WO2023020321A1 - 车辆后轮转向零位调整方法、系统、车辆及存储介质 - Google Patents

车辆后轮转向零位调整方法、系统、车辆及存储介质 Download PDF

Info

Publication number
WO2023020321A1
WO2023020321A1 PCT/CN2022/110829 CN2022110829W WO2023020321A1 WO 2023020321 A1 WO2023020321 A1 WO 2023020321A1 CN 2022110829 W CN2022110829 W CN 2022110829W WO 2023020321 A1 WO2023020321 A1 WO 2023020321A1
Authority
WO
WIPO (PCT)
Prior art keywords
rear wheel
vehicle
steering
zero position
wheel
Prior art date
Application number
PCT/CN2022/110829
Other languages
English (en)
French (fr)
Inventor
禹真
陈志刚
余景龙
单帅
王仕伟
侯杰
Original Assignee
中国第一汽车股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国第一汽车股份有限公司 filed Critical 中国第一汽车股份有限公司
Publication of WO2023020321A1 publication Critical patent/WO2023020321A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G01B21/26—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment

Definitions

  • the present application relates to the field of automobile chassis control, for example, to a method, system, vehicle and storage medium for adjusting the steering zero position of the rear wheel of a vehicle.
  • the present application provides a method, system, vehicle and storage medium for adjusting the zero position of the rear wheel steering of a vehicle, which realizes automatic adjustment of the zero position of the rear wheel steering system, improves driving experience and driving reliability, and saves offline maintenance costs.
  • a method for adjusting the steering zero position of the rear wheels of a vehicle includes front wheels and the rear wheels, the front wheels are connected with an active steering system, and the rear wheels are connected with rear wheels that follow the steering angle of the front wheels Steering device, the vehicle rear wheel steering zero adjustment method includes:
  • the rear wheels include a first rear wheel and a second rear wheel, and the second rear wheel is located on the side of the first rear wheel close to the center of rotation of the vehicle;
  • the calculation of the adjustment value of the rear wheel angle according to the actual driving trajectory includes:
  • ⁇ is the adjustment value of the rear wheel angle
  • L1 is the distance between the second rear wheel and the axle axis of the front wheel
  • L2 is the distance between the second rear wheel and the center of rotation of the vehicle parallel to The axial distance of the axle of the front wheel.
  • the actual driving trajectory of the vehicle includes the actual driving distance S of the first rear wheel and the actual yaw angle ⁇ of the vehicle;
  • L1 is a known quantity, and L2 is calculated according to the following formula:
  • r is the linear distance between the first rear wheel and the rotation center of the vehicle
  • b is the wheelbase of the first rear wheel and the second rear wheel.
  • the method before obtaining the actual driving track of the vehicle when the steering wheel of the vehicle is centered, the method further includes:
  • the surrounding road conditions of the vehicle are obtained, and it is determined according to the surrounding road conditions that there are no factors affecting the driving of the vehicle.
  • a vehicle rear wheel steering zero adjustment system the vehicle includes front wheels and the rear wheels, the front wheels are connected with an active steering system, and the rear wheels are connected with rear wheels that follow the steering angle of the front wheels Steering device, the vehicle rear wheel steering zero position adjustment system includes:
  • the first acquisition module is configured to acquire the actual driving track of the vehicle when the steering wheel of the vehicle is centered;
  • a calculation module configured to calculate the adjustment value of the rear wheel angle according to the actual driving trajectory
  • the adjustment module is configured to adjust the steering tie rod of the rear wheel steering device to zero position according to the adjustment value of the rear wheel rotation angle.
  • the rear wheels include a first rear wheel and a second rear wheel, and the second rear wheel is located on a side of the first rear wheel close to the center of rotation of the vehicle;
  • the actual driving trajectory of the vehicle includes the actual driving distance S of the first rear wheel and the actual yaw angle ⁇ of the vehicle, where L1 is a known quantity;
  • it further includes: a second acquiring module, configured to acquire the surrounding road conditions of the vehicle, and determine according to the surrounding road conditions that there are no factors affecting the driving of the vehicle.
  • a vehicle comprising:
  • processors one or more processors
  • a storage device configured to store one or more programs
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors implement the method for adjusting the steering zero position of the rear wheels of the vehicle as described above.
  • a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method for adjusting the steering zero position of the rear wheel of the vehicle as described above is realized.
  • Fig. 1 is a schematic diagram of the actual driving track of a vehicle (the steering rod of the rear wheel steering system deviates from zero) provided by Embodiment 1 of the present application;
  • FIG. 2 is a flow chart of a method for adjusting the steering zero position of the rear wheels of a vehicle provided in Embodiment 1 of the present application;
  • Fig. 3 is a schematic diagram of a vehicle rear wheel steering zero adjustment system provided in Embodiment 2 of the present application;
  • FIG. 4 is a schematic diagram of a vehicle provided in Embodiment 3 of the present application.
  • the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer”, etc. indicate orientation or position The relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore It should not be construed as a limitation of the application.
  • the terms “first” and “second” are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. Wherein, the terms “first position” and “second position” are two different positions.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or an indirect connection through an intermediary, or an internal communication between two components.
  • This embodiment discloses a method for adjusting the zero position of the rear wheel steering of a vehicle, which can realize the automatic adjustment of the zero position of the rear wheel steering system, improve the driving experience and driving reliability, and save the cost of offline maintenance.
  • the method for adjusting the steering zero position of the rear wheels of the vehicle is applicable to the situation that the front wheels are connected with an active steering system, and the rear wheels are connected with a rear wheel steering device that follows the steering angle of the front wheels.
  • the front wheels include a first front wheel 3 and a second front wheel 4 .
  • the rear wheels include a first rear wheel 1 and a second rear wheel 2 .
  • the second front wheel 4 is located inside the first front wheel 3
