CN114954654A - Method for calculating zero offset compensation angle of steering wheel of vehicle, control method and device - Google Patents
Method for calculating zero offset compensation angle of steering wheel of vehicle, control method and device Download PDFInfo
- Publication number
- CN114954654A CN114954654A CN202210716401.1A CN202210716401A CN114954654A CN 114954654 A CN114954654 A CN 114954654A CN 202210716401 A CN202210716401 A CN 202210716401A CN 114954654 A CN114954654 A CN 114954654A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- steering wheel
- state parameters
- zero offset
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 86
- 238000004590 computer program Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 238000011217 control strategy Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 238000013507 mapping Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000004984 smart glass Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The disclosure provides a method, a device, equipment and a medium for calculating a zero offset compensation angle of a steering wheel of a vehicle, and relates to the technical field of intelligent traffic, in particular to the technical field of automatic driving. The implementation scheme is as follows: acquiring multiple groups of running state parameters of the vehicle, wherein each group of running state parameters in the multiple groups of running state parameters comprises control parameters and motion state parameters of the vehicle at the same moment; determining a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters based on the plurality of sets of driving state parameters; and determining a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
Description
Technical Field
The present disclosure relates to the field of intelligent transportation technologies, and in particular, to a method for calculating a zero offset compensation angle of a steering wheel of a vehicle, a method and an apparatus for controlling a vehicle, an electronic device, a computer-readable storage medium, and a computer program product.
Background
A steering wheel is an important component for controlling the running of a vehicle, and generally, a fixed preset mapping relationship should be formed between a steering wheel angle and a wheel angle of the vehicle. However, because the steering wheel has an error of a hardware structure, the problem of zero offset of the steering wheel generally exists in the vehicle control process, so that a preset mapping relation cannot be formed between the steering wheel angle and the wheel angle of the vehicle, the steering wheel cannot accurately control the wheel steering of the vehicle, and the control accuracy of the vehicle is further influenced.
The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.
Disclosure of Invention
The present disclosure provides a method of calculating a steering wheel zero offset compensation angle of a vehicle, a method of controlling a vehicle, an apparatus, an electronic device, a computer-readable storage medium, and a computer program product.
According to an aspect of the present disclosure, there is provided a method of calculating a steering wheel zero offset compensation angle of a vehicle, including: acquiring multiple groups of running state parameters of the vehicle, wherein each group of running state parameters in the multiple groups of running state parameters comprises control parameters and motion state parameters of the vehicle at the same moment; determining a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters based on the plurality of sets of driving state parameters; and determining a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
According to another aspect of the present disclosure, there is provided a control method of a vehicle, including: determining a steering wheel zero offset compensation angle of the vehicle using the method as described above; and determining a control strategy of the vehicle based on the steering wheel zero offset compensation angle of the vehicle.
According to another aspect of the present disclosure, there is provided a device for calculating a zero offset compensation angle of a steering wheel of a vehicle, including: the vehicle control device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is configured to acquire multiple sets of running state parameters of the vehicle, and each set of running state parameters in the multiple sets of running state parameters comprises a control parameter and a motion state parameter of the vehicle at the same moment; a first determination unit configured to determine a plurality of initial compensation angles respectively corresponding to the plurality of sets of running state parameters based on the plurality of sets of running state parameters; and a second determination unit configured to determine a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
According to another aspect of the present disclosure, there is provided a control apparatus of a vehicle, including: the calculating device of the zero offset compensation angle of the steering wheel of the vehicle is used for determining the zero offset compensation angle of the steering wheel of the vehicle; and a third determination unit configured to determine a control strategy of the vehicle based on a steering wheel zero offset compensation angle of the vehicle.
