CN114954654B - Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle - Google Patents
Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle Download PDFInfo
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- CN114954654B CN114954654B CN202210716401.1A CN202210716401A CN114954654B CN 114954654 B CN114954654 B CN 114954654B CN 202210716401 A CN202210716401 A CN 202210716401A CN 114954654 B CN114954654 B CN 114954654B
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- 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
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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, relates to the technical field of intelligent transportation, and particularly relates to the technical field of automatic driving. The implementation scheme is as follows: acquiring a plurality of groups of running state parameters of the vehicle, wherein each group of running state parameters comprises a control parameter and a motion state parameter of the vehicle at the same moment; 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 determining a steering wheel zero offset compensation angle for the vehicle based on the plurality of initial compensation angles.
Description
Technical Field
The present disclosure relates to the field of intelligent transportation technology, and in particular, to the field of automatic driving technology, and in particular, to a method for calculating a zero offset compensation angle of a steering wheel of a vehicle, a method and apparatus for controlling the vehicle, an electronic device, a computer readable storage medium, and a computer program product.
Background
Steering wheels are important components for controlling the running of a vehicle, and generally, a fixed preset mapping relationship should be formed between steering wheel angles and wheel angles of the vehicle. However, due to the error of the steering wheel in the hardware structure, the zero deviation problem 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 precision of the vehicle is further affected.
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, the problems mentioned in this section should not be considered as having been recognized in any prior art unless otherwise indicated.
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 for calculating a zero offset compensation angle of a steering wheel of a vehicle, including: acquiring a plurality of groups of running state parameters of the vehicle, wherein each group of running state parameters comprises a control parameter and a motion state parameter of the vehicle at the same moment; 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 determining a steering wheel zero offset compensation angle for 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 described above; and determining a control strategy for 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 calculation apparatus of a steering wheel zero offset compensation angle of a vehicle, including: an acquisition unit configured to acquire a plurality of sets of running state parameters of the vehicle, each set of running state parameters of the plurality of sets of running state parameters including a control parameter and a motion state parameter of the vehicle at the same time; a first determining 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 device of a vehicle, including: a calculating device of the steering wheel zero offset compensation angle of the vehicle, which is used for determining the steering wheel zero offset compensation angle 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 device 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; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of calculating the zero offset compensation angle of the steering wheel of the vehicle or the method of controlling the vehicle.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the above-described calculation method of the steering wheel zero offset compensation angle of the vehicle or the control method of the vehicle.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, is capable of implementing the above-described method of calculating a steering wheel zero offset compensation angle of a vehicle or method of 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 description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The accompanying drawings illustrate exemplary embodiments and, together with the description, serve to explain exemplary implementations of the embodiments. The illustrated embodiments are for exemplary purposes only and do not limit the scope of the claims. Throughout the drawings, identical reference numerals designate similar, but not necessarily identical, elements.
FIG. 1 illustrates 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 illustrates a flowchart 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 illustrates a flowchart of a control method of a vehicle according to an exemplary embodiment of the present disclosure;
FIG. 4 illustrates a block diagram of a computing device of 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 illustrates 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 in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used 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, they may also refer to different instances based on the description of the context.
The terminology used in the description of the various illustrated 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, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.
In the related art, in order to solve the problem of zero offset of the steering wheel of the vehicle, one implementation scheme is to reduce the zero offset of the steering wheel as much as possible by optimizing the mechanical structure of the vehicle, for example, the zero offset of the steering wheel can be reduced by adjusting the geometric parameters of various components such as the steering direction of the wheels, the wheelbase of the wheels, the suspension structure of the vehicle and the like. However, the above-mentioned scheme is to adjust the mechanical structure error of the vehicle from the hardware angle, and the implementation cost is high. Another implementation scheme is to directly obtain the steering wheel angle of the vehicle in the straight running process, and obtain the steering wheel zero offset compensation angle of the vehicle based on the steering wheel angle, however, the steering wheel zero offset compensation angle obtained by the scheme has lower accuracy.
