Vehicle front wheel deviation angle dynamic calibration method and device, equipment and storage medium
A deviation angle, front wheel technology, applied in vehicle components, transportation and packaging, automatic steering control components, etc., can solve the problems of limited application occasions and poor real-time performance, and achieve the effect of improving real-time performance and avoiding limited application occasions
Active Publication Date: 2021-11-05
AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD
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[0005] This application provides a method, device, equipment and storage medium for dynamic calibration of vehicle front wheel deviation angles, which are used to solve the problems of limited application occasions and poor real-time performance of online calibration of vehicle deviation angles
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[0042] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0043] The application scenarios of the embodiments of the present application are explained below:
[0044] figure 1 An application scenario diagram of the dynamic calibration method for the front wheel deviation angle provided by the embodiment of this application. The dynamic calibration method for the front wheel deviation angle provided by this embodiment can be applied to the onli...
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The embodiment of the invention provides a vehicle front wheel deviation angle dynamic calibration method and device, equipment and a storage medium. The method comprises the steps: obtaining steering wheel rotation angle data in the operation process of a target vehicle, wherein the steering wheel angle data is used for representing a real-time steering angle of the steering wheel; according to the steering wheel angle data, determining an equivalent front wheel deflection angle of the target vehicle, wherein the equivalent front wheel deflection angle represents a theoretical value of the front wheel deflection angle corresponding to the real-time steering angle of the steering wheel; obtaining the real-time vehicle speed and the real-time yaw velocity of the target vehicle, and determining the actual front wheel deflection angle of the target vehicle at the real-time vehicle speed according to the proportional relation between the real-time yaw velocity and the real-time vehicle speed; and determining the front wheel deviation angle of the target vehicle at the real-time vehicle speed according to the equivalent front wheel deflection angle and the actual front wheel deflection angle. As the stable driving state of the vehicle does not need to be limited, the problem that the application occasion is limited in the online calibration process is avoided, and the real-time performance of deviation angle calibration is improved.
Description
technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a method, device, equipment and storage medium for dynamic calibration of vehicle front wheel deviation angles. Background technique [0002] With the rapid development of autonomous driving related technologies, the autonomy and reliability of the autonomous driving function of smart cars are getting higher and higher. In the process of automatic driving control of the vehicle, the vehicle controller controls the straight driving or steering of the vehicle through a specific control interface and a steering mechanism that drives the steering wheels of the vehicle. However, with such mechanical mechanism-based steering As the operating time of the mechanism increases, the execution accuracy of the mechanism will gradually decrease, resulting in the inconsistency between the actual steering angle of the front wheels of the vehicle and the theoretical steeri...
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IPC IPC(8): B62D6/00B62D137/00
CPCB62D6/002
Inventor 袁光
Owner AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD