CN115214775B - Steering wheel neutral position adjusting method, device, equipment and medium - Google Patents
Steering wheel neutral position adjusting method, device, equipment and medium Download PDFInfo
- Publication number
- CN115214775B CN115214775B CN202211054021.2A CN202211054021A CN115214775B CN 115214775 B CN115214775 B CN 115214775B CN 202211054021 A CN202211054021 A CN 202211054021A CN 115214775 B CN115214775 B CN 115214775B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- angle
- adjustment
- steering wheel
- preset
- 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.)
- Active
Links
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
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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 embodiment of the application discloses a method, a device, equipment and a medium for adjusting the middle position of a steering wheel, which can be applied to scenes such as ports, high-speed, logistics, mines, airports, ports, closed parks or urban traffic. The method comprises the following steps: the vehicle is controlled to drive for a specified duration along the extending direction of any end of the target path at a specified speed, so that the steering angle of the vehicle is identified at preset intervals in the driving process. Deviations in the steering wheel of the vehicle can lead to deviations in the direction of travel of the vehicle, which can be compensated by an additional steering angle applied to the vehicle in order to ensure that the vehicle travels in the direction of extension. Based on the deviation angle determined by the steering angle of each preset time period, the steering wheel neutral position of the vehicle is adjusted based on the deviation angle in each preset time period, so that the adjustment accuracy of the steering wheel neutral position is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a method, a device, equipment and a medium for adjusting the middle position of a steering wheel.
Background
The steering wheel center position of the vehicle is calibrated by a manufacturer during vehicle production and is used for indicating the zero-degree steering angle of the steering wheel. There are process limitations and there are some assembly errors between the vehicle components that can lead to some deviation in the position of the steering wheel. In addition, the steering wheel position is also deviated due to problems such as wear of components during running of the vehicle and deformation of the chassis caused by load.
Some vehicle types are equipped with a steering wheel for adjusting the center position of the steering wheel, but the adjustment method is to judge whether the vehicle is running on a straight line or not by recognizing a conventional signal such as yaw rate, and then compensate the center position of the steering wheel. The mode is single in judgment condition, and if the jitter is serious in the running process of the vehicle, the signal fluctuation frequency is large, so that the adjustment accuracy of the middle position of the steering wheel is affected.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment and a medium for adjusting the middle position of a steering wheel, which are used for improving the adjustment precision of the middle position of the steering wheel.
In a first aspect, an embodiment of the present application provides a method for adjusting a center position of a steering wheel, the method including:
responding to the median adjustment indication information, and controlling the vehicle to drive for a specified duration along the extending direction of any end of the target path by adopting a specified vehicle speed;
Identifying the steering angle of the vehicle every preset time period, and determining a deviation angle according to the steering angle in each preset time period; the deviation angle represents a steering angle change of which the steering angle indicated by the current running direction of the vehicle is changed to 0 degrees in the preset period;
and adjusting the steering wheel center position of the vehicle based on the deviation angle in each preset period.
According to the embodiment of the application, the vehicle is controlled to uniformly travel for the designated time length along the extending direction of the target path by adopting the designated speed, so that the steering angle of the vehicle is identified at intervals of a preset time period in the uniform traveling process. Deviations in the steering wheel of the vehicle can cause the vehicle to shift in direction during running, and a steering angle can be additionally applied to the vehicle to compensate for the deviation in direction in order to ensure that the vehicle runs along the extending direction of the target path. Therefore, the deviation angles can be determined according to the steering angles of all preset time periods, and the steering wheel middle position of the vehicle can be adjusted according to all the deviation angles, so that the adjustment accuracy is improved.
In some possible embodiments, before the control vehicle travels in the extending direction at either end of the target path for a specified period of time at a specified vehicle speed, the method further includes:
Determining that the running state of the vehicle meets a preset median adjustment condition;
the method further comprises the steps of:
acquiring a running state of the vehicle, and determining that the vehicle meets the preset median adjustment condition if the running state represents the ignition starting of the vehicle;
and if the running state represents that the load capacity change of the vehicle is larger than a load capacity change threshold value, determining that the vehicle meets the preset median adjustment condition.
In some possible embodiments, the target path is determined by:
after determining that the vehicle meets the preset median adjustment condition, acquiring lane information of each lane in a designated area; the appointed area is determined according to the position of the vehicle at the moment when the vehicle meets the preset median adjustment condition; the lane information at least comprises lane curvature and lane length;
taking the lane with the lane curvature smaller than a curvature threshold and the lane length larger than a length threshold as a target lane, and determining the target path according to the target lane; the length threshold is determined according to the real-time vehicle speed at the moment when the vehicle meets the preset median adjustment condition.
In some possible embodiments, the adjusting the steering wheel neutral position of the vehicle based on the deviation angle in each of the preset time periods includes:
determining an angle average value of the deviation angles in each preset period;
and determining a neutral position adjustment angle according to the deviation angle, and adjusting the angle control zero position corresponding to the neutral position of the steering wheel according to the neutral position adjustment angle.
