Steering wheel angle return processing method and system, vehicle and storage medium

Abstract

The invention discloses a steering wheel angle return processing method which comprises the following steps: sensing current external driving environment information of a vehicle to obtain a current road surface type; obtaining a pre-calibrated relation equation between each steering wheel angle request corresponding to the road surface type and a deviation angle generated by the disconnection handshake; according to the angle of the steering wheel at the end of parking and the relation equation, the angle of the steering wheel requested to return this time is obtained; and performing return control on the steering wheel according to the steering wheel angle requested to return this time. The invention further discloses a corresponding system, a vehicle and a storage medium. By implementing the method, the success rate of keeping the steering wheel in the return state and the parking efficiency can be improved after parking of the parking system is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile steering systems, and in particular to a steering wheel angle return processing method, system, vehicle and storage medium used in a parking system. Background Art

[0002] In the existing automatic parking vehicle control process, many vehicles do not effectively return the steering wheel to the center position after parking is completed. Instead, they directly set the angle request signal to 0 and request the EPS system to control the steering wheel angle at 0 degrees, ignoring the resistance torque of the ground on the tires and steering wheel at this time. As a result, after the parking system and EPS are disconnected from the "handshake" connection, the EPS no longer outputs the motor torque that meets the parking system's angle request. At this time, the tires and steering wheel are affected by the residual resistance torque of the ground, which will produce nonlinear angle offset, causing the steering wheel to "not return to the center position" problem.

[0003] To solve this problem, the methods used in the prior art are generally as follows: through the path planning and control module in the parking system, a 0-degree angle request is sent to the EPS system one step before parking is completed, the steering wheel is returned to the center position in advance, and the time for EPS angle control torque output is extended; or after parking is completed, the system moves forward and backward again, during which the steering wheel is requested to be returned to the center position, and then the vehicle is reversed vertically into the parking space. In this process, the torque output of the EPS is maintained to offset the resistance torque generated by the tires.

[0004] However, the above method will generate more parking steps, thereby reducing parking efficiency and affecting user experience; and it also requires a long distance of forward and backward movement, making it difficult to implement in a relatively small parking space. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a steering wheel angle return processing method, system, vehicle and storage medium, which can improve the parking system's success rate of keeping the steering wheel in the return state after parking is completed on different road types and parking efficiency.

[0006] To solve the above technical problems, as one aspect of the present invention, a method for processing a steering wheel angle return is provided, which comprises at least the following steps:

[0007] During the parking completion phase, the vehicle's current external driving environment information is sensed to obtain the current road type;

[0008] Obtaining a pre-calibrated relationship equation between each steering wheel angle request corresponding to the road surface type and an offset angle generated by disconnecting the handshake;

[0009] Obtaining the steering wheel angle requested for returning to the center position based on the steering wheel angle at the end of parking and the relationship equation;

[0010] The steering wheel is controlled to return to the center according to the steering wheel angle requested to return to the center this time.

[0011] The method further includes pre-calibrating the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, including:

[0012] On each road type, within the current vehicle's maximum turning angle range, at predetermined angle intervals, a script is used to sequentially send steering wheel angle requests x corresponding to each calibration point to the EPS steering system controller to control the steering wheel and wheels to rotate according to the requested angle x.

[0013] Each time the steering wheel is turned to the requested target angle x, the automatic parking system is controlled to disconnect the handshake control with the EPS and the corresponding offset angle y is recorded;

[0014] Obtain the offset angles y1, y2, y3…yn corresponding to different angle requests x1, x2, x3…xn within the maximum turning angle range, and use the interpolation algorithm to obtain the relationship curve between x1, x2, x3…xn and y1, y2, y3…yn under this road type, and obtain the corresponding polynomial equation: y=a0+a1x+a2x 2 +a3x 3 +…+a n x n , a0, a1, a2, a3, a n Equation coefficients.

[0015] The sensing of the vehicle's current external driving environment information to obtain the current road type further includes:

[0016] The surround-view camera in the automatic parking system obtains image information of the road ahead and transmits it to the parking controller via LVDS;

[0017] The parking controller uses an image recognition algorithm to determine the current road surface type and obtain the current road surface type, which is one of asphalt, cement, sand and snow.