According to another aspect of the present disclosure, there is provided a vehicle including the control apparatus of the vehicle as described above.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described method of calculating a steering wheel zero offset compensation angle of a vehicle or a method of controlling a vehicle.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the above-described method of calculating a steering wheel zero offset compensation angle of a vehicle or a method of controlling a vehicle.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when being executed by a processor, is capable of implementing the above-mentioned method for calculating a steering wheel zero offset compensation angle of a vehicle or a method for controlling a vehicle.
According to one or more embodiments of the present disclosure, the efficiency and accuracy of the calculation of the steering wheel zero offset compensation angle of the vehicle may be improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of example only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.
FIG. 1 shows a schematic diagram of an exemplary system in which various methods described herein may be implemented, according to an exemplary embodiment of the present disclosure;
FIG. 2 shows a flow chart of a method of calculating a steering wheel zero offset compensation angle of a vehicle according to an exemplary embodiment of the present disclosure;
FIG. 3 shows a flow chart of a control method of a vehicle according to an exemplary embodiment of the disclosure;
FIG. 4 is a block diagram illustrating a computing device for a steering wheel zero offset compensation angle of a vehicle according to an exemplary embodiment of the present disclosure;
fig. 5 shows a block diagram of a control apparatus of a vehicle according to an exemplary embodiment of the present disclosure;
FIG. 6 shows a schematic diagram of a control flow of a vehicle according to an exemplary embodiment of the present disclosure;
FIG. 7 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.
The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.
In the related art, one implementation solution to the problem of steering wheel zero offset of a vehicle is to reduce the steering wheel zero offset as much as possible by optimizing the mechanical structure of the vehicle, for example, the steering wheel zero offset may be reduced by adjusting geometric parameters of each component of the vehicle, such as wheel steering, wheel wheelbase, and vehicle suspension structure. However, the above scheme adjusts the mechanical structure error of the vehicle from the hardware angle, and the implementation cost is high. Another implementation scheme is to directly acquire the steering wheel rotation angle of the vehicle in the straight-line driving process, and obtain the zero offset compensation angle of the steering wheel of the vehicle based on the steering wheel rotation angle, but the steering wheel zero offset compensation angle obtained by the scheme has low accuracy.
The inventor has noted that the driving process of the vehicle can be abstracted into a simplified kinematic model, wherein a plurality of kinematic state parameters (such as wheel rotation angles, vehicle speeds and the like) can be contained, and corresponding equal-quantity relation constraints exist among the plurality of kinematic state parameters. Further, since the driving process of the vehicle is realized by the control component through mechanical or electrical control, there is a definite mapping relationship between the control parameter (e.g. steering wheel angle) and the motion state parameter of the vehicle. Generally, the required value of the zero offset compensation angle of the steering wheel of the vehicle is relatively constant over a long period of time, i.e. a certain mapping between the kinetic state parameters of the vehicle, the control parameters of the vehicle and the zero offset compensation angle of the vehicle can be considered.
Based on the above, the present disclosure provides a method for calculating a zero offset compensation angle of a steering wheel of a vehicle, which can improve the efficiency and accuracy of calculating the zero offset compensation angle of the steering wheel by obtaining a plurality of sets of driving state parameters including control parameters and motion state parameters of the vehicle, respectively obtaining a plurality of initial compensation angles based on the driving state parameters, and determining the zero offset compensation angle of the steering wheel of the vehicle based on the initial compensation angles.
Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented in accordance with embodiments of the present disclosure. Referring to fig. 1, the system 100 includes one or more client devices 101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120. Client devices 101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.
In an embodiment of the present disclosure, the server 120 may run one or more services or software applications that enable execution of a calculation method of a steering wheel zero offset compensation angle of a vehicle or a control method of a vehicle.
In some embodiments, the server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. In certain embodiments, these services may be provided as web-based services or cloud services, for example, provided to users of client devices 101, 102, 103, 104, 105, and/or 106 under a software as a service (SaaS) model.
In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user operating a client device 101, 102, 103, 104, 105, and/or 106 may, in turn, utilize one or more client applications to interact with the server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.
