Vehicle steering angle correction method and device, vehicle controller and readable storage medium

Abstract

The invention relates to a vehicle steering angle correction method and device, a vehicle controller and a readable storage medium. The vehicle speed and the wheel angle are obtained in real time, whether the vehicle execution angle is matched with the wheel angle or not is determined under the condition that it is determined that the vehicle runs linearly according to the vehicle speed and the wheel angle, and the vehicle execution angle is corrected based on the wheel angle under the condition that it is determined that the vehicle execution angle is not matched with the wheel angle. Whether the vehicle runs in a straight line or not is judged through the vehicle speed and the wheel angle which are obtained in real time, and the vehicle execution angle is corrected in real time based on the wheel angle when it is determined that the vehicle runs in the straight line and the vehicle execution angle is not matched with the wheel angle, so that the correction timeliness is improved, and the correction accuracy is improved. In addition, potential safety hazards caused by deviation of the execution angle of the vehicle can be avoided, and the safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle steering angle correction method, device, vehicle controller, readable storage medium and program product. Background Art

[0002] With the advancement of science and technology, vehicles are becoming more and more intelligent, and more and more vehicles are using driverless technology. However, due to a series of reasons such as tire replacement, it is easy to cause the vehicle to fail to drive in a straight line when the VCU (Vehicle Control Unit) starts the steering angle to zero degrees.

[0003] In traditional technology, in order to ensure that the vehicle can drive in a straight line as required, it is usually necessary to calibrate the VCU turning angle regularly or in specific scenarios. However, due to the large workload of calibration, the timeliness of calibration cannot be guaranteed, which makes the driverless vehicle have safety hazards due to the deviation of steering accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle steering angle correction method, device, vehicle controller, computer-readable storage medium and computer program product to address the above technical problems.

[0005] In a first aspect, the present application provides a vehicle steering angle correction method, comprising:

[0006] Acquire vehicle speed and wheel angle in real time, where the wheel angle is detected by a rotation angle sensor installed on the wheel;

[0007] In the case where it is determined that the vehicle is traveling in a straight line according to the vehicle speed and the wheel angle, determining whether the vehicle execution angle matches the wheel angle;

[0008] In the case where it is determined that the vehicle execution angle does not match the wheel angle, the vehicle execution angle is corrected based on the wheel angle.

[0009] In one embodiment, the correcting the vehicle execution angle based on the wheel angle includes: determining an angle correction amount according to the wheel angle and the vehicle execution angle; and correcting the vehicle execution angle according to the angle correction amount.

[0010] In one of the embodiments, after the vehicle execution angle is corrected based on the wheel angle, the method further includes: obtaining a state of a vehicle steering wheel, and determining a positive direction of the vehicle steering wheel during the current driving process based on the state of the vehicle steering wheel.

[0011] In one embodiment, after acquiring the vehicle speed and wheel angle in real time, the method further includes: determining that the vehicle is traveling in a straight line when it is determined that the vehicle speed is less than or equal to a first speed threshold and the wheel angle is zero and the duration reaches a first duration threshold.

[0012] In one embodiment, after acquiring the vehicle speed and wheel angle in real time, the method further includes: when it is determined that the vehicle speed is greater than a first speed threshold and less than or equal to a second speed threshold, and the wheel angle is zero and the duration reaches a second duration threshold, determining that the vehicle is traveling in a straight line, and the second speed threshold is greater than the first speed threshold.

[0013] In one embodiment, after acquiring the vehicle speed and wheel angle in real time, the method further includes: when it is determined that the vehicle speed is greater than a second speed threshold and less than or equal to a third speed threshold, and the wheel angle is zero and the duration reaches a third duration threshold, determining that the vehicle is traveling in a straight line and the third speed threshold is greater than the second speed threshold.

[0014] In one embodiment, after acquiring the vehicle speed and wheel angle in real time, the method further includes: determining that the vehicle is traveling in a straight line when it is determined that the vehicle speed is greater than a third speed threshold, the wheel angle is zero and the duration reaches a fourth duration threshold.

[0015] In a second aspect, the present application also provides a vehicle steering angle correction device, the device comprising:

[0016] An acquisition module is used to acquire the vehicle speed and wheel angle in real time, where the wheel angle is detected by a rotation angle sensor installed on the wheel;

[0017] A matching module, for determining whether a vehicle execution angle matches the wheel angle when it is determined that the vehicle is traveling in a straight line according to the vehicle speed and the wheel angle;

[0018] A correction module is used to correct the vehicle execution angle based on the wheel angle when it is determined that the vehicle execution angle does not match the wheel angle.

[0019] In a third aspect, the present application further provides a vehicle controller, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0020] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0021] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0022] The above-mentioned vehicle steering angle correction method, device, vehicle controller, computer-readable storage medium and computer program product obtain the vehicle speed and wheel angle in real time, and determine whether the vehicle execution angle matches the wheel angle when the vehicle is determined to be traveling in a straight line according to the vehicle speed and wheel angle, and correct the vehicle execution angle based on the wheel angle when it is determined that the vehicle execution angle does not match the wheel angle. It determines whether the vehicle is traveling in a straight line by obtaining the vehicle speed and wheel angle in real time, and corrects the vehicle execution angle in real time based on the wheel angle when it is determined that the vehicle is traveling in a straight line and the vehicle execution angle does not match the wheel angle, which not only improves the timeliness of the correction, but also avoids safety hazards caused by deviations in the vehicle execution angle, thereby improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of a flow chart of a vehicle steering angle correction method in one embodiment;

[0025] Figure 2 A schematic diagram of a flow chart of a step of performing angle correction on a vehicle in one embodiment;

[0026] Figure 3 A schematic diagram of a scenario of a method for correcting a vehicle steering angle in one embodiment;

[0027] Figure 4 is a structural block diagram of a vehicle steering angle correction device in one embodiment;

[0028] Figure 5 FIG. 4 is a diagram showing the internal structure of a vehicle controller in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] In one embodiment, Figure 1 As shown, a vehicle steering angle correction method is provided. This embodiment uses the method applied to a vehicle controller as an example. In this embodiment, the method may include the following steps:

[0031] Step 102, obtaining the vehicle speed and wheel angle in real time.

[0032] The wheel angle is detected by the steering angle sensor installed on the wheel. The wheel angle is used to characterize the steering angle or toe angle of the wheel, which refers to the rotation angle of the wheel relative to the longitudinal centerline of the vehicle. This angle is an important factor in measuring the vehicle's handling, stability and driving direction. The vehicle speed refers to the real-time driving speed of the vehicle, which can be measured by speed sensors, speed radars, etc.

[0033] In this embodiment, the rotation angle sensor installed on the wheel transmits the detected wheel angle to the vehicle controller in real time, and the vehicle speed sensor, speed radar, etc. in the vehicle transmits the measured vehicle speed to the vehicle controller in real time. The vehicle controller can then obtain the vehicle speed and wheel angle in real time.

[0034] Step 104 , when it is determined based on the vehicle speed and the wheel angle that the vehicle is traveling in a straight line, determine whether the vehicle execution angle matches the wheel angle.

[0035] The vehicle driving in a straight line means that during the driving process, the vehicle moves forward in a straight line along the road without deviation or deviating from the lane. Usually, the wheel angle is zero when the vehicle is driving in a straight line.

[0036] The vehicle execution angle may be a driving angle planned during vehicle driving. For example, during unmanned driving, the vehicle execution angle may be a driving angle or a steering angle generated by an unmanned driving controller in a vehicle controller. When the vehicle is driving in a straight line, the vehicle execution angle should match the wheel angle, where matching may mean that the two angles are the same, or the difference between the two angles is less than a set angle threshold. Specifically, the size of the angle threshold may be set based on the accuracy requirements of the actual scenario. For example, in a scenario with high accuracy requirements, a smaller angle threshold may be set, and in a scenario with low accuracy requirements, the angle threshold may be set slightly larger.

[0037] In this embodiment, the vehicle controller can determine whether the vehicle is traveling in a straight line based on the vehicle speed and wheel angle acquired in real time, and if it is determined that the vehicle is traveling in a straight line, further determine whether the vehicle execution angle matches the wheel angle.

