Steering wheel zero angle calibration method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of unmanned vehicles, and discloses a steering wheel zero angle calibration method and device, computer equipment and a storage medium, and the method comprises the steps: firstly controlling a to-be-calibrated unmanned vehicle to tend to be parallel to a pre-constructed driving reference straight line in the front-back direction of the vehicle; and further, under the condition that the steering wheel is at the initial zero position angle, the unmanned vehicle to be calibrated is controlled to run from the initial position to the target position along the driving reference straight line. And finally, responding to the calibration operation on the initial zero position angle, and obtaining a calibrated zero position angle. Therefore, the steering wheel zero angle calibration method which is quick and convenient to operate is realized based on a remote control program and control software through the pre-constructed driving reference straight line, the driving reference straight line can be applied to various site conditions, and the method does not need a specific test environment and special equipment; and the cost and the operation complexity of the zero angle calibration process of the steering wheel of the unmanned vehicle are greatly reduced.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned vehicles, and in particular to a method, device, computer equipment and storage medium for calibrating a zero angle of a steering wheel. Background Art

[0002] In autonomous driving and unmanned vehicle technology, accurate calibration of the zero angle of the steering wheel is a crucial step. The core purpose of this work is to determine the starting position of the steering wheel in automatic driving mode. Through accurate steering wheel zero position calibration, the accuracy of the measurement can be improved to ensure that the driver can experience a consistent and comfortable control experience under various driving conditions, whether driving at low or high speeds. In this way, at critical moments such as emergency avoidance that require a quick response, the driver can make quick and accurate operations, which is extremely important for ensuring driving safety. However, in related technologies, the steering wheel zero position calibration method still has some limitations, and a convenient and fast calibration method that can adapt to different venues is needed. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the present application proposes a steering wheel zero angle calibration method, device, computer equipment and storage medium. The main technical solutions adopted by the present application include:

[0004] In a first aspect, an embodiment of the present application provides a method for calibrating a steering wheel zero angle, wherein the steering wheel of the unmanned vehicle to be calibrated is provided with an initial zero angle; the method comprises:

[0005] Control the unmanned vehicle to be calibrated to be parallel to the pre-built driving reference straight line in the front and rear directions of the vehicle;

[0006] When the steering wheel is at an initial zero angle, the unmanned vehicle to be calibrated is controlled to drive from the initial position along the driving reference straight line to the target position;

[0007] In response to the calibration operation of the initial zero angle, a calibrated zero angle is obtained; wherein the difference angle between the calibrated zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line during the driving process from the initial position to the target position.

[0008] In a second aspect, an embodiment of the present application provides a steering wheel zero angle calibration device, the device comprising:

[0009] A control initialization module is used to control the unmanned vehicle to be calibrated to be parallel to the pre-built driving reference straight line in the front and rear directions of the vehicle;

[0010] A driving control module is used to control the unmanned vehicle to be calibrated to drive from an initial position along a driving reference straight line to a target position when the steering wheel is at an initial zero angle;

[0011] The calibration module is used to obtain a calibrated zero angle in response to a calibration operation on the initial zero angle, wherein the difference angle between the calibrated zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line during the driving process from the initial position to the target position.

[0012] In a third aspect, the present application further provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0013] In a fourth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above methods when the computer program is executed by a processor.

[0014] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0015] In the above embodiment, the unmanned vehicle to be calibrated is first controlled to be parallel to the pre-constructed driving reference line in the front and rear direction of the vehicle. Further, when the steering wheel is at the initial zero angle, the unmanned vehicle to be calibrated is controlled to travel from the initial position along the driving reference line to the target position. Finally, in response to the calibration operation of the initial zero angle, the calibrated zero angle is obtained. Among them, the difference angle between the calibrated zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference line during the driving process from the initial position to the target position. So far, through the pre-constructed driving reference line, a steering wheel zero angle calibration method with quick and convenient operation is realized based on the remote control program and control software. The driving reference line can be applied to various site conditions, and the method does not require a specific test environment and special equipment, which greatly reduces the cost and operation complexity of the unmanned vehicle steering wheel zero angle calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1a A flowchart of a steering wheel zero angle calibration method provided according to an embodiment of the present application;

[0018] Figure 1bA schematic diagram of a driving reference line and an unmanned vehicle to be calibrated according to an embodiment of the present application;

[0019] Figure 2 A flowchart of a method for adjusting an initial zero angle provided according to an embodiment of the present application;

[0020] Figure 3 A flowchart of a method for re-adjusting the zero angle according to an embodiment of the present application;

[0021] Figure 4 A flowchart of a method for re-adjusting the zero angle according to another embodiment of the present application;

[0022] Figure 5 A flowchart of a calibration completion method provided according to an embodiment of the present application;

[0023] Figure 6a A schematic diagram of a driving reference line and an unmanned vehicle to be calibrated according to another embodiment of the present application;

[0024] Figure 6b A flowchart of a steering wheel zero angle calibration method provided according to another embodiment of the present application;

[0025] Figure 6c A schematic diagram of an unmanned vehicle to be calibrated at a first position according to another embodiment of the present application;

[0026] Figure 6d A schematic diagram of an unmanned vehicle to be calibrated at a second position according to another embodiment of the present application;

[0027] Figure 7 A structural block diagram of a steering wheel zero angle calibration device provided according to an embodiment of the present application;

[0028] Figure 8 The figure is a diagram of the internal structure of a computer device provided according to one embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] In autonomous driving and unmanned vehicle technology, accurate calibration of the zero angle of the steering wheel is a crucial step. The core purpose of this work is to determine the starting position of the steering wheel in automatic driving mode. Through accurate steering wheel zero position calibration, the accuracy of the measurement can be improved to ensure that the driver can experience a consistent and comfortable control experience under various driving conditions, whether at low or high speeds. In this way, at critical moments such as emergency avoidance that require a quick response, the driver can make quick and accurate operations, which is extremely important for ensuring driving safety. However, in related technologies, the steering wheel zero position calibration method still has some limitations, such as high requirements for equipment, strict site requirements, and high requirements for personnel.

