Method for calculating steering wheel zero offset, steering wheel zero offset correction method and electronic equipment

Abstract

The invention discloses a method for calculating the zero offset of a steering wheel, a method for correcting the zero offset of the steering wheel and electronic equipment, and the method for calculating the zero offset of the steering wheel comprises the steps: obtaining vehicle bus information when a vehicle is in a driving state; and when the vehicle meets the zero offset calculation triggering condition, the steering wheel zero offset value is obtained according to the vehicle bus information. By means of the method, the zero offset value of the steering wheel can be calculated in the online state and the dynamic running process of the vehicle, and the zero offset value of the steering wheel can be updated in real time in the running process.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic equipment, and in particular to a method for calculating a steering wheel zero offset, a steering wheel zero offset correction method and electronic equipment. Background Art

[0002] At present, the control system of ADAS (Advanced Driving Assistance System) calculates the steering wheel angle based on the position of the lane line. If the steering wheel has zero bias, there will be a deviation between the steering wheel angle output by the control system and the actual steering wheel angle, making it impossible to control the vehicle cruising in the lane well, and even causing a dragon-drawing situation.

[0003] In the related art, a static calibration method is used to obtain the steering wheel zero bias value. The static calibration method refers to adjusting the front wheel angle to the 0° position on a test bench, and then using the read steering wheel angle as the steering wheel zero bias value. However, the above method can only calibrate the steering wheel zero bias value when the vehicle is offline, and cannot correct the steering wheel zero bias value in real time during actual driving. In addition, there are systematic measurement errors in the process of calibrating the steering wheel zero bias value and the calibration takes a long time. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a method for calculating steering wheel zero offset, by which the steering wheel zero offset value can be calculated in the online state and dynamic operation of the vehicle, and the steering wheel zero offset value can be updated in real time during driving.

[0005] A second object of the present invention is to provide a steering wheel zero bias correction method.

[0006] A third objective of the present invention is to provide an electronic device.

[0007] A fourth objective of the present invention is to provide an advanced driver assistance system.

[0008] A fifth object of the present invention is to provide a vehicle.

[0009] A sixth objective of the present invention is to provide a non-volatile readable storage medium.

[0010] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a method for calculating steering wheel zero offset, comprising: when a vehicle is in a driving state, obtaining vehicle bus information; when the vehicle meets the zero offset calculation trigger condition, obtaining the steering wheel zero offset value according to the vehicle bus information.

[0011] According to the method for calculating steering wheel zero offset in an embodiment of the present invention, when the zero offset calculation trigger condition is met when the vehicle is in driving state, the steering wheel zero offset value is obtained according to the vehicle bus information, that is, the steering wheel zero offset value is calculated when the vehicle is online and in dynamic operation, and the steering wheel zero offset value can be updated in real time. The steering wheel zero offset is calculated based on the vehicle bus data, and there is no need to use a measuring tool to measure the steering wheel angle, which can reduce system measurement errors and increase calculation efficiency.

[0012] In some embodiments, the vehicle bus information includes vehicle posture information and lane line information; when the vehicle meets the zero bias calculation trigger condition, the steering wheel zero bias value is the vehicle's current steering wheel angle, and the steering wheel angle is obtained based on the vehicle posture information and the lane line information.

[0013] In some embodiments, the lane line information includes a lane centerline; the vehicle posture information includes a vehicle position; and the steering wheel angle is calculated based on a lateral error between the vehicle position and the lane centerline and a yaw error between the vehicle position and the lane centerline.

[0014] In some embodiments, the vehicle position includes the position of the axis center of the rear axle of the vehicle; the lateral error between the vehicle position and the center line of the lane is the distance that the axis center of the rear axle of the vehicle deviates from the center line of the lane.

[0015] In some embodiments, the vehicle position also includes the front position of the vehicle; the yaw error between the vehicle position and the lane centerline is the angle between the front of the vehicle and the lane centerline.

