The invention discloses a vehicle, a front wheel steering angle estimation method and device thereof and a storage medium. The method comprises the steps that running information of the vehicle is obtained, wherein the running information of the vehicle comprises the yaw rate # imgabs0 # speed V and the wheelbase L of the vehicle; according to the Ackerman steering condition, a kinematic model of the vehicle is constructed, the initial turning angle delta of front wheels of the vehicle is obtained, and according to the Ackerman steering condition, the # imgabs1 # obtains the compensation turning angle delta compensation of the front wheels of the vehicle according to the time lag of the double antennas or the IMU of the vehicle; and according to the initial rotation angle delta and the compensation rotation angle delta compensation of the front wheels of the vehicle, the final rotation angle delta final of the front wheels of the vehicle is obtained. According to the method, the accurate front wheel turning angle can be obtained without installing any sensor on the front wheel of the vehicle, the working efficiency is high, and no loss is caused to agricultural production and application.
本公开公开了一种车辆及其前轮转角估计方法、装置和存储介质。方法包括获取所述车辆的运行信息,所述车辆的运行信息包括车辆的横摆角速率#imgabs0#速度V和轴距L;根据阿克曼转向条件构建车辆的运动学模型并得到车辆前轮的初始转角δ,所述阿克曼转向条件是指#imgabs1#根据所述车辆双天线或IMU的时间滞后,得到车辆前轮的补偿转角δ补;根据所述车辆前轮的初始转角δ和补偿转角δ补,得到所述车辆前轮的最终转角δ终。本方法无需在车辆前轮安装任何传感器,即可获得精确的前轮转角,该方法工作效率较高,不会对农业的生产应用造成损失。
Vehicle, front wheel steering angle estimation method and device thereof and storage medium
车辆及其前轮转角估计方法、装置和存储介质
2024-04-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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