CN117799700A

CN117799700A - Method, device, equipment and medium for determining zero offset of steering wheel

Info

Publication number: CN117799700A
Application number: CN202410045475.6A
Authority: CN
Inventors: 鞠潭
Original assignee: Beijing Jidu Technology Co Ltd
Current assignee: Beijing Jidu Technology Co Ltd
Priority date: 2024-01-11
Filing date: 2024-01-11
Publication date: 2024-04-02

Abstract

The invention provides a method, a device, equipment and a medium for determining zero offset of a steering wheel, wherein the calculated heading angle of the vehicle at a second moment can be obtained through the measured heading angle of the vehicle at the first moment and the speed and the measured steering wheel angle at the second moment, and then the zero offset of the steering wheel of the vehicle is determined based on the calculated heading angle, the running distance of the vehicle in a target time period and the measured heading angle at the second moment.

Description

Method, device, equipment and medium for determining zero offset of steering wheel

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a method, a device, equipment and a medium for determining zero offset of a steering wheel.

Background

Due to the mechanical installation errors in the vehicle assembly process and the problem of left-right asymmetry of the steering wheel of the automatic driving control system, the steering wheel zero deviation is usually generated in the actual use of the vehicle, namely, the angle deviation between the steering wheel angle and the zero scale mark, so that when the steering wheel signal is displayed as zero, the vehicle still can generate a phenomenon of slightly turning to one of the left side and the right side, and the mechanical abrasion in the vehicle driving process often causes the steering wheel zero deviation to change.

Zero deviation of the steering wheel breaks a preset conversion relation between the steering wheel angle and the front wheel steering angle of the vehicle, so that the steering of the vehicle cannot be accurately controlled through the steering wheel, and the driving safety of the vehicle is affected. In addition, in the simulation tool chain construction, the response of the steering wheel to the control signal needs to be simulated, if the steering wheel is in zero offset, the zero offset error can be reflected to the course angle in the numerical simulation process, so that the vehicle position error is amplified, and the numerical simulation distortion is caused.

Disclosure of Invention

The embodiment of the disclosure at least provides a method, a device, equipment and a medium for determining zero offset of a steering wheel.

The embodiment of the disclosure provides a method for determining zero offset of a steering wheel, which comprises the following steps:

acquiring running data of a vehicle running in a target time period;

calculating a calculated course angle of the vehicle at a second moment based on a measured course angle of the vehicle at the first moment and a speed and a measured steering wheel corner at the second moment in the running data, wherein the calculated course angle is used for representing the change amount of the course angle in the target time period under the condition that no steering wheel zero offset exists, and the target time period takes the first moment as a starting moment and the second moment as an ending moment;

and determining the steering wheel zero offset of the vehicle based on the calculated course angle, the running distance of the vehicle in the target time period in the running data and the measured course angle at the second moment.

In an alternative embodiment, the calculating the calculated heading angle of the vehicle at the second moment based on the measured heading angle of the vehicle at the first moment and the speed and the measured steering wheel angle at the second moment in the driving data includes:

Determining a front wheel turn angle of the vehicle at a second time based on a measured steering wheel turn angle of the vehicle at the second time and a turn angle transmission ratio of the vehicle, the turn angle transmission ratio being used to indicate a transmission ratio between the steering wheel turn angle and the front wheel turn angle;

determining a first heading angle deviation of the vehicle in the target period based on the speed of the vehicle at the second moment and the front wheel rotation angle, and the front and rear wheel distances of the vehicle, wherein the first heading angle deviation is used for indicating the deviation between a heading angle with zero steering wheel bias and a heading angle without zero steering wheel bias in the target period;

a calculated heading angle of the vehicle at the second time is determined based on the measured heading angle of the vehicle at the first time and the first heading angle deviation.

In an alternative embodiment, the determining the steering wheel zero offset of the vehicle based on the calculated heading angle, the travel distance of the vehicle in the target time period in the travel data, and the measured heading angle at the second time includes:

determining a second heading angle deviation of the vehicle at the second time based on the calculated heading angle and the measured heading angle at the second time, the second heading angle deviation being indicative of a deviation between a heading angle at which there is zero steering wheel bias and a heading angle at which there is no steering wheel zero bias at the second time;

Determining a steering wheel zero offset of the vehicle based on the second heading angle deviation, a travel distance of the vehicle within the target period, a corner transmission ratio of the vehicle, and a front-rear wheel distance

In an alternative embodiment, a first conversion relationship exists between the calculated heading angle, the travel distance, the measured heading angle at the second time and the steering wheel zero offset, the first conversion relationship being determined by:

determining a second conversion relation between the front wheel rotation angle and the steering wheel rotation angle of the vehicle based on the rotation angle transmission ratio of the vehicle, and determining a third conversion relation between the course angular rate and the speed of the vehicle and the front wheel rotation angle based on the front and rear wheel distances of the vehicle;

and obtaining the first conversion relation based on the second conversion relation, the third conversion relation and the conversion relation between the true steering wheel angle of the vehicle and the measured steering wheel angle and the steering wheel zero offset.

In an alternative embodiment, the obtaining the first conversion relationship based on the second conversion relationship, the third conversion relationship, and a conversion relationship between the true steering wheel angle of the vehicle and the measured steering wheel angle, and the steering wheel zero offset includes:

Generating a fourth conversion relation between the measured course angle of the vehicle and first vehicle parameter information and a fifth conversion relation between the calculated course angle of the vehicle and second vehicle parameter information based on the conversion relation between the measured course angle of the vehicle and the truth value front wheel steering angle, the conversion relation between the calculated course angle of the vehicle and the measured steering wheel angle, and the determined second conversion relation, the third conversion relation and the conversion relation between the truth value steering wheel angle of the vehicle and the measured steering wheel angle, and the steering wheel zero offset; the first vehicle parameter information comprises speed, measured steering wheel angle, steering wheel zero offset and driving distance, and the second vehicle parameter comprises speed and measured steering wheel angle;

the first conversion relationship is determined based on the fourth conversion relationship and the fifth conversion relationship.

