CN115593514B - Zero calibration method, device and equipment for steering angle sensor and storage medium - Google Patents
Zero calibration method, device and equipment for steering angle sensor and storage medium Download PDFInfo
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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 application relates to a zero calibration method, a device, equipment and a storage medium of a steering angle sensor, which relate to the technical field of automobile calibration and comprise the steps of judging whether a vehicle is in straight running or not according to longitudinal speed, longitudinal displacement, first lateral displacement, second lateral displacement and transverse acceleration; if yes, judging whether zero calibration is needed according to the real-time steering angle; if necessary, carrying out fusion treatment on the first lateral displacement and the second lateral displacement; judging whether a steering angle correction value needs to be calculated according to the fused lateral displacement, the fused transverse acceleration and the fused longitudinal displacement; if necessary, calculating to obtain a steering angle correction value according to a preset weight value and a real-time steering angle; zero calibration is performed on the steering angle sensor based on the steering angle correction value. According to the application, the diversity of calibration data sources, zero calibration reliability and robustness of an AHPS system are improved by using the multi-element heterogeneous sensing data, so that the manual calibration steps are simplified, and the calibration efficiency and the reliability of the whole steering system are improved.
Description
Technical Field
The application relates to the technical field of automobile calibration, in particular to a zero calibration method, device and equipment for a steering angle sensor and a storage medium.
Background
AHPS (Advanced Hybrid Power Steering, advanced hybrid steering) offers great advantages in longitudinal control and lateral control: firstly, the whole vehicle control is more accurate; secondly, the steering and braking can be backed up mutually, so that the operation becomes more effective and simpler. Zero calibration of the AHPS system has a crucial influence on the driving safety and driving experience of the vehicle. For example, because the steering column, the steering gear and the steering pull rod system have gaps, if the zero calibration error is large, the AHPS motor power-assisted system can generate active aligning moment in the straight running process, so that a driver has strong drag feeling, and the running safety and the driving experience of the vehicle are further affected. For a commercial vehicle with a steering engine arranged on one side and matched with a steering pull rod, the heights of wheel centers of the vehicle are inconsistent under different loads, and when the commercial vehicle leaves a factory, the zero position of the AHPS system is usually calibrated according to the position of the steering system when the vehicle runs straight without load, but the zero position is not the true zero position calibrated by the AHPS system when the vehicle runs with load or is fully loaded.
If the zero position of the vehicle steering system is inconsistent with the zero position of the AHPS system, the AHPS system can return the vehicle to the zero position calibrated by the sensor when the vehicle is straight, the vehicle is caused to deviate at the moment, and the auxiliary power assisting system of the AHPS system can also cause inconsistent left and right power assisting sizes due to inconsistent zero positions of the vehicle steering system and the AHPS system, so that the texture of steering products is greatly reduced; in the long-term running process of the vehicle, when the conditions of tire replacement, system looseness, long-term turning to one side, accumulation of goods on one side, wind measurement and the like occur, the zero position of the vehicle can also change, and if the vehicle cannot be calibrated by means of dynamic correction of the system, the problems of abnormal alignment, power assisting abnormality, even system failure and the like of the vehicle can be caused.
In the related art, four-wheel positioning initial calibration is usually carried out in an 8-shaped pile winding calibration mode when the whole vehicle leaves the factory; then, after the whole vehicle leaves the factory, the secondary calibration is carried out, and when the secondary calibration is carried out, the manual operation is needed to be connected to the OBD (On-Board Diagnostics, vehicle-mounted self-diagnosis system) of the whole vehicle through a diagnosis instrument, and the calibration is carried out through data service, the manual calibration process is divided into 12 steps, the self-learning of steering characteristics (2 km running in a wide area and one time of gentle turning around) is needed to be completed after the automatic calibration is completed in sequence, if the learning fails, more than twenty operations are needed to be carried out through repeating the 12 calibration steps, the calibration steps are more, the operation is complex, the time consumption is long, the calibration cannot be successfully carried out at one time, and the calibration steps are needed to be repeated for many times, namely the problems of low zero calibration efficiency and poor calibration reliability exist.
