CN115805991A - Vehicle deviation compensation control method, device, terminal and storage medium - Google Patents
Vehicle deviation compensation control method, device, terminal and storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle deviation compensation control method, a vehicle deviation compensation control device, a terminal and a storage medium, which belong to the technical field of automobile control, and comprise a terminal, a steering power-assisted control module and an EPS power-assisted motor which are electrically connected in sequence, wherein: the terminal is used for acquiring relevant information of a current vehicle, executing a corresponding deviation compensation strategy according to the relevant information to obtain a corresponding compensation torque and sending the compensation torque to the steering power control module; the steering power control module is used for acquiring corresponding compensation torque sent by the terminal and sending a corresponding execution instruction to the EPS power motor; and the EPS power-assisted motor is used for acquiring a corresponding execution instruction sent by the steering power-assisted control module and executing a corresponding operation. The invention relates to a control method for solving the problem of vehicle deviation by acquiring relevant information of a current vehicle, executing a corresponding deviation compensation strategy to obtain a corresponding compensation torque and sending the compensation torque to a steering power control module.
Description
Technical Field
The invention discloses a vehicle deviation compensation control method, a vehicle deviation compensation control device, a terminal and a storage medium, and belongs to the technical field of automobile control.
Background
The vehicle deviation is one of common faults in the use of an automobile, the straight running deviation of the vehicle is represented by that a driver places a steering wheel at a middle position when the vehicle runs in a straight line, the running direction of the automobile deviates from a longitudinal central line of the automobile, and the driver needs to apply an additional correcting force on the steering wheel to keep the vehicle running in the straight line, so that the operation fatigue of the driver is caused, and certain risks are caused to the running safety.
The existing similar and common scheme is that after the deviation problem is identified based on a vehicle, the electric power steering system provides deviation compensation torque according to a judgment result after identification and confirmation for a certain time. The implementation scheme is relatively simple in strategy, and the deviation condition of the vehicle is identified and confirmed for a long time, so that the deviation condition of the vehicle cannot be timely and effectively adjusted when the external environment changes, and the deviation condition cannot be specifically and correspondingly adjusted according to different working conditions of the vehicle, and therefore the problems of delayed deviation compensation, poor user experience, hard hand feeling and the like are caused when an after-sale user experiences the problems of deviation along a slope, short-time/long-time crosswind interference, and the suspension is caused by self factors.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle deviation compensation control method, a device, a terminal and a storage medium, and the control method solves the problem of vehicle deviation by acquiring the related information of the current vehicle, executing a corresponding deviation compensation strategy to obtain a corresponding compensation torque and sending the compensation torque to a steering power-assisted control module.
The technical scheme of the invention is as follows:
according to a first aspect of the embodiments of the present invention, there is provided a vehicle deviation compensation control system, including a terminal, a steering assist control module, and an EPS assist motor, which are electrically connected in sequence, wherein:
the terminal is used for acquiring relevant information of a current vehicle, executing a corresponding deviation compensation strategy according to the relevant information to obtain a corresponding compensation torque and sending the compensation torque to the steering power control module;
the steering power control module is used for acquiring a corresponding compensation torque sent by the terminal and sending a corresponding execution command to the EPS power motor;
the EPS power-assisted motor is used for acquiring a corresponding execution instruction sent by the steering power-assisted control module and executing corresponding operation, wherein the corresponding operation execution comprises the following steps: the deviation compensation is conducted at time t, and the compensation torque reaches a target compensation torque at t +2 seconds.
According to a second aspect of the embodiments of the present invention, there is provided a vehicle deviation compensation control method applied to the vehicle deviation compensation control system of the first aspect, including:
acquiring related information of a current vehicle and judging whether the related information is within a vehicle deviation value range or not;
if yes, obtaining the duration time of vehicle deviation, and executing a deviation compensation strategy according to the duration time of the vehicle deviation, wherein the deviation compensation strategy executing step comprises the following steps: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
and obtaining the current vehicle related information after compensation again, judging whether the current vehicle related information is in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range.
Preferably, the current vehicle-related information includes at least: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel speed, and current steering wheel torque.
Preferably, executing a deviation compensation strategy according to the duration of the deviation of the vehicle comprises:
when the vehicle deviation duration time is [ T1, T2 ], executing the short-time deviation compensation strategy;
when the vehicle deviation duration time is [ T2, T3], executing the long-time deviation compensation strategy;
wherein T1, T2 and T3 are calibrated according to the real vehicle condition, and T1< T2< T3.
Preferably, the short-time deviation compensation strategy includes:
obtaining a short-time compensation torque according to the steering wheel torque through a formula (1):
Tcs＝S1×SWT (1)
wherein: tcs is a short-time compensation torque, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel torque;
and sending the short-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the direction of the steering wheel torque.
