Method and device for determining minimum turning radius, storage medium and electronic device

Abstract

The invention discloses a method and device for determining the minimum turning radius, a storage medium and an electronic device, and relates to the field of vehicle maneuvering characteristic calculation.The method comprises the steps that under the condition that a vehicle executes a steering event, steering information of the vehicle is obtained, the steering information at least comprises the maximum inner side turning angle of a front wheel of the vehicle and the maximum outer side turning angle of the front wheel of the vehicle; the correction amount of the steering information is determined according to the maximum inner side rotating angle of the front wheel and the maximum outer side rotating angle of the front wheel, and the steering information is updated according to the correction amount; and determining the minimum turning radius of the vehicle through the updated turning information. Therefore, by the adoption of the technical scheme, the problem that the estimation precision of the minimum turning radius of the vehicle is poor under the condition that commercial software is not used in the related technology is solved, and the estimation precision of the minimum turning radius of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle mobility performance calculation, and more specifically, to a method and apparatus for determining the minimum turning radius, a storage medium, and an electronic device. Background Technology

[0002] In related technologies, the calculation schemes for the minimum turning radius of vehicles include: Scheme 1: Calculating the minimum turning radius of vehicles using methods such as direct measurement via the water droplet method and GPS (Global Positioning System) trajectory tracking. However, Scheme 1 suffers from drawbacks such as limited site resources, long testing time, and low testing efficiency. Scheme 2: For traditional front-wheel steering vehicles, the minimum turning radius can generally be calculated using theoretical formulas. Scheme 2 can improve the accuracy of the minimum turning radius calculation, eliminating measurement errors caused by uncertainties in the test site and equipment, while also improving the measurement efficiency. However, Scheme 2 is only applicable to front-wheel steering vehicles and does not consider the calculation method for the minimum turning radius when the vehicle has a rear-wheel steering angle, and the accuracy of the calculated minimum turning radius is not very high. Scheme 3: Introducing a rear-wheel steering system into the simulation software Carsim can calculate the minimum turning radius of vehicles with four-wheel steering and differential control strategies. However, using Carsim software to simulate and calculate the minimum turning radius relies on commercial software and requires establishing a vehicle dynamics model and ensuring the completeness and accuracy of necessary parameters. It lacks universality. Therefore, in related technologies, there is a problem of how to accurately estimate the minimum turning radius of a vehicle without using commercial software.

[0003] There is currently no effective solution to the problem of poor accuracy in estimating the minimum turning radius of a vehicle without using commercial software in related technologies.

[0004] Therefore, it is necessary to improve the relevant technology to overcome the aforementioned defects. Summary of the Invention

[0005] This invention provides a method, apparatus, storage medium, and electronic device for determining the minimum turning radius, to at least solve the problem of poor accuracy in estimating the minimum turning radius of a vehicle without using commercial software.

[0006] According to one aspect of the present invention, a method for determining the minimum turning radius is provided, applied to a vehicle, comprising: when the vehicle performs a steering event, acquiring steering information of the vehicle, wherein the steering information includes at least: the maximum inner turning angle of the front wheels of the vehicle and the maximum outer turning angle of the front wheels of the vehicle; determining a correction amount of the steering information using the maximum inner turning angle of the front wheels and the maximum outer turning angle of the front wheels, and updating the steering information using the correction amount; and determining the minimum turning radius of the vehicle using the updated steering information.

[0007] In an exemplary embodiment, determining the correction amount for the steering information using the maximum inner corner angle and the maximum outer corner angle of the front wheels includes: determining the virtual wheelbase of the vehicle using the maximum inner corner angle and the maximum outer corner angle of the front wheels, wherein the virtual wheelbase is a virtual parameter corresponding to the geometric relationship between the vehicle's wheelbase and the steering information; determining the virtual turning radius using the virtual wheelbase; and determining the correction amount using the virtual wheelbase and the virtual turning radius.

[0008] In an exemplary embodiment, determining the virtual wheelbase of the vehicle using the maximum inner turning angle of the front wheels and the maximum outer turning angle of the front wheels includes: obtaining the wheelbase of the vehicle; determining a first tangent value corresponding to the maximum inner turning angle of the front wheels and a second tangent value corresponding to the maximum outer turning angle of the front wheels; and calculating the virtual wheelbase using the wheelbase, the first tangent value, and the second tangent value.