Disclosure of Invention
The application provides a zero calibration method, device and equipment for a steering angle sensor and a storage medium, which are used for solving the problems of low zero calibration efficiency and poor calibration reliability in the related technology.
In a first aspect, a zero calibration method for a steering angle sensor is provided, which includes the following steps:
Judging whether the vehicle is in a straight running state according to the longitudinal speed and the longitudinal displacement acquired by the longitudinal acceleration sensor, the first lateral displacement acquired by the laser radar, the second lateral displacement acquired by the camera and the lateral acceleration acquired by the lateral acceleration sensor;
if the vehicle is in a straight running state, acquiring a real-time steering angle through a steering angle sensor, and judging whether zero calibration is needed to be carried out on the steering angle sensor according to the real-time steering angle;
If zero calibration is required to be carried out on the steering angle sensor, fusion processing is carried out on the first lateral displacement and the second lateral displacement, and fused lateral displacement is obtained;
judging whether a steering angle correction value needs to be calculated according to the fused lateral displacement, the transverse acceleration and the longitudinal displacement;
if the steering angle correction value needs to be calculated, calculating the steering angle correction value according to a preset weight value and the real-time steering angle;
Zero calibration is carried out on the steering angle sensor based on the steering angle correction value.
In some embodiments, the determining whether the steering angle correction value needs to be calculated according to the fused lateral displacement, the lateral acceleration and the longitudinal displacement includes:
Judging whether the lateral displacement after fusion is smaller than a lateral displacement threshold value and whether the lateral acceleration is smaller than an acceleration threshold value;
If the lateral displacement after fusion is smaller than a lateral displacement threshold value and the lateral acceleration is smaller than an acceleration threshold value, judging whether the longitudinal displacement is larger than a longitudinal displacement threshold value or not;
if the longitudinal displacement is larger than a longitudinal displacement threshold, determining that the steering angle correction value needs to be calculated;
And if the longitudinal displacement is smaller than or equal to a longitudinal displacement threshold, judging that the steering angle correction value does not need to be calculated.
In some embodiments, the preset weight value is 0.7, and the calculating the steering angle correction value according to the preset weight value and the real-time steering angle includes:
multiplying the preset weight value and the real-time steering angle to obtain a steering angle correction value.
In some embodiments, zero calibration of the steering angle sensor based on the steering angle correction value includes:
Acquiring a current zero position value of the steering angle sensor;
And taking the difference value between the current zero position value and the steering angle correction value as a corrected zero position value to realize zero position calibration of the steering angle sensor.
In some embodiments, the determining, according to the real-time steering angle, whether zero calibration of the steering angle sensor is needed includes:
judging whether the real-time steering angle is within a steering angle threshold range or not;
If the real-time steering angle is not in the steering angle threshold range, judging that zero calibration is needed to be carried out on the steering angle sensor;
And if the real-time steering angle is within the steering angle threshold range, judging that zero calibration of the steering angle sensor is not needed.
In a second aspect, there is provided a steering angle sensor zero calibration device comprising:
A first judging unit for judging whether the vehicle is in a straight running state or not based on the longitudinal speed and the longitudinal displacement acquired by the longitudinal acceleration sensor, the first lateral displacement acquired by the laser radar, the second lateral displacement acquired by the camera, and the lateral acceleration acquired by the lateral acceleration sensor;
The second judging unit is used for acquiring a real-time steering angle through a steering angle sensor if the vehicle is in a straight running state and judging whether zero calibration is needed for the steering angle sensor according to the real-time steering angle;
the fusion processing unit is used for carrying out fusion processing on the first lateral displacement and the second lateral displacement if zero calibration is required to be carried out on the steering angle sensor, so as to obtain fused lateral displacement;
A third judging unit for judging whether the steering angle correction value needs to be calculated according to the lateral displacement, the lateral acceleration and the longitudinal displacement after fusion;
The angle correction unit is used for calculating the steering angle correction value according to a preset weight value and the real-time steering angle if the steering angle correction value needs to be calculated;
And the zero calibration unit is used for calibrating the zero of the steering angle sensor based on the steering angle correction value.