The user may use client devices 101, 102, 103, 104, 105, and/or 106 to transmit the driving state parameters of the vehicle. The client device may provide an interface that enables a user of the client device to interact with the client device. The client device may also output information to the user via the interface. Although fig. 1 depicts only six client devices, those skilled in the art will appreciate that any number of client devices may be supported by the present disclosure.
The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.
The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.
In some implementations, the server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of the client devices 101, 102, 103, 104, 105, and 106. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of client devices 101, 102, 103, 104, 105, and 106.
In some embodiments, the server 120 may be a server of a distributed system, or a server incorporating a blockchain. The server 120 may also be a cloud server, or a smart cloud computing server or a smart cloud host with artificial intelligence technology. The cloud Server is a host product in a cloud computing service system, and is used for solving the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service.
The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. The database 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The database 130 may be of different types. In certain embodiments, the database used by the server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.
In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or regular stores supported by a file system.
The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.
FIG. 2 shows a flow chart of a method 200 for calculating a steering wheel zero offset compensation angle of a vehicle according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the method 200 includes:
step S201, obtaining a plurality of groups of running state parameters of the vehicle, wherein each group of running state parameters in the plurality of groups of running state parameters comprises a control parameter and a motion state parameter of the vehicle at the same moment;
step S202, determining a plurality of initial compensation angles respectively corresponding to the plurality of groups of running state parameters based on the plurality of groups of running state parameters; and
and S203, determining a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
Therefore, the driving state parameters of a plurality of groups of vehicles can be acquired, a plurality of corresponding initial compensation angles are respectively obtained by utilizing the driving state parameters, and the steering wheel zero offset compensation angle of the vehicle is determined based on the plurality of initial compensation angles. As described above, on the basis that there is a relatively determined mapping relationship between the driving state parameter of the vehicle and the zero offset compensation angle of the vehicle, the method can efficiently and accurately determine a plurality of initial compensation angles, and then determine the zero offset compensation angle of the steering wheel based on the plurality of initial compensation angles, thereby further improving the accuracy.
According to some embodiments, the control parameters comprise a steering wheel angle of the vehicle, and the kinetic state parameters comprise a vehicle speed of the vehicle and a wheel yaw rate of the vehicle. But not limited thereto, for example, the control parameter may further include a steering wheel turning angular velocity of the vehicle, and the motion state parameter of the vehicle may include a wheel turning angle of the vehicle, or the like. Thus, the zero offset compensation angle of the steering wheel can be determined more accurately and efficiently by using the kinematic constraint relationship between the yaw rate and the steering wheel angle of the vehicle.
According to some embodiments, the determining, in step S202, a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters based on the plurality of sets of driving state parameters includes: and substituting the multiple groups of running state parameters into a steering wheel zero offset compensation angle solving formula respectively to calculate so as to obtain multiple initial compensation angles corresponding to the multiple groups of running state parameters respectively, wherein the steering wheel zero offset angle solving formula can indicate the equivalent relation between the running state parameters of the vehicle and the steering wheel zero offset compensation angles of the vehicle. Therefore, the formula can be used for calculation, the initial compensation angle can be determined more simply and efficiently, and the accuracy of the initial compensation angle is ensured, so that the accuracy of the steering wheel zero offset compensation angle determined based on the initial compensation angle is improved.
Illustratively, the steering wheel zero offset compensation angle iterative formula may be constructed by:
and step S1, establishing a kinematic model of the vehicle. As an example, a bicycle model may be used as the kinematic model of the vehicle. In the bicycle model, the body and suspension system of the vehicle can be considered as rigid bodies, and it is assumed that the left and right wheels on both sides of the vehicle possess the same turning angle and yaw rate at any time, i.e., the vehicle is considered as including only two sets of moving wheels, front and rear wheels, and the motion of the vehicle in the vertical direction is not considered, i.e., the vehicle is assumed to move only on a two-dimensional horizontal plane. Therefore, derivation calculation can be carried out only on the driving state parameters directly influencing the zero offset compensation angle of the steering wheel, and the efficiency is effectively improved while the calculation accuracy is ensured.