[0018] The equation for obtaining the relationship between each pre-calibrated steering wheel angle request corresponding to the road surface type and the offset angle generated by disconnecting the handshake is specifically:

[0019] y=a0+a1x+a2x 2 +a3x 3 +…+a n x n

[0020] Where x is the steering wheel angle request, and y is the offset angle generated by disconnecting the handshake.

[0021] The steering wheel angle requested to return to the center position is obtained based on the steering wheel angle at the end of parking and the relationship equation, including:

[0022] Solve the following equation to obtain the steering wheel angle x0 requested for this return:

[0023] m+x0+a0+a1 x0+a2 x0 2 +a3 x0 3 +…+a n x0 n =0

[0024] Where m is the steering wheel angle at the end of parking; x0 is the steering wheel angle at the time of this request to return to the center.

[0025] Accordingly, the present invention also provides a steering wheel angle return processing system, which includes:

[0026] A road surface type acquisition unit is used to sense the vehicle's current external driving environment information and obtain the current road surface type during the parking completion phase;

[0027] an equation obtaining unit, configured to obtain a pre-calibrated relationship equation between each steering wheel angle request corresponding to the road surface type and an offset angle generated by disconnecting the handshake;

[0028] a return angle obtaining unit, configured to obtain the steering wheel angle requested for return according to the steering wheel angle at the end of parking and the relationship equation;

[0029] The centering processing unit is used to control the steering wheel to center according to the steering wheel angle requested for centering.

[0030] Which further includes:

[0031] The calibration unit is used to pre-calibrate the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, which includes:

[0032] The calibration unit is used to pre-calibrate the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, which includes:

[0033] A script testing unit is configured to, on each road type and within the current maximum vehicle turning angle range, use a script to sequentially send a steering wheel angle request x corresponding to each calibration point at a predetermined angle interval to the controller of the EPS steering system, thereby controlling the steering wheel and wheels to rotate according to the requested angle x;

[0034] an offset angle recording unit, configured to control the automatic parking system to disconnect the handshake control with the EPS and record the corresponding offset angle y each time the steering wheel is turned to the requested target angle x;

[0035] The interpolation processing unit is used to obtain the offset angles y1, y2, y3...yn corresponding to different angle requests x1, x2, x3...xn within the maximum turning angle range, and use the interpolation algorithm to obtain the relationship curve between x1, x2, x3...xn and y1, y2, y3...yn under the road surface type, and obtain the corresponding polynomial equation: y = a0+a1x+a2x 2 +a3x 3 +…+a n x n , a0, a1, a2, a3, a n Equation coefficients.

[0036] Wherein, the road surface type acquisition unit further includes:

[0037] Image sensing unit, used by the surround-view camera in the automatic parking system to obtain image information of the road ahead and transmit it to the parking controller via LVDS;

[0038] The type recognition unit is used for the parking controller to judge the current road surface type using an image recognition algorithm to obtain the current road surface type, which is one of asphalt, cement, sand and snow.

[0039] The relational equation in the equation acquisition unit is:

[0040] y=a0+a1x+a2x 2 +a3x 3 +…+a n x n

[0041] Where x is the steering wheel angle request, and y is the offset angle generated by disconnecting the handshake.

[0042] The return angle acquisition unit obtains the steering wheel angle x0 requested for return by solving the following equation:

[0043] m+x0+a0+a1 x0+a2 x0 2 +a3 x0 3+…+a n x0 n =0

[0044] Where m is the steering wheel angle at the end of parking; x0 is the steering wheel angle at the time of this request to return to the center.

[0045] Correspondingly, another aspect of the present invention provides a vehicle on which the above-mentioned system is provided.

[0046] Accordingly, another aspect of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the aforementioned method when executed by a processor.

