The invention provides a steering wheel angle estimation method and system based on the Ackerman steering theorem. Under a straight moving working condition and a steering working condition, the vehicle working condition is recognized through existing sensor signals such as the vehicle speed, the wheel speed and the steering torque of the steering wheel, the estimated steering wheel angle can be output through preset vehicle driving working condition state parameters, the ASIL level is achieved, the physical cost of the vehicle does not need to be increased, and the internal space of the vehicle does not need to be occupied. For a user only requiring to reach the ASIL B as the lowest requirement, only a steering wheel angle estimation module needs to be omitted. Therefore, compared with ascheme for realizing the ASIL D grade by using the redundant design of an angle sensor, the cost is reduced.
本发明提供了一种基于阿克曼转向定理的方向盘转角估算方法及系统,在直行工况和转向工况下,通过对车速、轮速、方向盘的转向力矩等现有传感器信号,对车辆工况进行识别,通过预先设置的车辆行驶工况状态参数,就可以输出估算的方向盘转角,达到ASIL D等级,不需要增加车辆的物理成本,不需要占用汽车的内部空间。对于只要求达到最低要求为ASIL B的用户而言,只需要省略掉方向盘转角估算模块即可,因此,本申请与使用角度传感器冗余设计实现ASIL D等级的方案相比,降低了成本。
Steering wheel angle estimation method and system based on Ackerman steering theorem
一种基于阿克曼转向定理的方向盘转角估算方法及系统
2020-05-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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