  • the second rear wheel 2 is located inside the first rear wheel 1 .
  • the inner side refers to the side where the first front wheel 3 and the first rear wheel 1 are close to the center of rotation O of the vehicle when the vehicle is turning. Due to external force, internal friction or system failure, the zero position of the rear wheel steering system will change, which will affect the normal driving of the vehicle. At this time, it is necessary to readjust the steering rod of the rear wheel steering system to the zero position.
  • FIG. 2 is a flow chart of a method for adjusting the steering zero position of a rear wheel of a vehicle provided in Embodiment 1 of the present application.
  • the vehicle rear wheel steering zero adjustment method includes:
  • the steering of the front wheels is controlled by the steering wheel.
  • a centered steering wheel means zero front wheel rotation. With the steering wheel in the center, the vehicle is controlled to drive at a constant speed for a certain distance (such as 100-200 meters) to obtain the actual driving trajectory of the vehicle. It can be predicted that if the steering rod of the rear-wheel steering system is at zero position, the axles of the rear wheels are parallel to the axles of the front wheels, and the actual driving trajectory of the vehicle obtained at this time is a straight line; if the steering rod of the rear-wheel steering system If it deviates from the zero position, the axles of the rear wheels and the axles of the front wheels will form a certain angle, and the actual driving track of the vehicle obtained at this time is a curve (see Figure 1).
  • the actual driving trajectory of the vehicle can be measured by the on-board camera, high-precision locator, etc. This is a related technology and will not be repeated here.
  • the actual driving trajectory of the vehicle includes information such as the actual driving distance S of the first rear wheel 1 and the actual yaw angle ⁇ of the vehicle.
  • the actual traveling distance S of the first rear wheel 1 is measured by a wheel speed sensor; the actual yaw angle ⁇ of the vehicle is measured by an inertial sensor. If the steering rod of the rear wheel steering system is at zero position, the actual travel distance S of the first rear wheel 1 is a straight line distance, and the actual yaw angle ⁇ of the vehicle is zero; if the steering rod of the rear wheel steering system deviates from the zero position, Then the actual running distance S of the first rear wheel 1 is a curve distance, and the actual yaw angle ⁇ of the vehicle is not zero.
  • the vehicle can have a built-in voice prompt device to remind the driver to keep the steering wheel in the center, and to remind the driver to control the steering wheel normally after the vehicle has traveled a certain distance, so as to improve the user experience.
  • the actual driving trajectory can reflect whether the steering rod of the rear wheel steering system deviates from the zero position, and the angle between the axle of the rear wheel and the axle of the front wheel (ie, the adjustment value of the rear wheel angle).
  • the size of the rear wheel rotation angle that needs to be adjusted when the steering rod returns to the zero position is determined. This is a related technology and will not be repeated here.
  • the vehicle can automatically execute the method for adjusting the steering zero position of the rear wheels of the vehicle after a specific interval or a specific accumulated mileage.
  • the vehicle has a built-in timer or a cumulative mileage calculation module to record the interval time or cumulative mileage since the last execution of the vehicle rear wheel steering zero position adjustment method, so that when the interval time or cumulative mileage reaches the set Set the value to control the vehicle to execute the method for adjusting the zero position of the rear wheel steering of the vehicle.
  • the method for adjusting the steering zero position of the rear wheels of the vehicle is actively started by the driver and passengers in the vehicle.
  • the vehicle is provided with a switch that triggers the start of the vehicle rear wheel steering zero position adjustment method.
  • the switch can be a physical button, a touch button or a voice interaction module, etc., and the driver and occupant in the car receive the trigger physical button or touch button, or By performing voice interaction with the voice interaction module, the vehicle rear wheel steering zero adjustment method is controlled to start.
  • the surrounding road conditions can be identified by means of a vehicle-mounted camera, radar, etc., which is a related technology and will not be repeated here.
  • This embodiment provides a method for adjusting the zero position of the rear wheel steering.
  • the actual driving trajectory can reflect whether the steering rod of the rear wheel steering system deviates from the zero position, and whether the rear wheel axle With respect to the angle between the axles of the front wheels, the adjustment value of the rear wheel angle that needs to be adjusted when the steering rod returns to the zero position is determined, so as to realize the automatic adjustment of the zero position of the rear wheel steering system, improve the driving experience and driving reliability, and Save the cost of offline maintenance.
  • This embodiment provides a vehicle rear wheel steering zero position adjustment system, as shown in Figure 1, the vehicle includes front wheels and rear wheels, the front wheels are connected with an active steering system, and the rear wheels are connected with a rear steering system that follows the rotation angle of the front wheels.
  • the wheel steering device, the front wheels include a first front wheel 3 and a second front wheel 4.
  • the rear wheels include a first rear wheel 1 and a second rear wheel 2 .
  • the second front wheel 4 is located inside the first front wheel 3
  • the second rear wheel 2 is located inside the first rear wheel 1 .
  • the inner side refers to the side where the first front wheel 3 and the first rear wheel 1 are close to the center of rotation O of the vehicle when the vehicle is turning.
  • the vehicle rear wheel steering zero position adjustment system includes:
  • the first acquisition module 31 is configured to acquire the actual driving trajectory of the vehicle when the steering wheel is in the center; the calculation module 32 is configured to calculate the rear wheel angle adjustment value according to the actual driving trajectory; the adjustment module 33 is configured to adjust the rear wheel angle according to the actual driving trajectory value, adjust the steering rod of the rear wheel steering device to zero.
  • the actual driving trajectory of the vehicle includes information such as the actual driving distance S of the first rear wheel 1 and the actual yaw angle ⁇ of the vehicle.
  • the acquisition module includes a wheel speed sensor and an inertial sensor.
  • the wheel speed sensor is set to measure the actual travel distance S of the first rear wheel 1; the inertial sensor is set to measure the actual yaw angle ⁇ of the vehicle.
