Method for determining yaw rate compensation value and related equipment

Abstract

A method for determining a yaw rate compensation value and related equipment. The method comprises: when a vehicle is traveling on a curve, obtaining the real-time speed of the vehicle and the real-time radius of the curve in which the vehicle is located; based on a preset mapping map, determining the real-time yaw rate compensation value corresponding to the real-time speed and the real-time radius, wherein the preset mapping map is used to characterize the correspondence between the vehicle speed, the radius and the yaw rate compensation value. Through the embodiment of the present application, a preset mapping map for characterizing the correspondence between the vehicle speed, the radius and the yaw rate compensation value is pre-constructed, so that when the vehicle is traveling on a curve, the yaw rate compensation value is determined in real time based on the real-time speed of the vehicle and the real-time radius of the curve in which the vehicle is located, so that the determined yaw rate compensation value is more accurate.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method for determining a yaw rate compensation value and related equipment. Background Art

[0002] At present, the trajectory planning and other functions of the intelligent driving system require the use of yaw rate, which is provided by the vehicle's inertial measurement unit and is used to describe the parameters of the vehicle's rotational motion around the center of gravity axis. However, the accuracy of the yaw rate is affected by the manufacturing accuracy, usage scenario, assembly error, and durability of the vehicle's inertial measurement unit, resulting in a large error between the yaw rate transmitted back to the intelligent driving system and the actual situation. Therefore, it is necessary to compensate for the yaw rate provided by the vehicle's inertial measurement unit.

[0003] In the prior art, there are two ways to determine the yaw rate compensation value:

[0004] One method is to use the yaw rate signal value sent back by the inertial measurement unit when the vehicle is stationary during power-on and power-off as the yaw rate compensation value; the other method is to use the yaw rate signal value sent back by the inertial measurement unit when the vehicle is moving in a straight line as the yaw rate compensation value. Both of the above methods only consider the zero drift of the inertial measurement unit itself, and the determined yaw rate compensation value is not accurate enough. Summary of the invention

[0005] The present application provides a method, device, equipment and computer-readable storage medium for determining a yaw rate compensation value, which can solve the technical problem in the prior art that the determined yaw rate compensation value is not accurate enough.

[0006] In a first aspect, an embodiment of the present application provides a method for determining a yaw rate compensation value, the method for determining a yaw rate compensation value comprising:

[0007] When the vehicle is traveling on a curve, the real-time speed of the vehicle and the real-time radius of the curve on which the vehicle is located are obtained;

[0008] Based on a preset mapping diagram, a real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius is determined, wherein the preset mapping diagram is used to characterize the corresponding relationship between the vehicle speed, the radius and the yaw rate compensation value.

[0009] In combination with the first aspect, in one implementation, before the step of obtaining the actual speed of the vehicle and the actual radius of the curve when the vehicle is traveling on the curve, the method further includes:

[0010] When the vehicle is traveling on a curve, determining the speed of the vehicle within a preset time and the radius of the curve;

[0011] determining a theoretical yaw rate value based on the vehicle speed and the radius;

[0012] averaging a plurality of yaw rate measurement values ​​output by an inertial measurement unit on the vehicle within the preset time period to obtain a yaw rate measurement average value;

[0013] The difference between the average yaw rate measurement value and the theoretical yaw rate value is used as the yaw rate compensation value corresponding to the vehicle speed and radius combination;

[0014] By analogy, the yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed are obtained to construct a preset mapping map.

[0015] In combination with the first aspect, in one implementation, when the vehicle is traveling on a curve, the step of determining the speed of the vehicle within a preset time period and the radius of the curve includes:

[0016] When the vehicle is traveling on a curve, determining the vehicle speed corresponding to each sub-period in a preset time period and the radius of the curve on which the vehicle is located, wherein the preset time period includes N sub-periods;

[0017] If the speed difference between the vehicle speed corresponding to the last N-1 sub-periods and the vehicle speed corresponding to the first sub-period is less than the preset speed difference, and the radius difference between the radius corresponding to the last N-1 sub-periods and the radius corresponding to the first sub-period is less than the preset radius difference, then the vehicle speed and radius corresponding to the N sub-periods are combined to determine the vehicle speed within the preset time length and the radius of the curve in which the vehicle is located.