In some possible embodiments, after the adjusting the steering wheel neutral position of the vehicle according to the neutral position adjustment angle, the method further includes:
storing the vehicle load capacity when the median adjustment angle is determined in an associated manner with the median adjustment angle;
before the identifying the steering angle of the vehicle every preset time period, the method further includes:
determining the current load capacity of the vehicle, and determining an estimated adjustment angle according to historical adjustment data and the current load capacity; the history adjustment data comprises the neutral position adjustment angle and the vehicle load capacity which are stored in a correlated mode after the steering wheel neutral position of the vehicle is adjusted each time;
and adjusting the steering wheel center position of the vehicle by adopting the estimated adjustment angle.
In some possible embodiments, the determining an estimated adjustment angle based on historical adjustment data and the current load capacity includes:
and carrying out interpolation operation on the historical adjustment data based on the current load capacity, and taking the median adjustment angle of the vehicle after the interpolation operation corresponding to the current load capacity as the estimated adjustment angle.
In some possible embodiments, the method further comprises:
the method comprises the steps of controlling the vehicle to run along the target path to acquire the yaw rate of the vehicle in the process of adjusting the steering wheel median of the vehicle;
stopping steering wheel neutral position adjustment of the vehicle in the target path if the yaw rate is greater than an angular rate threshold; and is combined with the other components of the water treatment device,
and reselecting a target path based on the current position of the vehicle, and performing steering wheel neutral adjustment on the vehicle on the reselected target path.
In a second aspect, an embodiment of the present application provides a device for adjusting a neutral position of a steering wheel, the device including:
a control module configured to perform control of the vehicle to travel in the extending direction of either end of the target path for a specified period of time with a specified vehicle speed in response to the neutral adjustment instruction information;
A deviation module configured to perform recognition of a steering angle of the vehicle every preset period, and determine a deviation angle according to the steering angle in each preset period; the deviation angle represents a steering angle change of which the steering angle indicated by the current running direction of the vehicle is changed to 0 degrees in the preset period;
an adjustment module configured to perform adjustment of a steering wheel neutral position of the vehicle based on the deviation angle within each of the preset time periods.
In some possible embodiments, before executing the control vehicle to travel in the direction of extension at either end of the target path for a specified period of time at a specified vehicle speed, the control module is further configured to:
determining that the running state of the vehicle meets a preset median adjustment condition;
the control module is further configured to:
acquiring a running state of the vehicle, and determining that the vehicle meets the preset median adjustment condition if the running state represents the ignition starting of the vehicle;
and if the running state represents that the load capacity change of the vehicle is larger than a load capacity change threshold value, determining that the vehicle meets the preset median adjustment condition.
In some possible embodiments, the target path is determined by:
After determining that the vehicle meets the preset median adjustment condition, acquiring lane information of each lane in a designated area; the appointed area is determined according to the position of the vehicle at the moment when the vehicle meets the preset median adjustment condition; the lane information at least comprises lane curvature and lane length;
taking the lane with the lane curvature smaller than a curvature threshold and the lane length larger than a length threshold as a target lane, and determining the target path according to the target lane; the length threshold is determined according to the real-time vehicle speed at the moment when the vehicle meets the preset median adjustment condition.
In some possible embodiments, performing the adjusting the steering wheel neutral position of the vehicle based on the deviation angle within each of the preset time periods, an adjustment module is configured to:
determining an angle average value of the deviation angles in each preset period;
and determining a neutral position adjustment angle according to the deviation angle, and adjusting the angle control zero position corresponding to the neutral position of the steering wheel according to the neutral position adjustment angle.
In some possible embodiments, after performing the adjustment of the steering wheel neutral position of the vehicle according to the neutral position adjustment angle, the adjustment module is further configured to:
Storing the vehicle load capacity when the median adjustment angle is determined in an associated manner with the median adjustment angle;
before the identifying the steering angle of the vehicle every preset time period, the method further includes:
determining the current load capacity of the vehicle, and determining an estimated adjustment angle according to historical adjustment data and the current load capacity; the history adjustment data comprises the neutral position adjustment angle and the vehicle load capacity which are stored in a correlated mode after the steering wheel neutral position of the vehicle is adjusted each time;
and adjusting the steering wheel center position of the vehicle by adopting the estimated adjustment angle.
In some possible embodiments, performing the determining an estimated adjustment angle based on historical adjustment data and the current load capacity, the adjustment module is configured to:
and carrying out interpolation operation on the historical adjustment data based on the current load capacity, and taking the median adjustment angle of the vehicle after the interpolation operation corresponding to the current load capacity as the estimated adjustment angle.
In some possible embodiments, the apparatus further comprises:
an alert module configured to acquire a yaw rate of the vehicle in performing a control of the vehicle to travel along the target path to adjust a steering wheel neutral position of the vehicle;
Stopping steering wheel neutral position adjustment of the vehicle in the target path if the yaw rate is greater than an angular rate threshold; and is combined with the other components of the water treatment device,
and reselecting a target path based on the current position of the vehicle, and performing steering wheel neutral adjustment on the vehicle on the reselected target path.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a memory for storing program instructions;
a processor for invoking program instructions stored in the memory and executing the steps comprised by the method according to any of the first aspects in accordance with the obtained program instructions.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any one of the first aspects.
