The invention provides an automatic calibration method and device for the transmission ratio of a steering system of an autonomous vehicle, and the method comprises the steps: constructing a calibration environment, and obtaining information; starting from the first steering wheel angle, selecting specific steering wheel angles in sequence; enabling the to-be-calibrated vehicle to autonomously run in the calibration environment, and obtaining a real-time motion state of the vehicle; based on the size information and the real-time motion state of the vehicle, the steering system transmission ratio corresponding to the sampling points is calculated, and a plurality of first sampling transmission ratios are obtained; calculating a turning radius based on the real-time motion state of the vehicle, calculating a steering system transmission ratio corresponding to the sampling point, and obtaining a plurality of second sampling transmission ratios; the multiple first sampling transmission ratios and the multiple second sampling transmission ratios are input into a filter to be fused, and the steering system transmission ratio corresponding to the specific angle is obtained; and the steering system transmission ratios corresponding to the angles are obtained repeatedly and sequentially. According to the method, two steering system transmission ratio calculation methods are fused, and a transmission ratio value with higher accuracy can be obtained.
本发明提供了一种自动驾驶车辆转向系统传动比自动标定方法及装置,包括:构建标定环境,获取信息;从第一个方向盘角度开始,依次选取特定方向盘角度;令待标定车辆在标定环境中自主行驶,获取车辆的实时运动状态;基于车辆的尺寸信息和实时运动状态,计算采样点对应的转向系统传动比,得到多个第一采样传动比;基于车辆的实时运动状态计算转弯半径,计算采样点对应的转向系统传动比,得到多个第二采样传动比;将多个第一采样传动比和多个第二采样传动比输入到滤波器中融合,得到与特定角度对应的转向系统传动比;重复依次获得各角度对应的转向系统传动比。本发明融合两种转向系统传动比计算方法,可以获得一个准确度更高的传动比数值。
Automatic calibration method and device for transmission ratio of steering system of autonomous vehicle
自动驾驶车辆转向系统传动比自动标定方法及装置
30.12.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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