[0018] In combination with the first aspect, in one implementation, after the step of obtaining yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed for constructing a preset mapping map, the method further includes:

[0019] Determine a maximum yaw rate compensation value and a minimum yaw rate compensation value corresponding to a plurality of combinations having the same radius but different vehicle speeds;

[0020] If the difference between the maximum yaw rate compensation value and the minimum yaw rate compensation value is greater than a first threshold, the yaw rate compensation values ​​corresponding to the plurality of combinations with the same radius but different vehicle speeds in the preset mapping map are cleared.

[0021] In combination with the first aspect, in one implementation, after the step of obtaining yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed for constructing a preset mapping map, the method further includes:

[0022] When a new yaw rate compensation value corresponding to any combination of radius and vehicle speed is obtained, the new yaw rate compensation value is compared with the yaw rate compensation value corresponding to any combination of radius and vehicle speed in the preset mapping map;

[0023] If the absolute value of the difference between the two is greater than the second threshold, the yaw rate compensation value corresponding to any radius and vehicle speed combination in the preset mapping map is cleared.

[0024] In combination with the first aspect, in one implementation, the step of determining the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius based on a preset mapping graph includes:

[0025] Searching whether there is a target combination in a preset mapping map, wherein the radius and vehicle speed corresponding to the target combination are consistent with the real-time vehicle speed and real-time radius;

[0026] If there is a target combination, the yaw rate compensation value corresponding to the target combination is used as the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius.

[0027] In combination with the first aspect, in one embodiment, after the step of searching whether the target combination exists in the preset mapping graph, the method further includes:

[0028] If there is no target combination, the yaw rate compensation value corresponding to the radius and vehicle speed combination closest to the real-time vehicle speed and real-time radius in the preset mapping map is used as the real-time yaw rate compensation value.

[0029] In a second aspect, an embodiment of the present application provides a device for determining a yaw rate compensation value, the device for determining a yaw rate compensation value comprising:

[0030] An acquisition module is used to acquire the real-time speed of the vehicle and the real-time radius of the curve on which the vehicle is located when the vehicle is traveling on a curve;

[0031] The determination module is used to determine the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius based on a preset mapping map, wherein the preset mapping map is used to characterize the corresponding relationship between the vehicle speed, the radius and the yaw rate compensation value.

[0032] In a third aspect, an embodiment of the present application provides a yaw angular velocity compensation value determination device, the yaw angular velocity compensation value determination device comprising a processor, a memory, and a yaw angular velocity compensation value determination program stored in the memory and executable by the processor, wherein when the yaw angular velocity compensation value determination program is executed by the processor, the steps of the yaw angular velocity compensation value determination method as described in the first aspect are implemented.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a yaw angular velocity compensation value determination program is stored, wherein when the yaw angular velocity compensation value determination program is executed by a processor, the steps of the yaw angular velocity compensation value determination method as described in the first aspect are implemented.

[0034] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0035] In the embodiment of the present application, when the vehicle is traveling on a curve, the real-time speed of the vehicle and the real-time radius of the curve in which the vehicle is located are obtained; based on a preset mapping map, the real-time yaw rate compensation value corresponding to the real-time speed and the real-time radius is determined, wherein the preset mapping map is used to characterize the correspondence between the speed, the radius and the yaw rate compensation value. Through the embodiment of the present application, a preset mapping map for characterizing the correspondence between the speed, the radius and the yaw rate compensation value is pre-constructed, so that when the vehicle is traveling on a curve, the yaw rate compensation value is determined in real time based on the real-time speed of the vehicle and the real-time radius of the curve in which the vehicle is located, so that the determined yaw rate compensation value is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of an embodiment of a method for determining a yaw rate compensation value of the present application;

[0037] Figure 2 This is a schematic diagram of a preset mapping spectrum in an embodiment of a method for determining a yaw rate compensation value of the present application;

[0038] Figure 3 This is a functional module diagram of an embodiment of a device for determining a yaw angular velocity compensation value of the present application;

[0039] Figure 4 Schematic diagram of the hardware structure of the device for determining the yaw angular velocity compensation value involved in the embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0042] In a first aspect, an embodiment of the present application provides a method for determining a yaw angular velocity compensation value.