And step S2, determining the equivalent relation between the driving state parameter of the vehicle and the steering wheel zero offset compensation angle of the vehicle based on the kinematic model of the vehicle. As described above, on the basis of regarding the steering wheel zero offset compensation angle as a constant value, the steering wheel zero offset compensation angle is introduced into the kinematic model for derivation, so that the control parameter introduced into the zero offset compensation angle can form a fixed preset mapping relationship with the motion state parameter of the vehicle, that is, the equivalent relationship between the driving state parameter of the vehicle and the steering wheel zero offset compensation angle of the vehicle can be determined.
For example, a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters may be determined in other manners based on the plurality of sets of driving state parameters. For example, the initial compensation angle corresponding to each set of driving state parameters may be determined by a table lookup.
According to some embodiments, the determining a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles in step S203 comprises: and fitting and calculating the plurality of initial compensation angles by using a least square method to obtain a steering wheel zero offset compensation angle of the vehicle. Therefore, the accuracy and efficiency of determining the zero offset compensation angle of the steering wheel can be improved.
It should be understood that the least square method in the above embodiments is used to minimize the deviation between the steering wheel zero offset compensation angle obtained by fitting and the true value as much as possible, so as to obtain a more accurate target steering wheel zero offset compensation angle. For example, the steering wheel zero offset compensation angle of the vehicle may be obtained by other calculation methods. For example, the steering wheel zero offset compensation angle of the vehicle may be determined based on the plurality of initial compensation angles by averaging. For another example, discrete values in the plurality of initial compensation angles may be screened out on the basis, and the screened plurality of initial compensation angles are averaged, so as to further improve the accuracy of the steering wheel zero offset compensation angle.
According to some embodiments, the acquiring multiple sets of driving state parameters of the vehicle in step S201 includes: and acquiring multiple groups of running state parameters of the vehicle in a long straight-line running process. By acquiring the driving state parameters of the vehicle in the long straight line driving process, a more accurate zero offset compensation angle of the steering wheel can be obtained, and the calculation accuracy is improved.
According to some embodiments, the method 200 further comprises: and verifying the zero offset compensation angle of the steering wheel of the vehicle based on the multiple groups of running state parameters of the vehicle. Therefore, the accuracy of the obtained steering wheel zero offset compensation angle can be further improved through verification.
Further, according to some embodiments, when the control parameter of the vehicle includes a steering wheel angle of the vehicle during long straight-line driving, the verifying the steering wheel zero offset compensation angle of the vehicle based on the plurality of sets of driving state parameters of the vehicle includes: calculating the difference value of the steering wheel rotation angle of the vehicle in the long-straight-line running process and the steering wheel zero offset compensation angle of the vehicle; and verifying the zero offset compensation angle of the steering wheel of the vehicle based on the difference value. It will be appreciated that when the vehicle is in a long straight-line course, the steering wheel angle should be zero, and therefore the actual steering angle of the steering wheel in this case can be determined as an estimate of the steering wheel slip angle. Therefore, whether a large error exists between the determined zero offset compensation angle of the steering wheel and the true value can be judged by utilizing the steering wheel rotating angle of the vehicle in the long straight-line running process.
For example, the determined steering wheel zero offset compensation angle may be substituted into the kinematic model as described above, and then at least one of the plurality of sets of driving state parameters is used to perform a checking operation, and the steering wheel zero offset compensation angle is verified according to the checking operation result.
According to another aspect of the present disclosure, a control method of a vehicle is also provided. FIG. 3 shows a flowchart of a control method 300 of a vehicle according to an exemplary embodiment of the present disclosure. As shown in fig. 3, the method 300 includes:
step S301, determining a zero offset compensation angle of a steering wheel of the vehicle by using the method 200; and
and step S302, determining a control strategy of the vehicle based on the zero offset compensation angle of the steering wheel of the vehicle.