[0009] In an exemplary embodiment, determining the virtual turning radius using the virtual wheelbase includes: obtaining the maximum inner turning angle of the rear wheels of the vehicle, wherein the steering information includes: the maximum inner turning angle of the rear wheels; determining the third tangent value corresponding to the maximum inner turning angle of the rear wheels; and calculating the virtual turning radius using the third tangent value and the virtual wheelbase.

[0010] In an exemplary embodiment, determining the correction amount using the virtual wheelbase and the virtual turning radius includes: determining a first functional relationship between the virtual wheelbase and the virtual turning radius; calculating a first parameter in the correction amount using the first functional relationship; calculating a second parameter in the correction amount using the first parameter and the wheelbase of the vehicle; and determining the first parameter and the second parameter as the correction amount.

[0011] In an exemplary embodiment, updating the steering information using the correction amount includes: determining a second functional relationship between the virtual wheelbase and the virtual turning radius; determining a correction value for the maximum outer corner angle of the front wheel using the second functional relationship and the first parameter; and determining the correction value as the updated steering information.

[0012] In an exemplary embodiment, determining the minimum turning radius of the vehicle using updated steering information includes: determining a second functional relationship between the virtual track width and the virtual turning radius; and determining the minimum turning radius using the second functional relationship and the updated steering information.

[0013] According to another aspect of the present invention, a minimum turning radius determination device is provided, applied to a vehicle, comprising: an acquisition module, configured to acquire steering information of the vehicle when the vehicle performs a steering event, wherein the steering information includes at least: the maximum inner turning angle of the front wheels of the vehicle and the maximum outer turning angle of the front wheels of the vehicle; a first determination module, configured to determine a correction amount of the steering information using the maximum inner turning angle of the front wheels and the maximum outer turning angle of the front wheels, and update the steering information using the correction amount; and a second determination module, configured to determine the minimum turning radius of the vehicle using the updated steering information.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the above-described method for determining the minimum turning radius when it is run.

[0015] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for determining the minimum turning radius through the computer program.

[0016] According to another aspect of the present invention, a computer program product is also provided, including a computer program, wherein the method for determining the minimum turning radius is described above when the computer program is executed by a processor.

[0017] This invention, when a vehicle performs a steering event, acquires the vehicle's steering information, which includes at least: the maximum inner turning angle of the vehicle's front wheels and the maximum outer turning angle of the vehicle's front wheels. A correction amount is determined based on the maximum inner and outer turning angles of the front wheels, and the steering information is updated using the correction amount. The minimum turning radius of the vehicle is then determined using the updated steering information. In other words, when a vehicle performs a steering event, a correction amount is calculated based on the acquired steering information; then, the minimum turning radius of the vehicle when performing the steering event is calculated using the corrected steering information. Therefore, this technical solution solves the problem of poor accuracy in estimating the minimum turning radius of a vehicle without using commercial software in related technologies, and improves the accuracy of estimating the minimum turning radius of a vehicle. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a hardware structure block diagram of a vehicle for a method of determining the minimum turning radius according to an embodiment of the present invention.

[0021] Figure 2 This is a flowchart of a method for determining the minimum turning radius according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram illustrating the ideal Ackermann steering and the correction considering Ackermann steering error according to an embodiment of the present invention;

[0023] Figure 4 This is another flowchart of a method for determining the minimum turning radius according to an embodiment of the present invention;

[0024] Figure 5 This is a structural block diagram of a device for determining the minimum turning radius according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] The methods and embodiments provided in this application can be executed in a vehicle, computer terminal, or similar computing device. Taking operation in a vehicle as an example, Figure 1 This is a hardware structure block diagram of a vehicle according to an embodiment of the present invention for determining the minimum turning radius. Figure 1 As shown, a vehicle may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor (MCU) or a field-programmable gate array (FPGA)) and a memory 104 for storing data are also shown. The vehicle may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle described above. For example, the vehicle may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the method for determining the minimum turning radius in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the vehicle's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0030] This embodiment provides a method for determining the minimum turning radius, which is applied to the aforementioned vehicle. Figure 2 This is a flowchart of a method for determining the minimum turning radius according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps S202-S206:

[0031] Step S202: When the vehicle performs a steering event, obtain the vehicle's steering information, wherein the steering information includes at least: the maximum inner corner angle of the vehicle's front wheels and the maximum outer corner angle of the vehicle's front wheels;

[0032] Step S204: Determine the correction amount of the steering information using the maximum inner corner angle of the front wheel and the maximum outer corner angle of the front wheel, and update the steering information using the correction amount;

[0033] Step S206: Determine the minimum turning radius of the vehicle using the updated steering information.