[0016] In some embodiments, the zero bias calculation trigger conditions include that the vehicle is in a straight-line driving condition, the lateral error between the vehicle position and the lane centerline is zero, the yaw error between the vehicle position and the lane centerline is zero, and the steering wheel angle is not zero.

[0017] In some embodiments, the steering wheel angle is obtained by the following formula:

[0018] steer_angle=(heading_error+atan(lateral_error) / speed)*ratio;

[0019] Among them, steer_angle is the steering wheel angle, heading_error is the yaw error, lateral_error is the lateral error, speed is the vehicle speed, and ratio is the transmission ratio of the vehicle.

[0020] In some embodiments, the method further includes: saving the steering wheel zero bias value; or, obtaining an average value of a plurality of the steering wheel zero bias values ​​as a final steering wheel zero bias value and saving the final steering wheel zero bias value, wherein the plurality of steering wheel zero bias values ​​are obtained by satisfying the zero bias calculation trigger condition when the vehicle is in the driving state.

[0021] A second aspect of the present invention provides a steering wheel zero bias correction method, comprising: obtaining a steering wheel zero bias value obtained by the method for calculating the steering wheel zero bias described in the above embodiment; and correcting the steering wheel angle according to the steering wheel zero bias value.

[0022] According to the steering wheel zero offset correction method of an embodiment of the present invention, the steering wheel zero offset value is obtained by the method of calculating the steering wheel zero offset of the above embodiment. When the steering wheel has zero offset, the steering wheel zero offset value is used to correct the steering wheel angle, so that the corrected steering wheel angle can reflect the actual steering wheel angle, thereby achieving precise control of the vehicle direction.

[0023] A third aspect of the present invention provides an electronic device, comprising: at least one processor; a memory communicatively connected to the at least one processor; the memory storing a computer program executable by the at least one processor, wherein when the at least one processor executes the computer program, the method for calculating the steering wheel zero deviation described in the above embodiment or the method for correcting the steering wheel zero deviation described in the above embodiment is implemented.

[0024] The electronic device according to the embodiment of the present invention can calculate the steering wheel zero bias value when the vehicle is online and in dynamic operation, and can update the steering wheel zero bias value in real time during driving.

[0025] A fourth aspect of the present invention provides an advanced driver assistance system, comprising: a vehicle-mounted sensor for collecting vehicle posture information and lane line information; a controller, the controller being connected to the vehicle-mounted sensor and being used to execute the method for calculating steering wheel zero offset described in the above embodiment.

[0026] According to the advanced driver assistance system of the embodiment of the present invention, the steering wheel zero bias value can be calculated when the vehicle is online and in dynamic operation, and the steering wheel zero bias value can be updated in real time during driving.

[0027] A fifth aspect of the present invention provides a vehicle, comprising the advanced driver assistance system and a steering system as described in the above embodiments, wherein the steering system is connected to the advanced driver assistance system.

[0028] According to the vehicle of the embodiment of the present invention, the steering wheel zero bias value can be calculated when the vehicle is in an online state and in a dynamic operation process, and the steering wheel zero bias value can be updated in real time during driving.

[0029] A sixth aspect of the present invention provides a non-volatile readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the method for calculating the steering wheel zero bias described in the above embodiment or the method for correcting the steering wheel zero bias described in the above embodiment is implemented.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0032] Figure 1 is a flow chart of a method for calculating steering wheel zero offset according to one embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of a lateral error and a yaw error between a vehicle and a lane centerline according to an embodiment of the present invention;

[0034] Figure 3 is a flow chart of a steering wheel zero bias correction method according to an embodiment of the present invention;

[0035] Figure 4 is a structural block diagram of an electronic device according to an embodiment of the present invention;

[0036] Figure 5 is a structural block diagram of an advanced driver assistance system according to an embodiment of the present invention;

[0037] Figure 6 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0038] Reference numerals:

[0039] Electronic device 10; Advanced driver assistance system 20; Vehicle 100;

[0040] Processor 1; memory 2; vehicle-mounted sensor 3; controller 4; steering system 5. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0042] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a method for calculating steering wheel zero offset. This method can be used to calculate the steering wheel zero offset value when the vehicle is online and in dynamic operation, and can update the steering wheel zero offset value in real time during driving.