In a fifth aspect, embodiments of the present application provide a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of any of the first aspects.
In a sixth aspect, an embodiment of the application provides a chip comprising a processor for implementing the steps of any of the methods described above when executing computer program instructions.
Optionally, a memory having stored thereon computer program instructions executable on the processor is also included.
Optionally, the system further comprises a transceiver, wherein the transceiver is used for receiving the trailer image acquired by the image acquisition device.
Drawings
Fig. 1 is a schematic diagram of a steering wheel according to an embodiment of the present application;
fig. 2 is an application scenario schematic provided in an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for adjusting a neutral position of a steering wheel according to an embodiment of the present application;
FIG. 4 is a schematic view of a neutral adjustment of a trigger steering wheel according to an embodiment of the present application;
FIG. 5 is a schematic view of deviation angles according to an embodiment of the present application;
FIG. 6 is a schematic diagram of historical adjustment data according to an embodiment of the present application;
fig. 7 is a block diagram of a steering wheel neutral position adjusting device 700 according to an embodiment of the present application;
fig. 8 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Embodiments of the application and features of the embodiments may be combined with one another arbitrarily without conflict. Also, while a logical order of illustration is depicted in the flowchart, in some cases the steps shown or described may be performed in a different order than presented.
The terms first and second in the description and claims of the application and in the above-mentioned figures are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the term "include" and any variations thereof is intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The term "plurality" in the present application may mean at least two, for example, two, three or more, and embodiments of the present application are not limited.
Most of common vehicle types in the market realize an active correcting function by adding a steering sensor in a steering column, so that the control comfort and the safety are improved; however, after the steering sensor is added, the middle position of the steering wheel of the vehicle needs to be calibrated to realize normal running of the vehicle, the middle position of the steering wheel of the vehicle is calibrated by manufacturers in the vehicle production process, and the inaccurate middle position of the steering wheel can cause the deviation of the vehicle in the subsequent running process. For example, the vehicle shown in fig. 1 is driven from the current lane a into the lane 2, and the driving direction of the vehicle a needs to be controlled to be consistent with the extending direction of the lane line of the lane 2 by rotating the steering wheel when the lane is shifted. However, since the vehicle steering wheel is inaccurate in position, a certain deviation exists between the running direction of the vehicle and the extending direction of the lane line, the vehicle gradually deviates from the lane line when running through the vehicle, wherein an arrow 1 shown in fig. 2 represents the steering angle when the vehicle runs into a lane 2, and an arrow 2 represents the extending direction of the lane line of the lane 2. Some vehicle types are equipped with steering gears for adjusting the center position of the steering wheel, but the adjustment mode is to judge whether the vehicle is running on a straight line or not by recognizing traditional signals such as yaw rate and the like, and then to compensate the center position of the steering wheel. The mode is single in judgment condition, and if the jitter is serious in the running process of the vehicle, the signal fluctuation frequency is large, so that the neutral position adjustment precision of the steering wheel is affected.
In order to solve the above problem, the embodiment of the application proposes that the vehicle is controlled to travel for a specified duration along the extending direction of either end of the target path at a specified speed, so as to identify the steering angle of the vehicle at preset intervals during the traveling process. Deviations in the steering wheel of the vehicle can lead to deviations in the direction of travel of the vehicle, which can be compensated by an additional steering angle applied to the vehicle in order to ensure that the vehicle travels in the direction of extension. Based on the deviation angle determined by the steering angle of each preset time period, the steering wheel neutral position of the vehicle is adjusted based on the deviation angle in each preset time period, so that the adjustment accuracy of the steering wheel neutral position is improved.
Referring to fig. 1, an application scenario is schematically shown according to an embodiment of the present application.
As shown in fig. 1, the application scenario may include, for example, a network 10, a truck 20, and a server 30: the server 30 may be a cloud server, a stand-alone server, or a drive computer of the truck 20.
In the application scenario illustrated in fig. 1, truck 20 feeds back to server 30 an indication to enable the steering wheel neutral adjustment mode each time the ignition is activated or the load capacity is greater than a threshold. The server 30 acquires the straight lanes located near the truck 20 through a pre-stored high-definition map.
The server 30 transmits the position information of the straight lane to the truck 20 to control the truck 20 to travel in the extending direction of the straight lane for a specified period of time with a specified vehicle speed. The steering angle of the truck 20 is collected every preset time period during the uniform traveling. The server 30 determines a deviation angle according to the steering angle in each preset period, and sends the deviation angle to the truck 20 through the network 10, so as to control the truck 20 to adjust the steering angle of the vehicle according to the deviation angle, so that the truck 20 runs along the re-collected extending direction. After the truck 20 travels for a specified period of time, the server 30 adjusts the steering wheel neutral position of the truck 20 based on the deviation angle in each preset period of time.
