Commercial vehicle steering wheel zero position identification method, device, electronic device and storage medium

Abstract

The present invention relates to a commercial vehicle steering wheel zero position identification method, device, electronic device, and storage medium, belonging to the field of autonomous driving technology. The commercial vehicle steering wheel zero position identification method comprises: obtaining steering wheel angle measurement data from multiple sets of vehicles, performing linear fitting on the multiple sets of steering wheel angle measurement data to obtain a steering wheel angle fitting function corresponding to the vehicle; and using the intercept of the steering wheel angle fitting function corresponding to the vehicle as the vehicle's steering wheel zero position value. While achieving steering wheel zero position identification, the present invention reduces the computational complexity of the steering wheel zero position identification process, thereby reducing resource usage during the steering wheel zero position identification process and saving the cost of steering wheel zero position identification.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and storage medium for identifying the zero position of a commercial vehicle steering wheel. Background Art

[0002] The existing method for measuring steering wheel zero offset is to drive the vehicle along a strictly calibrated straight line, then read the current steering wheel angle from the Electric Power Steering (EPS) system and use it as the steering wheel zero offset. The entire testing process is time-consuming and labor-intensive, and is significantly affected by human factors.

[0003] In addition, the parameters related to the steering wheel zero bias are time-varying parameters and need to be identified online in real time. Real-time identification of the steering wheel zero bias parameters requires the running memory of the vehicle controller and places high demands on computing power. Summary of the Invention

[0004] In view of this, it is necessary to provide a commercial vehicle steering wheel zero position identification method, device, electronic device and storage medium to solve the problems of high complexity and excessive resource consumption of existing steering wheel zero position offset measurement methods.

[0005] In order to solve the above problems, the present invention provides a method for identifying the zero position of a commercial vehicle steering wheel, comprising:

[0006] Obtaining steering wheel angle measurement data of multiple groups of vehicles, and performing linear fitting on the steering wheel angle measurement data of the multiple groups of vehicles to obtain steering wheel angle fitting functions corresponding to the vehicles;

[0007] The intercept of the steering wheel angle fitting function corresponding to the vehicle is taken as the steering wheel zero position value of the vehicle.

[0008] In one possible implementation, performing linear fitting on the steering wheel angle measurement data of multiple groups of vehicles to obtain a steering wheel angle fitting function corresponding to each vehicle includes:

[0009] Based on the moving average filter algorithm and the least squares method, a linear fit is performed on the steering wheel angle measurement data of multiple groups of vehicles within a preset window;

[0010] Based on the linear fitting results of multiple preset windows, the steering wheel angle fitting function corresponding to the vehicle is obtained.

[0011] In one possible implementation, performing linear fitting on steering wheel angle measurement data of multiple groups of vehicles within a preset window based on a moving average filtering algorithm and a least squares method includes:

[0012] Linear fitting is performed on the steering wheel angle measurement data of multiple groups of vehicles within a preset window, so that the sum of squares of the residuals between the steering wheel angle fitting function corresponding to the vehicles in the preset window and the steering wheel angle measurement data of the multiple groups of vehicles is minimized.

[0013] In one possible implementation, performing linear fitting on the steering wheel angle measurement data of multiple groups of vehicles within a preset window so that the sum of squared residuals between the steering wheel angle fitting function corresponding to the vehicles within the preset window and the steering wheel angle measurement data of the multiple groups of vehicles is minimized includes:

[0014] Perform linear fitting on steering wheel angle measurement data of multiple groups of vehicles based on the following formula:

[0015]

[0016] in, Indicates the The residual square sum of the steering wheel angle fitting function corresponding to the vehicle in the preset window and the steering wheel angle measurement data of multiple groups of vehicles is Indicates the The steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The vertical coordinate data of the steering wheel angle measurement data of the group vehicle, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The horizontal coordinate data of the steering wheel angle measurement data of the group vehicle, The default window size.

