CN114115063A - Vehicle steering control feedforward calibration method and system - Google Patents
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a feedforward calibration method for vehicle steering control, which comprises the following steps: selecting a road surface with specified conditions, controlling the vehicle to run, and sending a steering torque request by a driving auxiliary controller; respectively acquiring vehicle yaw velocity, vehicle speed, vehicle steering wheel angle and request torque signals of which the torque increases according to a specified rule under a plurality of specified vehicle speeds; specifying a vehicle speed fluctuation interval, a steering wheel corner fluctuation interval and continuous stable time, and sequentially judging whether the next data point is a stable signal point by using a sliding window method; calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix; and fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius. The invention can rapidly process a large amount of test data to obtain the corresponding relation between the vehicle speed and the curvature radius and the steering feedforward moment or the turning angle, and can greatly improve the development efficiency of the calibration of the steering feedforward of an intelligent driving system or an advanced auxiliary driving system.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a vehicle steering control feedforward calibration method and a vehicle steering control feedforward calibration system.
Background
Feedforward control, i.e., the steering torque or angle of the steering wheel required to center the vehicle on a road of a particular radius of curvature given a particular vehicle speed, is typically used in vehicle smart driving or advanced driving assistance system steering control algorithms. The calibration of the existing feedforward torque or angle value can be divided into practiceThe method comprises the following steps of inter-road driver data acquisition, Ackerman corner formula calculation, vehicle dynamics formula calculation, dynamic square measurement and the like. The method comprises the following steps of collecting road driver data, namely driving a vehicle by a driver on roads with different curvature radiuses, and using the hand torque or the steering wheel angle of the driver as a feedforward torque or a steering angle value. The method needs to search roads with different curvatures in an actual traffic scene, the workload is large, the power-assisted strategies adopted by a driver of a steering system of some vehicles for driving the vehicle and a driving auxiliary system for controlling steering are different, and the hand force of the driver and the feedforward torque have deviation. And (3) calculating an ackerman corner formula, namely calculating a front wheel corner beta required by the vehicle to pass through a road with the curvature radius rho by adopting the ackerman corner formula beta as L/rho, and calculating a required steering wheel corner by using the transmission ratio of a steering system. The method is suitable for a steering system with a corner interface, but vehicles in the actual market still adopt a large number of steering systems with torque interfaces, and an Ackerman corner formula needs a nonlinear compensation quantity related to speed and still needs manual calibration. Vehicle dynamics formula calculation through simplified steering system model
The front wheel torque M required to pass a road having a curvature radius ρ at a vehicle speed v is directly calculated. The method needs the mass m of the whole vehicle and the forward inclination deviation n of the main pinvDistance l from center of mass to rear axisRThe equal parameters are difficult to obtain, and are less used in actual calibration. Dynamic plaza determination, i.e. stabilizing the vehicle speed at v in a dynamic plaza, sending a torque or turn angle command through a driving assistance controller, measuring the yaw rate omega of the vehicle in a stable state, and further obtaining the turning radius in the stable state
The method has low requirement on a test site, and the torque sent by the driving auxiliary controller is close to a real scene and is commonly used in feed forward calibration. However, the method needs to collect a large amount of data, and the efficiency of manually reading the data one by one and screening the data is not high, so that the vehicle speed, the curvature radius and the steering feedforward moment or the steering angle are quickly obtained from the large dataThe invention provides an intelligent vehicle steering control feedforward calibration method aiming at the problem, and the corresponding relation between the vehicle speed, the curvature radius and the steering feedforward torque is automatically obtained through a programming program.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to solve the technical problem of providing a vehicle steering control feedforward calibration method capable of quickly processing a large amount of test data to obtain the corresponding relation between the vehicle speed and the corresponding relation between the curvature radius and the steering feedforward moment or the steering angle
Correspondingly, the invention also provides a vehicle steering control feedforward calibration system which can quickly process a large amount of test data to obtain the corresponding relation between the vehicle speed and the corresponding relation between the curvature radius and the steering feedforward torque or the steering angle.