It should be noted that only a single server is described in detail in the description of the present application, but it should be understood by those skilled in the art that the terminal device 30 shown in fig. 1 is intended to represent the operation of the server according to the technical solution of the present application. The details of a single server are provided for convenience of explanation at least, and are not meant to imply limitations on the number, type, location, etc. of servers. It should be noted that the underlying concepts of the exemplary embodiments of this application are not altered if additional modules are added to or individual modules are removed from the illustrated environment.
Fig. 3 schematically illustrates an overall flow chart of a method for adjusting a steering wheel center position according to an embodiment of the present application, specifically as shown in fig. 3, including:
step 301: responding to the median adjustment indication information, and controlling the vehicle to drive for a specified duration along the extending direction of any end of the target path by adopting a specified vehicle speed;
before executing step 301, it is determined that the running state of the vehicle satisfies the preset neutral adjustment condition. When the method is implemented, the running state of the vehicle is acquired in real time to determine whether the vehicle meets the preset median adjustment condition. In general, displacement factors such as chassis, axles and the like caused by a vehicle in the running process can influence the accuracy of the middle position of the steering wheel of the vehicle, which is particularly obvious in the case of large freight vehicles carrying transportation work. Based on this, in the process of collecting the running state of the vehicle, if the collected vehicle is started in ignition or the collected load capacity change of the vehicle is greater than the load capacity change threshold, it is determined that the vehicle meets the preset median adjustment condition, and at this time, the vehicle needs to be controlled to execute the steering wheel median adjustment method provided by the embodiment of the application to adjust the steering wheel median.
As shown in fig. 4, in practical application, the running state of the vehicle may be identified through a control terminal such as a driving computer, a vehicle-mounted cloud end, a remote server, etc., when the ignition of the vehicle is started or the load capacity change in the running process of the vehicle is greater than the load capacity change threshold, it is confirmed that the vehicle meets the preset median adjustment condition, at this time, a median adjustment request may be sent to a driver through a vehicle-mounted communication device, and after the driver confirms that the vehicle enters an automatic driving mode, the median adjustment method of the steering wheel provided by the embodiment of the application may be executed by the control vehicle to adjust the median of the steering wheel of the vehicle. In addition, the step of confirming the driver may be omitted, and the vehicle may be actively controlled to execute the method for adjusting the steering wheel center provided by the embodiment of the present application after the vehicle enters the automatic driving mode.
After the vehicle is determined to meet the preset neutral position adjustment condition through the flow, a target path for adjusting the neutral position of the steering wheel of the vehicle is required to be determined, and when the vehicle is implemented, the lanes in the designated area can be collected. The specified area is determined according to the position of the vehicle at the moment when the vehicle meets the steering wheel neutral position adjustment condition, for example, after the vehicle is determined to meet the preset neutral position adjustment condition, all lanes in the surrounding specified area are searched by taking the current position of the vehicle as the center of a circle through detection devices such as a radar, a sensor and the like. And then taking a road section with the lane curvature smaller than the curvature threshold value and the lane length larger than the length threshold value in each lane as a target lane. And selecting a road section with flat road and better road condition from the target lane as a target road section.
The curvature threshold in the embodiment of the application is set to 0.001, namely, the screened lane is limited to be a straight line lane. The length threshold is determined according to the real-time speed of the vehicle and a preset test distance, where the preset test distance is used to ensure that the screened lane can support the vehicle to execute the step 301.
Specifically, the specified duration of the vehicle running in the target path in step 301 is a preset value for ensuring the median adjustment accuracy, and is set to 10 seconds in the embodiment of the present application. The specified speed in step 301 may be set to be the real-time speed of the vehicle when the target path is screened, or may be a fixed value calibrated in advance. Assuming that the specified speed of the vehicle is 60km/h (i.e., 16.7 m/s), the predetermined test distance is at least 167 meters. The target paths meeting the requirements for adjusting the steering wheel position of the vehicle can be screened from all target lanes in the designated area through the flow.
It should be noted that, in the embodiment of the present application, it is intended to control the vehicle to travel along the lane line of the target path with the lane line as the constraint of the vehicle travel track. Therefore, when the vehicle is controlled to travel on the target road section, the vehicle can be controlled to travel along the extending direction of any end of the target road section, and the specific traveling along the extending direction of any end can be set according to actual requirements. The extending direction of any end of the target path can be obtained in a mode with higher precision such as a high-precision map, radar survey and the like.
Step 302: identifying the steering angle of the vehicle every preset time period, and determining a deviation angle according to the steering angle in each preset time period; the deviation angle represents a steering angle change of which the steering angle indicated by the current running direction of the vehicle is changed to 0 degrees in the preset period;
the deviation of the position in the steering wheel of the vehicle can cause the deviation of the running direction of the vehicle in the running process of the extending direction of the target path, the situation of the deviation of the running direction of the vehicle can be obtained according to the feedback of the sensor in the automatic driving process of the vehicle, and at the moment, an upper-layer controller (such as an ECU) can additionally apply a steering angle to the vehicle to compensate the deviation of the direction of the vehicle in order to ensure that the vehicle can run along the extending direction of the target path, namely, deviation correction. For example, the steering angle of the vehicle is controlled to be 0 ° when the vehicle is traveling straight. However, due to the deviation of the steering wheel of the vehicle, the vehicle can deviate during running, and the sensing system can change the running direction of the vehicle by sending a steering angle to the vehicle so as to control the vehicle to run again along a straight line. Assuming a steering angle of 5 at this time, it is assumed that the vehicle should be steered 5 before running straight.