Preferably, the long-time deviation compensation strategy includes:
obtaining a long-time compensation torque according to the steering wheel torque through a formula (2):
Tcl＝S2×SWT (2)
wherein: tcl is long-term compensation torque, S2 is a long-term compensation gain coefficient, and SWT is current steering wheel torque;
judging whether the short-time compensation torque exceeds a short-time set threshold value:
if so, reporting an alarm signal to the whole vehicle without providing a compensation moment;
if not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the direction of the steering wheel torque.
Preferably, the method further comprises:
when the related information of the current vehicle is obtained and judged not to be in the deviation value range of the vehicle, the vehicle is not deviated, and the related information of the current vehicle is obtained again and judged;
and after the compensation is obtained again, judging that the current vehicle related information is not in the range of the vehicle deviation value range, quitting the execution of the deviation compensation strategy, obtaining the current vehicle related information again, and judging again.
According to a third aspect of the embodiment of the present invention, there is provided a vehicle deviation compensation control device, characterized by comprising:
the automatic preprocessing module is used for acquiring related information of the current vehicle and judging whether the related information is within the range of a vehicle deviation value range;
the automatic processing module is used for acquiring the duration of vehicle deviation if the vehicle deviation is detected, and executing a deviation compensation strategy according to the duration of the vehicle deviation, wherein the deviation compensation strategy includes: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
and the automatic post-processing module is used for acquiring the compensated current vehicle related information again and judging whether the compensated current vehicle related information is in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the compensated current vehicle related information is not in the vehicle deviation value range.
According to a fourth aspect of embodiments of the present invention, there is provided a terminal, including:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the method of the first aspect of the embodiments of the present invention is performed.
According to a fifth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium, wherein instructions, when executed by a processor of a terminal, enable the terminal to perform the method of the first aspect of embodiments of the present invention.
According to a sixth aspect of embodiments of the present invention, there is provided an application program product, which, when running on a terminal, causes the terminal to perform the method according to the first aspect of embodiments of the present invention.
The invention has the beneficial effects that:
the patent provides a vehicle deviation compensation control method, a device, a terminal and a storage medium, which judge whether the current vehicle related information is in a vehicle deviation value range or not by obtaining the current vehicle related information; if so, acquiring the deviation duration of the vehicle, and executing a deviation compensation strategy according to the deviation duration of the vehicle to obtain a compensation torque; and obtaining relevant information of the compensated current vehicle again and judging whether the relevant information is in the vehicle deviation value range, if so, continuing to execute a deviation compensation strategy until the relevant information is not in the vehicle deviation value range, setting a threshold limit range for the compensation torque, and when the threshold limit range is exceeded, not providing the compensation torque for avoiding the unexpected negative influence of the compensation torque on the vehicle, and effectively controlling the system safety.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
FIG. 1 is a block diagram of a vehicle tracking compensation control system according to an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating a torque creep intervention when a deviation compensation function is involved in a vehicle deviation compensation control system according to an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating a slow drop in torque upon exit of a yaw compensation function in a vehicle yaw compensation control system, according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating a vehicle deviation compensation control method according to an exemplary embodiment;
fig. 5 is a block diagram schematically showing the structure of a vehicle deviation compensation control apparatus according to an exemplary embodiment;
fig. 6 is a schematic block diagram of a terminal structure shown in accordance with an exemplary embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Fig. 1 is a structural diagram illustrating a vehicle deviation compensation control system according to an exemplary embodiment, including a terminal, a steering assist control module, and an EPS assist motor, which are electrically connected in sequence, wherein:
the terminal is used for acquiring the related information of the current vehicle, acquiring corresponding compensation torque according to the corresponding deviation compensation strategy executed by the terminal and sending the compensation torque to the steering power control module;
the steering power control module is used for acquiring corresponding compensation torque sent by the terminal and sending a corresponding execution command to the EPS power motor;
the EPS power-assisted motor is used for acquiring corresponding execution instructions sent by the steering power-assisted control module and executing corresponding operations, and the execution of the corresponding operations comprises the following steps: the off tracking compensation intervenes at time t, and the compensation torque reaches the target compensation torque at t +2 seconds, as shown in fig. 2-3.
Example two
Fig. 4 is a flowchart illustrating a vehicle deviation compensation control method, which is used in a terminal, according to an exemplary embodiment, the method including the steps of:
and executing a vehicle deviation compensation program, and firstly acquiring the related information of the current vehicle. Wherein the current vehicle-related information at least comprises: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel speed, and current steering wheel torque.
