Calibration system and method for vehicle steering wheel angle and turning radius correspondence

Abstract

The application provides a kind of vehicle steering wheel angle and turning radius corresponding relationship calibration system and method, belong to vehicle technical field, the system includes: field end positioning equipment, for determining the position information of field end origin;Steering robot, for controlling the steering wheel angle of target vehicle is the angle to be calibrated and remains unchanged;Vehicle end calibration device, for controlling the target vehicle travels at a predetermined speed, and in the process of target vehicle travel, the distance value of target vehicle from field end origin when at different positions is determined using RTK differential positioning technology, and then the turning radius of target vehicle is determined, the corresponding relationship between the steering wheel angle of target vehicle and the turning radius is calibrated.The application embodiment is accurately positioned to vehicle by combining satellite positioning technology and RTK differential positioning technology, and the steering wheel angle can be accurately controlled by combining steering robot, so that the calibration accuracy of the corresponding relationship between vehicle steering wheel angle and turning radius can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a calibration system and method for the correspondence between vehicle steering wheel angle and turning radius. Background Technology

[0002] To reduce design errors caused by the uncertain relationship between steering wheel angle and turning radius during the design of autonomous driving systems, it is necessary to accurately calibrate this relationship. In related technologies, this is mainly achieved by remotely controlling the car's steering wheel to rotate one full circle at a specific steering angle. The autonomous vehicle's trajectory is a circle, and the radius of this circle is manually measured to obtain the correspondence between the steering wheel angle and the turning radius at that angle. To obtain the correspondence between all steering wheel angles and the turning radius, this process must be repeated sequentially for each steering wheel angle. This method requires manual measurement of the circle's radius, resulting in low accuracy and high time consumption, thus leading to errors in the autonomous driving system design. Summary of the Invention

[0003] This invention provides a calibration system and method for the correspondence between vehicle steering wheel angle and turning radius, which solves the defects in related technologies that require manual measurement of the radius of a circle, resulting in low accuracy and long time consumption, thus leading to errors in the design of the driving system.

[0004] This invention provides a calibration system for the correspondence between a vehicle's steering wheel angle and turning radius, comprising: a field-end positioning device, a steering robot, and a vehicle-end calibration device. The field-end positioning device is used to determine the position information of the field-end origin based on satellite positioning technology, and during the target vehicle's movement, it uses real-time dynamic RTK differential positioning technology based on the position information of the field-end origin to locate the target vehicle. The steering robot controls the steering wheel angle of the target vehicle to be calibrated and maintains this angle. The vehicle-end calibration device controls the target vehicle to travel at a preset speed, and during the target vehicle's movement, it communicates with the field-end positioning device using the RTK differential positioning technology to determine the distance values ​​of the target vehicle from the field-end origin at different positions. The vehicle-end calibration device is also used to determine the turning radius of the target vehicle based on the distance values ​​of the target vehicle from the field-end origin at different positions, thus calibrating the correspondence between the target vehicle's steering wheel angle and turning radius.

[0005] According to the present invention, a calibration system for the correspondence between vehicle steering wheel angle and turning radius is provided. The field-end positioning device includes a fixed base station, a first RTK differential positioning module, a first satellite navigation antenna, and a first communication antenna. The fixed base station communicates with a satellite via the first satellite navigation antenna to obtain satellite positioning information of the fixed base station, and uses this satellite positioning information as the location information of the field-end origin, where the field-end origin is the point vertically mapped onto the ground by the first satellite navigation antenna. The first satellite navigation antenna enables communication between the fixed base station and the satellite. The first communication antenna enables communication between the first RTK differential positioning module and a second RTK differential positioning module in the vehicle-end calibration device. The first RTK differential positioning module communicates with the second RTK differential positioning module in the vehicle-end calibration device via the first communication antenna to locate the target vehicle based on the location information of the field-end origin using real-time dynamic RTK differential positioning technology.

[0006] According to the present invention, a calibration system for the correspondence between vehicle steering wheel angle and turning radius is provided. The vehicle-side calibration device includes: a robot controller, a second RTK differential positioning module, a second satellite navigation antenna, a second communication antenna, and a processing unit. The second satellite navigation antenna is used to communicate with a satellite to obtain the satellite positioning information of the target vehicle. The second communication antenna is used to enable communication between the second RTK differential positioning module and the first RTK differential positioning module. During the driving process of the target vehicle, the second RTK differential positioning module communicates with the first RTK differential positioning module via the second communication antenna to obtain the position information of the field origin and differential positioning information. Based on the differential positioning information, the satellite positioning information of the target vehicle is corrected to obtain the real-time position of the target vehicle. The information includes: the robot controller, which controls the rotation of the steering robot, receives the steering wheel angle information of the target vehicle fed back by the steering robot, and receives the real-time position information of the target vehicle and the position information of the field origin sent by the second RTK differential positioning module, and calculates the distance value of the target vehicle from the field origin at different positions; and the processing unit, which controls the target vehicle to travel at a preset speed, and controls the target vehicle to stop after completing one lap, determines the maximum and minimum distance values ​​of the target vehicle from the field origin from the distance values, determines the turning radius of the target vehicle based on the maximum and minimum distance values ​​of the target vehicle from the field origin, and calibrates the correspondence between the steering wheel angle and the turning radius of the target vehicle.

[0007] According to the present invention, a calibration system for the correspondence between vehicle steering wheel angle and turning radius is provided. The steering robot includes: a motor assembly, a pneumatic telescopic strut, a steering column adapter, and a pump-type three-clamp. The motor assembly is connected to the steering wheel of the target vehicle and is used to control the steering angle of the steering wheel. The housing of the motor assembly is connected to the pneumatic telescopic strut via a parallel link, a rocker arm, and a horizontal beam. The pneumatic telescopic strut is connected between the windshield and the floor of the target vehicle. The steering column adapter is fixed to the output flange of the steering robot. The pump-type three-clamp is used to fix the steering robot.

