Calculation method of vehicle steering wheel compensation angle, vehicle and computer equipment

Abstract

A calculation method for a compensation angle of a vehicle steering wheel, a vehicle and a computer device, the method comprising: obtaining a steady state front wheel rotation angle of the vehicle according to a state space model based on road errors; according to the steady-state front wheel steering angle and the steering wheel steering ratio of the vehicle, the theoretical steering wheel steering angle of the vehicle is obtained; obtaining a deviation value of the steering wheel angle according to the theoretical steering wheel angle and an actually measured steering wheel angle of a vehicle body; and obtaining the steering wheel compensation angle of the current period according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous period. According to the method, compensation calculation of the steering wheel angle is more accurate, so that the accuracy of automobile transverse control calculation can be improved, and the riding experience of passengers is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a method for calculating a steering wheel compensation angle of a vehicle, a vehicle, and a computer device. Background Art

[0002] The driving control of a vehicle is a key technology in the field of intelligent driving. Among them, lateral control, as a key link in vehicle driving control, has a great impact on both the driving safety of the vehicle and the riding comfort of passengers. The calculation of the steering wheel compensation angle is the main content of lateral control. In the currently proposed methods for calculating the steering wheel compensation angle, it is impossible to calculate an accurate steering wheel compensation angle for the complex vehicle conditions. Therefore, how to optimize the relevant calculation method is an important issue in lateral control. Summary of the Invention

[0003] Embodiments of the present application provide a method for calculating a steering wheel compensation angle of a vehicle, a vehicle, and a computer device to at least partially solve the above technical problems.

[0004] To achieve the above object, according to the first aspect of the present application, there is provided a method for calculating a steering wheel compensation angle of a vehicle, the method including:

[0005] Obtaining a steady-state front wheel steering angle of the vehicle according to a state space model based on road error;

[0006] Obtaining a theoretical steering wheel angle of the vehicle according to the steady-state front wheel steering angle of the vehicle and a steering wheel steering ratio;

[0007] Obtaining a deviation value of the steering wheel angle according to the theoretical steering wheel angle and the measured steering wheel angle of the vehicle body;

[0008] Obtaining a steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0009] Optionally, before obtaining the steady-state front wheel steering angle of the vehicle according to the state space model based on road error, it includes:

[0010] Obtaining a state space model based on road error according to the dynamic model of the vehicle.

[0011] Optionally, obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; includes:

[0012] Calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using a dynamic adjustment sliding window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0013] Optionally, obtaining the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle includes:

[0014] When the compensation angle of the previous power-on cycle is greater than a preset threshold, the dynamic adjustment sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0015] Optionally, when the compensation angle of the previous power-on cycle is greater than a preset threshold, the value of the steering wheel compensation angle of the previous cycle is 0.

[0016] Optionally, obtaining the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle includes:

[0017] When the compensation angle of the previous power-on cycle is less than a preset threshold, the compensation angle of the previous power-on cycle is assigned to the steering wheel compensation angle of the previous cycle, and the fixed sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0018] Optionally, using the dynamic adjustment sliding window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle includes:

[0019] Using at least two of the fast sliding window algorithm, the slow sliding window algorithm, and the fixed window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0020] Optionally, using at least two of the fast sliding window algorithm, the slow sliding window algorithm, and the fixed window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle includes:

[0021] The deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle are calculated using a fast sliding window algorithm to obtain a fast sliding compensation angle, and the size of the fast sliding window increases each time it is calculated; when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is less than or equal to a preset fast threshold, the cycle count of the fast sliding window increases;

[0022] When the cycle count of the fast sliding window reaches the fast exit cycle count threshold, a slow sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain a slow sliding compensation angle, and the slow sliding window inherits the window size of the fast sliding window;

[0023] When the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is less than or equal to a preset slow threshold, the cycle count of the slow sliding window increases;

[0024] When the cycle count of the slow sliding window reaches the slow exit cycle count threshold, the slow sliding window algorithm is continued to be used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, and the size of the slow sliding window increases;

[0025] When the size of the slow sliding window is greater than or equal to the size of a preset fixed window, a fixed window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain the steering wheel compensation angle of the current cycle.

[0026] Optionally, at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including:

[0027] At least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle, the steering wheel compensation angle of the previous cycle, and the sliding window size.

[0028] Optionally, at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further including:

[0029] The deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle are calculated using a fast sliding window algorithm to obtain a fast sliding compensation angle, and the size of the fast sliding window increases each time the calculation is performed; when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is greater than a preset fast threshold, the cycle count of the fast sliding window is initialized, and the fast sliding window algorithm is recalculated.

[0030] Optionally, at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further comprising:

[0031] When the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is greater than a preset slow threshold, the cycle count of the slow sliding window is initialized, and the slow sliding window algorithm is recalculated.

