The invention relates to a steering wheel zero deflection angle updating method and device, computer equipment and a storage medium. The method comprises the steps that the driving state of a vehicle is judged, and under the condition that the vehicle is in a straight driving state, a driving mode triggered by the vehicle is judged according to the difference between the latest obtained predicted steering wheel rotation angle and the current steering wheel rotation angle; under the condition that the vehicle does not trigger the man-machine co-driving mode and the delay counter reaches the additional delay duration, the steering wheel zero deflection angle is updated according to the transverse offset error integrator; the additional delay duration is obtained when the vehicle jumps from the man-machine co-driving mode to the normal driving mode every time; the delay counter starts timing when the vehicle jumps from the man-machine co-driving mode to the normal driving mode each time; and under the condition that the driving mode of the vehicle does not jump, acquiring the latest predicted steering wheel angle, and returning to the step of judging the driving state of the vehicle. By adopting the method, the measurement accuracy of the steering wheel zero deflection angle can be improved.
本申请涉及一种方向盘零偏角更新方法、装置、计算机设备和存储介质。所述方法包括:判断车辆的行驶状态,在车辆处于直线行驶状态的情况下,根据最新获取的预测方向盘转角和当前方向盘转角之间的差异,判断车辆触发的驾驶模式;在车辆未触发人机共驾模式,且延时计数器达到附加延时时长的情况下,根据横向偏移误差积分器更新方向盘零偏角;附加延时时长是车辆在每一次从人机共驾模式跳转到正常驾驶模式的情况下获取的;延时计数器在车辆在每一次从人机共驾模式跳转到正常驾驶模式的情况下开始计时;在车辆未发生驾驶模式跳转的情况下,获取最新的预测方向盘转角,返回执行判断车辆的行驶状态的步骤。采用本方法能够提高方向盘零偏角的测量精准度。
Steering wheel zero deflection angle updating method and device, computer equipment and storage medium
方向盘零偏角更新方法、装置、计算机设备和存储介质
2024-04-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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