In some embodiments, the third determining unit is specifically configured to:
Judging whether the lateral displacement after fusion is smaller than a lateral displacement threshold value and whether the lateral acceleration is smaller than an acceleration threshold value;
If the lateral displacement after fusion is smaller than a lateral displacement threshold value and the lateral acceleration is smaller than an acceleration threshold value, judging whether the longitudinal displacement is larger than a longitudinal displacement threshold value or not;
if the longitudinal displacement is larger than a longitudinal displacement threshold, determining that the steering angle correction value needs to be calculated;
And if the longitudinal displacement is smaller than or equal to a longitudinal displacement threshold, judging that the steering angle correction value does not need to be calculated.
In some embodiments, the preset weight value is 0.7, and the angle correction unit is specifically configured to:
multiplying the preset weight value and the real-time steering angle to obtain a steering angle correction value.
In some embodiments, the zero calibration unit is specifically configured to:
Acquiring a current zero position value of the steering angle sensor;
And taking the difference value between the current zero position value and the steering angle correction value as a corrected zero position value to realize zero position calibration of the steering angle sensor.
In some embodiments, the second determining unit is specifically configured to:
judging whether the real-time steering angle is within a steering angle threshold range or not;
If the real-time steering angle is not in the steering angle threshold range, judging that zero calibration is needed to be carried out on the steering angle sensor;
And if the real-time steering angle is within the steering angle threshold range, judging that zero calibration of the steering angle sensor is not needed.
In a third aspect, there is provided a steering angle sensor zero calibration apparatus comprising: the device comprises a memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize the steering angle sensor zero calibration method.
In a fourth aspect, a computer readable storage medium is provided, the computer storage medium storing a computer program which, when executed by a processor, implements the steering angle sensor zero calibration method described above.
The application provides a steering angle sensor zero calibration method, a device, equipment and a storage medium, which comprise the steps of judging whether a vehicle is in a straight running state according to longitudinal speed and longitudinal displacement acquired by a longitudinal acceleration sensor, first lateral displacement acquired by a laser radar, second lateral displacement acquired by a camera and transverse acceleration acquired by a transverse acceleration sensor; if the vehicle is in a straight running state, acquiring a real-time steering angle through a steering angle sensor, and judging whether zero calibration is needed to be carried out on the steering angle sensor according to the real-time steering angle; if zero calibration is required to be carried out on the steering angle sensor, fusion processing is carried out on the first lateral displacement and the second lateral displacement, and fused lateral displacement is obtained; judging whether a steering angle correction value needs to be calculated according to the fused lateral displacement, the transverse acceleration and the longitudinal displacement; if the steering angle correction value needs to be calculated, calculating the steering angle correction value according to a preset weight value and the real-time steering angle; zero calibration is carried out on the steering angle sensor based on the steering angle correction value. According to the application, the diversity of calibration data sources, the zero calibration reliability and the robustness of an AHPS system are improved by using the multi-component heterogeneous sensing data in the calibration process of the steering angle sensor, and error monitoring and self-adaptive calibration logic is constructed, so that complicated manual calibration steps are simplified, the traditional secondary calibration process is replaced, the calibration efficiency is improved, and the reliability of the whole steering system is greatly improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for calibrating zero position of a steering angle sensor according to an embodiment of the present application;
FIG. 2 is a schematic diagram of adaptive calibration logic according to an embodiment of the present application;
FIG. 3 is a schematic diagram of dynamic calibration logic according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a zero calibration device for a steering angle sensor according to an embodiment of the present application
Fig. 5 is a schematic structural diagram of a zero calibration device for a steering angle sensor according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of 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 some embodiments of the present application, but 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.
The embodiment of the application provides a zero calibration method, device and equipment for a steering angle sensor and a storage medium, which can solve the problems of low zero calibration efficiency and poor calibration reliability in the related technology.
