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。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving vehicle zero deflection angle online learning method, and front and rear wheel rotation angle learning method and system


    Additional title:

    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


    Contributors:
    ZENG WEI (author) / LI YAN (author) / LUO ZHE (author) / ZHOU LIN (author) / WANG XUDONG (author)

    Publication date :

    2024-05-03


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



    Vehicle steering wheel zero deflection angle online estimation method and related device

    JIANG XINGYANG / LI CHANG / QIAO SIKAI et al. | European Patent Office | 2025

    Free access

    Front wheel turning hand wheel deflection angle measurer

    TANG YONGSHANG / YANG XINRUI / TAO WENXI et al. | European Patent Office | 2025

    Free access

    Airplane front wheel deflection angle measuring mechanism

    ZHANG XIAOJUAN / WANG SHAN / LIU KENA | European Patent Office | 2020

    Free access

    Automatic guided vehicle having front-rear synchronized driving wheel

    SHIN YOUN BUM | European Patent Office | 2023

    Free access

    Rear wheel rotation angle determination method, device and equipment and medium

    ZHENG HU / ZHANG JIANG / PAN YUE et al. | European Patent Office | 2024

    Free access