[0043] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of a method for determining a yaw rate compensation value of the present application. Figure 1 As shown, the method for determining the yaw rate compensation value includes:

[0044] Step S10, when the vehicle is traveling on a curve, obtaining the real-time speed of the vehicle and the real-time radius of the curve on which the vehicle is located;

[0045] In this embodiment, it is possible to determine whether the vehicle is traveling on a curve based on the vehicle positioning information combined with the map data, and when it is determined that the vehicle is traveling on a curve, the real-time radius of the curve the vehicle is in is determined based on the vehicle positioning information combined with the map data. The real-time speed of the vehicle can be determined based on a speed sensor on the vehicle, or based on the vehicle positioning information.

[0046] Furthermore, based on the image acquired in real time by the image sensor, the lane lines in the image can be identified, and a cubic polynomial of the lane lines can be fitted based on the identified lane lines. The lane line curvature can be obtained by solving the cubic polynomial, and the real-time radius of the curve in which the vehicle is located can be determined based on the lane line curvature.

[0047] Step S20, determining the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius based on a preset mapping map, wherein the preset mapping map is used to characterize the corresponding relationship between the vehicle speed, the radius and the yaw rate compensation value.

[0048] In this embodiment, refer to Figure 2 , Figure 2 This is a schematic diagram of a preset mapping spectrum in an embodiment of a method for determining a yaw rate compensation value of the present application. Figure 2 As shown, the preset mapping diagram records the yaw rate compensation values ​​corresponding to different vehicle speed and radius combinations. For example, the yaw rate compensation value cor11 corresponding to the combination of vehicle speed V1 and radius R1, the yaw rate compensation value cor21 corresponding to the combination of vehicle speed V1 and radius R2, the yaw rate compensation value cor31 corresponding to the combination of vehicle speed V1 and radius R3, etc. Among them, the specific values ​​of the vehicle speed and radius are set according to the actual situation.

[0049] If the real-time vehicle speed is V2 and the real-time radius is R3, the real-time yaw rate compensation value is cor32; if the real-time vehicle speed is V3 and the real-time radius is R2, the real-time yaw rate compensation value is cor23, and so on.

[0050] It should be noted that during driving, the speed of the vehicle and the radius of the curve in which the vehicle is located are not fixed, that is, the real-time speed and the real-time radius may change in real time during driving. In this case, in this embodiment, a real-time yaw rate compensation value is determined for each real-time speed and real-time radius combination, so as to compensate the yaw rate output by the inertial measurement unit in real time, so that the yaw rate compensation of the vehicle during the curve is more accurate.

[0051] In the embodiment of the present application, when the vehicle is traveling on a curve, the real-time speed of the vehicle and the real-time radius of the curve in which the vehicle is located are obtained; based on a preset mapping map, the real-time yaw rate compensation value corresponding to the real-time speed and the real-time radius is determined, wherein the preset mapping map is used to characterize the correspondence between the speed, the radius and the yaw rate compensation value. Through the embodiment of the present application, a preset mapping map for characterizing the correspondence between the speed, the radius and the yaw rate compensation value is pre-constructed, so that when the vehicle is traveling on a curve, the yaw rate compensation value is determined in real time based on the real-time speed of the vehicle and the real-time radius of the curve in which the vehicle is located, so that the determined yaw rate compensation value is more accurate.

[0052] Furthermore, in one embodiment, before step S10, the method further includes:

[0053] Step S00, when the vehicle is traveling on a curve, determining the speed of the vehicle within a preset time and the radius of the curve;

[0054] In this embodiment, the preset time is set according to actual needs, for example, 3s or 5s. Taking 5s as an example, within 5s, based on the method mentioned in step S10, there may be multiple vehicle speeds or radii of the curve that are determined, and the average of the multiple speeds can be calculated as the vehicle speed within the preset time; the average of the multiple radii can be calculated as the radius of the curve that the vehicle is in within the preset time.