After the related information of the current vehicle is obtained, whether the related information of the current vehicle is in a vehicle deviation value range or not is judged, namely whether the starting condition of a deviation compensation strategy is met or not is judged, the current vehicle speed VS belongs to [ X1, X2], the current wheel speed difference of the left/right front wheels | FWSL-FWSR | belongs to [ D1, D2], the current steering wheel corner SWA belongs to [ Y1, Y2], the current steering wheel rotating speed SWS belongs to [ Z1, Z2], the current steering wheel torque SWT belongs to [ E1, E2], all parameter ranges can be calibrated according to the real vehicle condition, if the current vehicle speed, the current left/right front wheel speed, the current steering wheel corner, the current steering wheel rotating speed and the current steering wheel torque all meet the value range, the vehicle is judged to be in a deviation state, and if the vehicle is not deviated, the related information of the current vehicle is obtained again and judged.
One of the embodiments is as follows: when the current vehicle speed VS belongs to [50kph,180kph ] & the current wheel speed difference of left and right front wheels | FWS _ L-FWS _ R | [0rpm,1rpm ] & the current steering wheel rotation angle SWA [ -3deg,3deg ] & the current steering wheel rotation speed SWS [ -0 deg/s,10deg/s ] & the current steering wheel torque SWT ∈ [0.2Nm,2Nm ], the condition is met, the vehicle is judged to be in a deviation state.
when the current vehicle-related information meets the condition in step 101, judging that the vehicle is in a deviation state, then acquiring the deviation duration of the vehicle, and executing a deviation compensation strategy according to the deviation duration of the vehicle, wherein the deviation compensation strategy comprises the following steps:
when the vehicle deviation duration is [ T1, T2 ], executing a short-time deviation compensation strategy;
when the vehicle deviation duration time is [ T2, T3], executing a long-time deviation compensation strategy;
wherein T1, T2 and T3 are calibrated according to the real vehicle condition, and T1< T2< T3.
One embodiment is as follows:
and when the duration T belongs to [5s, 10s), executing a short-time deviation compensation strategy, and when the duration T belongs to [10s, 30s), executing the short-time deviation compensation strategy.
The implementation of the deviation compensation strategy comprises the following steps: short-time deviation compensation strategy and long-time deviation compensation strategy. Short-time deviation compensation strategy, including:
obtaining a short-time compensation torque according to the steering wheel torque through a formula (1):
Tcs＝S1×SWT (1)
wherein: tcs is a short-time compensation torque, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel torque;
and sending the short-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the direction of the steering wheel torque.
The long-time deviation compensation strategy comprises the following steps:
obtaining a long-time compensation torque according to the steering wheel torque through a formula (2):
Tcl＝S2×SWT (2)
wherein: tcl is long-term compensation torque, S2 is a long-term compensation gain coefficient, and SWT is current steering wheel torque;
judging whether the short-time compensation torque exceeds a short-time set threshold value Tcmax:
if the vehicle is in an unexpected transverse control state, the vehicle is not subjected to compensation torque, and an alarm signal is reported to the whole vehicle, so that the vehicle is likely to have serious problems and needs to be further checked and maintained;
if not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the direction of the steering wheel torque.
And 103, acquiring the compensated current vehicle related information again, judging whether the compensated current vehicle related information is in a vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the compensated current vehicle related information is not in the vehicle deviation value range.
And after the compensation is obtained again, judging that the current vehicle related information is not in the range of the vehicle deviation value range, quitting the execution of the deviation compensation strategy, obtaining the current vehicle related information again, and judging again.
EXAMPLE III
Fig. 5 is a block diagram showing a vehicle deviation compensation control apparatus according to an exemplary embodiment, the apparatus including:
the automatic preprocessing module 210 is configured to obtain relevant information of a current vehicle and determine whether the relevant information is within a vehicle deviation value range;
the automatic processing module 220 is configured to, if yes, acquire a duration of vehicle deviation, and execute a deviation compensation strategy according to the duration of vehicle deviation, where the executing the deviation compensation strategy includes: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
and the automatic post-processing module 230 is configured to obtain the compensated current vehicle-related information again and determine whether the compensated current vehicle-related information is within the vehicle deviation value range, and if the compensated current vehicle-related information is not within the vehicle deviation value range, continue to execute the deviation compensation strategy until the compensated current vehicle-related information is not within the vehicle deviation value range.
Example four
Fig. 6 is a block diagram of a terminal according to an embodiment of the present application, where the terminal may be the terminal in the foregoing embodiment. The terminal 300 may be a vehicle control unit or other name.