[0017] In a possible implementation, the The steering wheel angle fitting function corresponding to the vehicle in the preset window is determined based on the following formula:

[0018]

[0019] in, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The horizontal coordinate data of the steering wheel angle measurement data of the group vehicle, Indicates the The first The vertical coordinate data of the steering wheel angle measurement data of the group vehicle, The default window size.

[0020] In one possible implementation, obtaining a steering wheel angle fitting function corresponding to the vehicle based on linear fitting results of multiple preset windows includes:

[0021] The steering wheel angle fitting function corresponding to the vehicle is determined based on the following formula:

[0022]

[0023] in, represents the steering wheel angle fitting function corresponding to the vehicle, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the number of preset windows, is the independent variable.

[0024] In a possible implementation, the method further includes:

[0025] After determining the vehicle's steering wheel zero position value, the vehicle's steering wheel zero position value is compensated to the issued steering wheel command value.

[0026] The present invention also provides a commercial vehicle steering wheel zero position identification device, comprising:

[0027] A fitting module is used to obtain steering wheel angle measurement data of multiple groups of vehicles and perform linear fitting on the steering wheel angle measurement data of multiple groups of vehicles to obtain the steering wheel angle fitting function corresponding to the vehicle;

[0028] The determination module is used to use the intercept of the steering wheel angle fitting function corresponding to the vehicle as the steering wheel zero position value of the vehicle.

[0029] The present invention also provides an electronic device comprising a memory and a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the commercial vehicle steering wheel zero position identification method as described above is implemented.

[0030] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the commercial vehicle steering wheel zero position identification method as described above.

[0031] The beneficial effects of the present invention are as follows: the commercial vehicle steering wheel zero position identification method, device, electronic device and storage medium provided by the present invention obtain the steering wheel angle fitting function corresponding to the vehicle by linear fitting of multiple groups of vehicle steering wheel angle measurement data, and the intercept of the steering wheel angle fitting function is used as the vehicle's steering wheel zero position value, thereby reducing the computational complexity of the steering wheel zero position identification process and further reducing the resource usage of the steering wheel zero position identification process. While realizing steering wheel zero position identification, the present invention reduces the computational complexity of the steering wheel zero position identification process, thereby reducing the resource usage of the steering wheel zero position identification process and saving the cost of steering wheel zero position identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic flow chart of an embodiment of a commercial vehicle steering wheel zero position identification method provided by the present invention;

[0033] Figure 2 A schematic flow chart of an embodiment of a commercial vehicle steering wheel zero position identification process provided by the present invention;

[0034] Figure 3 This is a structural schematic diagram of an embodiment of a commercial vehicle steering wheel zero position identification device provided by the present invention;

[0035] Figure 4 This is a structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0037] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. Furthermore, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0038] In the description of the present invention, reference to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment 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 described embodiment may be combined with other embodiments.

[0039] The existing method for measuring steering wheel zero offset is to drive the vehicle along a strictly calibrated straight line, then read the current steering wheel angle from the EPS and use it as the steering wheel zero offset. The entire testing process is time-consuming and labor-intensive, and is greatly affected by human factors.

[0040] In addition, the parameters related to the steering wheel zero bias are time-varying parameters and need to be identified online in real time. Real-time identification of the steering wheel zero bias parameters requires the running memory of the vehicle controller and places high demands on computing power.

[0041] In order to solve the above problems, the present invention provides a method for identifying the zero position of a commercial vehicle steering wheel.

[0042] The specific embodiments are described in detail below:

[0043] A specific embodiment of the present invention discloses a method for identifying the zero position of a commercial vehicle steering wheel. Figure 1 Come and see, Figure 1 This is a flow chart of an embodiment of a commercial vehicle steering wheel zero position identification method provided by the present invention, including step S101 and step S102, wherein:

[0044] In step S101, multiple groups of steering wheel angle measurement data of vehicles are obtained, and linear fitting is performed on the multiple groups of steering wheel angle measurement data of vehicles to obtain a steering wheel angle fitting function corresponding to the vehicle;

[0045] In step S102 , the intercept of the steering wheel angle fitting function corresponding to the vehicle is used as the steering wheel zero position value of the vehicle.

