Method, device and vehicle for online compensation of steering clearance of autonomous driving vehicle

Abstract

The present invention provides an online compensation method, device and vehicle for steering clearance of an autonomous driving vehicle, which belongs to the technical field of steering clearance compensation. The method includes: when the autonomous driving vehicle is in an autonomous driving state, judging whether the autonomous driving vehicle meets the steering clearance identification condition based on the acquired vehicle motion state data; when the steering clearance identification condition is met, obtaining a first steering wheel angle sequence output by an electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data within a time window; generating a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data, and performing online compensation for the steering wheel angle instruction based on the steering clearance compensation instruction. The present invention can realize the identification and compensation of steering clearance without switching to the manual driving state, thereby realizing the online identification and compensation of steering clearance.

Description

Technical Field

[0001] The present invention relates to the technical field of steering clearance compensation, and in particular to an online steering clearance compensation method, device and vehicle for an autonomous driving vehicle. Background Art

[0002] The control module of the vehicle's autonomous driving system calculates the corresponding steering wheel control instructions based on the planned path generated by the upstream planning module through a control algorithm, and achieves lateral control of the vehicle by controlling the steering wheel angle. The vehicle's steering system then drives the vehicle's front wheels to steer synchronously based on the real-time steering wheel angle. In theory, there is a certain proportional relationship between the steering wheel angle and the front wheel angle, which is also known as the steering wheel-to-front wheel angle ratio. However, in real-world scenarios, the vehicle's steering system is prone to steering play due to loose connections in the chassis steering mechanism, loose steering motor drive gears, and loose connections in the steering telescopic joint. This is when the vehicle's front wheels do not rotate synchronously after the steering wheel swings. This steering play reduces the control accuracy of the vehicle's lateral control.

[0003] To address the steering backlash issue, patent CN115180017A proposes a method for compensating steering wheel angle. This method periodically identifies the steering backlash of the ego vehicle's steering wheel in manual driving mode and generates the corresponding steering backlash. During autonomous driving, the method calculates the steering wheel angle compensation based on the steering direction and the ego vehicle's steering backlash. After smoothing the compensation, the theoretical steering wheel angle calculated by the control module is compensated. Finally, the ego vehicle's steering wheel is laterally controlled based on the compensated steering wheel control command. However, this patent requires frequent offline steering backlash identification and cannot achieve online steering backlash identification and compensation.

[0004] Therefore, there is an urgent need to provide an online compensation method, device and vehicle for the steering clearance of an autonomous driving vehicle to achieve online compensation for the steering clearance of the autonomous driving vehicle. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device and vehicle for online compensation of steering clearance of an autonomous driving vehicle to solve the technical problem in the existing technology that the steering clearance of the autonomous driving vehicle cannot be compensated online, resulting in a low degree of automation of the autonomous driving vehicle.

[0006] On the one hand, in order to solve the above technical problems, the present invention provides an online compensation method for steering clearance of an autonomous driving vehicle, comprising:

[0007] When the autonomous driving vehicle is in the autonomous driving state, determining whether the autonomous driving vehicle meets the steering gap recognition condition based on the acquired vehicle motion state data;

[0008] When a steering clearance recognition condition is met, obtaining a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data within a time window;

[0009] A steering clearance compensation instruction is generated based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data, and a steering wheel angle instruction is compensated online based on the steering clearance compensation instruction.

[0010] In one possible implementation, the vehicle motion state data includes the vehicle yaw rate and vehicle speed; the steering clearance identification condition includes:

[0011] The vehicle yaw rate is less than or equal to a yaw rate threshold; and the vehicle speed is greater than a vehicle speed threshold.

[0012] In a possible implementation, before acquiring the first steering wheel angle sequence output by the electric hydraulic power steering system within the time window, the method further includes:

[0013] Acquire a sampling time interval and a preset number of data, and determine the time window based on the sampling time interval and the preset number of data;

[0014] The number of data in the first steering wheel angle sequence and the second steering wheel angle sequence is equal to the preset number of data.

[0015] In one possible implementation, the steering clearance compensation instruction includes a compensation direction and a compensation value; and generating the steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence, and the vehicle motion state data includes:

[0016] generating a target steering clearance based on the first steering wheel angle sequence and the second steering wheel angle sequence;

[0017] determining the compensation direction based on the vehicle yaw rate;

[0018] The compensation value is generated based on the steering wheel angle, the compensation direction, and the target steering clearance.