[0034] Through the above steps, when the vehicle performs a steering event, the vehicle's steering information is acquired. This steering information includes at least: the maximum inner turning angle of the vehicle's front wheels and the maximum outer turning angle of the vehicle's front wheels. A correction amount for the steering information is determined using the maximum inner turning angle and the maximum outer turning angle of the front wheels, and the steering information is updated using the correction amount. The minimum turning radius of the vehicle is then determined using the updated steering information. In other words, when the vehicle performs a steering event, a correction amount is calculated based on the acquired vehicle steering information; then, the minimum turning radius of the vehicle when performing the steering event is calculated using the steering information corrected by the correction amount. Therefore, by adopting the above technical solution, the problem of poor estimation accuracy of the minimum turning radius of a vehicle without using commercial software in related technologies is solved, and the estimation accuracy of the minimum turning radius of a vehicle is improved.

[0035] Optionally, steering information can be found in the vehicle's technical manual or measured in real time by sensors deployed on the vehicle, such as angle sensors.

[0036] In an exemplary embodiment, determining the correction amount for the steering information using the maximum inner corner angle and the maximum outer corner angle of the front wheels includes: determining the virtual wheelbase of the vehicle using the maximum inner corner angle and the maximum outer corner angle of the front wheels, wherein the virtual wheelbase is a virtual parameter corresponding to the geometric relationship between the vehicle's wheelbase and the steering information; determining the virtual turning radius using the virtual wheelbase; and determining the correction amount using the virtual wheelbase and the virtual turning radius.

[0037] More specifically, the virtual track width is a virtual parameter corresponding to the geometric relationship between the vehicle's wheelbase and the maximum inner turning angle and the maximum outer turning angle of the vehicle's front wheels, which are included in the steering information.

[0038] In some embodiments, determining the virtual wheelbase of the vehicle using the maximum inner corner angle and the maximum outer corner angle of the front wheels includes: obtaining the wheelbase of the vehicle; determining a first tangent value corresponding to the maximum inner corner angle of the front wheels and a second tangent value corresponding to the maximum outer corner angle of the front wheels; and calculating the virtual wheelbase using the wheelbase, the first tangent value, and the second tangent value.

[0039] The steering information may further include the wheelbase. Optionally, the order of execution of the steps of obtaining the wheelbase of the vehicle and determining the first tangent value corresponding to the maximum inner corner angle of the front wheels and the second tangent value corresponding to the maximum outer corner angle of the front wheels is not limited in this embodiment of the application. That is, the wheelbase can be obtained first, and the first and second tangent values ​​can be determined first, and then the wheelbase can be obtained.

[0040] More specifically, determine the first reciprocal of the second tangent value and the second reciprocal of the first tangent value; determine the difference between the first and second reciprocals; and use the product of this difference and the wheelbase as the virtual track width. See formula (1) for details:

[0041]

[0042] Where K represents the virtual wheelbase, δ of Indicates the maximum outer corner angle of the front wheel, δ if This indicates the maximum inner turning angle of the front wheels, and L represents the wheelbase. The virtual wheelbase is as follows: Figure 3 As shown in K.

[0043] Therefore, in this embodiment of the invention, the virtual track width of the vehicle is calculated using the maximum outer corner angle of the front wheels, the maximum inner corner angle of the front wheels, and the wheelbase of the vehicle.

[0044] In an optional embodiment, determining the virtual turning radius using the virtual wheelbase includes: obtaining the maximum inner turning angle of the rear wheels of the vehicle, wherein the steering information includes: the maximum inner turning angle of the rear wheels; determining the third tangent value corresponding to the maximum inner turning angle of the rear wheels; and calculating the virtual turning radius using the third tangent value and the virtual wheelbase.

