Method and system for determining steering angle of vehicle steering wheel

A technology for determining the steering angle, which is applied to vehicle components, steering mechanisms, transportation and packaging, etc., can solve problems such as insufficient steering wheel rotation angle and steering wheel shaking back and forth, and achieve the effects of avoiding non-convergence of control signals, small jitter, and improved performance

Active Publication Date: 2021-07-13
ZHEJIANG GEELY AUTOMOBILE RES INST CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0020] In order to solve the problem of insufficient steering wheel angle when the traditional pure tracking method follows curves and U-shaped curves and the steering wheel vibrates back and forth when driving at high speed, and improve the accuracy of unmanned vehicles to control the tracking track, the present invention proposes a vehicle steering wheel steering angle determination method. Method and system, the present invention is specifically realized by the following technical solutions

Method used

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  • Method and system for determining steering angle of vehicle steering wheel
  • Method and system for determining steering angle of vehicle steering wheel
  • Method and system for determining steering angle of vehicle steering wheel

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Embodiment 1

[0065] to combine figure 2 and image 3 As shown, Embodiment 1 of the present invention provides a method for determining a steering wheel steering angle of a vehicle, including:

[0066] Step S101: Obtain the planned route of the vehicle, the planned route includes a plurality of planned route points;

[0067] Step S102: Obtain the heading angle error e of the vehicle ψ , the vehicle's target longitudinal velocity v x,des , the vehicle's front-sight distance l d , the wheelbase L of the vehicle and the first curvature k′ of the vehicle following the planned route point fb ;

[0068] Step S103: According to the heading angle error e ψ , the target longitudinal velocity v x,des and look-ahead distance l d , to determine the feedback steering curvature compensation k of the vehicle bc ;

[0069] Step S104: According to the first curvature k' fb , feedback steering curvature compensation k bc and wheelbase L, determine the feedback steering angle δ of the vehicle fb ...

Embodiment 2

[0120] In Embodiment 2, step S101, step S102 and step S105 can be completed in the same step. The feedforward ratio a and the feedback ratio b can be adjusted according to the vehicle's own requirements and actual conditions.

Embodiment 3

[0122] to combine Figure 4 As shown, Embodiment 3 of the present invention provides a vehicle steering wheel steering angle determination system, including:

[0123] An information acquisition unit 30, configured to acquire the heading angle error e of the vehicle ψ , the vehicle's target longitudinal velocity v x,des , the vehicle's front-sight distance l d , the wheelbase L of the vehicle, the actual longitudinal velocity v of the vehicle x , the planned path of the vehicle with multiple planned waypoints and the first curvature k′ of the vehicle following the planned waypoints fb ;

[0124] The first determination unit 31 is used to determine according to the heading angle error e ψ , the target longitudinal velocity v x,des and look-ahead distance l d , to determine the feedback steering curvature compensation k of the vehicle bc ;

[0125] The second determining unit 32 is used for according to the first curvature k' fb , feedback steering curvature compensatio...

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Abstract

The invention provides a method and a system for determining the steering angle of a vehicle steering wheel in order to solve the problems of insufficient steering angle of the steering wheel during curve following and U-shaped curve following and back-and-forth shaking of the steering wheel during high-speed driving in a pure tracking method. The method for determining the steering angle of the vehicle steering wheel comprises the steps of obtaining a planned path of a vehicle, wherein the planned path comprises a plurality of planned path points; obtaining the course angle error of the vehicle, the target longitudinal speed of the vehicle, the foresight distance of the vehicle, the wheelbase of the vehicle and the first curvature of the vehicle turning along with the planned path point; according to the course angle error, the target longitudinal speed and the foresight distance, determining feedback steering curvature compensation of the vehicle; determining a feedback steering angle of the vehicle according to the first curvature, the feedback steering curvature compensation and the wheelbase; acquiring the actual longitudinal speed of the vehicle; determining a feedforward steering angle of the vehicle according to the planned path, the actual longitudinal speed and the wheelbase; and determining a steering wheel steering angle of the vehicle according to the feedback steering angle and the feedforward steering angle.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicle control, in particular to a method and system for determining the steering angle of a vehicle steering wheel. Background technique [0002] Control is the strategy used to drive the vehicle forward. For a self-driving car, the most basic inputs are steering, acceleration and braking. The controller receives a series of waypoints generated by the planning module, and the task of the controller is to use the control inputs to drive the vehicle through these waypoints. [0003] The controller module has two input signals: the target trajectory provided by the planning module and the vehicle state provided by the localization module. These two inputs are technically used to determine the deviation between the target trajectory and the actual traveled trajectory. [0004] The output of the controller is the value of the control inputs (steering and acceleration). When there is a deviation ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W40/00B60W40/10B62D15/02
CPCB60W30/18009B60W40/00B60W40/10B62D15/021B62D15/024
Inventor 陈拥瑜
Owner ZHEJIANG GEELY AUTOMOBILE RES INST CO LTD
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