CN115535080B - Steering wheel zero deflection angle determination method and device, electronic equipment and readable medium - Google Patents
Steering wheel zero deflection angle determination method and device, electronic equipment and readable medium Download PDFInfo
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Abstract
The embodiment of the disclosure discloses a steering wheel zero deflection angle determination method, a steering wheel zero deflection angle determination device, electronic equipment and a readable medium. One embodiment of the method comprises: acquiring vehicle operation data of a target vehicle; in response to the fact that the vehicle speed corresponding to the vehicle speed information is larger than the preset vehicle speed and the steering wheel angle is larger than or smaller than the preset steering angle threshold value, executing the following steering wheel zero-offset angle determining step: determining an observation matrix, a covariance matrix and a gain matrix according to a vehicle course angle corresponding to a target vehicle; determining a prediction residual error according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error; determining a steering wheel null angle of the target vehicle in response to determining that the front wheel null angle estimate converges; and updating the steering wheel zero deflection angle parameter in the vehicle configuration file corresponding to the target vehicle. The embodiment realizes the automatic calibration of the zero deflection angle of the steering wheel of the vehicle.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to a steering wheel zero-deflection angle determining method and device, electronic equipment and a readable medium.
Background
The problem of left-right asymmetry of a steering wheel exists due to mechanical installation errors of a traditional vehicle and an automatic driving control system. When the signal of the steering wheel shows 0, the vehicle still deviates to one side of the left side and the right side in the driving process. The presence of a zero yaw angle of the steering wheel can increase the lateral error of the vehicle during travel. Currently, an existing steering wheel zero-offset angle calibration method usually collects steering wheel angle information of a vehicle maintaining straight-line running in a running process, and performs manual calibration and correction.
However, the inventors have found that when the above-described manner is adopted, there are often technical problems as follows:
firstly, mechanical abrasion of the vehicle in the driving process often causes the change of a steering wheel zero deflection angle, only manual calibration is adopted, the calibration efficiency is low, the transverse control precision of the vehicle in the automatic driving process cannot be guaranteed, and the driving safety of the vehicle is low.
Secondly, in the process of automatic zero-offset angle calibration of the steering wheel, as the number of times of calibration increases, old data is accumulated, thereby causing failure of automatic calibration.
The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art in this country.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a steering wheel zero-bias angle determination method, apparatus, electronic device, and readable medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a steering wheel zero-bias angle determination method, including: obtaining vehicle operation data of a target vehicle, wherein the vehicle operation data comprises: vehicle speed information and steering wheel angle; in response to the fact that the vehicle speed corresponding to the vehicle speed information is larger than a preset vehicle speed and the steering wheel angle is larger than or smaller than a preset steering angle threshold value, executing the following steering wheel zero offset angle determining step: determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle; determining a prediction residual error according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error; determining a steering wheel null angle of the target vehicle based on the front wheel null angle estimate and a steering gear ratio corresponding to the target vehicle in response to determining that the front wheel null angle estimate converges; and updating the steering wheel zero-deflection angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero-deflection angle.