[0047] The implementation of the embodiments of the present invention has the following beneficial effects:

[0048] The present invention provides a steering wheel angle return processing method, system, vehicle, and storage medium. By using a pre-calibrated equation for the relationship between each steering wheel angle request x and the offset angle y resulting from disconnecting the handshake for each road type, the system compensates for the effects of ground resistance torque when the vehicle needs to remain stationary, ensuring that the steering wheel can effectively return to its original position even when the handshake between parking and EPS is disconnected.

[0049] The present invention uses an interpolation algorithm during the calibration process and can identify the current road surface type through images. Different compensation equations are used for each road surface type to overcome the residual resistance torque generated by the ground to tire rotation, which can adapt to different parking scenarios. It can also improve the parking system's success rate of keeping the steering wheel in the center position after parking is completed, and improve parking efficiency. This improves the rationality and friendliness of the interaction between the parking system and the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those with ordinary skill in the art, other drawings derived from these drawings without inventive effort still fall within the scope of the present invention.

[0051] Figure 1 A schematic diagram of the main process of an embodiment of a steering wheel angle return processing method provided by the present invention;

[0052] Figure 2 A schematic structural diagram of an embodiment of a steering wheel angle return processing system provided by the present invention;

[0053] Figure 3 for Figure 2 Schematic diagram of the structure of the road surface type acquisition unit;

[0054] Figure 4 This is a structural diagram of the calibration unit involved in the present invention. DETAILED DESCRIPTION

[0055] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings.

[0056] like Figure 1 FIG. 1 is a schematic diagram showing a main process of an embodiment of a method for processing a steering wheel angle return; in this embodiment, the method for processing a steering wheel angle return comprises at least the following steps:

[0057] Step S10, sensing the vehicle's current external driving environment information to obtain the current road type;

[0058] In a specific example, the step S10 further includes:

[0059] During parking, the surround-view camera in the automatic parking system obtains image information of the road ahead and transmits it to the parking controller;

[0060] The parking controller uses an image recognition algorithm to determine the current road surface type and obtain the current road surface type, which is one of asphalt, cement, sand and snow.

[0061] In a specific example, during automated parking, the system's surround-view cameras transmit images of the road ahead via LVDS to the parking controller. The parking controller's perception module uses an image recognition algorithm to determine the current road surface type.

[0062] Step S11, obtaining a pre-calibrated relationship equation between each steering wheel angle request corresponding to the road surface type and an offset angle generated by disconnecting the handshake;

[0063] In a specific example, the relationship equation is:

[0064] y=a0+a1x+a2x 2 +a3x 3 +…+a n x n

[0065] Where x is the steering wheel angle request, and y is the offset angle generated by disconnecting the handshake.

[0066] It is understood that the automatic parking system pre-stores a relationship equation between each steering wheel angle request corresponding to each road surface type and the offset angle resulting from disconnecting the steering wheel. This relationship equation can be obtained through pre-calibration. The relationship equation corresponding to the current road surface type can be called.

[0067] Step S12, obtaining the steering wheel angle requested to return to the center position based on the steering wheel angle at the end of parking and the relationship equation;

[0068] In a specific example, step S13 includes:

[0069] Solve the following equation to obtain the steering wheel angle x0 requested for this return:

[0070] m+x0+a0+a1 x0+a2 x0 2 +a3 x0 3 +…+a n x0 n =0

[0071] Where m is the steering wheel angle at the end of parking; x0 is the steering wheel angle at the time of this request to return to the center.

[0072] It can be understood that when parking is completed and the steering wheel needs to be requested to return to the center position (the steering wheel needs to be kept at 0 degrees after the handshake between the parking system and the EPS system is disconnected), if the current steering wheel angle is known to be m degrees through the EPS angle sensor, and the steering wheel angle to be requested is x0 degrees, the value of the steering wheel angle x0 to be requested can be obtained by finally solving the above equation.

[0073] Step S3: Control the steering wheel to return to the center according to the steering wheel angle requested to return to the center this time.

[0074] Through this method, when parking is completed and the parking system disconnects from the EPS system, the residual resistance torque generated by the ground to the tire rotation can be overcome, thereby keeping the steering wheel in the 0-degree return position.