[0031] In the related art, different manufacturers have adopted different solutions to solve the problem of steering wheel zero angle calibration. These solutions may include using dedicated equipment and sensors to measure the angle of the steering wheel and calibrating through software algorithms, but there are some shortcomings. First, they usually require the use of expensive dedicated equipment and sensors, which increases cost and complexity. Secondly, they have high requirements for the calibration site, which may require specific test environment scenarios or special equipment settings. Finally, they may require professional personnel to operate and supervise or provide more complex teaching to on-site personnel, increasing the demand for human resources.

[0032] Based on this, according to an embodiment of the present application, a steering wheel zero angle calibration method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] In this embodiment, a method for calibrating the zero angle of a steering wheel is provided. Figure 1a is a flow chart of a steering wheel zero angle calibration method according to an embodiment of the present application. The steering wheel of the unmanned vehicle to be calibrated is set with an initial zero angle, such as Figure 1a As shown, the process includes the following steps:

[0034] S110: Control the unmanned vehicle to be calibrated to be parallel to a pre-constructed driving reference straight line in the front-rear direction of the vehicle.

[0035] The pre-constructed driving reference straight line may be a pre-planned and designed reference driving path for guiding vehicle driving. Specifically, the driving reference straight line may be constructed based on the geometric features of the road and the calibration rules in the unmanned vehicle calibration process. For example, a continuous straight line segment drawn on a flat asphalt road surface may be used as the pre-constructed driving reference straight line; a rope of a certain length may be straightened on a horizontal road surface as the pre-constructed driving reference straight line; or a vertical laser ray may be used as the pre-constructed driving reference straight line.

[0036] Furthermore, if Figure 1b As shown, the unmanned vehicle 102 to be calibrated is controlled to be parallel to the pre-built driving reference line 104 in the front-to-back direction of the vehicle. Exemplarily, a remote control program can be used to send instructions to the receiving control system on the unmanned vehicle, so that the receiving instructions are responded to and fed back to the vehicle to perform parallel operations, or the vehicle to be calibrated can be driven manually to the driving reference line and parallel to it. It can be understood that it is possible to determine whether the unmanned vehicle to be calibrated is parallel to the pre-built driving reference line in the front-to-back direction of the vehicle by judging whether the vertical distances between the front and rear wheel contact points on one side of the vehicle to be calibrated and the driving reference line are equal. Optionally, if the driving reference line is a continuous straight line segment drawn on a flat asphalt road surface, the front and rear wheel contact points on one side of the unmanned vehicle to be calibrated can be controlled to be close to the drawn line to complete the above parallel process.

[0037] S120: When the steering wheel is at an initial zero angle, control the unmanned vehicle to be calibrated to travel from the initial position along a driving reference straight line toward a target position.

[0038] The initial zero angle refers to the angle of the vehicle's steering wheel when there is no steering operation, that is, the reference angle when the steering wheel is in the straight-ahead position. It is understandable that when the unmanned vehicle to be calibrated is in a state of being parallel to the pre-constructed driving reference straight line in the front-rear direction of the vehicle, the zero position of the steering wheel is not necessarily 0. Therefore, in the above case, the zero angle of the steering wheel can be initialized through the remote control program and control software and the chassis can be operated accordingly, even if the zero angle of the steering wheel is at the initial zero angle.

[0039] It is understandable that the position of the unmanned vehicle to be calibrated when it tends to be parallel to the pre-constructed driving reference line in the front-rear direction of the vehicle can be used as the initial position, and the target position can be a predetermined location that the unmanned vehicle to be calibrated needs to reach during the calibration process to mark the completion of the calibration task or test. Specifically, during the calibration of the steering wheel zero angle, the unmanned vehicle to be calibrated needs to travel along a trajectory parallel to the driving reference line, so the end point on this driving reference line can be regarded as the target position. For example, if the calibration process requires the unmanned vehicle to travel 15 meters forward along the driving reference line from the initial position, the position at the end of the 15-meter journey can be regarded as the target position.

[0040] Furthermore, a remote control program can be used to send instructions to a receiving control system on the unmanned vehicle, which responds to the received instructions and feeds back to the vehicle to perform driving operations, thereby controlling the unmanned vehicle to be calibrated to travel from an initial position along a driving reference straight line to a target position.

[0041] S130: In response to the calibration operation of the initial zero angle, a calibrated zero angle is obtained.

[0042] Among them, the zero angle after calibration can be used to describe the final target state of the zero angle of the vehicle after the calibration operation. Specifically, the zero angle after calibration can be obtained by measurement and calculation based on the initial zero angle. The difference angle between the zero angle after calibration and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line during the driving process from the initial position to the target position. The deviation distance is the vertical distance between the ground contact point of the designated tire of the unmanned vehicle to be calibrated and the driving reference straight line. Specifically, the point where the designated tire of the unmanned vehicle to be calibrated contacts the ground can be used as the measurement reference, and the shortest distance between the ground contact point of the designated tire of the unmanned vehicle to be calibrated and the driving reference straight line, that is, the vertical distance, is calculated and used as the deviation distance. Exemplarily, the vertical distance between the ground contact point of the front wheel on one side of the unmanned vehicle to be calibrated and the driving reference straight line can be used as the deviation distance; the vertical distance between the ground contact point of the rear wheel on one side of the unmanned vehicle to be calibrated and the driving reference straight line can also be used as the deviation distance. It can be understood that the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line can include positive deviation and reverse deviation. For example, if the pre-constructed driving reference straight line is a continuous straight line segment drawn on a flat asphalt road surface, then during the driving process from the initial position to the target position, the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line can be the distance that the unmanned vehicle to be calibrated is getting farther and farther away from the driving reference straight line, or it can be the distance that the unmanned vehicle to be calibrated is getting closer and closer to the driving reference straight line or even runs over the driving reference straight line and deviates to the other side.