[0019] In a possible implementation, generating a target steering clearance based on the first steering wheel angle sequence and the second steering wheel angle sequence includes:

[0020] Smoothing the first steering wheel angle sequence and the second steering wheel angle sequence based on a sampling time interval to obtain a first steering wheel angle smoothed data sequence and a second steering wheel angle smoothed data sequence;

[0021] determining a first maximum steering wheel angle smoothed value and a first minimum steering wheel angle smoothed value in the first steering wheel angle smoothed data sequence, and determining a second maximum steering wheel angle smoothed value and a second minimum steering wheel angle smoothed value in the second steering wheel angle smoothed data sequence;

[0022] The difference between the first maximum corner smoothing value and the second maximum corner smoothing value is used as a first difference, and the difference between the first minimum corner smoothing value and the second minimum corner smoothing value is used as a second difference;

[0023] The larger value of the first difference and the second difference is used as the target steering clearance.

[0024] In a possible implementation, the smoothing the first steering wheel angle sequence based on the sampling time interval to obtain a first steering wheel angle smoothed data sequence includes:

[0025] performing differentiation processing on the first steering wheel angle sequence based on the sampling time interval to obtain a first steering wheel angle differential data sequence;

[0026] Smoothing the first steering wheel angle differential data sequence based on a set smoothing window to obtain a first smoothed data sequence;

[0027] Integrate the first smoothed data sequence to obtain the first steering wheel angle smoothed data sequence.

[0028] In one possible implementation, the method for online compensation of steering clearance of an autonomous driving vehicle further includes:

[0029] Get the historical turning gap of the previous moment;

[0030] When the historical steering clearance is less than or equal to the target steering clearance, taking the target steering clearance as the actual steering clearance;

[0031] When the historical steering clearance is greater than the target steering clearance, the historical steering clearance is used as the actual steering clearance.

[0032] In a possible implementation, generating the compensation value based on the steering wheel angle, the compensation direction, and the target steering clearance includes:

[0033] When the steering wheel angle is greater than or equal to the target steering clearance, determining a first product of the compensation direction and the target steering clearance, and taking the sum of the first product and the steering wheel angle as the compensation value;

[0034] When the steering wheel angle is less than the target steering clearance, a gain coefficient is determined based on a preset interpolation table and the steering wheel angle, and a second product of the compensation direction, the gain coefficient and the steering wheel angle is used as the compensation value.

[0035] On the other hand, the present invention also provides an online compensation device for steering clearance of an autonomous driving vehicle, comprising:

[0036] a steering gap recognition condition judgment unit, configured to judge whether the autonomous driving vehicle satisfies a steering gap recognition condition based on the acquired vehicle motion state data when the autonomous driving vehicle is in the autonomous driving state;

[0037] a steering wheel angle sequence determining unit, configured to obtain, within a time window, a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data when a steering clearance identification condition is met;

[0038] A steering clearance online compensation unit is configured to generate a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence, and the vehicle motion state data, and to perform online compensation on a steering wheel angle instruction based on the steering clearance compensation instruction.

[0039] On the other hand, the present invention also provides an autonomous driving vehicle, comprising a memory and a processor, wherein:

[0040] The memory is used to store programs;

[0041] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the online compensation method for steering clearance of an autonomous driving vehicle in any one of the possible implementation methods mentioned above.

[0042] The beneficial effects of the present invention are as follows: the online compensation method for steering clearance of an autonomous driving vehicle provided by the present invention judges whether the vehicle motion state data in the autonomous driving state meets the steering clearance identification conditions. When the steering clearance identification conditions are met, the first steering wheel angle sequence output by the electric hydraulic power steering system is directly obtained in the autonomous driving state, and the second steering wheel angle sequence calculated based on the vehicle motion state data is obtained. Then, a steering clearance compensation instruction can be generated based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data. The steering clearance can be identified and compensated without switching to the manual driving state, thereby realizing online identification and compensation of the steering clearance.

