Vehicle steering wheel zero deflection angle online estimation method and related device

Abstract

The invention discloses a vehicle steering wheel zero deflection angle on-line estimation method and a related device. The method comprises the following steps: carrying out real-time parameter acquisition processing when a vehicle runs; based on the real-time collected parameters, a vehicle kinematics model is used for calculation processing, and the vehicle side slip angle and the vehicle course angle of the vehicle are obtained; whether vehicle steering wheel zero deflection angle estimation processing needs to be carried out or not is determined based on the real-time collected parameter data; if not, returning to the step of collecting and processing the parameters in real time when the vehicle runs; if yes, inputting real-time collected parameter data, the vehicle side slip angle and the vehicle course angle into a convergent front wheel zero-deflection angle estimation model for estimation processing, and outputting a front wheel zero-deflection angle estimation value; and calculating a steering wheel zero deflection angle value according to the steering transmission ratio based on the front wheel zero deflection angle estimated value. In the embodiment of the invention, high-precision steering wheel zero deflection angle estimation can be realized without a complex algorithm, and the safety of auxiliary driving is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted driving, and in particular to an online estimation method for zero deflection angle of a vehicle steering wheel and a related device. Background Art

[0002] Due to the mechanical installation errors of traditional vehicles and the left-right asymmetry of the steering wheel in the autonomous driving wire-controlled system, it was found during the actual test and development process that the vehicle has a constant steering wheel zero offset angle, that is, when the steering wheel signal shows 0, the vehicle will still slightly deviate to one side; the existence of the vehicle's zero offset angle will increase the lateral error of the straight-line driving control algorithm. If this error needs to be eliminated, the value needs to be calibrated according to the status of different vehicles.

[0003] The existing method for calibrating the zero offset angle of a vehicle steering wheel is mainly to collect the steering wheel angle information required for the car to maintain straight driving during driving, and to perform manual calibration and correction. This method has low calibration efficiency and cannot guarantee accuracy. At the same time, considering that the mechanical wear during vehicle operation causes changes in the zero offset angle of the steering wheel, the lateral control accuracy of the vehicle during automatic driving will also be reduced. The existing technical method estimates through the recursive least squares method with a variable forgetting factor, which requires relatively complex calculations and cannot achieve efficient and accurate steering wheel zero offset angle estimation. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a vehicle steering wheel zero deviation angle online estimation method and related devices, which do not require complex algorithms to achieve high-precision steering wheel zero deviation angle estimation, thereby improving the safety of assisted driving.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method for online estimating a zero deflection angle of a vehicle steering wheel, the method comprising:

[0006] Based on the sensor equipment installed on the vehicle, real-time parameter collection and processing are performed when the vehicle is driving to obtain real-time collection parameter data of the vehicle, wherein the real-time collection parameter data includes current vehicle speed, current road radius, current front wheel angle observation value, steering wheel angle data and total vehicle mileage data;

[0007] Based on the real-time collected parameters, a vehicle kinematic model is used to perform calculation processing to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle;

[0008] Determining whether a vehicle steering wheel zero deviation angle estimation process is required based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data;

[0009] If it is confirmed that the vehicle steering wheel zero deflection angle estimation process is not required, returning to the step of performing real-time parameter acquisition process based on the sensor device installed on the vehicle when the vehicle is driving;

[0010] If it is confirmed that the vehicle steering wheel zero slip angle estimation process needs to be performed, the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle are input into a converged front wheel zero slip angle estimation model for estimation processing, and a front wheel zero slip angle estimation value is output;

[0011] A steering wheel zero deflection angle value is obtained by calculating the front wheel zero deflection angle estimation value according to the steering gear ratio.

[0012] Optionally, the real-time parameter acquisition processing is performed based on the sensor equipment arranged on the vehicle when the vehicle is traveling to obtain the real-time acquired parameter data of the vehicle, including:

[0013] When the vehicle starts to travel, the vehicle control system controls the sensor equipment installed on the vehicle to perform real-time parameter collection and processing to obtain real-time collection parameter data of the vehicle.

[0014] Optionally, the vehicle kinematic model is a model constructed based on the translation and rotation speeds of the vehicle, and the vehicle kinematic model is expressed as follows:

[0015]

[0016]

[0017] Where X is the longitudinal position of the vehicle; Y is the heading position of the vehicle; v is the current speed of the vehicle; β is the sideslip angle of the vehicle; is the heading angle of the vehicle; R is the radius of the road.

[0018] Optionally, the calculating and processing using a vehicle kinematics model based on the real-time collected parameters to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle includes:

[0019] The current vehicle speed and the current road radius in the real-time collected parameters are substituted into the vehicle kinematics model for calculation and processing, and the vehicle sideslip angle and vehicle heading angle of the vehicle are output.