[0075] It is understood that the method of the present invention further includes pre-calibrating the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, including:

[0076] On each road type (such as asphalt, cement, sand, snow, etc.), within the current vehicle's maximum turning angle range (such as ±α degrees), with each predetermined angle (such as 5°) as a calibration point, a script is used to sequentially send the steering wheel angle request x corresponding to each calibration point to the EPS steering system controller. The EPS steering system controls the steering wheel and wheels through the motor to rotate according to the requested angle x.

[0077] Each time the steering wheel is turned to the requested target angle x, the automatic parking system is controlled to disconnect the handshake control with the EPS. The steering wheel and the tire are offset by a certain angle y under the action of the resistance torque generated by the ground, and the corresponding offset angle y is recorded.

[0078] Obtain the offset angles y1, y2, y3…yn corresponding to different angle requests x1, x2, x3…xn within the maximum turning angle range, and use the interpolation algorithm to obtain the relationship curve between x1, x2, x3…xn and y1, y2, y3…yn under this road type. Based on this relationship curve, the corresponding polynomial equation can be obtained: y=a0+a1x+a2x 2 +a3x 3 +…+a n x n , a0, a1, a2, a3, a n Equation coefficients.

[0079] By using this calibration method, it is possible to obtain a relationship curve and equation between each steering wheel angle request x and the offset angle y generated by disconnecting the handshake for the vehicle equipped with the automatic parking system on different types of road surfaces.

[0080] The present invention addresses the problem in the prior art of reduced parking efficiency caused by the need to add forward and backward movement steps and adjust the steering wheel angle. By pre-calibrating the relationship equation between the steering wheel angle request x corresponding to each road type and the offset angle y generated by disconnecting the handshake, the present invention compensates for the influence of the ground resistance torque based on the relationship equation when it is necessary to ensure that the vehicle remains stationary, ensuring that the steering wheel can be effectively returned to the center even when the "handshake" connection between parking and EPS is disconnected.

[0081] like Figure 2 FIG. 1 is a structural diagram of an embodiment of a steering wheel angle return processing system 1 provided by the present invention. Figure 2 and Figure 3 As shown, in this embodiment, the system 1 includes:

[0082] The road surface type acquisition unit 10 is used to sense the vehicle's current external driving environment information and obtain the current road surface type during the parking completion phase;

[0083] an equation obtaining unit 11, configured to obtain a pre-calibrated relationship equation between each steering wheel angle request corresponding to the road surface type and an offset angle generated by disconnecting the handshake;

[0084] a return angle obtaining unit 12 for obtaining the steering wheel angle requested for return according to the steering wheel angle at the end of parking and the relationship equation;

[0085] A return processing unit 13, configured to control the steering wheel to return to the center according to the steering wheel angle requested for return to the center;

[0086] The storage unit 14 is used to store the relationship equations between the steering wheel angle requests corresponding to various road surface types obtained in advance and the offset angles generated by disconnecting the handshake.

[0087] like Figure 3 As shown, the road surface type acquisition unit 10 further includes:

[0088] The image sensing unit 100 is used for the surround-view camera in the automatic parking system to obtain image information of the road ahead and transmit it to the parking controller;

[0089] The type recognition unit 101 is used for the parking controller to judge the current road surface type using an image recognition algorithm to obtain the current road surface type, which is one of asphalt, cement, sand and snow.

[0090] The relational equation in the equation acquisition unit 11 is:

[0091] y=a0+a1x+a2x 2 +a3x 3 +…+a n x n

[0092] Where x is the steering wheel angle request, and y is the offset angle generated by disconnecting the handshake.

[0093] The return angle acquisition unit 12 obtains the steering wheel angle x0 requested for return by solving the following equation:

[0094] m+x0+a0+a1 x0+a2 x0 2 +a3 x0 3 +…+a n x0 n =0

[0095] Where m is the steering wheel angle at the end of parking; x0 is the steering wheel angle at the time of this request to return to the center.

