The invention provides a zero offset compensation method and device, a vehicle and a computer program product, and the method comprises the steps: obtaining the vehicle motion data of a to-be-calibrated vehicle in a first time period and the vehicle motion data of the to-be-calibrated vehicle in a second time period; according to a vehicle motion model and the vehicle motion data of the first time period, obtaining a first relational expression for substituting the vehicle motion data of the first time period into the vehicle motion model, and obtaining a second relational expression for substituting the vehicle motion data of the second time period into the vehicle motion model based on the vehicle motion model and the vehicle motion data of the second time period; substituting the vehicle motion data of the second time period into a second relational expression of the vehicle motion model; obtaining a third relational expression according to the first relational expression and the second relational expression, and resolving the third relational expression to obtain a resolved zero offset value; and performing zero offset compensation according to the solved zero offset value.
本公开提供了一种零偏补偿方法、装置、车辆以及计算机程序产品,其中,该方法包括:获取待标定车辆在第一时段的车辆运动数据以及在第二时段的车辆运动数据;根据车辆运动模型以及所述第一时段的车辆运动数据,得到将所述第一时段的车辆运动数据代入所述车辆运动模型的第一关系表达式,并基于所述车辆运动模型和所述第二时段的车辆运动数据,得到将所述第二时段的车辆运动数据代入所述车辆运动模型的第二关系表达式;根据第一关系表达式和第二关系表达式得到第三关系表达式,对所述第三关系表达式进行解算,得到所解出的零偏值;根据所解出的零偏值,进行零偏补偿。
Zero offset compensation method and device, vehicle, computer equipment and storage medium
一种零偏补偿方法、装置、车辆、计算机设备及存储介质
2023-08-01
Patent
Elektronische Ressource
Chinesisch
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