[0032] Optionally, at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further comprising:

[0033] When the size of the slow sliding window is smaller than the preset fixed window size, the slow sliding window algorithm continues to be used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, and the size of the slow sliding window increases.

[0034] Optionally, before obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error, it includes:

[0035] Obtain the measured steering wheel angle data, vehicle speed, yaw rate, lateral acceleration, and steering wheel angle rate of the vehicle body.

[0036] Optionally, obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error; includes:

[0037] When the measured steering wheel angle data of the vehicle body is valid, the vehicle speed is less than a preset threshold, the yaw rate is less than a preset threshold, the lateral acceleration is less than a preset threshold, and the steering wheel angle rate is less than a preset threshold, the steady-state front wheel angle of the vehicle is obtained according to the state space model based on road error.

[0038] Optionally, before obtaining the state space model based on road error according to the dynamic model of the vehicle, it includes:

[0039] Obtain the yaw rate, lateral acceleration, and road information curvature information of the current vehicle.

[0040] Optionally, obtain a state - space model based on road error according to the dynamic model of the vehicle, including:

[0041] Establish a state - space model based on road error according to the yaw rate, lateral acceleration, road information curvature information of the current vehicle, and the vehicle dynamics model.

[0042] Optionally, obtain the steady - state front - wheel steering angle of the vehicle according to the state - space model based on road error, including:

[0043] Perform state - feedback control on the state - space model based on road error to make the state - space model based on road error reach a stable state;

[0044] Obtain the steady - state error of the state - space model based on road error according to the state - space model based on road error in the stable state;

[0045] Obtain the steady - state front - wheel steering angle of the state - space model based on road error according to the steady - state error of the state - space model based on road error.

[0046] This application also provides a vehicle, which includes a calculation device for the steering - wheel compensation angle. Among them, the device is used to execute the calculation method described in any one of the above.

[0047] This application also provides a computer device, which is characterized by including:

[0048] At least one memory for storing programs;

[0049] At least one processor for executing the programs stored in the memory. When the programs stored in the memory are executed, the processor is used to execute the calculation method described in any one of the above.

[0050] This application also provides a computer storage medium. Instructions are stored in the computer storage medium. When the instructions run on a computer, the computer is made to execute the calculation method described in any one of the above.

[0051] This method calculates the front wheel steering angle by using a state space model based on road error, and then calculates the theoretical steering wheel angle of the vehicle. Based on the measured steering wheel angle from sensors and other sources, the deviation value of the steering wheel angle is calculated. Then, through an algorithm, the steering wheel compensation angle for the current cycle is calculated, making the compensation calculation of the steering wheel angle more accurate, thereby improving the accuracy of vehicle lateral control calculation and enhancing the riding experience of passengers.

[0052] Other features and advantages of the present application will be described in detail in the following specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following described drawings are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0054] To more fully understand the present application and its beneficial effects, the following description will be made in conjunction with the drawings, where the same reference numerals in the following description represent the same parts.

[0055] Figure 1 is a flowchart of a method for calculating the steering wheel compensation angle of a vehicle provided in an exemplary embodiment of the present disclosure;

[0056] Figure 2 is a flowchart of another method for calculating the steering wheel compensation angle of a vehicle provided in an exemplary embodiment of the present disclosure (I);

[0057] Figure 3 is a flowchart of another method for calculating the steering wheel compensation angle of a vehicle provided in an exemplary embodiment of the present disclosure (II). DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0059] According to a first aspect of the present application, a method for calculating the steering wheel compensation angle of a vehicle is provided. Refer to Figure 1 , the method includes:

[0060] S1: Obtain the steady-state front wheel steering angle of the vehicle according to a state space model based on road error;

[0061] Specifically, the state space model based on road error is the core modeling method for lateral control of autonomous driving (such as lane keeping, trajectory tracking). The core idea is to construct a dynamic equation through the deviation between the vehicle state and the desired path, which facilitates the design of a controller (such as LQR, MPC) to minimize the error. Establishing a state space model based on road error is a key task in autonomous driving and vehicle control, aiming to describe the deviation between the vehicle and the desired path through a dynamic model and design a controller to minimize these deviations. In the state space model based on road error, the method for calculating the steady-state front wheel steering angle needs to comprehensively consider geometric relationships, dynamic characteristics, and control algorithm optimization, and can be calculated by at least one of the following methods: geometric model method - direct calculation based on kinematic relationships, feedback control method - closed-loop regulation based on error state equations, dynamic model correction method - considering the nonlinear effect of large steering angles, prediction model method - rolling optimization based on MPC, composite control method: integrating geometric and dynamic characteristics, etc. Specifically, the state space model based on road error can be established according to the vehicle dynamic model. When calculating, let e1 be the distance from the vehicle's center of mass to the center line of the road, then the lateral acceleration error of the vehicle is