In order to solve the technical problem, the feedforward calibration method for the vehicle steering control provided by the invention comprises the following steps of:
s1, selecting a road surface with specified conditions, controlling the vehicle to run, and sending a steering torque request by the driving auxiliary controller;
s2, respectively collecting vehicle yaw velocity, vehicle speed, vehicle steering wheel angle and request torque signals of which the torque increases according to a specified rule under a plurality of specified vehicle speeds;
s3, specifying a vehicle speed fluctuation interval, a steering wheel corner fluctuation interval and continuous stable time, and sequentially judging whether the next data point is a stable signal point by using a sliding window method;
s4, calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix;
and S5, fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius.
Optionally, the vehicle steering control feedforward calibration method is further improved, and the road surface with the specified condition is a dry and platform dynamic square.
Optionally, the vehicle steering control feedforward calibration method is further improved, and the plurality of specified vehicle speeds comprise 10km/h, 20km/h, 30km/h, 40km/h, 60km/h, 80km/h, 100km/h and 120 km/h.
Optionally, in a further improvement to the vehicle steering control feed forward calibration method, increasing the torque on a specified regular basis comprises increasing the torque from 0.1N to 3Nm in torque steps of 0.1Nm at the same vehicle speed.
Optionally, the vehicle steering control feed-forward calibration method is further improved, and the sliding window method comprises:
setting the initial point of the sliding window as the initial point of the data, and sequentially judging whether the next data point is a steady-state signal point;
for a certain data point, if the vehicle speed difference between the vehicle speed of the data point and the initial point of the sliding window is smaller than the vehicle speed fluctuation interval and the steering wheel corner difference between the steering wheel corner of the data point and the steering wheel corner of the initial point of the sliding window is smaller than the steering wheel corner fluctuation interval, the data point is a steady-state signal point;
if the data point is a steady-state signal point, adding the point into the sliding window, otherwise, resetting the point as an initial point of the sliding window;
and judging whether the length of the sliding window is greater than the continuous stable time, if so, recording the data in the sliding window as a stable signal section, and resetting the point as the initial point of the sliding window.
Optionally, in order to further improve the vehicle steering control feed-forward calibration method, step S4 includes:
and calculating the turning radius average value of each steady-state signal section according to a vehicle steady-state turning radius formula R which is v/omega, recording a vehicle speed, a torque and a turning radius value matrix of the steady-state signal section as [ v, torq, R ], v is the vehicle speed, torq is the torque, R is the turning radius average value of each steady-state signal section, and omega is the yaw rate.
And (3) calculating the average value of the turning radius of each steady-state signal segment, namely, continuously collecting data points at a fixed frequency after the vehicle turns to a steady state, calculating the turning radius of each point according to a formula, and finally averaging the radii calculated by the points. Optionally, in order to further improve the vehicle steering control feed-forward calibration method, step S4 includes:
grouping the speed, torque and turning radius value matrixes of the steady-state signal section according to the speed to obtain the number series of different turning radii and turning moments under the same speed, and solving the coefficient c of the following formula (1) by adopting a least square method0、c1、c2And c3Fitting to obtain the relation between the steering torque and the steering radius:
torq＝c0+c1*R+c2*R2+c3*R3formula (1);
and obtaining the steering torque values with different curvature radiuses by adopting an interpolation method.
Optionally, the vehicle steering control feed-forward calibration method is further improved, and the curvature radius of the interpolation points is 100, 150, 300, 500, 1000 and 3000.
In order to solve the above technical problem, the present invention provides a feedforward calibration system for vehicle steering control, comprising:
a control module for controlling the vehicle to travel on a specified condition road surface, which instructs the driving assistance controller to send a steering torque request;
the acquisition module is used for respectively acquiring vehicle yaw rate, vehicle speed, vehicle steering wheel turning angle and request torque signals of which the torque is increased according to a specified rule under a plurality of specified vehicle speeds;
the steady-state point acquisition module is used for sequentially judging whether the next data point is a steady-state signal point or not by using a sliding window method according to the specified vehicle speed fluctuation interval, the steering wheel corner fluctuation interval and the continuous stabilization time;
the calculation module is used for calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix;
and the fitting module is used for fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius.