[0038] Step 106 : When it is determined that the vehicle execution angle does not match the wheel angle, the vehicle execution angle is corrected based on the wheel angle.

[0039] Specifically, when the vehicle controller determines that the vehicle execution angle does not match the wheel angle, the vehicle execution angle can be corrected based on the wheel angle. When the vehicle is traveling in a straight line, the wheel angle is usually zero degrees, and the vehicle execution angle should match the wheel angle, that is, the vehicle execution angle should also be zero degrees, or close to zero degrees. If the vehicle execution angle does not match the wheel angle, it means that the vehicle execution angle is not zero degrees, or is not close to zero degrees, which means that there is a deviation in the vehicle execution angle. Therefore, the vehicle execution angle needs to be corrected to avoid safety hazards caused by the deviation of the vehicle execution angle.

[0040] In the above vehicle steering angle correction method, the vehicle controller obtains the vehicle speed and wheel angle in real time, and when it is determined that the vehicle is traveling in a straight line according to the vehicle speed and wheel angle, determines whether the vehicle execution angle matches the wheel angle, and when it is determined that the vehicle execution angle does not match the wheel angle, corrects the vehicle execution angle based on the wheel angle. It determines whether the vehicle is traveling in a straight line by obtaining the vehicle speed and wheel angle in real time, and when it is determined that the vehicle is traveling in a straight line and the vehicle execution angle does not match the wheel angle, corrects the vehicle execution angle in real time based on the wheel angle, which not only improves the timeliness of the correction, but also avoids safety hazards caused by deviations in the vehicle execution angle, thereby improving the safety of the vehicle.

[0041] In an exemplary embodiment, in step 102, after acquiring the vehicle speed and wheel angle in real time, the method may further include: determining that the vehicle is traveling in a straight line when it is determined that the vehicle speed is less than or equal to a first speed threshold, the wheel angle is zero and the duration reaches a first duration threshold.

[0042] In an exemplary embodiment, in step 102, after acquiring the vehicle speed and wheel angle in real time, the method may further include: determining that the vehicle is traveling in a straight line when it is determined that the vehicle speed is greater than a first speed threshold and less than or equal to a second speed threshold, and the wheel angle is zero and the duration reaches a second duration threshold.

[0043] In an exemplary embodiment, in step 102, after acquiring the vehicle speed and wheel angle in real time, the method may further include: determining that the vehicle is traveling in a straight line when it is determined that the vehicle speed is greater than a second speed threshold and less than or equal to a third speed threshold, and the wheel angle is zero and the duration reaches a third duration threshold.

[0044] In an exemplary embodiment, in step 102, after acquiring the vehicle speed and wheel angle in real time, the method may further include: when it is determined that the vehicle speed is greater than a third speed threshold, the wheel angle is zero and the duration reaches a fourth duration threshold, determining that the vehicle is traveling in a straight line.

[0045] In the above process of determining whether the vehicle is traveling in a straight line, a speed threshold and a duration threshold may be pre-set, and the determination may be made based on the real-time vehicle speed and wheel angle. The third speed threshold is greater than the second speed threshold, and the second speed threshold is greater than the first speed threshold. The first duration threshold is greater than the second duration threshold, the second duration threshold is greater than the third duration threshold, and the third duration threshold is greater than the fourth duration threshold.

[0046] For example, taking the first speed threshold as 5 km / h (i.e. 5 kilometers per hour), the second speed threshold as 10 km / h, the third speed threshold as 20 km / h, the first duration threshold as 5 s (i.e. 5 seconds), the second duration threshold as 3 s, the third duration threshold as 1.5 s, and the fourth duration threshold as 1 s as an example, judging whether the vehicle is traveling in a straight line based on the real-time vehicle speed and wheel angle may specifically include:

[0047] When the vehicle controller detects that the vehicle speed is less than or equal to the first speed threshold, i.e., less than or equal to 5 km / h, and the wheel angle is continuously zero and the duration is greater than or equal to the first duration threshold, i.e., 5 seconds, it can be determined that the vehicle is traveling in a straight line.