[0020] Optionally, the confirming whether it is necessary to perform vehicle steering wheel zero deviation angle estimation processing based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data includes:

[0021] Determining whether the current vehicle speed in the real-time collected parameter data is greater than a preset vehicle speed, and determining whether the steering wheel angle data in the real-time collected parameter data is outside a preset angle data range;

[0022] When the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed and the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range, it is confirmed that vehicle steering wheel zero deviation angle estimation processing is required, otherwise it is confirmed that vehicle steering wheel zero deviation angle estimation processing is not required.

[0023] Optionally, the converged front wheel zero bias angle estimation model is a model obtained by training the front wheel zero bias angle estimation model to convergence using training data;

[0024] The front wheel zero bias angle estimation model is a model formed by adjusting the structure of the digital twin network according to the hardware parameters of the vehicle corresponding to the vehicle model;

[0025] When the front wheel zero bias angle estimation model is trained using training data, the node parameters of the front wheel zero bias angle estimation model in training are optimized by recursive least squares method to form a converged front wheel zero bias angle estimation model; the training data is composed of historical driving data of the vehicle corresponding to the vehicle model and the front wheel zero bias angle estimation values ​​marked by experts corresponding to the historical driving data.

[0026] Optionally, the calculating the steering wheel zero deflection angle value based on the front wheel zero deflection angle estimation value according to the steering gear ratio includes:

[0027] Obtaining a steering gear ratio of the vehicle based on vehicle model information corresponding to the vehicle;

[0028] Based on the front wheel zero deflection angle estimation value and the steering gear ratio, a steering wheel zero deflection angle calculation formula is used to perform calculation processing to obtain a steering wheel zero deflection angle value.

[0029] In addition, an embodiment of the present invention further provides a vehicle steering wheel zero deflection angle online estimation device, the device comprising:

[0030] Data acquisition module: used to perform real-time parameter acquisition processing based on the sensor equipment installed on the vehicle when the vehicle is driving, and obtain the real-time acquisition parameter data of the vehicle, wherein the real-time acquisition parameter data includes the current vehicle speed, the current road radius, the current front wheel angle observation value, the steering wheel angle data and the total mileage data of the vehicle;

[0031] A first calculation module: used for performing calculation processing using a vehicle kinematics model based on the real-time collected parameters to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle;

[0032] A judgment module: used to determine whether it is necessary to perform a vehicle steering wheel zero deviation angle estimation process based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data;

[0033] Return module: used for returning to the step of performing real-time parameter collection and processing based on the sensor equipment installed on the vehicle when the vehicle is driving if it is confirmed that the vehicle steering wheel zero deviation angle estimation process is not required;

[0034] Estimation module: used for inputting the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle into a converged front wheel zero slip angle estimation model for estimation processing if it is confirmed that the vehicle steering wheel zero slip angle estimation processing is required, and outputting the front wheel zero slip angle estimation value;

[0035] The second calculation module is used to calculate the steering wheel zero deflection angle value based on the front wheel zero deflection angle estimation value according to the steering gear ratio.

[0036] In addition, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement the vehicle steering wheel zero deflection angle online estimation method as described in any one of the above.

[0037] In addition, an embodiment of the present invention further provides a computer-readable storage medium for storing a computer program or code. When the computer program or code is executed by a processor, the vehicle steering wheel zero deflection angle online estimation method as described in any one of the above is implemented.

[0038] In an embodiment of the present invention, real-time parameter data of the vehicle is collected, and the vehicle sideslip angle and vehicle heading angle of the vehicle are obtained by calculation; when it is necessary to perform vehicle steering wheel zero deviation angle estimation processing, the real-time parameter data of the vehicle, the vehicle sideslip angle and the vehicle heading angle are input into a convergent front wheel zero deviation angle estimation model for estimation processing, and a front wheel zero deviation angle estimation value is output; finally, the steering wheel zero deviation angle value is obtained by calculating according to the steering transmission ratio; thereby, high-precision steering wheel zero deviation angle estimation is achieved without the need for complex algorithms, thereby improving the safety of assisted driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a schematic flow chart of a method for online estimating a zero deflection angle of a vehicle steering wheel in an embodiment of the present invention;

[0041] Figure 2 is a schematic flow chart of a method for online estimating a zero deflection angle of a vehicle steering wheel in another embodiment of the present invention;

[0042] Figure 3 Schematic diagram of the structure of the vehicle steering wheel zero deflection angle online estimation device in an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] For example, see Figure 1 , Figure 1 It is a flow chart of a method for online estimating a zero deflection angle of a vehicle steering wheel in an embodiment of the present invention.

[0046] like Figure 1 As shown, a method for online estimating a zero deflection angle of a vehicle steering wheel comprises:

[0047] S101: performing real-time parameter acquisition processing based on a sensor device installed on the vehicle while the vehicle is traveling, obtaining real-time acquired parameter data of the vehicle, wherein the real-time acquired parameter data includes current vehicle speed, current road radius, current front wheel steering angle observation value, steering wheel steering angle data, and total vehicle mileage data;

[0048] In the specific implementation process of the present invention, the real-time parameter collection and processing is performed based on the sensor equipment installed on the vehicle when the vehicle is driving to obtain the real-time collection parameter data of the vehicle, including: when the vehicle starts to drive, the vehicle control system controls the sensor equipment installed on the vehicle to perform real-time parameter collection and processing to obtain the real-time collection parameter data of the vehicle.

[0049] Specifically, various sensor devices are installed on the vehicle, and these sensor devices can collect data such as the current vehicle speed, the current road radius, the current front wheel angle observation value, and the steering wheel angle data. When the vehicle starts and drives, the vehicle control system on the vehicle will control the sensor devices installed on the vehicle to perform real-time parameter collection and processing to obtain the real-time collection parameter data of the vehicle; the real-time collection parameter data includes the current vehicle speed, the current road radius, the current front wheel angle observation value, the steering wheel angle data, and the total mileage data of the vehicle.

[0050] S102: performing calculation processing using a vehicle kinematics model based on the real-time collected parameters to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle;

[0051] In the specific implementation of the present invention, the vehicle kinematic model is a model constructed based on the translation and rotation speed of the vehicle. The vehicle kinematic model is expressed as follows:

[0052]

[0053]

[0054] Where X is the longitudinal position of the vehicle; Y is the heading position of the vehicle; v is the current speed of the vehicle; β is the sideslip angle of the vehicle; is the heading angle of the vehicle; R is the radius of the road.

[0055] Furthermore, the vehicle sideslip angle and vehicle heading angle of the vehicle are obtained by performing calculation processing based on the real-time collected parameters using a vehicle kinematics model, including: substituting the current vehicle speed and the current road radius in the real-time collected parameters into the vehicle kinematics model for calculation processing, and outputting the vehicle sideslip angle and vehicle heading angle of the vehicle.

[0056] Specifically, the vehicle kinematic model is first constructed. When constructing the vehicle kinematic model, the translation and rotation speed of the vehicle are used for construction. Therefore, the constructed vehicle kinematic model is expressed as follows:

[0057]

[0058]

[0059] Where X is the longitudinal position of the vehicle; Y is the heading position of the vehicle; v is the current speed of the vehicle; β is the sideslip angle of the vehicle; is the heading angle of the vehicle; R is the radius of the road.

[0060] After the vehicle kinematic model is obtained, the current vehicle speed and the current road radius in the real-time acquisition parameters can be substituted into the vehicle kinematic model for calculation and processing, and finally the vehicle sideslip angle and vehicle heading angle of the vehicle can be output.

[0061] S103: confirming whether it is necessary to perform vehicle steering wheel zero deviation angle estimation processing based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data; if it is confirmed that it is not necessary to perform vehicle steering wheel zero deviation angle estimation processing, returning to the step of performing real-time parameter collection processing based on the sensor device set on the vehicle when the vehicle is driving;

[0062] In the specific implementation process of the present invention, the confirmation of whether vehicle steering wheel zero deviation angle estimation processing is required based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data includes: judging whether the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed, and judging whether the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range; when the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed and the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range, confirming that vehicle steering wheel zero deviation angle estimation processing is required, otherwise confirming that vehicle steering wheel zero deviation angle estimation processing is not required.

[0063] Specifically, when it is confirmed that the vehicle steering wheel zero deviation angle estimation process is not needed, the process returns to the step of performing real-time parameter collection processing based on the sensor equipment installed on the vehicle when the vehicle is driving and continues the work of real-time parameter collection.

[0064] Because to determine whether it is necessary to perform vehicle steering wheel zero deviation angle estimation processing, the most important thing is to confirm whether to perform assisted driving. Generally, certain conditions are met when performing assisted driving, namely, first of all, there must be a certain speed, which can be a preset speed, and the steering wheel angle data also needs to be within a certain range, that is, the preset angle data range; at this time, it is determined whether the vehicle steering wheel zero deviation angle estimation processing is needed by judging whether the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed, and judging whether the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range.

[0065] At this time, when the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed, and the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range, it is confirmed that the vehicle steering wheel zero deviation angle estimation processing is required, otherwise it is confirmed that the vehicle steering wheel zero deviation angle estimation processing is not required.