[0062]

[0063] Let e2 be the direction error of the vehicle relative to the road, e2 = ψ - ψ des 。

[0064] Under the above definition of error terms, the state space model based on road error is obtained as follows:

[0065]

[0066] Under the assumptions of small slip angle and bicycle model, the state space model of lateral dynamics is defined as where is the ideal yaw rate Since the open-loop matrix A has only two eigenvalues and the system is unstable, let δ = -Kx, and the system can reach a stable state by adding state feedback. At this time, the system closed-loop feedback controller is expressed as Solving the steady-state error of the system: Since due to the existence of the

[0067] term, there will be a steady-state error in this road error. Therefore, add a system feedforward term and set: ff At this time, the closed-loop system state space model becomes:

[0068]

[0069] The steady-state error of this system is as follows:

[0070]

[0071] Next, the steady-state front-wheel steering angle can be solved: The yaw angle error under the steady state of the system is:

[0072]

[0073] Set the feedforward term:

[0074]

[0075] It can make the lateral error zero.

[0076] where L = l f + l r ,

[0077] From the steady-state error and the formula of the feedforward controller, it can be known that under the condition of zero lateral error, the steady-state front-wheel steering angle is:

[0078]

[0079] S2: Obtain the theoretical steering wheel angle of the vehicle according to the steady-state front-wheel steering angle and the steering ratio of the steering wheel of the vehicle;

[0080] The specific steps can be referred to as follows: First, clarify the steering system parameters and determine the steering ratio (SteeringRatio): The steering ratio is defined as the ratio of the steering wheel angle to the wheel steering angle. For example, 15:1 means that when the steering wheel rotates 15 degrees, the wheel steers 1 degree. Formula expression: Steering ratio = Steering wheel rotation / Wheel steering angle. (Note: If the known steering ratio is K, then the steering wheel angle = Wheel steering angle × K.); Second, obtain the steady-state front-wheel steering angle, which can be calculated according to the state-space model based on the road error, and the state-space model based on the road error can be established according to the vehicle dynamics model. Finally, calculate the theoretical steering wheel angle according to the basic formula conversion and considering the steering system transmission ratio. Finally, the calculation result can also be verified by the special range limit and the dynamic special ratio can be corrected to obtain a more accurate theoretical steering wheel angle

[0081] S3: Obtain the deviation value of the steering wheel angle according to the theoretical steering wheel angle and the measured steering wheel angle of the vehicle body;

[0082] The measured steering wheel angle of the vehicle body can be the steering wheel angle measured by the vehicle body sensor, or the steering wheel angle measured by other means of the vehicle body, which is not specifically limited here. The deviation value of the steering wheel angle can be the difference between the measured steering wheel angle of the vehicle body and the theoretical steering wheel angle.

[0083] S4: Obtain the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0084] The steering wheel compensation angle of the previous cycle may be the steering wheel compensation angle calculated in the previous cycle of the vehicle. The method of obtaining the steering wheel compensation angle of the current cycle based on the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle may use various algorithms such as dynamic adjustment of the sliding window and fixed sliding window to calculate the steering wheel compensation angle of the current cycle, which is not specifically limited herein.

[0085] This method calculates the front wheel angle by using the state space model based on road error, and then calculates the theoretical steering wheel angle of the vehicle. Based on the measured steering wheel angle by sensors and other means, the deviation value of the steering wheel angle is calculated. Then, through algorithms, the steering wheel compensation angle of the current cycle is calculated, which makes the compensation calculation of the steering wheel angle more accurate, thereby improving the accuracy of the vehicle's lateral control calculation and enhancing the riding experience of passengers.

[0086] As an optional implementation manner, refer to Figure 2 , before obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error, it includes: obtaining the state space model based on road error according to the dynamic model of the vehicle.

[0087] Specifically, establish the state space model based on road error according to the dynamic model, where the dynamic model is as follows:

[0088]

[0089] Where: ψ is the yaw angle, δ is the front wheel steering angle, m is the vehicle mass, I z is the vehicle's inertial yaw moment, V x is the longitudinal speed at the vehicle's center of mass, represents the lateral speed at the vehicle's center of mass, l f represents the distance from the center of mass to the front wheels, l r represents the distance from the center of mass to the rear wheels, C af represents the cornering stiffness of the front wheels, C ar is the cornering stiffness of the rear wheels.

[0090] Let e1 be the distance from the vehicle's center of mass to the center line of the road, then the lateral acceleration error of the vehicle is

[0091]

[0092] e2 is the direction error of the vehicle relative to the road, e2 = ψ - ψ des .