Fig. 1 is a zero calibration method of a steering angle sensor, provided by the embodiment of the application, comprising the following steps:
Step S10: judging whether the vehicle is in a straight running state according to the longitudinal speed and the longitudinal displacement acquired by the longitudinal acceleration sensor, the first lateral displacement acquired by the laser radar, the second lateral displacement acquired by the camera and the lateral acceleration acquired by the lateral acceleration sensor;
step S20: if the vehicle is in a straight running state, acquiring a real-time steering angle through a steering angle sensor, and judging whether zero calibration is needed to be carried out on the steering angle sensor according to the real-time steering angle;
Specifically, the determining, according to the real-time steering angle, whether zero calibration of the steering angle sensor is required includes:
judging whether the real-time steering angle is within a steering angle threshold range or not;
If the real-time steering angle is not in the steering angle threshold range, judging that zero calibration is needed to be carried out on the steering angle sensor;
And if the real-time steering angle is within the steering angle threshold range, judging that zero calibration of the steering angle sensor is not needed.
Step S30: if zero calibration is required to be carried out on the steering angle sensor, fusion processing is carried out on the first lateral displacement and the second lateral displacement, and fused lateral displacement is obtained;
Step S40: judging whether a steering angle correction value needs to be calculated according to the fused lateral displacement, the transverse acceleration and the longitudinal displacement;
specifically, the determining whether the steering angle correction value needs to be calculated according to the fused lateral displacement, the lateral acceleration and the longitudinal displacement includes:
Judging whether the lateral displacement after fusion is smaller than a lateral displacement threshold value and whether the lateral acceleration is smaller than an acceleration threshold value;
If the lateral displacement after fusion is smaller than a lateral displacement threshold value and the lateral acceleration is smaller than an acceleration threshold value, judging whether the longitudinal displacement is larger than a longitudinal displacement threshold value or not;
if the longitudinal displacement is larger than a longitudinal displacement threshold, determining that the steering angle correction value needs to be calculated;
And if the longitudinal displacement is smaller than or equal to a longitudinal displacement threshold, judging that the steering angle correction value does not need to be calculated.
Step S50: if the steering angle correction value needs to be calculated, calculating the steering angle correction value according to a preset weight value and the real-time steering angle;
specifically, the preset weight value is 0.7, and the steering angle correction value obtained by calculating according to the preset weight value and the real-time steering angle includes:
multiplying the preset weight value and the real-time steering angle to obtain a steering angle correction value.
Step S60: zero calibration is carried out on the steering angle sensor based on the steering angle correction value.
Specifically, the zero calibration of the steering angle sensor based on the steering angle correction value includes:
Acquiring a current zero position value of the steering angle sensor;
And taking the difference value between the current zero position value and the steering angle correction value as a corrected zero position value to realize zero position calibration of the steering angle sensor.
The zero calibration method of the steering angle sensor is provided by the embodiment, and the working principle of the zero calibration method of the steering angle sensor provided by the embodiment is explained by taking a main line logistics traction vehicle model provided with an automatic driving system as an example.
First, a method and logic of whether to perform adaptive calibration is specifically explained in conjunction with fig. 2:
It can be appreciated that the present embodiment mainly uses five types of sensors, in which a steering angle sensor (STEERINGANGLE SENSOR, SAS) is used to acquire the real-time steering angle of the current steering column; the longitudinal acceleration sensor is used for acquiring the longitudinal acceleration of the vehicle; the lateral acceleration sensor is used for acquiring the lateral acceleration of the vehicle; the laser radar is used for scanning and acquiring environmental point cloud data around the vehicle; the camera is used for acquiring visible light image frames in front of the vehicle.