[0045] More specifically, calculating the virtual turning radius using the third tangent value and the virtual wheelbase includes: determining a first sum of the third tangent value and the first tangent value; determining the quotient of the wheelbase and the first sum; and calculating the virtual turning radius using the quotient and the virtual wheelbase. See formula (2) for details:

[0046]

[0047] Where R represents the virtual turning radius, δ ir Indicates the maximum inner turning angle of the rear wheel;

[0048] Therefore, this embodiment of the application calculates the virtual turning radius of the vehicle when a steering event is performed by combining the virtual wheel track, the maximum inner turning angle of the front wheels and the maximum inner turning angle of the rear wheels.

[0049] In an exemplary embodiment, determining the correction amount using the virtual wheelbase and the virtual turning radius includes: determining a first functional relationship between the virtual wheelbase and the virtual turning radius; calculating a first parameter in the correction amount using the first functional relationship; calculating a second parameter in the correction amount using the first parameter and the wheelbase of the vehicle; and determining the first parameter and the second parameter as the correction amount.

[0050] In this embodiment, the first functional relationship between the virtual wheelbase and the virtual turning radius is expressed as follows: Calculating the first parameter in the correction amount using the first functional relationship includes: determining the first parameter as the product of the first tangent value and the first functional relationship. The calculation method for the first parameter is shown in formula (3):

[0051]

[0052] Among them, l a This indicates the first parameter.

[0053] Furthermore, the second parameter in the correction amount is calculated using the first parameter and the wheelbase of the vehicle, including: using the difference obtained by subtracting the first parameter from the wheelbase as the second parameter. The calculation method for the second parameter is shown in formula (4):

[0054] l b =Ll a ; Formula (4)

[0055] Among them, l b This indicates the second parameter.

[0056] Therefore, the embodiments of this application calculate the correction amount used to correct the steering information by using the virtual turning radius, virtual track width, and wheelbase of the vehicle connection, which helps to improve the accuracy of the final calculated minimum turning radius.

[0057] In an exemplary embodiment, updating the steering information using the correction amount includes: determining a second functional relationship between the virtual wheelbase and the virtual turning radius; determining a correction value for the maximum outer corner angle of the front wheel using the second functional relationship and the first parameter; and determining the correction value as the updated steering information.

[0058] In this embodiment, the second functional relationship between the virtual wheelbase and the virtual turning radius is:

[0059] Optionally, determining the correction value of the maximum outer corner angle of the front wheel using the second functional relationship and the first parameter includes: determining a first ratio between the first parameter and the second functional relationship; and determining the correction value for calculating the maximum outer corner angle of the front wheel using the first ratio. The calculation method for the correction value of the maximum outer corner angle of the front wheel is shown in formula (5):

[0060]

[0061] Where, δ′ of This represents the correction value for the maximum outer corner angle of the front wheel.

[0062] Therefore, this embodiment calculates a correction value for the maximum outer corner angle of the front wheels using a virtual track width and a virtual turning radius. This correction value for the maximum outer corner angle of the front wheels better reflects the actual situation of steering events, thus making the subsequently calculated minimum turning radius more accurate.

[0063] In an exemplary embodiment, determining the minimum turning radius of the vehicle using updated steering information includes: determining a second functional relationship between the virtual track width and the virtual turning radius; and determining the minimum turning radius using the second functional relationship and the updated steering information.

[0064] Optionally, determining the minimum turning radius using the second functional relationship and the updated steering information includes:

[0065] Determine the second ratio between the second functional relationship and the correction value of the maximum outer corner angle of the front wheel; determine the minimum turning diameter of the vehicle under steering event conditions using the second ratio and the tire width of the vehicle, and determine the minimum turning radius using the minimum turning diameter. The method for calculating the minimum turning diameter is shown in formula (6):

[0066]

[0067] Where D represents the minimum turning diameter and w represents the vehicle's tire width.

[0068] Therefore, the embodiments of this application accurately calculate the minimum turning radius of the vehicle when performing a steering event by using the correction value of the maximum outer corner angle of the front wheel, thus solving the problem of poor estimation accuracy of the minimum turning radius of the vehicle in related technologies without the use of commercial software.

[0069] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. To better understand the above method, the following description, in conjunction with embodiments, illustrates the process, but is not intended to limit the technical solutions of the embodiments of this application. Specifically:

[0070] Extensive research and experimental data show that the actual steering geometry of a car lies between parallel steering and Ackerman steering. Especially under low-speed, large-angle conditions, the actual difference in the inner and outer angles caused by the Ackerman steering error resulting from the steering trapezoid is much smaller than that of ideal Ackerman steering.