[0043] Furthermore, the present invention sets a time window for the first steering wheel angle sequence and the second steering wheel angle sequence, and can ensure the number of first steering wheel angle sequences and second steering wheel angle sequences obtained through the time window, thereby ensuring the accuracy of the generated steering clearance compensation instructions, thereby improving the compensation accuracy of the steering clearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A schematic flow chart of an embodiment of the method for online compensation of steering clearance of an autonomous driving vehicle provided by the present invention;

[0046] Figure 2 For the present invention Figure 1 A schematic flow chart of an embodiment of step S103;

[0047] Figure 3 For the present invention Figure 2 A schematic flow chart of an embodiment of step S201;

[0048] Figure 4 For the present invention Figure 3 A schematic flow chart of an embodiment of obtaining first steering wheel angle smoothing data in step S301;

[0049] Figure 5 This is a schematic structural diagram of an embodiment of an online compensation device for steering clearance of an autonomous driving vehicle provided by the present invention;

[0050] Figure 6 A schematic structural diagram of an embodiment of the autonomous driving vehicle provided by the present invention. DETAILED DESCRIPTION

[0051] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0052] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps that have no logical contextual relationship can be reversed in order or implemented simultaneously. In addition, those skilled in the art, guided by the content of the present invention, can add one or more other operations to the flowcharts or remove one or more operations from the flowcharts. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0053] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0054] The present invention provides a method, device and vehicle for online compensation of steering clearance of an autonomous driving vehicle, which are described below respectively.

[0055] Figure 1 This is a flow chart of an embodiment of the method for online compensation of steering clearance of an autonomous driving vehicle provided by the present invention. Figure 1 As shown in FIG, the online compensation method for steering clearance of an autonomous driving vehicle includes:

[0056] S101: When the autonomous driving vehicle is in an autonomous driving state, determining whether the autonomous driving vehicle meets a turning gap recognition condition based on acquired vehicle motion state data;

[0057] S102: When a steering clearance recognition condition is met, obtaining a first steering wheel angle sequence output by an electric hydraulic power steering system (EHPS) and a second steering wheel angle sequence calculated based on vehicle motion state data within a time window;

[0058] S103 : Generate a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence, and the vehicle motion state data, and perform online compensation on the steering wheel angle instruction based on the steering clearance compensation instruction.

[0059] The vehicle motion state data includes but is not limited to the vehicle yaw rate and vehicle speed.

[0060] The relationship between the second steering wheel angle sequence and the vehicle motion state data is:

[0061]

[0062]

[0063] Where, is the kth value of the second steering wheel angle sequence; is the steering ratio; The real-time front wheel angle of the vehicle; is the vehicle yaw angular velocity; is the vehicle wheelbase; For vehicle speed.

[0064] It should be noted that the steering clearance compensation instruction in step S103 is packaged according to a preset message format and sent to the steering gear through the bus to achieve lateral control of the autonomous driving vehicle.

[0065] Compared with the prior art, the online compensation method for steering clearance of an autonomous driving vehicle provided by an embodiment of the present invention judges whether the vehicle motion state data in the autonomous driving state meets the steering clearance identification condition. When the steering clearance identification condition is met, the first steering wheel angle sequence output by the electric hydraulic power steering system is directly obtained in the autonomous driving state, and the second steering wheel angle sequence calculated based on the vehicle motion state data is obtained. Then, a steering clearance compensation instruction can be generated based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data. The steering clearance can be identified and compensated without switching to the manual driving state, thereby realizing online identification and compensation of the steering clearance.

[0066] Furthermore, the embodiment of the present invention sets a time window for the first steering wheel angle sequence and the second steering wheel angle sequence. The time window can ensure the number of first steering wheel angle sequences and second steering wheel angle sequences obtained, thereby ensuring the accuracy of the generated steering clearance compensation instructions and improving the compensation accuracy of the steering clearance.

[0067] In a specific embodiment of the present invention, the steering clearance identification conditions include:

[0068] The vehicle's yaw rate is less than or equal to the yaw rate threshold; the vehicle's speed is greater than the vehicle's speed threshold.

[0069] Specifically, the yaw rate threshold is 0.1° / s, and the vehicle speed threshold is 50 km / h.

[0070] By setting the vehicle yaw rate to be less than or equal to a yaw rate threshold, the embodiment of the present invention can ensure that the autonomous driving vehicle travels in a straight line and avoid steering wheel rotation due to curves and the like. Furthermore, by setting the vehicle speed to be greater than the vehicle speed threshold, the stable operation of the autonomous driving vehicle can be ensured and steering wheel rotation caused by uneven road surface factors can be avoided, thereby ensuring the accurate generation of steering clearance compensation instructions.