[0055] Furthermore, in one embodiment, step S00 includes:

[0056] When a vehicle is traveling on a curve, the vehicle speed corresponding to each sub-period in a preset time length and the radius of the curve in which the vehicle is located are determined, wherein the preset time length includes N sub-periods; if the speed difference between the vehicle speed corresponding to the last N-1 sub-periods and the vehicle speed corresponding to the first sub-period is less than the preset speed difference, and the radius difference between the radius corresponding to the last N-1 sub-periods and the radius corresponding to the first sub-period is less than the preset radius difference, then the vehicle speed and radius corresponding to the N sub-periods are combined to determine the vehicle speed within the preset time length and the radius of the curve in which the vehicle is located.

[0057] In this embodiment, the preset duration is divided into N sub-periods, for example, at intervals of 50ms. Then, when the vehicle is traveling on a curve, the vehicle speed corresponding to each sub-period and the radius of the curve in which the vehicle is located can be determined. For ease of explanation, five sub-periods are taken as an example, wherein the vehicle speed corresponding to the first sub-period is v1, and the radius of the curve in which the vehicle is located is r1; the vehicle speed corresponding to the second sub-period is v2, and the radius of the curve in which the vehicle is located is r2; the vehicle speed corresponding to the third sub-period is v3, and the radius of the curve in which the vehicle is located is r3; the vehicle speed corresponding to the fourth sub-period is v4, and the radius of the curve in which the vehicle is located is r4; the vehicle speed corresponding to the fifth sub-period is v5, and the radius of the curve in which the vehicle is located is r5.

[0058] If the following conditions are met:

[0059] If the speed difference between v2 and v1 is less than the preset speed difference, the speed difference between v3 and v1 is less than the preset speed difference, the speed difference between v4 and v1 is less than the preset speed difference, the speed difference between v5 and v1 is less than the preset speed difference, the radius difference between r2 and r1 is less than the preset radius difference, the radius difference between r3 and r1 is less than the preset radius difference, the radius difference between r4 and r1 is less than the preset radius difference, and the radius difference between r5 and r1 is less than the preset radius difference, then it can be considered that the vehicle is in a steady state when turning. Among them, the preset speed difference and the preset radius difference are set according to actual conditions.

[0060] When it is determined that the vehicle is in a steady state when turning, the average speed corresponding to N sub-periods is calculated as the speed within the preset time length; the average radius corresponding to N sub-periods is calculated as the radius of the curve in which the vehicle is located within the preset time length.

[0061] In this embodiment, only when the vehicle is in a steady state while turning, the vehicle speed within a preset time period and the radius of the curve are determined, and subsequent actions are performed, so that the yaw rate compensation value corresponding to the final determined radius and speed combination is more accurate.

[0062] Step S01, determining a theoretical yaw rate value based on the vehicle speed and radius;

[0063] In this embodiment, the ratio of the vehicle speed to the radius is used as the theoretical value of the yaw rate.

[0064] Step S02, averaging a plurality of yaw rate measurement values ​​output by an inertial measurement unit on the vehicle within the preset time period to obtain a yaw rate measurement average value;

[0065] In this embodiment, within a preset time period, the inertial measurement unit on the vehicle may output one or more yaw rate measurement values, and an average of the plurality of yaw rate measurement values ​​is calculated to obtain a yaw rate measurement average value.

[0066] Step S03, taking the difference between the average yaw rate measurement value and the theoretical yaw rate value as the yaw rate compensation value corresponding to the vehicle speed and radius combination;

[0067] In this embodiment, assuming that the vehicle speed is V1 and the radius is R1, the theoretical yaw rate value determined based on step S01 is W1, and the average yaw rate measurement value determined based on step S02 is Y1, the difference obtained by subtracting W1 from Y1 is used as the yaw rate compensation value cor11 corresponding to the combination of vehicle speed V1 and radius R1.

[0068] By analogy, the yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed are obtained to construct a preset mapping map.

[0069] In this embodiment, when the vehicle travels at different speeds on the same curve and at the same speed on different curves, the above steps S00 to S03 are repeated to obtain yaw rate compensation values ​​corresponding to different combinations of radius and speed, thereby constructing the following Figure 2 Preset mapping graph shown.