  • ⁇ is the adjustment value of the rear wheel rotation angle
  • L1 is the second rear wheel rotation angle adjustment value.
  • the distance between the wheel 2 and the axle axis of the front wheel, L2 is the distance between the second rear wheel 2 and the rotation center O of the vehicle in the axial direction parallel to the axle of the front wheel.
  • the vehicle rear wheel steering zero adjustment system further includes a second acquisition module, configured to acquire the surrounding road conditions of the vehicle, and determine that there are no factors affecting the driving of the vehicle according to the surrounding road conditions.
  • a second acquisition module configured to acquire the surrounding road conditions of the vehicle, and determine that there are no factors affecting the driving of the vehicle according to the surrounding road conditions.
  • the second acquiring module includes devices such as a vehicle-mounted camera and a radar to identify surrounding road conditions, which is related technology and will not be repeated here.
  • the vehicle rear wheel steering zero position adjustment system provided in this embodiment can execute the vehicle rear wheel steering zero position adjustment method provided in any embodiment of the present application, and has corresponding functional modules and effects for executing the method.
  • FIG. 4 is a schematic structural diagram of a vehicle provided in Embodiment 3 of the present application.
  • FIG. 4 shows a block diagram of an exemplary vehicle 412 suitable for use in implementing embodiments of the present application.
  • the vehicle 412 shown in FIG. 4 is only an example, and should not limit the functions and application scope of the embodiment of the present application.
  • a vehicle 412 takes the form of a universal terminal.
  • Components of the vehicle 412 may include, but are not limited to: a vehicle body (not shown), one or more processors 416, a storage device 428, and a bus 418 connecting various system components (including the storage device 428 and the processor 416).
  • Bus 418 represents one or more of several types of bus structures, including a storage device bus or controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures.
  • these architectures include but are not limited to Industry Standard Architecture (Industry Subversive Alliance, ISA) bus, Micro Channel Architecture (Micro Channel Architecture, MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
  • Vehicle 412 includes various computer system readable media. These media can be any available media that can be accessed by the vehicle 412 and include both volatile and non-volatile media, removable and non-removable media.
  • Storage 428 may include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 430 and/or cache memory 432 .
  • Vehicle 412 may include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • storage system 434 may be configured to read from and write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard drive”).
  • a disk drive configured to read and write to a removable non-volatile disk, such as a "floppy disk,” may be provided, as well as to a removable non-volatile optical disk, such as a Compact Disc Read-Only Disk (CDROM).
  • CDROM Compact Disc Read-Only Disk
  • each drive may be connected to bus 418 through one or more data media interfaces.
  • the storage device 428 may include at least one program product, which has a set of (for example, at least one) program modules configured to execute the functions of the embodiments of the present application.
  • a program/utility tool 440 having a set (at least one) of program modules 442, such as but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include the implementation of the network environment.
  • the program module 442 generally executes the functions and/or methods in the embodiments described in this application.
  • Vehicle 412 may also communicate with one or more external devices 414 (e.g., a keyboard, pointing terminal, display 424, etc.), may also communicate with one or more terminals that enable a user to interact with the vehicle 412, and/or communicate with the Vehicle 412 is capable of communicating with any terminal (eg, network card, modem, etc.) that communicates with one or more other computing terminals. Such communication may be performed through an Input/Output (I/O) interface 422 .
  • the vehicle 412 can also communicate with one or more networks (such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) and/or a public network, such as the Internet) through the network adapter 420.
  • networks such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) and/or a public network, such as the Internet
  • network adapter 420 communicates with other modules of vehicle 412 via bus 418 .
  • vehicle 412 may be used in conjunction with other hardware and/or software modules, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, Redundant Arrays of Independent Disks (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.
  • the processor 416 executes various functional applications and data processing by running the program stored in the storage device 428, such as implementing the method for adjusting the steering zero position of the rear wheel of the vehicle provided in the embodiment of the present application.
  • the method includes: centering the steering wheel In this case, the actual driving trajectory of the vehicle is obtained; the adjustment value of the rear wheel angle is calculated according to the actual driving trajectory; and the steering rod of the rear wheel steering device is adjusted to zero according to the adjustment value of the rear wheel angle.
  • This embodiment provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for adjusting the steering zero position of the rear wheel of the vehicle as provided in the embodiment of the present application is implemented.
  • the method includes: In the case of centering, obtain the actual driving track of the vehicle; calculate the rear wheel angle adjustment value according to the actual driving track; adjust the steering rod of the rear wheel steering device to zero according to the rear wheel angle adjustment value.
  • the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
  • 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 electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more conductors, portable computer disks, hard disks, RAM, ROM, Electrical Programmable Read Only Memory , EPROM or flash memory), optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave traveling as a data signal. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • any appropriate medium including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • 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 terminal.
  • the remote computer can be connected to the user computer through any kind of network, including a LAN or WAN, or it can be connected to an external computer (eg via the Internet using an Internet Service Provider).