[0071] Current theoretical calculations of the minimum turning radius mostly rely on a two-axle planar vehicle model, simplifying the front and rear axles, four wheels, and center of gravity to the XOY plane, neglecting the Ackermann steering error caused by the steering trapezoid. Actual steering mechanism designs cannot satisfy the Ackermann steering geometry at all steering angles (or throughout the entire rack travel) at all times.

[0072] This application addresses the shortcomings of existing technologies by introducing Ackerman error to improve the accuracy of minimum turning radius calculation. It provides a fast and accurate minimum turning radius estimation method. Based on the Ackerman error value, the actual outer turning angle and the corrected value of the turning radius are obtained based on the theoretical inner and outer turning angle relationship. The calculation method can take into account both front-wheel steering and four-wheel steering turning radius calculations.

[0073] Specifically, in the embodiments of this application,

[0074] First, the difference between the actual outer wheel angle and the ideal outer wheel angle is defined as the Ackerman error. The difference between the inner and outer wheel angles under the actual and ideal conditions is defined as the Ackerman error rate, as shown in formula (7):

[0075]

[0076] Among them, R A δ represents the Ackermann error rate. i Indicates the inner rotation angle, δ o Indicates the outer corner angle, δ i,ideal δ represents the ideal inward rotation angle. o,ideal This represents the outer corner angle under ideal conditions.

[0077] Therefore, this application's embodiments consider the Ackermann error rate and correct the minimum turning radius calculation method, such as... Figure 4 As shown, the specific implementation steps are as follows:

[0078] Step 1: Obtain the inner corner angle of the front wheel (equivalent to the maximum inner corner angle of the front wheel), the outer corner angle of the front wheel (equivalent to the maximum outer corner angle of the front wheel), the inner corner angle of the rear wheel (with rear wheel steering function) (equivalent to the maximum inner corner angle of the rear wheel), and the wheelbase.

[0079] Step 2: Calculate the corrections for virtual wheel track, virtual turning radius, etc., based on the ideal Ackermann geometry.

[0080] Step 3: Based on the correction amount obtained in Step 2, recalculate the correction value for the outer front wheel steering angle.

[0081] Step 4: Based on the corrected front wheel outer corner angle (equivalent to the correction value) in Step 3, recalculate the corrected minimum turning diameter.

[0082] Step 5: Once the vehicle model meets the conditions for real-vehicle verification, actually test the minimum turning diameter, and record key parameters such as the inner and outer turning angles of the front wheels and the inner and outer turning angles of the rear wheels. Then, perform accuracy testing and verification on the calculation results in Step 4.

[0083] Through steps one through five described above, this embodiment of the application can calculate the minimum turning radius of both front-wheel steering vehicles and four-wheel steering vehicles. In the specific calculation process, it is not necessary to establish a complex front and rear wheel steering system model; only basic parameters such as the inner and outer turning angles of the front and rear wheels and the vehicle wheelbase are required. Furthermore, a correction method based on the Ackermann error principle is introduced during the calculation process, which can improve the accuracy and efficiency of the turning radius calculation.

[0084] For example, firstly, input the basic parameters in the "Input Parameters" column of the input table. For vehicles with rear-wheel steering, five parameters need to be input, including the maximum inner and outer turning angles of the front wheels, the maximum inner turning angle of the rear wheels, the wheelbase, and the tire width. Secondly, according to the calculation method considering Ackermann turning error designed in this embodiment of the invention, correction values ​​such as the outer turning angle correction value of the front wheels, the outer turning angle correction value of the rear wheels, the virtual track width, and the virtual radius (equivalent to the virtual turning radius) are obtained. Finally, the minimum turning diameter is calculated based on geometric relationships. See Table 1 for details.

[0085] Table 1

[0086]

[0087] According to Table 1, the maximum turning angle on the inner side of the rear wheel is 6°, and the calculated minimum turning radius is 9.92m; the actual vehicle test results show that the minimum turning diameter is 9.98~10.05m. Comparison between the actual test results and the results of the method in this embodiment shows that the calculation method of this embodiment has high accuracy.

