The invention discloses a vehicle steering processing method, device and equipment, a storage medium and a vehicle. The method comprises the steps that front wheel steering angle observation values and front wheel steering angle estimation values of the vehicle at multiple continuous moments are obtained; determining a front wheel steering angle deviation at a corresponding moment based on the front wheel steering angle observed value and the front wheel steering angle estimated value at the same moment; and determining a left-side steering dead zone target value and a right-side steering dead zone target value by utilizing an expectation maximization algorithm based on each front wheel steering angle deviation, a first probability of the front wheel steering angle deviation caused by a left-side steering dead zone and a second probability of the front wheel steering angle deviation caused by a right-side steering dead zone. Thus, the left-side steering dead zone value and the right-side steering dead zone value relative to the front wheel steering angle zero position are calibrated more accurately and simultaneously, a more accurate data basis is provided for transverse control of an intelligent driving system, and therefore the accuracy of transverse control is improved.

    本申请公开了一种车辆转向处理方法、装置、设备、存储介质和车辆,该方法包括:分别获取车辆在多个连续时刻的前轮转角观测值和前轮转角估计值;基于相同时刻的所述前轮转角观测值和所述前轮转角估计值,确定相应时刻的前轮转角偏差;基于各所述前轮转角偏差、所述前轮转角偏差由左侧转向死区导致的第一概率和所述前轮转角偏差由右侧转向死区导致的第二概率,利用期望最大化算法,确定左侧转向死区目标值和右侧转向死区目标值。如此,实现了更加准确地同时标定相对于前轮转角零位的左侧转向死区值和右侧转向死区值,为智能驾驶系统的横向控制提供更加准确的数据基础,从而提高横向控制的精准性。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle steering processing method, device and equipment, storage medium and vehicle


    Weitere Titelangaben:

    车辆转向处理方法、装置、设备、存储介质和车辆


    Beteiligte:
    LIU KAI (Autor:in) / CAO SHIZHUO (Autor:in) / ZHOU XIAOCHENG (Autor:in)

    Erscheinungsdatum :

    2023-06-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Vehicle steering processing method and device, computer equipment and storage medium

    ZHANG YAN / ZHANG LEI / SONG GUOMIN | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle steering auxiliary method, equipment, storage medium and device

    ZHU XIANRU / GUAN NING / KAN JINGJING et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Vehicle steering control method, electronic equipment, storage medium and vehicle

    CHENG KUNPENG / MA XIAO | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle steering warning method and device, electronic equipment, storage medium and vehicle

    SU WEN / ZHAO ZILONG / YUE WENBIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Method and device for processing vehicle steering parameters, electronic equipment and storage medium

    MA JI / ZHU LEI / LI CHENGJUN | Europäisches Patentamt | 2020

    Freier Zugriff