Optionally, the vehicle steering control feedforward calibration system is further improved, and the road surface with the specified condition is a dry and platform dynamic square.
Optionally, the vehicle steering control feedforward calibration system is further improved, and the plurality of specified vehicle speeds comprise 10km/h, 20km/h, 30km/h, 40km/h, 60km/h, 80km/h, 100km/h and 120 km/h.
Optionally, the vehicle steering control feed forward calibration system is further modified such that the increase in torque on a specified schedule comprises an increase in torque from 0.1N to 3Nm in torque steps of 0.1Nm at the same vehicle speed.
Optionally, the feedforward calibration system for vehicle steering control is further improved, and the sliding window method includes:
setting the initial point of the sliding window as the initial point of the data, and sequentially judging whether the next data point is a steady-state signal point;
for a certain data point, if the vehicle speed difference between the vehicle speed of the data point and the initial point of the sliding window is smaller than the vehicle speed fluctuation interval and the steering wheel corner difference between the steering wheel corner of the data point and the steering wheel corner of the initial point of the sliding window is smaller than the steering wheel corner fluctuation interval, the data point is a steady-state signal point;
if the data point is a steady-state signal point, adding the point into the sliding window, otherwise, resetting the point as an initial point of the sliding window;
and judging whether the length of the sliding window is greater than the continuous stable time, if so, recording the data in the sliding window as a stable signal section, and resetting the point as the initial point of the sliding window.
Optionally, the vehicle steering control feedforward calibration system is further improved, and the calculation module obtains the steering torque values with different curvature radii in the following way;
calculating the turning radius average value of each steady-state signal section according to a vehicle steady-state turning radius formula R ═ v/omega, recording the vehicle speed, the torque and the turning radius value matrix of the steady-state signal section as [ v, torq, R ], v is the vehicle speed, torq is the torque, R is the turning radius average value of each steady-state signal section, and omega is the yaw rate;
grouping the speed, torque and turning radius value matrixes of the steady-state signal section according to the speed to obtain the number series of different turning radii and turning moments under the same speed, and solving the coefficient c of the following formula (1) by adopting a least square method0、c1、c2And c3Fitting to obtain the relation between the steering torque and the steering radius:
torq＝c0+c1*R+c2*R2+c3*R3formula (1);
and obtaining the steering torque values with different curvature radiuses by adopting an interpolation method.
Optionally, the vehicle steering control feed-forward calibration system is further improved, and the curvature radius of the interpolation points is 100, 150, 300, 500, 1000 and 3000.
The method comprises the steps of sequentially judging whether the next data point is a steady-state signal point or not by specifying a vehicle speed fluctuation interval, a steering wheel corner fluctuation interval and continuous stable time by using a sliding window method; calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix; the relation between the steering torque and the curvature radius is obtained according to vehicle speed fitting, the corresponding relation between the vehicle speed and the curvature radius and the steering feedforward torque or the steering angle can be quickly processed from a large amount of test data, and the development efficiency of the calibration of the steering feedforward of an intelligent driving system or an advanced auxiliary driving system can be greatly improved.
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The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
fig. 1 is a first schematic view of a sliding window.
Fig. 2 is a schematic view of a sliding window.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements throughout the drawings.
A first embodiment;
the invention provides a feedforward calibration method for vehicle steering control, which comprises the following steps:
s1, selecting a road surface with specified conditions, controlling the vehicle to run, and sending a steering torque request by the driving auxiliary controller;
s2, respectively collecting vehicle yaw velocity, vehicle speed, vehicle steering wheel angle and request torque signals of which the torque increases according to a specified rule under a plurality of specified vehicle speeds;
s3, specifying a vehicle speed fluctuation interval, a steering wheel corner fluctuation interval and continuous stable time, and sequentially judging whether the next data point is a stable signal point by using a sliding window method;
s4, calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix;
and S5, fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius.