[0088] based on Figure 4 The process shown is as follows: The minimum turning radius calculation and correction process is as follows:

[0089] Step 1: Input the maximum inner corner angle δ of the front wheel if Maximum outer corner angle of the front wheel δ of Maximum inner turning angle δ of the rear wheel ir Wheelbase L, tire width w, such as Figure 3 As shown.

[0090] It should be noted that, Figure 3 δ in or The maximum outer turning angle of the rear wheel is represented by dw, the wheel track is represented by the virtual tire, and the position of the outer wheel that satisfies the theoretical Ackermann relation (pure rolling state of four wheels) is represented by the virtual wheel track K. O represents the vehicle rotation center that satisfies the theoretical Ackermann relation. R represents the virtual radius.

[0091] Step 2: Calculate the virtual wheelbase K based on the Ackermann geometry relationship; see formula (1) above for the specific formula. Calculate the virtual radius R; see formula (2) above for the calculation formula. Calculate the virtual correction amount l. a l b The calculation formulas are shown in formulas (3) and (4) above;

[0092] Step 3: Based on the virtual radius and virtual track calculated in Step 2, calculate the correction value δ′ for the maximum outer corner angle of the front wheel. of The calculation formula is shown in formula (5) above.

[0093] Step 4: Based on the corrected outer front wheel angle in Step 3, recalculate the corrected minimum turning diameter D. The calculation formula is shown in Formula (6) above.

[0094] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0095] This embodiment also provides a minimum turning radius determination device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0096] Figure 5 This is a structural block diagram of a device for determining the minimum turning radius according to an embodiment of the present invention. The device includes:

[0097] The acquisition module 52 is used to acquire the vehicle's steering information when the vehicle performs a steering event, wherein the steering information includes at least: the maximum inner corner angle of the vehicle's front wheels and the maximum outer corner angle of the vehicle's front wheels;

[0098] Optionally, steering information can be found in the vehicle's technical manual or measured in real time by sensors deployed on the vehicle, such as angle sensors.

[0099] The first determining module 54 is used to determine the correction amount of the steering information through the maximum inner corner angle of the front wheel and the maximum outer corner angle of the front wheel, and update the steering information through the correction amount;

[0100] The second determining module 56 is used to determine the minimum turning radius of the vehicle using the updated steering information.

[0101] Using the aforementioned device, when the vehicle performs a steering event, the vehicle's steering information is acquired. This steering information includes at least: the maximum inner turning angle of the vehicle's front wheels and the maximum outer turning angle of the vehicle's front wheels. A correction amount for the steering information is determined using the maximum inner turning angle and the maximum outer turning angle of the front wheels, and the steering information is updated using the correction amount. The minimum turning radius of the vehicle is then determined using the updated steering information. In other words, when the vehicle performs a steering event, a correction amount is calculated based on the acquired vehicle steering information; then, the minimum turning radius of the vehicle when performing the steering event is calculated using the steering information corrected by the correction amount. Therefore, by adopting the above technical solution, the problem of poor estimation accuracy of the minimum turning radius of a vehicle without using commercial software in related technologies is solved, and the estimation accuracy of the minimum turning radius of a vehicle is improved.

[0102] In an exemplary embodiment, the first determining module 54 is further configured to: determine the virtual wheelbase of the vehicle by the maximum inner turning angle of the front wheels and the maximum outer turning angle of the front wheels, wherein the virtual wheelbase is a virtual parameter corresponding to the geometric relationship between the wheelbase of the vehicle and the steering information; determine the virtual turning radius by the virtual wheelbase; and determine the correction amount by the virtual wheelbase and the virtual turning radius.

[0103] In some embodiments, the first determining module 54 is further configured to: obtain the wheelbase of the vehicle; determine a first tangent value corresponding to the maximum inner corner angle of the front wheel and a second tangent value corresponding to the maximum outer corner angle of the front wheel; and calculate the virtual wheelbase using the wheelbase, the first tangent value, and the second tangent value.

[0104] More specifically, determine the first reciprocal of the second tangent value and the second reciprocal of the first tangent value; determine the difference between the first and second reciprocals; and use the product of this difference and the wheelbase as the virtual wheelbase. See formula (1) for details. The virtual wheelbase is specifically as follows: Figure 3 As shown in K.