[0008] According to the present invention, a calibration system for the correspondence between vehicle steering wheel angle and turning radius is provided, wherein the second satellite navigation antenna includes a main GPS antenna and a secondary GPS antenna.

[0009] The present invention also provides a steering robot, comprising: a motor assembly, a pneumatic telescopic strut, a steering column adapter, and a pump-type three-clamp, wherein,

[0010] The motor assembly is connected to the steering wheel of the target vehicle to control the steering angle of the steering wheel. The housing of the motor assembly is connected to the pneumatic telescopic strut via a parallel link, a rocker arm, and a horizontal beam. The pneumatic telescopic strut is connected between the windshield and the floor of the target vehicle. The steering column adapter is fixed to the output flange of the steering robot. The pump-type triple clamp is used to fix the steering robot.

[0011] This invention also provides a calibration method for the correspondence between vehicle steering wheel angle and turning radius. Based on the aforementioned calibration system for the correspondence between vehicle steering wheel angle and turning radius, the method includes: controlling a steering robot via a robot controller to control the steering robot to adjust the steering wheel angle of the target vehicle to the angle to be calibrated; controlling the target vehicle to travel at a preset speed, and obtaining the distance values ​​of the target vehicle from the origin at different positions via the robot controller; after the target vehicle completes one revolution, controlling the target vehicle to stop, and determining the maximum and minimum distance values ​​of the target vehicle from the origin from the distance values ​​of the target vehicle from the origin; determining the turning radius of the target vehicle based on the maximum and minimum distance values ​​of the target vehicle from the origin; and calibrating the correspondence between the steering wheel angle and the turning radius.

[0012] According to the present invention, a calibration method for the correspondence between a vehicle steering wheel angle and a turning radius, wherein obtaining the distance values ​​of the target vehicle from the field origin at different positions through the robot controller includes: acquiring the position information of the field origin and differential positioning information during the driving of the target vehicle; correcting the satellite positioning information of the target vehicle based on the differential positioning information to obtain the real-time position information of the target vehicle; and obtaining the distance values ​​of the target vehicle from the field origin at different positions based on the real-time position information of the target vehicle and the position information of the field origin.

[0013] According to the present invention, a method for calibrating the correspondence between vehicle steering wheel angle and turning radius is provided, the method further includes: setting the communication mode and communication frequency of the field positioning device in fixed base station mode.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the calibration method for the correspondence between vehicle steering wheel angle and turning radius as described above.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the calibration method for the correspondence between vehicle steering wheel angle and turning radius as described above.

[0016] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the calibration method for the correspondence between vehicle steering wheel angle and turning radius as described above.

[0017] The present invention provides a calibration system and method for the correspondence between vehicle steering wheel angle and turning radius. This system uses a field-end positioning device to determine the position information of the field-end origin. A steering robot controls the steering wheel angle of the target vehicle to be calibrated and keeps it constant. A vehicle-end calibration device communicates with the field-end positioning device using RTK differential positioning technology to determine the distance of the target vehicle from the field-end origin at different positions, thereby determining the turning radius of the target vehicle. This calibrates the correspondence between the steering wheel angle and the turning radius. By combining satellite positioning technology and RTK differential positioning technology, this invention can accurately locate a target vehicle in motion, ensuring the accuracy of the turning radius calculation. Furthermore, the precise control of the steering wheel angle by the steering robot helps in the design of autonomous driving systems to calibrate the correspondence between steering wheel angles and turning radii for different states and vehicles, thus reducing the overall impact of such problems on the system design. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of a calibration system for the correspondence between vehicle steering wheel angle and turning radius provided in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the field-end positioning device provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the vehicle-end calibration device provided in an embodiment of the present invention;

[0022] Figure 4 A schematic diagram illustrating the calculation principle of the turning radius provided in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the steering robot provided in an embodiment of the present invention;

[0024] Figure 6 A cross-sectional schematic diagram of a motor assembly provided in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of torque control for a steering robot provided in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the design of the steering column adapter provided in an embodiment of the present invention;

[0027] Figure 9 A schematic diagram of a pump-type three-clamp clamp provided in an embodiment of the present invention;

[0028] Figure 10 This is a flowchart illustrating the calibration method for the correspondence between vehicle steering wheel angle and turning radius provided in an embodiment of the present invention.

[0029] Figure 11 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention;

[0030] Figure 12 A schematic diagram illustrating the positional relationship between the steering column, the steering column adapter, and the vehicle steering wheel, provided in an embodiment of the present invention.

[0031] Figure label:

[0032] 100: Field-end positioning equipment; 200: Steering robot; 300: Vehicle-end calibration device;

[0033] 101: Fixed base station; 102: First RTK differential positioning module; 103: First satellite navigation antenna;

[0034] 104: First communication antenna; 301: Robot controller; 302: Second RTK differential positioning module;

[0035] 303: Second satellite navigation antenna; 304: Second communication antenna; 305: Processing unit;

[0036] 201: Motor assembly; 202: Pneumatic telescopic strut; 203: Steering column adapter;

[0037] 204: Pump-type three-clamp clamp; 205: Parallel connecting rod; 206: Rocker arm;

[0038] 207: Horizontal beam; 208: Force sensor; 209: Intake valve;

[0039] 2010: Steering column; 2011: Steering wheel;

[0040] 2041: Window suction device; 2042: Suction cup clamping rod; 2043: Suction cup fastening knob;

[0041] 2044: Air release button; 2045: Pressure gauge; 901: Indicator line;

[0042] 1110: Processor; 1120: Communication interface; 1130: Memory;

[0043] 1140: Communication bus. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, without limiting the number of objects; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, "A or B" covers three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0046] To reduce design errors caused by the uncertain relationship between steering wheel angles and turning radii during the design of autonomous driving systems, it is necessary to accurately calibrate this relationship. In related technologies, this is mainly achieved by remotely controlling the car's steering wheel to rotate one full circle at a specific steering angle. The autonomous vehicle's trajectory is a circle, and the radius of this circle is then manually measured. This method requires manual intervention to measure the radius, resulting in low accuracy and time consumption. To obtain the correspondence between all steering wheel angles and turning radii, this process must be repeated sequentially for each steering wheel angle. This method, requiring manual measurement of the circle's radius, is both inaccurate and time-consuming, thus introducing errors into the design of the autonomous driving system.

[0047] Alternatively, the car can be remotely controlled to turn at a certain angle, resulting in a circular trajectory. Positioning data is sampled at a preset sampling frequency, and then the collected positioning data is fitted to a circle. The radius of the fitted circle is then used as the turning radius of the car, thus obtaining the correspondence between the steering wheel and the turning radius at that angle. However, this method cannot guarantee the accuracy of the collected positioning data, and therefore cannot guarantee the accuracy of the turning radius obtained by the circular fitting. This may also lead to errors in the design of the autonomous driving system.

[0048] To address the aforementioned problems, this invention provides a calibration system and method for the correspondence between vehicle steering wheel angle and turning radius. The following is a detailed explanation. Figures 1-11 This invention describes a calibration system and method for the correspondence between vehicle steering wheel angle and turning radius.

[0049] Figure 1 This is a schematic diagram of the structure of a calibration system for the correspondence between vehicle steering wheel angle and turning radius provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the calibration system for the correspondence between the vehicle's steering wheel angle and turning radius includes: a field-end positioning device 100, a steering robot 200, and a vehicle-end calibration device 300.

[0050] The field-end positioning device 100 is used to determine the location information of the field-end origin based on satellite positioning technology, and to provide differential positioning information during the driving of the target vehicle.

[0051] It should be noted that the field-end positioning device in this embodiment of the invention refers to a device fixed at a certain location in the test field. The field-end positioning device is used to provide reference position information, that is, the position information of the field-end origin. Here, the field-end origin refers to the point on the ground that is vertically mapped by the first satellite navigation antenna in the field-end positioning device.

[0052] Specifically, the field-end positioning equipment is based on satellite positioning technology, communicates with satellites to obtain the satellite positioning information of the field-end positioning equipment, and uses the position represented by the satellite positioning information of the field-end positioning equipment as the origin of the coordinate system, that is, the field-end origin.

[0053] During the movement of the target vehicle, based on the location information of the field origin, the target vehicle can be accurately located using real-time kinematic (RTK) differential positioning technology.

[0054] RTK differential positioning technology, also known as real-time dynamic carrier phase differential positioning technology, is a technique that uses carrier phase observation for real-time dynamic relative positioning. Its implementation consists of three parts: a base station receiver, a data link, and a rover receiver.

[0055] Specifically, a receiver is installed at the base station as a reference station to continuously observe the satellite and transmit its observation data and station information to the rover station in real time via radio transmission equipment. While receiving satellite positioning signals, the rover station receiver also receives data transmitted from the base station via wireless receiving equipment. Then, based on the principle of relative positioning, it calculates the rover station's three-dimensional coordinates and their accuracy in real time (i.e., the coordinate difference X, Y, H between the base station and the rover station, plus the coordinates of the base station to obtain the coordinates of each point; and then, through coordinate transformation parameters, obtains the planar coordinates X, Y, and altitude H of each point on the rover station).

[0056] In this embodiment of the invention, the field-end positioning device serves as the base station, and the vehicle-end calibration device serves as the rover station. That is, based on the position information of the field-end origin, precise positioning of the target vehicle can be achieved using RTK differential positioning technology.

[0057] The steering robot 200 is used to control the steering wheel of the target vehicle to turn at the angle to be calibrated;

[0058] The steering robot operates on the steering system of a target vehicle and can receive repetitive inputs. The robot has built-in angle sensors to measure the steering wheel angle and the torque applied to the steering wheel by the motor, thereby controlling the vehicle's steering system.

[0059] A steering robot is a device with an integrated servo motor that controls a steering wheel. The servo motor is connected to a standard steering wheel mounted on a vehicle. The steering wheel of the steering robot is directly connected to its output drive flange via a hollow shaft. When the servo motor stops working, the driver can drive the vehicle normally.

[0060] In this embodiment of the invention, the steering robot can precisely control the steering angle of the steering wheel and keep it constant, with a control accuracy within 0.1°.

[0061] The vehicle-end calibration device 300 is used to control the target vehicle to travel at a preset speed, and during the travel of the target vehicle, it communicates with the field-end positioning device to obtain the position information and differential positioning information of the field-end origin, and determines the distance value of the target vehicle from the field-end origin at different positions based on the position information and differential positioning information of the field-end origin.

[0062] Specifically, the vehicle-mounted calibration device controls the target vehicle to travel at a preset speed, for example, at a speed of 10 kph.

[0063] During the driving of the target vehicle, it communicates with the field-end positioning device to obtain the position information of the field-end origin and differential positioning information. Based on the differential positioning information, the satellite positioning information of the target vehicle is corrected to obtain the real-time position information of the target vehicle. Based on the real-time position information of the target vehicle and the position information of the field-end origin, the distance value of the target vehicle from the field-end origin at different positions is calculated.

[0064] In this embodiment of the invention, by combining satellite positioning technology and RTK differential positioning technology, the target vehicle in motion can be accurately located, thereby ensuring the accuracy of the turning radius calculation.

[0065] The vehicle-end calibration device 300 is also used to determine the turning radius of the target vehicle based on the distance values ​​of the target vehicle from the origin of the field at different positions, and to calibrate the correspondence between the steering wheel angle and the turning radius of the target vehicle.

[0066] Specifically, the turning radius refers to the distance from the turning center to the point of contact between the front outer steering wheel and the ground during vehicle movement. The turning center refers to the center of the arc the vehicle body travels when turning.

[0067] After the target vehicle completes one lap, control the target vehicle to stop.

[0068] Next, based on the distance values ​​of the target vehicle from the origin of the field at different positions, the turning radius of the target vehicle is determined.

[0069] Specifically, the maximum and minimum distances between the target vehicle and the origin of the field are determined from the distance values, and the turning radius of the target vehicle is determined based on the maximum and minimum distances between the target vehicle and the origin of the field.

[0070] By controlling the steering robot to change the steering angle of the steering wheel, the following steps are repeated: "Control the target vehicle to travel at a preset speed, and during the travel of the target vehicle, communicate with the field positioning device to obtain the position information and differential positioning information of the field origin; based on the position information and differential positioning information of the field origin, determine the distance value of the target vehicle from the field origin at different positions; after the target vehicle completes one revolution, control the target vehicle to stop traveling; based on the distance value of the target vehicle from the field origin at different positions, determine the turning radius of the target vehicle." In this way, the turning radius under different steering wheel angles can be calculated, and the correspondence between the various steering wheel angles and the turning radius of the target vehicle can be calibrated.

[0071] The vehicle steering wheel angle and turning radius calibration system provided in this invention determines the position information of the field origin through a field-end positioning device, controls the steering wheel angle of the target vehicle to be calibrated through a steering robot, and communicates with the field-end positioning device through a vehicle-end calibration device to obtain the position information and differential positioning information of the field origin. Based on the position information and differential positioning information of the field origin, the distance value of the target vehicle from the field origin at different positions is determined, and then the turning radius of the target vehicle is determined, thereby calibrating the correspondence between the steering wheel angle and the turning radius of the target vehicle. This invention combines satellite positioning technology and RTK differential positioning technology to accurately locate the target vehicle in motion, thereby ensuring the accuracy of the turning radius calculation. At the same time, the precise control of the steering wheel angle by the steering robot helps to calibrate the correspondence between the steering wheel angle and the turning radius of different vehicles in different states during the design of autonomous driving systems, thereby reducing the impact of such problems on the overall system design.

[0072] It should be noted that each implementation method of this application can be freely combined, rearranged, or executed individually, and does not need to rely on or depend on a fixed execution order.

[0073] Figure 2This is a schematic diagram of the field-end positioning device provided in an embodiment of the present invention. Figure 2 As shown, in some embodiments, the field-end positioning device 100 includes a fixed base station 101, a first RTK differential positioning module 102, a first satellite navigation antenna 103, and a first communication antenna 104, wherein,

[0074] The fixed base station 101 is used to communicate with the satellite through the first satellite navigation antenna 103 to obtain the satellite positioning information of the fixed base station, and use the satellite positioning information of the fixed base station as the position information of the field end origin, the field end origin being the point on the ground vertically mapped by the first satellite navigation antenna;

[0075] Satellite positioning information refers to information about a device's location, speed, time, etc., obtained through satellite positioning systems. This information is obtained by receiving signals transmitted by satellites, processing and analyzing them. Satellite positioning systems include the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), and the BeiDou Navigation Satellite System (BDS), all of which can provide satellite positioning information.

[0076] Satellite positioning information typically includes data such as longitude, latitude, altitude, and timestamps. This data can be used to determine the precise location and time of a device's geographical position.

[0077] In this embodiment of the invention, taking GPS as an example, the first satellite navigation antenna 103 is a first GPS antenna. The fixed base station 101 is used to communicate with the satellite through the first satellite navigation antenna 103 to obtain the GPS positioning information of the fixed base station. The GPS positioning information of the fixed base station is used as the position information of the field origin. The field origin is the point on the ground that is vertically mapped by the first GPS antenna.

[0078] The first satellite navigation antenna 103 is used to enable communication between the fixed base station and the satellite.

[0079] The first communication antenna 104 is used to realize communication between the first RTK differential positioning module 102 and the second RTK differential positioning module in the vehicle calibration device 300;

[0080] The first RTK differential positioning module 102 is used to communicate with the second RTK differential positioning module in the vehicle calibration device 300 through the first communication antenna 104, so as to provide differential positioning information using real-time dynamic RTK differential positioning technology.

[0081] Specifically, the first RTK differential positioning module acts as a base station receiver, continuously observing the satellite and transmitting its observation data and station information to the rover station in real time via the first communication antenna. The second RTK differential positioning module in the vehicle-side calibration device 300 acts as a rover station receiver. While receiving satellite positioning signals, it also receives data transmitted by the first RTK differential positioning module via the second communication antenna. Then, based on the principle of relative positioning, it calculates the three-dimensional coordinates and their accuracy of the target vehicle in real time (i.e., the coordinate differences X, Y, and H between the target vehicle and the fixed base station, plus the position information of the field origin, to obtain the coordinates of each point; and uses coordinate transformation parameters to obtain the planar coordinates X, Y, and altitude H of each point of the target vehicle), thereby achieving the positioning of the target vehicle.

[0082] By receiving satellite signals and combining them with RTK differential positioning technology, positioning accuracy and reliability can be effectively improved. It is important to note that signals from different satellite navigation systems may differ; therefore, when using RTK differential positioning technology, these differences must be taken into account, and appropriate processing and adjustments must be made.

[0083] The calibration system for the correspondence between vehicle steering wheel angle and turning radius provided in this embodiment of the invention, by combining satellite positioning technology and RTK differential positioning technology, can achieve accurate positioning of a target vehicle in motion, thereby ensuring the accuracy of the turning radius calculation.

[0084] Figure 3 This is a schematic diagram of the vehicle-end calibration device provided in an embodiment of the present invention. Figure 3 As shown, in some embodiments, the vehicle-side calibration device 300 includes: a robot controller 301, a second RTK differential positioning module 302, a second satellite navigation antenna 303, a second communication antenna 304, and a processing unit 305, wherein,

[0085] The second satellite navigation antenna 303 is used to communicate with satellites to obtain the satellite positioning information of the target vehicle;

[0086] The second communication antenna 304 is used to realize communication between the second RTK differential positioning module and the first RTK differential positioning module;

[0087] The second RTK differential positioning module 302 is used to communicate with the first RTK differential positioning module 102 through the second communication antenna 304 during the driving of the target vehicle, to obtain the position information of the field origin and differential positioning information, and to correct the satellite positioning information of the target vehicle based on the differential positioning information to obtain the real-time position information of the target vehicle.

[0088] Specifically, the second RTK differential positioning module 304 receives the location information of the field origin and the differential positioning information sent by the first differential positioning module 102. Based on the location information of the field origin and the differential positioning information, it corrects (or performs differential positioning) the satellite positioning information of the target vehicle, thereby obtaining the real-time location information of the target vehicle, which is relatively accurate.

[0089] Differential positioning information is based on the relative position information of fixed base stations.

[0090] The robot controller 301 is used to control the rotation of the steering robot 200, receive the steering wheel angle information of the target vehicle fed back by the steering robot 200, and receive the real-time position information of the target vehicle and the position information of the field origin sent by the second RTK differential positioning module 304, and calculate the distance value of the target vehicle from the field origin at different positions.

[0091] Specifically, the robot controller 301 sends control commands to the steering robot 200, causing the steering robot to control the steering wheel of the target vehicle to turn at the angle to be calibrated and to remain unchanged.

[0092] The robot controller 301 receives the real-time position information of the target vehicle and the position information of the field origin sent by the second RTK differential positioning module 304. By using the distance calculation formula in the coordinate system, the distance value of the target vehicle from the field origin at different positions can be calculated.

[0093] The processing unit 305 is used to control the target vehicle to travel at a preset speed, and after the target vehicle completes one lap, control the target vehicle to stop traveling, determine the maximum and minimum distance values ​​of the target vehicle from the field end origin from the distance values, determine the turning radius of the target vehicle based on the maximum and minimum distance values ​​of the target vehicle from the field end origin, and calibrate the correspondence between the steering wheel angle of the target vehicle and the turning radius.

[0094] The processing unit 305, through comparison and analysis, determines the maximum and minimum distances between the target vehicle and the origin of the field from the distance values, and calculates the turning radius of the target vehicle using the following formula based on the maximum and minimum distances between the target vehicle and the origin of the field:

[0095] The turning radius of the target vehicle = (the maximum distance of the target vehicle from the origin of the field minus the minimum distance) / 2.

[0096] Figure 4 This is a schematic diagram illustrating the calculation principle of the turning radius provided in an embodiment of the present invention.

[0097] After calculating the turning radius, the corresponding relationship between the steering wheel angle and the turning radius can be obtained.

[0098] It should be noted that the vehicle-side calibration device 300 also includes an on-board power supply for powering other components in the vehicle-side calibration device.

[0099] In this embodiment, the processing unit 305 controls the driving and speed of the target vehicle. Based on the distance of the target vehicle from the origin of the field at different positions, the processing unit 305 determines the turning radius of the target vehicle. Since satellite positioning technology and RTK differential positioning technology are combined, the calculation of the turning radius is more accurate. Then, the correspondence between the steering wheel angle and the turning radius of the target vehicle is calibrated. Under the premise of ensuring calibration accuracy, the automatic calibration of the correspondence between the steering wheel angle and the turning radius of the target vehicle can be realized, thereby improving calibration efficiency.

[0100] In some embodiments, the second satellite navigation antenna includes a primary GPS antenna and a secondary GPS antenna.

[0101] By using the main GPS antenna and the secondary GPS antenna, the heading angle can be better determined, thereby obtaining more accurate satellite positioning information of the target vehicle, i.e., GPS location information.

[0102] The calibration system for the correspondence between vehicle steering wheel angle and turning radius provided in this embodiment of the invention, by combining satellite positioning technology and RTK differential positioning technology, can achieve accurate positioning of a target vehicle in motion, thereby ensuring the accuracy of the turning radius calculation.

[0103] Figure 5 This is a structural schematic diagram of a steering robot provided in an embodiment of the present invention. Figure 5 As shown, in some embodiments, the steering robot 200 includes: a motor assembly 201, a pneumatic telescopic strut 202, a steering column adapter 203, and a pump-type three-pronged clamp 204, wherein,

[0104] The motor assembly 201 is connected to the steering wheel of the target vehicle and is used to control the steering angle of the steering wheel. The housing of the motor assembly 201 is connected to the pneumatic telescopic strut 202 via a parallel link 205, a rocker arm 206, and a horizontal beam 207. The pneumatic telescopic strut 202 is connected between the windshield and the floor of the target vehicle. The pump-type three-clamp clamp 204 is used to fix the steering robot 200.

[0105] The steering robot 200 also includes a steering column 2010 and a steering column adapter 203, due to their positional relationship. Figure 5 This cannot be shown in the image; please refer to [the original text]. Figure 12 , Figure 12 This is a schematic diagram illustrating the positional relationship between the steering column, the steering column adapter, and the vehicle steering wheel, provided in an embodiment of the present invention.

[0106] The steering column adapter 203 is fixed to the output flange of the steering robot 200. There is an output flange that matches the steering robot at the back. The output flange is located behind the motor assembly 201.

[0107] like Figure 5 As shown, the steering robot also includes: a force sensor 208, an air intake valve 209, and a steering wheel 2011.

[0108] The steering wheel 2011 is directly connected to the output flange of the steering robot via a hollow shaft. This hollow shaft is directly connected to the rotor of the motor, without an internal clutch or gears. This gives the steering robot a high degree of machine integrity. When the servo motor is not in use, the driver can drive the vehicle normally through the steering wheel 2011.

[0109] The pump-type three-clamp clamp 204 further includes: a window suction device 2041, a suction cup clamping rod 2042, a suction cup fastening knob 2043, an air release button 2044, and a pressure gauge 2045.

[0110] The torque generated by the motor assembly 201 of the steering robot reacts to the pneumatic telescopic strut 202 connected between the vehicle's windshield and the floor. This strut can extend and compress to securely mount the motor housing. It is connected to the telescopic column via a parallel link 205, a rocker arm 206, and a horizontal beam 207. This mechanism can accommodate any bouncing of the steering column without generating lateral forces on the steering column. The joint at the end of the horizontal beam 207 is fully adjustable to adjust the beam's orientation and height.

[0111] The pneumatic telescopic strut 202 is secured to the windshield via an adjustable mechanism with three rubber vacuum cups 2041. Ideally, the assembly should be positioned to ensure that the parallel link 205 is horizontal and the pneumatic telescopic strut 202 is parallel to the steering wheel plane. The parallel link 205 contains a pressure-sensing element for measuring the axial force in the parallel link and calculating the torque therefrom. The torque reaction frame (i.e., the horizontal beam 207) also serves as a support for an optional touchscreen computer monitor that can provide a user interface for the computer system. The angular position of the motor (i.e., the motor assembly 201) is controlled using position feedback from an incremental optical encoder.

[0112] Figure 6 This is a cross-sectional schematic diagram of a motor assembly provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of torque control for a steering robot provided in an embodiment of the present invention, based on... Figure 7 The torque calculation formula for the steering robot can be obtained as follows:

[0113] T SR =(F1-F2)*d / 2

[0114] Among them, T SR F1 is the torque of the steering robot (N·m); F2 is gravity 1 (N); F2 is gravity 2 (N); d is the lateral distance between the two parallel links, i.e., the distance between F1 and F2 (m).

[0115] Figure 8 This is a schematic diagram of the design of the steering column adapter provided in an embodiment of the present invention. The steering column adapter is fixed to the output flange of the steering robot with bolts to ensure that the mating surfaces of the steering robot output flange and the hub adapter are in sync. M8 screws are used, with threads between 12mm and 25mm in length, and the tightening torque is 460 N·m.

[0116] Figure 9This is a schematic diagram of the pump-type triple clamp provided in an embodiment of the present invention. Secure the triple suction cups (i.e., suction cup 2041) to the windshield, ensuring the large ball head can rotate freely and that the suction cup surfaces and the windshield surface are completely free of dirt and grease. Slightly loosen the small knobs on the ball joints of each suction cup body to align each suction cup body with the windshield. It is never necessary to overtighten these knobs to avoid highly curved areas of the windshield. Firmly position the three suction cup bodies toward the windshield, pressing each suction cup flat against the glass, and repeatedly press the plunger on each suction cup. When the working vacuum level is reached, the plunger will remain pressed down, and the indicator line around it (901 in the figure) will no longer be visible. This provides a visual indicator that the suction cups are working correctly. Each time the steering robot is used, the suction cups should be checked to ensure the indicator line is no longer visible. If a vacuum loss occurs, simply press the plunger a few more times until it remains in place.

[0117] In this embodiment of the invention, the steering robot has a built-in angle sensor for measuring the steering wheel angle and the torque applied to the steering wheel by the motor, thereby controlling the vehicle's steering system. Optionally, the steering robot can achieve a maximum torque of 60 N·m, a maximum steering wheel speed of 1600° / s, a direct-drive brushless motor, an angle resolution of 0.006°, an angle control accuracy of ±0.02°, a torque measurement accuracy of 0.1 N·m, and a turning angle testing accuracy of 0.05°. The control mode is steering wheel angle control, and the steering robot can be controlled via external analog signals or CAN signals. It can accept other signals and provide real-time feedback, allowing for real-time correction and control of the steering robot.

[0118] Figure 10 This is a flowchart illustrating the calibration method for the correspondence between vehicle steering wheel angle and turning radius provided in an embodiment of the present invention, as shown below. Figure 10 As shown, the method includes the following steps:

[0119] Steps 1010, 1020, 1030, 1040, and 1050. This method flow is merely one possible implementation of the present invention. The method includes:

[0120] Step 1010: Control the steering robot through the robot controller so that the steering robot controls the steering wheel angle of the target vehicle to the angle to be calibrated;

[0121] Step 1020: Control the target vehicle to travel at a preset speed, and obtain the distance values ​​of the target vehicle from the origin of the field at different positions through the robot controller;

[0122] Step 1030: After the target vehicle completes one lap, control the target vehicle to stop driving, and determine the maximum and minimum distance values ​​of the target vehicle from the origin of the field from the distance values ​​of the target vehicle from the origin of the field.

[0123] Step 1040: Determine the turning radius of the target vehicle based on the maximum and minimum distances between the target vehicle and the origin of the field.

[0124] Step 1050: Calibrate the correspondence between the steering wheel angle and the turning radius.

[0125] Optionally, obtaining the distance values ​​of the target vehicle from the origin at different positions through the robot controller includes:

[0126] During the driving of the target vehicle, the position information of the field origin and the differential positioning information are acquired;

[0127] The satellite positioning information of the target vehicle is corrected based on the differential positioning information to obtain the real-time location information of the target vehicle;

[0128] Based on the real-time location information of the target vehicle and the location information of the field origin, the distance values ​​of the target vehicle from the field origin at different positions are obtained.

[0129] Optionally, the method further includes:

[0130] Configure the communication mode and communication frequency of the field-end positioning device in fixed base station mode.

[0131] Specifically, the calibration method for the correspondence between vehicle steering wheel angle and turning radius includes the following steps:

[0132] Step 1: First, set up the field-end positioning equipment, and set the communication mode and communication frequency in the fixed base station mode to ensure that it can provide an accurate relative coordinate system origin for the entire test.

[0133] Step 2: Install the vehicle-side calibration device, connect the vehicle's GPS to the field station, and confirm that the communication status is correct.

[0134] Step 3: First, drive the vehicle to an open area. Then, control the steering robot through the robot controller to control the steering wheel angle to the maximum angle and keep the steering wheel angle stable.

[0135] Step 4: Control the vehicle to travel at a speed of 10 kph. The robot controller receives the distance information between the vehicle and the origin of the field coordinates in real time. The vehicle stops after completing one lap.

[0136] Step 5: Calculate the maximum and minimum distances from the origin at the field end, and then calculate the turning radius based on these distances.

[0137] Step 6: After calculating the turning radius, the corresponding relationship between the steering wheel angle and the turning radius is obtained.

[0138] Step 7: Change the steering wheel angle by using the steering robot, and repeat steps 3-6. At this time, calculate the turning radius under different steering wheel angles.

[0139] For understanding the calibration method for the correspondence between vehicle steering wheel angle and turning radius provided in the embodiments of the present invention, please refer to the description of the aforementioned calibration system embodiment for the correspondence between vehicle steering wheel angle and turning radius. Here, the parts that are the same as those in the system embodiment and the beneficial effects will not be described in detail again.

[0140] Figure 11 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 11 As shown, the electronic device may include: a processor 1110, a communications interface 1120, a memory 1130, and a communication bus 1140, wherein the processor 1110, the communications interface 1120, and the memory 1130 communicate with each other through the communication bus 1140. The processor 1110 can call logic instructions in the memory 1130 to execute a calibration method for the correspondence between the vehicle steering wheel angle and the turning radius. This method includes: controlling a steering robot via a robot controller to control the steering wheel angle of the target vehicle to the angle to be calibrated; controlling the target vehicle to travel at a preset speed, and obtaining the distance values ​​of the target vehicle from the origin at different positions via the robot controller; after the target vehicle completes one revolution, controlling the target vehicle to stop, and determining the maximum and minimum distance values ​​of the target vehicle from the origin from the distance values ​​of the target vehicle from the origin; determining the turning radius of the target vehicle based on the maximum and minimum distance values ​​of the target vehicle from the origin; and calibrating the correspondence between the steering wheel angle and the turning radius.

[0141] Furthermore, the logical instructions in the aforementioned memory 1130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0142] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the calibration method for the correspondence between the steering wheel angle and the turning radius of a vehicle provided by the above methods. The method includes: controlling a steering robot through a robot controller to control the steering wheel angle of the target vehicle to the angle to be calibrated; controlling the target vehicle to travel at a preset speed, and obtaining the distance values ​​of the target vehicle from the origin at different positions through the robot controller; controlling the target vehicle to stop after the target vehicle completes one revolution, and determining the maximum and minimum distance values ​​of the target vehicle from the origin from the distance values ​​of the target vehicle from the origin; determining the turning radius of the target vehicle based on the maximum and minimum distance values ​​of the target vehicle from the origin; and calibrating the correspondence between the steering wheel angle and the turning radius.

[0143] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a calibration method for the correspondence between the steering wheel angle and the turning radius of a vehicle provided by the methods described above. This method includes: controlling a steering robot via a robot controller to control the steering wheel angle of a target vehicle to the angle to be calibrated; controlling the target vehicle to travel at a preset speed, and obtaining distance values ​​from the origin of the field at different positions of the target vehicle via the robot controller; after the target vehicle completes one revolution, controlling the target vehicle to stop, and determining the maximum and minimum distance values ​​of the target vehicle from the origin of the field from the distance values ​​of the target vehicle from the origin of the field; determining the turning radius of the target vehicle based on the maximum and minimum distance values ​​of the target vehicle from the origin of the field; and calibrating the correspondence between the steering wheel angle and the turning radius.

[0144] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0145] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calibration system for the correspondence between vehicle steering wheel angle and turning radius, characterized in that, This includes field-end positioning equipment, steering robots, and vehicle-end calibration devices. The field-end positioning device is used to determine the location information of the field-end origin and provide differential positioning information during the movement of the target vehicle. The steering robot is used to control the steering wheel of the target vehicle to turn at the angle to be calibrated. The vehicle-end calibration device is used to control the driving of the target vehicle and communicate with the field-end positioning device to obtain the position information and differential positioning information of the field-end origin. Based on the position information and differential positioning information of the field-end origin, the device determines the distance value of the target vehicle from the field-end origin at different positions. The vehicle-end calibration device is also used to determine the maximum and minimum distance values ​​of the target vehicle from the origin of the field end based on the distance values ​​of the target vehicle from the origin of the field end at different positions, and to determine the turning radius of the target vehicle based on half of the difference between the maximum distance value and the minimum distance value of the target vehicle from the origin of the field end, and to calibrate the correspondence between the steering wheel angle and the turning radius of the target vehicle.

2. The calibration system for the correspondence between vehicle steering wheel angle and turning radius according to claim 1, characterized in that, The field-end positioning equipment includes a fixed base station, a first RTK differential positioning module, a first satellite navigation antenna, and a first communication antenna, wherein... The fixed base station is used to communicate with the satellite through the first satellite navigation antenna to obtain the satellite positioning information of the fixed base station, and use the satellite positioning information of the fixed base station as the position information of the field end origin, wherein the field end origin is the point on the ground that is vertically mapped by the first satellite navigation antenna; The first satellite navigation antenna is used to enable communication between the fixed base station and the satellite; The first communication antenna is used to enable communication between the first RTK differential positioning module and the second RTK differential positioning module in the vehicle-side calibration device; The first RTK differential positioning module is used to communicate with the second RTK differential positioning module in the vehicle-side calibration device through the first communication antenna, so as to provide differential positioning information using real-time dynamic RTK differential positioning technology.

3. The calibration system for the correspondence between vehicle steering wheel angle and turning radius according to claim 2, characterized in that, The vehicle-mounted calibration device includes: a robot controller, a second RTK differential positioning module, a second satellite navigation antenna, a second communication antenna, and a processing unit, wherein... The second satellite navigation antenna is used to communicate with satellites to obtain the satellite positioning information of the target vehicle; The second communication antenna is used to enable communication between the second RTK differential positioning module and the first RTK differential positioning module; The second RTK differential positioning module is used to communicate with the first RTK differential positioning module through the second communication antenna during the driving of the target vehicle, to obtain the position information of the field origin and differential positioning information, and to correct the satellite positioning information of the target vehicle based on the differential positioning information to obtain the real-time position information of the target vehicle. The robot controller is used to control the rotation of the steering robot, receive the steering wheel angle information of the target vehicle fed back by the steering robot, and receive the real-time position information of the target vehicle and the position information of the field origin sent by the second RTK differential positioning module, and calculate the distance value of the target vehicle from the field origin at different positions. The processing unit is used to control the target vehicle to travel at a preset speed, and after the target vehicle completes one lap, control the target vehicle to stop traveling, and determine the maximum distance value and the minimum distance value of the target vehicle from the origin of the field from the distance value.

4. The calibration system for the correspondence between vehicle steering wheel angle and turning radius according to claim 1, characterized in that, The steering robot includes: a motor assembly, a pneumatic telescopic strut, a steering column adapter, and a pump-type three-clamp system. The motor assembly is connected to the steering wheel of the target vehicle to control the steering angle of the steering wheel. The housing of the motor assembly is connected to the pneumatic telescopic strut via a parallel link, a rocker arm, and a horizontal beam. The pneumatic telescopic strut is connected between the windshield and the floor of the target vehicle. The steering column adapter is fixed to the output flange of the steering robot. The pump-type triple clamp is used to fix the steering robot.

5. The calibration system for the correspondence between vehicle steering wheel angle and turning radius according to claim 3, characterized in that, The second satellite navigation antenna includes a main GPS antenna and a secondary GPS antenna.

6. A steering robot for calibrating the correspondence between vehicle steering wheel angle and turning radius as described in any one of claims 1 to 5, characterized in that, include: Motor assembly, pneumatic telescopic strut, steering column adapter, pump-type three-clamp, among which, The motor assembly is connected to the steering wheel of the target vehicle to control the steering angle of the steering wheel. The housing of the motor assembly is connected to the pneumatic telescopic support through a connecting mechanism consisting of a parallel link, a rocker arm, and a horizontal beam. The connecting mechanism is used to adapt to the jumping of the steering column during the operation of the steering robot and does not generate lateral force on the steering column. The parallel link includes a force sensor for measuring the axial force in the parallel link and calculating the torque applied to the steering wheel by the motor assembly based on the axial force. The pneumatic telescopic strut is connected between the windshield and the floor of the target vehicle, the steering column adapter is fixed to the output flange of the steering robot, and the pump-type triple clamp is used to fix the steering robot.

7. A method for calibrating the correspondence between vehicle steering wheel angle and turning radius, characterized in that, A calibration system based on the correspondence between vehicle steering wheel angle and turning radius as described in any one of claims 1 to 5, comprising: The steering robot is controlled by a robot controller so that it controls the steering wheel angle of the target vehicle to the angle to be calibrated. The target vehicle is controlled to travel at a preset speed, and the distance values ​​of the target vehicle from the field origin at different positions are obtained through the robot controller. After the target vehicle completes one lap, control the target vehicle to stop, and determine the maximum and minimum distances between the target vehicle and the origin of the field from the distances between the target vehicle and the origin of the field. The turning radius of the target vehicle is determined by half the difference between the maximum distance of the target vehicle from the origin of the field and the minimum distance. The correspondence between the steering wheel angle and the turning radius is calibrated.

8. The calibration method for the correspondence between vehicle steering wheel angle and turning radius according to claim 7, characterized in that, The step of obtaining the distance values ​​of the target vehicle from the origin of the field at different positions through the robot controller includes: During the driving of the target vehicle, the position information of the field origin and the differential positioning information are acquired; The satellite positioning information of the target vehicle is corrected based on the differential positioning information to obtain the real-time location information of the target vehicle; Based on the real-time location information of the target vehicle and the location information of the field origin, the distance values ​​of the target vehicle from the field origin at different positions are obtained.

9. The calibration method for the correspondence between vehicle steering wheel angle and turning radius according to claim 7 or 8, characterized in that, The method further includes: Configure the communication mode and communication frequency of the field-end positioning device in fixed base station mode.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the calibration method for the correspondence between the vehicle steering wheel angle and the turning radius as described in any one of claims 7 to 9.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the calibration method for the correspondence between the vehicle steering wheel angle and the turning radius as described in any one of claims 7 to 9.

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