The invention provides a vehicle steering nonlinearity estimation method and device. The method comprises the following steps: acquiring steering related data of a to-be-predicted vehicle; inputting the steering related data of the to-be-predicted vehicle into the steering nonlinear estimation model to obtain a nonlinear degree estimation result output by the steering nonlinear estimation model; wherein the steering nonlinear pre-estimation model is obtained by performing parameter identification on a pre-constructed original steering nonlinear pre-estimation model based on pre-acquired vehicle steering related test data in combination with a gradient descent method. According to the invention, parameter identification is carried out on the pre-constructed original steering nonlinear estimation model by using the gradient descent method based on the vehicle steering related test data, so that the vehicle steering nonlinearity parameter directly representing the vehicle steering nonlinearity degree is obtained; therefore, the situation that the automatic driving control effect is worsened due to serious steering nonlinearity of the truck is prevented in advance, the control effect of the intelligent truck is further improved, the control precision is improved, and the driving safety is guaranteed.
本发明提供一种车辆转向非线性度估计方法及装置,方法包括:获取待预测车辆转向相关数据;将待预测车辆转向相关数据输入至转向非线性预估模型中,得到转向非线性预估模型输出的非线性度预估结果;其中,转向非线性预估模型是基于预先获取的车辆转向相关测试数据,并结合梯度下降法对预先构建的原始转向非线性预估模型进行参数辨识得到的。本发明基于车辆转向相关测试数据,并利用梯度下降法对预先构建的原始转向非线性预估模型进行参数辨识,以得到直接表征车辆转向非线性程度的车辆转向非线性度参数,从而提前预防因车辆转向非线性严重而引起的自动驾驶控制效果恶化的情形,进一步提高智能卡车的控制效果,提高控制精度,保障行车安全。
Vehicle steering nonlinearity estimation method and device
车辆转向非线性度估计方法及装置
2023-01-20
Patent
Electronic Resource
Chinese
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