Processing method for carrying out online identification on zero offset of steering wheel based on driving state
A driving state and processing method technology, applied in the field of data processing, can solve the problem that the offline identification method does not have real-time performance, and achieve the effect of improving sensitivity and improving safe driving guarantee
Pending Publication Date: 2022-07-01
苏州轻舟智航智能技术有限公司
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Obviously, the offline identification method is not real-time
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[0042] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0043] Embodiment 1 of the present invention provides a processing method for online identification of steering wheel offset based on driving state, such as figure 1 As shown in the schematic diagram of a processing method for online identification of steering wheel offset based on a driving state provided in Embodiment 1 of the present invention, the method mainly includes the following steps:
[0044] Step 1, at time t,...
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The embodiment of the invention relates to a processing method for carrying out online identification on zero offset of a steering wheel based on a driving state, and the method comprises the steps: obtaining the driving state of a vehicle at a moment t; obtaining three groups of corner sampling data sequences from a moment t-k-1 to a moment t according to a preset specified length k; determining whether the execution condition of the steering wheel zero offset online identification is satisfied based on the driving state; if yes, determining a steering wheel turning angle zero-offset iteration function; based on the driving state, selecting two corresponding sequences to carry out steering wheel delay period estimation processing; the two corresponding sequences and the steering wheel delay period are substituted into a steering wheel angle zero offset iteration function based on the driving state for iteration processing, and a steering wheel angle zero offset at the moment t is obtained; and early warning processing is carried out when the steering wheel turning angle zero offset exceeds a threshold value. According to the invention, the zero offset of the vehicle steering wheel can be monitored in real time, and the safe driving guarantee of the vehicle is improved.
Description
technical field [0001] The invention relates to the technical field of data processing, in particular to a processing method for online identification of steering wheel zero deflection based on a driving state. Background technique [0002] In the automatic driving state, the lateral control accuracy has higher requirements on the calibration of the steering wheel zero position deviation (that is, the steering wheel degree when the front wheel angle is 0 degrees). If the calibration is not accurate, the vehicle will continue to deviate to one side. At present, there is only one way to solve this kind of problem, that is to send the vehicle to a professional 4S shop for steering wheel offset identification, and make feedforward compensation to the vehicle control module based on the identification result. This processing method is also called steering wheel offset Offline identification method. Obviously, the offline identification method is not real-time. SUMMARY OF THE I...
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IPC IPC(8): B60W40/00B62D15/02
CPCB60W40/00B62D15/024B62D15/0245
Inventor 张杨宇李栋刘志超李世军骆振兴
Owner 苏州轻舟智航智能技术有限公司