The embodiment of the invention discloses a steering wheel zero deflection angle determination method and device, electronic equipment and a readable medium. A specific embodiment of the method comprises the steps of obtaining vehicle operation data of a target vehicle; in response to determining that the vehicle speed corresponding to the vehicle speed information is greater than the preset vehicle speed and the steering wheel turning angle is greater than or smaller than the preset turning angle threshold, executing the following steering wheel zero deflection angle determination steps: determining an observation matrix, a covariance matrix and a gain matrix according to the vehicle course angle corresponding to the target vehicle; determining a prediction residual error according to the observation matrix, the covariance matrix and the gain matrix; determining a front wheel zero deflection angle estimated value of the target vehicle at the current moment according to the predicted residual error; determining a steering wheel zero drift angle of the target vehicle in response to determining that the front wheel zero drift angle estimate converges; and updating the steering wheel zero deflection angle parameter in the vehicle configuration file corresponding to the target vehicle. According to the embodiment, automatic calibration of the steering wheel zero deflection angle of the vehicle is achieved.
本公开的实施例公开了方向盘零偏角确定方法、装置、电子设备和可读介质。该方法的一具体实施方式包括:获取目标车辆的车辆运行数据;响应于确定车速信息对应的车速大于预设车速、且方向盘转角角度大于小于预设转角阈值,执行以下方向盘零偏角确定步骤:根据目标车辆对应的车辆航向角,确定观测矩阵、协方差矩阵和增益矩阵;根据观测矩阵、协方差矩阵和增益矩阵,确定预测残差;根据预测残差,确定目标车辆在当前时刻的前轮零偏角估计值;响应于确定前轮零偏角估计值收敛,确定目标车辆的方向盘零偏角;更新目标车辆对应的车辆配置文件中的方向盘零偏角参数。该实施方式实现了车辆的方向盘零偏角的自动标定。
Steering wheel zero deflection angle determination method and device, electronic equipment and readable medium
方向盘零偏角确定方法、装置、电子设备和可读介质
2022-12-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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