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Vehicle, and method and system for automatically calibrating zero offset of steering wheel of vehicle

A steering wheel and zero-bias technology, which is applied to vehicle components, steering mechanisms, transportation and packaging, etc., can solve problems such as difficulty in ensuring that the vehicle's driving trajectory is a straight line, low accuracy of measurement results, and random errors in steering wheel angles, etc., to achieve easy collection , Simple operation, high feasibility effect

Active Publication Date: 2019-04-19
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It can be seen that this measurement method relies on manual control of the steering wheel to drive the vehicle, it is difficult to ensure that the vehicle's driving trajectory is a straight line, and there is a random error in the steering wheel angle, which makes the accuracy of the measurement results not high

Method used

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  • Vehicle, and method and system for automatically calibrating zero offset of steering wheel of vehicle
  • Vehicle, and method and system for automatically calibrating zero offset of steering wheel of vehicle
  • Vehicle, and method and system for automatically calibrating zero offset of steering wheel of vehicle

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Embodiment 1

[0067] see figure 1 , figure 1 It is a schematic flowchart of an automatic calibration method for the zero offset of an automobile steering wheel disclosed in an embodiment of the present invention. Such as figure 1 As shown, the automatic calibration method of the steering wheel zero bias of the automobile is applied to the steering wheel zero bias calibration system, and may specifically include the following steps.

[0068] 101. The steering wheel zero offset calibration system judges whether the vehicle is in a straight-line driving state within the current sampling time interval, and if so, executes steps 102 to 104.

[0069] In the embodiment of the present invention, the current sampling time interval is the sampling time interval closest to the current moment among the sampling time intervals of several preset time lengths intercepted according to the driving time of the vehicle, wherein the value of the preset time length satisfies The minimum error requirement (su...

Embodiment 2

[0085] see figure 2 , figure 2 It is a schematic flowchart of another automatic calibration method for the zero offset of the automobile steering wheel disclosed by the embodiment of the present invention. Such as figure 2 As shown, the automatic calibration method for the zero bias of the automobile steering wheel may include the following steps.

[0086] 201. The steering wheel zero offset calibration system uses the motion measurement unit of the vehicle to measure the vehicle rotation angle of the vehicle within the current sampling time interval.

[0087] In the embodiment of the present invention, the motion measurement unit of the vehicle may include an inertial measurement unit (Inertial Measurement Unit, IMU) or a heading measurement unit (such as a compass, etc.), which is not specifically limited.

[0088] 202. The steering wheel zero offset calibration system judges whether the vehicle rotation angle is lower than the preset angle threshold, and if so, determ...

Embodiment 3

[0097] see image 3 , image 3 It is a schematic flowchart of another automatic calibration method for the zero offset of the automobile steering wheel disclosed in the embodiment of the present invention. exist image 3 In the described automatic calibration method for the zero offset of the automobile steering wheel, the motion measurement unit may include an inertial measurement unit. Such as image 3 As shown, the automatic calibration method for the zero bias of the automobile steering wheel may include the following steps.

[0098] 301. The steering wheel zero bias calibration system uses the inertial measurement unit of the vehicle to measure the vertical rotational angular velocity of the vehicle.

[0099] 302. The steering wheel zero bias calibration system acquires the Z-axis zero bias value of the inertial measurement unit.

[0100] In the embodiment of the present invention, the inertial measurement unit generally includes a three-axis accelerometer and a thre...

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Abstract

An embodiment of the invention relates to the technical field of automatic driving, and discloses a vehicle, and a method and a system for automatically calibrating zero offset of a steering wheel ofthe vehicle. The method includes judging whether the vehicle is in straight driving states in current sampling time intervals or not; determining that the current sampling time intervals are current calibration time intervals if the vehicle is in the straight driving states, and acquiring steering angles of the steering wheel of the vehicle when the vehicle is in the straight driving states; acquiring historical zero offset calibration results; calculating real-time zero offset calibration results of the steering wheel of the vehicle according to the historical zero offset calibration resultsand zero offset calibration results, which correspond to the current calibration time intervals, of the steering wheel of the vehicle. The steering angles are used as the zero offset calibration results, which correspond to the current calibration time intervals, of the steering wheel of the vehicle. The vehicle, the method and the system in the embodiment of the invention have the advantages thatthe zero offset of the steering wheel of the vehicle which is currently automatically driven can be automatically calibrated by the aid of the method and the system, and the zero offset measurement accuracy of the steering wheel of the vehicle can be improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to an automatic calibration method, a system and a vehicle for the zero offset of an automobile steering wheel. Background technique [0002] As we all know, the steering wheel of a car plays an important role in controlling the driving trajectory of a car. In the actual installation of the steering wheel of a car, it is inevitable that there will be certain errors, so that the steering wheels installed in different cars show individual bias differences. In the manual driving scenario, the driver can correct the steering wheel bias by visually observing the car's driving trajectory, so it is not greatly affected by the steering wheel bias. However, in autonomous driving scenarios, especially high-speed cruising and lane keeping scenarios, when the vehicle controls the steering wheel to return to the center, a small steering wheel offset will also cause the driving traject...

Claims

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Application Information

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IPC IPC(8): B62D15/02
CPCB62D15/0245
Inventor 李红军刘中元黄亚
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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