[0066] S104: if it is confirmed that the vehicle steering wheel zero slip angle estimation process needs to be performed, the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle are input into a converged front wheel zero slip angle estimation model for estimation processing, and a front wheel zero slip angle estimation value is output;

[0067] In the specific implementation process of the present invention, the converged front wheel zero bias angle estimation model is a model that converges by training the front wheel zero bias angle estimation model using training data; the front wheel zero bias angle estimation model is a model formed by adjusting the structure of the digital twin network according to the hardware parameters of the vehicle's corresponding model; when the front wheel zero bias angle estimation model is trained using training data, the node parameters of the front wheel zero bias angle estimation model in training are optimized by recursive least squares method to form a converged front wheel zero bias angle estimation model; the training data is composed of historical driving data of the vehicle's corresponding model and the front wheel zero bias angle estimation values ​​marked by experts corresponding to the historical driving data.

[0068] Specifically, when estimating the front wheel zero slip angle, it is necessary to sequentially input the real-time collected parameter data, the vehicle side slip angle and the vehicle heading angle into a converged front wheel zero slip angle estimation model for estimation processing, and output a front wheel zero slip angle estimation value; the converged front wheel zero slip angle estimation model is a model that is converged by training the front wheel zero slip angle estimation model using training data; wherein the training data is composed of historical driving data of the vehicle corresponding to the vehicle model and the front wheel zero slip angle estimation value marked by experts corresponding to the historical driving data;

[0069] The front wheel zero bias angle estimation model is a model formed by adjusting the structure of the digital twin network according to the hardware parameters of the vehicle's corresponding model; when the front wheel zero bias angle estimation model is trained using training data, the node parameters of the front wheel zero bias angle estimation model in training are optimized according to the total mileage data in the training data through the recursive least squares method to form a converged front wheel zero bias angle estimation model; this optimization is mainly aimed at the estimation error caused by wear and tear that may occur after the vehicle has traveled a certain mileage. Optimization in this way can effectively reduce the estimation error caused by normal wear and tear of the vehicle, making subsequent estimates more accurate.

[0070] S105: Obtain a steering wheel zero deflection angle value by calculating the steering gear ratio based on the front wheel zero deflection angle estimation value.

[0071] In the specific implementation process of the present invention, the steering wheel zero deflection angle value is obtained by calculating according to the steering transmission ratio based on the front wheel zero deflection angle estimation value, including: obtaining the steering transmission ratio of the vehicle based on the vehicle model information corresponding to the vehicle; calculating and processing using the steering wheel zero deflection angle calculation formula based on the front wheel zero deflection angle estimation value and the steering transmission ratio to obtain the steering wheel zero deflection angle value.

[0072] Specifically, the steering transmission ratio of the vehicle is obtained according to the vehicle model information corresponding to the vehicle; then the steering wheel zero deflection angle value is calculated using the front wheel zero deflection angle estimation value and the steering transmission ratio using the steering wheel zero deflection angle through a given calculation formula, thereby calculating the steering wheel zero deflection angle value.

[0073] In an embodiment of the present invention, real-time parameter data of the vehicle is collected, and the vehicle sideslip angle and vehicle heading angle of the vehicle are obtained by calculation; when it is necessary to perform vehicle steering wheel zero deviation angle estimation processing, the real-time parameter data of the vehicle, the vehicle sideslip angle and the vehicle heading angle are input into a convergent front wheel zero deviation angle estimation model for estimation processing, and a front wheel zero deviation angle estimation value is output; finally, the steering wheel zero deviation angle value is obtained by calculating according to the steering transmission ratio; thereby, high-precision steering wheel zero deviation angle estimation is achieved without the need for complex algorithms, thereby improving the safety of assisted driving.

[0074] For example 2, please refer to Figure 2 , Figure 2 It is a flow chart of a method for online estimating a zero deflection angle of a vehicle steering wheel in another embodiment of the present invention.

[0075] like Figure 2 As shown, a method for online estimating a zero deflection angle of a vehicle steering wheel comprises:

[0076] S201: When the vehicle starts to travel, the vehicle control system controls the sensor equipment arranged on the vehicle to perform real-time parameter collection and processing to obtain real-time collection parameter data of the vehicle;

[0077] S202: Substituting the current vehicle speed and the current road radius in the real-time collected parameters into the vehicle kinematics model for calculation and processing, and outputting the vehicle sideslip angle and vehicle heading angle of the vehicle;

[0078] S203 confirms whether it is necessary to perform vehicle steering wheel zero deviation angle estimation processing based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data; if it is confirmed that it is not necessary to perform vehicle steering wheel zero deviation angle estimation processing, return to the step of performing real-time parameter collection processing based on the sensor device set on the vehicle when the vehicle is driving;

[0079] S204: if it is confirmed that the vehicle steering wheel zero slip angle estimation process needs to be performed, the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle are input into a converged front wheel zero slip angle estimation model for estimation processing, and a front wheel zero slip angle estimation value is output;

[0080] S205: Obtaining a steering gear ratio of the vehicle based on information of a vehicle model corresponding to the vehicle;

[0081] S206: Calculate and process the steering wheel zero deflection angle calculation formula based on the front wheel zero deflection angle estimation value and the steering gear ratio to obtain a steering wheel zero deflection angle value.