[0096] Furthermore, the system 1 further comprises:

[0097] The calibration unit 15 is used to pre-calibrate the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, which includes:

[0098] The script testing unit 150 is configured to sequentially send a steering wheel angle request x corresponding to each calibration point to the EPS steering system controller using a script on each road type within the current maximum vehicle turning angle range, with each calibration point being a predetermined angle. The EPS steering system controls the steering wheel and wheels via a motor to rotate according to the requested angle x.

[0099] An offset angle recording unit 151 is configured to control the automatic parking system to disconnect the handshake control with the EPS each time the steering wheel is rotated to a requested target angle x, causing the steering wheel and tire to deviate by a certain angle y under the action of the resistance torque generated by the ground, and to record the corresponding offset angle y;

[0100] The interpolation processing unit 152 is used to obtain the offset angles y1, y2, y3...yn corresponding to the different angle requests x1, x2, x3...xn within the maximum turning angle range, and use the interpolation algorithm to obtain the relationship curve between x1, x2, x3...xn and y1, y2, y3...yn for the road surface type, and obtain the corresponding polynomial equation: y = a0 + a1x + a2x 2 +a3x 3 +…+a n x n , a0, a1, a2, a3, a n Equation coefficients.

[0101] For more details, please refer to and combine the above Figure 1 The description is not repeated here.

[0102] Another aspect of the present invention further provides a vehicle, which is provided with Figures 2 to 4 For more details of the system described, please refer to and combine the above Figures 2 to 4 The description is not repeated here.

[0103] In another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the computer program realizes the following Figure 1 For more details, please refer to and combine the above Figure 1 The description is not repeated here.

[0104] The implementation of the embodiments of the present invention has the following beneficial effects:

[0105] The present invention provides a steering wheel angle return processing method, system, vehicle, and storage medium. By using a pre-calibrated equation for the relationship between each steering wheel angle request x and the offset angle y resulting from disconnecting the handshake for each road type, the system compensates for the effects of ground resistance torque when the vehicle needs to remain stationary, ensuring that the steering wheel can effectively return to its original position even when the handshake between parking and EPS is disconnected.

[0106] The present invention adopts an interpolation algorithm during the calibration process and can identify the current road surface type through images. Different compensation equations are used for each road surface type to overcome the residual resistance torque generated by the ground to tire rotation, and can adapt to different parking scenarios. It can improve the success rate and parking efficiency of the parking system in keeping the steering wheel in the centering state after parking is completed; it improves the rationality and friendliness of the interaction between the parking system and the user, and solves the problem of difficulty in returning the steering wheel to the center position after the parking system disconnects the handshake of the EPS system.

[0107] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] The above disclosure is only a preferred embodiment of the present invention and certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A steering wheel angle return processing method, characterized in that: At least the following steps are included: Sense the vehicle's current external driving environment information and obtain the current road type; Obtaining a pre-calibrated relationship equation between each steering wheel angle request corresponding to the road surface type and an offset angle generated by disconnecting the handshake; Obtaining the steering wheel angle requested for returning to the center position based on the steering wheel angle at the end of parking and the relationship equation; The steering wheel is controlled to return to the center according to the steering wheel angle requested to return to the center this time.

2. The method according to claim 1, wherein This includes pre-calibrating the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, including: On each road type, within the current vehicle's maximum turning angle range, at predetermined angle intervals, a script is used to sequentially send steering wheel angle requests x corresponding to each calibration point to the EPS steering system controller to control the steering wheel and wheels to rotate according to the requested angle x. Each time the steering wheel is turned to the requested target angle x, the automatic parking system is controlled to disconnect the handshake control with the EPS and the corresponding offset angle y is recorded; Obtain the offset angles y1, y2, y3…yn corresponding to different angle requests x1, x2, x3…xn within the maximum turning angle range, and use the interpolation algorithm to obtain the relationship curve between x1, x2, x3…xn and y1, y2, y3…yn under this road type, and obtain the corresponding polynomial equation: y=a0+a1x+a2x 2 +a3x 3 +…+a n x n , a0, a1, a2, a3, a n Equation coefficients.