[0043] Reference below Figure 1 The method for calculating the steering wheel zero offset according to an embodiment of the present invention is described as follows: Figure 1 As shown, the method includes: step S1 to step S2.

[0044] Step S1, when the vehicle is in driving state, obtain vehicle bus information.

[0045] Specifically, when the vehicle is traveling, it is connected to various in-vehicle controllers and sensors via a vehicle bus such as a CAN (Controller Area Network) bus, and various status information and sensor information of the vehicle are transmitted on the vehicle bus.

[0046] Step S2: when the vehicle meets the zero bias calculation trigger condition, the steering wheel zero bias value is obtained according to the vehicle bus information.

[0047] Specifically, a zero bias calculation trigger condition may be configured, and when the vehicle meets the condition, the steering wheel zero bias value is obtained according to data required for calculating the steering wheel zero bias value in the vehicle bus information.

[0048] The vehicle bus information is data collected or processed by the vehicle-mounted sensors and / or the in-vehicle controller and uploaded to the vehicle bus. Therefore, there is no need to specially set up a test tool for calculating the steering wheel zero offset value.

[0049] According to the method for calculating steering wheel zero bias in an embodiment of the present invention, when the zero bias calculation trigger condition is met when the vehicle is in driving state, the steering wheel zero bias value is obtained according to the vehicle bus information, thereby realizing the calculation of the steering wheel zero bias value when the vehicle is online and in dynamic operation, and being able to update the steering wheel zero bias value in real time. In addition, the steering wheel zero bias is calculated based on the vehicle bus data, and there is no need to use a measuring tool to measure the steering wheel angle, which can reduce system measurement errors and increase calculation efficiency.

[0050] In some embodiments, the vehicle bus information includes vehicle posture information and lane line information.

[0051] Specifically, when the vehicle is in a driving condition, the vehicle posture information can be obtained through on-board sensors such as GPS (Global Positioning System), visual SLAM (simultaneous localization and mapping), lidar SLAM, IMU (Inertial Measurement Unit) or camera, where the vehicle posture information is information describing the position and direction of the vehicle in space, and the vehicle posture information includes: vehicle position information (x, y), direction yaw, i.e. heading angle, array ego_array, height and attitude angle, etc., and lane line information is obtained through vehicle sensors, cameras or lidars, and the lane line information may include the position (x, y), direction, array lane_info and width of the lane line, etc.

[0052] The steering wheel angle can be obtained according to the vehicle posture information and lane line information. In the embodiment, since the vehicle posture information and lane line information are collected by the vehicle in real time, and the vehicle posture information and lane line information can reflect the vehicle's position information, direction information and steering wheel angle changes in real time, the steering wheel angle calculated according to the vehicle posture information and lane line information has a higher accuracy.

[0053] Furthermore, when the vehicle meets the zero bias trigger condition, the steering wheel zero bias value is the current steering wheel angle of the vehicle.

[0054] In an embodiment, when the steering wheel of the vehicle is in the 0° position under normal circumstances, the front wheel turning angle of the vehicle should be 0°. However, due to the long service life of the vehicle or multiple emergency braking of the vehicle, the steering wheel may be in the 0° position but the front wheel turning angle is not 0°. This phenomenon is the steering wheel zero bias phenomenon.