In a second aspect, some embodiments of the present disclosure provide a steering wheel zero-bias angle determination apparatus, the apparatus comprising: an acquisition unit configured to acquire vehicle operation data of a target vehicle, wherein the vehicle operation data includes: vehicle speed information and steering wheel angle; an execution unit configured to, in response to determining that the vehicle speed corresponding to the vehicle speed information is greater than a preset vehicle speed and the steering wheel angle is greater than or less than a preset steering angle threshold, execute the following steering wheel zero offset angle determination steps: determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle; determining a prediction residual according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error; determining a steering wheel null angle of the target vehicle based on the front wheel null angle estimate and a steering gear ratio corresponding to the target vehicle in response to determining that the front wheel null angle estimate converges; and updating the steering wheel zero-deflection angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero-deflection angle.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantages: the steering wheel zero-offset angle determining method of some embodiments of the present disclosure improves calibration efficiency, ensures lateral control accuracy of a vehicle in an automatic driving process, and improves driving safety of the vehicle. Specifically, the reasons that the calibration efficiency is low, the transverse control precision of the vehicle in the automatic driving process cannot be ensured, and the driving safety of the vehicle is low are as follows: mechanical abrasion of the vehicle in the driving process often causes the change of a zero deflection angle of a steering wheel, the calibration efficiency is low only by manual calibration, the transverse control precision of the vehicle in the automatic driving process cannot be guaranteed, and the driving safety of the vehicle is low. Based on this, the steering wheel zero offset angle determining method of some embodiments of the present disclosure first obtains vehicle operation data of a target vehicle, where the vehicle operation data includes: vehicle speed information and steering wheel angle. Thus, basic driving data of the vehicle is obtained. Then, in response to the fact that the vehicle speed corresponding to the vehicle speed information is larger than a preset vehicle speed and the steering wheel angle is larger than or smaller than a preset steering wheel threshold value, executing the following steering wheel zero offset angle determining step: firstly, determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle. And secondly, determining a prediction residual error according to the observation matrix, the covariance matrix and the gain matrix. And thirdly, determining the front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error. Thereby obtaining the estimated value of the zero deflection angle of the front wheel. And fourthly, responding to the fact that the front wheel zero-offset angle estimated value is converged, and determining the steering wheel zero-offset angle of the target vehicle according to the front wheel zero-offset angle estimated value and the steering transmission ratio corresponding to the target vehicle. When the front wheel zero offset angle estimated value converges, the front wheel zero offset angle estimated value can be regarded as the actual zero offset angle of the current front wheel. Therefore, the steering wheel zero-offset angle can be converted according to the steering transmission ratio of the vehicle. And fifthly, updating the steering wheel zero-offset angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero-offset angle. Therefore, the zero deflection angle parameter of the steering wheel corresponding to the steering wheel is updated in real time, and the aim of calibrating the steering wheel is fulfilled. By the method, the automatic calibration of the zero deflection angle of the steering wheel of the vehicle is realized, the transverse control precision of the vehicle in the automatic driving process is ensured, and the driving safety of the vehicle is improved.
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The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
FIG. 1 is a flow diagram of some embodiments of a steering wheel zero deflection determination method according to the present disclosure;
FIG. 2 is a schematic structural diagram of some embodiments of a steering wheel zero deflection angle determination apparatus according to the present disclosure;
FIG. 3 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and the embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, a flow 100 of some embodiments of a steering wheel zero offset determination method according to the present disclosure is shown. The steering wheel zero deflection angle determining method comprises the following steps:
In some embodiments, the subject (e.g., computing device) performing the steering wheel zero-bias determination method may obtain vehicle operation data of the target vehicle by way of a wired connection or a wireless connection. The target vehicle may be a vehicle for which steering wheel zero-yaw determination is to be performed. In practice, the target vehicle described above may be a vehicle having an automatic driving function. The vehicle operation data may be vehicle data during travel of the target vehicle. The vehicle operation data includes: vehicle speed information and steering wheel angle. In practice, the vehicle speed information may include: the vehicle speed value of the target vehicle at each time point in the continuous time period. The steering wheel angle may include: the steering wheel angle value of the target vehicle at each time point in the continuous time period.
It should be noted that the wireless connection means may include, but is not limited to, a 3G/4G/5G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, an UWB (ultra wideband) connection, and other wireless connection means now known or developed in the future.
The computing device may be hardware or software. When the computing device is hardware, it may be implemented as a single terminal device. In practice, the above-mentioned computing device may be a car machine control device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. Which may be implemented as a single software or software module. In practice, the computing device may be a vehicle skill control system. And is not particularly limited herein.
In some optional implementations of some embodiments, after the obtaining the vehicle operation data of the target vehicle, the executing body may further include:
and reading the preset vehicle speed and the preset turning angle threshold in the configuration file corresponding to the target vehicle.
The configuration file may be a configuration file for vehicle control corresponding to the target vehicle. The preset vehicle speed may be a vehicle speed threshold value preset in the profile. The preset turning angle threshold may be a steering wheel turning angle threshold preset in the configuration file.
and step 1021, determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle.
In some embodiments, the execution subject may determine the observation matrix, the covariance matrix, and the gain matrix in various ways according to a vehicle heading angle corresponding to the target vehicle.