3. The method according to claim 1 or 2, wherein: The sensing of the vehicle's current external driving environment information to obtain the current road type includes: The surround-view camera in the automatic parking system obtains image information of the road ahead and transmits it to the parking controller; The parking controller uses an image recognition algorithm to determine the current road surface type and obtain the current road surface type, which is one of asphalt, cement, sand and snow.

4. The method according to claim 3, wherein The relationship equation between each steering wheel angle request corresponding to the road surface type and the offset angle caused by disconnecting the handshake is: y=a0+a1x+a2x 2 +a3x 3 +…+a n x n Where x is the steering wheel angle request, and y is the offset angle generated by disconnecting the handshake.

5. The method according to claim 4, wherein According to the steering wheel angle at the end of parking and the relationship equation, the steering wheel angle requested to return to the center position is obtained, including: Solve the following equation to obtain the steering wheel angle x0 requested for this return: <h2 style=";text-align:left;direction:ltr">m+x0+a0+a1 x0+a2 x0<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +a3 x0<h2 style=";text-align:left;direction:ltr"> 3 <h2 style=";text-align:left;direction:ltr"> +…+a<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> x0<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> =0 Where m is the steering wheel angle at the end of parking; x0 is the steering wheel angle at the time of this request to return to the center.

6. A steering wheel angle return processing system, characterized in that: include: A road surface type acquisition unit is used to sense the vehicle's current external driving environment information and obtain the current road surface type; an equation obtaining unit, configured to obtain a pre-calibrated relationship equation between each steering wheel angle request corresponding to the road surface type and an offset angle generated by disconnecting the handshake; a return angle obtaining unit, configured to obtain the steering wheel angle requested for return according to the steering wheel angle at the end of parking and the relationship equation; The centering processing unit is used to control the steering wheel to center according to the steering wheel angle requested for centering.

7. The system according to claim 6, wherein: Further including: The calibration unit is used to pre-calibrate the relationship curve and relationship equation between each steering wheel angle request and the offset angle generated by disconnecting the handshake on each road type, which includes: A script testing unit is configured to, on each road type and within the current maximum vehicle turning angle range, use a script to sequentially send a steering wheel angle request x corresponding to each calibration point at a predetermined angle interval to the controller of the EPS steering system, thereby controlling the steering wheel and wheels to rotate according to the requested angle x; an offset angle recording unit, configured to control the automatic parking system to disconnect the handshake control with the EPS and record the corresponding offset angle y each time the steering wheel is turned to the requested target angle x; The interpolation processing unit is used to obtain the offset angles y1, y2, y3...yn corresponding to different angle requests x1, x2, x3...xn within the maximum turning angle range, and use the interpolation algorithm to obtain the relationship curve between x1, x2, x3...xn and y1, y2, y3...yn under the road surface type, and obtain the corresponding polynomial equation: y = a0+a1x+a2x 2 +a3x 3 +…+a n x n , a0, a1, a2, a3, a n Equation coefficients.

8. The system according to claim 6 or 7, characterized in that The road surface type acquisition unit further includes: Image sensing unit, used by the surround-view camera in the automatic parking system to obtain image information of the road ahead and transmit it to the parking controller; The type recognition unit is used for the parking controller to judge the current road surface type using an image recognition algorithm to obtain the current road surface type, which is one of asphalt, cement, sand and snow.

9. The system according to claim 8, wherein The relational equation in the equation acquisition unit is: y=a0+a1x+a2x 2 +a3x 3 +…+a n x n Where x is the steering wheel angle request, and y is the offset angle caused by disconnecting the handshake; The return angle acquisition unit obtains the steering wheel angle x0 requested for return by solving the following equation: <h2 style=";text-align:left;direction:ltr">m+x0+a0+a1 x0+a2 x0<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +a3 x0<h2 style=";text-align:left;direction:ltr"> 3 <h2 style=";text-align:left;direction:ltr"> +…+a<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> x0<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> =0 Where m is the steering wheel angle at the end of parking; x0 is the steering wheel angle at the time of this request to return to the center.

10. A vehicle, characterized in that: A system according to any one of claims 6 to 9 is arranged thereon.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

Images