The invention discloses a vehicle steering wheel zero deflection angle on-line estimation method and a related device. The method comprises the following steps: carrying out real-time parameter acquisition processing when a vehicle runs; based on the real-time collected parameters, a vehicle kinematics model is used for calculation processing, and the vehicle side slip angle and the vehicle course angle of the vehicle are obtained; whether vehicle steering wheel zero deflection angle estimation processing needs to be carried out or not is determined based on the real-time collected parameter data; if not, returning to the step of collecting and processing the parameters in real time when the vehicle runs; if yes, inputting real-time collected parameter data, the vehicle side slip angle and the vehicle course angle into a convergent front wheel zero-deflection angle estimation model for estimation processing, and outputting a front wheel zero-deflection angle estimation value; and calculating a steering wheel zero deflection angle value according to the steering transmission ratio based on the front wheel zero deflection angle estimated value. In the embodiment of the invention, high-precision steering wheel zero deflection angle estimation can be realized without a complex algorithm, and the safety of auxiliary driving is improved.
本发明公开了一种车辆方向盘零偏角在线估计方法及相关装置,其方法包括:在车辆行驶时进行实时参数采集处理;基于实时采集参数利用车辆运动学模型进行计算处理,获得车辆的车辆侧偏角和车辆航向角;基于实时采集参数数据确认是否需要进行车辆方向盘零偏角估计处理;若确认不需要时,返回在车辆行驶时进行实时参数采集处理步骤;若确认需要时,将实时采集参数数据、所述车辆侧偏角和车辆航向角输入收敛的前轮零偏角估计模型中进行估计处理,输出前轮零偏角估计值;基于前轮零偏角估计值按照转向传动比计算获得方向盘零偏转角值。在本发明实施例中,实现无需通过复杂算法实现高精度的方向盘零偏角估计,提升辅助驾驶的安全性。
Vehicle steering wheel zero deflection angle online estimation method and related device
一种车辆方向盘零偏角在线估计方法及相关装置
2025-02-14
Patent
Electronic Resource
Chinese
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