In some optional implementations of some embodiments, the determining, by the execution subject, the observation matrix, the covariance matrix, and the gain matrix according to the vehicle heading angle corresponding to the target vehicle may include:
firstly, a target equation is determined according to the vehicle course angle corresponding to the target vehicle, the vehicle speed information, the vehicle wheel base corresponding to the target vehicle, the vehicle front wheel angle observed value and the initial front wheel angle observed value.
As an example, the executing body may determine a target equation according to the vehicle heading angle corresponding to the target vehicle, the vehicle speed information, the vehicle wheel base corresponding to the target vehicle, the vehicle front wheel angle observed value, and the initial front wheel angle observed value by the following formula:
wherein,
and the vehicle speed corresponding to the vehicle speed information is shown.
Indicating the road radius.
Representing the vehicle heading angle.
Representing the vehicle wheelbase.
Indicating the front wheel turning angle.
Representing the front wheel steering angle observations.
Indicating a zero slip angle for the front wheel. Simultaneous formula (1.1), formula (1.2) and formula (1.3)To the target equation (1.4).
And a second step of discretizing the target equation to generate a discretized target equation.
The executing entity may perform a discretization process on the target equation by using a forward euler method to generate a discretization target equation.
As an example, the discretized target equation above can be:
wherein,
indicating a control period.
To represent
Vehicle heading angle at time.
To represent
Vehicle heading angle at time.
To represent
And the vehicle speed corresponds to the vehicle speed information at the moment.
To represent
A front wheel steering angle observation at a time.
And thirdly, determining the observation matrix, the covariance matrix and the gain matrix according to the discretization target equation, the least square equation and the iterative equation with the forgetting factor.
As an example, the minimization of the two-times equation may be:
wherein,
representing the dependent variable.
Representing the parameter to be estimated.
Representing an observation matrix. Wherein, combining the minimizing two-times equation and the discretization target equation, each parameter in the minimizing two-times equation can be converted into:
the above iterative equation with forgetting factor may be:
wherein,
to represent
The parameter to be estimated at the moment.
To represent
The parameter to be estimated at the moment.
To represent
A gain matrix for the time instant.
To represent
Prediction residuals at time instants.
To represent
An observation matrix of time instants.
Representing a forgetting factor.
Represent
The transpose of the observation matrix at the time.
Represent
The covariance matrix of the time instants.
To represent
The covariance matrix of the time instants.
To represent
Dependent on the time of day. In the practice of the method, the raw material,
the time of day may be the current time of day.
And step 1022, determining the prediction residual error according to the observation matrix, the covariance matrix and the gain matrix.
In some embodiments, the executing body may iterate the iterative equation with the forgetting factor for a certain number of times according to the observation matrix, the covariance matrix, and the gain matrix, and obtain the prediction residual error when the parameter to be estimated converges.
And step 1023, determining the front wheel zero deviation angle estimated value of the target vehicle at the current moment according to the prediction residual error.
In some embodiments, the execution subject uses the iterative equation with the forgetting factor when the parameter to be estimated converges
Is determined as the front wheel zero offset angle estimated value at the current moment. In practice, the front wheel zero offset estimation can also be used
Is characterized by the value of (a). Wherein,
is shown in
The front wheel at that moment is at zero slip angle.
In some optional implementations of some embodiments, before determining the steering wheel null angle of the target vehicle according to the front wheel null angle estimate and the corresponding steering gear ratio of the target vehicle in response to determining that the front wheel null angle estimate converges, the method further includes:
and step one, updating the forgetting factor in response to the fact that the front wheel zero deflection angle estimated value is not converged, and obtaining the updated forgetting factor.
Optionally, in response to determining that the front wheel zero offset angle estimated value is not converged, updating the forgetting factor to obtain an updated forgetting factor, the method may include the following steps:
and a first substep of determining a minimum forgetting factor as the updated forgetting factor in response to determining that the residual observation value corresponding to the target vehicle is greater than a preset estimation error threshold.
And a second substep of determining the updated forgetting factor based on the residual observation value in response to determining that the residual observation value is less than or equal to the predetermined estimation error threshold value.
As an example, the above-mentioned first and second sub-steps may be characterized by the following forgetting factor update formula:
wherein,
representing an updated forgetting factor.
Representing the prediction residual.
Representing a preset estimation error threshold.
Representing a minimum forgetting factor.