In an alternative embodiment, generating the fourth conversion relation and the fifth conversion relation includes:

integrating the third conversion relation to obtain an integrated third conversion relation;

obtaining a sixth conversion relation between the course angle and the speed of the vehicle and between the front wheel steering angle based on the conversion relation between the course angle rate and the course angle and the third conversion relation after the integration processing;

Obtaining a transformation relationship between the true front wheel turning angle of the vehicle and the measured steering wheel turning angle and the steering wheel zero offset based on the second transformation relationship and the transformation relationship between the true steering wheel turning angle of the vehicle and the measured steering wheel turning angle and the steering wheel zero offset;

obtaining a fourth conversion relation based on the conversion relation between the measured course angle and the true value front wheel steering angle of the vehicle, the conversion relation between the speed and the driving distance, the sixth conversion relation and the conversion relation between the true value front wheel steering angle and the measured steering wheel steering angle and the steering wheel zero offset of the vehicle;

and obtaining the fifth conversion relation based on the conversion relation between the calculated course angle of the vehicle and the measured steering wheel angle, the second conversion relation and the sixth conversion relation.

In an alternative embodiment, after the conversion process is performed based on the calculated heading angle, the travel distance of the vehicle in the target period in the travel data, and the measured heading angle at the second time, the method further includes:

correcting the measured steering wheel angle based on the steering wheel zero offset to obtain a corrected true steering wheel angle;

And controlling the steering of the vehicle according to the corrected true steering wheel angle.

The embodiment of the disclosure also provides a device for determining zero offset of a steering wheel, which comprises:

the data acquisition module is used for acquiring running data of the vehicle running in the target time period;

the course angle determining module is used for calculating a calculated course angle of the vehicle at a second moment based on a measured course angle of the vehicle at the first moment, a speed of the vehicle at the second moment and a measured steering wheel corner in the running data, wherein the calculated course angle is used for representing the variation of the course angle in the target time period under the condition that no steering wheel zero offset exists, and the target time period takes the first moment as a starting moment and the second moment as an ending moment;

and the zero offset determining module is used for determining the steering wheel zero offset of the vehicle based on the calculated course angle, the running distance of the vehicle in the target time period in the running data and the measured course angle at the second moment.

In an alternative embodiment, the course angle determining module is specifically configured to:

In an alternative embodiment, the zero offset determination module is specifically configured to:

and determining the steering wheel zero offset of the vehicle based on the second course angle deviation, the driving distance of the vehicle in the target time period, the corner transmission ratio of the vehicle and the front-rear wheel distance.

In an alternative embodiment, a first conversion relationship exists between the calculated heading angle, the driving distance, the measured heading angle at the second moment and the steering wheel zero offset, and the apparatus further comprises a relationship determination module for determining the first conversion relationship by:

In an alternative embodiment, the relationship determining module is specifically configured to, when configured to obtain the first conversion relationship based on the second conversion relationship, the third conversion relationship, and a conversion relationship between a true steering wheel angle of the vehicle and a measured steering wheel angle, and a steering wheel zero offset, obtain the first conversion relationship:

In an alternative embodiment, the relationship determination module is specifically configured to, when configured to generate the fourth conversion relationship and the fifth conversion relationship:

In an alternative embodiment, the apparatus further comprises a zero offset correction module, and the zero offset correction module is configured to:

The embodiment of the disclosure also provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method of determining steering wheel zero offset described above, or any one of the possible embodiments of the method of determining steering wheel zero offset described above.

The disclosed embodiments also provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the above-described method of determining steering wheel zero offset, or any one of the possible implementation manners of the above-described method of determining steering wheel zero offset.

According to the method, the device, the equipment and the medium for determining the zero offset of the steering wheel, the calculated heading angle of the vehicle at the second moment can be obtained through the measured heading angle of the vehicle at the first moment and the speed and the measured steering wheel angle at the second moment, and then the zero offset of the steering wheel of the vehicle is determined based on the calculated heading angle, the running distance of the vehicle in the target time period and the measured heading angle at the second moment, so that the zero offset of the steering wheel with small values and upper limits is projected onto the running distance with large values and no upper limits, the calculated heading angle at the second moment and the measured heading angle at the second moment are reflected, and the calculated heading angle is used for representing the change of the heading angle in the target time period under the condition that the zero offset of the steering wheel does not exist, so that the zero offset of the steering wheel with any values can be obtained through the calculated heading angle at the second moment, the measured heading angle at the second moment and the running distance, and the accuracy of the zero offset of the steering wheel can be improved.

Furthermore, the data used in the embodiment of the disclosure only include the data of the vehicle at the first moment and the second moment and the driving distance in the target time period, and the data at other moments in the target time period are not needed, so that the accurate steering wheel zero offset can be obtained by using less data, the efficiency of determining the steering wheel zero offset is improved, and the data processing amount is reduced.

Furthermore, the embodiment of the disclosure only needs to acquire the driving data, and does not limit the driving mode of the vehicle, and the method and the device can be realized in an automatic driving mode or a manual driving mode, and the determination time of the zero offset of the steering wheel is not limited, and the method and the device can be determined online or offline, and meanwhile, the embodiment of the disclosure has no constraint of any ideal test scene such as straight driving or uniform driving, and has high flexibility, convenience and rapidness.

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 aspects of the disclosure.

The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments are briefly described below, which are incorporated in and constitute a part of the specification, these drawings showing embodiments consistent with the present disclosure and together with the description serve to illustrate the technical solutions of the present disclosure. It is to be understood that the following drawings illustrate only certain embodiments of the present disclosure and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.