Based on the above, the embodiment of the application determines the extending direction of any one of the target paths in real time in the process of controlling the vehicle to run on the target paths, and identifies the steering angle of the vehicle at intervals of a preset period.
After the steering angle of the vehicle in the preset period is determined, a deviation angle is determined according to the steering angle, wherein the deviation angle represents the steering angle change of the vehicle from the steering angle indicated by the current running direction to 0 degree in the preset period. In implementation, the angle of the steering angle can be directly used as a deviation angle, a preset weight can be set according to actual requirements, and the deviation angle is determined based on the steering angle and the preset weight, which is not limited in the application. The deviation angle of the vehicle in each preset time period can be obtained through the flow.
Step 303: and adjusting the steering wheel center position of the vehicle based on the deviation angle in each preset period.
The magnitude of the vehicle heading offset caused by the vehicle steering wheel neutral position offset is not fixed due to factors such as road and vehicle conditions, for example, as shown in fig. 5, the vehicle deviation angle is 5 ° in the preset period 1, the vehicle deviation angle is 2 ° in the preset period 2, and the vehicle deviation angle is-1 ° in the preset period 3. Based on the above, after determining the deviation angles corresponding to the preset time periods, calculating the angle average value of the deviation angles in the preset time periods, and determining the median adjustment angle of the vehicle according to the angle average value. In implementation, the angle average value may be directly used as the median adjustment angle, or the result obtained by adding weight to the angle average value according to actual requirements may be used as the median adjustment angle, which is not limited in the embodiment of the present application. After the median adjustment angle is determined, the angle control zero degree of the upper controller of the vehicle is adjusted through the median adjustment angle, namely, the zero degree rotation angle corresponding to the median of the steering wheel is recalibrated. Thus, the correction of the middle position of the steering wheel of the vehicle can be completed.
In order to further improve the adjustment precision, after the adjustment of the middle position of the steering wheel is completed each time, the embodiment of the application stores the vehicle carrying capacity in association with the adjustment angle of the middle position adjusted this time. Thus, the steering wheel center position of the vehicle can be pre-adjusted by referring to the history adjustment data each time the steering wheel center position of the vehicle is adjusted, and the steering wheel center position adjustment flow of steps 301 to 303 is performed on the pre-adjusted vehicle.
For example, the history adjustment data shown in fig. 6 includes the vehicle load capacity and the corresponding neutral adjustment angle for each adjustment of the steering wheel. In this way, the current load capacity of the vehicle can be predetermined at the next adjustment of the steering wheel position, and the estimated adjustment angle can be determined from the historical adjustment data and the current load capacity.
Considering that the median adjustment angle corresponding to each vehicle load capacity cannot be recorded in the history adjustment data, for example, the current load capacity of the vehicle is T2 tons, and the history adjustment data shown in fig. 6 only has values T1 tons and T3 tons similar to the current load capacity of the vehicle. Therefore, interpolation operation can be carried out on the historical adjustment data based on the current load capacity, the target load capacity, the difference of which is larger than the difference threshold value, is selected from interpolation results of the load capacities of all vehicles, and then the middle adjustment angle of the target load capacity after corresponding interpolation operation is used as an estimated adjustment angle.
In this way, the difference algorithm can be used to perform difference operation on the vehicle load capacity and the median adjustment angle in the history adjustment technology, so as to obtain what the median adjustment angle (corresponding to the estimated adjustment angle) is when the vehicle load capacity is T2 tons. Thus, the middle position of the steering wheel of the vehicle can be pre-adjusted according to the estimated adjustment angle.
In addition, in the embodiment of the application, the yaw rate of the vehicle is collected in real time in the process of controlling the vehicle to run along the target path to adjust the steering wheel position of the vehicle, taking a straight target road section as an example, if the collected yaw rate of the vehicle is greater than a preset angular velocity threshold value, the current road condition is characterized as influencing the normal straight running of the vehicle, namely the vehicle cannot keep a constant-speed straight running state in the current target path. At the moment, the adjustment of the middle position of the steering wheel of the vehicle is needed to be stopped in the target path; and after the target path is reselected based on the current position of the vehicle, steering wheel neutral adjustment is performed on the vehicle on the reselected target path.
The flow is characterized in that the vehicle is controlled to drive for a specified duration along the extending direction of any end of the target path by adopting the specified speed, so that the steering angle of the vehicle is identified at intervals of a preset period in the driving process. Deviations in the steering wheel of the vehicle can lead to deviations in the direction of travel of the vehicle, which can be compensated by an additional steering angle applied to the vehicle in order to ensure that the vehicle travels in the direction of extension. Based on the deviation angle determined by the steering angle of each preset time period, the steering wheel neutral position of the vehicle is adjusted based on the deviation angle in each preset time period, so that the adjustment accuracy of the steering wheel neutral position is improved.