The content in step 1021 and step 1024 serves as an invention point of the present disclosure, and the second technical problem mentioned in the background art is solved, that is, "in the process of performing automatic zero-offset-angle calibration of a steering wheel, as the number of times of calibration increases, old data will be accumulated, thereby causing automatic calibration failure". By introducing the iterative equation with the forgetting factor, the proportion of the old data and the new data can be adjusted by the forgetting factor, and the problem of calibration failure caused by accumulation of the old data is avoided. In addition, considering that the calibration speed is influenced to a certain extent along with the increase of the data quantity, a forgetting factor updating formula is introduced to dynamically adjust the convergence speed. That is, the convergence speed can be accelerated when a smaller forgetting factor is employed, and the estimation accuracy can be improved when a larger forgetting factor is employed. By the method, the accuracy and the success rate of automatic calibration are ensured.
And step two, re-determining the steering wheel zero deflection angle of the target vehicle according to the updated forgetting factor and the vehicle course angle corresponding to the target vehicle.
As an example, the executing entity may re-execute the contents of step 1021 to step 1024 to re-determine the steering wheel zero offset angle of the target vehicle according to the updated forgetting factor and the vehicle heading angle corresponding to the target vehicle.
And 1024, in response to the fact that the front wheel zero offset angle estimated value is determined to be convergent, determining the steering wheel zero offset angle of the target vehicle according to the front wheel zero offset angle estimated value and the steering transmission ratio corresponding to the target vehicle.
In some embodiments, the executing entity may determine the steering wheel slip angle of the target vehicle based on the front wheel slip angle estimate and a corresponding steering gear ratio of the target vehicle in response to determining that the front wheel slip angle estimate converges.
As an example, the executing body may determine the steering wheel zero-offset angle of the target vehicle according to the estimated front wheel zero-offset angle and the steering gear ratio corresponding to the target vehicle by the following formula:
wherein,
representing the front wheel zero yaw estimate.
Indicating the steering gear ratio.
Indicating a steering wheel with zero slip angle.
And 1025, updating the steering wheel zero deflection angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero deflection angle.
In some embodiments, the executing entity may update the steering wheel zero offset angle parameter in the vehicle profile corresponding to the target vehicle according to the steering wheel zero offset angle.
As an example, the execution subject may use the steering wheel zero-bias angle as a latest parameter value of the steering wheel zero-bias angle parameter in the vehicle profile.
In some optional implementation manners of some embodiments, the updating, by the execution main body, a steering wheel zero offset angle parameter in a vehicle profile corresponding to the target vehicle according to the steering wheel zero offset angle includes:
firstly, determining whether a steering wheel zero deflection angle parameter in the vehicle configuration file has a corresponding parameter value.
And in response to the condition that the steering wheel zero-deviation angle does not exist, updating the steering wheel zero-deviation angle to a parameter value corresponding to the steering wheel zero-deviation angle parameter.
And thirdly, responding to the existence, and determining whether the parameter value is consistent with the steering wheel zero deflection angle.
And fourthly, in response to the fact that the parameter value is not consistent with the steering wheel zero deflection angle, updating the parameter value through the steering wheel zero deflection angle.
The above embodiments of the present disclosure have the following advantages: the steering wheel zero-offset angle determining method of some embodiments of the present disclosure improves calibration efficiency, ensures lateral control accuracy of a vehicle in an automatic driving process, and improves driving safety of the vehicle. Specifically, the reasons that the calibration efficiency is low, the lateral control accuracy of the vehicle in the automatic driving process cannot be guaranteed, and the driving safety of the vehicle is low are that: mechanical abrasion of the vehicle in the driving process often causes the change of a zero deflection angle of a steering wheel, the calibration efficiency is low only by manual calibration, the transverse control precision of the vehicle in the automatic driving process cannot be guaranteed, and the driving safety of the vehicle is low. Based on this, the steering wheel zero offset angle determining method of some embodiments of the present disclosure first obtains vehicle operation data of a target vehicle, where the vehicle operation data includes: vehicle speed information and steering wheel angle. Thus, basic driving data of the vehicle is obtained. Then, in response to the fact that the vehicle speed corresponding to the vehicle speed information is larger than a preset vehicle speed and the steering wheel angle is larger than or smaller than a preset steering wheel threshold value, executing the following steering wheel zero offset angle determining step: firstly, determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle. And secondly, determining a prediction residual error according to the observation matrix, the covariance matrix and the gain matrix. And thirdly, determining the front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error. Thereby obtaining an estimated value of the front wheel zero slip angle. And fourthly, responding to the fact that the front wheel zero-offset angle estimated value is converged, and determining the steering wheel zero-offset angle of the target vehicle according to the front wheel zero-offset angle estimated value and the steering transmission ratio corresponding to the target vehicle. When the front wheel zero offset angle estimated value converges, the front wheel zero offset angle estimated value can be regarded as the actual zero offset angle of the current front wheel. Therefore, the steering wheel zero-offset angle can be converted according to the steering transmission ratio of the vehicle. And fifthly, updating the steering wheel zero-offset angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero-offset angle. Therefore, the zero deflection angle parameter of the steering wheel corresponding to the steering wheel is updated in real time, and the aim of calibrating the steering wheel is fulfilled. By the method, the automatic calibration of the zero deflection angle of the steering wheel of the vehicle is realized, the transverse control precision of the vehicle in the automatic driving process is ensured, and the driving safety of the vehicle is improved.