Therefore, the control precision of the vehicle can be improved by introducing the steering wheel zero offset compensation angle into the control strategy of the vehicle. In some examples, the vehicle may be an automatic driving vehicle, and by improving the control precision of the automatic driving vehicle, the lateral deviation of the vehicle in the automatic driving process can be effectively reduced, and the automatic driving capability of the vehicle is improved.
According to some embodiments, the determining the control strategy of the vehicle based on the steering wheel zero offset compensation angle of the vehicle in step S302 includes: acquiring an initial steering wheel angle for controlling the steering wheel of the vehicle to rotate; superposing the steering wheel zero offset compensation angle of the vehicle to the initial steering wheel angle to obtain a target steering wheel angle; and controlling the steering wheel of the vehicle to turn based on the target steering wheel angle. Therefore, the steering wheel zero offset compensation angle is directly applied to the steering wheel corner of the vehicle, so that the steering wheel zero offset problem can be simply, conveniently and effectively optimized, a preset mapping relation can be formed between the steering wheel corner and the wheel corner of the vehicle, and the control precision of the vehicle is improved.
For example, the determining the control strategy of the vehicle based on the steering wheel zero offset compensation angle of the vehicle may also include other contents. For example, the steering wheel zero offset compensation angle of the vehicle may be superimposed on the initial steering wheel angle only during the long-straight-line running of the vehicle based on a preset rule, so that the requirement of an actual application scene can be fully met.
According to some embodiments, the method 300 further comprises: the method 200 is utilized to update the steering wheel null offset angle of the vehicle based on a preset time interval. By updating the zero offset compensation angle of the steering wheel of the vehicle at regular time, the accuracy of the control strategy of the vehicle determined based on the zero offset compensation angle can be ensured, and the control precision of the vehicle is improved.
According to another aspect of the present disclosure, there is also provided a device for calculating a zero offset compensation angle of a steering wheel of a vehicle. Fig. 4 shows a block diagram of a computing device 400 for a steering wheel zero offset compensation angle of a vehicle according to an exemplary embodiment of the present disclosure. As shown in fig. 4, the apparatus 400 includes:
an obtaining unit 401 configured to obtain multiple sets of driving state parameters of the vehicle, where each set of driving state parameters in the multiple sets of driving state parameters includes a control parameter and a motion state parameter of the vehicle at the same time;
a first determining unit 402 configured to determine a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters based on the plurality of sets of driving state parameters; and
a second determining unit 403 configured to determine a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
The operations of the units 401-403 of the apparatus 400 for calculating the steering wheel zero offset compensation angle of a vehicle are similar to the operations of the steps S201-S203 described above, and are not repeated herein.
According to another aspect of the present disclosure, a control apparatus of a vehicle is also provided. Fig. 5 shows a block diagram of a control apparatus 500 of a vehicle according to an exemplary embodiment of the present disclosure. As shown in fig. 5, the apparatus 500 includes:
a calculating means 400 of a zero offset compensation angle of a steering wheel of a vehicle for determining the zero offset compensation angle of the steering wheel of the vehicle; and
a third determining unit 501 configured to determine a control strategy of the vehicle based on a steering wheel zero offset compensation angle of the vehicle.
The operation of the device 400 and the unit 501 included in the control device 500 of the vehicle is similar to the operation of step S301 to step S302 described above, and will not be described in detail here.
According to another aspect of the present disclosure, there is also provided a vehicle including the control apparatus 500 of the vehicle.