[0070] Furthermore, in one embodiment, after the step of obtaining yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed for constructing a preset mapping map, the method further includes:

[0071] Determine a maximum yaw rate compensation value and a minimum yaw rate compensation value corresponding to a plurality of combinations having the same radius but different vehicle speeds;

[0072] If the difference between the maximum yaw rate compensation value and the minimum yaw rate compensation value is greater than a first threshold, the yaw rate compensation values ​​corresponding to the plurality of combinations with the same radius but different vehicle speeds in the preset mapping map are cleared.

[0073] In this embodiment, refer to Figure 2, taking the combination of R1 radius but different vehicle speeds as an example, the yaw rate compensation values ​​corresponding to these multiple combinations include cor11, cor12, cor13, ..., cor1n. If the maximum yaw rate compensation value is cor13, the minimum yaw rate compensation value is cor17, and the difference obtained by subtracting cor17 from cor13 is greater than the first threshold, it is considered that the yaw rate compensation value corresponding to the combination of R1 radius but different vehicle speeds is wrong. It may be caused by the inertial measurement unit or the vehicle state being inconsistent or abnormal in the process of determining the yaw rate compensation values ​​corresponding to different combinations, or the calculation process of the yaw rate compensation value is abnormal. At this time, the yaw rate compensation value corresponding to the combination of R1 radius but different vehicle speeds needs to be cleared to prevent the occurrence of erroneous compensation and inaccurate vehicle control. Among them, the first threshold is set according to actual needs. After that, the yaw rate compensation value corresponding to the combination of R1 radius but different vehicle speeds can be determined again based on steps S00 to S03, and filled into the preset mapping spectrum.

[0074] Through this embodiment, the data in the preset mapping map is verified, thereby ensuring the validity of the data in the preset mapping map, thereby ensuring the accuracy of the determined yaw angular velocity compensation value.

[0075] Furthermore, in one embodiment, after the step of obtaining yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed for constructing a preset mapping map, the method further includes:

[0076] When a new yaw rate compensation value corresponding to any combination of radius and vehicle speed is obtained, the new yaw rate compensation value is compared with the yaw rate compensation value corresponding to any combination of radius and vehicle speed in the preset mapping map;

[0077] If the absolute value of the difference between the two is greater than the second threshold, the yaw rate compensation value corresponding to any radius and vehicle speed combination in the preset mapping map is cleared.

[0078] In this embodiment, after the preset mapping map is constructed, the vehicle will repeat the actions of step S00 to step S03 during actual driving, and verify the data in the preset mapping map based on the new yaw rate compensation value corresponding to any radius and vehicle speed combination. Take the combination of vehicle speed V1 and radius R1 as an example:

[0079] The yaw rate compensation value of the combination in the preset mapping spectrum is cor11. If the vehicle repeats the actions of step S00 to step S03 during actual driving, and obtains a new yaw rate compensation value cor11' corresponding to the combination; then cor11' is compared with cor11. If the absolute value of the difference between the two is greater than the second threshold, it means that the current state of the vehicle has changed significantly compared with the vehicle state when cor11 was determined, and cor11 is no longer applicable to compensate the yaw rate measurement value output by the inertial measurement unit when the vehicle passes through a radius R1 curve at a speed V1, then the yaw rate compensation value corresponding to the combination of speed V1 and radius R1 is cleared. The second threshold is set according to actual needs.

[0080] Through this embodiment, the data in the preset mapping map is verified, thereby ensuring the validity of the data in the preset mapping map, thereby ensuring the accuracy of the determined yaw angular velocity compensation value.

[0081] Furthermore, in one embodiment, step S20 includes:

[0082] Step S201, searching whether there is a target combination in a preset mapping map, wherein the radius and vehicle speed corresponding to the target combination are consistent with the real-time vehicle speed and real-time radius;

[0083] Step S202: If there is a target combination, the yaw rate compensation value corresponding to the target combination is used as the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius.