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

一种车辆后轮转向零位调整方法、系统、车辆及存储介质。车辆包括前轮和后轮，前轮连接有主动转向系统，后轮连接有随前轮转角随动转向的后轮转向装置，车辆后轮转向零位调整方法包括：在车辆的方向盘居中的情况下，获取车辆的实际行驶轨迹；根据实际行驶轨迹计算后轮转角调整值；根据后轮转角调整值，调整后轮转向装置的转向拉杆至零位。

Description

车辆后轮转向零位调整方法、系统、车辆及存储介质
本申请要求在2021年08月20日提交中国专利局、申请号为202110958752.9的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及汽车底盘控制领域，例如涉及一种车辆后轮转向零位调整方法、系统、车辆及存储介质。
背景技术
对于前轮装有传统转向装置、后轮装有可根据前轮转角进行随动转向的后轮转向装置的车辆来说，车辆在实际使用过程中，会由于外力、内部摩擦或系统故障等原因引起后轮转向系统的零位变化。这种零位变化是靠驾驶员自身感知车辆行驶的指向性来辨别的，之后通过售后维修的方式进行零位回正，导致车辆的驾乘体验差、可靠性低及维修成本高。
发明内容
本申请提供一种车辆后轮转向零位调整方法、系统、车辆及存储介质，实现后轮转向系统零位的自动调整，提高驾乘体验及行车可靠性，并省去线下维修的成本。
提供一种车辆后轮转向零位调整方法，所述车辆包括前轮和所述后轮，所述前轮连接有主动转向系统，所述后轮连接有随前轮转角随动转向的后轮转向装置，所述车辆后轮转向零位调整方法包括：
在所述车辆的方向盘居中的情况下，获取所述车辆的实际行驶轨迹；
根据所述实际行驶轨迹计算后轮转角调整值；
根据所述后轮转角调整值，调整所述后轮转向装置的转向拉杆至零位。
一实施例中，所述后轮包括第一后轮和第二后轮，所述第二后轮位于第一后轮靠近车辆转动中心的一侧；
所述根据所述实际行驶轨迹计算后轮转角调整值，包括：
根据以下公式计算所述后轮转角调整值：
tan(δ)＝(L1)/(L2)；
其中，δ为所述后轮转角调整值，L1为所述第二后轮距所述前轮的轮轴的 轴线的距离，L2为所述第二后轮与所述车辆的转动中心在平行于所述前轮的轮轴的轴向上的距离。
一实施例中，所述车辆的实际行驶轨迹包括所述第一后轮的实际行驶距离S、以及所述车辆的实际偏航角β；L1为已知量，L2根据以下公式计算得到：
r＝S/β，且r 2＝(L1) 2+(L2+b) 2；
其中，r为所述第一后轮与所述车辆的转动中心的直线距离，b为所述第一后轮和第二后轮的轮距。
一实施例中，在所述在所述车辆的方向盘居中的情况下，获取所述车辆的实际行驶轨迹之前，还包括：
获取所述车辆的周围路况，并根据所述周围路况确定无影响所述车辆行驶的因素。
提供一种车辆后轮转向零位调整系统，所述车辆包括前轮和所述后轮，所述前轮连接有主动转向系统，所述后轮连接有随前轮转角随动转向的后轮转向装置，所述车辆后轮转向零位调整系统包括：
第一获取模块，设置为在所述车辆的方向盘居中的情况下，获取所述车辆的实际行驶轨迹；
计算模块，设置为根据所述实际行驶轨迹计算后轮转角调整值；
调整模块，设置为根据所述后轮转角调整值，调整所述后轮转向装置的转向拉杆至零位。
一实施例中，所述后轮包括第一后轮和第二后轮，所述第二后轮位于所述第一后轮靠近车辆转动中心的一侧；
所述计算模块包括第一计算子模块，设置为根据以下公式计算所述后轮转角调整值：tan(δ)＝(L1)/(L2)；其中，δ为所述后轮转角调整值，L1为所述第二后轮距所述前轮的轮轴的轴线的距离，L2为所述第二后轮与所述车辆的转动中心在平行于所述前轮的轮轴的轴向上的距离。
一实施例中，所述车辆的实际行驶轨迹包括所述第一后轮的实际行驶距离S、以及所述车辆的实际偏航角β，L1为已知量；
所述计算模块还包括第二计算子模块，设置为根据公式r＝S/β，计算r；根据公式r 2＝(L1) 2+(L2+b) 2，计算L2；其中，r为所述第一后轮与所述车辆的转动中心的直线距离，b为所述第一后轮和所述第二后轮的轮距。
一实施例中，还包括：第二获取模块，设置为获取所述车辆的周围路况，并根据所述周围路况确定无影响所述车辆行驶的因素。
提供一种车辆，所述车辆包括：
一个或多个处理器；
存储装置，设置为存储一个或多个程序；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如上所述的车辆后轮转向零位调整方法。
提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述的车辆后轮转向零位调整方法。
附图说明
图1为本申请实施例一提供的一种车辆的实际行驶轨迹(后轮转向系统的转向拉杆偏离零位)的示意图；
图2为本申请实施例一提供的一种车辆后轮转向零位调整方法的流程图；
图3为本申请实施例二提供的一种车辆后轮转向零位调整系统的示意图；
图4为本申请实施例三提供的一种车辆的示意图。
附图标记：
1、第一后轮；2、第二后轮；3、第一前轮；4、第二前轮。
具体实施方式
下面将结合附图对本申请实施例的技术方案进行描述，所描述的实施例仅仅是本申请一部分实施例。
在本申请的描述中，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、仅用于描述目的，而不能理解为指示或暗示相对重要性。其中，术语“第一位置”和“第二位置”为两个不同的位置。
在本申请的描述中，除非另有规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据情况理解上述术语在本申请中的含义。
实施例一：