[0043] Furthermore, the calibration process can be achieved by repeatedly making multiple discrete iterative adjustments to the steering wheel zero angle of the unmanned vehicle to be calibrated based on the difference angle between the zero angle after calibration and the initial zero angle using a remote control program and control software. Specifically, the vertical distance between the ground contact point of the front wheel of one side of the unmanned vehicle to be calibrated and the pre-built driving reference straight line can be recorded during the calibration process, and the adjusted zero angle based on the initial zero angle can be calculated according to the corresponding algorithm adjustment accuracy, and the steering wheel zero angle of the unmanned vehicle to be calibrated can be adjusted using the remote control program and control software, and the calibration operation of the initial zero angle can be completed by continuously repeating the above calculation and adjustment process, and finally the adjusted zero angle with degree-level accuracy can be obtained, and it can be used as the target zero angle of the unmanned vehicle to be calibrated to complete the steering wheel zero angle calibration.

[0044] Optionally, an experienced tester can also calculate the deviation between the actual driving route of the front wheel on one side of the unmanned vehicle to be calibrated and the driving reference straight line in the process of driving from the initial position along the driving reference straight line to the target position, and obtain an adjusted zero angle based on the initial zero angle, and use a remote control program and control software to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated, and complete the calibration operation of the initial zero angle by repeating the above adjustment process, and finally obtain the adjusted zero angle with degree-level accuracy, and use it as the target zero angle of the unmanned vehicle to be calibrated, thereby completing the steering wheel zero angle calibration.

[0045] For example, based on the remote control program, the unmanned vehicle to be calibrated can be driven forward for 5m at a speed of 1m / s along the target position direction on the driving reference line, and the vertical distance between the ground contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference line can be used to determine whether adjustment is needed and the degree of adjustment in real time, that is, it can be roughly determined whether the unmanned vehicle to be calibrated is far away from the driving reference line or close to the driving reference line. If the change in the vertical distance between the ground contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference line at the initial position does not exceed the preset deviation threshold, the vehicle continues to drive forward for 5m, and at this time, it is determined again whether adjustment is needed and the degree of adjustment based on the vertical distance between the ground contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference line. If the vertical distance between the ground contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference line at this time exceeds the preset deviation threshold, the adjusted zero angle is further estimated based on the change, and the initial zero angle is increased or decreased by N degrees according to the remote control program. After the operation is completed, the unmanned vehicle to be calibrated is controlled to move forward from the initial position at a speed of 1m / s along the target position direction on the driving reference line with the adjusted zero angle, and the above adjustment process is repeated to complete the calibration operation of the initial zero angle. Finally, the adjusted zero angle with degree-level accuracy is obtained, and it is used as the target zero angle of the unmanned vehicle to be calibrated to complete the steering wheel zero angle calibration.

[0046] In the above embodiment, the unmanned vehicle to be calibrated is first controlled to be parallel to the pre-constructed driving reference line in the front and rear direction of the vehicle. Further, when the steering wheel is at the initial zero angle, the unmanned vehicle to be calibrated is controlled to travel from the initial position along the driving reference line to the target position. Finally, in response to the calibration operation of the initial zero angle, the calibrated zero angle is obtained. Among them, the difference angle between the calibrated zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference line during the driving process from the initial position to the target position. So far, a steering wheel zero angle calibration method with quick and convenient operation is realized based on the remote control program and control software through the pre-constructed driving reference line. The driving reference line can be applied to various site conditions, and the method does not require a specific test environment and special equipment, which greatly reduces the cost and operation complexity of the unmanned vehicle steering wheel zero angle calibration process.

[0047] In some embodiments, the distance between the initial position and the target position is not less than a preset displacement distance threshold, and the preset displacement distance threshold is determined by a transmission ratio between a zero angle of the steering wheel and a tire angle.

[0048] The target position may be a predetermined location that the unmanned vehicle to be calibrated needs to reach during the calibration process, which is used to mark the completion of the calibration task or test. The preset displacement distance threshold may refer to a minimum distance value set during the calibration of the zero angle of the steering wheel of the unmanned vehicle to ensure that the calibration of the zero angle of the steering wheel of the unmanned vehicle can be completed. Specifically, the preset displacement distance threshold is determined by the transmission ratio of the zero angle of the steering wheel to the tire angle.

[0049] It is understandable that the transmission ratio of the steering wheel zero position and the tire angle of a general vehicle is generally 17:1, that is, the steering wheel is 17 degrees and the wheel is 1 degree. Therefore, the preset displacement distance threshold can be determined according to the transmission ratio of the zero angle of the steering wheel and the tire angle. For example, 15 meters can be taken as the preset displacement distance threshold. When the steering wheel is at the initial zero angle, the unmanned vehicle to be calibrated is controlled to travel 15 meters from the initial position along the driving reference straight line to the target position, and in the displacement of 15 meters, it is judged whether adjustment is required and the degree of adjustment based on the vertical distance between the ground contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference straight line. That is, it can be roughly judged whether adjustment is required by judging whether the unmanned vehicle to be calibrated is far away from the driving reference straight line or close to the driving reference straight line. If in the continuous 15-meter displacement, the vertical distance between the ground contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference straight line does not exceed the preset deviation threshold compared with the initial position, it can be considered that the zero angle of the steering wheel is already at the degree level accuracy at this time.

[0050] In the above implementation, in order to ensure that the zero angle of the steering wheel of the unmanned vehicle can be accurately calibrated, based on the transmission ratio characteristics of the zero angle of the steering wheel and the tire angle, the moving distance of the vehicle between the initial position and the target position is preset to at least reach a minimum displacement distance. This preset displacement distance threshold ensures the accuracy of the calibration process. By setting the preset displacement distance threshold, we can ensure that the vehicle travels a sufficient distance during the calibration process so that the steering system can be accurately adjusted and verified.