The inventors have noted that the driving process of a vehicle may be abstracted to a simplified kinematic model, wherein a plurality of motion state parameters (e.g. wheel angle, vehicle speed, etc.) may be involved, and that there are corresponding equivalent relationship constraints between the plurality of motion state parameters. Further, since the running process of the vehicle is performed by the control means through mechanical or electrical control, there is a certain mapping relationship between the control parameter (e.g., steering wheel angle) and the movement state parameter of the vehicle. In general, the value of the required zero offset compensation angle of the steering wheel of the vehicle is relatively constant over a longer period of time, that is to say, a defined mapping relationship between the state of motion 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 steering wheel zero offset compensation angle of a vehicle, which is capable of improving efficiency and accuracy of calculating the steering wheel zero offset compensation angle by acquiring a plurality of sets of driving state parameters including control parameters and movement state parameters of the vehicle, obtaining a plurality of initial compensation angles based on the driving state parameters, and determining the steering wheel zero offset compensation angle of the vehicle based on the plurality of 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 an embodiment 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, server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. In some 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 that are executable by one or more processors. A user operating client devices 101, 102, 103, 104, 105, and/or 106 may in turn utilize one or more client applications to interact with server 120 to utilize the services provided by these components. It should be appreciated 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 send the vehicle's travel state parameters. 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 the present disclosure may support any number of client devices.
Client devices 101, 102, 103, 104, 105, and/or 106 may include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and the like. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, linux, or Linux-like operating systems (e.g., GOOGLE Chrome OS); or include various mobile operating systems such as MICROSOFT Windows Mobile OS, iOS, windows Phone, android. Portable handheld devices may include cellular telephones, smart phones, tablet computers, personal Digital Assistants (PDAs), and the like. Wearable devices may include head mounted displays (such as smart glasses) and other devices. The gaming system may include various handheld gaming devices, internet-enabled gaming devices, and the like. The client device is capable of executing a variety of different applications, such as various Internet-related applications, communication applications (e.g., email applications), short Message Service (SMS) applications, and may use a variety of communication protocols.
Network 110 may be any type of network known to those skilled in the art that may support data communications using any of a number of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. For example only, the one or more networks 110 may be a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a blockchain network, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (e.g., bluetooth, WIFI), and/or any combination of these and/or other networks.
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 that involves virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain virtual storage devices of the server). In various embodiments, 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. 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, etc.
In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of 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 implementations, the server 120 may be a server of a distributed system or a server that incorporates a blockchain. The server 120 may also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. The cloud server is a host product in a cloud computing service system, so as to solve the defects of large management difficulty and weak service expansibility in the traditional physical host and virtual private server (VPS, virtual Private Server) 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 databases 130 may be used to store information such as audio files and video files. 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. Database 130 may be of different types. In some embodiments, the database used by server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve the databases and data from the databases in response to the commands.
In some embodiments, one or more of 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 conventional stores supported by the 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 flowchart of a method 200 of 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, acquiring a plurality of groups of running state parameters of the vehicle, wherein each group of running state parameters of the plurality of groups of running state parameters comprise control parameters and motion state parameters 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
step S203, determining a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles.
Therefore, a plurality of corresponding initial compensation angles can be obtained by acquiring a plurality of groups of running state parameters of the vehicle and utilizing the running state parameters, and the steering wheel zero offset compensation angle of the vehicle is determined based on the initial compensation angles. As described above, the method can efficiently and accurately determine a plurality of initial compensation angles on the basis of the relatively determined mapping relationship between the driving state parameter of the vehicle and the zero offset compensation angle of the vehicle, and then determine the steering wheel zero offset compensation angle on the basis of the plurality of initial compensation angles, thereby further improving accuracy.
According to some embodiments, the control parameter comprises a steering wheel angle of the vehicle, and the motion state parameter comprises a vehicle speed of the vehicle and a wheel yaw rate of the vehicle. But is not limited thereto, the control parameter may also include, for example, a steering wheel rotational angular velocity of the vehicle, and the motion state parameter of the vehicle may include a wheel rotation angle of the vehicle, or the like. Therefore, the zero offset compensation angle of the steering wheel can be accurately and efficiently determined by utilizing the kinematic constraint relation between the yaw rate of the wheels of the vehicle and the steering wheel angle.