[0071] Since the steering clearance compensation instruction needs to be generated based on the first steering wheel angle sequence and the second steering wheel angle sequence, if the number of data in the angle sequence is too small, the generated steering clearance compensation instruction may be unreasonable. To solve this technical problem, in some embodiments of the present invention, before step S102, the following steps are further included:

[0072] Obtaining a sampling time interval and a preset number of data, and determining a time window based on the sampling time interval and the preset number of data;

[0073] The number of data in the first steering wheel angle sequence and the second steering wheel angle sequence is equal to the preset number of data.

[0074] The embodiment of the present invention determines the time window by setting a preset number of data, thereby ensuring that the number of data in the first steering wheel angle sequence and the second steering wheel angle sequence is equal to the preset number of data, that is, ensuring that the number of data in the first steering wheel angle sequence and the second steering wheel angle sequence is sufficient, thereby improving the accuracy of the generated steering clearance compensation instruction.

[0075] It should be noted that: before step S103, the following steps are also included:

[0076] It is determined whether the number of data in the first steering wheel angle sequence and the second steering wheel angle sequence is equal to the preset number of data. If not, step S103 is not executed, and the historical steering clearance determined at the previous moment is used as the target steering clearance at the current moment.

[0077] It should be understood that the steering clearance compensation instruction includes the compensation direction and compensation value; Figure 2 As shown, step S103 includes:

[0078] S201, generating a target steering clearance based on a first steering wheel angle sequence and a second steering wheel angle sequence;

[0079] S202, determining a compensation direction based on the vehicle's yaw rate;

[0080] S203: Generate a compensation value based on the steering wheel angle, the compensation direction, and the target steering clearance.

[0081] Among them, the compensation direction Specifically:

[0082]

[0083] Where, The steering wheel angular velocity calculated by the control module at the current moment.

[0084] In some embodiments of the present invention, Figure 3 As shown, step S201 includes:

[0085] S301: Smoothing the first steering wheel angle sequence and the second steering wheel angle sequence based on a sampling time interval to obtain a first steering wheel angle smoothed data sequence and a second steering wheel angle smoothed data sequence;

[0086] S302: Determine a first maximum steering wheel angle smoothed value and a first minimum steering wheel angle smoothed value in a first steering wheel angle smoothed data sequence, and determine a second maximum steering wheel angle smoothed value and a second minimum steering wheel angle smoothed value in a second steering wheel angle smoothed data sequence;

[0087] S303: taking the difference between the first maximum corner smoothing value and the second maximum corner smoothing value as the first difference, and taking the difference between the first minimum corner smoothing value and the second minimum corner smoothing value as the second difference;

[0088] S304: The larger value of the first difference and the second difference is used as the target steering clearance.

[0089] The embodiment of the present invention can remove some noise and improve the accuracy of the target steering clearance by smoothing the first steering wheel angle sequence and the second steering wheel angle sequence.

[0090] Specifically, the target steering clearance for:

[0091]

[0092]

[0093]

[0094]

[0095]

[0096] Where, is the first difference; is the second difference; is the first maximum angle smoothing value; is the first minimum angle smoothing value; is the second largest angle smoothing value; is the second minimum angle smoothing value; Smooth the data sequence for the first steering wheel angle; Smooth the data series for the second steering wheel angle.

[0097] It should be understood that the process of smoothing the first steering wheel angle sequence and the second steering wheel angle sequence in step S301 is the same. In the specific embodiment of the present invention, the smoothing process of the first steering wheel angle sequence is taken as an example. Figure 4 As shown, step S301 of smoothing the first steering wheel angle sequence based on the sampling time interval to obtain first steering wheel angle smoothed data includes:

[0098] S401, performing differentiation processing on a first steering wheel angle sequence based on a sampling time interval to obtain a first steering wheel angle differential data sequence;

[0099] S402, smoothing the first steering wheel angle differential data sequence based on a set smoothing window to obtain a first smoothed data sequence;

[0100] S403: Perform integration processing on the first smoothed data sequence to obtain a first steering wheel angle smoothed data sequence.

[0101] The principle of the differential processing is: discretize the first steering wheel angle sequence to obtain a first steering wheel angle differential data sequence.