[0048] When the vehicle controller detects that the vehicle speed is greater than the first speed threshold, i.e. 5Km / h, and less than or equal to the second speed threshold, i.e. 10Km / h, and the wheel angle is continuously zero and the duration is greater than or equal to the second duration threshold, i.e. 3s, it can be determined that the vehicle is traveling in a straight line.

[0049] When the vehicle controller detects that the vehicle speed is greater than the second speed threshold, i.e. 10Km / h, and less than or equal to the third speed threshold, i.e. 20Km / h, and the wheel angle is continuously zero and the duration is greater than or equal to the third duration threshold, i.e. 1.5s, it can be determined that the vehicle is traveling in a straight line.

[0050] When the vehicle controller detects that the vehicle speed is greater than the third speed threshold, i.e. 20 km / h, and the wheel angle is continuously zero and the duration is greater than or equal to the fourth duration threshold, i.e. 1 s, it can be determined that the vehicle is traveling in a straight line.

[0051] The above embodiment pre-sets a speed threshold and a duration threshold, and combines the real-time speed of the vehicle and the wheel angle to determine whether the vehicle is traveling in a straight line. This can not only improve the accuracy of the judgment, but also improve the stability of the judgment result compared to the method of judging by a single indicator.

[0052] It can be understood that the specific parameters in the above embodiments are only used to illustrate the scheme of the present application and are not used to limit the present application. In actual application, the specific parameter values ​​can be adjusted based on the actual scenario, and the present application does not limit this.

[0053] In one embodiment, Figure 2 As shown, in step 106, the vehicle execution angle is corrected based on the wheel angle, which may specifically include:

[0054] Step 202, determining an angle correction amount according to the wheel angle and the vehicle execution angle.

[0055] The angle correction amount may be a compensation value used to correct the vehicle execution angle to eliminate the deviation. The angle correction amount may be determined based on the difference between the wheel angle and the vehicle execution angle.

[0056] In this embodiment, when the vehicle controller is correcting the vehicle execution angle, it may first determine the angle correction amount based on the wheel angle and the vehicle execution angle, and then perform correction based on subsequent steps.

[0057] Step 204, correcting the vehicle execution angle according to the angle correction amount.

[0058] Specifically, the vehicle controller may correct the vehicle execution angle based on the angle correction amount determined in the above steps, thereby eliminating the deviation of the vehicle execution angle.

[0059] In an exemplary embodiment, taking the above method applied to an unmanned driving scenario as an example, Figure 3 As shown, the vehicle controller may include an unmanned driving controller and a vehicle controller, and the steering angle sensor is installed in the wheel for detecting the wheel angle in real time.

[0060] In an unmanned vehicle, the interaction between the vehicle controller and the unmanned driving controller is highly coordinated and complex. The vehicle controller is mainly responsible for the basic control functions of the vehicle, such as acceleration, braking, steering, etc., while the unmanned driving controller focuses on higher-level decision-making and planning, such as path planning, environmental perception, decision making, etc. The vehicle controller and the unmanned driving controller can share and transmit information through the vehicle network. The vehicle controller can transmit the basic state information of the vehicle (such as speed, position, acceleration, etc.) to the unmanned driving controller in real time so that the latter can make decisions and plans. The unmanned driving controller sends the control instructions it generates (such as target speed, target trajectory, etc.) to the vehicle controller, which is responsible for executing these instructions. The vehicle controller and the unmanned driving controller need to work together to ensure the safe, stable and efficient operation of the vehicle. For example, during the autonomous driving process, the unmanned driving controller is responsible for generating steering and speed control instructions, while the vehicle controller is responsible for converting these instructions into actual vehicle actions.