[0093] Under the above definition of the error term, the state space model based on the road error is obtained as follows:

[0094]

[0095] As an alternative implementation, refer to Figure 2 , obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle includes: calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using a dynamically adjusted sliding window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0096] In the specific implementation process, the deviation calculation method of the dynamic sliding window may specifically include the following steps: initialize the fast sliding counter L = 1, the slow sliding counter T = 1, the slow sliding window size S = 1, the fast sliding window size F = 1, and the compensation angle dPre of the steering wheel in the previous cycle = 0.

[0097] First, enter the first stage, and calculate the compensation angle by using the fast sliding window algorithm where dPre represents the compensation angle of the steering wheel in the previous cycle; w represents the current steering wheel deviation value, that is, the difference between the theoretical steering wheel angle and the actually measured steering wheel angle of the vehicle body; at this time, the fast sliding window size F = F + 1.

[0098] Secondly, enter the second stage: judge whether the difference between the fast sliding compensation angle of the current cycle and the compensation angle of the previous cycle is within the allowable range of fast sliding. The allowable range of this difference can be: the difference between the compensation angle of the current cycle and the compensation angle of the previous cycle is less than or equal to 0.3 degrees; if so, the fast sliding counter L = L + 1 and enter the next stage; otherwise, the fast sliding counter L is restored to the initialization and returns to the first stage.

[0099] Next, enter the third stage: judge whether the cycle number of the fast sliding window reaches the threshold of the cycle number for fast exit. The threshold of this cycle number can be: when the cycle number of the fast sliding calculation reaches a certain number, then exit the fast sliding calculation. For example: when the cycle number of the fast sliding window calculation reaches 20 times, then the fast sliding window calculation can be exited and enter the next stage; otherwise, the fast sliding counter L maintains the existing value and returns to the first stage;

[0100] In the fourth stage, enter the slow sliding window calculation, assign the fast window F at the end of the previous cycle to the current slow sliding window S, and calculate the slow sliding compensation angle Then the slow sliding window size S = S + 1;

[0101] In the fifth stage, it is judged whether the difference between the slow-sliding compensation angle in the current cycle and the compensation angle in the previous cycle is within the allowable range of slow sliding. The allowable range of this difference can be: the difference between the slow-sliding compensation angle in the current cycle and the compensation angle in the previous cycle is less than or equal to 0.15 degrees; if so, the slow-sliding counter T = T + 1, and enter the next stage; otherwise, the slow-sliding counter T is restored to its initial value and returns to the fourth stage;

[0102] In the sixth stage, it is judged whether the number of slow-sliding cycles has reached the threshold of the number of slow cycles that can be exited. The threshold of the number of cycles can be: when the number of cycles of slow-sliding calculation reaches a certain number, then exit the slow-sliding calculation. For example: when the number of cycles of slow-sliding calculation reaches 20 times, then the slow-sliding calculation can be exited and enter the next stage, otherwise return to the fourth stage;

[0103] In the seventh stage, inherit the slow window size of the previous cycle and calculate the compensation angle Each time it is calculated, the slow-sliding window size S = S + 1;

[0104] In the eighth stage, it is judged whether the current slow window size is greater than or equal to the preset fixed window size. For example, the size of this fixed window can be 40. If the current slow window size is greater than or equal to the preset fixed window size, then enter the next stage to calculate the fixed sliding window, otherwise return to the seventh stage;

[0105] In the ninth stage, calculate the compensation angle with the size of the fixed window At this time, S is the preset fixed window size, and the subsequent compensation angle is calculated and updated with the fixed window.

[0106] In the above solution, by dividing into multiple calculation methods such as fast sliding, slow sliding and fixed window, and the slow sliding window inherits the fast sliding window size, the effective compensation angle value can be obtained faster, and by setting reasonable counter thresholds, the accuracy and stability of the compensation angle can be further guaranteed.

[0107] As an alternative implementation, see Figure 3 , obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including: when the compensation angle of the previous power-on cycle is greater than the preset threshold, then use the dynamic adjustment sliding window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0108] Before calculating using the dynamic adjustment sliding window algorithm, it is possible to first determine whether the compensation angle of the previous power-on cycle is greater than a predetermined threshold. When the compensation angle of the previous power-on cycle is greater than the preset threshold, the dynamic adjustment sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle. For example, when the compensation angle calculated in the previous power-on cycle is greater than the preset threshold of 0.5 degrees, the dynamic adjustment sliding window algorithm is used in the calculation. In the specific calculation, the compensation angle of the previous power-on cycle is not used, and the value of the steering wheel compensation angle of the previous cycle is directly set to 0, and the calculation of the dynamic adjustment sliding window algorithm is started. The specific steps can be seen in the respective embodiments.

