Steering Angle Calibration Using Sensor Fusion
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Solution Overview
Problem
Current methods for measuring and calibrating steering parameters in autonomous vehicles are inefficient, prone to errors, and costly due to frequent manual recalibrations, especially as mechanical wear and loose connections affect steering control accuracy.
Innovation Solution
A method and system that calculate the steering angle of the front wheel using yaw velocity, vehicle velocity, lateral acceleration, and steering wheel rotating angle, eliminating the need for a gyro sensor on the wheel, and dynamically updating the steering gear ratio and zero position calibration in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration is performed frequently to maintain steering accuracy, then steering control precision is improved, but productivity decreases and time is lost
Solution Approach 1:
The system performs automatic calibration using onboard sensors (gyroscope, accelerometer, steering angle sensor) without requiring external equipment or manual intervention. The calibration process is self-executed by the control unit, eliminating the need for frequent manual recalibration operations while maintaining steering accuracy
Solution Approach 2:
The system continuously monitors steering parameters using multiple sensors and provides real-time feedback to the control unit. This feedback mechanism enables dynamic adjustment and automatic compensation for drift, maintaining accuracy without frequent manual intervention
2Measurement precision
If gyro sensors are mounted on wheels and angular velocity integration is used to calculate steering angle, then steering angle measurement is achieved, but device complexity increases and measurement precision deteriorates due to cumulative errors
Solution Approach 1:
The patent extracts the gyroscope from the wheel-mounted configuration and relocates it to the vehicle body. This eliminates the need for complex wheel-mounted sensor assemblies while avoiding cumulative integration errors by using the gyroscope for reference orientation rather than continuous steering angle integration
Solution Approach 2:
The system replaces mechanical angular velocity integration with a sensor fusion approach combining gyroscope data, accelerometer data, and direct steering angle sensing. This substitution eliminates cumulative integration errors while reducing overall system complexity
3Measurement precision
If manual calibration is performed frequently, then steering parameter accuracy is maintained, but cost increases due to operational disruptions and time loss
Solution Approach 1:
The system performs continuous calibration and monitoring operations rather than periodic manual recalibration. The onboard sensors continuously track steering parameters, and the control unit continuously adjusts for drift, eliminating interruptions and time loss associated with frequent manual calibration sessions
Data Source
AI summary
The present disclosure relates to a method and system for measuring and calibrating steering parameters of a vehicle, a medium and an autonomous vehicle. The method includes: calculating a steering angle of a front wheel of the vehicle corresponding to each sampling moment at a plurality of consecutive sampling moments respectively. The calculation process at each sampling moment includes: calculating a first calculated value based on a yaw velocity of the vehicle, a vehicle velocity and a wheelbase; calculating a second calculated value based on a vehicle velocity, a lateral acceleration of the vehicle and the wheelbase; calculating a third calculated value based on a rotating angle of the steering wheel and a steering gear ratio; and calculating a steering angle of the front wheel at a current sampling moment based on the first, second and third calculated value of the steering angle of the front wheel.