[0102] Specifically, each first steering wheel angle differential data in the first steering wheel angle differential data sequence is for:

[0103]

[0104] Where, is the sampling time interval; is the kth first steering wheel angle differential data; is the k-1th first steering wheel angle differential data.

[0105] Among them, each first smoothed data in the first smoothed data sequence for:

[0106]

[0107] Where, is the length of the smoothing window; ≤ ≤ .

[0108] In the embodiment of the present invention, the mean value of the first steering wheel angle differential data within the smoothing window is used as the kth first smoothing data, thereby achieving denoising of the first steering wheel angle sequence.

[0109] The integration process is as follows: setting the integration window, based on the integration window The first smoothed data determined based on the sampling time interval is superimposed, that is, the differential data is restored.

[0110] Specifically, the first steering wheel angle smoothed data in the first steering wheel angle smoothed data sequence is:

[0111]

[0112] In other words, calculate the first steering wheel angle displacement within each sampling interval ; After smoothing, integrate to get the cumulative change of the steering wheel at each moment .

[0113] Since online compensation of steering clearance is a continuous and ongoing process, in other words, before online compensation is performed at the current moment, the historical steering clearance corresponding to the previous moment has been determined. In order to avoid a decision-making error when a conflict occurs between the historical steering clearance and the target steering clearance, in some embodiments of the present invention, the online compensation method for steering clearance of an autonomous vehicle further includes:

[0114] When the historical steering clearance is less than or equal to the target steering clearance, the target steering clearance is used as the actual steering clearance;

[0115] When the historical steering clearance is greater than the target steering clearance, the historical steering clearance is used as the actual steering clearance.

[0116] The embodiment of the present invention uses the larger value of the historical steering clearance compensation value and the target steering clearance as the actual steering clearance, thereby ensuring the rationality of the steering clearance and improving the success rate of compensating the steering clearance.

[0117] In some embodiments of the present invention, step S203 includes:

[0118] When the steering wheel angle is greater than or equal to the target steering clearance, determining a first product of the compensation direction and the target steering clearance, and taking the sum of the first product and the steering wheel angle as a compensation value;

[0119] When the steering wheel angle is less than the target steering clearance, a gain coefficient is determined based on a preset interpolation table and the steering wheel angle, and a second product of the compensation direction, the gain coefficient and the steering wheel angle is used as a compensation value.

[0120] Specifically, when the steering wheel angle is greater than or equal to the target steering clearance, the compensation value for:

[0121]

[0122] Where, Turn gap for the target; is the steering wheel angle.

[0123] When the steering wheel angle is less than the target steering clearance, the compensation value for:

[0124]

[0125] Where, Indicates the gain coefficient obtained by looking up the table; is the index into the interpolation table.

[0126] The interpolation table includes the steering clearance and the gain coefficient corresponding to the steering clearance. Specifically, the steering clearance in the interpolation table is , that is: establish The corresponding gain factor.

[0127] It should be noted that in the interpolation table, small angles correspond to large gains, and large angles correspond to small gains. The gain coefficient is obtained through interpolation, and the steering angle is mapped to a large angle to compensate for the steering clearance.

[0128] Specifically, the index of the interpolation table is the steering wheel angle. Specifically, the gain coefficient corresponding to the steering wheel angle is determined in the interpolation table using a preset interpolation method. The preset interpolation method is linear interpolation.

[0129] Since the compensation of the steering wheel angle should be less than the steering gear design value, before step S203, it is necessary to determine whether the target steering clearance is greater than the steering gear design value. If it is greater, a message is uploaded to remind the user that the steering clearance is too large and the vehicle needs maintenance.

[0130] In order to better implement the online compensation method for steering clearance of an autonomous driving vehicle in an embodiment of the present invention, based on the online compensation method for steering clearance of an autonomous driving vehicle, an embodiment of the present invention further provides an online compensation device for steering clearance of an autonomous driving vehicle, such as Figure 5 As shown, the automatic driving vehicle steering clearance online compensation device 500 includes:

[0131] a turning gap recognition condition judgment unit 501 for judging whether the autonomous driving vehicle satisfies a turning gap recognition condition based on the acquired vehicle motion state data when the autonomous driving vehicle is in the autonomous driving state;

[0132] a steering wheel angle sequence determining unit 502 for acquiring, within a time window, a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data when a steering clearance identification condition is met;

[0133] The steering clearance online compensation unit 503 is used to generate a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data, and perform online compensation on the steering wheel angle instruction based on the steering clearance compensation instruction.