[0055] Specifically, the existing static calibration method can only calibrate the steering wheel zero bias value when the vehicle is offline, but cannot correct the steering wheel zero bias value in real time during actual driving. In addition, there are system measurement errors in the process of calibrating the steering wheel zero bias value and the calibration takes a long time. In order to solve this problem, in the present application, when the vehicle meets the zero bias calculation trigger condition under the driving condition, the steering wheel zero bias value is obtained by calculating the vehicle posture information and lane line information. That is to say, when the vehicle meets the zero bias trigger condition, wherein the zero bias trigger condition is a condition preset in the vehicle for determining whether the steering wheel has zero bias, at this time, due to the existence of zero bias of the steering wheel, there is a deviation between the steering wheel angle output by the system and the actual steering wheel angle, so the steering wheel angle calculated by the vehicle posture information and lane line information is used as the steering wheel zero bias value, that is, the steering wheel angle calculated by the vehicle posture information and lane line information that meet the zero bias calculation trigger condition under the vehicle driving condition, The steering wheel angle is then used as the steering wheel zero bias value, wherein the steering wheel zero bias value can be understood as the difference between the steering wheel angle when the steering wheel is at the 0° position and the actual steering wheel angle. In addition, the steering wheel angle calculated through the vehicle posture information and lane line information that meet the zero bias calculation trigger conditions under driving conditions has a high accuracy, so that the steering wheel zero bias value can be obtained more accurately. Therefore, compared with the static calibration method to obtain the steering wheel zero bias value, in the present application, the vehicle automatically calculates the steering wheel zero bias value through the vehicle posture information and lane line information under driving conditions, thereby realizing the calculation of the steering wheel zero bias value when the vehicle is online and in dynamic operation, and the steering wheel zero bias value can be updated in real time according to the vehicle posture information and lane line information during driving. In addition, there is no need to use a measuring tool to measure the steering wheel angle during the calculation of the steering wheel zero bias value, so as to reduce system measurement errors and increase calculation efficiency.

[0056] According to the method for calculating steering wheel zero bias in an embodiment of the present invention, when the vehicle meets the zero bias trigger condition, that is, it is determined that the vehicle steering wheel has zero bias, the steering wheel angle calculated from the vehicle posture information and lane line information under the vehicle driving condition is used as the steering wheel zero bias value. Therefore, compared with the static calibration method to obtain the steering wheel zero bias value, in the present application, the vehicle automatically calculates the steering wheel zero bias value through the vehicle posture information and lane line information under the driving condition, thereby realizing the calculation of the steering wheel zero bias value when the vehicle is online and in dynamic operation, and being able to update the steering wheel zero bias value in real time, and the steering wheel zero bias value update has high real-time performance, and there is no need to use a measuring tool to measure the steering wheel angle, so as to reduce system measurement errors and increase calculation efficiency.

[0057] In some embodiments, the lane line information includes the lane center line; the vehicle posture information includes the vehicle position. The steering wheel angle is calculated based on the lateral error between the vehicle position and the lane center line and the yaw error between the vehicle position and the lane center line. Specifically, when the vehicle is in driving condition, the lateral error and yaw error between the vehicle and the lane center line can reflect the vehicle's position information, direction information and steering wheel angle changes in real time, so the steering wheel angle calculated based on the vehicle posture information and lane line information has a higher accuracy.

[0058] In some embodiments, the lateral error and yaw error between the vehicle position and the lane centerline are obtained based on the vehicle posture information and lane line information. Exemplarily, the lane line information includes the coordinate information and direction of the lane centerline, and the vehicle posture information includes the position coordinate information and heading angle of the vehicle, so the lateral error between the vehicle and the lane centerline can be calculated by the horizontal coordinate information of the lane centerline and the horizontal coordinate information of the vehicle, and the yaw error between the vehicle and the lane centerline can be calculated by the direction of the lane centerline and the heading angle of the vehicle.

[0059] In some embodiments, the vehicle position may include the position of the rear axle center of the vehicle; the vehicle position also includes the position of the front of the vehicle. Figure 2 As shown, the lateral error between the vehicle position and the lane centerline is the distance d1 that the rear axle axis of the vehicle deviates from the lane centerline, and the yaw error between the vehicle position and the lane centerline is the angle β1 between the vehicle's front position and the lane centerline.