A second embodiment;
the invention provides a feedforward calibration method for vehicle steering control, which comprises the following steps:
s1, selecting a dry and platform dynamic square, controlling the vehicle to run according to 10km/h, 20km/h, 30km/h, 40km/h, 60km/h, 80km/h, 100km/h and 120km/h respectively, and sending a steering torque request by the driving auxiliary controller;
s2, respectively collecting vehicle yaw velocity, vehicle speed, vehicle steering wheel angle and request torque signals of which the torque is increased from 0.1N to 3Nm according to the torque step size of 0.1Nm at each vehicle speed;
s3, specifying a vehicle speed fluctuation interval, a steering wheel corner fluctuation interval and continuous stable time, setting an initial point of a sliding window as an initial point of data, and sequentially judging whether a next data point is a steady-state signal point;
referring to fig. 1, for a certain data point, if the vehicle speed difference between the vehicle speed of the data point and the initial point of the sliding window is smaller than the vehicle speed fluctuation interval and the steering wheel angle difference between the steering wheel angle of the data point and the initial point of the sliding window is smaller than the steering wheel angle fluctuation interval, the data point is a steady-state signal point;
if the data point is a steady-state signal point, adding the point into the sliding window, otherwise, resetting the point as an initial point of the sliding window;
judging whether the length of the sliding window is greater than the continuous stable time, if so, recording the data in the sliding window as a stable signal section, resetting the point as an initial point of the sliding window, and sequentially judging whether the next data point is a stable signal point;
s4, calculating the turning radius average value of each steady-state signal section according to a vehicle steady-state turning radius formula R which is v/omega, recording the vehicle speed, the torque and the turning radius value matrix of the steady-state signal section as [ v, torq, R ], v is the vehicle speed, torq is the torque, R is the turning radius average value of each steady-state signal section, and omega is the yaw velocity;
s5, grouping the vehicle speed, torque and turning radius value matrixes of the steady-state signal section according to the vehicle speed to obtain the numerical sequence of different turning radii and turning moments under the same vehicle speed, and solving the coefficient c of the following formula (1) by adopting a least square method0、c1、c2And c3Fitting to obtain the relation between the steering torque and the steering radius:
torq＝c0+c1*R+c2*R2+c3*R3formula (1);
obtaining steering torque values with different curvature radiuses by adopting an interpolation method;
the radii of curvature as interpolation points were 100, 150, 300, 500, 1000, and 3000.
A third embodiment;
the invention provides a feedforward calibration system for vehicle steering control, which comprises:
a control module for controlling the vehicle to travel on a specified condition road surface, which instructs the driving assistance controller to send a steering torque request;
the acquisition module is used for respectively acquiring vehicle yaw rate, vehicle speed, vehicle steering wheel turning angle and request torque signals of which the torque is increased according to a specified rule under a plurality of specified vehicle speeds;
the steady-state point acquisition module is used for sequentially judging whether the next data point is a steady-state signal point or not by using a sliding window method according to the specified vehicle speed fluctuation interval, the steering wheel corner fluctuation interval and the continuous stabilization time;
the calculation module is used for calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix;
and the fitting module is used for fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius.