Generally, the terminal 300 includes: a processor 301 and a memory 302.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 301 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the terminal 300 may further include: a peripheral interface 303, the peripheral interface 303 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and peripheral interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the peripheral interface 303 may be implemented on a separate chip or circuit board, which is not limited by the embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
EXAMPLE five
In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which when executed by a processor, implements a vehicle deviation compensation control method as provided in all inventive embodiments of the present application.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer 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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. 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 thereof. A computer readable signal medium may also be any computer readable medium that is not a computer 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 computer 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.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Example six
In an exemplary embodiment, an application program product is also provided, which includes one or more instructions executable by the processor 301 of the apparatus to perform a vehicle deviation compensation control method as described above.
While embodiments of the invention have been disclosed above, it is not intended that they be limited to the applications set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a vehicle off tracking compensation control system, its characterized in that, includes electric connection's terminal, steering assistance control module and EPS helping hand motor in proper order, wherein:
the terminal is used for acquiring relevant information of a current vehicle, executing a corresponding deviation compensation strategy according to the relevant information to obtain a corresponding compensation torque and sending the compensation torque to the steering power control module;
the steering power control module is used for acquiring a corresponding compensation torque sent by the terminal and sending a corresponding execution command to the EPS power motor;
the EPS power-assisted motor is configured to obtain a corresponding execution instruction sent by the steering power-assisted control module and execute a corresponding operation, where the execution of the corresponding operation includes: the deviation compensation is conducted at time t, and the compensation torque reaches a target compensation torque at t +2 seconds.
2. A vehicle deviation compensation control method applied to the vehicle deviation compensation control system according to claim 1, characterized by comprising:
acquiring related information of a current vehicle and judging whether the related information is within a vehicle deviation value range or not;
if yes, obtaining the duration time of vehicle deviation, and executing a deviation compensation strategy according to the duration time of the vehicle deviation, wherein the deviation compensation strategy executing step comprises the following steps: short-time deviation compensation strategy and long-time deviation compensation strategy;
and obtaining the current vehicle related information after compensation again, judging whether the current vehicle related information is in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range.
3. The vehicle deviation compensation control method according to claim 2, wherein the current vehicle-related information at least includes: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel speed, and current steering wheel torque.
4. The vehicle deviation compensation control method according to claim 3, wherein executing a deviation compensation strategy according to the duration of the vehicle deviation comprises:
when the vehicle deviation duration time is [ T1, T2 ], executing the short-time deviation compensation strategy;
when the vehicle deviation duration time is [ T2, T3], executing the long-time deviation compensation strategy;
wherein T1, T2 and T3 are calibrated according to the real vehicle condition, and T1< T2< T3.
5. The vehicle deviation compensation control method according to claim 4,
the short-time deviation compensation strategy comprises the following steps:
obtaining a short-time compensation torque according to the steering wheel torque through a formula (1):
Tcs＝S1×SWT (1)
wherein: tcs is a short-time compensation moment, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel moment;
and sending the short-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the direction of the steering wheel torque.
6. The vehicle deviation compensation control method according to claim 5, wherein the long deviation compensation strategy comprises:
obtaining a long-time compensation torque according to the steering wheel torque through a formula (2):
Tcl＝S2×SWT (2)
wherein: tcl is long-term compensation torque, S2 is a long-term compensation gain coefficient, and SWT is current steering wheel torque;
judging whether the short-time compensation torque exceeds a short-time set threshold value:
if so, reporting an alarm signal to the whole vehicle without providing a compensation moment;
if not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the direction of the steering wheel torque.
7. The vehicle deviation compensation control method according to claim 6, further comprising:
when the related information of the current vehicle is obtained and judged not to be in the range of the vehicle deviation value range, the vehicle is not deviated, and the related information of the current vehicle is obtained again and judged;
and after the compensation is obtained again, judging that the current vehicle related information is not in the range of the vehicle deviation value range, quitting the execution of the deviation compensation strategy, obtaining the current vehicle related information again, and judging again.
8. A vehicle deviation compensation control device is characterized by comprising:
the automatic preprocessing module is used for acquiring related information of the current vehicle and judging whether the related information is within a vehicle deviation value range or not;
the automatic processing module is used for acquiring the duration of vehicle deviation if the vehicle deviation is detected, and executing a deviation compensation strategy according to the duration of the vehicle deviation, wherein the deviation compensation strategy includes: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
and the automatic post-processing module is used for acquiring the compensated current vehicle related information again and judging whether the compensated current vehicle related information is in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the compensated current vehicle related information is not in the vehicle deviation value range.
9. A terminal, comprising:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the vehicle deviation compensation control method according to any one of claims 2 to 7 is executed.
10. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform the vehicle deviation compensation control method according to any one of claims 2 to 7.
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