[0060] In an embodiment, the zero bias calculation trigger conditions may include that the vehicle is in a straight-line driving condition, the lateral error between the vehicle position and the lane centerline is zero, the yaw error between the vehicle position and the lane centerline is zero, and the steering wheel angle is not zero.

[0061] Specifically, since the lateral error and yaw error between the vehicle and the lane centerline are both zero when the vehicle is in a straight-line driving condition, that is, the vehicle does not move sideways or yaw when the vehicle is in a straight-line driving condition, it means that the actual driving direction of the vehicle is consistent with the driving direction of the vehicle in a straight-line driving condition. At this time, there is no need to adjust the steering wheel angle, that is, the steering wheel angle output by the vehicle is zero. When the steering wheel has zero deviation, there is a deviation in the steering wheel angle output by the system. Therefore, the zero deviation trigger condition includes that the lateral error and yaw error between the vehicle and the lane centerline are both zero, and the steering wheel angle is not zero. That is to say, when the vehicle is in a straight-line driving condition, if the lateral error and yaw error between the vehicle and the lane centerline are both zero, but the steering wheel angle is not zero, it means that there is a zero bias phenomenon in the steering wheel, resulting in the steering wheel angle being not zero. At this time, the steering wheel angle is the steering wheel zero bias value. Therefore, in the present application, the vehicle automatically calculates the steering wheel zero bias value through the vehicle posture information and lane line information under the straight-line driving condition, thereby realizing the calculation of the steering wheel zero bias value when the vehicle is online and in dynamic operation, and being able to update the steering wheel zero bias value in real time.

[0062] In some embodiments, the steering wheel angle is obtained by the following formula:

[0063] steer_angle=(heading_error+atan(lateral_error) / speed)*ratio formula (1)

[0064] Among them, steer_angle is the steering wheel angle, heading_error is the yaw error, lateral_error is the lateral error, speed is the vehicle speed, and ratio is the transmission ratio of the vehicle.

[0065] Specifically, the yaw error heading_error and the lateral error lateral_error are obtained through the vehicle posture information and the lane line information, and the vehicle speed speed is measured by laser, radar or related sensors, and the vehicle transmission ratio ratio is calculated by dividing the number of driving wheel teeth by the number of driven wheel teeth, or the vehicle transmission ratio ratio is calculated by dividing the driving wheel speed by the driven wheel speed. The yaw error heading_error, the lateral error lateral_error, the vehicle speed speed and the vehicle transmission ratio ratio are substituted into formula (1) to calculate the steering wheel angle steer_angle. When the vehicle meets the zero bias trigger condition, the calculated steering wheel angle is used as the steering wheel zero bias value.

[0066] In some embodiments, the current steering wheel angle of the vehicle calculated under the vehicle straight-line driving condition is saved as the steering wheel zero bias value. When the vehicle is in driving state, the steering wheel zero bias value can be directly obtained to correct the steering wheel zero bias.

[0067] Alternatively, in some embodiments, an average value of steering wheel zero bias values ​​calculated under multiple vehicle straight-line driving conditions is obtained, wherein the multiple steering wheel zero bias values ​​are obtained when the vehicle is in a driving state and a zero bias calculation trigger condition is satisfied. The values ​​may be multiple steering wheel zero bias values ​​calculated at preset time intervals when the zero bias calculation trigger condition is satisfied at the same time, or may be multiple steering wheel zero bias values ​​calculated at different times when the zero bias calculation trigger condition is satisfied.