Based on the same inventive concept, an embodiment of the present application provides a steering wheel neutral position adjusting device 700, specifically as shown in fig. 7, including:
a control module 701 configured to perform control of the vehicle to travel in the extending direction of either end of the target path for a specified period of time with a specified vehicle speed in response to the neutral adjustment instruction information;
a deviation module 702 configured to perform recognition of a steering angle of the vehicle every preset period, and determine a deviation angle according to the steering angle in each preset period; the deviation angle represents a steering angle change of which the steering angle indicated by the current running direction of the vehicle is changed to 0 degrees in the preset period;
an adjustment module 703 configured to perform adjustment of the steering wheel neutral position of the vehicle based on the deviation angle within each of the preset time periods.
In some possible embodiments, before executing the control vehicle to travel in the extension direction at either end of the target path for a specified period of time at a specified vehicle speed, the control module 701 is further configured to:
determining that the running state of the vehicle meets a preset median adjustment condition;
the control module 701 is further configured to:
acquiring a running state of the vehicle, and determining that the vehicle meets the preset median adjustment condition if the running state represents the ignition starting of the vehicle;
And if the running state represents that the load capacity change of the vehicle is larger than a load capacity change threshold value, determining that the vehicle meets the preset median adjustment condition.
In some possible embodiments, the target path is determined by:
after determining that the vehicle meets the preset median adjustment condition, acquiring lane information of each lane in a designated area; the appointed area is determined according to the position of the vehicle at the moment when the vehicle meets the preset median adjustment condition; the lane information at least comprises lane curvature and lane length;
taking the lane with the lane curvature smaller than a curvature threshold and the lane length larger than a length threshold as a target lane, and determining the target path according to the target lane; the length threshold is determined according to the real-time vehicle speed at the moment when the vehicle meets the preset median adjustment condition.
In some possible embodiments, the adjusting the steering wheel neutral position of the vehicle based on the deviation angle in each of the preset time periods is performed, and the adjusting module 703 is configured to:
determining an angle average value of the deviation angles in each preset period;
And determining a neutral position adjustment angle according to the deviation angle, and adjusting the angle control zero position corresponding to the neutral position of the steering wheel according to the neutral position adjustment angle.
In some possible embodiments, after performing the adjustment of the steering wheel neutral position of the vehicle according to the neutral position adjustment angle, the adjustment module 703 is further configured to:
storing the vehicle load capacity when the median adjustment angle is determined in an associated manner with the median adjustment angle;
before the identifying the steering angle of the vehicle every preset time period, the method further includes:
determining the current load capacity of the vehicle, and determining an estimated adjustment angle according to historical adjustment data and the current load capacity; the history adjustment data comprises the neutral position adjustment angle and the vehicle load capacity which are stored in a correlated mode after the steering wheel neutral position of the vehicle is adjusted each time;
and adjusting the steering wheel center position of the vehicle by adopting the estimated adjustment angle.
In some possible embodiments, performing the determining the estimated adjustment angle based on historical adjustment data and the current load capacity, the adjustment module 703 is configured to:
and carrying out interpolation operation on the historical adjustment data based on the current load capacity, and taking the median adjustment angle of the vehicle after the interpolation operation corresponding to the current load capacity as the estimated adjustment angle.
In some possible embodiments, the apparatus further comprises:
an alert module configured to acquire a yaw rate of the vehicle in performing a control of the vehicle to travel along the target path to adjust a steering wheel neutral position of the vehicle;
stopping steering wheel neutral position adjustment of the vehicle in the target path if the yaw rate is greater than an angular rate threshold; and is combined with the other components of the water treatment device,
and reselecting a target path based on the current position of the vehicle, and performing steering wheel neutral adjustment on the vehicle on the reselected target path.
An electronic device 130 according to this embodiment of the application is described below with reference to fig. 8. The electronic device 130 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 8, the electronic device 130 is in the form of a general-purpose electronic device. Components of electronic device 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 connecting the various system components, including the memory 132 and the processor 131.
Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, and a local bus using any of a variety of bus architectures.
Memory 132 may include readable media in the form of volatile memory such as Random Access Memory (RAM) 1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.
Memory 132 may also include a program/utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with the electronic device 130, and/or any device (e.g., router, modem, etc.) that enables the electronic device 130 to communicate with one or more other electronic devices. Such communication may occur through an input/output (I/O) interface 135. Also, electronic device 130 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 136. As shown, network adapter 136 communicates with other modules for electronic device 130 over bus 133. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 130, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory 132, comprising instructions executable by the processor 131 of the above apparatus to perform the above method. Alternatively, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In an exemplary embodiment, a computer program product is also provided, comprising a computer program/instruction which, when executed by the processor 131, implements any one of the methods of adjusting the position of a steering wheel as provided by the present application.