[0084] In this embodiment, it is assumed that the real-time vehicle speed is 50 km / h and the real-time radius is 100 m. If there is a combination of a vehicle speed of 50 km / h and a radius of 100 m in the preset mapping map, the yaw rate compensation value corresponding to the combination of a vehicle speed of 50 km / h and a radius of 100 m in the preset mapping map is used as the real-time yaw rate compensation value.

[0085] Furthermore, in one embodiment, after step S201, the method further includes:

[0086] Step S203: If there is no target combination, the yaw rate compensation value corresponding to the radius and speed combination closest to the real-time vehicle speed and real-time radius in the preset mapping map is used as the real-time yaw rate compensation value.

[0087] In this embodiment, it is assumed that the real-time vehicle speed is 50km / h and the real-time radius is 100m. If there is no combination of a vehicle speed of 50km / h and a radius of 100m in the preset mapping map, then the radius and vehicle speed combination closest to the combination of a vehicle speed of 50km / h and a radius of 100m is searched from the preset mapping map. Specifically, the difference S between each combination in the preset mapping map and the combination of a vehicle speed of 50km / h and a radius of 100m can be calculated, and the calculation formula can be:

[0088] S=a*V 绝对值 +b*R 绝对值

[0089] Among them, V 绝对值 is the absolute value of the speed difference between the speed in a speed and radius combination in the preset mapping map and the real-time speed, R 绝对值 It is the absolute value of the radius difference between the radius in a vehicle speed and radius combination in the preset mapping map and the real-time radius. a and b are weights, which are set according to actual needs.

[0090] According to the above formula, the difference between each combination in the preset mapping map and the real-time vehicle speed and the real-time radius can be calculated, and the combination corresponding to the minimum difference is used as the combination closest to the real-time vehicle speed and the real-time radius. For example, the closest combination is a vehicle speed of 40km / h and a radius of 100m, then the yaw rate compensation value corresponding to the combination of a vehicle speed of 40km / h and a radius of 100m in the preset mapping map is used as the real-time yaw rate compensation value.

[0091] In a second aspect, an embodiment of the present application also provides a device for determining a yaw angular velocity compensation value.

[0092] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of a device for determining a yaw rate compensation value of the present application. Figure 3 As shown, the yaw rate compensation value determining device includes:

[0093] The acquisition module 10 is used to acquire the real-time speed of the vehicle and the real-time radius of the curve on which the vehicle is located when the vehicle is traveling on a curve;

[0094] The determination module 20 is used to determine the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius based on a preset mapping map, wherein the preset mapping map is used to characterize the corresponding relationship between the vehicle speed, the radius and the yaw rate compensation value.

[0095] Furthermore, in one embodiment, the device for determining the yaw rate compensation value further includes a construction module, which is used to:

[0096] When the vehicle is traveling on a curve, determining the speed of the vehicle within a preset time and the radius of the curve;

[0097] determining a theoretical yaw rate value based on the vehicle speed and the radius;

[0098] averaging a plurality of yaw rate measurement values ​​output by an inertial measurement unit on the vehicle within the preset time period to obtain a yaw rate measurement average value;

[0099] The difference between the average yaw rate measurement value and the theoretical yaw rate value is used as the yaw rate compensation value corresponding to the vehicle speed and radius combination;

[0100] By analogy, the yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed are obtained to construct a preset mapping map.

[0101] Furthermore, in one embodiment, the construction module is used to:

[0102] When the vehicle is traveling on a curve, determining the vehicle speed corresponding to each sub-period in a preset time period and the radius of the curve on which the vehicle is located, wherein the preset time period includes N sub-periods;

[0103] If the speed difference between the vehicle speed corresponding to the last N-1 sub-periods and the vehicle speed corresponding to the first sub-period is less than the preset speed difference, and the radius difference between the radius corresponding to the last N-1 sub-periods and the radius corresponding to the first sub-period is less than the preset radius difference, then the vehicle speed and radius corresponding to the N sub-periods are combined to determine the vehicle speed within the preset time length and the radius of the curve in which the vehicle is located.

