The invention provides a method for compensating for automatic driving lateral deviation caused by a tire pressure problem. The method comprises the following steps that S1, movement information of tires in the vehicle running process is collected in real time; the movement information of the tire comprises the rolling linear speed and angular speed of the tire; s2, according to the movement information of the tire, the rolling radius of the tire is calculated, whether the tire pressure of the tire is abnormal or not is judged through a radius iteration method, and according to the radius iteration method, the difference of the rolling radius of the tire is represented through a preset characteristic parameter gamma so as to judge whether the tire pressure of the tire is abnormal or not; s3, according to the rolling radius of the tire and the characteristic parameter gamma, the relation between the tire pressure and the tire radius is judged, and the position of the tire with the abnormal tire pressure is determined; and S4, calculating a compensation value of the steering wheel angle according to the characteristic parameter gamma.

    本发明提供了一种弥补胎压问题导致的自动驾驶横向偏差的方法,包括如下步骤:步骤S1,实时采集车辆行驶过程中轮胎的运动信息;所述轮胎的运动信息包括轮胎滚动的线速度和角速度;步骤S2,根据轮胎的运动信息,计算轮胎的滚动半径,并通过半径迭代法判断轮胎胎压是否异常,所述半径迭代法是通过预先设定的特征参数γ表示轮胎的滚动半径的差异,以判断轮胎胎压是否异常;步骤S3,根据轮胎的滚动半径和特征参数γ,判断轮胎胎压与轮胎半径的关系,并确定胎压异常的轮胎位置;步骤S4,根据特征参数γ计算方向盘角度的补偿值。


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    Title :

    Method for compensating automatic driving lateral deviation caused by tire pressure problem


    Additional title:

    弥补胎压问题导致的自动驾驶横向偏差的方法


    Contributors:
    ZHOU FANGRUI (author) / PENG YIFAN (author) / YAO MINGJIE (author) / LU YISHEN (author)

    Publication date :

    2023-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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