In this embodiment, whether to perform adaptive calibration is determined by an ANN (ARTIFICIAL NEURAL NETWORK ), which is specifically: acquiring various data of an SAS, a longitudinal acceleration sensor, a transverse acceleration sensor, a laser radar and a camera; integrating the acceleration value obtained from the longitudinal acceleration sensor, and calculating to obtain a time domain mean value V lave of the longitudinal speed and longitudinal displacement S l; estimating the lateral displacement (namely transverse displacement) S wF of the vehicle according to multi-frame point cloud data F of the laser radar, and performing computer vision estimation according to multi-frame visible light pixel frames P of the camera to obtain the lateral displacement (namely transverse displacement) S wP of the vehicle; and continuously calculating the average value in the time domain of the output value A s of the SAS and the output value a w of the transverse acceleration sensor to obtain a steering angle average value A save and a transverse acceleration average value a wave respectively. It should be appreciated that the longitudinal speed, longitudinal displacement, first lateral displacement, second lateral displacement, lateral acceleration, and real-time steering angle referred to in this embodiment are all time-domain averages over a period of time.
And finally, based on the decision of whether the ANN output is used for executing the dynamic calibration system, namely, inputting the calculation result into a radial basis function (RBF, radial Basis Function), and finally, outputting the decision of whether the dynamic calibration is performed. Here, the ANN uses a paradigm of RBF (Radial Basis Function ), and performs supervised learning based on a typical "zero calibration required" state, for example: steering angle time domain mean value a save =10°, time domain mean value V lave =40 km/h of longitudinal speed, longitudinal displacement S l =500 m, lateral displacement all <0.1m, lateral acceleration time domain mean value a wave＝0.1m/s2, at this time, according to longitudinal speed, longitudinal displacement, lateral displacement and lateral acceleration, it can be determined that the vehicle is in a straight running state, while SAS steering angle sensor has a deviation of about 10 °, which is not in the steering angle threshold range, and ANN outputs a decision that dynamic calibration needs to be performed. It can be understood that the steering angle threshold range is obtained by ANN training, for example, after ANN training, the steering angle threshold range is determined to be-5 degrees to 5 degrees, so that when the vehicle is in a straight state and the real-time steering angle is not-5 degrees to 5 degrees, zero dynamic calibration is required, and when the vehicle is not in a straight state or the real-time steering angle is-5 degrees to 5 degrees, zero dynamic calibration is not required.
Next, a specific method and logic for dynamic calibration is explained in conjunction with fig. 3:
When the self-adaptive calibration logic decision is used for dynamic zero calibration, the Sub-System (namely a dynamic calibration System) continuously calculates the parameters, namely, various data of the SAS, the longitudinal acceleration sensor, the transverse acceleration sensor, the laser radar and the camera are obtained, and the data obtained from different sensors are processed differently: calculating a time domain mean value of signals of the SAS and the transverse acceleration sensor, calculating longitudinal displacement through the longitudinal acceleration sensor, and estimating lateral displacement (namely transverse displacement) through the laser radar and the camera; then, the lateral displacement is fused, that is, the lateral displacement (that is, the lateral displacement after fusion) S w is obtained by fusing the lateral displacement of the vehicle calculated based on two different modes, specifically, S w＝(0.7*SwF+0.3*SwP, it should be understood that, when the lateral displacement fusion is performed, the weights respectively corresponding to the laser radar and the camera may be determined according to the actual requirements, which is not limited herein.
Then, continuously judging whether the fused lateral displacement S w and the transverse acceleration average value a wave simultaneously tend to 0, namely, whether the fused lateral displacement S w is smaller than a lateral displacement threshold value and whether the transverse acceleration a wave is smaller than an acceleration threshold value; if not, continuing to maintain the data acquisition and calculation state; if the two are both towards 0, inputting the judging result into an AND gate, namely, continuously judging whether the current small meter mileage (namely, the longitudinal displacement of the vehicle) is larger than a longitudinal displacement threshold value or not at the moment; if not, continuing to travel to the longitudinal displacement threshold; if yes, the judging result is input into an and gate, namely, the real-time steering angle average value A save is required to be recorded at the moment, A sF＝0.7*Asave is taken as a steering angle correction value, the zero position of the current SAS is recorded as A 0, the zero position of the corrected SAS is A 0＇＝A0-AsF, and meanwhile, the yaw acceleration sensor is reset, so that the AHPS steering angle sensor completes dynamic self-adaptive calibration once through the embodiment. It should be noted that, specific settings of the lateral displacement threshold, the acceleration threshold, and the longitudinal displacement threshold may be determined according to actual needs, and are not limited herein, for example, an absolute value of the lateral displacement threshold is set to 0.1m, the acceleration threshold is set to 0, and the longitudinal displacement threshold is set to 2km.