In an exemplary embodiment, aspects of a method for adjusting the neutral position of a steering wheel provided by the present application may also be implemented in the form of a program product, which includes a program code for causing a computer device to perform the steps of the method for adjusting the neutral position of a steering wheel according to the various exemplary embodiments of the present application described in the present specification, when the program product is run on the computer device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for adjustment of steering wheel bits of embodiments of the present application may employ a portable compact disc read only memory (CD-ROM) and include program code and may be run on an electronic device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the language or similar programming languages. The program code may execute entirely on the consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device, partly on the remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic device may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external electronic device (e.g., connected through the internet using an internet service provider).
It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the elements described above may be embodied in one element in accordance with embodiments of the present application. Conversely, the features and functions of one unit described above may be further divided into a plurality of units to be embodied.
Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required to either imply that the operations must be performed in that particular order or that all of the illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable image scaling device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable image scaling device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable image scaling device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable image scaling apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A method of adjusting the position of a steering wheel, the method comprising:
responding to the median adjustment indication information, and controlling the vehicle to drive for a specified duration along the extending direction of any end of the target path by adopting a specified vehicle speed;
identifying the steering angle of the vehicle every preset time period, and determining a deviation angle according to the steering angle in each preset time period; the deviation angle represents a steering angle change of which the steering angle indicated by the current running direction of the vehicle is changed to 0 degrees in the preset period;
determining an angle average value of the deviation angles in each preset period; determining a neutral position adjustment angle according to the deviation angle, and adjusting an angle control zero position corresponding to the neutral position of the steering wheel according to the neutral position adjustment angle;
storing the vehicle load capacity when the median adjustment angle is determined in an associated manner with the median adjustment angle;
Before the identifying the steering angle of the vehicle every preset time period, the method further includes:
determining the current load capacity of the vehicle, and determining an estimated adjustment angle according to historical adjustment data and the current load capacity; the history adjustment data comprise the neutral position adjustment angle and the vehicle load capacity which are stored in a correlated mode after the steering wheel neutral position of the vehicle is adjusted each time;
and adjusting the steering wheel center position of the vehicle by adopting the estimated adjustment angle.
2. The method of claim 1, wherein before the control vehicle travels in the direction of extension at either end of the target path for a specified period of time at a specified vehicle speed, the method further comprises:
determining that the running state of the vehicle meets a preset median adjustment condition;
the method further comprises the steps of:
acquiring a running state of the vehicle, and determining that the vehicle meets the preset median adjustment condition if the running state represents the ignition starting of the vehicle;
and if the running state represents that the load capacity change of the vehicle is larger than a load capacity change threshold value, determining that the vehicle meets the preset median adjustment condition.
3. The method of claim 2, wherein the target path is determined by:
After determining that the vehicle meets the preset median adjustment condition, acquiring lane information of each lane in a designated area; the appointed area is determined according to the position of the vehicle at the moment when the vehicle meets the preset median adjustment condition; the lane information at least comprises lane curvature and lane length;
taking the lane with the lane curvature smaller than a curvature threshold and the lane length larger than a length threshold as a target lane, and determining the target path according to the target lane; the length threshold is determined according to the real-time vehicle speed at the moment when the vehicle meets the preset median adjustment condition.
4. The method of claim 1, wherein said determining an estimated adjustment angle based on historical adjustment data and said current load capacity comprises:
and carrying out interpolation operation on the historical adjustment data based on the current load capacity, and taking the median adjustment angle of the vehicle after the interpolation operation corresponding to the current load capacity as the estimated adjustment angle.
5. The method according to any one of claims 1-4, further comprising:
the method comprises the steps of controlling the vehicle to run along the target path to acquire the yaw rate of the vehicle in the process of adjusting the steering wheel median of the vehicle;
Stopping steering wheel neutral position adjustment of the vehicle in the target path if the yaw rate is greater than an angular rate threshold; and is combined with the other components of the water treatment device,
and reselecting a target path based on the current position of the vehicle, and performing steering wheel neutral adjustment on the vehicle on the reselected target path.
6. A steering wheel neutral position adjustment device, the device comprising:
a control module configured to perform control of the vehicle to travel in the extending direction of either end of the target path for a specified period of time with a specified vehicle speed in response to the neutral adjustment instruction information;
a deviation module configured to perform recognition of a steering angle of the vehicle every preset period, and determine a deviation angle according to the steering angle in each preset period; the deviation angle represents a steering angle change of which the steering angle indicated by the current running direction of the vehicle is changed to 0 degrees in the preset period;
an adjustment module configured to perform determining an angle average of the deviation angles within each of the preset time periods;
determining a neutral position adjustment angle according to the deviation angle, and adjusting an angle control zero position corresponding to the neutral position of the steering wheel according to the neutral position adjustment angle;
Storing the vehicle load capacity when the median adjustment angle is determined in an associated manner with the median adjustment angle;
before performing the identifying the steering angle of the vehicle every preset time period, the deviation module is further configured to:
determining the current load capacity of the vehicle, and determining an estimated adjustment angle according to historical adjustment data and the current load capacity; the history adjustment data comprise the neutral position adjustment angle and the vehicle load capacity which are stored in a correlated mode after the steering wheel neutral position of the vehicle is adjusted each time;
and adjusting the steering wheel center position of the vehicle by adopting the estimated adjustment angle.