[0051] In some embodiments, a first position is set between the initial position and the target position on the driving reference line, and the unmanned vehicle to be calibrated is controlled to drive from the initial position along the driving reference line to the target position. Figure 2 ,include:

[0052] S210, controlling the unmanned vehicle to be calibrated to move forward a first preset distance from an initial position along a driving reference straight line to reach a first position.

[0053] Among them, the first preset distance may refer to a certain distance at which the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line can be observed during the driving process from the initial position to the target position. Specifically, the first preset distance is the displacement distance of the unmanned vehicle to be calibrated from the initial position at a fixed driving speed along the driving reference straight line, which is pre-taken according to the road conditions and the calibration rules of the unmanned vehicle. Exemplarily, 5 meters can be taken as the first preset distance. The first position may refer to the first specific geographical location or coordinate point reached after the unmanned vehicle to be calibrated is controlled to move forward along the driving reference straight line from the initial position for the first preset distance. Exemplarily, after the unmanned vehicle to be calibrated is controlled to move forward along the driving reference straight line for 5 meters at a speed of 1m / s from the initial position, the position reached can be used as the first position. Specifically, a forward command can be sent to the unmanned vehicle to be calibrated through a remote control program, and the receiving control system carried on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. Move forward along the driving reference straight line from the initial position for the first preset distance to reach the first position.

[0054] S220: If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position.

[0055] Among them, the preset deviation threshold can be used to describe the maximum deviation distance allowed in the process of the unmanned vehicle to be calibrated moving forward from the initial position along the driving reference straight line for the first preset distance. Specifically, the preset deviation threshold can be determined by the transmission ratio of the zero position angle of the steering wheel and the tire angle. It is understandable that the transmission ratio of the zero position of the steering wheel and the tire angle of a general vehicle is generally 17:1, that is, the steering wheel is 17 degrees and the wheel is 1 degree. Therefore, for example, according to the transmission ratio of the zero position angle of the steering wheel and the tire angle, 5 cm can be taken as the preset deviation threshold, that is, whether the vertical distance between the ground contact point of the front wheel on one side of the unmanned vehicle to be calibrated and the driving reference straight line exceeds 5 cm, to determine whether the deviation distance of the unmanned vehicle to be calibrated from the driving reference straight line exceeds the preset deviation threshold.

[0056] Furthermore, if at the first position, it is determined that the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position while maintaining the same speed and the same steering wheel zero angle as when moving forward. For example, if at 5 meters, it is determined that the vertical distance between the front wheel contact point on one side of the unmanned vehicle to be calibrated and the driving reference straight line exceeds 5 centimeters, that is, exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position in a straight line while maintaining a speed of 1m / s and the initial zero angle until it returns to the initial position.

[0057] S230: When the unmanned vehicle to be calibrated returns to the initial position, in response to the adjustment operation of the initial zero angle, the initial zero angle is adjusted to obtain an adjusted zero angle.

[0058] Among them, the adjusted zero angle may refer to the angle obtained after adjusting the initial zero angle according to the actual deviation during the calibration process of the unmanned vehicle to be calibrated. Specifically, the difference angle between the adjusted zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position. The unmanned vehicle to be calibrated can be controlled to maintain the same speed and the same steering wheel zero angle as when moving forward and retreat in a straight line from the first position until it returns to the initial position. The deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position of the front wheel on one side of the unmanned vehicle to be calibrated is calculated to obtain the angle to be adjusted based on the deviation distance, and the remote control program and control software are used to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated to obtain the adjusted zero angle based on the initial zero angle.

[0059] Exemplarily, if the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position is 10 centimeters in the positive direction, then based on the transmission ratio of the steering wheel zero angle and the tire angle, it can be obtained that the angle should be increased by 3°, and the remote control program and control software can be further used to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated to obtain an adjusted zero angle based on the initial zero angle, that is, +3°; if the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position is 10 centimeters in the reverse direction, then based on the transmission ratio of the steering wheel zero angle and the tire angle, it can be obtained that the angle should be reduced by 3°, and the remote control program and control software can be used to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated to obtain an adjusted zero angle based on the initial zero angle, that is, -3°.

[0060] In the above implementation, the difference angle between the adjusted zero angle and the initial zero angle is determined based on the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line, thereby realizing the preliminary calibration operation, and the whole process can be realized by remote control program and control software, which reduces the need for manual operation and improves the efficiency and accuracy of calibration. In addition, the above preliminary calibration operation also provides an operational basis for a more flexible steering wheel zero angle calibration method, which is not only simple and easy to operate, but also universal and can be applied to a variety of unmanned vehicles and different operating environments.

[0061] In some embodiments, please refer to the attached Figure 3 , the method further comprises:

[0062] S310: When the steering wheel is at the adjusted zero angle, control the unmanned vehicle to be calibrated to drive from the initial position along the driving reference straight line toward the target position again to the first position.

[0063] Specifically, after the first adjustment, when the steering wheel zero angle is at the adjusted zero angle, a forward command is sent to the unmanned vehicle to be calibrated through the remote control program. At this time, the receiving control system on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. Drive from the initial position along the driving reference straight line to the target position again to reach the first position. Exemplarily, if the adjusted zero angle is determined to be +3° based on the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line, the unmanned vehicle to be calibrated is controlled to keep the steering wheel zero angle at +3° and move forward 5 meters from the initial position along the driving reference straight line at a speed of 1m / s to reach the first position again; if the adjusted zero angle is determined to be -3° based on the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line, the unmanned vehicle to be calibrated is controlled to keep the steering wheel zero angle at -3° and move forward 5 meters from the initial position along the driving reference straight line at a speed of 1m / s to reach the first position again.