[0134] The online compensation device 500 for steering clearance of an autonomous vehicle provided in the above embodiment can implement the technical solution described in the above embodiment of the online compensation method for steering clearance of an autonomous vehicle. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above embodiment of the online compensation method for steering clearance of an autonomous vehicle, and will not be repeated here.

[0135] like Figure 6 As shown, the present invention also provides an autonomous driving vehicle 600. The autonomous driving vehicle 600 includes a processor 601, a memory 602, and a display 603. Figure 6 Only some of the components of the autonomous vehicle 600 are shown, but it should be understood that implementation of all of the shown components is not required, and more or fewer components may be implemented instead.

[0136] In some embodiments, the processor 601 can be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run the program code or process data stored in the memory 602, such as the online compensation method for steering clearance of an autonomous driving vehicle in the present invention.

[0137] In some embodiments of the present invention, processor 601 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 601 may be local or remote. In some embodiments, processor 601 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, multiple clouds, or any combination thereof.

[0138] In some embodiments, the memory 602 can be an internal storage unit of the autonomous driving vehicle 600, such as a hard disk or memory of the autonomous driving vehicle 600.

[0139] Furthermore, the memory 602 may include both an internal storage unit of the autonomous driving vehicle 600 and an external storage device. The memory 602 is used to store application software installed in the autonomous driving vehicle 600 and various data.

[0140] In some embodiments, display 603 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 603 is used to display information about autonomous vehicle 600 and to present a visual user interface. Components 601-603 of autonomous vehicle 600 communicate with each other via a system bus.

[0141] In some embodiments of the present invention, when the processor 601 executes the autonomous driving vehicle steering clearance online compensation program in the memory 602, the following steps may be implemented:

[0142] When the autonomous driving vehicle is in the autonomous driving state, determining whether the autonomous driving vehicle meets the steering gap recognition condition based on the acquired vehicle motion state data;

[0143] When the steering clearance recognition condition is met, a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data are obtained within a time window;

[0144] A steering clearance compensation instruction is generated based on the first steering wheel angle sequence, the second steering wheel angle sequence and vehicle motion state data, and the steering wheel angle instruction is compensated online based on the steering clearance compensation instruction.

[0145] It should be understood that when the processor 601 executes the online compensation program for the steering gap of the autonomous driving vehicle in the memory 602, in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0146] Accordingly, an embodiment of the present invention also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, it can implement the steps or functions of the online compensation method for steering clearance of an autonomous driving vehicle provided by the above-mentioned method embodiments.

[0147] Those skilled in the art will appreciate that all or part of the process flow of the above-described method embodiment can be implemented by instructing relevant hardware (such as a processor, controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0148] The above is a detailed introduction to the online compensation method, device and vehicle for steering clearance of an autonomous driving vehicle provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An online compensation method for steering clearance of an autonomous driving vehicle, characterized in that: include: When the autonomous driving vehicle is in the autonomous driving state, judging whether the autonomous driving vehicle meets the turning gap recognition condition based on the acquired vehicle motion state data; When the steering clearance recognition condition is met, obtaining a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data within a time window; Generate a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data, and perform online compensation on a steering wheel angle instruction based on the steering clearance compensation instruction, wherein the steering clearance compensation instruction includes a compensation direction and a compensation value; the generating the steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data comprises: Generating a target steering clearance based on the first steering wheel angle sequence and the second steering wheel angle sequence; determining the compensation direction based on the vehicle yaw rate; generating the compensation value based on the steering wheel angle, the compensation direction and the target steering clearance; wherein generating the target steering clearance based on the first steering wheel angle sequence and the second steering wheel angle sequence comprises: Smoothing the first steering wheel angle sequence and the second steering wheel angle sequence based on a sampling time interval to obtain a first steering wheel angle smoothed data sequence and a second steering wheel angle smoothed data sequence; Determine a first maximum steering wheel angle smoothing value and a first minimum steering wheel angle smoothing value in the first steering wheel angle smoothing data sequence, and determine a second maximum steering wheel angle smoothing value and a second minimum steering wheel angle smoothing value in the second steering wheel angle smoothing data sequence; The difference between the first maximum corner smoothing value and the second maximum corner smoothing value is used as a first difference, and the difference between the first minimum corner smoothing value and the second minimum corner smoothing value is used as a second difference; The larger value of the first difference and the second difference is used as the target steering clearance.