[0046] During implementation, first, the platform (such as a cloud computing platform) can obtain multiple sets of vehicle steering wheel angle measurement data through the steering wheel sensors on the vehicles, and then perform linear fitting on the multiple sets of vehicle steering wheel angle measurement data to obtain the steering wheel angle fitting function corresponding to the vehicle. Finally, the intercept of the steering wheel angle fitting function corresponding to the vehicle is used as the vehicle's steering wheel zero position value to achieve steering wheel zero position identification.

[0047] The commercial vehicle steering wheel zero position identification method provided by the present invention can be applied to vehicle automatic driving scenarios, and can also be applied to vehicle manual driving scenarios to provide prompts to the driver. The present invention does not make specific limitations on this.

[0048] Compared with the prior art, the commercial vehicle steering wheel zero position identification method provided in this embodiment obtains the steering wheel angle fitting function corresponding to the vehicle by linear fitting of multiple groups of vehicle steering wheel angle measurement data. The intercept of the steering wheel angle fitting function is used as the vehicle's steering wheel zero position value, thereby reducing the computational complexity of the steering wheel zero position identification process and further reducing the resource usage of the steering wheel zero position identification process. While realizing steering wheel zero position identification, the present invention reduces the computational complexity of the steering wheel zero position identification process, thereby reducing the resource usage of the steering wheel zero position identification process and saving the cost of steering wheel zero position identification.

[0049] Exemplarily, performing linear fitting on the steering wheel angle measurement data of multiple groups of vehicles to obtain the steering wheel angle fitting function corresponding to the vehicle includes:

[0050] Based on the moving average filter algorithm and the least squares method, a linear fit is performed on the steering wheel angle measurement data of multiple groups of vehicles within a preset window;

[0051] Based on the linear fitting results of multiple preset windows, the steering wheel angle fitting function corresponding to the vehicle is obtained.

[0052] Specifically, when performing linear fitting on multiple sets of steering wheel angle measurement data, the steering wheel angle measurement data can be divided into multiple preset windows using a moving average filtering algorithm. Then, a least squares method is used to perform linear fitting on the steering wheel angle measurement data of the multiple sets of vehicles within each preset window. The least squares method has low computational complexity and can achieve good fitting results. Other linear fitting methods can also be used to perform linear fitting on multiple sets of steering wheel angle measurement data, and the present invention does not specifically limit this.

[0053] Finally, the steering wheel angle fitting function corresponding to the vehicle can be obtained based on the linear fitting results of multiple preset windows. By using the moving average filtering algorithm, the final steering wheel angle fitting function corresponding to the vehicle can be made smoother, thereby ensuring the accuracy of the fitting.

[0054] Exemplarily, the linear fitting of steering wheel angle measurement data of multiple groups of vehicles within a preset window based on a moving average filtering algorithm and a least squares method includes:

[0055] Linear fitting is performed on the steering wheel angle measurement data of multiple groups of vehicles within a preset window, so that the sum of squares of the residuals between the steering wheel angle fitting function corresponding to the vehicles in the preset window and the steering wheel angle measurement data of the multiple groups of vehicles is minimized.

[0056] Specifically, when performing linear fitting on the steering wheel angle measurement data of multiple groups of vehicles within a preset window, the fitting target can be set to minimize the sum of squared residuals between the steering wheel angle fitting function corresponding to the vehicles in the preset window and the steering wheel angle measurement data of the multiple groups of vehicles, so that the fitting result is closer to the real data and the accuracy of the fitting is ensured.

[0057] Exemplarily, performing linear fitting on the steering wheel angle measurement data of multiple groups of vehicles within a preset window so that the sum of squared residuals between the steering wheel angle fitting function corresponding to the vehicles within the preset window and the steering wheel angle measurement data of the multiple groups of vehicles is minimized includes:

[0058] Perform linear fitting on steering wheel angle measurement data of multiple groups of vehicles based on the following formula:

[0059]

[0060] in, Indicates the The residual square sum of the steering wheel angle fitting function corresponding to the vehicle in the preset window and the steering wheel angle measurement data of multiple groups of vehicles is Indicates the The steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The vertical coordinate data of the steering wheel angle measurement data of the group vehicle, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The horizontal coordinate data of the steering wheel angle measurement data of the group vehicle, The default window size.