[0064] S320: If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position to continue adjusting the adjusted zero angle.

[0065] Specifically, if at the first position, it is determined that the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position while maintaining the same speed and adjusted zero angle as when moving forward. For example, if at 5 meters, it is determined that the vertical distance between the front wheel contact point on one side of the unmanned vehicle to be calibrated and the driving reference straight line exceeds 5 centimeters, that is, exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position in a straight line while maintaining a speed of 1m / s and an adjusted zero angle until it returns to the initial position.

[0066] Furthermore, after returning to the initial position, the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position of the front wheel on one side of the unmanned vehicle is calculated again based on the fact that the unmanned vehicle to be calibrated maintains the adjusted zero angle until it reaches the first position, and the adjusted angle based on the deviation distance is obtained, and the remote control program and control software are used to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated to continue adjusting the adjusted zero angle.

[0067] In the above embodiment, when the steering wheel is at the adjusted zero angle, the unmanned vehicle to be calibrated is controlled to travel from the initial position along the driving reference straight line to the target position again, and iterative calibration is performed at the first position, so that the zero angle of the steering wheel of the unmanned vehicle can be accurately corrected. By monitoring the deviation distance and adjusting the zero angle accordingly, a feedback mechanism is also formed, which can learn and adapt based on the last calibration of the unmanned vehicle to improve the accuracy of the next calibration.

[0068] In some embodiments, a second position is provided between the first position and the target position on the driving reference straight line. Figure 4 , the method further comprises:

[0069] S410: When the steering wheel is at the adjusted zero angle, control the unmanned vehicle to be calibrated to drive from the initial position along the driving reference straight line toward the target position again to the first position.

[0070] Specifically, after the adjustment, when the steering wheel zero angle is at the adjusted zero angle, the remote control program sends a forward command to the unmanned vehicle to be calibrated, and the receiving control system on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. The vehicle drives from the initial position along the driving reference straight line to the target position again and reaches the first position.

[0071] S420: If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference line does not exceed a preset deviation threshold, control the unmanned vehicle to be calibrated to move forward from the first position along the driving reference line by a second preset distance to reach a second position.

[0072] Among them, the second preset distance may refer to a certain distance at which the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line can be observed during the driving process from the first position to the target position. Specifically, the second preset distance is the displacement distance of the unmanned vehicle to be calibrated from the first position at a fixed driving speed along the driving reference straight line, which is pre-taken according to the road conditions and the calibration rules of the unmanned vehicle. It can be understood that the second preset distance may be the same as the first preset distance, or it may be different from the first preset distance. Exemplarily, 5 meters can be used as the second preset distance, 3 meters can be used as the second preset distance, and 8 meters can be used as the second preset distance. The second position may refer to a specific geographical location or coordinate point reached after the unmanned vehicle to be calibrated is controlled to move forward from the first position along the driving reference straight line for a second preset distance. Exemplarily, after the unmanned vehicle to be calibrated is controlled to move forward 5 meters along the driving reference straight line at a speed of 1m / s from the first position, the position reached can be used as the second position.

[0073] Specifically, a forward command can be sent to the unmanned vehicle to be calibrated through a remote control program, and the receiving control system on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. From the first position, it moves forward along the driving reference straight line for a second preset distance to reach the second position.

[0074] S430: If the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position to the initial position to continue adjusting the adjusted zero angle.

[0075] Specifically, if at the second position, it is determined that the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position to the initial position while maintaining the same speed and adjusted zero angle as when moving forward. For example, if it is determined that the vertical distance between the ground contact point of the front wheel of one side of the unmanned vehicle to be calibrated and the driving reference straight line exceeds 5 centimeters at a distance of 5 meters from the first position, that is, exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position in a straight line while maintaining a speed of 1m / s and an adjusted zero angle until it returns to the initial position.

[0076] Furthermore, after returning to the initial position, the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the second position of the front wheel on one side of the unmanned vehicle is calculated again based on the fact that the unmanned vehicle to be calibrated maintains the adjusted zero angle until it reaches the second position, and the adjustment angle based on the deviation distance is obtained, and the remote control program and control software are used again to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated to continue adjusting the adjusted zero angle.

[0077] In the above implementation, no matter whether the unmanned vehicle to be calibrated is located at the first position or the second position, it will immediately return to the initial position after exceeding the preset deviation threshold and adjust the steering wheel zero angle of the unmanned vehicle to be calibrated based on the deviation distance, which helps to reduce the possible accumulation of zero angle deviation. And through this progressive calibration method, multiple calibrations are performed at different stages to verify the accuracy of the zero angle of the steering wheel of the unmanned vehicle over a longer driving distance, which can improve the reliability of the adjusted zero angle in further calibration.

[0078] In some embodiments, please refer to the attached Figure 5 , the method further comprises:

[0079] S510: If the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference straight line does not exceed a preset deviation threshold, control the unmanned vehicle to be calibrated to continue driving from the second position to the target position.

[0080] S520: If the deviation distance between the unmanned vehicle to be calibrated at the target position and the driving reference straight line does not exceed a preset deviation threshold after reaching the target position, the steering wheel zero angle calibration is completed.

[0081] Specifically, when the steering wheel is at the adjusted zero angle, the unmanned vehicle to be calibrated is controlled to drive from the initial position along the driving reference straight line to the target position again. Further, if at the second position, it is determined that the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line does not exceed the preset deviation threshold, the remote control program can continue to send a forward command to the unmanned vehicle to be calibrated. At this time, the receiving control system carried by the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. From the second position, it moves forward along the driving reference straight line until the total displacement distance threshold is exceeded and the target position is reached.

