The embodiment of the invention discloses a steering wheel offset determination method and device, a readable storage medium and electronic equipment, and the method comprises the steps: obtaining a current vehicle speed value of a vehicle in a current driving state; determining a current speed section corresponding to the current vehicle speed value from a speed section set based on the current vehicle speed value; determining at least one predicted zero offset value corresponding to a steering wheel of the vehicle based on at least one sensor arranged in the vehicle; based on the at least one predicted zero offset value, determining a target zero offset value corresponding to a steering wheel of the vehicle in a current speed section; according to the embodiment of the invention, only the sensor of the vehicle is utilized, a vehicle kinetic model is not needed, vehicle structure parameters do not need to be changed, and the steering wheel zero offset value of the steering wheel at the zero position where the vehicle does not walk on a straight line due to a series of reasons such as vehicle assembly, structure deviation, long-term abrasion, crosswind and uneven road surface is dynamically identified; and a basis is provided for accurate control of automatic driving or auxiliary driving.
本公开实施例公开了一种方向盘偏移确定方法和装置、可读存储介质、电子设备,其中,方法包括:获取车辆当前行驶状态下的当前车速值;基于所述当前车速值从速度段集合中确定所述当前车速值对应的当前速度段;基于所述车辆中设置的至少一个传感器,确定所述车辆的方向盘对应的至少一个预测零偏值;基于所述至少一个预测零偏值,确定所述车辆的方向盘在当前速度段对应的目标零偏值;本申请实施例仅利用车辆的传感器,不需要车辆动力学模型,不需要改变车辆结构参数,动态辨识由于车辆装配,结构偏差,长期磨损,侧风,路面不平等一系列原因导致的方向盘在零位车辆不走直线的方向盘零偏值;为自动驾驶或辅助驾驶的精准控制提供基础。
Steering wheel offset determination method and device, readable storage medium and electronic equipment
方向盘偏移确定方法和装置、可读存储介质、电子设备
2021-04-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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