[0061] In this embodiment, the turning angle sensor on the wheel can transmit the detected wheel angle to the vehicle controller in real time, and the speed sensor, speed radar, etc. in the vehicle transmit the measured vehicle speed to the vehicle controller in real time. At the same time, the unmanned driving controller sends the vehicle execution angle to the vehicle controller through an algorithm. When the vehicle controller determines that the vehicle is traveling in a straight line based on the vehicle speed and wheel angle, it means that the actual turning angle of the vehicle should be zero degrees, and then sends this data to the unmanned driving controller. The unmanned driving controller compares and corrects the turning angle request value (i.e., the actual turning angle of the vehicle sent by the vehicle controller) and the actual execution value (i.e., the vehicle execution angle) at this time. If the vehicle execution angle sent by the unmanned driving controller is 1 degree at this time, the angle needs to be corrected. For example, the difference (0-1) between the actual turning angle of the vehicle, i.e., the wheel angle and the vehicle execution angle can be calculated to determine that the angle correction amount is -1 degree, and then the vehicle execution angle can be corrected according to the angle correction amount. For example, when the vehicle is allowed to travel in a straight line later, it can be sent according to -1 degree, thereby eliminating the deviation of the vehicle execution angle to ensure that the vehicle can travel in a straight line. In addition, the unmanned driving controller can also correct the subsequent angle sending values ​​by -1 degree to ensure the accuracy of the angle sending values ​​and avoid the situation where there is a deviation between the sending angle and the execution angle, causing the vehicle to not travel according to the predetermined trajectory.

[0062] In an exemplary embodiment, in step 106, after correcting the vehicle execution angle based on the wheel angle, the method may further include: acquiring a state of the vehicle steering wheel, and determining a positive direction of the vehicle steering wheel during the current driving process based on the state of the vehicle steering wheel.

[0063] The state of the vehicle steering wheel may refer to the current direction and angle of the vehicle steering wheel. In this embodiment, after the vehicle execution angle is corrected based on the wheel angle, the vehicle controller may also determine the positive direction of the vehicle steering wheel during this driving process based on the current direction and angle of the vehicle steering wheel. For example, the vehicle steering wheel may be set as the positive direction based on its current direction and angle, thereby solving the problem of the steering wheel of the driverless vehicle having no positive direction.

[0064] In an exemplary embodiment, the vehicle steering angle correction method provided in the present application can be applied to unmanned vehicles, for example, including but not limited to unmanned cars, unmanned mining vehicles, etc.

[0065] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments 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 explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can 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.

[0066] Based on the same inventive concept, the embodiment of the present application also provides a vehicle steering angle correction device for implementing the vehicle steering angle correction method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle steering angle correction device embodiments provided below can refer to the limitations of the vehicle steering angle correction method above, and will not be repeated here.

[0067] In an exemplary embodiment, Figure 4 As shown, a vehicle steering angle correction device is provided, including: an acquisition module 402, a matching module 404 and a correction module 406, wherein:

[0068] An acquisition module 402 is used to acquire the vehicle speed and wheel angle in real time, where the wheel angle is detected by a rotation angle sensor installed on the wheel;

[0069] A matching module 404, configured to determine whether a vehicle execution angle matches the wheel angle when it is determined that the vehicle is traveling in a straight line according to the vehicle speed and the wheel angle;

[0070] The correction module 406 is used to correct the vehicle execution angle based on the wheel angle when it is determined that the vehicle execution angle does not match the wheel angle.

[0071] In an exemplary embodiment, the correction module is further used to: determine an angle correction amount according to the wheel angle and the vehicle execution angle; and correct the vehicle execution angle according to the angle correction amount.

[0072] In an exemplary embodiment, the device also includes a direction determination module, which is used to obtain the state of the vehicle steering wheel after correcting the vehicle execution angle based on the wheel angle, and determine the positive direction of the vehicle steering wheel during this driving process based on the state of the vehicle steering wheel.

[0073] In an exemplary embodiment, the device further includes a driving determination module for determining that the vehicle is driving in a straight line when it is determined that the vehicle speed is less than or equal to a first speed threshold, the wheel angle is zero and the duration reaches a first duration threshold.

[0074] In an exemplary embodiment, the driving determination module is also used to: when it is determined that the vehicle speed is greater than a first speed threshold and less than or equal to a second speed threshold, and the wheel angle is zero and the duration reaches a second duration threshold, determine that the vehicle is driving in a straight line, and the second speed threshold is greater than the first speed threshold.

[0075] In an exemplary embodiment, the driving determination module is also used to: when it is determined that the vehicle speed is greater than a second speed threshold and less than or equal to a third speed threshold, and the wheel angle is zero and the duration reaches a third duration threshold, determine that the vehicle is driving in a straight line, and the third speed threshold is greater than the second speed threshold.