FIG. 1 illustrates a flow chart of a method for determining zero steering wheel bias provided by an embodiment of the present disclosure;

FIG. 2 is a flowchart of a method for determining zero offset of a steering wheel according to an embodiment of the present disclosure, in which a calculated heading angle at a second time is determined;

FIG. 3 illustrates a flow chart of another method of determining zero steering wheel bias provided by embodiments of the present disclosure;

FIG. 4 illustrates one of the schematic diagrams of a steering wheel zero offset determination apparatus provided by embodiments of the present disclosure;

FIG. 5 illustrates a second schematic diagram of a steering wheel zero offset determination apparatus provided by embodiments of the present disclosure;

Fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. The components of the embodiments of the present disclosure, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by those skilled in the art based on the embodiments of this disclosure without making any inventive effort, are intended to be within the scope of this disclosure.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The term "and/or" is used herein to describe only one relationship, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

According to research, the fact that the steering wheel zero offset often exists in actual use of the vehicle, and the steering wheel zero offset damages a preset conversion relation between the steering wheel angle and the front wheel turning angle of the vehicle, so that the steering of the vehicle cannot be accurately controlled through the steering wheel, and the driving safety of the vehicle is affected. In addition, in the numerical simulation process, the steering wheel zero offset can be reflected to the course angle, so that the vehicle position error is amplified, and the numerical simulation distortion is caused. However, the vehicle-mounted system has only a sensor for measuring the steering wheel angle, and thus the steering wheel zero-bias cannot be directly measured. If the solution is performed based on the course angular velocity, the solution is easy to be influenced by the noise measured by the sensor, and the steering wheel zero offset value with smaller value is difficult to calibrate. If calibration is performed under the conditions of keeping the vehicle running straight, keeping the vehicle running at a constant speed, etc., it is difficult to achieve an ideal state in engineering application due to the limiting conditions, and it is also difficult to calibrate the steering wheel zero offset value with a smaller value by the methods.

Based on the above study, the disclosure provides a method for determining zero offset of a steering wheel, which can obtain a calculated heading angle of a vehicle at a second moment through a measured heading angle of the vehicle at the first moment and a speed and a measured steering wheel angle at the second moment, and further obtain the zero offset of the steering wheel based on the calculated heading angle, the measured heading angle at the second moment and the driving distance in the target time period by using the driving distance of the vehicle at the target time period and the measured heading angle at the second moment, so that the zero offset of the steering wheel with small value and upper limit is projected onto the driving distance with large value and no upper limit, and is reflected onto the calculated heading angle and the measured heading angle at the second moment.

For the sake of understanding the present embodiment, first, a method for determining zero offset of a steering wheel disclosed in the present embodiment will be described in detail, and an execution body of the method for determining zero offset of a steering wheel provided in the present embodiment may be a device for determining zero offset of a steering wheel, or may be an electronic device with a certain computing capability. In this embodiment, the electronic device may be a server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud storage, big data, artificial intelligent platforms and the like.

In other embodiments, the electronic device may also be a terminal device or other processing device, where the terminal device may be a terminal, a computing device, or the like. Other processing devices may be devices including processors and memory, and are not limited in this regard. In some possible implementations, the method for determining the steering wheel zero offset may be implemented by a processor invoking computer readable instructions stored in a memory.

The following describes a method for determining zero offset of a steering wheel according to an embodiment of the present disclosure.

Referring to fig. 1, a flowchart of a method for determining zero offset of a steering wheel according to an embodiment of the present disclosure is shown in fig. 1, where the method for determining zero offset of a steering wheel according to an embodiment of the present disclosure includes steps S101 to S104, where:

s101: travel data of a vehicle traveling in a target period of time is acquired.

The vehicle is characterized herein as a vehicle for which zero offset of the steering wheel needs to be determined, and alternatively may be an electric vehicle, a fuel-fired vehicle, or the like, suitable for zero offset compensation.

The target time period may be a whole time period corresponding to a single travel of the vehicle, or may be a partial time period extracted from the whole time period, which is not limited herein.

Alternatively, in the case where the target period is a partial period extracted from the whole period, the partial period conforming to the preset period may be extracted from the whole period as the target period according to a preset period.

Alternatively, according to a preset travel distance, a part of the time period, in which the corresponding travel distance satisfies the preset travel distance, may be extracted from the whole-course time period as the target time period.

It is understood that the target time period includes a plurality of moments.

Wherein the driving data is characterized by data generated when the vehicle is driven, including a speed at each moment, a measured course angle, a measured steering wheel angle, and the like, and a driving distance within the target time period.

When acquiring travel data of a vehicle traveling in a target period of time, the travel data may be acquired in an invasive or non-invasive manner. Invasive is understood to mean that the driving data are obtained by reading data from a vehicle driving computer. The data recorded by the vehicle driving computer is relied on in the acquisition process. Non-invasive is understood to mean that the driving data are acquired by means of external measuring devices. For example, the driving data are acquired by an inertial measurement unit (Inertial Measurement Unit, IMU) in an external measuring device, and the data recorded by a vehicle driving computer are not relied on in the acquisition process.

For example, the driving data may be acquired on a specific test site or a road satisfying a test condition; the vehicle may be driven by a tester in a manual driving mode; if the vehicle is in an autonomous mode, the vehicle may also be driven in an autonomous mode. And acquiring the driving data in the driving process of the vehicle.

In the above example, there is no restriction on the driving scene of the vehicle, and it is not necessary to restrict the vehicle to perform straight running, uniform running, or the like.

The acquiring process can be acquired in real time in the running process of the vehicle, or can be acquired off-line according to data generated in the running process of the vehicle after the vehicle stops running.