[0109] As an alternative implementation, refer to Figure 3 , obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including: when the compensation angle of the previous power-on cycle is less than the preset threshold, the compensation angle of the previous power-on cycle is assigned to the steering wheel compensation angle of the previous cycle, and the fixed sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0110] Before calculating using the dynamic adjustment sliding window algorithm, it is possible to first determine whether the compensation angle of the previous power-on cycle is greater than a predetermined threshold. When the compensation angle of the previous power-on cycle is less than the preset threshold, the compensation angle of the previous power-on cycle is assigned to the steering wheel compensation angle of the previous cycle, and the fixed sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; the fixed sliding window algorithm is: by setting a window of a fixed size, the following formula is used to calculate the compensation angle:

[0111] d = dPre * S + w

[0112] S + 1

[0113] d is the compensation angle, dPre represents the compensation angle of the previous cycle, S is the preset fixed window size, and w represents the current deviation value size. After calculating this compensation angle, subsequent compensation angle updates are performed with a fixed window.

[0114] As an alternative implementation, refer to Figure 3, the dynamic adjustment sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including: at least two of the fast sliding window algorithm, the slow sliding window algorithm and the fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

[0115] Among them, the fast sliding window algorithm has a small window and a high update frequency, and is suitable for real-time dynamic compensation and noise suppression; the slow sliding window algorithm has a large window and a long update period, and focuses on long-term data statistics and stability analysis; the fixed window algorithm has a fixed window size and is suitable for standardized compensation in preset scenarios. The dynamic adjustment sliding window algorithm described in this application can calculate using at least two of the above three algorithms, and switch algorithms according to certain conditions and rules, so that the calculated steering wheel compensation angle of this application is more accurate and efficient.

[0116] As an optional implementation manner, see Figure 3 , at least two of the fast sliding window algorithm, the slow sliding window algorithm and the fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including:

[0117] The fast sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain the fast sliding compensation angle, and the size of the fast sliding window increases by one each time it is calculated; when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is less than or equal to the preset fast threshold, the cycle count of the fast sliding window increases;

[0118] When the cycle count of the fast sliding window reaches the fast exit cycle count threshold, the slow sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain the slow sliding compensation angle, and the slow sliding window inherits the window size of the fast sliding window;

[0119] When the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is less than or equal to the preset slow threshold, the cycle count of the slow sliding window increases;

[0120] When the number of cycles of the slow sliding window reaches the slow exit cycle number threshold, continue to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle using the slow sliding window algorithm, and the size of the slow sliding window increases;

[0121] When the size of the slow sliding window is greater than or equal to the size of the preset fixed window, calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle using the fixed window algorithm to obtain the steering wheel compensation angle of the current cycle.

[0122] Specifically, taking the example of calculating in turn using three algorithms: the fast sliding window algorithm, the slow sliding window algorithm, and the fixed window algorithm, it can specifically include the following steps: Initialize the fast sliding counter L = 1, the slow sliding counter T = 1, the slow sliding window size S = 1, the fast sliding window size F = 1, and the compensation angle dPre of the steering wheel in the previous cycle = 0.

[0123] First, enter the first stage and calculate the compensation angle using the fast sliding window algorithm where dPre represents the compensation angle of the steering wheel in the previous cycle; w represents the current steering wheel deviation value, that is, the difference between the theoretical steering wheel angle and the measured steering wheel angle of the vehicle body; at this time, the fast sliding window size F = F + 1.

[0124] Secondly, enter the second stage: Determine whether the difference between the fast sliding compensation angle of the current cycle and the compensation angle of the previous cycle is within the fast sliding allowable range. The allowable range of this difference can be: the difference between the compensation angle of the current cycle and the compensation angle of the previous cycle is less than or equal to 0.3 degrees; if so, the fast sliding counter L = L + 1 and enter the next stage; otherwise, the fast sliding counter L is restored to the initialization and returns to the first stage.

[0125] Next, enter the third stage: Determine whether the number of cycles of the fast sliding window reaches the fast exit cycle number threshold. This cycle number threshold can be: after the number of cycles of the fast sliding calculation reaches a certain number, then exit the fast sliding calculation. For example: when the number of cycles of the fast sliding window calculation reaches 20 times, then the fast sliding window calculation can be exited and enter the next stage; otherwise, the fast sliding counter L maintains the existing value and returns to the first stage;

[0126] In the fourth stage, enter the slow sliding window calculation, assign the fast window F at the end of the previous cycle to the current slow sliding window S, and calculate the slow sliding compensation angle Then the slow sliding window size S = S + 1;