本实施例公开一种车辆后轮转向零位调整方法，能够实现后轮转向系统零位的自动调整，提高驾乘体验及行车可靠性，并省去线下维修的成本。该车辆后轮转向零位调整方法适用于前轮连接有主动转向系统，后轮连接有随前轮转角随动转向的后轮转向装置的情况。示例性地，如图1所示，前轮包括第一前轮3和第二前轮4。后轮包括第一后轮1和第二后轮2。第二前轮4位于第一前轮3的内侧，第二后轮2位于第一后轮1的内侧。内侧是指当车辆转弯时第一前轮3和第一后轮1靠近车辆转动中心O的一侧。由于外力、内部摩擦或系统故障等原因会引起后轮转向系统的零位变化，进而影响车辆的正常行驶，此时就需要对后轮转向系统的转向拉杆重新调整至零位。
图2为本申请实施例一提供的一种车辆后轮转向零位调整方法的流程图。该车辆后轮转向零位调整方法包括：
S1、在方向盘居中的情况下，获取车辆的实际行驶轨迹。
前轮的转向通过方向盘控制。方向盘居中意味着前轮的转角为零。在方向盘居中的情况下，控制车辆匀速行驶一段距离(如100-200米)，以获取车辆的实际行驶轨迹。可以预测的是，若后轮转向系统的转向拉杆处于零位，则后轮的轮轴与前轮的轮轴平行，此时获取的车辆的实际行驶轨迹为一直线；若后轮转向系统的转向拉杆偏离零位，则后轮的轮轴与前轮的轮轴会呈一定夹角，此时获取的车辆的实际行驶轨迹为一曲线(参见图1)。
车辆的实际行驶轨迹可通过车载摄像头、高精定位仪等测量得到，此为相关技术，此处不再赘述。
一实施例中，车辆的实际行驶轨迹包含第一后轮1的实际行驶距离S、以及车辆的实际偏航角β等信息。其中，第一后轮1的实际行驶距离S通过轮速传感器测得；车辆的实际偏航角β通过惯性传感器测得。若后轮转向系统的转向拉杆处于零位，则第一后轮1的实际行驶距离S为一直线距离，车辆的实际偏航角β为零；若后轮转向系统的转向拉杆偏离零位，则第一后轮1的实际行驶距离S为一曲线距离，车辆的实际偏航角β不为零。
一实施例中，车辆可内置语音提示设备，提示驾驶员保持方向盘居中，并于车辆行驶一段距离后，提示驾驶员可正常控制方向盘，提高用户使用体验。
S2、根据实际行驶轨迹计算后轮转角调整值。
实际行驶轨迹能够反映出后轮转向系统的转向拉杆是否偏离零位，以及后轮的轮轴相对于前轮的轮轴的夹角(即后轮转角调整值)。
参见图1，设定后轮转角调整值为δ，第二后轮2距前轮的轮轴的轴线的距离为L1，第二后轮2与车辆的转动中心O在平行于前轮的轮轴的轴向上的距离 为L2，则可得到：tan(δ)＝(L1)/(L2)。因此，由L1和L2，便可得到δ。第二后轮2距前轮的轮轴的轴线的距离L1即为前后轮距，即L1为已知量。关于L2的计算，参见以下分析：
设定第一后轮1与车辆的转动中心O的直线距离为r，第一后轮1和第二后轮2的轮距为b，则可得到：r＝S/β，且r 2＝(L1) 2+(L2+b) 2；因此，由S和β，可计算得到r，由r、b和L1，可得到L2。将L1和L2带入公式tan(δ)＝(L1)/(L2)，便可得到δ。
S3、根据后轮转角调整值，调整后轮转向装置的转向拉杆至零位。
根据计算得到的后轮转角调整值，来确定转向拉杆回正至零位时需要调节的后轮的转角大小，此为相关技术，此处不再赘述。
一实施例中，车辆可于特定间隔时间或特定累积行驶里程后，自动执行该车辆后轮转向零位调整方法。示例性地，车辆内置计时器或累积行驶里程计算模块，以记录该车辆后轮转向零位调整方法自上次执行结束后的间隔时间或累积行驶里程，以在间隔时间或累积行驶里程达到设定值，控制车辆执行该车辆后轮转向零位调整方法。
另一实施例中，该车辆后轮转向零位调整方法通过车内驾乘人员主动开启。示例性地，车辆上设置有触发该车辆后轮转向零位调整方法启动的开关，开关可以实体按键、触摸按键或语音交互模块等，车内驾乘人员收到触发实体按键或触摸按键，或通过与语音交互模块进行语音交互，以控制车辆后轮转向零位调整方法启动。
一实施例中，在该车辆后轮转向零位调整方法启动时，并于S1执行之前，执行：
S0、获取车辆的周围路况，并根据周围路况确定无影响车辆行驶的因素。
通过对车辆周围路况的获取，保证车辆在保持方向盘居中并匀速行驶时，不会有外界因素影响到车辆的行驶状态，从而保证后续后轮转角调整值的计算准确性，同时保证行车安全。
示例性地，可通过车载摄像头、雷达等装置，来对周围路况进行识别，此为相关技术，此处不再赘述。
本实施例提供后轮转向零位调整方法，通过获取在方向盘居中的情况下车辆的实际行驶轨迹，通过实际行驶轨迹来反映出后轮转向系统的转向拉杆是否偏离零位，以及后轮的轮轴相对于前轮的轮轴的夹角，进而确定转向拉杆回正至零位时需要调节的后轮转角调整值，实现后轮转向系统零位的自动调整，提高驾乘体验及行车可靠性，并省去线下维修的成本。
实施例二：
本实施例提供一种车辆后轮转向零位调整系统，如图1所示，车辆包括前轮和后轮，前轮连接有主动转向系统，后轮连接有随前轮转角随动转向的后轮转向装置，前轮包括第一前轮3和第二前轮4。后轮包括第一后轮1和第二后轮2。第二前轮4位于第一前轮3的内侧，第二后轮2位于第一后轮1的内侧。内侧是指当车辆转弯时第一前轮3和第一后轮1靠近车辆转动中心O的一侧。
如图3所示，该车辆后轮转向零位调整系统包括：
第一获取模块31，设置为在方向盘居中的情况下，获取车辆的实际行驶轨迹；计算模块32，设置为根据实际行驶轨迹计算后轮转角调整值；调整模块33，设置为根据后轮转角调整值，调整后轮转向装置的转向拉杆至零位。
车辆的实际行驶轨迹包含第一后轮1的实际行驶距离S、以及车辆的实际偏航角β等信息。示例性地，获取模块包括轮速传感器和惯性传感器。轮速传感器设置为测量第一后轮1的实际行驶距离S；惯性传感器设置为测量车辆的实际偏航角β。
一实施例中，计算模块32包括第一计算子模块，设置为根据公式tan(δ)＝(L1)/(L2)，计算δ；其中，δ为后轮转角调整值，L1为第二后轮2距前轮的轮轴的轴线的距离，L2为第二后轮2与车辆的转动中心O在平行于前轮的轮轴的轴向上的距离。
一实施例中，计算模块32还包括第二计算子模块，设置为根据公式r＝S/β，计算r；根据公式r 2＝(L1) 2+(L2+b) 2，计算L2；其中，S为第一后轮的实际行驶距离，β为车辆的实际偏航角，r为第一后轮1与车辆的转动中心O的直线距离，b为第一后轮1和第二后轮2的轮距。
