The invention discloses a zero offset compensation method, device and equipment and a storage medium, and relates to the technical field of control, and the method comprises the steps: collecting vehicle motion data, and determining vehicle driving state parameters according to the vehicle motion data; determining whether the vehicle driving state parameters meet preset stable working conditions or not; if yes, estimating a zero offset angle of a transverse control system according to the vehicle driving state parameters based on a Kalman filtering algorithm to obtain a first zero offset angle estimated value; based on a preset self-evaluation mechanism, zero offset compensation is carried out on the transverse control system according to the first zero offset angle estimated value, self-evaluation is synchronously carried out, and a self-evaluation result is obtained; and when a self-evaluation result meets a preset self-evaluation compensation condition, performing zero offset compensation on the transverse control system according to the first zero offset angle estimated value. The control precision of the vehicle transverse control system can be improved.
本申请公开了一种零点偏移补偿方法、装置、设备以及存储介质,涉及控制技术领域,其方法包括:采集车辆运动数据,并根据所述车辆运动数据确定车辆行驶状态参数;确定所述车辆行驶状态参数是否满足预设稳定工况条件;若是,则基于卡尔曼滤波算法,根据所述车辆行驶状态参数估计横向控制系统的零点偏移角度,得到第一零偏角度估计值;基于预设自评价机制,根据第一零偏角度估计值对所述横向控制系统进行零点偏移补偿,并同步进行自评价,得到自评价结果;当自评价结果满足预设自评价补偿条件时,根据所述第一零偏角度估计值对所述横向控制系统进行零点偏移补偿。本申请能够提高车辆横向控制系统的控制精度。
Zero offset compensation method and device, equipment and storage medium
零点偏移补偿方法、装置、设备以及存储介质
2024-09-03
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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