Therefore, the dynamic zero calibration of the AHPS steering angle sensor is realized through the self-adaptive algorithm of the embodiment, the manual complicated calibration steps are simplified, the driving experience of drivers and passengers and the reliability of the whole vehicle steering system are greatly improved, and the secondary calibration workload and the vehicle maintenance cost are greatly reduced.
In conclusion, the embodiment uses the multi-heterogeneous sensing data in the calibration process of the AHPS steering angle sensor, so that the source diversity of the calibration data, the zero calibration reliability and the robustness of the AHPS system are improved; error monitoring and self-adaptive calibration logic is constructed, complicated manual calibration steps are simplified, the traditional secondary calibration process is replaced, and the reliability of the whole steering system is greatly improved; meanwhile, a dynamic calibration system is built, the calibration requirements of AHPS steering angle sensors under different system abrasion conditions, load states and running conditions are met, the time and economic cost of entering a station for calibration are saved for a client, and the maintenance investment of a service station is greatly reduced; the zero calibration method of the steering angle sensor provided by the embodiment is an embedded software function, and can improve the added value of the whole vehicle product on the premise of not improving the hardware cost, and the zero calibration method of the steering angle sensor provided by the embodiment is a necessary key technology for ensuring the driving safety and the comfort in the automatic driving technology of the commercial vehicle.
Referring to fig. 4, the embodiment of the application further provides a zero calibration device of a steering angle sensor, which comprises:
A first judging unit for judging whether the vehicle is in a straight running state or not based on the longitudinal speed and the longitudinal displacement acquired by the longitudinal acceleration sensor, the first lateral displacement acquired by the laser radar, the second lateral displacement acquired by the camera, and the lateral acceleration acquired by the lateral acceleration sensor;
The second judging unit is used for acquiring a real-time steering angle through a steering angle sensor if the vehicle is in a straight running state and judging whether zero calibration is needed for the steering angle sensor according to the real-time steering angle;
the fusion processing unit is used for carrying out fusion processing on the first lateral displacement and the second lateral displacement if zero calibration is required to be carried out on the steering angle sensor, so as to obtain fused lateral displacement;
A third judging unit for judging whether the steering angle correction value needs to be calculated according to the lateral displacement, the lateral acceleration and the longitudinal displacement after fusion;
The angle correction unit is used for calculating the steering angle correction value according to a preset weight value and the real-time steering angle if the steering angle correction value needs to be calculated;
And the zero calibration unit is used for calibrating the zero of the steering angle sensor based on the steering angle correction value.
Further, the third judging unit is specifically configured to:
Judging whether the lateral displacement after fusion is smaller than a lateral displacement threshold value and whether the lateral acceleration is smaller than an acceleration threshold value;
If the lateral displacement after fusion is smaller than a lateral displacement threshold value and the lateral acceleration is smaller than an acceleration threshold value, judging whether the longitudinal displacement is larger than a longitudinal displacement threshold value or not;
if the longitudinal displacement is larger than a longitudinal displacement threshold, determining that the steering angle correction value needs to be calculated;
And if the longitudinal displacement is smaller than or equal to a longitudinal displacement threshold, judging that the steering angle correction value does not need to be calculated.
Further, the preset weight value is 0.7, and the angle correction unit is specifically configured to:
multiplying the preset weight value and the real-time steering angle to obtain a steering angle correction value.
Further, the zero calibration unit is specifically configured to:
Acquiring a current zero position value of the steering angle sensor;
And taking the difference value between the current zero position value and the steering angle correction value as a corrected zero position value to realize zero position calibration of the steering angle sensor.