For acquiring the running data in real time during the running of the vehicle, the running data can be acquired from related running data, wherein the related running data can be data which is generated during the running of the vehicle and is not determined whether to be used for determining the zero offset of the steering wheel, and when the running data in the target time period is acquired from the related running data, a prompt message can be sent to remind a tester that the running data is successfully acquired, and the running data is automatically stopped or the acquisition of the running data is stopped by triggering of the tester.

The running data is acquired offline after the vehicle stops testing, and the running data in the target time period can be acquired from the relevant running data by acquiring the relevant running data of the vehicle tested at this time after the vehicle stops testing.

In addition, when the driving data is acquired, the user can actively trigger the acquisition, or after the user opens the zero offset determination mode, the driving data is automatically acquired, and the zero offset of the steering wheel is determined.

S102: and calculating the calculated course angle of the vehicle at the second moment based on the measured course angle of the vehicle at the first moment and the speed and the measured steering wheel rotation angle at the second moment in the running data, wherein the calculated course angle is used for representing the change amount of the course angle in the target time period under the condition that no steering wheel zero offset exists, and the target time period takes the first moment as the starting moment and the second moment as the ending moment.

In the step, the measured course angle of the vehicle at the first moment and the speed and the measured steering wheel angle at the second moment can be determined from the running data, and then the calculated course angle of the vehicle at the second moment is obtained through calculation of the measured course angle at the first moment and the speed and the measured steering wheel angle at the second moment.

The first time is the first time of the target time period, and the second time is the last time of the target time period.

Specifically, referring to fig. 2, fig. 2 is a flowchart of determining a calculated heading angle at a second moment in the method for determining zero offset of a steering wheel according to the embodiment of the present disclosure, as shown in fig. 2, including steps S1021 to S1023, wherein:

s1021: and determining a front wheel steering angle of the vehicle at a second moment based on the measured steering wheel steering angle of the vehicle at the second moment and a steering angle transmission ratio of the vehicle, wherein the steering angle transmission ratio is used for indicating a transmission ratio between the steering wheel steering angle and the front wheel steering angle.

Here, the product of the measured steering wheel angle of the vehicle at the second time and the steering angle transmission ratio of the vehicle may be determined as the front wheel angle of the vehicle at the second time.

S1022: a first heading angle deviation of the vehicle in the target period is determined based on the speed of the vehicle at the second moment and the front wheel rotation angle, and the front and rear wheel distances of the vehicle, wherein the first heading angle deviation is used for indicating a deviation between a heading angle with zero steering wheel bias and a heading angle without zero steering wheel bias in the target period.

In this step, the product of the speed of the vehicle at the second moment and the front wheel rotation angle may be determined first, then the product is divided by the front and rear wheel distances of the vehicle to obtain a quotient result, and then the quotient result is integrated, so that the first heading angle deviation of the vehicle in the target time period may be obtained.

Wherein the front-rear wheel separation is used to characterize the distance of the front wheels to the rear wheels of the vehicle.

S1023: a calculated heading angle of the vehicle at the second time is determined based on the measured heading angle of the vehicle at the first time and the first heading angle deviation.

The sum of the measured course angle of the vehicle at the first moment and the deviation of the first course angle can be used as the calculated course angle of the vehicle at the second moment.

In this way, the calculated course angle of the vehicle at the second moment can be determined by combining the measured course angle of the vehicle at the first moment, the speed of the vehicle at the second moment and the measured steering wheel rotation angle, the rotation angle transmission ratio of the vehicle and the front and rear wheel distances, wherein the calculated course angle is used for representing the change amount of the course angle in a target time period under the condition that the steering wheel zero offset does not exist, and the method is beneficial to assisting the subsequent determination of the steering wheel zero offset.

The above steps S102 and S103 are carried out: and determining the steering wheel zero offset of the vehicle based on the calculated course angle, the running distance of the vehicle in the target time period in the running data and the measured course angle at the second moment.

In this step, the zero offset of the steering wheel of the vehicle may be gradually derived from the calculated heading angle, the travel distance of the vehicle in the target time period in the travel data, and the measured heading angle at the second time.

Specifically, a second heading angle deviation of the vehicle at the second time may be determined based on the calculated heading angle and the measured heading angle at the second time, the second heading angle deviation being used to indicate a deviation between a heading angle at which a steering wheel zero bias exists and a heading angle at which the steering wheel zero bias does not exist at the second time; and determining the steering wheel zero offset of the vehicle based on the second course angle deviation, the driving distance of the vehicle in the target time period, the corner transmission ratio of the vehicle and the front-rear wheel distance.

In the above steps, the calculated heading angle and the measured heading angle at the second moment may be subjected to a difference process to obtain a second heading angle deviation of the vehicle at the second moment, and then the second heading angle deviation, the driving distance, the corner transmission ratio of the vehicle and the wheelbase of the front and rear wheels are combined to obtain the steering wheel zero offset of the vehicle.

Here, there is a first conversion relationship between the calculated heading angle, the travel distance, the measured heading angle at the second time, and the steering wheel zero offset, the first conversion relationship being shown in the following formula (1):

wherein alpha is ₀ Zero steering wheel bias, denoted vehicle; t is t ₁ Denoted as first moment; t is t ₂ Denoted as second moment; psi phi type _fake (t ₂ ) A calculated heading angle represented as the vehicle at a second time; psi phi type _measure (t ₂ ) Expressed as a measured heading angle of the vehicle at a second time; s (t) ₂ )-s(t ₁ ) Expressed as a travel distance of the vehicle within a target period; l represents the front-rear wheel axle distance of the vehicle; k is denoted as the angular gear ratio of the vehicle.

Accordingly, the first conversion relationship may be determined by:

Alternatively, the second conversion relationship may be based on a steering angle transmission ratio of the vehicle, and in particular, the second conversion relationship may be a conversion relationship between a front wheel steering angle of the vehicle and a steering wheel steering angle, a steering angle transmission ratio.

