The embodiment of the invention discloses a steering wheel angle control method, device and equipment and a storage medium. The method comprises the steps of receiving a vehicle speed signal and a steering wheel angle signal in the driving process; and when it is detected that the current vehicle speed signal is larger than a preset vehicle speed threshold value, updating the current steering wheel left-right limit angle and the current steering wheel maximum left-right controllable angle according to a preset time threshold value and a steering wheel angle signal in the driving process. According to the embodiment of the invention, the maximum controllable angle of the steering wheel is obtained by detecting the left-right steering angle of the steering wheel in real time and continuouslylearning the maximum left-right steering angle of the steering wheel; the left limit angle and the right limit angle of the steering wheel set in an APA controller can infinitely approach to the realleft dead angle and the real right dead angle of the steering wheel, so that the controllable angle range of the steering wheel with the APA function is reasonably increased, the degree of freedom ofAPA path planning and the like is improved, and more accurate and efficient parking is achieved.

    本发明实施例公开了一种方向盘角度控制方法、装置、设备及存储介质。其中,方法包括:在行驶过程中接收车速信号和方向盘转角信号;在检测到当前车速信号大于预设车速阈值时,根据预设时间阈值以及行驶过程中的方向盘转角信号,对当前方向盘左右极限角度和当前方向盘最大左右可控角度进行更新。本发明实施例通过实时检测方向盘左右转角并不断学习方向盘最大左右转角以获取方向盘最大可控角度,APA控制器内设定的方向盘左右极限角度会无限趋近于真实的方向盘左右打死角度,使APA功能的方向盘可控角度范围合理增加,提升APA路径规划等的自由度,实现更为准确、高效的泊车入位。


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    Title :

    Steering wheel angle control method, device and equipment and storage medium


    Additional title:

    一种方向盘角度控制方法、装置、设备及存储介质


    Contributors:
    XU DANLIN (author) / LI LINRUN (author) / LIU QIUZHENG (author) / REN MINGXING (author) / GAO LE (author)

    Publication date :

    2020-11-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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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