[0104] Furthermore, in one embodiment, the device for determining the yaw rate compensation value further includes a verification module, which is used to:

[0105] Determine a maximum yaw rate compensation value and a minimum yaw rate compensation value corresponding to a plurality of combinations having the same radius but different vehicle speeds;

[0106] If the difference between the maximum yaw rate compensation value and the minimum yaw rate compensation value is greater than a first threshold, the yaw rate compensation values ​​corresponding to the plurality of combinations with the same radius but different vehicle speeds in the preset mapping map are cleared.

[0107] Furthermore, in one embodiment, the verification module is further used to:

[0108] When a new yaw rate compensation value corresponding to any combination of radius and vehicle speed is obtained, the new yaw rate compensation value is compared with the yaw rate compensation value corresponding to any combination of radius and vehicle speed in the preset mapping map;

[0109] If the absolute value of the difference between the two is greater than the second threshold, the yaw rate compensation value corresponding to any radius and vehicle speed combination in the preset mapping map is cleared.

[0110] Furthermore, in one embodiment, the determination module 20 is used to:

[0111] Searching whether there is a target combination in a preset mapping map, wherein the radius and vehicle speed corresponding to the target combination are consistent with the real-time vehicle speed and real-time radius;

[0112] If there is a target combination, the yaw rate compensation value corresponding to the target combination is used as the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius.

[0113] Furthermore, in one embodiment, the determination module 20 is used to:

[0114] If there is no target combination, the yaw rate compensation value corresponding to the radius and vehicle speed combination closest to the real-time vehicle speed and real-time radius in the preset mapping map is used as the real-time yaw rate compensation value.

[0115] Among them, the functional implementation of each module in the above-mentioned yaw angular velocity compensation value determination device corresponds to the various steps in the above-mentioned yaw angular velocity compensation value determination method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0116] In a third aspect, an embodiment of the present application provides a device for determining a yaw angular velocity compensation value. The device for determining a yaw angular velocity compensation value may be a device with a data processing function, such as a personal computer (PC), a laptop computer, or a server.

[0117] Reference Figure 4 , Figure 4 The hardware structure diagram of the yaw rate compensation value determination device involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the yaw rate compensation value determination device may include a processor, a memory, a communication interface, and a communication bus.

[0118] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0119] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the devices inside the yaw rate compensation value determination device, and an interface used to interconnect the yaw rate compensation value determination device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0120] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0121] The processor may be a general-purpose processor, and the general-purpose processor may call the yaw rate compensation value determination program stored in the memory, and execute the yaw rate compensation value determination method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the yaw rate compensation value determination program is called may refer to the various embodiments of the yaw rate compensation value determination method of the present application, and will not be repeated here.

[0122] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0123] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0124] The computer-readable storage medium of the present application stores a yaw rate compensation value determination program, wherein when the yaw rate compensation value determination program is executed by a processor, the steps of the yaw rate compensation value determination method as described above are implemented.

[0125] Among them, the method implemented when the yaw rate compensation value determination program is executed can refer to the various embodiments of the yaw rate compensation value determination method of the present application, and will not be repeated here.

[0126] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0127] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0128] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0129] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0130] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0132] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for determining a yaw rate compensation value, characterized in that: The method for determining the yaw rate compensation value comprises: When the vehicle is traveling on a curve, determining the speed of the vehicle within a preset time and the radius of the curve; determining a theoretical yaw rate value based on the vehicle speed and the radius; averaging a plurality of yaw rate measurement values ​​output by an inertial measurement unit on the vehicle within the preset time period to obtain a yaw rate measurement average value; The difference between the average yaw rate measurement value and the theoretical yaw rate value is used as the yaw rate compensation value corresponding to the vehicle speed and radius combination; By analogy, the yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed are obtained to construct a preset mapping map; When the vehicle is traveling on a curve, the real-time speed of the vehicle and the real-time radius of the curve on which the vehicle is located are obtained; Based on a preset mapping diagram, a real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius is determined, wherein the preset mapping diagram is used to characterize the corresponding relationship between the vehicle speed, the radius and the yaw rate compensation value.