With further reference to fig. 2, as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a steering wheel zero-bias angle determination apparatus, which correspond to those shown in fig. 1, and which may be particularly applied in various electronic devices.
As shown in fig. 2, the steering wheel zero-bias angle determination apparatus 200 of some embodiments includes: an acquisition unit 201 and an execution unit 202. The acquiring unit 201 is configured to acquire vehicle operation data of a target vehicle, where the vehicle operation data includes: vehicle speed information and steering wheel angle; an executing unit 202, configured to, in response to determining that the vehicle speed corresponding to the vehicle speed information is greater than a preset vehicle speed and the steering wheel angle is greater than or less than a preset steering angle threshold, execute the following steering wheel zero offset angle determining steps: determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle; determining a prediction residual according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero-deviation angle estimated value of the target vehicle at the current moment according to the prediction residual error; determining a steering wheel null angle of the target vehicle based on the front wheel null angle estimate and a steering gear ratio corresponding to the target vehicle in response to determining that the front wheel null angle estimate converges; and updating the steering wheel zero-deflection angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero-deflection angle.
It is to be understood that the units recited in the steering wheel zero-bias angle determination apparatus 200 correspond to the respective steps in the method described with reference to fig. 1. Thus, the operations, features and resulting advantages described above for the method are also applicable to the steering wheel zero-offset angle determination apparatus 200 and the units included therein, and are not described herein again.
Referring now to FIG. 3, shown is a schematic block diagram of an electronic device (e.g., computing device) 300 suitable for use in implementing some embodiments of the present disclosure. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 3, electronic device 300 may include a processing means (e.g., central processing unit, graphics processor, etc.) 301 that may perform various appropriate actions and processes in accordance with a program stored in a read-only memory 302 or a program loaded from a storage device 308 into a random access memory 303. In the random access memory 303, various programs and data necessary for the operation of the electronic apparatus 300 are also stored. The processing means 301, the read only memory 302 and the random access memory 303 are connected to each other by a bus 304. An input/output interface 305 is also connected to the bus 304.
Generally, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 308 including, for example, magnetic tape, hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 illustrates an electronic device 300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 3 may represent one device or may represent multiple devices, as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network via the communication device 309, or installed from the storage device 308, or installed from the read-only memory 302. The computer program, when executed by the processing apparatus 301, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (Hyper Text Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: obtaining vehicle operation data of a target vehicle, wherein the vehicle operation data comprises: vehicle speed information and steering wheel angle; in response to the fact that the vehicle speed corresponding to the vehicle speed information is larger than a preset vehicle speed and the steering wheel angle is larger than or smaller than a preset steering angle threshold value, executing the following steering wheel zero offset angle determining step: determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle; determining a prediction residual error according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error; determining a steering wheel null angle of the target vehicle based on the front wheel null angle estimate and a steering gear ratio corresponding to the target vehicle in response to determining that the front wheel null angle estimate converges; and updating the steering wheel zero-deflection angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero-deflection angle.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes an acquisition unit and an execution unit. Where the names of these units do not in some cases constitute a limitation on the units themselves, for example, the obtaining unit may also be described as "obtaining vehicle operation data of the target vehicle, where the vehicle operation data includes: vehicle speed information and steering wheel angle.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (9)
1. A steering wheel zero-bias angle determination method, comprising:
obtaining vehicle operation data of a target vehicle, wherein the vehicle operation data comprises: vehicle speed information and steering wheel angle;
in response to the fact that the vehicle speed corresponding to the vehicle speed information is larger than a preset vehicle speed and the steering wheel angle is smaller than a preset steering wheel threshold value, executing the following steering wheel zero-offset angle determining step:
determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle;
determining a prediction residual according to the observation matrix, the covariance matrix and the gain matrix;
determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error;
determining a steering wheel zero-offset angle of the target vehicle according to the front wheel zero-offset angle estimated value and a steering transmission ratio corresponding to the target vehicle in response to determining that the front wheel zero-offset angle estimated value converges;
and updating the steering wheel zero deviation angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero deviation angle.