Fig. 6 shows a schematic diagram of a control flow of a vehicle according to an exemplary embodiment of the present disclosure. As shown in fig. 6, in some examples, the vehicle is an autonomous vehicle, and the steering wheel zero offset compensation angle of the vehicle is determined by the computing device 400 for the steering wheel zero offset compensation angle of the vehicle, and then is directly superimposed on the initial steering wheel angle output by the autonomous driving planning module of the vehicle, so that the steering wheel zero offset problem can be easily and effectively optimized, and the control accuracy of the vehicle can be improved.
According to another aspect of the present disclosure, there is also provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described method of calculating a steering wheel zero offset compensation angle of a vehicle or a method of controlling a vehicle.
According to another aspect of the present disclosure, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the above-described method for calculating a steering wheel zero offset compensation angle of a vehicle or a method for controlling a vehicle.
According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when being executed by a processor, implements the method for calculating the steering wheel zero offset compensation angle of a vehicle or the method for controlling a vehicle described above.
Referring to fig. 7, a block diagram of a structure of an electronic device 700, which may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 may be any type of device capable of inputting information to the device 700, and the input unit 706 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote controller. Output unit 707 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 708 may include, but is not limited to, magnetic or optical disks. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and/or chipsets, such as bluetooth (TM) devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and/or the like.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.
Claims (16)
1. A method of calculating a steering wheel zero offset compensation angle of a vehicle, comprising:
acquiring multiple groups of running state parameters of the vehicle, wherein each group of running state parameters in the multiple groups of running state parameters comprises control parameters and motion state parameters of the vehicle at the same moment;
determining a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters based on the plurality of sets of driving state parameters; and
determining a steering wheel null offset angle for the vehicle based on the plurality of initial compensation angles.
2. The method of claim 1, wherein the determining, based on the plurality of sets of driving state parameters, a plurality of initial compensation angles corresponding to the plurality of sets of driving state parameters, respectively, comprises:
and substituting the multiple groups of running state parameters into a steering wheel zero offset compensation angle solving formula respectively for calculation so as to obtain multiple initial compensation angles corresponding to the multiple groups of running state parameters respectively, wherein the steering wheel zero offset angle solving formula can indicate the equivalent relation between the running state parameters of the vehicle and the steering wheel zero offset compensation angles of the vehicle.
3. The method of claim 1 or 2, wherein the determining a steering wheel zero offset compensation angle for the vehicle based on the plurality of initial compensation angles comprises:
and fitting and calculating the plurality of initial compensation angles by using a least square method to obtain a zero offset compensation angle of the steering wheel of the vehicle.
4. A method according to any one of claims 1-3, wherein the control parameters comprise a steering wheel angle of the vehicle and the kinetic state parameters comprise a vehicle speed of the vehicle and a wheel yaw rate of the vehicle.
5. The method of any one of claims 1-4, wherein said obtaining a plurality of sets of driving state parameters of the vehicle comprises:
and acquiring multiple groups of running state parameters of the vehicle in the long-straight-line running process.
6. The method of any of claims 1-5, further comprising:
and verifying the zero offset compensation angle of the steering wheel of the vehicle based on the multiple groups of running state parameters of the vehicle.
7. The method of claim 6, when the control parameter of the vehicle comprises a steering wheel angle of the vehicle during long straight-ahead travel, wherein the verifying the steering wheel zero-offset compensation angle of the vehicle based on the plurality of sets of travel state parameters of the vehicle comprises:
calculating the difference value of the steering wheel rotating angle of the vehicle in the long-straight-line running process and the steering wheel zero offset compensation angle of the vehicle; and
and checking a zero offset compensation angle of the steering wheel of the vehicle based on the difference value.
8. A control method of a vehicle, comprising:
determining a steering wheel null-offset compensation angle for the vehicle using the method of any of claims 1-7; and
determining a control strategy for the vehicle based on a steering wheel zero offset compensation angle of the vehicle.