[0105] Therefore, in this embodiment of the invention, the virtual track width of the vehicle is calculated using the maximum outer corner angle of the front wheels, the maximum inner corner angle of the front wheels, and the wheelbase of the vehicle.

[0106] In an optional embodiment, the first determining module 54 is further configured to: obtain the maximum inner turning angle of the rear wheel of the vehicle, wherein the steering information includes: the maximum inner turning angle of the rear wheel; determine the third tangent value corresponding to the maximum inner turning angle of the rear wheel; and calculate the virtual turning radius using the third tangent value and the virtual wheel track.

[0107] More specifically, the first determining module 54 is also used to: determine the first sum of the third tangent value and the first tangent value; determine the quotient of the wheelbase and the first sum; and calculate the virtual turning radius using the quotient and the virtual track width. See formula (2) for details.

[0108] Therefore, this embodiment of the application calculates the virtual turning radius of the vehicle when a steering event is performed by combining the virtual wheel track, the maximum inner turning angle of the front wheels and the maximum inner turning angle of the rear wheels.

[0109] In an exemplary embodiment, the first determining module 54 is further configured to: determine a first functional relationship between the virtual wheelbase and the virtual turning radius; calculate a first parameter in the correction amount using the first functional relationship; calculate a second parameter in the correction amount using the first parameter and the wheelbase of the vehicle; and determine the first parameter and the second parameter as the correction amount.

[0110] In this embodiment, the first functional relationship between the virtual wheelbase and the virtual turning radius is expressed as follows: The first determining module 54 is also used to: determine the product of the first tangent value and the first functional relationship as the first parameter. The calculation method of the first parameter is shown in formula (3).

[0111] Furthermore, the first determining module 54 is also used to: subtract the first parameter from the wheelbase and use the difference as the second parameter. The calculation method of the second parameter is shown in formula (4).

[0112] Therefore, the embodiments of this application calculate the correction amount used to correct the steering information by using the virtual turning radius, virtual track width, and wheelbase of the vehicle connection, which helps to improve the accuracy of the final calculated minimum turning radius.

[0113] In an exemplary embodiment, the device further includes an update module for updating the steering information using the correction amount, specifically: determining a second functional relationship between the virtual wheelbase and the virtual turning radius; determining a correction value for the maximum outer corner angle of the front wheel using the second functional relationship and the first parameter; and determining the correction value as the updated steering information.

[0114] In this embodiment, the second functional relationship between the virtual wheelbase and the virtual turning radius is:

[0115] Optionally, the update module is also used to: determine a first ratio of the relationship between the first parameter and the second function; and determine a correction value for calculating the maximum outer corner angle of the front wheel using this first ratio. The calculation method for the correction value of the maximum outer corner angle of the front wheel is shown in formula (5).

[0116] Therefore, this embodiment calculates a correction value for the maximum outer corner angle of the front wheels using a virtual track width and a virtual turning radius. This correction value for the maximum outer corner angle of the front wheels better reflects the actual situation of steering events, thus making the subsequently calculated minimum turning radius more accurate.

[0117] In an exemplary embodiment, the second determining module 56 is further configured to: determine a second functional relationship between the virtual wheelbase and the virtual turning radius; and determine the minimum turning radius using the second functional relationship and the updated steering information.

[0118] Optionally, the second determining module 56 is further configured to determine a second ratio of the second functional relationship to the correction value of the maximum outer corner angle of the front wheel; determine the minimum turning diameter of the vehicle when a steering event is performed by using the second ratio and the tire width of the vehicle; and determine the minimum turning radius by using the minimum turning diameter. The method for calculating the minimum turning diameter is shown in formula (6).

[0119] Therefore, the embodiments of this application accurately calculate the minimum turning radius of the vehicle when performing a steering event by using the correction value of the maximum outer corner angle of the front wheel, thus solving the problem of poor estimation accuracy of the minimum turning radius of the vehicle in related technologies without the use of commercial software.

[0120] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0121] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0122] S1, when the vehicle performs a steering event, obtain the vehicle's steering information, wherein the steering information includes at least: the maximum inner corner angle of the vehicle's front wheels and the maximum outer corner angle of the vehicle's front wheels;

[0123] S2, determine the correction amount of the steering information by the maximum inner corner angle of the front wheel and the maximum outer corner angle of the front wheel, and update the steering information by the correction amount;

[0124] S3, determine the minimum turning radius of the vehicle using the updated steering information.