[0127] In the fifth stage, it is judged whether the difference between the slow-sliding compensation angle in the current cycle and the compensation angle in the previous cycle is within the allowable range of slow sliding. The allowable range of this difference can be: the difference between the slow-sliding compensation angle in the current cycle and the compensation angle in the previous cycle is less than or equal to 0.15 degrees; if so, the slow-sliding counter T = T + 1, and enter the next stage; otherwise, the slow-sliding counter T is restored to its initial value and returns to the fourth stage;

[0128] In the sixth stage, it is judged whether the number of cycles of slow sliding reaches the threshold of the number of slow cycles that can be exited. The threshold of the number of cycles can be: after the number of cycles of slow-sliding calculation reaches a certain number, then exit the slow-sliding calculation. For example: when the number of cycles of slow-sliding calculation reaches 20 times, then the slow-sliding calculation can be exited and enter the next stage, otherwise return to the fourth stage;

[0129] In the seventh stage, inherit the slow window size of the previous cycle and calculate the compensation angle Each time it is calculated, the slow-sliding window size S = S + 1;

[0130] In the eighth stage, it is judged whether the current slow window size is greater than or equal to the preset fixed window size. For example, the size of this fixed window can be 40. If the current slow window size is greater than or equal to the preset fixed window size, then enter the next stage to calculate the fixed sliding window, otherwise return to the seventh stage;

[0131] In the ninth stage, calculate the compensation angle with the size of the fixed window At this time, S is the preset fixed window size, and the subsequent compensation angle calculation and update are performed with the fixed window.

[0132] As an alternative implementation, see Figure 3 , at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including: using at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm, according to the deviation value of the steering wheel angle, the steering wheel compensation angle of the previous cycle, and the sliding window size, to obtain the steering wheel compensation angle of the current cycle.

[0133] The calculation of the compensation angle of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm is basically the same. Specifically, the following formula can be used to calculate the compensation angle:

[0134] d = dPre * S + w

[0135] S + 1

[0136] d is the compensation angle, dPre represents the compensation angle of the previous cycle, S is the size of the sliding window, and w represents the magnitude of the current deviation value. In specific implementation, two algorithms, namely fast sliding and slow sliding, can be used for calculation. The specific implementation method can refer to the above method steps, and the corresponding algorithm steps can be removed accordingly. Similarly, the combination of the other two algorithms can also be referred to in a similar manner, and no specific examples and limitations are given here.

[0137] As an alternative implementation, refer to Figure 3 , at least two algorithms among the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; it further includes: using the fast sliding window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain the fast sliding compensation angle, and the size of the fast sliding window increases by one each time it is calculated; when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is greater than the preset fast threshold, the cycle count of the fast sliding window is initialized, and the fast sliding window algorithm is recalculated.

[0138] Specifically, when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is greater than the preset fast threshold, the cycle count of the fast sliding window needs to be initialized, and the fast sliding window algorithm needs to be recalculated. For example: the second stage in the above embodiment.

[0139] As an alternative implementation, refer to Figure 3 , at least two algorithms among the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; it further includes: when the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is greater than the preset slow threshold, the cycle count of the slow sliding window is initialized, and the slow sliding window algorithm is recalculated.

[0140] Specifically, when the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is greater than the preset slow threshold, the cycle count of the slow sliding window needs to be initialized, and the slow sliding window algorithm needs to be recalculated. For example: the fifth stage in the above embodiment.

[0141] As an alternative implementation, refer to Figure 3, at least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further comprising: when the size of the slow sliding window is smaller than a preset fixed window, continue to use the slow sliding window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, and the size of the slow sliding window increases.

[0142] Specifically, when the size of the slow sliding window is smaller than a preset fixed window, continue to use the slow sliding window algorithm to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, and the size of the slow sliding window increases. The increase is that the window size increases by 1 for each calculation. For example: refer to the eighth stage in the above embodiment.

[0143] As an alternative implementation, refer to Figure 3 , before obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error, it includes: acquiring the measured steering wheel angle data, vehicle speed, yaw rate, lateral acceleration, and steering wheel angle rate of the vehicle body. Obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error includes: when the measured steering wheel angle data of the vehicle body is valid, the vehicle speed is less than a preset threshold, the yaw rate is less than a preset threshold, the lateral acceleration is less than a preset threshold, and the steering wheel angle rate is less than a preset threshold, obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error.

