The invention provides an automatic driving vehicle steering clearance online compensation method and device and a vehicle, and belongs to the technical field of steering clearance compensation. The method comprises the steps that when an automatic driving vehicle is in an automatic driving state, whether the automatic driving vehicle meets a steering clearance recognition condition or not is judged based on obtained vehicle motion state data; when the steering gap identification condition is met, a first steering wheel angle sequence output by the electric hydraulic power steering system and a second steering wheel angle sequence calculated based on the vehicle motion state data are obtained in the time window; and generating a steering clearance compensation instruction based on the first steering wheel angle sequence, the second steering wheel angle sequence and the vehicle motion state data, and performing online compensation on the steering wheel angle instruction based on the steering clearance compensation instruction. According to the invention, identification and compensation of the steering gap can be realized without switching to a manual driving state, and online identification and compensation of the steering gap are realized.
本发明提供了一种自动驾驶车辆转向间隙在线补偿方法、装置及车辆,属于转向间隙补偿技术领域,其方法包括:当自动驾驶车辆处于自动驾驶状态时,基于获取的车辆运动状态数据判断自动驾驶车辆是否满足转向间隙识别条件;当满足转向间隙识别条件时,在时间窗口内获取电动液压助力转向系统输出的第一方向盘角度序列以及基于车辆运动状态数据推算出的第二方向盘角度序列;基于第一方向盘角度序列、第二方向盘角度序列和车辆运动状态数据生成转向间隙补偿指令,基于转向间隙补偿指令对方向盘转角指令进行在线补偿。本发明无需切换至人工驾驶状态即可实现转向间隙的识别和补偿,实现了对转向间隙的在线识别和补偿。
Method and device for online compensation of steering clearance of automatic driving vehicle and vehicle
自动驾驶车辆转向间隙在线补偿方法、装置及车辆
2024-08-02
Patent
Electronic Resource
Chinese
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 |
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