Illustratively, the second conversion relation is shown in the following formula (2):

δ(t)＝α(t)k (2)

wherein delta (t) is expressed as the front wheel rotation angle of the vehicle at time t; alpha (t) is expressed as the steering wheel angle of the vehicle at time t; k is denoted as the angular gear ratio of the vehicle.

Optionally, the third conversion relation may be determined based on a front-rear wheel distance of the vehicle, and in particular, the third conversion relation may be a conversion relation between a heading angular rate and a speed of the vehicle, a front wheel rotation angle, and a front-rear wheel distance.

Illustratively, the third conversion relation is shown in the following formula (3):

wherein,expressed as the heading angular rate of the vehicle at time t; v (t) is expressed as the speed of the vehicle at time t; delta (t) is expressed as the front wheel rotation angle of the vehicle at time t; l denotes the front-rear wheel axle distance of the vehicle.

Here, the conversion relationship between the true steering wheel angle of the vehicle and the measured steering wheel angle and the steering wheel zero deviation is shown in the following formula (4):

α _truth (t)＝α _measure (t)-α ₀ (4)

Wherein alpha is _truth (t) is expressed as a true steering wheel angle of the vehicle at time t; alpha _measure (t) is expressed as a measured steering wheel angle of the vehicle at time t; alpha ₀ Represented as steering wheel zero offset of the vehicle.

Here, the true steering wheel angle is a steering wheel angle actually acting during the steering of the vehicle, unlike a measured steering wheel angle determined from the travel data.

Therefore, the first conversion relation can be obtained through the second conversion relation, the third conversion relation and the conversion relation between the true steering wheel angle of the vehicle and the measured steering wheel angle and the steering wheel zero offset, and the accuracy of determining the steering wheel zero offset is guaranteed.

When the first conversion relation is obtained based on the second conversion relation, the third conversion relation and the conversion relation between the true steering wheel angle of the vehicle and the measured steering wheel angle and the steering wheel zero offset, in some possible embodiments, the method includes:

In the above steps, first, a transformation relationship between the measured heading angle and the true front wheel rotation angle of the vehicle may be obtained, where the transformation relationship between the measured heading angle and the true front wheel rotation angle of the vehicle indicates that the measured heading angle is derived from the true front wheel rotation angle of the vehicle, and the measured heading angle at each time is obtained based on the true front wheel rotation angle.

And meanwhile, the transformation relation between the calculated course angle and the measured steering wheel angle of the vehicle can be obtained, wherein the transformation relation between the calculated course angle and the measured steering wheel angle of the vehicle indicates that the calculated course angle is deduced according to the measured steering wheel angle of the vehicle, and the calculated course angle at each moment is obtained based on the measured steering wheel angle.

Then, a conversion operation can be performed by combining a conversion relation between the measured course angle and the true value front wheel rotation angle of the vehicle, a conversion relation between the calculated course angle and the measured steering wheel rotation angle of the vehicle, the second conversion relation, the third conversion relation and a conversion relation between the true value steering wheel rotation angle, the measured steering wheel rotation angle and the steering wheel zero deviation of the vehicle, a fourth conversion relation between the measured course angle and the first vehicle parameter information of the vehicle and a fifth conversion relation between the calculated course angle, the measured course angle and the second vehicle parameter information of the vehicle can be obtained, and then the first conversion relation is obtained by performing the conversion operation on the fourth conversion relation and the fifth conversion relation.

In this way, by combining the second conversion relationship, the third conversion relationship and the conversion relationship between the true value steering wheel angle, the measured steering wheel angle and the steering wheel zero offset of the vehicle, the fourth conversion relationship between the measured heading angle and the first vehicle parameter information of the vehicle and the fifth conversion relationship between the calculated heading angle and the measured heading angle of the vehicle and the second vehicle parameter information can be deduced, and the first conversion relationship can be obtained by fusion processing of the fourth conversion relationship and the fifth conversion relationship, so that the accuracy of determining the steering wheel zero offset can be guaranteed.

Here, the fourth conversion relationship is used for indicating the conversion relationship between the measured heading angle and speed, the measured steering wheel angle, the steering wheel zero offset and the driving distance, and the fourth conversion relationship is shown in the following formula (5):

wherein t is ₁ Denoted as first moment; t is t ₂ Denoted as second moment; psi phi type _measure (t ₂ ) Expressed as a measured heading angle of the vehicle at a second time; psi phi type _measure (t ₁ ) Represented as a measured heading angle of the vehicle at a first time; v (t) is expressed as the speed of the vehicle at time t; alpha _measure (t) is expressed as a measured steering wheel angle of the vehicle at time t; s (t) ₂ )-s(t ₁ ) Expressed as a travel distance of the vehicle within a target period; alpha ₀ Zero steering wheel bias, denoted vehicle; l represents the front-rear wheel axle distance of the vehicle; k is denoted as the angular gear ratio of the vehicle.

Here, the fifth conversion relationship is used to indicate the conversion relationship between the calculated heading angle, the measured heading angle and speed, and the measured steering wheel angle, and the fifth conversion relationship is shown in the following formula (6):

wherein t is ₁ Denoted as first moment; t is t ₂ Denoted as second moment; psi phi type _fake (t ₂ ) A calculated heading angle represented as the vehicle at a second time; psi phi type _measure (t ₁ ) Represented as a measured heading angle of the vehicle at a first time; v (t) is expressed as the speed of the vehicle at time t; alpha _measure (t) is expressed as a measured steering wheel angle of the vehicle at time t; l represents the front-rear wheel axle distance of the vehicle, i.e. the distance from the front wheels to the rear wheels of the vehicle; k is denoted as the angular gear ratio of the vehicle.

