The invention relates to a steering wheel zero deviation angle measuring method and a vehicle, and belongs to the technical field of automatic driving passenger cars. The measuring method comprises the steps of collecting vehicle tracks in real time, the vehicle tracks comprising the vehicle speed of each track point and the corresponding steering wheel turning angle; selecting a straight driving section; in the straight driving section, calculating the weight factor of each track point, and the weight factor being in positive correlation with the vehicle speed; and in the straight driving section, correcting the steering wheel turning angle of each track point according to the corresponding weight factor, and calculating the cumulative sum of the correction values so as to obtain the steering wheel zero deviation angle. According to the method, the steering wheel turning angle and the vehicle speed during straight driving of the vehicle are obtained according to the fact that the vehicle transverse movement follows the Ackerman steering principle, the steering wheel turning angle is corrected through the vehicle speed, then the steering wheel zero deviation angle is obtained, and online measurement of the steering wheel zero deviation angle is simply and accurately achieved; and a reliable basis is provided for compensation of the lateral deviation of the vehicle.

    本发明涉及一种方向盘零位偏差角度测量方法及车辆,属于自动驾驶客车技术领域。其中测量方法包括:实时采集车辆轨迹,包括各轨迹点的车速和对应的方向盘转角;选取直线行驶段;在直线行驶段中,计算各轨迹点的权重因子,权重因子与车速正相关;在直线行驶段中,根据对应的权重因子对各轨迹点的方向盘转角进行修正,计算修正值的累加和,进而得到方向盘零位偏差角。本发明根据车辆横向运动遵循阿克曼转向原理,获取车辆直线行驶时的方向盘转角与车速,利用车速对方向盘转角进行修正,进而得到方向盘零位偏差角,该方法简单、准确的实现了方向盘零位偏差角的在线测量,为车辆横向偏差的补偿提供可靠的依据。


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    Title :

    Steering wheel zero deviation angle measuring method and vehicle


    Additional title:

    方向盘零位偏差角度测量方法及车辆


    Contributors:
    LI XINGJIA (author) / ZUO SHUAI (author) / CAI LISONG (author) / LI JIANFEN (author) / WANG XINGJIA (author) / NING YONGFENG (author)

    Publication date :

    2021-05-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge






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