The invention relates to the technical field of unmanned vehicles, in particular to a wheeled vehicle virtual wheel steering angle measuring method, which comprises the following steps of: reversely measuring a virtual wheel steering angle according to a steering effect of a vehicle through a calibration stage, a measurement stage and a correction stage; under the condition that an angle sensor is not installed, the virtual wheel steering angle at the current moment can be conveniently and accurately measured, and the method is easy to implement and high in precision.
本发明涉及无人驾驶车辆技术领域,尤其是一种轮式车辆虚拟轮转向角测量方法,通过标定阶段、测量阶段以及修正阶段,根据车辆的转向效果,逆向测算出虚拟轮转向角,在没有安装角度传感器的情况下能够较为方便、准确地测量出当前时刻的虚拟轮转向角,本方法容易实施,且精度较高。
Method for measuring virtual wheel steering angle of wheeled vehicle
一种轮式车辆虚拟轮转向角测量方法
2021-05-14
Patent
Electronic Resource
Chinese
IPC: | 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |
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