[0068] Specifically, when the vehicle meets the zero bias trigger condition, multiple steering wheel zero bias values ​​are recorded locally, and then the average value of the multiple steering wheel zero bias values ​​is calculated. Since this data may appear when obtaining vehicle posture information and lane line information, which will cause the accuracy of the steering wheel angle to be reduced, the average value of the multiple steering wheel zero bias values ​​is used as the target steering wheel zero bias value, so that the target steering wheel zero bias value can be obtained more accurately, and the target steering wheel zero bias value is saved locally, so that subsequent vehicles can automatically eliminate the steering wheel zero bias through the target steering wheel zero bias value, that is, the system loads the target steering wheel zero bias value as a constant into the program when the program is started to eliminate the steering wheel zero bias and ensure the normal operation of the system program.

[0069] A second aspect of the present invention provides a steering wheel zero bias correction method, such as Figure 3 As shown, the method includes: step S3 to step S4.

[0070] Step S3, obtaining the steering wheel zero offset value obtained by the method for calculating the steering wheel zero offset in the above embodiment.

[0071] Step S4, correcting the steering wheel angle according to the steering wheel zero bias value.

[0072] Specifically, since the direction of the vehicle cannot be accurately controlled by the steering wheel when the vehicle steering wheel has zero bias, in this application, when the vehicle meets the zero bias calculation trigger condition, that is, it is determined that the vehicle steering wheel has zero bias, the steering wheel zero bias value is obtained according to the vehicle bus information. For example, the steering wheel angle calculated by the vehicle posture information and lane line information under the straight-line driving condition is used as the steering wheel zero bias value, and then the steering wheel zero bias value is used to correct the steering wheel angle, that is, the collected steering wheel angle is subtracted from the steering wheel zero bias value and then output to eliminate the influence of the steering wheel zero bias on the actual steering wheel angle, so that the corrected steering wheel angle can reflect the real steering wheel angle, and the vehicle direction can be accurately controlled, which helps to improve the vehicle's handling performance and driving stability.

[0073] According to the steering wheel zero offset correction method of an embodiment of the present invention, the steering wheel zero offset value is obtained by the method of calculating the steering wheel zero offset of the above embodiment. When the steering wheel has zero offset, the steering wheel zero offset value is used to correct the steering wheel angle, so that the corrected steering wheel angle can reflect the actual steering wheel angle, thereby achieving precise control of the vehicle direction.

[0074] A third aspect of the present invention provides an electronic device 10, such as Figure 4 As shown, it includes: at least one processor 1 and a memory 2 which is communicatively connected to the at least one processor 1 .

[0075] Among them, the memory 2 stores a computer program that can be executed by at least one processor 1, and when the at least one processor 1 executes the computer program, the method for calculating the steering wheel zero offset of the above embodiment or the method for correcting the steering wheel zero offset of the above embodiment is implemented.

[0076] It should be noted that the specific implementation method of the electronic device 10 in the embodiment of the present invention is similar to the specific implementation method of the method for calculating the steering wheel zero bias of any of the above-mentioned embodiments of the present invention or the steering wheel zero bias correction method of the above-mentioned embodiments. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0077] The electronic device according to the embodiment of the present invention can calculate the steering wheel zero bias value when the vehicle is online and in dynamic operation, and can update the steering wheel zero bias value in real time during driving.

[0078] A fourth aspect of the present invention provides an advanced driver assistance system, such as Figure 5 As shown, the advanced driver assistance system 20 includes: a vehicle-mounted sensor 3 and a controller 4.

[0079] Among them, the vehicle-mounted sensor is used to collect the vehicle posture information and lane line information; the controller 4 is connected to the vehicle-mounted sensor 3 and is used to execute the method for calculating the steering wheel zero offset of the above embodiment.

[0080] According to the advanced driver assistance system of the embodiment of the present invention, the steering wheel zero bias value can be calculated when the vehicle is online and in dynamic operation, and the steering wheel zero bias value can be updated in real time during driving.

[0081] A fifth aspect of the present invention provides a vehicle 100, such as Figure 6 As shown, the vehicle 100 includes the advanced driver assistance system 20 and the steering system 5 of the above embodiment, wherein the steering system 5 is connected to the advanced driver assistance system 20 .