According to some embodiments, determining a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters in the step S202 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 for calculation to obtain multiple initial compensation angles corresponding to the multiple groups of running state parameters, wherein the steering wheel zero offset angle solving formula can indicate an equivalent relation between the running state parameters of the vehicle and the steering wheel zero offset compensation angles of the vehicle. Therefore, the initial compensation angle can be determined more simply, more efficiently and more simply by utilizing a formula, and the accuracy of the initial compensation angle is ensured, so that the accuracy of the zero offset compensation angle of the steering wheel determined based on the initial compensation angle is improved.
Illustratively, the steering wheel zero offset compensation angle iterative formula may be constructed by:
and S1, establishing a kinematic model of the vehicle. For 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 regarded as a rigid body, and it is assumed that the left and right wheels on both sides of the vehicle have the same rotation angle and yaw rate at any time, i.e., the vehicle is regarded as including only two sets of moving wheels of the front and rear wheels, and the movement 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, the deduction calculation can be performed only for the driving state parameters which directly influence the zero offset compensation angle of the steering wheel, and the efficiency is effectively improved while the calculation accuracy is ensured.
And S2, determining an equivalent relation between the running 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, derivation is performed by introducing the steering wheel zero offset compensation angle into the kinematic model, so that the control parameter into which the zero offset compensation angle is introduced can form a fixed preset mapping relationship with the motion state parameter of the vehicle, that is, an equal amount 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 corresponding to the plurality of sets of travel state parameters may be determined by other means based on the plurality of sets of travel state parameters. For example, the initial compensation angle corresponding to each set of driving state parameters may be determined by looking up a table.
According to some embodiments, determining the steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles in the step S203 includes: and performing fitting calculation on the initial compensation angles by using a least square method to obtain the steering wheel zero offset compensation angle of the vehicle. Therefore, the accuracy and the efficiency of determining the zero offset compensation angle of the steering wheel can be improved.
It should be appreciated that the least squares method in the above embodiments is used to minimize the deviation between the fitted steering wheel zero offset compensation angle and the true value as much as possible to obtain a more accurate target steering wheel zero offset compensation angle. The steering wheel zero offset compensation angle of the vehicle can be obtained by other calculation modes. For example, the steering wheel zero offset compensation angle of the vehicle may be determined based on the plurality of initial compensation angles using an averaging approach. For another example, discrete values in the plurality of initial compensation angles can be screened on the basis, and the screened plurality of initial compensation angles are averaged to further improve the accuracy of the zero offset compensation angle of the steering wheel.
According to some embodiments, the acquiring the plurality of sets of driving state parameters of the vehicle in step S201 includes: and acquiring a plurality of groups of running state parameters of the vehicle in the long straight running process. By acquiring the running state parameters of the vehicle in the long straight running process, a more accurate steering wheel zero offset compensation angle can be obtained, and the calculation accuracy is improved.
According to some embodiments, the method 200 further comprises: and verifying the steering wheel zero offset compensation angle of the vehicle based on a plurality of 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 traveling, the verifying the steering wheel zero offset compensation angle of the vehicle based on the plurality of sets of traveling state parameters of the vehicle includes: calculating a difference value between a steering wheel angle of the vehicle in a long straight running process and a steering wheel zero offset compensation angle of the vehicle; and verifying a steering wheel zero offset compensation angle of the vehicle based on the difference value. It will be appreciated that when the vehicle is in a long straight run, the steering wheel angle should be zero, and therefore the actual steering wheel angle in this case can be determined as an estimate of the steering wheel zero offset angle. Thus, by using the steering wheel angle during long straight traveling of the vehicle, it is possible to determine whether or not there is a large error between the determined steering wheel zero deviation compensation angle and the true value.
The determined steering wheel zero offset compensation angle may be substituted into the kinematic model as described above, and further, at least one of the plurality of sets of driving state parameters may be used for checking, and the steering wheel zero offset compensation angle may be checked according to the checking result.