[0082] Furthermore, at the target position, it is determined again whether the deviation distance between the unmanned vehicle to be calibrated and the driving reference line exceeds the preset deviation threshold. If it is determined that the deviation distance between the unmanned vehicle to be calibrated and the driving reference line at the target position does not exceed the preset deviation threshold, then based on the characteristics of the transmission ratio of the steering wheel zero angle and the tire angle, it can be considered that the adjusted zero angle at this time is already at the degree level accuracy, and the adjusted zero angle of the steering wheel of the unmanned vehicle to be calibrated at the target position can be finally used as the target zero angle of the unmanned vehicle to be calibrated, thereby completing the steering wheel zero angle calibration.

[0083] In the above implementation, the adjusted zero angle of the steering wheel of the unmanned vehicle to be calibrated is verified over a longer driving distance, and the transmission ratio between the zero angle of the steering wheel and the tire angle is taken into account. On the basis of ensuring the accuracy of the tire angle, the calibration accuracy of the zero angle of the steering wheel is improved. In addition, this calibration method reduces the dependence on professional technicians, reduces the cost of calibration and maintenance, and is easy to implement. It can be easily integrated into the existing unmanned vehicle system, which is convenient for implementation and updating. Such a design makes the calibration process more efficient and also reduces the complexity of the operation.

[0084] The embodiment of this specification also provides a method for calibrating the zero angle of a steering wheel, such as Figure 6a As shown, a first position 606 is set between the initial position 602 and the target position 604 on the driving reference straight line 104; a second position 608 is set between the first position 606 and the target position 604 on the driving reference straight line 104. Figure 6b As shown, the method comprises the following steps:

[0085] S602: Control the unmanned vehicle to be calibrated to be parallel to a pre-built driving reference straight line in the front-rear direction of the vehicle.

[0086] For example, a remote control program can be used to send instructions to a receiving control system on the unmanned vehicle 102 to be calibrated, which responds to the received instructions and feeds back to the vehicle to perform parallel operations. The unmanned vehicle 102 to be calibrated can also be driven manually to the side of the driving reference line 104 and parallel to it.

[0087] S604: When the steering wheel is at an initial zero angle, control the unmanned vehicle to be calibrated to move forward a first preset distance from the initial position along a driving reference straight line to reach a first position.

[0088] Specifically, a forward command can be sent to the unmanned vehicle to be calibrated through a remote control program, and the receiving control system on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. From the initial position 602, the vehicle moves forward along the driving reference straight line for a first preset distance to reach the first position 606.

[0089] S606: At the first position, determine the deviation distance between the unmanned vehicle to be calibrated and the driving reference line.

[0090] It is understandable that the transmission ratio of the steering wheel zero position to the tire angle of a general vehicle is generally 17:1, that is, the steering wheel is 17 degrees and the wheel is 1 degree. Therefore, for example, according to the transmission ratio of the steering wheel zero position angle to the tire angle, 5 cm can be taken as the preset deviation threshold, that is, whether the vertical distance 610 between the ground contact point of the front wheel of the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds 5 cm, to determine whether the deviation distance 610 between the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds the preset deviation threshold (such as Figure 6c shown).

[0091] S608: If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position, and the initial zero angle is adjusted to obtain an adjusted zero angle.

[0092] The difference angle between the adjusted zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position.

[0093] Furthermore, if at the first position 606, it is determined that the deviation distance 610 between the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position 606 to the initial position 602 at the same speed and the same steering wheel zero angle as when moving forward. After retreating to the initial position 602, the deviation distance 610 between the unmanned vehicle to be calibrated and the driving reference line at the first position 606 on the front wheel of one side of the unmanned vehicle to be calibrated is calculated to obtain the angle to be adjusted based on the deviation distance, and the steering wheel zero angle of the unmanned vehicle to be calibrated is adjusted using the remote control program and the control software to obtain the adjusted zero angle based on the initial zero angle.

[0094] S610: When the steering wheel is at the adjusted zero angle, control the unmanned vehicle to be calibrated to drive from the initial position along the driving reference straight line toward the target position again, to the first position.

[0095] Specifically, after the first adjustment, when the steering wheel zero angle is at the adjusted zero angle, a forward command is sent to the unmanned vehicle to be calibrated through the remote control program, and the receiving control system mounted on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. The vehicle drives from the initial position 602 along the driving reference straight line toward the target position 604 again, and reaches the first position 606.

[0096] S612: At the first position, determine again the deviation distance between the unmanned vehicle to be calibrated and the driving reference line.

[0097] Exemplarily, 5 centimeters can be taken as the preset deviation threshold value based on the transmission ratio of the zero angle of the steering wheel and the tire angle, that is, whether the vertical distance between the contact point of the front wheel of the unmanned vehicle to be calibrated and the driving reference line exceeds 5 centimeters, so as to determine whether the deviation distance 610 between the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds the preset deviation threshold value.

[0098] S614: If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position to continue adjusting the adjusted zero angle.

[0099] Specifically, if at the first position 606, it is determined that the deviation distance 610 between the unmanned vehicle to be calibrated and the driving reference line exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position 606 to the initial position 602 while maintaining the same speed and adjusted zero angle as when advancing. Further, after retreating to the initial position, the deviation distance 610 between the unmanned vehicle to be calibrated and the driving reference line at the first position 606 is calculated again based on the unmanned vehicle to be calibrated maintaining the adjusted zero angle until the front wheel of one side of the unmanned vehicle reaches the first position, and the angle to be adjusted based on the deviation distance is obtained, and the remote control program and control software are used to adjust the steering wheel zero angle of the unmanned vehicle to be calibrated, so as to continue to adjust the adjusted zero angle.

[0100] S616: If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference line does not exceed the preset deviation threshold, control the unmanned vehicle to be calibrated to move forward from the first position along the driving reference line for a second preset distance to reach the second position.

[0101] Specifically, a forward command can be sent to the unmanned vehicle to be calibrated through a remote control program, and the receiving control system on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. From the first position 606, the vehicle moves forward along the driving reference straight line for a second preset distance to reach the second position 608.