In order to generate the fourth conversion relation and the fifth conversion relation, in some possible embodiments, the third conversion relation may be subjected to integral processing, to obtain a third conversion relation after integral processing; obtaining a sixth conversion relation between the course angle and the speed of the vehicle and between the front wheel steering angle based on the conversion relation between the course angle rate and the course angle and the third conversion relation after the integration processing; obtaining a transformation relationship between the true front wheel turning angle of the vehicle and the measured steering wheel turning angle and the steering wheel zero offset based on the second transformation relationship and the transformation relationship between the true steering wheel turning angle of the vehicle and the measured steering wheel turning angle and the steering wheel zero offset; obtaining a fourth conversion relation based on the conversion relation between the measured course angle and the true value front wheel steering angle of the vehicle, the conversion relation between the speed and the driving distance, the sixth conversion relation and the conversion relation between the true value front wheel steering angle and the measured steering wheel steering angle and the steering wheel zero offset of the vehicle; and obtaining the fifth conversion relation based on the conversion relation between the calculated course angle of the vehicle and the measured steering wheel angle, the second conversion relation and the sixth conversion relation.

Here, when the integration processing is performed on the third conversion relationship shown in the formula (3), the third conversion relationship after the integration processing can be obtained as shown in the following formula (7):

wherein t is ₁ Denoted as first moment; t is t ₂ Denoted as second moment;expressed as the heading angular rate of the vehicle at time t; v (t) is expressed as the speed of the vehicle at time t; delta (t) is expressed as the front wheel rotation angle of the vehicle at time t; l denotes the front-rear wheel axle distance of the vehicle.

Then, based on the conversion relation between the course angle rate and the course angle and the third conversion relation after the integration processing, a sixth conversion relation between the course angle and the speed of the vehicle and the front wheel steering angle can be obtained. Here, the transformation relationship between the heading angle rate and the heading angle indicates that the heading angle rate is a derivative of the heading angle, and the heading angle rate is a primary function of the heading angle.

Illustratively, on the basis of the formula (7), the conversion relation between the heading angle rate and the heading angle and the formula (7) are subjected to conversion processing, and the formula (8) can be obtained.

Here, a sixth conversion relationship between the heading angle and the speed of the vehicle, the front wheel steering angle is shown in the following formula (8):

Wherein t is ₁ Denoted as first moment; t is t ₂ Denoted as second moment; psi (t) ₂ ) Represented as heading angle of the vehicle at a second time; psi (t) ₁ ) Represented as a heading angle of the vehicle at a first time; v (t) is expressed as the speed of the vehicle at time t; delta (t) is expressed as the front wheel rotation angle of the vehicle at time t; l denotes the front-rear wheel axle distance of the vehicle.

And then, carrying out fusion processing on the second conversion relation shown in the formula (2) and the conversion relation between the true steering wheel angle of the vehicle, the measured steering wheel angle and the steering wheel zero offset shown in the formula (4) to obtain the conversion relation between the true front wheel angle of the vehicle and the measured steering wheel angle and the steering wheel zero offset.

Illustratively, the relationship between the true front wheel angle of the vehicle and the measured steering wheel angle, steering wheel zero offset, is shown in equation (9) below:

δ _truth (t)＝α _measure (t)k-α ₀ k (9)

wherein delta _truth (t) is expressed as the true front wheel rotation angle of the vehicle at time t; alpha _measure (t) is expressed as a measured steering wheel angle of the vehicle at time t; alpha ₀ Zero steering wheel bias, denoted vehicle; k is denoted as the angular gear ratio of the vehicle.

Then, the conversion relation between the measured heading angle and the true front wheel steering angle of the vehicle, the conversion relation between the speed and the driving distance, the sixth conversion relation shown in the formula (8) and the conversion relation between the true front wheel steering angle and the measured steering wheel steering angle and the steering wheel zero offset of the vehicle shown in the formula (9) can be fused and converted, and the fourth conversion relation shown in the formula (5) can be obtained.

Specifically, the transformation relationship between the measured heading angle and the truth value front wheel steering angle of the vehicle and the sixth transformation relationship shown in the formula (8) may be fused and transformed, so as to obtain the following formula (10):

wherein t is ₁ Denoted as first moment; t is t ₂ Denoted as second moment; psi phi type _measure (t ₂ ) Expressed as a measured heading angle of the vehicle at a second time; psi phi type _measure (t ₁ ) Represented as a measured heading angle of the vehicle at a first time; v (t) is expressed as the speed of the vehicle at time t; delta _truth (t) is expressed as the true front wheel rotation angle of the vehicle at time t; l denotes the front-rear wheel axle distance of the vehicle.

Then, the conversion relation between the formula (10) and the true front wheel rotation angle of the vehicle and the measured steering wheel rotation angle and the steering wheel zero offset shown in the formula (9) can be fused and converted, and the following formula (11) can be obtained:

wherein t is ₁ Denoted as first moment; t is t ₂ Denoted as second moment; psi phi type _measure (t ₂ ) Expressed as a measured heading angle of the vehicle at a second time; psi phi type _measure (t ₁ ) Represented as a measured heading angle of the vehicle at a first time; v (t) is expressed as the speed of the vehicle at time t; alpha _measure (t) is expressed as a measured steering wheel angle of the vehicle at time t;α ₀ zero steering wheel bias, denoted vehicle; l represents the front-rear wheel axle distance of the vehicle; k is denoted as the angular gear ratio of the vehicle.

Next, the conversion relationship between the expression (11) and the speed and the travel distance may be subjected to fusion conversion, and a fourth conversion relationship as shown in the expression (5) may be obtained. Here, the transformation relationship between the speed and the travel distance indicates that the speed is a derivative of the travel distance, which is a primary function of the speed.

By way of example, the conversion relationship between the speed and the travel distance and the formula (11) are subjected to the conversion processing on the basis of the formula (11), and the formula (5) can be obtained.