[0082] The specific implementation of the second embodiment can be found in the first embodiment, which will not be described in detail here.

[0083] For example 3, please refer to Figure 3 , Figure 3 It is a schematic diagram of the structural composition of a vehicle steering wheel zero deflection angle online estimation device in an embodiment of the present invention.

[0084] like Figure 3 As shown, a vehicle steering wheel zero deflection angle online estimation device, the device comprising:

[0085] Data acquisition module 301: used to perform real-time parameter acquisition processing based on sensor equipment installed on the vehicle when the vehicle is traveling, and obtain real-time acquisition parameter data of the vehicle, wherein the real-time acquisition parameter data includes current vehicle speed, current road radius, current front wheel steering angle observation value, steering wheel steering angle data and vehicle total mileage data;

[0086] In the specific implementation process of the present invention, the real-time parameter collection and processing is performed based on the sensor equipment installed on the vehicle when the vehicle is driving to obtain the real-time collection parameter data of the vehicle, including: when the vehicle starts to drive, the vehicle control system controls the sensor equipment installed on the vehicle to perform real-time parameter collection and processing to obtain the real-time collection parameter data of the vehicle.

[0087] Specifically, various sensor devices are installed on the vehicle, and these sensor devices can collect data such as the current vehicle speed, the current road radius, the current front wheel angle observation value, and the steering wheel angle data. When the vehicle starts and drives, the vehicle control system on the vehicle will control the sensor devices installed on the vehicle to perform real-time parameter collection and processing to obtain the real-time collection parameter data of the vehicle; the real-time collection parameter data includes the current vehicle speed, the current road radius, the current front wheel angle observation value, the steering wheel angle data, and the total mileage data of the vehicle.

[0088] The first calculation module 302 is used to perform calculation processing based on the real-time collected parameters using a vehicle kinematics model to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle;

[0089] In the specific implementation of the present invention, the vehicle kinematic model is a model constructed based on the translation and rotation speed of the vehicle. The vehicle kinematic model is expressed as follows:

[0090]

[0091]

[0092] Where X is the longitudinal position of the vehicle; Y is the heading position of the vehicle; v is the current speed of the vehicle; β is the sideslip angle of the vehicle; is the heading angle of the vehicle; R is the radius of the road.

[0093] Furthermore, the vehicle sideslip angle and vehicle heading angle of the vehicle are obtained by performing calculation processing based on the real-time collected parameters using a vehicle kinematics model, including: substituting the current vehicle speed and the current road radius in the real-time collected parameters into the vehicle kinematics model for calculation processing, and outputting the vehicle sideslip angle and vehicle heading angle of the vehicle.

[0094] Specifically, the vehicle kinematic model is first constructed. When constructing the vehicle kinematic model, the translation and rotation speed of the vehicle are used for construction. Therefore, the constructed vehicle kinematic model is expressed as follows:

[0095]

[0096]

[0097] Where X is the longitudinal position of the vehicle; Y is the heading position of the vehicle; v is the current speed of the vehicle; β is the sideslip angle of the vehicle; is the heading angle of the vehicle; R is the radius of the road.

[0098] After the vehicle kinematic model is obtained, the current vehicle speed and the current road radius in the real-time acquisition parameters can be substituted into the vehicle kinematic model for calculation and processing, and finally the vehicle sideslip angle and vehicle heading angle of the vehicle can be output.

[0099] The judgment module 303 is used to determine whether it is necessary to perform a vehicle steering wheel zero deviation angle estimation process based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data;

[0100] In the specific implementation process of the present invention, the confirmation of whether vehicle steering wheel zero deviation angle estimation processing is required based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data includes: judging whether the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed, and judging whether the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range; when the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed and the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range, confirming that vehicle steering wheel zero deviation angle estimation processing is required, otherwise confirming that vehicle steering wheel zero deviation angle estimation processing is not required.

[0101] Specifically, when it is confirmed that the vehicle steering wheel zero deviation angle estimation process is not needed, the process returns to the step of performing real-time parameter collection processing based on the sensor equipment installed on the vehicle when the vehicle is driving and continues the work of real-time parameter collection.

[0102] Because to determine whether it is necessary to perform vehicle steering wheel zero deviation angle estimation processing, the most important thing is to confirm whether to perform assisted driving. Generally, certain conditions are met when performing assisted driving, namely, first of all, there must be a certain speed, which can be a preset speed, and the steering wheel angle data also needs to be within a certain range, that is, the preset angle data range; at this time, it is determined whether the vehicle steering wheel zero deviation angle estimation processing is needed by judging whether the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed, and judging whether the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range.

