire vehicle at the corresponding moment in real time according to a command from the decision controller and feeding the steering motor angle value back to the decision controller; the connection relation between the steering angle sensor and the decision controller does not limit the installation position of the inertial navigation unit, and the inertial navigation unit can be installed at any position capable of effectively collecting the heading angle value of the wire-controlled vehicle according to actual requirements.
And the inertial navigation unit 43 is configured to acquire the heading angle value of the linear control vehicle at the corresponding moment in real time according to a command from the decision controller, and feed the heading angle value back to the decision controller.
Similarly, the connection relationship between the steering angle sensor and the decision controller does not limit the installation position of the steering angle sensor, and in practical application, the steering angle sensor can be installed at any position capable of effectively acquiring the angle value of the steer-by-wire vehicle steer motor.
In the system for automatically compensating the steer-by-wire zero offset provided by the embodiment of the invention, each module or unit structure can independently operate or operate in a combined manner according to test requirements, so that corresponding technical effects are realized.
By adopting the system provided by the embodiment of the invention, the steering angle sensor and the inertial navigation unit are used for respectively acquiring steering motor angle value data and course angle value data, compared with the means of controlling the direction and the angle according to experience by a driver in the prior art, the system can ensure the accuracy of the data, provide reliable data support for a decision controller to carry out steering zero offset compensation on a wire-controlled vehicle, further ensure the accuracy of a zero offset compensation result, keep the accuracy within +/-2 degrees and overcome the defect of overlarge steering zero offset compensation error in the prior art; in addition, by adopting the technical scheme of the invention, an operator only needs to issue a control command through the decision controller without controlling the wire-controlled vehicle to advance on site and judging whether an advancing route is a straight line or not, the operation is simple, and the steering zero offset of the vehicle can be accurately compensated by using a simple device.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, appearances of the phrase "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A method for automatic steering null offset compensation for a by-wire vehicle, the method comprising:
Step S1, controlling a steering motor of the wire-controlled vehicle by a decision controller, and enabling the angle value of the steering motor of the wire-controlled vehicle to be zero;
step S2, in the process that the steering motor angle value of the wire-controlled vehicle is kept to be zero, the decision controller acquires the course angle value of the wire-controlled vehicle collected by the inertial navigation unit, and performs steering zero offset compensation on the wire-controlled vehicle according to the acquired course angle value; in step S2, the process of acquiring the heading angle value of the steer-by-wire vehicle by the decision controller includes:
the decision controller controls the inertial navigation unit to acquire a course angle value of the wire-controlled vehicle in a parking state, and the acquired course angle value is used as an initial course angle;
the decision controller controls the wire-controlled vehicle to run at a set speed, and controls the inertial navigation unit to acquire course angle values of a set quantity in a time period under the running state of the wire-controlled vehicle in real time in the running process of the wire-controlled vehicle; steering null offset compensation for a steer-by-wire vehicle by:
step A1, calculating course angle filtering values of course angle values of the set number in the time period; the course angle filtering value means that a plurality of continuous course angle value data are stored in an array and the average value of each data in the array is calculated;
And A2, comparing the filtered course angle value with the initial course angle, and increasing or decreasing the steering motor angle value of the wire-controlled vehicle by a set degree according to the difference value of the filtered course angle value and the initial course angle value until the difference value is smaller than a set compensation difference threshold value, thereby completing the steering zero offset compensation.
2. The method as claimed in claim 1, wherein in step S2, the process of the decision controller obtaining the heading angle value of the steer-by-wire vehicle comprises:
the decision controller controls the drive-by-wire vehicle to run at a set speed;
the decision controller controls the inertial navigation unit to respectively acquire the set number of heading angle values in two adjacent time periods T1 and T2 in the driving process of the wire-controlled vehicle.
3. The method of claim 2, wherein in step S2, the decision controller compensates for steering null of the steer-by-wire vehicle by:
step B1, respectively calculating a heading angle filtered value yaw1 of each heading angle value in a time period T1 and a heading angle filtered value yaw2 of each heading angle value in a time period T2;
and step B2, comparing the filtered value yaw1 with the filtered value yaw2, and increasing or decreasing the steering motor angle value of the wire-controlled vehicle by a set degree according to the difference value of the two values until the difference value is smaller than a set compensation difference threshold value, thereby completing the steering zero offset compensation.
4. The method of claim 1, wherein the method further comprises:
and the decision controller acquires a compensation angle value of the wire-controlled vehicle and stores the compensation angle value and the compensated zone bit.
5. The method of any one of claims 1 to 4, further comprising:
in the step S2, the decision controller determines whether the steering zero position of the steer-by-wire vehicle needs to be compensated by determining whether the obtained heading angle value of the steer-by-wire vehicle during the driving process changes, and if so, performs steering zero position deviation compensation on the steer-by-wire vehicle according to the heading angle value.
6. A decision controller for automatic steering null offset compensation, characterized in that it performs the method according to any one of claims 1 to 5.
7. An automatic steering null-offset compensation system for a by-wire vehicle, characterized in that it comprises a decision controller as claimed in claim 6;
the steering angle sensor is arranged for acquiring the steering motor angle value of the steer-by-wire vehicle at the corresponding moment in real time according to the command from the decision controller and feeding the steering motor angle value back to the decision controller;
And the inertial navigation unit is arranged for acquiring the course angle value of the linear control vehicle at the corresponding moment in real time according to the command from the decision controller and feeding the course angle value back to the decision controller.
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| CN201910956648.9A CN112644581B (en) | 2019-10-10 | 2019-10-10 | Steering zero offset automatic compensation method, controller and system of wire-controlled vehicle |
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| CN201910956648.9A CN112644581B (en) | 2019-10-10 | 2019-10-10 | Steering zero offset automatic compensation method, controller and system of wire-controlled vehicle |
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| CN112644581B true CN112644581B (en) | 2022-06-10 |
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