[0061] Specifically, when performing linear fitting on the steering wheel angle measurement data of multiple groups of vehicles within a preset window, the linear fitting can be performed according to the above formula.

[0062] For example, the The steering wheel angle fitting function corresponding to the vehicle in the preset window is determined based on the following formula:

[0063]

[0064] in, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The horizontal coordinate data of the steering wheel angle measurement data of the group vehicle, Indicates the The first The vertical coordinate data of the steering wheel angle measurement data of the group vehicle, The default window size.

[0065] Specifically, the intercept and proportional coefficient of the steering wheel angle fitting function corresponding to the vehicle in the preset window can be determined according to the above formula.

[0066] Exemplarily, the linear fitting results based on multiple preset windows are used to obtain a steering wheel angle fitting function corresponding to the vehicle, including:

[0067] The steering wheel angle fitting function corresponding to the vehicle is determined based on the following formula:

[0068]

[0069] in, represents the steering wheel angle fitting function corresponding to the vehicle, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the number of preset windows, is the independent variable.

[0070] Specifically, when the steering wheel angle fitting function corresponding to the vehicle is obtained according to the linear fitting results of multiple preset windows, the steering wheel angle fitting function corresponding to the vehicle can be determined according to the above formula.

[0071] Exemplarily, the method further includes:

[0072] After determining the vehicle's steering wheel zero position value, the vehicle's steering wheel zero position value is compensated to the issued steering wheel command value.

[0073] Specifically, after determining the vehicle's steering wheel zero position value, when issuing a steering wheel command value, the vehicle's steering wheel zero position value can be compensated into the issued steering wheel command value, thereby ensuring the accuracy of vehicle direction control.

[0074] For example, the vehicle's steering wheel zero position value can be compensated to the issued steering wheel command value according to the following formula: SteerAngleCom=SteerAnglecalc+zero position.

[0075] Among them, SteerAnglecalc is the steering wheel angle value calculated by the autonomous driving controller, zero position is the steering wheel zero position value, and SteerAngleCom is the steering wheel command value issued after compensation.

[0076] The following is a specific application scenario to better illustrate the technical solution of the present invention:

[0077] Combine Figure 2 Come and see, Figure 2 This is a flow chart of an embodiment of the commercial vehicle steering wheel zero position identification process provided by the present invention. The specific steps of the process are as follows:

[0078] 1. Use vehicle sensors to obtain vehicle body information, including vehicle speed, autonomous driving status, steering wheel angle, etc., and then upload it to the platform.

[0079] 2. The platform calculates the characteristic function of the steering wheel angle based on the autonomous driving status, vehicle speed and other conditions.

[0080] When calculating the characteristic function of the steering wheel angle, a linear fitting function is used. Obtain m groups of steering wheel angle observations from the overall data. , ,…, Numerous sets of steering wheel data, with m > 50,000, can be obtained on the platform. For this data, countless curves can be fitted. The goal of the regression function is to fit this set of values ​​as well as possible. Overall, the best fit is achieved when the fitting curve is centered around the sample data. The criterion for selecting the best fitting curve can be determined by minimizing the total fitting error (i.e., the total residual), that is, determining the position of the fitting curve by minimizing the sum of squared residuals. In addition to being computationally convenient, the least squares method also yields excellent estimates. A moving average filter can also be used during the fitting process. Using a moving filter, the steering wheel angle data is divided into multiple preset windows. The final steering wheel zero position value is then determined based on the steering wheel zero position values ​​within these windows, resulting in more accurate fitting results.

[0081] The fitting formula is as follows:

[0082]

[0083] That is, solve:

[0084]

[0085] Finally, the solution is:

[0086]

[0087] 3. Average the intercepts within multiple preset windows As the steering wheel zero value.