And, the transformation relation between the calculated heading angle and the measured steering wheel angle of the vehicle, the second transformation relation shown in the formula (2) and the sixth transformation relation shown in the formula (8) can be fused and transformed, and the fifth transformation relation shown in the formula (6) can be obtained.

After the fourth conversion relation and the fifth conversion relation are obtained, fusion processing can be performed on the fourth conversion relation and the second conversion relation to obtain the first conversion relation.

By way of example, equation (5) and equation (6) may be subtracted first, resulting in equation (12) below:

Then, the equation (12) may be subjected to a term shifting process, so as to obtain a first conversion relationship as shown in the equation (1).

According to the method for determining the zero offset of the steering wheel, the calculated heading angle of the vehicle at the second moment can be obtained through the measured heading angle of the vehicle at the first moment, the speed of the vehicle at the second moment and the measured steering wheel angle, and then the zero offset of the steering wheel of the vehicle is determined based on the calculated heading angle, the running distance of the vehicle in the target time period and the measured heading angle of the second moment, so that the zero offset of the steering wheel with small values and upper limits is projected onto the running distance with large values and no upper limits, the calculated heading angle at the second moment and the measured heading angle at the second moment are reflected, and the calculated heading angle is used for representing the change amount of the heading angle in the target time period under the condition that the zero offset of the steering wheel does not exist, and therefore the zero offset of the steering wheel with arbitrary values can be rapidly calculated through the calculated heading angle at the second moment, the measured heading angle at the second moment and the running distance, and the accuracy and precision of the zero offset of the steering wheel can be improved.

Referring to fig. 3, fig. 3 is a flowchart of another method for determining zero offset of a steering wheel according to an embodiment of the present disclosure, where, as shown in fig. 3, the method for determining zero offset of a steering wheel according to an embodiment of the present disclosure includes steps S301 to S306, where:

s301: travel data of a vehicle traveling in a target period of time is acquired.

S302: and calculating the calculated course angle of the vehicle at the second moment based on the measured course angle of the vehicle at the first moment and the speed and the measured steering wheel rotation angle at the second moment in the running data, wherein the calculated course angle is used for representing the change amount of the course angle in the target time period under the condition that no steering wheel zero offset exists, and the target time period takes the first moment as the starting moment and the second moment as the ending moment.

S303: and determining the steering wheel zero offset of the vehicle based on the calculated course angle, the running distance of the vehicle in the target time period in the running data and the measured course angle at the second moment.

The descriptions of step S301 to step S303 may refer to the descriptions of step S101 to step S103, and may achieve the same technical effects and solve the same technical problems, which are not described herein.

S304: and correcting the measured steering wheel angle based on the steering wheel zero offset to obtain a corrected true steering wheel angle.

In this step, the corrected true steering wheel angle may be determined based on the conversion relationship between the true steering wheel angle and the measured steering wheel angle, and the steering wheel zero offset, and based on the steering wheel zero offset and the measured steering wheel angle.

Therefore, the transverse deviation problem of the vehicle in the running process can be optimized by correcting the steering wheel rotation angle through the steering wheel zero deviation, and the control precision of the vehicle is improved.

In some possible modes, after the steering wheel zero offset is obtained, a prompt message can be sent to a user, and zero offset correction is performed after the user is confirmed.

In other possible embodiments, after the steering wheel zero offset is obtained, the magnitude of the steering wheel zero offset value may be determined, and when the steering wheel zero offset is greater than a threshold value perceived by a user, a prompt message is sent to the user, and the user waits for confirmation and then performs zero offset correction.

In still other possible embodiments, the zero offset correction may be automatically performed when the speed of the vehicle is lower than a preset speed threshold.

S305: and controlling the steering of the vehicle according to the corrected true steering wheel angle.

According to the method for determining the zero offset of the steering wheel, the calculated heading angle of the vehicle at the second moment can be obtained through the measured heading angle of the vehicle at the first moment and the speed and the measured steering wheel angle at the second moment, and then the zero offset of the steering wheel of the vehicle is determined based on the calculated heading angle, the running distance of the vehicle in the target time period and the measured heading angle at the second moment, so that the zero offset of the steering wheel with small values and upper limits is projected onto the running distance with large values and no upper limits, the calculated heading angle at the second moment and the measured heading angle at the second moment are reflected, and the calculated heading angle is used for representing the change amount of the heading angle in the target time period under the condition that the zero offset of the steering wheel does not exist, so that the zero offset of the steering wheel with arbitrary values can be obtained through the calculated heading angle at the second moment, the measured heading angle at the second moment and the running distance, and the accuracy of the steering wheel with arbitrary values can be rapidly calculated, and the accuracy and the steering wheel zero offset of the steering wheel with large values are improved, and the steering wheel zero offset is guaranteed, and the steering safety of the vehicle is guaranteed.

It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.

Based on the same inventive concept, the embodiment of the disclosure further provides a device for determining zero offset of a steering wheel, which corresponds to the method for determining zero offset of a steering wheel, and because the principle of solving the problem of the device for determining zero offset of a steering wheel in the embodiment of the disclosure is similar to that of the method for determining zero offset of a steering wheel in the embodiment of the disclosure, the implementation of the device for determining zero offset of a steering wheel can refer to the implementation of the method for determining zero offset of a steering wheel, and the repetition is omitted.

Referring to fig. 4 and 5, fig. 4 is a schematic diagram of a device for determining zero offset of a steering wheel according to an embodiment of the disclosure, and fig. 5 is a schematic diagram of a second device for determining zero offset of a steering wheel according to an embodiment of the disclosure. As shown in fig. 4, a device 400 for determining zero offset of a steering wheel according to an embodiment of the present disclosure includes:

a data acquisition module 410, configured to acquire driving data of a vehicle driving in a target period;

a course angle determining module 420, configured to calculate, based on a measured course angle of the vehicle at a first time and a speed and a measured steering wheel angle of the vehicle at a second time in the running data, a calculated course angle of the vehicle at the second time, where the calculated course angle is used to represent a change amount of the course angle in the target time period when no steering wheel zero offset exists, and the target time period uses the first time as a start time and uses the second time as an end time;

the zero offset determining module 430 is configured to determine a steering wheel zero offset of the vehicle based on the calculated heading angle, a driving distance of the vehicle in the driving data in the target time period, and the measured heading angle at the second moment.