[0144] Before calculating the compensation angle, relevant environmental parameters such as the measured steering wheel angle data, vehicle speed, yaw rate, lateral acceleration, and steering wheel angle rate of the vehicle body can be collected first. Only under certain vehicle condition conditions, the calculation of the steering wheel compensation angle can start. For example: only when the valid bit of the vehicle sensor (the data is valid and has been processed and judged as valid by other processors), the vehicle speed is less than or equal to a certain value (150KM / h), the yaw rate is less than 0.3rad / s; the lateral acceleration is less than or equal to 2.5m / s^2, and the steering wheel angle rate is above 30° / s are all satisfied, the calculation of the steering wheel compensation angle can start. If any of the above conditions is not met, it does not conform, and the calculation of the steady-state front wheel angle of the vehicle and the steering wheel compensation angle of the vehicle is not performed.

[0145] As an alternative implementation, refer to Figure 3, before obtaining the state - space model based on road error according to the vehicle's dynamic model, it includes: obtaining the yaw rate, lateral acceleration of the current vehicle, and the curvature information of road information. The obtaining of the state - space model based on road error according to the vehicle's dynamic model includes: establishing a state - space model based on road error according to the yaw rate, lateral acceleration, curvature information of road information, and the vehicle dynamics model of the current vehicle.

[0146] Specifically, before obtaining the state - space model based on road error according to the vehicle's dynamic model, it can also first obtain the yaw rate, lateral acceleration of the current vehicle, and the curvature information of road information and other information, and then establish a state - space model based on road error according to these information and the vehicle dynamics model.

[0147] As an alternative implementation, see Figure 3 , the obtaining of the steady - state front - wheel steering angle of the vehicle according to the state - space model based on road error includes: performing state - feedback control on the state - space model based on road error to make the state - space model based on road error reach a stable state; obtaining the steady - state error of the state - space model based on road error according to the state - space model based on road error in the stable state; obtaining the steady - state front - wheel steering angle of the state - space model based on road error according to the steady - state error of the state - space model based on road error.

[0148] Specifically, under the assumptions of small slip angle and bicycle model, the state - space model of lateral dynamics is defined as where is the ideal yaw rate Since the open - loop matrix A has only two eigenvalues and the system is unstable, let δ=-Kx, and the system can reach a stable state by adding state feedback. At this time, the closed - loop feedback controller of the system is expressed as

[0149] After that, the steady - state error of the system can be solved: Since due to the existence of the ff term, there will be a steady - state error in this road error. Therefore, add a feed - forward term to the system, set δ=-Kx + δ The steady - state error of this system is as follows:

[0150]

[0151] Finally, solve the steady - state front - wheel steering angle: The yaw - angle error under the steady - state of the system is:

[0152]

[0153] Set the feedforward term can make the lateral error zero, where L = l f + l r , From the steady-state error and the feedforward controller formula, it can be known that under the condition of zero lateral error, the steady-state front-wheel steering angle is:

[0154] This application also provides a vehicle, which includes a calculation device for the steering wheel compensation angle. Among them, the device is used to execute the calculation method described in any of the above embodiments.

[0155] This application also provides a computer device, which is characterized in that it includes: at least one memory for storing programs; at least one processor for executing the programs stored in the memory. When the programs stored in the memory are executed, the processor is used to execute the calculation method described in any of the above embodiments.

[0156] This application also provides a computer storage medium, in which instructions are stored. When the instructions are run on a computer, the computer is made to execute the calculation method described in any of the above embodiments.

[0157] In the description of this application, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality" means two or more, unless otherwise specifically defined.

[0158] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0159] The embodiments, implementation manners and related technical features of this application can be combined and replaced with each other without conflict.

[0160] The above are only the preferred embodiments of this application, and do not impose any form of limitation on this application. However, as long as it does not depart from the content of the technical solution of this application, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of this application still fall within the scope of the technical solution of this application.

Claims

1. A calculation method for the compensation angle of a vehicle steering wheel, characterized in that, The method includes: Obtaining a steady-state front wheel steering angle of the vehicle according to a state space model based on road error; Obtaining a theoretical steering wheel angle of the vehicle according to the steady-state front wheel steering angle of the vehicle and a steering wheel steering ratio; Obtaining a deviation value of the steering wheel angle according to the theoretical steering wheel angle and a measured steering wheel angle of the vehicle body; Obtaining a steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and a steering wheel compensation angle of the previous cycle.

2. The calculation method according to claim 1, wherein Before obtaining the steady-state front wheel steering angle of the vehicle according to the state space model based on road error, it includes: Obtaining a state space model based on road error according to a dynamic model of the vehicle.

3. The calculation method according to claim 1, wherein Obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; includes: Calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using a dynamically adjusted sliding window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

4. The calculation method according to claim 1, characterized in that Obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; includes: When the compensation angle of the previous power-on cycle is greater than a preset threshold, calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using a dynamically adjusted sliding window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

5. The calculation method according to claim 4, characterized in that, When the compensation angle of the previous power-on cycle is greater than a preset threshold, the value of the steering wheel compensation angle of the previous cycle is 0.