[0103] At this time, when the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed, and the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range, it is confirmed that the vehicle steering wheel zero deviation angle estimation processing is required, otherwise it is confirmed that the vehicle steering wheel zero deviation angle estimation processing is not required.

[0104] Return module 304: if it is determined that the vehicle steering wheel zero deviation angle estimation process is not required, return to the step of performing real-time parameter collection process based on the sensor device installed on the vehicle when the vehicle is driving;

[0105] In the specific implementation of the present invention, when it is confirmed that there is no need to perform the vehicle steering wheel zero deviation angle estimation process, it is possible to directly return to the step of performing real-time parameter collection and processing based on the sensor equipment installed on the vehicle when the vehicle is driving.

[0106] Estimation module 305: if it is confirmed that the vehicle steering wheel zero slip angle estimation process needs to be performed, input the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle into a converged front wheel zero slip angle estimation model for estimation processing, and output a front wheel zero slip angle estimation value;

[0107] In the specific implementation process of the present invention, the converged front wheel zero bias angle estimation model is a model that converges by training the front wheel zero bias angle estimation model using training data; the front wheel zero bias angle estimation model is a model formed by adjusting the structure of the digital twin network according to the hardware parameters of the vehicle's corresponding model; when the front wheel zero bias angle estimation model is trained using training data, the node parameters of the front wheel zero bias angle estimation model in training are optimized using the total mileage data in the training data through the recursive least squares method to form a converged front wheel zero bias angle estimation model; the training data is composed of the historical driving data of the vehicle's corresponding model and the front wheel zero bias angle estimation values ​​marked by experts corresponding to the historical driving data.

[0108] Specifically, when estimating the front wheel zero slip angle, it is necessary to sequentially input the real-time collected parameter data, the vehicle side slip angle and the vehicle heading angle into a converged front wheel zero slip angle estimation model for estimation processing, and output a front wheel zero slip angle estimation value; the converged front wheel zero slip angle estimation model is a model that is converged by training the front wheel zero slip angle estimation model using training data; wherein the training data is composed of historical driving data of the vehicle corresponding to the vehicle model and the front wheel zero slip angle estimation value marked by experts corresponding to the historical driving data;

[0109] The front wheel zero bias angle estimation model is a model formed by adjusting the structure of the digital twin network according to the hardware parameters of the vehicle's corresponding model; when the front wheel zero bias angle estimation model is trained using training data, the node parameters of the front wheel zero bias angle estimation model in training are optimized using the total mileage data in the training data through the recursive least squares method to form a converged front wheel zero bias angle estimation model; this optimization is mainly aimed at the estimation error caused by wear and tear that may occur after the vehicle has traveled a certain mileage. Optimization in this way can effectively reduce the estimation error caused by normal wear and tear of the vehicle, making subsequent estimates more accurate.

[0110] The second calculation module 306 is used to calculate the steering wheel zero deflection angle value based on the front wheel zero deflection angle estimation value according to the steering gear ratio.

[0111] In the specific implementation process of the present invention, the steering wheel zero deflection angle value is obtained by calculating according to the steering transmission ratio based on the front wheel zero deflection angle estimation value, including: obtaining the steering transmission ratio of the vehicle based on the vehicle model information corresponding to the vehicle; calculating and processing using the steering wheel zero deflection angle calculation formula based on the front wheel zero deflection angle estimation value and the steering transmission ratio to obtain the steering wheel zero deflection angle value.

[0112] Specifically, the steering transmission ratio of the vehicle is obtained according to the vehicle model information corresponding to the vehicle; then the steering wheel zero deflection angle value is calculated using the front wheel zero deflection angle estimation value and the steering transmission ratio using the steering wheel zero deflection angle through a given calculation formula, thereby calculating the steering wheel zero deflection angle value.

[0113] In an embodiment of the present invention, real-time parameter data of the vehicle is collected, and the vehicle sideslip angle and vehicle heading angle of the vehicle are obtained by calculation; when it is necessary to perform vehicle steering wheel zero deviation angle estimation processing, the real-time parameter data of the vehicle, the vehicle sideslip angle and the vehicle heading angle are input into a convergent front wheel zero deviation angle estimation model for estimation processing, and a front wheel zero deviation angle estimation value is output; finally, the steering wheel zero deviation angle value is obtained by calculating according to the steering transmission ratio; thereby, high-precision steering wheel zero deviation angle estimation is achieved without the need for complex algorithms, thereby improving the safety of assisted driving.