[0125] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0126] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0127] Embodiments of the present invention also provide a computer program product, including a computer program, wherein the computer program, when executed by a processor, performs the steps in any of the above method embodiments.

[0128] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0129] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0130] S1, when the vehicle performs a steering event, obtain the vehicle's steering information, wherein the steering information includes at least: the maximum inner corner angle of the vehicle's front wheels and the maximum outer corner angle of the vehicle's front wheels;

[0131] S2, determine the correction amount of the steering information by the maximum inner corner angle of the front wheel and the maximum outer corner angle of the front wheel, and update the steering information by the correction amount;

[0132] S3, determine the minimum turning radius of the vehicle using the updated steering information.

[0133] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0134] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0135] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0136] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for determining the minimum turning radius, characterized in that, Applied to vehicles, including: When the vehicle performs a steering event, the vehicle's steering information is acquired, wherein the steering information includes at least: the maximum inner corner angle of the vehicle's front wheels and the maximum outer corner angle of the vehicle's front wheels; The correction amount of the steering information is determined by the maximum inner corner angle of the front wheel and the maximum outer corner angle of the front wheel, and the steering information is updated by the correction amount; The minimum turning radius of the vehicle is determined using the updated steering information.

2. The method according to claim 1, characterized in that, The correction amount for the steering information is determined by the maximum inner corner angle and the maximum outer corner angle of the front wheels, including: The virtual track width of the vehicle is determined by the maximum inner corner angle of the front wheels and the maximum outer corner angle of the front wheels, wherein the virtual track width is a virtual parameter corresponding to the geometric relationship between the wheelbase of the vehicle and the steering information. The virtual turning radius is determined by the virtual wheel track. The correction amount is determined by the virtual wheel track and the virtual turning radius.

3. The method according to claim 2, characterized in that, Determining the virtual track width of the vehicle by the maximum inner corner angle and the maximum outer corner angle of the front wheels includes: Obtain the wheelbase of the vehicle; Determine the first tangent value corresponding to the maximum inner corner angle of the front wheel, and the second tangent value corresponding to the maximum outer corner angle of the front wheel; The virtual wheelbase is calculated using the wheelbase, the first tangent value, and the second tangent value.

4. The method according to claim 2, characterized in that, Determining the virtual turning radius using the virtual wheelbase includes: Obtain the maximum inner turning angle of the rear wheels of the vehicle, wherein the steering information includes: the maximum inner turning angle of the rear wheels; Determine the third tangent value corresponding to the maximum inner corner angle of the rear wheel; The virtual turning radius is calculated using the third tangent value and the virtual wheel track.

5. The method according to claim 2, characterized in that, Determining the correction amount using the virtual wheelbase and the virtual turning radius includes: Determine the first functional relationship between the virtual wheelbase and the virtual turning radius; The first parameter in the correction amount is calculated using the first functional relationship; The second parameter in the correction amount is calculated using the first parameter and the wheelbase of the vehicle; The first parameter and the second parameter are determined as the correction amount.

6. The method according to claim 5, characterized in that, Updating the steering information using the correction amount includes: Determine the second functional relationship between the virtual wheelbase and the virtual turning radius; The correction value for the maximum outer corner angle of the front wheel is determined by the second functional relationship and the first parameter; The corrected value is determined as the updated steering information.

7. The method according to claim 2, characterized in that, Determining the vehicle's minimum turning radius using the updated steering information includes: Determine the second functional relationship between the virtual wheelbase and the virtual turning radius; The minimum turning radius is determined using the second functional relationship and the updated steering information.

8. A device for determining the minimum turning radius, characterized in that, Applied to vehicles, including: The acquisition module is used to acquire the vehicle's steering information when the vehicle performs a steering event, wherein the steering information includes at least: the maximum inner corner angle of the vehicle's front wheels and the maximum outer corner angle of the vehicle's front wheels; The first determining module is used to determine the correction amount of the steering information through the maximum inner corner angle of the front wheel and the maximum outer corner angle of the front wheel, and update the steering information through the correction amount; The second determining module is used to determine the minimum turning radius of the vehicle using the updated steering information.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 7 through the computer program.

Images