7. An electronic device, comprising:
a memory for storing program instructions;
a processor for invoking program instructions stored in the memory and for performing the steps comprised in the method according to any of claims 1-5 in accordance with the obtained program instructions.
8. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211054021.2A CN115214775B (en) | 2022-08-31 | 2022-08-31 | Steering wheel neutral position adjusting method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211054021.2A CN115214775B (en) | 2022-08-31 | 2022-08-31 | Steering wheel neutral position adjusting method, device, equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115214775A CN115214775A (en) | 2022-10-21 |
| CN115214775B true CN115214775B (en) | 2023-09-22 |
Family
ID=83617741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211054021.2A Active CN115214775B (en) | 2022-08-31 | 2022-08-31 | Steering wheel neutral position adjusting method, device, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115214775B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114867649A (en) * | 2019-12-25 | 2022-08-05 | 松下知识产权经营株式会社 | Information processing method, information processing system, and control device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218719A (en) * | 2016-08-18 | 2016-12-14 | 中车株洲电力机车研究所有限公司 | A kind of articulated train wheel zero bias correcting method |
| KR20190026299A (en) * | 2017-09-05 | 2019-03-13 | 현대자동차주식회사 | Apparatus and method for restorating steering wheel of vehicle |
| CN109649490A (en) * | 2019-01-22 | 2019-04-19 | 广州小鹏汽车科技有限公司 | Automatic calibration method, system and the vehicle of vehicle steering wheel zero bias |
| CN112109804A (en) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Vehicle steering wheel angle correction method, vehicle, and readable storage medium |
| CN113581289A (en) * | 2021-09-01 | 2021-11-02 | 国汽智控(北京)科技有限公司 | Zero offset dynamic calibration method and device, electronic equipment and storage medium |
-
2022
- 2022-08-31 CN CN202211054021.2A patent/CN115214775B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218719A (en) * | 2016-08-18 | 2016-12-14 | 中车株洲电力机车研究所有限公司 | A kind of articulated train wheel zero bias correcting method |
| KR20190026299A (en) * | 2017-09-05 | 2019-03-13 | 현대자동차주식회사 | Apparatus and method for restorating steering wheel of vehicle |
| CN109649490A (en) * | 2019-01-22 | 2019-04-19 | 广州小鹏汽车科技有限公司 | Automatic calibration method, system and the vehicle of vehicle steering wheel zero bias |
| CN112109804A (en) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Vehicle steering wheel angle correction method, vehicle, and readable storage medium |
| CN113581289A (en) * | 2021-09-01 | 2021-11-02 | 国汽智控(北京)科技有限公司 | Zero offset dynamic calibration method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115214775A (en) | 2022-10-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107792077B (en) | Method and system for confirming whether road section is suitable for autonomous vehicle driving | |
| US10126751B2 (en) | Lane change support device | |
| CN111016891B (en) | Method and device for controlling vehicle driving route tracking | |
| CN110341688B (en) | Front wheel steering angle compensation method and device, vehicle-mounted equipment and storage medium | |
| CN110834630A (en) | Vehicle driving control method and device, vehicle and storage medium | |
| US20150166069A1 (en) | Autonomous driving style learning | |
| CN111797780B (en) | Vehicle following track planning method, device, server and storage medium | |
| CN111222728A (en) | Unmanned carrier vehicle scheduling method, scheduling system and storage medium | |
| JP5056613B2 (en) | Driving support system | |
| CN108340915B (en) | Vehicle control device | |
| CN113677581A (en) | Lane keeping method, vehicle-mounted device and storage medium | |
| RU2618837C2 (en) | Method and system for assisting in line control for vehicle | |
| CN113734201B (en) | Vehicle redundancy control method, device, electronic equipment and medium | |
| CN115127576B (en) | Path planning method, device, chip, terminal, electronic equipment and storage medium | |
| CN107003145A (en) | Pick up calibration in parking facility | |
| CN115214775B (en) | Steering wheel neutral position adjusting method, device, equipment and medium | |
| WO2020116264A1 (en) | Vehicle travel assistance method, vehicle travel assistance device and autonomous driving system | |
| CN115431980B (en) | Automatic driving method, device, equipment and medium for vehicle | |
| CN108162978A (en) | Controller of vehicle | |
| JP2018507811A (en) | Vehicle speed matching method and apparatus for vehicle | |
| CN111968405A (en) | Method and device for determining driving lane of automatic driving vehicle | |
| CN114995267A (en) | Method and device for adjusting pose of trailer, electronic equipment and storage medium | |
| CN113867343A (en) | Robot moving method, device, robot and storage medium | |
| JP2022525389A (en) | How and control unit to stop the vehicle when stopping at different types of stop positions | |
| CN114275041B (en) | Method and device for controlling transverse direction of automatic driving vehicle, vehicle and storage medium |
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 |