Further, the second judging unit is specifically configured to:
judging whether the real-time steering angle is within a steering angle threshold range or not;
If the real-time steering angle is not in the steering angle threshold range, judging that zero calibration is needed to be carried out on the steering angle sensor;
And if the real-time steering angle is within the steering angle threshold range, judging that zero calibration of the steering angle sensor is not needed.
It should be noted that, for convenience and brevity of description, the specific working process of the above-described device and each unit may refer to the corresponding process in the foregoing embodiment of the steering angle sensor zero calibration method, which is not described herein again.
The steering angle sensor zero calibration device provided by the above embodiment may be implemented in the form of a computer program that can be run on a steering angle sensor zero calibration apparatus as shown in fig. 5.
The embodiment of the application also provides zero calibration equipment of the steering angle sensor, which comprises the following components: the system comprises a memory, a processor and a network interface, wherein the memory, the processor and the network interface are connected through a system bus, at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize all or part of the steps of the steering angle sensor zero calibration method.
Wherein the network interface is used for network communication, such as sending assigned tasks, etc. It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The Processor may be a CPU, but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), field programmable gate arrays (Field Programmable GATEARRAY, FPGA) or other programmable logic devices, discrete gate or transistor logic discrete hardware components, etc. A general purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like, that is a control center of a computer device, with various interfaces and lines connecting various parts of the entire computer device.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function (such as a video playing function, an image playing function, etc.), and the like; the storage data area may store data (such as video data, image data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid state storage device.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, all or part of the steps of the steering angle sensor zero calibration method are realized.
The foregoing embodiments of the present application may be implemented in whole or in part by computer program instructions for implementing the relevant hardware, and the computer program may be stored in a computer readable storage medium, where the computer program when executed by a processor may implement the steps of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, read-only memory (Read-Onlymemory, ROM), random access memory (RandomAccess memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, server, 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, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
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 data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The zero calibration method of the steering angle sensor is characterized by comprising the following steps of:
Judging whether the vehicle is in a straight running state according to the longitudinal speed and the longitudinal displacement acquired by the longitudinal acceleration sensor, the first lateral displacement acquired by the laser radar, the second lateral displacement acquired by the camera and the lateral acceleration acquired by the lateral acceleration sensor;
if the vehicle is in a straight running state, acquiring a real-time steering angle through a steering angle sensor, and judging whether zero calibration is needed to be carried out on the steering angle sensor according to the real-time steering angle;
If zero calibration is required to be carried out on the steering angle sensor, fusion processing is carried out on the first lateral displacement and the second lateral displacement, and fused lateral displacement is obtained;
judging whether a steering angle correction value needs to be calculated according to the fused lateral displacement, the transverse acceleration and the longitudinal displacement;
if the steering angle correction value needs to be calculated, calculating the steering angle correction value according to a preset weight value and the real-time steering angle;
Zero calibration is carried out on the steering angle sensor based on the steering angle correction value.
2. The method for calibrating zero position of steering angle sensor according to claim 1, wherein said determining whether the steering angle correction value needs to be calculated based on the fused lateral displacement, the lateral acceleration and the longitudinal displacement comprises:
Judging whether the lateral displacement after fusion is smaller than a lateral displacement threshold value and whether the lateral acceleration is smaller than an acceleration threshold value;
If the lateral displacement after fusion is smaller than a lateral displacement threshold value and the lateral acceleration is smaller than an acceleration threshold value, judging whether the longitudinal displacement is larger than a longitudinal displacement threshold value or not;
if the longitudinal displacement is larger than a longitudinal displacement threshold, determining that the steering angle correction value needs to be calculated;
And if the longitudinal displacement is smaller than or equal to a longitudinal displacement threshold, judging that the steering angle correction value does not need to be calculated.
3. The method for calibrating zero position of steering angle sensor according to claim 1, wherein the preset weight value is 0.7, the calculating the steering angle correction value according to the preset weight value and the real-time steering angle comprises:
multiplying the preset weight value and the real-time steering angle to obtain a steering angle correction value.