6. The calculation method according to claim 1, characterized in that Obtaining the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; includes: When the compensation angle of the previous power-on cycle is less than a preset threshold, assigning the compensation angle of the previous power-on cycle to the steering wheel compensation angle of the previous cycle, and calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using a fixed sliding window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

7. The calculation method according to any one of claims 3 or 4, characterized in that Calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using a dynamically adjusted sliding window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; includes: Calculating the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle by using at least two of a fast sliding window algorithm, a slow sliding window algorithm, and a fixed window algorithm, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle.

8. The calculation method according to claim 7, wherein At least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including: The fast sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain a fast sliding compensation angle, and the size of the fast sliding window increases each time it is calculated; when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is less than or equal to a preset fast threshold, the cycle count of the fast sliding window increases; When the cycle count of the fast sliding window reaches the fast exit cycle count threshold, the slow sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain a slow sliding compensation angle, and the slow sliding window inherits the window size of the fast sliding window; When the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is less than or equal to a preset slow threshold, the cycle count of the slow sliding window increases; When the cycle count of the slow sliding window reaches the slow exit cycle count threshold, the slow sliding window algorithm continues to be used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, and the size of the slow sliding window increases; When the size of the slow sliding window is greater than or equal to the size of the preset fixed window, the fixed window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain the steering wheel compensation angle of the current cycle.

9. The calculation method according to claim 7, wherein At least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; including: At least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle, the steering wheel compensation angle of the previous cycle, and the sliding window size.

10. The calculation method according to claim 8, characterized in that, At least two of the fast sliding window algorithm, slow sliding window algorithm, and fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further including: The fast sliding window algorithm is used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle to obtain a fast sliding compensation angle, and the size of the fast sliding window increases each time it is calculated; when the difference between the fast sliding compensation angle and the compensation angle of the previous cycle is greater than a preset fast threshold, the cycle count of the fast sliding window is initialized, and the fast sliding window algorithm is recalculated.

11. The calculation method according to claim 8, wherein At least two of the fast sliding window algorithm, the slow sliding window algorithm, and the fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further comprising: When the difference between the slow sliding compensation angle and the compensation angle of the previous cycle is greater than a preset slow threshold, the cycle count of the slow sliding window is initialized, and the calculation of the slow sliding window algorithm is restarted.

12. The calculation method according to claim 8, wherein At least two of the fast sliding window algorithm, the slow sliding window algorithm, and the fixed window algorithm are used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, so as to obtain the steering wheel compensation angle of the current cycle according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle; further comprising: When the size of the slow sliding window is less than the preset fixed window size, the slow sliding window algorithm is continuously used to calculate the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous cycle, and the size of the slow sliding window increases.

13. The calculation method according to claim 1, wherein Before obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error, it includes: Obtaining the measured steering wheel angle data, vehicle speed, yaw rate, lateral acceleration, and steering wheel angle rate of the vehicle body.

14. The calculation method according to claim 13, wherein Obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error; including: When the measured steering wheel angle data of the vehicle body is valid, the vehicle speed is less than a preset threshold, the yaw rate is less than a preset threshold, the lateral acceleration is less than a preset threshold, and the steering wheel angle rate is less than a preset threshold, the steady-state front wheel angle of the vehicle is obtained according to the state space model based on road error.

15. The calculation method according to claim 2, characterized in that, Before obtaining the state space model based on road error according to the dynamic model of the vehicle, it includes: Obtaining the yaw rate, lateral acceleration, and road information curvature information of the current vehicle.

16. The calculation method according to claim 15, characterized in that, Obtaining the state space model based on road error according to the dynamic model of the vehicle; including: Based on the yaw rate, lateral acceleration, road information curvature information of the current vehicle and the vehicle dynamics model, a state space model based on road error is established.

17. The calculation method according to claim 1, characterized in that Obtaining the steady-state front wheel angle of the vehicle according to the state space model based on road error, including: Performing state feedback control on the state space model based on road error to make the state space model based on road error reach a stable state; According to the state space model based on road error in the stable state, obtaining the steady-state error of the state space model based on road error; According to the steady-state error of the state space model based on road error, obtaining the steady-state front wheel angle of the state space model based on road error.

18. A vehicle, characterized in that, The vehicle includes a calculation device for the steering wheel compensation angle, wherein the device is used to execute the calculation method according to any one of claims 1-17.

19. A computer device, characterized in that, Including: At least one memory for storing programs; At least one processor for executing the program stored in the memory, and when the program stored in the memory is executed, the processor is used to execute the calculation method according to any one of claims 1-17.

20. A computer storage medium storing instructions that, when run on a computer, cause the computer to execute the calculation method according to any one of claims 1-17.

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