Front wheel steering angle compensation method and device, vehicle-mounted equipment and storage medium
A technology of front wheel rotation angle and compensation method, which is applied to control devices, vehicle components, input parameters of external conditions, etc., can solve problems such as no solution proposed, and achieve the effect of improving stability and accuracy and reducing disturbance.
Active Publication Date: 2019-10-18
UISEE TECH BEIJING LTD
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Problems solved by technology
[0005]
For the above problems, no effective solution has been proposed
Method used
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[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0022] It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations.
[0023] figure 1 It is an overall struct...
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The embodiment of the invention relates to a front wheel steering angle compensation method and device, vehicle-mounted equipment and a storage medium. The front wheel steering angle compensation method comprises the steps of obtaining state information and a planning path of a vehicle; on the basis of the state information and the planning path, determining a front wheel steering angle satisfyinga preset condition; on the basis of the front wheel steering angle satisfying the preset condition, determining a compensated steering angle; and on the basis of the compensated steering angle, compensating a current front wheel steering angle of the vehicle. According to the front wheel steering angle compensation method provided by the embodiment of the invention, by obtaining the state parameter and the planning path of the vehicle, the front wheel steering angle satisfying the preset condition can be determined so as to determine the compensated steering angle; and moreover, on the basisof the compensated steering angle, the current front wheel steering angle of the vehicle is compensated so that the disturbance to path tracking caused by factors such as the vehicle and a pavement can be reduced; and therefore, the path tracking stability and accuracy of the vehicle under a complicated working condition are improved.
Description
technical field [0001] Embodiments of the present invention relate to the field of intelligent driving, and in particular to a front wheel angle compensation method, device, vehicle-mounted equipment, and storage medium. Background technique [0002] With the development of vehicle technology, intelligent driving technology is a current research hotspot. Path tracking is an important part of intelligent driving technology. Specifically, according to the detected vehicle state (such as current vehicle speed, position and heading angle, etc.) The execution system (such as steering system, braking system and driving system, etc.) performs actual control operations, so that the vehicle can travel safely and stably according to the planned path. [0003] During the driving process of the vehicle, factors including the zero position of the steering wheel, the tire pressure on both sides, the vehicle chassis, and the road surface will disturb the path tracking, and cause the vehic...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B60W10/20B60W10/18B60W10/06B60W40/00B60W40/105B60W40/107B60W40/04B60W40/06
CPCB60W10/20B60W10/18B60W10/06B60W40/00B60W40/105B60W40/107B60W40/04B60W40/06B60W2510/20B60W2520/10B60W2520/105B60W2520/28B60W2710/0605B60W2710/18B60W2710/207B60W2552/00B60W2555/60B60W2556/45B60W2554/00
Inventor 张杨宇周小成殷悦田晓生徐修信
Owner UISEE TECH BEIJING LTD