可选地，该车辆后轮转向零位调整系统还包括第二获取模块，设置为获取车辆的周围路况，并根据周围路况确定无影响车辆行驶的因素。
通过对车辆周围路况的获取，保证车辆在保持方向盘居中并匀速行驶时，不会有外界因素影响到车辆的行驶状态，从而保证后续后轮转角调整值的计算准确性，同时保证行车安全。示例性地，第二获取模块包括车载摄像头、雷达等装置，来对周围路况进行识别，此为相关技术，此处不再赘述。
本实施例所提供的车辆后轮转向零位调整系统可执行本申请任意实施例所提供的车辆后轮转向零位调整方法，具备执行方法相应的功能模块和效果。
实施例三：
图4为本申请实施例三提供的一种车辆的结构示意图。图4示出了适于用来实现本申请实施方式的示例性车辆412的框图。图4显示的车辆412仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图4所示，车辆412以通用终端的形式表现。车辆412的组件可以包括但不限于：车辆本体(图中未示出)、一个或者多个处理器416，存储装置428，连接不同系统组件(包括存储装置428和处理器416)的总线418。
总线418表示几类总线结构中的一种或多种，包括存储装置总线或者存储装置控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Subversive Alliance，ISA)总线，微通道体系结构(Micro Channel Architecture，MCA)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及外围组件互连(Peripheral Component Interconnect，PCI)总线。
车辆412包括多种计算机系统可读介质。这些介质可以是任何能够被车辆412访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
存储装置428可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)430和/或高速缓存存储器432。车辆412可以包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统434可以设置为读写不可移动的、非易失性磁介质(图4未显示，通常称为“硬盘驱动器”)。尽管图4中未示出，可以提供设置为对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘，例如只读光盘(Compact Disc Read-Only Memory，CD-ROM)，数字视盘(Digital Video Disc-Read Only Memory，DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线418相连。存储装置428可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请实施例的功能。
具有一组(至少一个)程序模块442的程序/实用工具440，可以存储在例如存储装置428中，这样的程序模块442包括但不限于操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块442通常执行本申请所描述的实施例中的功能和/或方法。
车辆412也可以与一个或多个外部设备414(例如键盘、指向终端、显示器424等)通信，还可与一个或者多个使得用户能与该车辆412交互的终端通信，和/或与使得该车辆412能与一个或多个其它计算终端进行通信的任何终端(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(Input/Output，I/O)接口422进行。并且，车辆412还可以通过网络适配器420与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图4所示，网络适配器420通过总线418与车辆412的其它模块通信。尽管图中未示出，可以结合车辆412使用其它硬件和/或软件模块，包括但不限于：微代码、终端驱动器、冗余处理器、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理器416通过运行存储在存储装置428中的程序，从而执行各种功能应用以及数据处理，例如实现本申请实施例所提供的车辆后轮转向零位调整方法，该方法包括：在方向盘居中的情况下，获取车辆的实际行驶轨迹；根据实际行驶轨迹计算后轮转角调整值；根据后轮转角调整值，调整后轮转向装置的转向拉杆至零位。
实施例四：
本实施例提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请实施例所提供的车辆后轮转向零位调整方法，该方法包括：在方向盘居中的情况下，获取车辆的实际行驶轨迹；根据实际行驶轨迹计算后轮转角调整值；根据后轮转角调整值，调整后轮转向装置的转向拉杆至零位。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、RAM、ROM、可擦式可编程只读存储器(Electrical Programmable Read Only Memory，EPROM或闪存)、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据 信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或终端上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括LAN或WAN—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (10)