9. The method of claim 8, wherein the determining a control strategy for the vehicle based on a steering wheel zero offset compensation angle for the vehicle comprises:
acquiring an initial steering wheel angle for controlling the steering wheel of the vehicle to rotate;
superposing the steering wheel zero offset compensation angle of the vehicle to the initial steering wheel angle to obtain a target steering wheel angle; and
controlling steering wheel rotation of the vehicle based on the target steering wheel angle.
10. The method of claim 8 or 9, further comprising:
updating a steering wheel zero offset compensation angle of the vehicle using the method of any of claims 1-7 based on a preset time interval.
11. A device for calculating a zero offset compensation angle of a steering wheel of a vehicle, comprising:
the vehicle control device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is configured to acquire multiple sets of running state parameters of the vehicle, and each set of running state parameters in the multiple sets of running state parameters comprises a control parameter and a motion state parameter of the vehicle at the same moment;
a first determination unit configured to determine a plurality of initial compensation angles respectively corresponding to the plurality of sets of running state parameters based on the plurality of sets of running state parameters; and
a second determination unit configured to determine a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
12. A control device of a vehicle, comprising:
the vehicle steering wheel offset zero compensation angle calculation apparatus of claim 11, for determining the vehicle steering wheel offset zero compensation angle; and
a third determination unit configured to determine a control strategy of the vehicle based on a steering wheel zero offset compensation angle of the vehicle.
13. A vehicle comprising the control device of the vehicle according to claim 12.
14. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.
15. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-10.
16. A computer program product comprising a computer program, wherein the computer program realizes the method according to any of claims 1-10 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210716401.1A CN114954654B (en) | 2022-06-22 | 2022-06-22 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210716401.1A CN114954654B (en) | 2022-06-22 | 2022-06-22 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114954654A true CN114954654A (en) | 2022-08-30 |
| CN114954654B CN114954654B (en) | 2023-11-28 |
Family
ID=82965332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210716401.1A Active CN114954654B (en) | 2022-06-22 | 2022-06-22 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114954654B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5001637A (en) * | 1988-08-01 | 1991-03-19 | Honda Giken Kogyo Kabushiki Kaisha | Steering wheel turning angle detector and method for controlling yawing for vehicle |
| CN110155172A (en) * | 2018-05-04 | 2019-08-23 | 腾讯大地通途（北京）科技有限公司 | A kind of vehicle driving method of adjustment, device, vehicle control system and storage medium |
| CN110588778A (en) * | 2019-09-02 | 2019-12-20 | 广州小鹏汽车科技有限公司 | Method and system for adjusting steering angle of vehicle steering wheel and vehicle |
| CN112455541A (en) * | 2020-12-09 | 2021-03-09 | 杭州海康汽车软件有限公司 | Wheel corner determining method, device and equipment |
| CN112722071A (en) * | 2020-12-30 | 2021-04-30 | 智车优行科技（北京）有限公司 | Steering wheel offset determination method and device, readable storage medium and electronic equipment |
| US20210214005A1 (en) * | 2020-01-15 | 2021-07-15 | GM Global Technology Operations LLC | Steering wheel angle bias correction for autonomous vehicles using angle control |
| CN113119947A (en) * | 2021-05-21 | 2021-07-16 | 前海七剑科技(深圳)有限公司 | Vehicle control method and device |
| CN113916565A (en) * | 2021-12-14 | 2022-01-11 | 禾多科技（北京）有限公司 | Steering wheel zero deflection angle estimation method and device, vehicle and storage medium |
| CN113954831A (en) * | 2021-11-26 | 2022-01-21 | 阿波罗智能技术(北京)有限公司 | Vehicle transverse control method and device and automatic driving vehicle |
| CN114502449A (en) * | 2019-10-01 | 2022-05-13 | 雷诺股份公司 | Steering angle control device for an autonomous motor vehicle |
