The invention relates to an unmanned vehicle steering compensation method and device, computer equipment and a storage medium. The method comprises the steps of obtaining the steering wheel target turning angle of the unmanned vehicle; driving a steering motor according to the steering wheel target turning angle; driving wheels of the unmanned vehicle to rotate to obtain wheel rotation trajectory,according to the wheel rotation trajectory, obtaining the actual wheel rotating angle of the unmanned vehicle through calculation; determining the wheel target turning angle of the unmanned vehicle according to the steering wheel target turning angle; performing calculating to obtain a wheel rotation angle difference value according to the wheel target rotation angle and the wheel actual rotationangle; determining the steering wheel steering compensation value of the unmanned vehicle according to the wheel steering angle difference value; and furthermore, compensating the target steering angle of the steering wheel of the unmanned vehicle according to the steering compensation value of the steering wheel, so that the steering system accurately steers the unmanned vehicle after receivingthe steering instruction, the difference between the compensated target steering angle of the wheel and the actual steering angle of the wheel is reduced, and the stability and safety of driving of the unmanned vehicle are ensured.
本申请涉及一种无人车转向补偿方法、装置、计算机设备和存储介质。所述方法通过获取无人车的方向盘目标转角,根据方向盘目标转角驱动转向电机,带动无人车的车轮转动,得到车轮转动轨迹,根据车轮转动轨迹计算得到无人车的车轮实际转角,根据方向盘目标转角确定无人车的车轮目标转角,再根据车轮目标转角和车轮实际转角计算得到车轮转角差值,根据车轮转角差值确定无人车的方向盘转向补偿值,进一步地,根据方向盘转向补偿值对无人车的方向盘目标转角进行补偿,使得转向系统在接收到转向指令后对无人车进行准确的转向,减少补偿后的车轮目标转角和车轮实际转角之间的差值,保证无人车行驶的稳定性和安全性。
Unmanned vehicle steering compensation method and device, computer equipment and storage medium
无人车转向补偿方法、装置、计算机设备和存储介质
2020-04-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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