2. The method for determining the yaw rate compensation value according to claim 1, characterized in that: The step of determining the speed of the vehicle within a preset time period and the radius of the curve when the vehicle is traveling on the curve comprises: When the vehicle is traveling on a curve, determining the vehicle speed corresponding to each sub-period in a preset time period and the radius of the curve on which the vehicle is located, wherein the preset time period includes N sub-periods; If the speed difference between the vehicle speed corresponding to the last N-1 sub-periods and the vehicle speed corresponding to the first sub-period is less than the preset speed difference, and the radius difference between the radius corresponding to the last N-1 sub-periods and the radius corresponding to the first sub-period is less than the preset radius difference, then the vehicle speed and radius corresponding to the N sub-periods are combined to determine the vehicle speed within the preset time length and the radius of the curve in which the vehicle is located.

3. The method for determining the yaw rate compensation value according to claim 1, characterized in that: After the step of obtaining yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed to construct a preset mapping map, the method further includes: Determine a maximum yaw rate compensation value and a minimum yaw rate compensation value corresponding to a plurality of combinations having the same radius but different vehicle speeds; If the difference between the maximum yaw rate compensation value and the minimum yaw rate compensation value is greater than a first threshold, the yaw rate compensation values ​​corresponding to the plurality of combinations with the same radius but different vehicle speeds in the preset mapping map are cleared.

4. The method for determining the yaw rate compensation value according to claim 1, characterized in that: After the step of obtaining yaw rate compensation values ​​corresponding to different combinations of radius and vehicle speed to construct a preset mapping map, the method further includes: When a new yaw rate compensation value corresponding to any combination of radius and vehicle speed is obtained, the new yaw rate compensation value is compared with the yaw rate compensation value corresponding to any combination of radius and vehicle speed in the preset mapping map; If the absolute value of the difference between the two is greater than the second threshold, the yaw rate compensation value corresponding to any radius and vehicle speed combination in the preset mapping map is cleared.

5. The method for determining the yaw rate compensation value according to claim 1, characterized in that: The step of determining the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius based on the preset mapping map includes: Searching whether there is a target combination in a preset mapping map, wherein the radius and vehicle speed corresponding to the target combination are consistent with the real-time vehicle speed and real-time radius; If there is a target combination, the yaw rate compensation value corresponding to the target combination is used as the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius.

6. The method for determining the yaw rate compensation value according to claim 5, characterized in that: After the step of searching whether the target combination exists in the preset mapping graph, the method further includes: If there is no target combination, the yaw rate compensation value corresponding to the radius and vehicle speed combination closest to the real-time vehicle speed and real-time radius in the preset mapping map is used as the real-time yaw rate compensation value.

7. A device for determining a yaw rate compensation value, characterized in that: The yaw rate compensation value determining device comprises: A construction module is used to determine the vehicle speed and the radius of the curve within a preset time period when the vehicle is traveling on a curve; determine a theoretical yaw rate value based on the vehicle speed and radius; average a plurality of yaw rate measurement values ​​output by an inertial measurement unit on the vehicle within the preset time period to obtain a yaw rate measurement average value; use the difference between the yaw rate measurement average value and the yaw rate theoretical value as a yaw rate compensation value corresponding to the vehicle speed and radius combination; and so on, obtain yaw rate compensation values ​​corresponding to different radius and vehicle speed combinations, so as to construct a preset mapping spectrum; An acquisition module is used to acquire the real-time speed of the vehicle and the real-time radius of the curve on which the vehicle is located when the vehicle is traveling on a curve; The determination module is used to determine the real-time yaw rate compensation value corresponding to the real-time vehicle speed and the real-time radius based on a preset mapping map, wherein the preset mapping map is used to characterize the corresponding relationship between the vehicle speed, the radius and the yaw rate compensation value.

8. A device for determining a yaw rate compensation value, characterized in that: The yaw rate compensation value determination device includes a processor, a memory, and a yaw rate compensation value determination program stored in the memory and executable by the processor, wherein when the yaw rate compensation value determination program is executed by the processor, the steps of the yaw rate compensation value determination method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a yaw rate compensation value determination program, wherein when the yaw rate compensation value determination program is executed by a processor, the steps of the yaw rate compensation value determination method according to any one of claims 1 to 6 are implemented.

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