A fourth embodiment;
the invention provides a feedforward calibration system for vehicle steering control, which comprises:
a control module for controlling the vehicle to travel in a dry, flat dynamic square that instructs the driving assistance controller to send a steering torque request;
an acquisition module for vehicle yaw rate speed, vehicle steering wheel angle and requested torque signals for increasing torque from 0.1N to 3Nm in torque steps of 0.1Nm to 10km/h, 20km/h, 30km/h, 40km/h, 60km/h, 80km/h, 100km/h and 120km/h, respectively;
a steady-state point acquisition module, which sets the initial point of the sliding window as the initial point of data and sequentially judges whether the next data point is a steady-state signal point according to the specified vehicle speed fluctuation interval, the steering wheel corner fluctuation interval and the continuous stabilization time, referring to fig. 1 and fig. 2;
for a certain data point, if the vehicle speed difference between the vehicle speed of the data point and the initial point of the sliding window is smaller than the vehicle speed fluctuation interval and the steering wheel corner difference between the steering wheel corner of the data point and the steering wheel corner of the initial point of the sliding window is smaller than the steering wheel corner fluctuation interval, the data point is a steady-state signal point;
if the data point is a steady-state signal point, adding the point into the sliding window, otherwise, resetting the point as an initial point of the sliding window;
judging whether the length of the sliding window is greater than the continuous stable time, if so, recording the data in the sliding window as a stable signal section, and resetting the point as the initial point of the sliding window;
the calculation module is used for calculating the turning radius average value of each steady-state signal section according to a vehicle steady-state turning radius formula R which is v/omega, recording the vehicle speed, the torque and a turning radius value matrix of the steady-state signal section as [ v, torq, R ], v is the vehicle speed, torq is the torque, R is the turning radius average value of each steady-state signal section, and omega is the yaw velocity;
the fitting module is used for grouping the vehicle speed, torque and turning radius value matrixes of the steady-state signal section according to the vehicle speed to obtain the numerical sequences of different turning radii and turning moments under the same vehicle speed, and solving the coefficient c of the following formula (1) by adopting a least square method0、c1、c2And c3Fitting to obtain the relation between the steering torque and the steering radius:
torq＝c0+c1*R+c2*R2+c3*R3formula (1);
obtaining steering torque values with different curvature radiuses by adopting an interpolation method;
the radii of curvature shown as interpolation points are 100, 150, 300, 500, 1000, and 3000.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (15)
1. A vehicle steering control feedforward calibration method is characterized by comprising the following steps:
s1, selecting a road surface with specified conditions, controlling the vehicle to run, and sending a steering torque request by the driving auxiliary controller;
s2, respectively collecting vehicle yaw velocity, vehicle speed, vehicle steering wheel angle and request torque signals of which the torque increases according to a specified rule under a plurality of specified vehicle speeds;
s3, specifying a vehicle speed fluctuation interval, a steering wheel corner fluctuation interval and continuous stable time, and sequentially judging whether the next data point is a stable signal point by using a sliding window method;
s4, calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix;
and S5, fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius.
2. A vehicle steering control feed forward calibration method as set forth in claim 1, wherein: the road surface with the specified condition is a dry and platform dynamic square.
3. A vehicle steering control feed forward calibration method as set forth in claim 1, wherein: the plurality of specified vehicle speeds include 10km/h, 20km/h, 30km/h, 40km/h, 60km/h, 80km/h, 100km/h, and 120 km/h.
4. A vehicle steering control feed forward calibration method as set forth in claim 3, wherein: the increase in torque on a given schedule includes an increase in torque from 0.1N to 3Nm in torque steps of 0.1Nm at the same vehicle speed.
5. A vehicle steering control feed forward calibration method as set forth in claim 1, wherein said sliding window method comprises:
setting the initial point of the sliding window as the initial point of the data, and sequentially judging whether the next data point is a steady-state signal point;
for a certain data point, if the vehicle speed difference between the vehicle speed of the data point and the initial point of the sliding window is smaller than the vehicle speed fluctuation interval and the steering wheel corner difference between the steering wheel corner of the data point and the steering wheel corner of the initial point of the sliding window is smaller than the steering wheel corner fluctuation interval, the data point is a steady-state signal point;
if the data point is a steady-state signal point, adding the point into the sliding window, otherwise, resetting the point as an initial point of the sliding window;
and judging whether the length of the sliding window is greater than the continuous stable time, if so, recording the data in the sliding window as a stable signal section, and resetting the point as the initial point of the sliding window.
6. A feed-forward calibration method for vehicle steering control as set forth in claim 1, wherein step S4 includes:
and calculating the turning radius average value of each steady-state signal section according to a vehicle steady-state turning radius formula R which is v/omega, recording a vehicle speed, a torque and a turning radius value matrix of the steady-state signal section as [ v, torq, R ], v is the vehicle speed, torq is the torque, R is the turning radius average value of each steady-state signal section, and omega is the yaw rate.