[0088] 4. Send the steering wheel zero position value to the vehicle. The vehicle-side autonomous driving controller receives the steering wheel zero position value and calculates the steering wheel angle command based on the input and output. When sending the steering wheel command, the steering wheel zero position is compensated to the steering wheel command value.

[0089] SteerAngleCom=SteerAnglecalc+zero position.

[0090] Among them, SteerAnglecalc is the steering wheel angle value calculated by the autonomous driving controller, zero position is the steering wheel zero position value, and SteerAngleCom is the steering wheel command value issued after compensation.

[0091] The calculation amount of the vehicle-side controller can be reduced through platform-side calculation, and the synchronous use of platform calculation can reduce the delay of the vehicle-side controller calculation.

[0092] The embodiment of the present invention also provides a commercial vehicle steering wheel zero position identification device, combined with Figure 3 Come and see, Figure 3 This is a schematic structural diagram of an embodiment of a commercial vehicle steering wheel zero position identification device provided by the present invention. The commercial vehicle steering wheel zero position identification device 300 includes:

[0093] The fitting module 301 is used to obtain steering wheel angle measurement data of multiple groups of vehicles and perform linear fitting on the steering wheel angle measurement data of the multiple groups of vehicles to obtain steering wheel angle fitting functions corresponding to the vehicles;

[0094] The determination module 302 is configured to use the intercept of the steering wheel angle fitting function corresponding to the vehicle as the steering wheel zero position value of the vehicle.

[0095] The specific implementation methods of each module of the commercial vehicle steering wheel zero position identification device can be found in the description of the commercial vehicle steering wheel zero position identification method mentioned above, and have similar beneficial effects, which will not be repeated here.

[0096] It should be noted that the commercial vehicle steering wheel zero position identification device can be provided in a steering wheel angle sensor or as an independent device, and the present invention does not make any specific limitation on this.

[0097] The embodiment of the present invention further provides an electronic device, Figure 4 Come and see, Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. The electronic device 400 includes a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the processor 401 executes the program, the commercial vehicle steering wheel zero position identification method described above is implemented.

[0098] As a preferred embodiment, the electronic device 400 further includes a display 403 for displaying that the processor 401 executes the commercial vehicle steering wheel zero position identification method as described above.

[0099] Exemplarily, the computer program may be divided into one or more modules / units, one or more of which are stored in the memory 402 and executed by the processor 401 to implement the present invention. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 400. For example, the computer program may be divided into the fitting module 301 and the determination module 302 in the above embodiment. The specific functions of each module are as described above and are not further described here.

[0100] The electronic device 400 may be a desktop computer, notebook, PDA, or smart phone with an adjustable camera module.

[0101] Processor 401 may be an integrated circuit chip with signal processing capabilities. The processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), or a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor.

[0102] The memory 402 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs. The processor 401 executes the programs after receiving an execution instruction. The process definition method disclosed in any of the aforementioned embodiments of the present invention may be applied to the processor 401 or implemented by the processor 401.

[0103] The display 403 may be an LCD display or an LED display, for example, a display on a vehicle-mounted device.

[0104] It is understandable that Figure 4 The structure shown is only a schematic diagram of the structure of the electronic device 400. The electronic device 400 may also include Figure 4 More or fewer components as shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0105] The electronic device provided according to the above embodiment of the present invention can be implemented with reference to the specific description of the commercial vehicle steering wheel zero position identification method according to the present invention, and has similar beneficial effects as the commercial vehicle steering wheel zero position identification method described above, which will not be repeated here.

[0106] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the commercial vehicle steering wheel zero position identification method described above is implemented.

[0107] Generally speaking, computer instructions for implementing the method of the present invention may be carried by any combination of one or more computer-readable storage media. Non-transitory computer-readable storage media may include any computer-readable media except for signals that are temporarily propagating.