| CN114475781A (en) * | 2022-02-21 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and storage medium |
-
2022
- 2022-06-22 CN CN202210716401.1A patent/CN114954654B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5001637A (en) * | 1988-08-01 | 1991-03-19 | Honda Giken Kogyo Kabushiki Kaisha | Steering wheel turning angle detector and method for controlling yawing for vehicle |
| CN110155172A (en) * | 2018-05-04 | 2019-08-23 | 腾讯大地通途（北京）科技有限公司 | A kind of vehicle driving method of adjustment, device, vehicle control system and storage medium |
| CN110588778A (en) * | 2019-09-02 | 2019-12-20 | 广州小鹏汽车科技有限公司 | Method and system for adjusting steering angle of vehicle steering wheel and vehicle |
| CN114502449A (en) * | 2019-10-01 | 2022-05-13 | 雷诺股份公司 | Steering angle control device for an autonomous motor vehicle |
| US20210214005A1 (en) * | 2020-01-15 | 2021-07-15 | GM Global Technology Operations LLC | Steering wheel angle bias correction for autonomous vehicles using angle control |
| CN112455541A (en) * | 2020-12-09 | 2021-03-09 | 杭州海康汽车软件有限公司 | Wheel corner determining method, device and equipment |
| CN112722071A (en) * | 2020-12-30 | 2021-04-30 | 智车优行科技（北京）有限公司 | Steering wheel offset determination method and device, readable storage medium and electronic equipment |
| CN113119947A (en) * | 2021-05-21 | 2021-07-16 | 前海七剑科技(深圳)有限公司 | Vehicle control method and device |
| CN113954831A (en) * | 2021-11-26 | 2022-01-21 | 阿波罗智能技术(北京)有限公司 | Vehicle transverse control method and device and automatic driving vehicle |
| CN113916565A (en) * | 2021-12-14 | 2022-01-11 | 禾多科技（北京）有限公司 | Steering wheel zero deflection angle estimation method and device, vehicle and storage medium |
| CN114475781A (en) * | 2022-02-21 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114954654B (en) | 2023-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111209978B (en) | Three-dimensional visual repositioning method and device, computing equipment and storage medium | |
| CN112643665B (en) | Calibration method and device for installation error of absolute pose sensor | |
| US11762701B2 (en) | Computer system providing numeric calculations with less resource usage | |
| CN113986788A (en) | Data processing method and device, chip, electronic device and medium | |
| CN115578433A (en) | Image processing method, image processing device, electronic equipment and storage medium | |
| CN114547223A (en) | Trajectory prediction method, and trajectory prediction model training method and device | |
| CN114627268A (en) | Visual map updating method and device, electronic equipment and medium | |
| CN113291294A (en) | Vehicle lateral control method and device and vehicle | |
| CN114954654B (en) | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle | |
| CN112560769A (en) | Method for detecting obstacle, electronic device, road side device and cloud control platform | |
| CN115056847B (en) | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle | |
| CN114691809A (en) | Road track determination method and device, electronic equipment and medium | |
| CN112729349B (en) | Method and device for on-line calibration of odometer, electronic equipment and storage medium | |
| CN115601555A (en) | Image processing method and apparatus, device and medium | |
| CN115393514A (en) | Training method of three-dimensional reconstruction model, three-dimensional reconstruction method, device and equipment | |
| CN114326730A (en) | Method, apparatus, electronic device, medium for determining parking path | |
| CN114491269A (en) | Recommendation method, device, equipment and medium for travel service | |
| CN113643440A (en) | Positioning method, device, equipment and storage medium | |
| CN114095564A (en) | Data processing method and device, equipment and medium | |
| CN113176781A (en) | Compensation method and device based on logistics robot | |
| US20240143000A1 (en) | Remote driving | |
| CN115060250A (en) | Method, apparatus, electronic device, and medium for updating map data | |
| CN115953354A (en) | Method, apparatus and medium for detecting point cloud data deviation in high-precision map | |
| CN116129245A (en) | Image deconvolution method and device, equipment and medium | |
| CN116501042A (en) | Target tracking method and device based on robot vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |