Compensation Method, Device, Vehicle and Storage Medium for Steering Wheel Angle

Abstract

This application relates to the field of assisted driving technology, and particularly to a method, device, vehicle, and storage medium for compensating the steering wheel angle. The method includes: determining whether the vehicle meets the trigger condition for steering wheel angle compensation; if the vehicle meets the trigger condition, obtaining the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off; determining the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, and compensating the steering wheel angle according to the current compensation angle. Thus, by continuously learning the steering wheel compensation angle value during vehicle driving and compensating this learned angle value into the angle of lateral control, the problem that when the vehicle is traveling at a high speed, if the calculation of the steering wheel angle for lateral control is inaccurate, resulting in unstable lateral control of the vehicle, is solved, thereby enhancing the functional experience of assisted driving.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a steering wheel angle compensation method, device, vehicle, and storage medium. Background Art

[0002] Lane keeping is a key feature of assisted driving. It primarily uses a lane edge detection system based on video imaging to measure the vehicle's distance and orientation relative to the left and right lane markings. If the vehicle deviates from its lane, the system will provide active correction to prevent it from leaving or remind the driver to keep the vehicle within its lane. However, currently, lateral control is limited due to the left-right deviation of the steering wheel itself.

[0003] In related technologies, the compensation offset value can be obtained through filtering and averaging.

[0004] However, the reliability of this method is relatively low. When the vehicle is traveling at a high speed, if the steering wheel angle for lateral control is not calculated accurately, the lateral control of the vehicle will become unstable, which needs to be solved urgently. Summary of the Invention

[0005] The present application provides a steering wheel angle compensation method, device, vehicle and storage medium to solve the problem of unstable lateral control of the vehicle caused by inaccurate calculation of the steering wheel angle for lateral control when the vehicle is traveling at a high speed, thereby improving the functional experience of assisted driving.

[0006] To achieve the above objectives, a first embodiment of the present application provides a method for compensating a steering wheel angle, comprising the following steps:

[0007] Determine whether the vehicle meets the triggering conditions for steering wheel angle compensation;

[0008] If the vehicle meets the trigger condition, obtaining the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off;

[0009] The current compensation angle of the steering wheel angle is determined according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, and the steering wheel angle is compensated according to the current compensation angle.

[0010] According to one embodiment of the present application, determining whether the vehicle meets the triggering conditions for steering wheel angle compensation includes:

[0011] Obtaining a current steering wheel torque, a current steering wheel speed, a current steering wheel angle, a current yaw rate, and a current vehicle speed of the vehicle;

[0012] Determine whether the current steering wheel torque is less than a preset torque value, whether the current steering wheel rotation speed is less than a preset rotation speed, whether the current steering wheel angle is less than a preset angle, whether the current yaw rate is less than a preset yaw rate, and whether the current vehicle speed is less than a preset vehicle speed;

[0013] If the current steering wheel torque is less than the preset torque value, the current steering wheel rotation speed is less than the preset rotation speed, the current steering wheel angle is less than the preset angle, the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, it is determined that the vehicle meets the trigger condition for steering wheel angle compensation; otherwise, it is determined that the vehicle does not meet the trigger condition for steering wheel angle compensation.

[0014] According to an embodiment of the present application, determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off includes:

[0015] Based on a preset steering wheel angle compensation strategy, determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, where the preset steering wheel angle compensation strategy is:

[0016] DeltaSteerWhlAg = V × factor × (SteerWhlAg - SteerWhlAgOffs_Init - DeltaSteerWhlAgPre)

[0017] + DeltaSteerWhlAgPre;

[0018] Wherein, DeltaSteerWhlAg is the current compensation angle, V is the current vehicle speed, factor is the compensation factor, SteerWhlAg is the current steering wheel angle, SteerWhlAgOffs_Init is the compensation angle when the vehicle was last powered off, and DeltaSteerWhlAgPre is the compensation angle calculated in the previous cycle.

[0019] According to an embodiment of the present application, after determining whether the vehicle meets the trigger condition for steering wheel angle compensation, it further includes:

[0020] If the vehicle does not meet the trigger condition, perform cornering control on the vehicle based on the current steering wheel angle.

[0021] According to an embodiment of the present application, after determining the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, the method further includes:

[0022] Determine whether the current compensation angle is within a preset compensation range;

[0023] If the current compensation angle is not within the preset compensation range, determine a target compensation angle based on the current compensation angle, and compensate the steering wheel angle according to the target compensation angle; otherwise, compensate the steering wheel angle according to the current compensation angle.

[0024] According to an embodiment of the present application, the target compensation angle is the upper limit value of the preset compensation range or the lower limit value of the preset compensation range.

[0025] According to an embodiment of the present application, the upper limit value of the preset compensation range is 8 / 180×pi, and the lower limit value of the preset compensation range is -8 / 180×pi.

[0026] According to the method for compensating the steering wheel angle proposed by the embodiment of the present application, when the vehicle meets the trigger condition for compensating the steering wheel angle, by obtaining the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, the current compensation angle of the steering wheel angle can be determined, and the steering wheel angle can be compensated according to the current compensation angle. Thus, by continuously learning the steering wheel compensation angle value during the vehicle driving process and compensating this learned angle value into the angle of lateral control, the problem that when the vehicle speed is relatively high, if the calculation of the steering wheel angle for lateral control is inaccurate, resulting in unstable lateral control of the vehicle, is solved, thereby improving the functional experience of assisted driving.

[0027] To achieve the above object, an embodiment of the second aspect of the present application provides a device for compensating the steering wheel angle, including:

[0028] A judgment module, configured to judge whether the vehicle meets the trigger condition for compensating the steering wheel angle;

[0029] An acquisition module, configured to acquire the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off when the vehicle meets the trigger condition;

[0030] A compensation module, configured to determine the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, and compensate the steering wheel angle according to the current compensation angle.

[0031] According to an embodiment of the present application, the determination module is specifically configured to:

[0032] Obtain the current steering wheel torque, current steering wheel rotation speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle;

[0033] Determine whether the current steering wheel torque is less than a preset torque value, whether the current steering wheel rotation speed is less than a preset rotation speed, whether the current steering wheel angle is less than a preset angle, whether the current yaw rate is less than a preset yaw rate, and whether the current vehicle speed is less than a preset vehicle speed;

[0034] If the current steering wheel torque is less than the preset torque value, the current steering wheel rotation speed is less than the preset rotation speed, the current steering wheel angle is less than the preset angle, the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, it is determined that the vehicle meets the trigger condition for steering wheel angle compensation; otherwise, it is determined that the vehicle does not meet the trigger condition for steering wheel angle compensation.

[0035] According to an embodiment of the present application, the compensation module is specifically configured to:

[0036] Based on a preset steering wheel angle compensation strategy, determine the current compensation angle of the steering wheel according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, where the preset steering wheel angle compensation strategy is:

[0037] DeltaSteerWhlAg = V × factor × (SteerWhlAg - SteerWhlAgOffs_Init - DeltaSteerWhlAgPre)

[0038] + DeltaSteerWhlAgPre;

[0039] where DeltaSteerWhlAg is the current compensation angle, V is the current vehicle speed, factor is the compensation factor, SteerWhlAg is the current steering wheel angle, SteerWhlAgOffs_Init is the compensation angle when the vehicle was last powered off, and DeltaSteerWhlAgPre is the compensation angle calculated in the previous cycle.

[0040] According to an embodiment of the present application, after determining whether the vehicle meets the trigger condition for steering wheel angle compensation, the determination module is further configured to:

[0041] When the vehicle does not meet the trigger condition, perform steering angle control on the vehicle based on the current steering wheel angle.

[0042] According to an embodiment of the present application, after determining the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, the compensation module is further configured to:

[0043] Determine whether the current compensation angle is within a preset compensation range;

[0044] If the current compensation angle is not within the preset compensation range, determine a target compensation angle based on the current compensation angle, and compensate the steering wheel angle according to the target compensation angle; otherwise, compensate the steering wheel angle according to the current compensation angle.

[0045] According to an embodiment of the present application, the target compensation angle is the upper limit value of the preset compensation range or the lower limit value of the preset compensation range.

[0046] According to an embodiment of the present application, the upper limit value of the preset compensation range is 8 / 180×pi, and the lower limit value of the preset compensation range is -8 / 180×pi.

[0047] According to the compensation device for the steering wheel angle proposed in the embodiment of the present application, when the vehicle meets the trigger condition for compensating the steering wheel angle, by obtaining the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, the current compensation angle of the steering wheel angle can be determined, and the steering wheel angle can be compensated according to the current compensation angle. Thus, by continuously learning the steering wheel compensation angle value during the vehicle driving process and compensating this learned angle value into the angle of lateral control, the problem that when the vehicle speed is relatively high, if the calculation of the steering wheel angle for lateral control is inaccurate, resulting in unstable lateral control of the vehicle, is solved, thereby improving the functional experience of assisted driving.

[0048] To achieve the above object, an embodiment of the third aspect of the present application proposes a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the compensation method for the steering wheel angle as described in the above embodiment.

[0049] To achieve the above object, an embodiment of the fourth aspect of the present application proposes a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to be used to implement the compensation method for the steering wheel angle as described in the above embodiment.

[0050] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0051] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the drawings, where:

[0052] Figure 1 is a flowchart of a method for compensating the steering wheel angle according to an embodiment of the present application;

[0053] Figure 2 is a schematic diagram of a steering wheel angle compensation system according to an embodiment of the present application;

[0054] Figure 3 is a block schematic diagram of a steering wheel angle compensation device according to an embodiment of the present application;

[0055] Figure 4 is a schematic diagram of the structure of a vehicle according to an embodiment of the present application. Detailed Embodiments

[0056] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0057] A method, device, vehicle, and storage medium for compensating the steering wheel angle according to an embodiment of the present application will be described below. First, a method for compensating the steering wheel angle according to an embodiment of the present application will be described with reference to the drawings.

[0058] Figure 1 is a flowchart of a method for compensating the steering wheel angle according to an embodiment of the present application.

[0059] As Figure 1 shown, the method for compensating the steering wheel angle includes the following steps:

[0060] In step S101, it is determined whether the vehicle satisfies the trigger condition for steering wheel angle compensation.

[0061] It can be understood that, in order to avoid the side deviation caused by the asymmetry of the vehicle steering wheel itself during straight-line driving of the vehicle without human interference, the vehicle state can be detected in real time to determine whether the vehicle satisfies the trigger condition for steering wheel angle compensation.

[0062] For ease of understanding, the following details how to determine whether a vehicle meets the trigger conditions for steering wheel angle compensation.

[0063] As a possible implementation, in some embodiments, determining whether a vehicle meets the trigger conditions for steering wheel angle compensation includes: obtaining the current steering wheel torque, current steering wheel rotation speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle; determining whether the current steering wheel torque is less than a preset torque value, whether the current steering wheel rotation speed is less than a preset rotation speed, whether the current steering wheel angle is less than a preset angle, whether the current yaw rate is less than a preset yaw rate, and whether the current vehicle speed is less than a preset vehicle speed; if the current steering wheel torque is less than the preset torque value, the current steering wheel rotation speed is less than the preset rotation speed, the current steering wheel angle is less than the preset angle, the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, it is determined that the vehicle meets the trigger conditions for steering wheel angle compensation; otherwise, it is determined that the vehicle does not meet the trigger conditions for steering wheel angle compensation.

[0064] Among them, the preset torque value, preset rotation speed, preset angle, preset yaw rate, and preset vehicle speed can all be pre-set by researchers in the field, can also be obtained through a finite number of experiments, or can be obtained through a finite number of computer simulations, and no specific limitation is made here. Preferably, in the embodiments of the present application, the preset torque value is 0.5 Nm, the preset rotation speed is 0.017 rad / s, the preset angle is 0.174 rad, the preset yaw rate is 0.0014 rad / s, and the preset vehicle speed is 8.33 m / s.

[0065] Specifically, the current steering wheel torque, current steering wheel rotation speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle can all be obtained by using relevant technical means. For example, a force sensor or a pressure sensor can be used to measure the acting force. Usually, these sensors are installed at the center of the steering gear to directly detect the force generated by the steering wheel. The magnitude of the acting force is related to the intensity of the force applied by the driver to the steering wheel. Therefore, the magnitude of the steering wheel torque can be determined by the sensor readings; the rotation speed information of the steering wheel can be obtained through a rotation speed sensor, and the angle information of the steering wheel can be obtained through the vehicle's EPS (Electric Power Steering); a dedicated sensor such as a Yaw-G sensor can be used to directly measure the yaw rate; the vehicle speed can be directly obtained through devices such as an on-vehicle speedometer, a driving recorder, a GPS navigation device, and a portable speed measuring device. After obtaining the current steering wheel torque, current steering wheel rotation speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle, it is determined whether the current steering wheel torque is less than a preset torque value (such as 0.5 Nm), and whether the current steering wheel rotation speed is less than a preset rotation speed (such as 0.017 rad / s), and whether the current steering wheel angle is less than a preset angle (such as 0.174 rad), and whether the current yaw rate is less than a preset yaw rate (such as 0.0014 rad / s), and whether the current vehicle speed is less than a preset vehicle speed (such as 8.33 m / s). If the current steering wheel torque is less than the preset torque value, and the current steering wheel rotation speed is less than the preset rotation speed, and the current steering wheel angle is less than the preset angle, and the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, and the current steering wheel torque, current steering wheel rotation speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle are all valid data, then it can be determined that the vehicle meets the trigger condition for steering wheel angle compensation. Conversely, when the above conditions cannot be satisfied simultaneously, it indicates that the vehicle does not meet the trigger condition for steering wheel angle compensation and cannot perform steering wheel angle compensation.

[0066] In step S102, if the vehicle meets the trigger condition, then obtain the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle last powered off.

[0067] It can be understood that, in order to further improve the accuracy of the lateral control of the assisted driving, on the basis of the stability of the lateral control algorithm, it is also necessary to consider the factors of the steering wheel itself at the same time. Since there is a certain left-right asymmetry in the steering wheel itself, the present application introduces a calculation method. When the vehicle meets the trigger condition, during the stable driving of the vehicle, the self-learning compensation angle is continuously calculated. Each time a compensation angle is calculated according to this calculation method, it is counted as one cycle, and this compensation angle value is compensated into the steering wheel angle of the lateral control to meet the accuracy and stability of the lateral control. At the same time, the compensation angle value learned through this algorithm can be stored in the controller chip after the vehicle is powered off. When the vehicle is powered on next time, the compensation angle of the vehicle when it was powered off last time that was saved can be directly used.

[0068] In step S103, the current compensation angle of the steering wheel angle is determined according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle of the vehicle when it was powered off last time, and the steering wheel angle is compensated according to the current compensation angle.

[0069] That is to say, in combination with Figure 2 As shown, when the vehicle meets the trigger condition for compensating the steering wheel angle, the compensation algorithm module can judge whether to turn on the compensation algorithm according to the setting situation of the trigger condition module. When the vehicle meets the trigger condition, the trigger condition module will be set, the compensation algorithm is turned on, and the compensation system of the steering wheel angle can determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle of the vehicle when it was powered off last time, and send the currently calculated (real-time) compensation angle to the lateral control.

[0070] The following details how to determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle of the vehicle when it was powered off last time.

[0071] As a possible implementation manner, in some embodiments, determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle of the vehicle when it was powered off last time includes: based on a preset steering wheel angle compensation strategy, determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle of the vehicle when it was powered off last time, where the preset steering wheel angle compensation strategy is:

[0072] DeltaSteerWhlAg = V × factor × (SteerWhlAg - SteerWhlAgOffs_Init - DeltaSteerWhlAgPre)

[0073] + DeltaSteerWhlAgPre;

[0074] Wherein, DeltaSteerWhlAg is the current compensation angle, V is the current vehicle speed, factor is the compensation factor, SteerWhlAg is the current steering wheel angle, SteerWhlAgOffs_Init is the compensation angle when the vehicle was powered off last time, and DeltaSteerWhlAgPre is the compensation angle calculated in the previous cycle.

[0075] That is to say, after the compensation algorithm is enabled, the difference between the current steering wheel angle and the saved compensation angle when the vehicle was powered off last time, and the current vehicle speed are input into the compensation algorithm module, and the current compensation angle of the steering wheel angle is determined based on the preset steering wheel angle compensation strategy. Among them, the compensation factor is 1.25×10 -3 .

[0076] It should be noted that when the compensation algorithm is enabled, the current compensation angle of the steering wheel angle can be continuously updated based on the preset steering wheel angle compensation strategy and sent to the lateral control to control the vehicle based on the current compensation angle of the steering wheel angle and the current steering wheel angle; when the compensation algorithm is disabled, the compensation angle calculated in the previous cycle is sent to the lateral control to control the vehicle based on the compensation angle calculated in the previous cycle and the current steering wheel angle.

[0077] Furthermore, in some embodiments, after determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, it further includes: judging whether the current compensation angle is within the preset compensation interval; if the current compensation angle is not within the preset compensation interval, determining the target compensation angle according to the current compensation angle, and compensating the steering wheel angle according to the target compensation angle, otherwise, compensating the steering wheel angle according to the current compensation angle.

[0078] It can be understood that during the current power-on operation of the vehicle, if the vehicle does not meet the trigger condition, the compensation algorithm cannot be enabled, that is, the current compensation angle of the steering wheel angle cannot be determined based on the preset steering wheel angle compensation strategy, and the lateral control of the vehicle is performed based on the current steering wheel angle.

[0079] Furthermore, in some embodiments, after determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, it further includes: judging whether the current compensation angle is within the preset compensation interval; if the current compensation angle is not within the preset compensation interval, determining the target compensation angle according to the current compensation angle, and compensating the steering wheel angle according to the target compensation angle, otherwise, compensating the steering wheel angle according to the current compensation angle.

[0080] Among them, the target compensation angle is the upper limit value of the preset compensation interval or the lower limit value of the preset compensation interval.

[0081] It can be understood that, in order to ensure the accuracy of the current compensation angle of the steering wheel angle, after determining the current compensation angle of the steering wheel angle, it can be determined whether the current compensation angle is within a preset compensation interval. If the current compensation angle is not within the preset compensation interval, the target compensation angle is determined according to the current compensation angle, that is, it is determined whether the current compensation angle is greater than the upper limit value of the preset compensation interval or the current compensation angle is less than the lower limit value of the preset compensation interval. If the current compensation angle is greater than the upper limit value of the preset compensation interval, the target compensation angle is the upper limit value of the preset compensation interval. If the current compensation angle is less than the lower limit value of the preset compensation interval, the target compensation angle is the lower limit value of the preset compensation interval. After determining the target compensation angle, the steering wheel angle can be compensated according to the target compensation angle. If the current compensation angle is within the preset compensation interval, the steering wheel angle can be directly compensated according to the current compensation angle.

[0082] Further, in some embodiments, the upper limit value of the preset compensation interval is 8 / 180×pi, and the lower limit value of the preset compensation interval is -8 / 180×pi.

[0083] Where pi is π. Thus, through the preset steering wheel angle compensation strategy, on the basis of the lane keeping algorithm, the steering wheel angle compensation algorithm is introduced, making the lane keeping function algorithm more perfect and further improving the intelligence of the lateral auxiliary driving function.

[0084] According to the steering wheel angle compensation method proposed in the embodiments of the present application, when the vehicle meets the trigger condition for steering wheel angle compensation, by obtaining the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, the current compensation angle of the steering wheel angle can be determined, and the steering wheel angle can be compensated according to the current compensation angle. Thus, by continuously learning the steering wheel compensation angle value during vehicle driving and compensating this learned angle value into the angle of lateral control, the problem that when the vehicle speed is relatively high, if the steering wheel angle calculation for lateral control is inaccurate, resulting in unstable lateral control of the vehicle is solved, thereby improving the functional experience of assisted driving.

[0085] Next, a steering wheel angle compensation device according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0086] Figure 3 It is a block diagram of a steering wheel angle compensation device according to an embodiment of the present application.

[0087] As Figure 3 shown, the steering wheel angle compensation device 10 includes: a judgment module 100, an acquisition module 200, and a compensation module 300.

[0088] Among them, the judgment module 100 is used to judge whether the vehicle meets the trigger condition for steering wheel angle compensation;

[0089] The acquisition module 200 is used to acquire the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle last powered off when the vehicle meets the trigger condition;

[0090] The compensation module 300 is used to determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle last powered off, and compensate the steering wheel angle according to the current compensation angle.

[0091] Furthermore, in some embodiments, the judgment module 100 is specifically used for:

[0092] Acquire the current steering wheel torque, the current steering wheel rotation speed, the current steering wheel angle, the current yaw rate, and the current vehicle speed of the vehicle;

[0093] Judge whether the current steering wheel torque is less than the preset torque value, whether the current steering wheel rotation speed is less than the preset rotation speed, whether the current steering wheel angle is less than the preset angle, whether the current yaw rate is less than the preset yaw rate, and whether the current vehicle speed is less than the preset vehicle speed;

[0094] If the current steering wheel torque is less than the preset torque value, the current steering wheel rotation speed is less than the preset rotation speed, the current steering wheel angle is less than the preset angle, the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, it is determined that the vehicle meets the trigger condition for steering wheel angle compensation, otherwise, it is determined that the vehicle does not meet the trigger condition for steering wheel angle compensation.

[0095] Furthermore, in some embodiments, the compensation module 300 is specifically used for:

[0096] Based on the preset steering wheel angle compensation strategy, determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle last powered off, where the preset steering wheel angle compensation strategy is:

[0097] DeltaSteerWhlAg = V × factor × (SteerWhlAg - SteerWhlAgOffs_Init - DeltaSteerWhlAgPre)

[0098] + DeltaSteerWhlAgPre;

[0099] Wherein, DeltaSteerWhlAg is the current compensation angle, V is the current vehicle speed, factor is the compensation factor, SteerWhlAg is the current steering wheel angle, SteerWhlAgOffs_Init is the compensation angle when the vehicle was powered off last time, and DeltaSteerWhlAgPre is the compensation angle calculated in the previous cycle.

[0100] Further, in some embodiments, after determining whether the vehicle meets the trigger condition for steering wheel angle compensation, the determination module 100 is further configured to:

[0101] When the vehicle does not meet the trigger condition, perform angle control on the vehicle based on the current steering wheel angle.

[0102] Further, in some embodiments, after determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, the compensation module 300 is further configured to:

[0103] Determine whether the current compensation angle is within a preset compensation range;

[0104] If the current compensation angle is not within the preset compensation range, determine the target compensation angle according to the current compensation angle, and compensate the steering wheel angle according to the target compensation angle; otherwise, compensate the steering wheel angle according to the current compensation angle.

[0105] Further, in some embodiments, the target compensation angle is the upper limit value of the preset compensation range or the lower limit value of the preset compensation range.

[0106] Further, in some embodiments, the upper limit value of the preset compensation range is 8 / 180×pi, and the lower limit value of the preset compensation range is -8 / 180×pi.

[0107] It should be noted that the foregoing explanation of the embodiments of the steering wheel angle compensation method also applies to the steering wheel angle compensation device of this embodiment, and will not be elaborated here.

[0108] According to the steering wheel angle compensation device proposed in the embodiments of the present application, when the vehicle meets the trigger condition for steering wheel angle compensation, by obtaining the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, the current compensation angle of the steering wheel angle can be determined, and the steering wheel angle can be compensated according to the current compensation angle. Thus, by continuously learning the steering wheel compensation angle value during vehicle driving and compensating this learned angle value into the angle of lateral control, the problem that when the vehicle speed is relatively high, if the calculation of the steering wheel angle for lateral control is inaccurate, resulting in unstable lateral control of the vehicle, is solved, thereby improving the functional experience of assisted driving.

[0109] Figure 4 The structural schematic diagram of the vehicle provided by the embodiment of the present invention. The vehicle may include:

[0110] A memory 401, a processor 402, and a computer program stored on the memory 401 and executable on the processor 402.

[0111] When the processor 402 executes the program, it implements the compensation method for the steering wheel angle provided in the above embodiment.

[0112] Furthermore, the vehicle further includes:

[0113] A communication interface 403 for communication between the memory 401 and the processor 402.

[0114] The memory 401 is used to store a computer program executable on the processor 402.

[0115] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0116] If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 can be interconnected through a bus and complete communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 4 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0117] Optionally, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 can complete communication with each other through an internal interface.

[0118] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0119] Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the above-described method for compensating the steering wheel angle is implemented.

[0120] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0121] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0122] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for compensating the steering wheel angle, characterized in that, It includes the following steps: Determine whether the vehicle meets the trigger condition for steering wheel angle compensation; If the vehicle meets the trigger condition, obtain the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off; Determine the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, and compensate the steering wheel angle according to the current compensation angle; Among them, determining whether the vehicle meets the trigger condition for steering wheel angle compensation includes: obtaining the current steering wheel torque, current steering wheel speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle, and determining whether the current steering wheel torque is less than a preset torque value, and whether the current steering wheel speed is less than a preset speed, and whether the current steering wheel angle is less than a preset angle, and whether the current yaw rate is less than a preset yaw rate, and whether the current vehicle speed is less than a preset vehicle speed. If the current steering wheel torque is less than the preset torque value, and the current steering wheel speed is less than the preset speed, and the current steering wheel angle is less than the preset angle, and the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, it is determined that the vehicle meets the trigger condition for steering wheel angle compensation; otherwise, it is determined that the vehicle does not meet the trigger condition for steering wheel angle compensation; Among them, determining the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off includes: based on a preset steering wheel angle compensation strategy, determining the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, where the preset steering wheel angle compensation strategy is: DeltaSteerWhlAg = V × factor × (SteerWhlAg - SteerWhlAgOffs_Init - DeltaSteerWhlAgPre) + DeltaSteerWhlAgPre; Among them, DeltaSteerWhlAg is the current compensation angle, V is the current vehicle speed, factor is the compensation factor, SteerWhlAg is the current steering wheel angle, SteerWhlAgOffs_Init is the compensation angle when the vehicle was last powered off, and DeltaSteerWhlAgPre is the compensation angle calculated in the previous cycle.

2. The method according to claim 1, characterized in that, After determining whether the vehicle meets the trigger condition for steering wheel angle compensation, it further includes: If the vehicle does not meet the trigger condition, perform corner control on the vehicle based on the current steering wheel angle.

3. The method according to claim 1, wherein After determining the current compensation angle of the steering wheel angle based on the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was last powered off, it further includes: Determine whether the current compensation angle is within a preset compensation range; If the current compensation angle is not within the preset compensation range, determine the target compensation angle according to the current compensation angle, and compensate the steering wheel angle according to the target compensation angle; otherwise, compensate the steering wheel angle according to the current compensation angle.

4. The method according to claim 3, wherein The target compensation angle is the upper limit value of the preset compensation range or the lower limit value of the preset compensation range.

5. The method according to claim 4, characterized in that, The upper limit value of the preset compensation range is 8 / 180×pi, and the lower limit value of the preset compensation range is -8 / 180×pi.

6. A compensation device for the steering wheel angle, characterized in that, It includes: A judgment module, configured to judge whether the vehicle meets the trigger condition for steering wheel angle compensation; An acquisition module, configured to acquire the current steering wheel angle of the vehicle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time when the vehicle meets the trigger condition; A compensation module, configured to determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, and compensate the steering wheel angle according to the current compensation angle; Among them, the judgment module is specifically configured to: acquire the current steering wheel torque, current steering wheel speed, current steering wheel angle, current yaw rate, and current vehicle speed of the vehicle, and judge whether the current steering wheel torque is less than a preset torque value, and whether the current steering wheel speed is less than a preset speed, and whether the current steering wheel angle is less than a preset angle, and whether the current yaw rate is less than a preset yaw rate, and whether the current vehicle speed is less than a preset vehicle speed. If the current steering wheel torque is less than the preset torque value, and the current steering wheel speed is less than the preset speed, and the current steering wheel angle is less than the preset angle, and the current yaw rate is less than the preset yaw rate, and the current vehicle speed is less than the preset vehicle speed, it is determined that the vehicle meets the trigger condition for steering wheel angle compensation; otherwise, it is determined that the vehicle does not meet the trigger condition for steering wheel angle compensation; Among them, the compensation module is specifically configured to: based on a preset steering wheel angle compensation strategy, determine the current compensation angle of the steering wheel angle according to the current steering wheel angle, the compensation angle of the previous cycle, and the compensation angle when the vehicle was powered off last time, where the preset steering wheel angle compensation strategy is: DeltaSteerWhlAg=V×factor×(SteerWhlAg-SteerWhlAgOffs_Init-DeltaSteerWhlAgPre)+DeltaSteerWhlAgPre; Wherein, DeltaSteerWhlAg is the current compensation angle, V is the current vehicle speed, factor is the compensation factor, SteerWhlAg is the current steering wheel angle, SteerWhlAgOffs_Init is the compensation angle when the vehicle was powered off last time, and DeltaSteerWhlAgPre is the compensation angle calculated in the previous cycle.

7. A vehicle, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for compensating the steering wheel angle according to any one of claims 1-5.

8. A computer storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to be used for implementing the method for compensating the steering wheel angle according to any one of claims 1-5.

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