The invention provides a method for determining the zero deflection angle of a steering wheel and a vehicle control method and device.The method comprises the steps that running state information of a vehicle is obtained, and the running state information can comprise parameters of the vehicle, running state parameters and the like; running state information of the vehicle is input into the vehicle kinematic model, and a first steering wheel zero deflection angle of the vehicle is determined based on the vehicle kinematic model. And inputting the running state information into a vehicle dynamics model, and determining a second steering wheel zero deflection angle of the vehicle. And determining a third steering wheel zero deflection angle by using the first steering wheel zero deflection angle and the second steering wheel zero deflection angle. And determining the target steering wheel zero deflection angle of the vehicle based on the third steering wheel zero deflection angle. Through the method, the steering wheel zero deflection angle of the vehicle can be automatically determined by using the running state information of the vehicle and the model of the vehicle, manual calibration is not needed, the accuracy of determining the steering wheel zero deflection angle can be improved, and the time for determining the steering wheel zero deflection angle can be shortened.
本申请提供了一种确定方向盘零偏角的方法、车辆控制方法及装置,该方法包括:获取车辆的运行状态信息,运行状态信息可以包括车辆本身的参数以及行驶状态参数等。将车辆的运行状态信息输入到车辆运动学模型,基于车辆运动学模型确定车辆的第一方向盘零偏角。将运行状态信息输入到车辆动力学模型,确定车辆的第二方向盘零偏角。利用第一方向盘零偏角和第二方向盘零偏角,确定第三方向盘零偏角。从而可以基于第三方向盘零偏角,确定车辆的目标方向盘零偏角。通过上述方法,可以利用车辆的运行状态信息和车辆的模型,自动确定车辆的方向盘零偏角,无需人工进行标定,既可以提高确定方向盘零偏角的准确性,也可以减少确定方向盘零偏角的时间。
Method for determining zero deflection angle of steering wheel and vehicle control method and device
一种确定方向盘零偏角的方法、车辆控制方法及装置
2025-01-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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