  1. 一种车辆后轮转向零位调整方法，所述车辆包括前轮和所述后轮，所述前轮连接有主动转向系统，所述后轮连接有随前轮转角随动转向的后轮转向装置，所述车辆后轮转向零位调整方法包括：
    在所述车辆的方向盘居中的情况下，获取所述车辆的实际行驶轨迹；
    根据所述实际行驶轨迹计算后轮转角调整值；
    根据所述后轮转角调整值，调整所述后轮转向装置的转向拉杆至零位。
  2. 根据权利要求1所述的后轮转向零位调整方法，其中，所述后轮包括第一后轮和第二后轮，所述第二后轮位于所述第一后轮靠近车辆转动中心的一侧；
    所述根据所述实际行驶轨迹计算后轮转角调整值，包括：
    根据以下公式计算所述后轮转角调整值：
    tan(δ)＝(L1)/(L2)；
    其中，δ为所述后轮转角调整值，L1为所述第二后轮距所述前轮的轮轴的轴线的距离，L2为所述第二后轮与所述车辆的转动中心在平行于所述前轮的轮轴的轴向上的距离。
  3. 根据权利要求2所述的后轮转向零位调整方法，其中，
    所述车辆的实际行驶轨迹包括所述第一后轮的实际行驶距离S、以及所述车辆的实际偏航角β；L1为已知量，L2根据以下公式计算得到：
    r＝S/β，且r 2＝(L1) 2+(L2+b) 2；
    其中，r为所述第一后轮与所述车辆的转动中心的直线距离，b为所述第一后轮和所述第二后轮的轮距。
  4. 根据权利要求1-3中任一项所述的后轮转向零位调整方法，其中，在所述在所述车辆的方向盘居中的情况下，获取所述车辆的实际行驶轨迹之前，还包括：
    获取所述车辆的周围路况，并根据所述周围路况确定无影响所述车辆行驶的因素。
  5. 一种车辆后轮转向零位调整系统，所述车辆包括前轮和所述后轮，所述前轮连接有主动转向系统，所述后轮连接有随前轮转角随动转向的后轮转向装置，所述车辆后轮转向零位调整系统包括：
    第一获取模块，设置为在所述车辆的方向盘居中的情况下，获取所述车辆的实际行驶轨迹；
    计算模块，设置为根据所述实际行驶轨迹计算后轮转角调整值；
    调整模块，设置为根据所述后轮转角调整值，调整所述后轮转向装置的转向拉杆至零位。
  6. 根据权利要求5所述的后轮转向零位调整系统，其中，所述后轮包括第一后轮和第二后轮，所述第二后轮位于所述第一后轮靠近车辆转动中心的一侧；
    所述计算模块包括第一计算子模块，设置为根据以下公式计算所述后轮转角调整值：tan(δ)＝(L1)/(L2)；其中，δ为所述后轮转角调整值，L1为所述第二后轮距所述前轮的轮轴的轴线的距离，L2为所述第二后轮与所述车辆的转动中心在平行于前所述轮的轮轴的轴向上的距离。
  7. 根据权利要求6所述的后轮转向零位调整系统，其中，所述车辆的实际行驶轨迹包括所述第一后轮的实际行驶距离S、以及所述车辆的实际偏航角β，L1为已知量；
    所述计算模块还包括第二计算子模块，设置为根据公式r＝S/β，计算r；根据公式r 2＝(L1) 2+(L2+b) 2计算L2；其中，r为所述第一后轮与所述车辆的转动中心的直线距离，b为所述第一后轮和所述第二后轮的轮距。
  8. 根据权利要求5-7中任一项所述的后轮转向零位调整系统，还包括：第二获取模块，设置为获取所述车辆的周围路况，并根据所述周围路况确定无影响所述车辆行驶的因素。
  9. 一种车辆，包括：
    至少一个处理器；
    存储装置，设置为存储至少一个程序；
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-4中任一项所述的后轮转向零位调整方法。
  10. 一种计算机可读存储介质，存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-4中任一项所述的后轮转向零位调整方法。
PCT/CN2022/110829 2021-08-20 2022-08-08 车辆后轮转向零位调整方法、系统、车辆及存储介质 WO2023020321A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110958752.9A CN113619565B (zh) 2021-08-20 2021-08-20 一种车辆后轮转向零位调整方法、系统、车辆及存储介质
CN202110958752.9 2021-08-20