[0114] A computer-readable storage medium is provided in an embodiment of the present invention, wherein a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, a vehicle steering wheel zero deflection angle online estimation method of any one of the above embodiments is implemented. Wherein, the computer-readable storage medium includes but is not limited to any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the storage device includes any medium that can store or transmit information in a readable form by a device (for example, a computer, a mobile phone), which can be a read-only memory, a disk or an optical disk, etc.

[0115] An embodiment of the present invention further provides a computer application program, which runs on a computer and is used to execute the vehicle steering wheel zero deflection angle online estimation method of any one of the above embodiments.

[0116] also, Figure 4 It is a schematic diagram of the structure of an electronic device in an embodiment of the present invention.

[0117] The embodiment of the present invention further provides an electronic device, such as Figure 4 The electronic device includes a processor 402, a memory 403, an input unit 404, a display unit 405 and other devices. Those skilled in the art will understand that Figure 4 The structural components of the electronic device shown do not constitute a limitation on all devices, and may include more or fewer components than shown, or combine certain components. The memory 403 can be used to store the application 401 and various functional modules, and the processor 402 runs the application 401 stored in the memory 403, thereby executing various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both internal and external memories. The internal memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, or a random access memory. The external memory may include a hard disk, a floppy disk, a ZIP disk, a U disk, a magnetic tape, etc. The memory disclosed in the present invention includes but is not limited to these types of memories. The memory disclosed in the present invention is only used as an example and not as a limitation.

[0118] The input unit 404 is used to receive the input of the signal and the keyword input by the user. The input unit 404 may include a touch panel and other input devices. The touch panel can collect the user's touch operation on or near it (such as the user's operation on or near the touch panel using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a pre-set program; other input devices may include but are not limited to one or more of a physical keyboard, a function key (such as a playback control key, a switch key, etc.), a trackball, a mouse, a joystick, etc. The display unit 405 can be used to display the information input by the user or the information provided to the user and various menus of the terminal device. The display unit 405 can be in the form of a liquid crystal display, an organic light emitting diode, etc. The processor 402 is the control center of the terminal device, which uses various interfaces and lines to connect the various parts of the entire device, and executes various functions and processes data by running or executing software programs and / or modules stored in the memory 403, and calling the data stored in the memory.

[0119] As an embodiment, the electronic device includes: one or more processors 402, a memory 403, and one or more applications 401, wherein the one or more applications 401 are stored in the memory 403 and are configured to be executed by the one or more processors 402, and the one or more applications 401 are configured to execute the corresponding vehicle steering wheel zero deviation angle online estimation method in any of the above-mentioned embodiments.

[0120] In an embodiment of the present invention, real-time parameter data of the vehicle is collected, and the vehicle sideslip angle and vehicle heading angle of the vehicle are obtained by calculation; when it is necessary to perform vehicle steering wheel zero deviation angle estimation processing, the real-time parameter data of the vehicle, the vehicle sideslip angle and the vehicle heading angle are input into a convergent front wheel zero deviation angle estimation model for estimation processing, and a front wheel zero deviation angle estimation value is output; finally, the steering wheel zero deviation angle value is obtained by calculating according to the steering transmission ratio; thereby, high-precision steering wheel zero deviation angle estimation is achieved without the need for complex algorithms, thereby improving the safety of assisted driving.

[0121] In addition, the above is a detailed introduction to a vehicle steering wheel zero deflection angle online estimation method and related devices provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for online estimation of zero deflection angle of a vehicle steering wheel, characterized in that: The method comprises: Based on the sensor equipment installed on the vehicle, real-time parameter collection and processing are performed when the vehicle is driving to obtain real-time collection parameter data of the vehicle, wherein the real-time collection parameter data includes current vehicle speed, current road radius, current front wheel angle observation value, steering wheel angle data and total vehicle mileage data; Based on the real-time collected parameters, a vehicle kinematic model is used to perform calculation processing to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle; Determining whether a vehicle steering wheel zero deviation angle estimation process is required based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data; If it is confirmed that the vehicle steering wheel zero deflection angle estimation process is not required, returning to the step of performing real-time parameter acquisition process based on the sensor device installed on the vehicle when the vehicle is driving; If it is confirmed that the vehicle steering wheel zero slip angle estimation process needs to be performed, the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle are input into a converged front wheel zero slip angle estimation model for estimation processing, and a front wheel zero slip angle estimation value is output; A steering wheel zero deflection angle value is obtained by calculating the front wheel zero deflection angle estimation value according to the steering gear ratio.

2. The method for online estimating the zero deflection angle of a vehicle steering wheel according to claim 1, characterized in that: The real-time parameter acquisition process is performed based on the sensor equipment arranged on the vehicle when the vehicle is traveling to obtain the real-time acquisition parameter data of the vehicle, including: When the vehicle starts to travel, the vehicle control system controls the sensor equipment arranged on the vehicle to perform real-time parameter collection and processing to obtain real-time collection parameter data of the vehicle.

