The invention relates to the technical field of auxiliary driving, in particular to a steering wheel rotation angle compensation method and device, a vehicle and a storage medium. The method comprises the steps of judging whether a vehicle meets a steering wheel angle compensation triggering condition or not; if the vehicle meets the triggering condition, the current steering wheel turning angle of the vehicle, the compensation angle of the last period and the compensation angle of the vehicle when the vehicle is powered off last time are obtained; and determining a current compensation angle of the steering wheel rotation angle according to the current steering wheel rotation angle, the compensation angle of the last period and the compensation angle of the vehicle during last power-off, and compensating the steering wheel rotation angle according to the current compensation angle. Therefore, the compensation angle value of the steering wheel is continuously learned in the running process of the vehicle, and the learned angle value is compensated to the transverse control angle, so that the problem of unstable transverse control of the vehicle caused by inaccurate calculation of the angle of the steering wheel for transverse control when the running speed of the vehicle is relatively high is solved, and the functional experience of auxiliary driving is improved.
本申请涉及辅助驾驶技术领域,特别涉及一种方向盘转角的补偿方法、装置、车辆及存储介质。方法包括:判断车辆是否满足方向盘转角补偿的触发条件;若车辆满足触发条件,则获取车辆的当前方向盘转角、上一周期的补偿角度和车辆上次下电时的补偿角度;根据当前方向盘转角、上一周期的补偿角度和车辆上次下电时的补偿角度确定方向盘转角的当前补偿角度,并根据当前补偿角度补偿方向盘转角。由此,通过在车辆行驶过程中不断学习方向盘补偿角度值,并将此学习角度值补偿到横向控制的角度中,解决了车辆行驶速度较高时,如果横向控制的方向盘角度计算不准确,导致车辆横向控制不稳的问题,从而提升辅助驾驶的功能体验。
Steering wheel turning angle compensation method and device, vehicle and storage medium
方向盘转角的补偿方法、装置、车辆及存储介质
2024-05-14
Patent
Electronic Resource
Chinese
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