7. A vehicle steering control feed forward calibration method as set forth in claim 6, wherein step 5 includes:
grouping the speed, torque and turning radius value matrixes of the steady-state signal section according to the speed to obtain the number series of different turning radii and turning moments under the same speed, and solving the coefficient c of the following formula (1) by adopting a least square method0、c1、c2And c3Fitting to obtain the relation between the steering torque and the steering radius:
torq＝c0+c1*R+c2*R2+c3*R3formula (1);
and obtaining the steering torque values with different curvature radiuses by adopting an interpolation method.
8. A vehicle steering control feed forward calibration method as set forth in claim 7, wherein: the radii of curvature as interpolation points were 100, 150, 300, 500, 1000, and 3000.
9. A vehicle steering control feed forward calibration system, comprising:
a control module for controlling the vehicle to travel on a specified condition road surface, which instructs the driving assistance controller to send a steering torque request;
the acquisition module is used for respectively acquiring vehicle yaw rate, vehicle speed, vehicle steering wheel turning angle and request torque signals of which the torque is increased according to a specified rule under a plurality of specified vehicle speeds;
the steady-state point acquisition module is used for sequentially judging whether the next data point is a steady-state signal point or not by using a sliding window method according to the specified vehicle speed fluctuation interval, the steering wheel corner fluctuation interval and the continuous stabilization time;
the calculation module is used for calculating the turning radius of the vehicle in the steady-state signal section to form a vehicle speed, torque and turning radius value matrix;
and the fitting module is used for fitting according to the vehicle speed to obtain the relation between the steering torque and the curvature radius.
10. A vehicle steering control feed forward calibration system as set forth in claim 9, wherein: the road surface with the specified condition is a dry and platform dynamic square.
11. A vehicle steering control feed forward calibration system as set forth in claim 9, wherein: the plurality of specified vehicle speeds include 10km/h, 20km/h, 30km/h, 40km/h, 60km/h, 80km/h, 100km/h, and 120 km/h.
12. A vehicle steering control feed forward calibration system as set forth in claim 11, wherein: the increase in torque on a given schedule includes an increase in torque from 0.1N to 3Nm in torque steps of 0.1Nm at the same vehicle speed.
13. A vehicle steering control feed forward calibration system as set forth in claim 9, wherein: the sliding window method includes:
setting the initial point of the sliding window as the initial point of the data, and sequentially judging whether the next data point is a steady-state signal point;
for a certain data point, if the vehicle speed difference between the vehicle speed of the data point and the initial point of the sliding window is smaller than the vehicle speed fluctuation interval and the steering wheel corner difference between the steering wheel corner of the data point and the steering wheel corner of the initial point of the sliding window is smaller than the steering wheel corner fluctuation interval, the data point is a steady-state signal point;
if the data point is a steady-state signal point, adding the point into the sliding window, otherwise, resetting the point as an initial point of the sliding window;
and judging whether the length of the sliding window is greater than the continuous stable time, if so, recording the data in the sliding window as a stable signal section, and resetting the point as the initial point of the sliding window.
14. A vehicle steering control feed forward calibration system as set forth in claim 9, wherein: the calculation module obtains the steering torque values of different curvature radii in the following way;
calculating the turning radius average value of each steady-state signal section according to a vehicle steady-state turning radius formula R ═ v/omega, recording the vehicle speed, the torque and the turning radius value matrix of the steady-state signal section as [ v, torq, R ], v is the vehicle speed, torq is the torque, R is the turning radius average value of each steady-state signal section, and omega is the yaw rate;
grouping the speed, torque and turning radius value matrixes of the steady-state signal section according to the speed to obtain the number series of different turning radii and turning moments under the same speed, and solving the coefficient c of the following formula (1) by adopting a least square method0、c1、c2And c3Fitting to obtain the relation between the steering torque and the steering radius:
torq＝c0+c1*R+c2*R2+c3*R3formula (1);
and obtaining the steering torque values with different curvature radiuses by adopting an interpolation method.
15. A vehicle steering control feed forward calibration system as set forth in claim 14, wherein: the radii of curvature as interpolation points were 100, 150, 300, 500, 1000, and 3000.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN116088520A (en) * | 2023-02-07 | 2023-05-09 | 睿羿科技(山东)有限公司 | Accurate direction control method for unmanned hinge vehicle |
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