2. The method for online compensation of steering clearance of an automatic driving vehicle according to claim 1, characterized in that: The vehicle motion state data includes the vehicle yaw rate and vehicle speed; the steering clearance identification conditions include: The vehicle yaw rate is less than or equal to a yaw rate threshold; and the vehicle speed is greater than a vehicle speed threshold.

3. The method for online compensation of steering clearance of an automatic driving vehicle according to claim 1, characterized in that: Before acquiring the first steering wheel angle sequence output by the electric hydraulic power steering system within the time window, the method further includes: Acquire a sampling time interval and a preset number of data, and determine the time window based on the sampling time interval and the preset number of data; Wherein, the number of data in the first steering wheel angle sequence and the second steering wheel angle sequence is not less than the preset number of data.

4. The method for online compensation of steering clearance of an automatic driving vehicle according to claim 1, characterized in that: The step of smoothing the first steering wheel angle sequence based on the sampling time interval to obtain a first steering wheel angle smoothed data sequence includes: Performing differentiation processing on the first steering wheel angle sequence based on the sampling time interval to obtain a first steering wheel angle differential data sequence; Smoothing the first steering wheel angle differential data sequence based on a set smoothing window to obtain a first smoothed data sequence; The first smoothed data sequence is integrated to obtain the first steering wheel angle smoothed data sequence.

5. The method for online compensation of steering clearance of an automatic driving vehicle according to claim 1, characterized in that: The method for online compensation of steering clearance of an autonomous driving vehicle further includes: Get the historical turning gap of the previous moment; When the historical steering clearance is less than or equal to the target steering clearance, taking the target steering clearance as the actual steering clearance; When the historical steering clearance is greater than the target steering clearance, the historical steering clearance is used as the actual steering clearance.

6. The method for online compensation of steering clearance of an automatic driving vehicle according to claim 1, characterized in that: The generating the compensation value based on the steering wheel angle, the compensation direction and the target steering clearance comprises: When the steering wheel angle is greater than or equal to the target steering clearance, determining a first product of the compensation direction and the target steering clearance, and taking the sum of the first product and the steering wheel angle as the compensation value; When the steering wheel angle is less than the target steering clearance, a gain coefficient is determined based on a preset interpolation table and the steering wheel angle, and a second product of the compensation direction, the gain coefficient and the steering wheel angle is used as the compensation value.

7. An online compensation device for steering clearance of an automatic driving vehicle, characterized in that: include: a turning gap recognition condition judgment unit, used to judge whether the autonomous driving vehicle satisfies the turning gap recognition condition based on the acquired vehicle motion state data when the autonomous driving vehicle is in the autonomous driving state; a steering wheel angle sequence determination unit, configured to obtain, within a time window, a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence inferred based on the vehicle motion state data when a steering clearance recognition condition is met; A steering clearance online compensation unit is used to generate a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data, and to perform online compensation on a steering wheel angle instruction based on the steering clearance compensation instruction, wherein the steering clearance compensation instruction includes a compensation direction and a compensation value; the generating of the steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data comprises: Generating a target steering clearance based on the first steering wheel angle sequence and the second steering wheel angle sequence; determining the compensation direction based on the vehicle yaw rate; generating the compensation value based on the steering wheel angle, the compensation direction and the target steering clearance; wherein generating the target steering clearance based on the first steering wheel angle sequence and the second steering wheel angle sequence comprises: Smoothing the first steering wheel angle sequence and the second steering wheel angle sequence based on a sampling time interval to obtain a first steering wheel angle smoothed data sequence and a second steering wheel angle smoothed data sequence; Determine a first maximum steering wheel angle smoothing value and a first minimum steering wheel angle smoothing value in the first steering wheel angle smoothing data sequence, and determine a second maximum steering wheel angle smoothing value and a second minimum steering wheel angle smoothing value in the second steering wheel angle smoothing data sequence; The difference between the first maximum corner smoothing value and the second maximum corner smoothing value is used as a first difference, and the difference between the first minimum corner smoothing value and the second minimum corner smoothing value is used as a second difference; The larger value of the first difference and the second difference is used as the target steering clearance.

8. An autonomous driving vehicle, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the online compensation method for steering clearance of an autonomous driving vehicle as described in any one of claims 1 to 6.

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