In an alternative embodiment, the course angle determining module 420 is specifically configured to:

In an alternative embodiment, the zero offset determination module 430 is specifically configured to:

In an alternative embodiment, a first conversion relationship exists between the calculated heading angle, the driving distance, the measured heading angle at the second time and the steering wheel zero offset, as shown in fig. 5, the apparatus further includes a relationship determination module 440, and the relationship determination module 440 is configured to determine the first conversion relationship by:

In an alternative embodiment, the relationship determining module 440 is specifically configured to, when configured to obtain the first conversion relationship based on the second conversion relationship, the third conversion relationship, and a conversion relationship between the true steering wheel angle of the vehicle and the measured steering wheel angle, and the steering wheel zero offset, obtain the first conversion relationship:

In an alternative embodiment, the relationship determination module 440 is specifically configured to, when configured to generate the fourth conversion relationship and the fifth conversion relationship:

integrating the fourth conversion relation to obtain an integrated fourth conversion relation;

In an alternative embodiment, as shown in fig. 5, the apparatus further includes a zero offset correction module 450, where the zero offset correction module 450 is configured to:

The process flow of each module in the apparatus and the interaction flow between the modules may be described with reference to the related descriptions in the above method embodiments, which are not described in detail herein.

According to the device for determining the zero offset of the steering wheel, the calculated heading angle of the vehicle at the second moment can be obtained through the measured heading angle of the vehicle at the first moment, the speed of the vehicle at the second moment and the measured steering wheel angle, and then the zero offset of the steering wheel of the vehicle is determined based on the calculated heading angle, the running distance of the vehicle in the target time period and the measured heading angle of the second moment, so that the zero offset of the steering wheel with small values and upper limits is projected to the running distance with large values and no upper limits, the calculated heading angle at the second moment and the measured heading angle at the second moment are reflected, and the calculated heading angle is used for representing the change amount of the heading angle in the target time period under the condition that the zero offset of the steering wheel does not exist, so that the zero offset of the steering wheel with arbitrary values can be rapidly calculated through the calculated heading angle at the second moment, the measured heading angle at the second moment and the running distance, and the accuracy of the zero offset of the steering wheel can be improved.

Corresponding to the method for determining zero offset of the steering wheel in fig. 1 and 3, the embodiment of the disclosure further provides an electronic device 600, as shown in fig. 6, which is a schematic structural diagram of the electronic device 600 provided in the embodiment of the disclosure, including:

a processor 610, a memory 620, and a bus 630. Wherein the memory 620 is used for storing execution instructions, including a memory 621 and an external memory 622; the memory 621 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 610 and data exchanged with the external memory 622 such as a hard disk, and the processor 610 exchanges data with the external memory 622 via the memory 621.

In the embodiment of the present application, the memory 620 is specifically configured to store application program codes for executing the solution of the present application, and the processor 610 controls the execution. That is, when the electronic device 600 is in operation, communication between the processor 610 and the memory 620 via the bus 630 causes the processor 610 to execute application code stored in the memory 620, thereby performing the steps of the method for determining a zero-bias of a steering wheel described in any of the previous embodiments.

The Memory 620 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 610 may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be understood that the structures illustrated in the embodiments of the present application do not constitute a particular limitation of the electronic device 600. In other embodiments of the present application, electronic device 600 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for determining a steering wheel zero offset described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.

The embodiments of the present disclosure further provide a computer program product, where the computer program product includes computer instructions, where the computer instructions, when executed by a processor, may perform the steps of the method for determining zero offset of a steering wheel described in the foregoing method embodiments, and specifically, reference may be made to the foregoing method embodiments, which are not repeated herein.

Wherein the above-mentioned computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and device described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus, device, and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present disclosure, and are not intended to limit the scope of the disclosure, but the present disclosure is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, it is not limited to the disclosure: any person skilled in the art, within the technical scope of the disclosure of the present disclosure, may modify or easily conceive changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features thereof; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method of determining zero-bias of a steering wheel, the method comprising:

acquiring running data of a vehicle running in a target time period;

2. The method of claim 1, wherein the calculating a calculated heading angle of the vehicle at a second time based on the measured heading angle of the vehicle at the first time and the speed and the measured steering wheel angle at the second time in the travel data comprises:

3. The method of claim 1, wherein the determining the steering wheel zero offset of the vehicle based on the calculated heading angle, the distance traveled by the vehicle in the target time period in the travel data, and the measured heading angle at the second time comprises:

4. The method of claim 1, wherein a first conversion relationship exists between the calculated heading angle, the distance traveled, the measured heading angle at the second time, and the steering wheel zero offset, the first conversion relationship being determined by:

5. The method of claim 4, wherein the deriving the first conversion relationship based on the second conversion relationship, the third conversion relationship, and a conversion relationship between the true steering wheel angle of the vehicle and measured steering wheel angle, steering wheel zero offset, comprises:

6. The method of claim 5, wherein generating the fourth conversion relationship and the fifth conversion relationship comprises:

7. The method of claim 1, wherein after determining the steering wheel zero offset of the vehicle based on the calculated heading angle, the distance traveled by the vehicle during the target time period in the travel data, and the measured heading angle at the second time, the method further comprises:

8. A steering wheel zero offset determination apparatus, the apparatus comprising:

9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication over the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the method of determining a steering wheel zero offset as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method of determining a steering wheel zero offset according to any one of claims 1 to 7.