According to another aspect of the present disclosure, there is also provided a control method of a vehicle. 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 steering wheel zero offset compensation angle of the vehicle by using the method 200; and
step S302, determining a control strategy of the vehicle based on the steering wheel zero offset compensation angle of the vehicle.
Therefore, the control accuracy 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 autopilot vehicle, and by improving the control accuracy of the autopilot vehicle, the lateral deviation of the vehicle in the autopilot process can be effectively reduced, and the autopilot 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 the step S302 includes: acquiring an initial steering wheel angle for controlling steering wheel rotation of the vehicle; superposing a steering wheel zero offset compensation angle of the vehicle on 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. Therefore, the zero offset compensation angle of the steering wheel is directly acted on the steering wheel corner of the vehicle, so that the zero offset problem of the steering wheel 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.
The determining the control strategy of the vehicle may also include other content, for example, based on the steering wheel zero offset compensation angle of the vehicle. For example, the zero offset compensation angle of the steering wheel of the vehicle is only overlapped on the initial steering wheel angle when the vehicle is in long straight running 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 zero offset compensation 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 accuracy 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 of 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 a plurality of sets of running state parameters of the vehicle, each set of running state parameters of the plurality of sets of running state parameters including 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 running state parameters based on the plurality of sets of running 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 operation of the units 401-403 of the device 400 for calculating the zero offset compensation angle of the steering wheel of the vehicle is similar to the operation of the steps S201-S203 described above, and will not be repeated here.
According to another aspect of the present disclosure, there is also provided a control device of a vehicle. 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 calculation device 400 of a steering wheel zero offset compensation angle of a vehicle, which is used for determining the steering wheel zero offset compensation angle of the vehicle; and
a third determining unit 501 is 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 the steps S301 to S302 described above, and will not be described here.
According to another aspect of the present disclosure, there is also provided a vehicle including the control device 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 autopilot vehicle, and the steering wheel zero offset problem can be easily and effectively optimized by determining the steering wheel zero offset compensation angle of the vehicle by using the computing device 400 of the steering wheel zero offset compensation angle of the vehicle and directly superposing the steering wheel zero offset compensation angle on the initial steering wheel angle output by the autopilot planning module of the vehicle, thereby improving the control precision of the vehicle.
According to another aspect of the present disclosure, there is also provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of calculating the zero offset compensation angle of the steering wheel of the vehicle or the method of controlling the 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 calculation method of the steering wheel zero offset compensation angle of the vehicle or the control method of the vehicle.
According to another aspect of the present disclosure, there is also provided a computer program product, including a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned method for calculating a zero offset compensation angle of a steering wheel of a vehicle or the method for controlling a vehicle.
Referring to fig. 7, a block diagram of an electronic device 700 that 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 devices are 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. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the apparatus 700 includes a computing unit 701 that can perform various appropriate 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 may also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in device 700 are connected to 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, the input unit 706 may receive input numeric or character information and generate key signal inputs related to user settings and/or function control of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and/or a remote control. The output unit 707 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 708 may include, but is not limited to, magnetic disks, optical disks. The communication unit 709 allows the device 700 to exchange information/data with other devices through computer networks, 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.
The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 701 performs the respective methods and processes described above, for example, a calculation method of a steering wheel zero deviation compensation angle of a vehicle or a control method of a vehicle. For example, in some embodiments, the method of calculating the steering wheel zero offset compensation angle of the vehicle or the method of controlling the vehicle may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 700 via ROM 702 and/or communication unit 709. When the computer program is loaded into the RAM 703 and executed by the calculation unit 701, one or more steps of the above-described calculation method of the steering wheel zero offset compensation angle of the vehicle or the control method of the vehicle may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the method of computing the steering wheel zero offset compensation angle of the vehicle or the method of controlling the vehicle in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the foregoing 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 following the grant and their equivalents. Various elements of the embodiments or examples may be omitted or replaced with equivalent elements thereof. Furthermore, the steps may be performed in a different order than described in the present disclosure. Further, various elements of 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 by equivalent elements that appear after the disclosure.