4. The steering angle sensor zero calibration method according to claim 1, wherein zero calibrating the steering angle sensor based on the steering angle correction value includes:
Acquiring a current zero position value of the steering angle sensor;
And taking the difference value between the current zero position value and the steering angle correction value as a corrected zero position value to realize zero position calibration of the steering angle sensor.
5. The method for calibrating the zero position of the steering angle sensor according to claim 1, wherein the determining whether the zero position calibration of the steering angle sensor is required according to the real-time steering angle comprises:
judging whether the real-time steering angle is within a steering angle threshold range or not;
If the real-time steering angle is not in the steering angle threshold range, judging that zero calibration is needed to be carried out on the steering angle sensor;
And if the real-time steering angle is within the steering angle threshold range, judging that zero calibration of the steering angle sensor is not needed.
6. A steering angle sensor zero calibration device, comprising:
A first judging unit for judging whether the vehicle is in a straight running state or not based on the longitudinal speed and the longitudinal displacement acquired by the longitudinal acceleration sensor, the first lateral displacement acquired by the laser radar, the second lateral displacement acquired by the camera, and the lateral acceleration acquired by the lateral acceleration sensor;
The second judging unit is used for acquiring a real-time steering angle through a steering angle sensor if the vehicle is in a straight running state and judging whether zero calibration is needed for the steering angle sensor according to the real-time steering angle;
the fusion processing unit is used for carrying out fusion processing on the first lateral displacement and the second lateral displacement if zero calibration is required to be carried out on the steering angle sensor, so as to obtain fused lateral displacement;
A third judging unit for judging whether the steering angle correction value needs to be calculated according to the lateral displacement, the lateral acceleration and the longitudinal displacement after fusion;
The angle correction unit is used for calculating the steering angle correction value according to a preset weight value and the real-time steering angle if the steering angle correction value needs to be calculated;
And the zero calibration unit is used for calibrating the zero of the steering angle sensor based on the steering angle correction value.
7. The steering angle sensor zero calibration device according to claim 6, wherein the third judging unit is specifically configured to:
Judging whether the lateral displacement after fusion is smaller than a lateral displacement threshold value and whether the lateral acceleration is smaller than an acceleration threshold value;
If the lateral displacement after fusion is smaller than a lateral displacement threshold value and the lateral acceleration is smaller than an acceleration threshold value, judging whether the longitudinal displacement is larger than a longitudinal displacement threshold value or not;
if the longitudinal displacement is larger than a longitudinal displacement threshold, determining that the steering angle correction value needs to be calculated;
And if the longitudinal displacement is smaller than or equal to a longitudinal displacement threshold, judging that the steering angle correction value does not need to be calculated.
8. The steering angle sensor zero calibration device according to claim 6, wherein the preset weight value is 0.7, and the angle correction unit is specifically configured to:
multiplying the preset weight value and the real-time steering angle to obtain a steering angle correction value.
9. A steering angle sensor zero calibration device, comprising: a memory and a processor, the memory storing at least one instruction that is loaded and executed by the processor to implement the steering angle sensor zero calibration method of any one of claims 1 to 5.
10. A computer-readable storage medium, characterized by: the computer readable storage medium stores a computer program which, when executed by a processor, implements the steering angle sensor zero calibration method of any one of claims 1 to 5.
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| JP5050417B2 (en) * | 2006-06-16 | 2012-10-17 | 日産自動車株式会社 | Vehicle steering control device |
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| JP2014169055A (en) * | 2013-03-05 | 2014-09-18 | Advics Co Ltd | Steering angle zero point correction device |
| JP6025670B2 (en) * | 2013-07-17 | 2016-11-16 | 日立オートモティブシステムズ株式会社 | Vehicle control device |
| JP6988579B2 (en) * | 2018-03-05 | 2022-01-05 | いすゞ自動車株式会社 | Control device and control method |
| 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 |
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