[0108] A computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0109] Computer program code for performing the operations of the present invention can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. In particular, Python, which is suitable for neural network computing, and platform frameworks such as TensorFlow and PyTorch can be used. The program code can be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0110] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0111] The present invention discloses a commercial vehicle steering wheel zero position identification method, device, electronic device and storage medium. By performing linear fitting on steering wheel angle measurement data of multiple groups of vehicles, a steering wheel angle fitting function corresponding to the vehicle is obtained. The intercept of the steering wheel angle fitting function is used as the vehicle's steering wheel zero position value, thereby reducing the computational complexity of the steering wheel zero position identification process and further reducing the resource usage of the steering wheel zero position identification process. While realizing steering wheel zero position identification, the present invention reduces the computational complexity of the steering wheel zero position identification process, thereby reducing the resource usage of the steering wheel zero position identification process and saving the cost of steering wheel zero position identification.

[0112] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A commercial vehicle steering wheel zero position identification method, characterized in that: include: Obtaining steering wheel angle measurement data of multiple groups of vehicles, and performing linear fitting on the steering wheel angle measurement data of the multiple groups of vehicles to obtain steering wheel angle fitting functions corresponding to the vehicles; The intercept of the steering wheel angle fitting function corresponding to the vehicle is used as the steering wheel zero position value of the vehicle; Based on the moving average filter algorithm and the least squares method, a linear fit is performed on the steering wheel angle measurement data of multiple groups of vehicles within a preset window; Based on the linear fitting results of multiple preset windows, the steering wheel angle fitting function corresponding to the vehicle is obtained; Performing linear fitting on steering wheel angle measurement data of multiple groups of vehicles within a preset window so that the sum of squared residuals between the steering wheel angle fitting function corresponding to the vehicles within the preset window and the steering wheel angle measurement data of the multiple groups of vehicles is minimized; Perform linear fitting on steering wheel angle measurement data of multiple groups of vehicles based on the following formula: in, Indicates the The sum of squares of the residuals between the steering wheel angle fitting function corresponding to the vehicle in the preset window and the steering wheel angle measurement data of multiple groups of vehicles, Indicates the The steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The vertical coordinate data of the steering wheel angle measurement data of the group vehicle, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The horizontal coordinate data of the steering wheel angle measurement data of the group vehicle, The default window size.

2. The commercial vehicle steering wheel zero position identification method according to claim 1, characterized in that: The said The steering wheel angle fitting function corresponding to the vehicle in the preset window is determined based on the following formula: in, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The first The horizontal coordinate data of the steering wheel angle measurement data of the group vehicle, Indicates the The first The vertical coordinate data of the steering wheel angle measurement data of the group vehicle, The default window size.

3. The commercial vehicle steering wheel zero position identification method according to claim 2, characterized in that: The linear fitting results based on the multiple preset windows are used to obtain the steering wheel angle fitting function corresponding to the vehicle, including: The steering wheel angle fitting function corresponding to the vehicle is determined based on the following formula: in, represents the steering wheel angle fitting function corresponding to the vehicle, Indicates the The intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the The proportional coefficient of the intercept of the steering wheel angle fitting function corresponding to the vehicle in the preset window, Indicates the number of preset windows, is the independent variable.

4. The commercial vehicle steering wheel zero position identification method according to any one of claims 1 to 3, characterized in that: The method further comprises: After determining the vehicle's steering wheel zero position value, the vehicle's steering wheel zero position value is compensated to the issued steering wheel command value.

5. A commercial vehicle steering wheel zero position identification device for implementing the commercial vehicle steering wheel zero position identification method according to claim 1, characterized in that: include: A fitting module is used to obtain steering wheel angle measurement data of multiple groups of vehicles and perform linear fitting on the steering wheel angle measurement data of multiple groups of vehicles to obtain the steering wheel angle fitting function corresponding to the vehicle; The determination module is used to use the intercept of the steering wheel angle fitting function corresponding to the vehicle as the steering wheel zero position value of the vehicle.

6. An electronic device, characterized in that: The invention comprises a memory and a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the commercial vehicle steering wheel zero position identification method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the method for identifying the zero position of a commercial vehicle steering wheel according to any one of claims 1 to 4 is implemented.

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