[0082] According to the vehicle of the embodiment of the present invention, the steering wheel zero bias value can be calculated when the vehicle is in an online state and in a dynamic operation process, and the steering wheel zero bias value can be updated in real time during driving.

[0083] A sixth aspect of the present invention provides a non-volatile readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the method for calculating the steering wheel zero offset of the above-mentioned embodiment or the method for correcting the steering wheel zero offset of the above-mentioned embodiment is implemented.

[0084] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0085] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0086] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0087] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0088] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0089] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0091] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for calculating steering wheel zero deviation, characterized in that: include: When the vehicle is in driving state, obtain vehicle bus information; When the vehicle meets the zero bias calculation trigger condition, the steering wheel zero bias value is obtained according to the vehicle bus information.

2. The method according to claim 1, characterized in that The vehicle bus information includes vehicle posture information and lane line information; When the vehicle meets the zero bias calculation trigger condition, the steering wheel zero bias value is the current steering wheel angle of the vehicle, and the steering wheel angle is obtained according to the vehicle posture information and the lane line information.

3. The method according to claim 2, characterized in that The lane line information includes a lane center line; The vehicle posture information includes the vehicle position; The steering wheel angle is calculated based on a lateral error between the vehicle position and the lane centerline and a yaw error between the vehicle position and the lane centerline.

4. The method according to claim 3, characterized in that: The vehicle position includes the position of the rear axle axis of the vehicle; The lateral error between the vehicle position and the lane centerline is the distance that the rear axle axis position of the vehicle deviates from the lane centerline.

5. The method according to claim 4, characterized in that The vehicle position also includes the front position of the vehicle; The yaw error between the vehicle position and the lane centerline is the angle between the front position of the vehicle and the lane centerline.

6. The method according to claim 3, characterized in that The zero bias calculation triggering conditions include that the vehicle is in a straight-line driving condition, the lateral error between the vehicle position and the lane centerline is zero, the yaw error between the vehicle position and the lane centerline is zero, and the steering wheel angle is not zero.

7. The method according to claim 3, characterized in that The steering wheel angle is obtained by the following formula: steer_angle=(heading_error+atan(lateral_error) / speed)*ratio; Among them, steer_angle is the steering wheel angle, heading_error is the yaw error, lateral_error is the lateral error, speed is the vehicle speed, and ratio is the transmission ratio of the vehicle.

8. The method according to claim 1, characterized in that The method further comprises: Saving the steering wheel zero bias value; Alternatively, an average value of a plurality of steering wheel zero bias values ​​is obtained as a final steering wheel zero bias value and the final steering wheel zero bias value is saved, and the plurality of steering wheel zero bias values ​​are obtained by satisfying the zero bias calculation trigger condition when the vehicle is in the driving state.

9. A steering wheel zero bias correction method, characterized in that: include: Obtaining a steering wheel zero offset value obtained by the method for calculating steering wheel zero offset according to any one of claims 1 to 8; The steering wheel angle is corrected according to the steering wheel zero bias value.

10. An electronic device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and when the at least one processor executes the computer program, the method for calculating the steering wheel zero offset according to any one of claims 1 to 8 or the method for correcting the steering wheel zero offset according to claim 9 is implemented.

11. An advanced driver assistance system, characterized in that: include: On-board sensors are used to collect vehicle position information and lane line information; A controller, wherein the controller is connected to the vehicle-mounted sensor and is used to execute the method for calculating the steering wheel zero offset according to any one of claims 1 to 8.

12. A vehicle, characterized in that: It comprises the advanced driver assistance system and a steering system as claimed in claim 11, wherein the steering system is connected to the advanced driver assistance system.

13. A non-volatile readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for calculating the steering wheel zero offset according to any one of claims 1 to 8 or the method for correcting the steering wheel zero offset according to claim 9 is implemented.

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