2. The method of claim 1, wherein prior to said determining a steering wheel null angle of the target vehicle based on the front wheel null angle estimate and a corresponding steering gear ratio of the target vehicle in response to determining that the front wheel null angle estimate converges, the method further comprises:
updating the forgetting factor in response to the fact that the front wheel zero deflection angle estimation value is not converged, and obtaining the updated forgetting factor;
and re-determining the steering wheel zero deflection angle of the target vehicle according to the updated forgetting factor and the vehicle course angle corresponding to the target vehicle.
3. The method of claim 2, wherein determining an observation matrix, a covariance matrix, and a gain matrix based on a vehicle heading angle corresponding to the target vehicle comprises:
determining a target equation according to the vehicle course angle corresponding to the target vehicle, the vehicle speed information, the vehicle wheel base corresponding to the target vehicle, the vehicle front wheel angle observed value and the initial front wheel angle observed value;
discretizing the target equation to generate a discretized target equation;
and determining the observation matrix, the covariance matrix and the gain matrix according to the discretization target equation, the least square equation and the iterative equation with the forgetting factor.
4. A method as defined in claim 3, wherein updating the forgetting factor in response to determining that the front wheel null-yaw estimate does not converge, resulting in an updated forgetting factor comprises:
determining a minimum forgetting factor as the updated forgetting factor in response to determining that the residual observation value corresponding to the target vehicle is greater than a preset estimation error threshold;
in response to determining that the residual observation value is less than or equal to the preset estimation error threshold, determining the updated forgetting factor according to the residual observation value.
5. The method of claim 4, wherein the updating the steering wheel zero offset angle parameter in the vehicle profile corresponding to the target vehicle according to the steering wheel zero offset angle comprises:
determining whether a corresponding parameter value exists in a steering wheel zero deflection angle parameter in the vehicle configuration file;
in response to the condition that the steering wheel zero deflection angle parameter does not exist, updating the steering wheel zero deflection angle to a parameter value corresponding to the steering wheel zero deflection angle parameter;
in response to the presence, determining whether the parameter value is consistent with the steering wheel zero-bias angle;
in response to determining that the parameter value is inconsistent with the steering wheel zero yaw angle, performing a parameter update on the parameter value with the steering wheel zero yaw angle.
6. The method of claim 5, wherein after the obtaining vehicle operation data for a target vehicle, the method further comprises:
and reading the preset vehicle speed and the preset turning angle threshold value in the configuration file corresponding to the target vehicle.
7. A steering wheel zero deflection angle determination apparatus, comprising:
an acquisition unit configured to acquire vehicle operation data of a target vehicle, wherein the vehicle operation data includes: vehicle speed information and steering wheel angle;
an execution unit configured to, in response to determining that the vehicle speed corresponding to the vehicle speed information is greater than a preset vehicle speed and the steering wheel angle is less than a preset steering angle threshold, execute the following steering wheel zero-offset angle determination steps: determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle; determining a prediction residual according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the prediction residual error; in response to determining that the front wheel camber angle estimate converges, determining a steering wheel camber angle of the target vehicle based on the front wheel camber angle estimate and a steering gear ratio corresponding to the target vehicle; and updating the steering wheel zero deflection angle parameter in the vehicle configuration file corresponding to the target vehicle according to the steering wheel zero deflection angle.
8. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
9. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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