Claims (13)
1. A calculation method of a steering wheel zero offset compensation angle of a vehicle comprises the following steps:
Acquiring a plurality of sets of running state parameters of the vehicle, wherein each set of running state parameters comprises a control parameter and a motion state parameter of the vehicle at the same moment, and the motion state parameters comprise at least one of the following: a vehicle speed of the vehicle, a wheel yaw rate of the vehicle, and a wheel turning angle of the vehicle;
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
determining a steering wheel zero offset compensation angle of the vehicle based on the plurality of initial compensation angles,
wherein, based on the plurality of sets of driving state parameters, determining a plurality of initial compensation angles respectively corresponding to the plurality of sets of driving state parameters includes:
substituting the multiple groups of driving 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 driving state parameters, wherein the steering wheel zero offset angle solving formula can indicate the equivalent relation between the driving state parameters of the vehicle and the steering wheel zero offset compensation angles of the vehicle,
and wherein said determining a steering wheel zero offset compensation angle for said vehicle based on said plurality of initial compensation angles comprises:
And performing fitting calculation on the initial compensation angles by using a least square method to obtain the steering wheel zero offset compensation angle of the vehicle.
2. The method of claim 1, wherein the control parameter comprises a steering wheel angle of the vehicle.
3. The method of claim 1, wherein the obtaining a plurality of sets of travel state parameters of the vehicle comprises:
and acquiring a plurality of groups of running state parameters of the vehicle in the long straight running process.
4. A method as in any of claims 1-3, further comprising:
and verifying the steering wheel zero offset compensation angle of the vehicle based on a plurality of groups of running state parameters of the vehicle.
5. The method of claim 4, when the control parameter of the vehicle comprises a steering wheel angle of the vehicle during long straight 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 a difference value between a steering wheel angle of the vehicle in a long straight running process and a steering wheel zero offset compensation angle of the vehicle; and
and verifying the steering wheel zero offset compensation angle of the vehicle based on the difference value.
6. A control method of a vehicle, comprising:
determining a steering wheel zero offset compensation angle of the vehicle using the method of any one of claims 1-5; and
a control strategy for the vehicle is determined based on a steering wheel zero offset compensation angle of the vehicle.
7. The method of claim 6, wherein the determining a control strategy for the vehicle based on a steering wheel zero offset compensation angle of the vehicle comprises:
acquiring an initial steering wheel angle for controlling steering wheel rotation of the vehicle;
superposing a steering wheel zero offset compensation angle of the vehicle on the initial steering wheel angle to obtain a target steering wheel angle; and
steering wheel rotation of the vehicle is controlled based on the target steering wheel angle.
8. The method of claim 6 or 7, further comprising:
updating the steering wheel zero offset compensation angle of the vehicle with the method of any one of claims 1-5 based on a preset time interval.
9. A device for calculating a zero offset compensation angle of a steering wheel of a vehicle, comprising:
an acquisition unit configured to acquire a plurality of sets of running state parameters of the vehicle, each set of running state parameters including a control parameter and a motion state parameter of the vehicle at the same time, wherein the motion state parameter includes at least one of: a vehicle speed of the vehicle, a wheel yaw rate of the vehicle, and a wheel turning angle of the vehicle;
A first determining 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,
wherein the first determination unit is configured to: substituting the multiple groups of driving 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 driving state parameters, wherein the steering wheel zero offset angle solving formula can indicate the equivalent relation between the driving state parameters of the vehicle and the steering wheel zero offset compensation angles of the vehicle,
and wherein the second determining unit is configured to:
and performing fitting calculation on the initial compensation angles by using a least square method to obtain the steering wheel zero offset compensation angle of the vehicle.
10. A control device of a vehicle, comprising:
the vehicle steering wheel zero offset compensation angle calculation device of claim 9, for determining the vehicle steering wheel zero offset compensation angle; and
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.
11. A vehicle comprising the control device of the vehicle according to claim 10.
12. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of
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 1-8.
13. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-8.
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