[0102] S618. At the second position, determine the deviation distance between the unmanned vehicle to be calibrated and the driving reference line.

[0103] For example, according to the transmission ratio of the zero angle of the steering wheel to the tire angle, 5 cm can be taken as the preset deviation threshold, that is, judging whether the vertical distance 610 between the ground contact point of the front wheel of the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds 5 cm, to judge whether the deviation distance 610 between the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds the preset deviation threshold (such as Figure 6d shown).

[0104] S620: If the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position to the initial position to continue adjusting the adjusted zero angle.

[0105] Specifically, if at the second position 608, it is determined that the deviation distance 610 of the unmanned vehicle to be calibrated from the driving reference line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position 608 to the initial position 602 while maintaining the same speed and adjusted zero angle as when moving forward.

[0106] S622: If the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference straight line does not exceed a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to continue driving from the second position to the target position and reach the target position.

[0107] Specifically, when the steering wheel is at the adjusted zero angle, the unmanned vehicle to be calibrated is controlled to travel from the initial position 602 along the driving reference straight line to the target position 604 again. Further, if at the second position 608, it is determined that the deviation distance 610 between the unmanned vehicle 102 to be calibrated and the driving reference straight line 104 does not exceed the preset deviation threshold, the remote control program can continue to send a forward command to the unmanned vehicle to be calibrated. At this time, the receiving control system mounted on the unmanned vehicle to be calibrated responds to the received command and feeds back to the vehicle to execute the forward action. From the second position 608, it moves forward along the driving reference straight line 104 until the total displacement distance threshold is exceeded and the target position 604 is reached.

[0108] S624. At the target position, determine the deviation distance between the unmanned vehicle to be calibrated and the driving reference line.

[0109] Exemplarily, 5 centimeters can be taken as the preset deviation threshold value based on the transmission ratio of the zero angle of the steering wheel and the tire angle, that is, it is determined whether the vertical distance 610 between the contact point of the front wheel of the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds 5 centimeters to determine whether the deviation distance 610 of the unmanned vehicle 102 to be calibrated and the driving reference line 104 exceeds the preset deviation threshold value.

[0110] S626: If the deviation distance between the unmanned vehicle to be calibrated at the target position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the target position to the initial position to continue adjusting the adjusted zero angle.

[0111] Specifically, if at the target position 604, it is determined that the deviation distance 610 of the unmanned vehicle to be calibrated from the driving reference line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the target position 604 to the initial position 602 while maintaining the same speed and adjusted zero angle as when moving forward.

[0112] S628. If the deviation distance between the unmanned vehicle to be calibrated at the target position and the driving reference straight line does not exceed a preset deviation threshold after reaching the target position, the steering wheel zero angle calibration is completed.

[0113] At the target position 604, it is determined again whether the deviation distance 610 between the unmanned vehicle to be calibrated and the driving reference line exceeds the preset deviation threshold. If it is determined that the deviation distance 610 between the unmanned vehicle 102 to be calibrated and the driving reference line 104 at the target position 604 does not exceed the preset deviation threshold, then based on the characteristics of the transmission ratio of the steering wheel zero angle and the tire angle, it can be considered that the adjusted zero angle at this time is already at the degree level of accuracy, and the adjusted zero angle of the steering wheel of the unmanned vehicle to be calibrated at the target position 604 can be finally used as the target zero angle of the unmanned vehicle to be calibrated, thereby completing the steering wheel zero angle calibration.

[0114] It should be understood that, although the various steps in the above flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowchart may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0115] The present specification also provides a steering wheel zero angle calibration device 700, such as Figure 7 As shown, it includes: a control initialization module 710, a driving control module 720 and a calibration module 730, wherein:

[0116] The control initialization module 710 is used to control the unmanned vehicle to be calibrated to be parallel to the pre-built driving reference line in the front and rear direction of the vehicle.

[0117] The driving control module 720 is used to control the unmanned vehicle to be calibrated to drive from an initial position along a driving reference straight line to a target position when the steering wheel is at an initial zero angle.

[0118] The calibration module 730 is used to obtain a calibrated zero angle in response to the calibration operation of the initial zero angle, wherein the difference angle between the calibrated zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line during the driving process from the initial position to the target position.

[0119] In some embodiments, the control initialization module 710 is further used to determine that the distance between the initial position and the target position is not less than a preset displacement distance threshold, and the preset displacement distance threshold is determined by the transmission ratio of the zero angle of the steering wheel and the tire angle.

[0120] In some embodiments, a first position is set between the initial position and the target position on the driving reference line. The unmanned vehicle to be calibrated is controlled to travel from the initial position along the driving reference line to the target position. The driving control module 720 is also used to control the unmanned vehicle to be calibrated to advance a first preset distance along the driving reference line from the initial position to reach the first position. In response to the calibration operation of the initial zero angle, the calibrated zero angle is obtained, including: if the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference line exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position. When the unmanned vehicle to be calibrated returns to the initial position, in response to the adjustment operation of the initial zero angle, the initial zero angle is adjusted to obtain the adjusted zero angle. Among them, the difference angle between the adjusted zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference line.

[0121] In some embodiments, the driving control module 720 is further used to control the unmanned vehicle to be calibrated to drive from the initial position along the driving reference straight line to the target position again to the first position when the steering wheel is at the adjusted zero position. If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position to continue adjusting the adjusted zero position.

[0122] In some embodiments, a second position is provided between the first position and the target position on the driving reference line. The driving control module 720 is also used to control the unmanned vehicle to be calibrated to drive from the initial position along the driving reference line to the target position again to the first position when the steering wheel is at the adjusted zero position angle. If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference line does not exceed the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to move forward from the first position along the driving reference line for a second preset distance to reach the second position. If the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference line exceeds the preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position to the initial position to continue adjusting the adjusted zero position angle.

[0123] In some embodiments, the driving control module 720 is further configured to control the unmanned vehicle to be calibrated to continue driving from the second position to the target position if the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference straight line does not exceed a preset deviation threshold. If the deviation distance between the unmanned vehicle to be calibrated at the target position and the driving reference straight line does not exceed a preset deviation threshold after reaching the target position, the steering wheel zero angle calibration is completed.

[0124] In some embodiments, the calibration module 730 is further configured to determine the deviation distance as a vertical distance between a contact point of a designated tire of the unmanned vehicle to be calibrated and a driving reference straight line.

[0125] For the specific definition of a steering wheel zero angle calibration device, please refer to the definition of a steering wheel zero angle calibration method mentioned above, which will not be repeated here. Each module in the above steering wheel zero angle calibration device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0126] In this embodiment, a steering wheel zero angle calibration device is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0127] The embodiment of the present application also provides a computer device, which may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a steering wheel zero angle calibration method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0128] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] The embodiment of the present application also provides a computer-readable storage medium, and the above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or is implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc. Further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0130] The embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of any embodiment of the present application.

[0131] The steering wheel zero angle calibration method, device, computer device and storage medium described in the above embodiments can be implemented by a computer chip or entity, or by a product with a certain function. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0132] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0133] Those skilled in the art should understand that the embodiments of the present application can be provided as a steering wheel zero angle calibration method, device, computer equipment and storage medium. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0134] The present application is described with reference to a flow chart and / or block diagram of a steering wheel zero angle calibration method, device, computer device and storage medium according to an embodiment of the present application. It should be understood that each process and / or box in the flow chart and / or block diagram, as well as the combination of the processes and / or boxes in the flow chart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flow chart and / or one or more boxes in the block diagram.

[0135] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0136] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0137] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer 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.

[0138] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0139] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0140] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0141] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

[0142] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for calibrating a steering wheel zero angle, characterized in that: The steering wheel of the unmanned vehicle to be calibrated is set with an initial zero angle; the method comprises: Controlling the unmanned vehicle to be calibrated to be parallel to a pre-constructed driving reference straight line in the front-rear direction of the vehicle; When the steering wheel is at the initial zero angle, controlling the unmanned vehicle to be calibrated to travel from the initial position along the driving reference straight line toward the target position; In response to the calibration operation of the initial zero angle, a calibrated zero angle is obtained; wherein the difference angle between the calibrated zero angle and the initial zero angle is determined according to the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line during the driving process from the initial position to the target position.

2. The method according to claim 1, characterized in that The distance between the initial position and the target position is not less than a preset displacement distance threshold, and the preset displacement distance threshold is determined by a transmission ratio between a zero angle of the steering wheel and a tire rotation angle.

3. The method according to claim 1, characterized in that A first position is set between the initial position and the target position on the driving reference straight line; and the step of controlling the unmanned vehicle to be calibrated to drive from the initial position along the driving reference straight line toward the target position includes: Control the unmanned vehicle to be calibrated to move forward from the initial position along the driving reference straight line for a first preset distance to reach the first position; The step of obtaining a calibrated zero angle in response to the calibration operation on the initial zero angle comprises: If the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position exceeds a preset deviation threshold, controlling the unmanned vehicle to be calibrated to retreat from the first position to the initial position; When the unmanned vehicle to be calibrated returns to the initial position, in response to the adjustment operation of the initial zero angle, the initial zero angle is adjusted to obtain an adjusted zero angle; wherein the difference angle between the adjusted zero angle and the initial zero angle is determined based on the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line.

4. The method according to claim 3, characterized in that: The method further comprises: When the steering wheel is at the adjusted zero angle, controlling the unmanned vehicle to be calibrated to travel from the initial position along the driving reference straight line toward the target position again to the first position; If the deviation distance between the unmanned vehicle to be calibrated at the first position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the first position to the initial position to continue adjusting the adjusted zero angle.

5. The method according to claim 3, characterized in that: A second position is provided between the first position and the target position on the driving reference straight line; the method further comprises: When the steering wheel is at the adjusted zero angle, controlling the unmanned vehicle to be calibrated to travel from the initial position along the driving reference straight line toward the target position again to the first position; If the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the first position does not exceed a preset deviation threshold, controlling the unmanned vehicle to be calibrated to move forward from the first position along the driving reference straight line by a second preset distance to reach the second position; If the deviation distance between the unmanned vehicle to be calibrated at the second position and the driving reference straight line exceeds a preset deviation threshold, the unmanned vehicle to be calibrated is controlled to retreat from the second position to the initial position to continue adjusting the adjusted zero angle.

6. The method according to claim 5, characterized in that The method further comprises: If the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line at the second position does not exceed a preset deviation threshold, controlling the unmanned vehicle to be calibrated to continue driving from the second position to the target position; If the deviation distance between the unmanned vehicle to be calibrated at the target position and the driving reference straight line does not exceed a preset deviation threshold after reaching the target position, the steering wheel zero angle calibration is completed.

7. The method according to any one of claims 1 to 6, characterized in that: The deviation distance is the vertical distance between the contact point of the designated tire of the unmanned vehicle to be calibrated and the driving reference straight line.

8. A steering wheel zero angle calibration device, characterized in that: The device comprises: A control initialization module, used to control the unmanned vehicle to be calibrated to be parallel to a pre-built driving reference straight line in the front and rear directions of the vehicle; A driving control module, used for controlling the unmanned vehicle to be calibrated to drive from an initial position along the driving reference straight line to a target position when the steering wheel is at the initial zero angle; A calibration module is used to obtain a calibrated zero angle in response to a calibration operation on the initial zero angle; wherein the difference angle between the calibrated zero angle and the initial zero angle is determined based on the deviation distance between the unmanned vehicle to be calibrated and the driving reference straight line during the driving process from the initial position to the target position.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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