[0076] In an exemplary embodiment, the driving determination module is further used to: determine that the vehicle is driving in a straight line when it is determined that the vehicle speed is greater than a third speed threshold, the wheel angle is zero and the duration reaches a fourth duration threshold.

[0077] Each module in the above-mentioned vehicle steering angle correction device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0078] In an exemplary embodiment, a vehicle controller is provided, the internal structure of which can be shown as follows: Figure 5As shown. The vehicle controller includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the vehicle controller is used to provide computing and control capabilities. The memory of the vehicle controller 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 input / output interface of the vehicle controller is used to exchange information between the processor and an external device. The communication interface of the vehicle controller is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle steering angle correction method is implemented. The display unit of the vehicle controller is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the vehicle controller can be a touch layer covering the display screen, or a button, trackball or touchpad set on the vehicle controller housing, or an external keyboard, touchpad or mouse.

[0079] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the vehicle controller to which the scheme of the present application is applied. The specific vehicle controller may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0080] In an exemplary embodiment, a vehicle controller is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0081] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0082] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0083] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0084] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0085] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0086] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle steering angle correction method, characterized in that: The method comprises: Acquire vehicle speed and wheel angle in real time, where the wheel angle is detected by a rotation angle sensor installed on the wheel; In the case where it is determined that the vehicle is traveling in a straight line according to the vehicle speed and the wheel angle, determining whether the vehicle execution angle matches the wheel angle; In a case where it is determined that the vehicle execution angle does not match the wheel angle, the vehicle execution angle is corrected based on the wheel angle.

2. The method according to claim 1, characterized in that: The correcting the vehicle execution angle based on the wheel angle includes: Determining an angle correction amount according to the wheel angle and the vehicle execution angle; The vehicle execution angle is corrected according to the angle correction amount.

3. The method according to claim 1, characterized in that After the vehicle execution angle is corrected based on the wheel angle, the method further includes: The state of the vehicle steering wheel is obtained, and the positive direction of the vehicle steering wheel during the current driving process is determined based on the state of the vehicle steering wheel.

4. The method according to any one of claims 1 to 3, characterized in that: After obtaining the vehicle speed and wheel angle in real time, the method further includes: When it is determined that the vehicle speed is less than or equal to a first speed threshold, and the wheel angle is zero and the duration reaches a first duration threshold, it is determined that the vehicle is traveling in a straight line.

5. The method according to any one of claims 1 to 3, characterized in that: After obtaining the vehicle speed and wheel angle in real time, the method further includes: When it is determined that the vehicle speed is greater than a first speed threshold and less than or equal to a second speed threshold, and the wheel angle is zero and the duration reaches a second duration threshold, it is determined that the vehicle is traveling in a straight line, and the second speed threshold is greater than the first speed threshold.

6. The method according to any one of claims 1 to 3, characterized in that: After obtaining the vehicle speed and wheel angle in real time, the method further includes: When it is determined that the vehicle speed is greater than the second speed threshold and less than or equal to the third speed threshold, and the wheel angle is zero and the duration reaches the third duration threshold, it is determined that the vehicle is traveling in a straight line and the third speed threshold is greater than the second speed threshold.

7. The method according to any one of claims 1 to 3, characterized in that: After obtaining the vehicle speed and wheel angle in real time, the method further includes: When it is determined that the vehicle speed is greater than the third speed threshold, the wheel angle is zero and the duration reaches a fourth duration threshold, it is determined that the vehicle is traveling in a straight line.

8. A vehicle steering angle correction device, characterized in that: The device comprises: An acquisition module is used to acquire the vehicle speed and wheel angle in real time, where the wheel angle is detected by a rotation angle sensor installed on the wheel; A matching module, for determining whether a vehicle execution angle matches the wheel angle when it is determined that the vehicle is traveling in a straight line according to the vehicle speed and the wheel angle; A correction module is used to correct the vehicle execution angle based on the wheel angle when it is determined that the vehicle execution angle does not match the wheel angle.

9. A vehicle controller, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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