3. The vehicle steering wheel zero deflection angle online estimation method according to claim 1, characterized in that: The vehicle kinematic model is a model constructed based on the translation and rotation speed of the vehicle. The vehicle kinematic model is expressed as follows: Where X is the longitudinal position of the vehicle; Y is the heading position of the vehicle; v is the current speed of the vehicle; β is the sideslip angle of the vehicle; is the heading angle of the vehicle; R is the radius of the road.

4. The method for online estimating the zero deflection angle of a vehicle steering wheel according to claim 1, characterized in that: The method of performing calculation processing based on the real-time collected parameters using a vehicle kinematics model to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle includes: The current vehicle speed and the current road radius in the real-time collected parameters are substituted into the vehicle kinematics model for calculation and processing, and the vehicle sideslip angle and vehicle heading angle of the vehicle are output.

5. The vehicle steering wheel zero deflection angle online estimation method according to claim 1, characterized in that: The determining whether it is necessary to perform vehicle steering wheel zero deviation angle estimation processing based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data includes: Determining whether the current vehicle speed in the real-time collected parameter data is greater than a preset vehicle speed, and determining whether the steering wheel angle data in the real-time collected parameter data is outside a preset angle data range; When the current vehicle speed in the real-time collected parameter data is greater than the preset vehicle speed and the steering wheel angle data in the real-time collected parameter data is outside the preset angle data range, it is confirmed that vehicle steering wheel zero deviation angle estimation processing is required, otherwise it is confirmed that vehicle steering wheel zero deviation angle estimation processing is not required.

6. The vehicle steering wheel zero deflection angle online estimation method according to claim 1, characterized in that: The converged front wheel zero bias angle estimation model is a model obtained by training the front wheel zero bias angle estimation model using training data; The front wheel zero bias angle estimation model is a model formed by adjusting the structure of the digital twin network according to the hardware parameters of the vehicle corresponding to the vehicle model; When the front wheel zero bias angle estimation model is trained using training data, the node parameters of the front wheel zero bias angle estimation model in training are optimized according to the total mileage data in the training data by recursive least squares method to form a converged front wheel zero bias angle estimation model; the training data is composed of historical driving data of the vehicle corresponding to the vehicle model and the front wheel zero bias angle estimation values ​​marked by experts corresponding to the historical driving data.

7. The vehicle steering wheel zero deflection angle online estimation method according to claim 1, characterized in that: The step of calculating the steering wheel zero deflection angle value based on the front wheel zero deflection angle estimation value according to the steering transmission ratio comprises: Obtaining a steering gear ratio of the vehicle based on vehicle model information corresponding to the vehicle; Based on the front wheel zero deflection angle estimation value and the steering gear ratio, a steering wheel zero deflection angle calculation formula is used to perform calculation processing to obtain a steering wheel zero deflection angle value.

8. A vehicle steering wheel zero deflection angle online estimation device, characterized in that: The device comprises: Data acquisition module: used to perform real-time parameter acquisition processing based on the sensor equipment installed on the vehicle when the vehicle is driving, and obtain the real-time acquisition parameter data of the vehicle, wherein the real-time acquisition parameter data includes the current vehicle speed, the current road radius, the current front wheel angle observation value, the steering wheel angle data and the total mileage data of the vehicle; A first calculation module: used for performing calculation processing using a vehicle kinematics model based on the real-time collected parameters to obtain a vehicle sideslip angle and a vehicle heading angle of the vehicle; A judgment module: used to determine whether it is necessary to perform a vehicle steering wheel zero deviation angle estimation process based on the current vehicle speed and steering wheel angle data in the real-time collected parameter data; Return module: used for returning to the step of performing real-time parameter collection and processing based on the sensor equipment installed on the vehicle when the vehicle is driving if it is confirmed that the vehicle steering wheel zero deviation angle estimation process is not required; Estimation module: used for inputting the real-time collected parameter data, the vehicle sideslip angle and the vehicle heading angle into a converged front wheel zero slip angle estimation model for estimation processing if it is confirmed that the vehicle steering wheel zero slip angle estimation processing is required, and outputting the front wheel zero slip angle estimation value; The second calculation module is used to calculate the steering wheel zero deflection angle value based on the front wheel zero deflection angle estimation value according to the steering gear ratio.

9. An electronic device, comprising a processor and a memory, characterized in that: The processor runs a computer program or code stored in the memory to implement the vehicle steering wheel zero deflection angle online estimation method according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a computer program or code, characterized in that: When the computer program or code is executed by a processor, the vehicle steering wheel zero deflection angle online estimation method according to any one of claims 1 to 7 is implemented.

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