Publications (1)

Publication Number Publication Date
WO2023020321A1 true WO2023020321A1 (zh) 2023-02-23

Family

ID=78386842

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/110829 WO2023020321A1 (zh) 2021-08-20 2022-08-08 车辆后轮转向零位调整方法、系统、车辆及存储介质

Country Status (2)

Country Link
CN (1) CN113619565B (zh)
WO (1) WO2023020321A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113619565B (zh) * 2021-08-20 2023-10-27 中国第一汽车股份有限公司 一种车辆后轮转向零位调整方法、系统、车辆及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5165179A (en) * 1991-05-22 1992-11-24 General Motors Corporation Wheel alignment method
JPH1191607A (ja) * 1997-09-24 1999-04-06 Fuji Heavy Ind Ltd 車両の後輪操舵制御装置
CN104709349A (zh) * 2013-12-11 2015-06-17 通用汽车环球科技运作有限责任公司 用于对准车辆的转向系统的方法和系统
CN110108306A (zh) * 2019-06-06 2019-08-09 广东嘉腾机器人自动化有限公司 Agv小车的物理参数校核方法以及agv小车
CN113619565A (zh) * 2021-08-20 2021-11-09 中国第一汽车股份有限公司 一种车辆后轮转向零位调整方法、系统、车辆及存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4034479A (en) * 1976-04-09 1977-07-12 Hunter Engineering Company Instrument for measuring angles and for determining vehicle wheel alignment characteristics
US4389793A (en) * 1981-02-26 1983-06-28 Butler Louis L Wheel alignment apparatus
US4433489A (en) * 1982-01-01 1984-02-28 Macaster Controls, Inc. Vehicle alignment apparatus and methods
DE102016211468B4 (de) * 2016-06-27 2020-10-29 Conti Temic Microelectronic Gmbh Steuerung eines Lenksystems eines Kraftfahrzeugs
CN112026909B (zh) * 2020-08-12 2022-06-03 武汉路特斯汽车有限公司 一种用于四轮转向车辆的中位学习方法、装置及系统
CN112455534B (zh) * 2020-12-03 2022-04-29 北京车和家信息技术有限公司 一种车辆的零位角度调整方法及装置、车载系统及车辆

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5165179A (en) * 1991-05-22 1992-11-24 General Motors Corporation Wheel alignment method
JPH1191607A (ja) * 1997-09-24 1999-04-06 Fuji Heavy Ind Ltd 車両の後輪操舵制御装置
CN104709349A (zh) * 2013-12-11 2015-06-17 通用汽车环球科技运作有限责任公司 用于对准车辆的转向系统的方法和系统
CN110108306A (zh) * 2019-06-06 2019-08-09 广东嘉腾机器人自动化有限公司 Agv小车的物理参数校核方法以及agv小车
CN113619565A (zh) * 2021-08-20 2021-11-09 中国第一汽车股份有限公司 一种车辆后轮转向零位调整方法、系统、车辆及存储介质

Also Published As

Publication number Publication date
CN113619565B (zh) 2023-10-27
CN113619565A (zh) 2021-11-09

Similar Documents

Publication Publication Date Title
US10810872B2 (en) Use sub-system of autonomous driving vehicles (ADV) for police car patrol
US11126174B2 (en) Systems and methods for switching a driving mode of a vehicle
JP6811282B2 (ja) 自動運転車に用いられる自動データラベリング
KR102260486B1 (ko) 자율 주행 차량의 완전 정지를 위한 속력 제어
US10365649B2 (en) Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles
CN111797780A (zh) 一种跟车轨迹规划方法、装置、服务器及存储介质
US10549752B2 (en) Deceleration curb-based direction checking and lane keeping system for autonomous driving vehicles
JP2018533517A (ja) 電極を用いた、人間運転者が自律走行車の制御を引き継ぐメカニズム
KR20180050707A (ko) 자율 주행 차량을 위한 사이드슬립 보상 제어 방법
CN113619584B (zh) 电控后轮转向方法、装置、电子设备及存储介质
JP6667688B2 (ja) 自動運転車両のための自己位置推定方法、システム及び機械可読媒体
CN112015178B (zh) 一种控制方法、装置、设备及存储介质
US20140293001A1 (en) Birds-eye view parking assist system and method
CN101945798A (zh) 泊车辅助装置
US20190004510A1 (en) Human-machine interface (hmi) architecture
US20210107498A1 (en) Safe transition from autonomous-to-manual driving mode with assistance of autonomous driving system
WO2023020321A1 (zh) 车辆后轮转向零位调整方法、系统、车辆及存储介质
CN113044036B (zh) 一种车辆换道的控制方法、装置、电子设备及存储介质
CN112141110A (zh) 一种车辆变道方法、装置、设备及存储介质
US10928215B2 (en) Methods and systems for last mile navigation cache point of interest
WO2023025007A1 (zh) 车辆避让方法、装置、车载设备及存储介质
JP2020083306A (ja) 自動運転車両を動作させるための所定のキャリブレーションテーブルに基づく車両制御システム
JP7017582B2 (ja) 自動運転車のトルクフィードバックに基づく車両縦方向自動キャリブレーションシステム
CN206031369U (zh) 一种基于全景地图的导航系统设备
CN110155080B (zh) 传感器稳定控制方法、装置、稳定器和介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22857633

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE