The invention provides an automatic driving vehicle zero deflection angle online learning method and system and a front and rear wheel turning angle learning method and system. The automatic driving vehicle zero-deflection-angle online learning method comprises the steps that front and rear axle zero-deflection-angle initial values of a vehicle are acquired; acquiring vehicle state data, reference trajectory curvature, transverse position deviation and course angle deviation in real time; in response to the size relation between the real-time vehicle state data and the set value, online learning of the front axle zero deflection angle is carried out according to the real-time transverse position deviation, the real-time front axle zero deflection angle is obtained, online learning of the rear axle zero deflection angle is carried out according to the real-time course angle deviation, and the real-time rear axle zero deflection angle is obtained. According to the method, online learning of front and rear axle zero deflection angles is realized by using transverse position deviation and course angle deviation in the control process of an automatic driving vehicle.
本发明提出了一种自动驾驶车辆零偏角在线学习方法、前后轮转角学习方法及系统。该自动驾驶车辆零偏角在线学习方法为:获取车辆的前后轴零偏角初始值;实时获取车辆状态数据、参考轨迹曲率、横向位置偏差和航向角偏差;响应于实时的车辆状态数据与设定值之间的大小关系根据实时的横向位置偏差进行前轴零偏角的在线学习,得到实时的前轴零偏角,根据实时的航向角偏差进行后轴零偏角的在线学习,得到实时的后轴零偏角。该方法利用自动驾驶车辆控制过程中的横向位置偏差、航向角偏差实现了前后轴零偏角的在线学习。
Automatic driving vehicle zero deflection angle online learning method, and front and rear wheel rotation angle learning method and system
自动驾驶车辆零偏角在线学习方法、前后轮转角学习方法及系统
2024-05-03
Patent
Electronic Resource
Chinese
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