The invention discloses a steering wheel angle control method for automatic parking, which comprises the following steps of: aiming at the problem of inaccurate steering caused by different ground friction forces during automatic parking, proposing a relation model of friction errors and friction coefficients under multiple working conditions which are calibrated in advance by using a steering angle request after an installation error is eliminated; and during actual parking control, the actual friction coefficient of the current parking road surface is determined through at least two times of actual rotation angle requests and the relation model, and the rotation angle needed by a steering wheel is requested in the automatic parking process through the actual friction coefficient or the steering wheel is returned to the right position after parking is completed. According to the method, it can be effectively ensured that the steering angle requested by the automatic parking controller is matched with the actual steering angle of the steering wheel, the number of path planning times in the parking process can be greatly reduced while the problem that the steering wheel is difficult to return can be avoided, and the path tracking precision in the parking process can be remarkably improved.
本发明公开了一种用于自动泊车的方向盘角度控制方法,针对在自动泊车时由于地面摩擦力不同导致的转向不准问题,提出利用消除安装误差后的转角请求,预先标定多工况下的摩擦误差与摩擦系数的关系模型;在实际泊车控制时,利用至少两次实际转角请求及关系模型,确定当前泊车路面的实际摩擦系数,利用该实际摩擦系数在自动泊车过程中请求方向盘的所需转角或在泊车完成后回正方向盘。本发明可以有效确保自动泊车控制器请求的转向角度与方向盘实际转角相匹配,能够在规避方向盘难以回正问题的同时,大幅减少在泊车过程中路径规划次数,且可以显著提升泊车过程中路径跟踪的精度。
Steering wheel angle control method for automatic parking
用于自动泊车的方向盘角度控制方法
2024-12-13
Patent
Electronic Resource
Chinese
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