The invention relates to the technical field of automatic driving, and discloses a steering wheel control method and device, equipment and a storage medium. The steering wheel control method comprises the following steps: constructing a reverse control model from a steering wheel angle to a steering wheel torque; obtaining input parameters of the reverse control model, wherein the input parameters comprise a steering wheel angle at the current moment and an expected steering wheel angle at the current moment; inputting the input parameters into a reverse control model for processing, and outputting a current-moment steering wheel torque corresponding to the current-moment expected steering wheel angle; and controlling the steering wheel to rotate based on the steering wheel torque at the current moment, and taking the rotated steering wheel angle as an input parameter for controlling the steering wheel of the next wheel. Steering wheel control is achieved based on the data driving mode, parameter calibration and construction of a mapping relation table are not needed, the operation and maintenance cost is reduced, and meanwhile the steering wheel control precision is improved.
本发明涉及自动驾驶技术领域,公开了一种方向盘控制方法、装置、设备及存储介质。方向盘控制方法包括:构建方向盘角度到方向盘扭矩的逆向控制模型;获取逆向控制模型的输入参数,输入参数包括当前时刻方向盘角度以及当前时刻期望方向盘角度;将输入参数输入逆向控制模型进行处理,输出与当前时刻期望方向盘角度对应的当前时刻方向盘扭矩;基于当前时刻方向盘扭矩,控制方向盘转动,并将转动后的方向盘角度作为下一轮方向盘控制的输入参数。本发明基于数据驱动方式实现方向盘控制,无需进行参数标定以及构建映射关系表,不仅降低了运维成本,同时提升了方向盘控制精度。
Steering wheel control method and device, equipment and storage medium
方向盘控制方法、装置、设备及存储介质
2024-01-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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