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Method and system for adjusting steering angle of vehicle steering wheel and vehicle

A technology of steering wheel angle and adjustment method, applied in the adjustment method and system of the steering wheel angle of a vehicle, in the field of vehicles, can solve the problems of inconvenient operation, increase manual debugging work, etc., and achieve the effect of facilitating transplantation, improving flexibility, and eliminating complicated steps.

Active Publication Date: 2019-12-20
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practice, it has been found that individual parameters of the vehicle will be affected by multiple factors such as the time of use of the vehicle and the mechanical wear and tear of the vehicle. Human debugging work, the operation is extremely inconvenient

Method used

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  • Method and system for adjusting steering angle of vehicle steering wheel and vehicle
  • Method and system for adjusting steering angle of vehicle steering wheel and vehicle
  • Method and system for adjusting steering angle of vehicle steering wheel and vehicle

Examples

Experimental program
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Effect test

Embodiment 1

[0054] see figure 1 , figure 1 It is a schematic flowchart of a method for adjusting the steering wheel angle of a vehicle disclosed in an embodiment of the present invention. Such as figure 1 As shown, the method for adjusting the steering wheel angle of the vehicle is applied to the vehicle, and may specifically include the following steps.

[0055] 101. Acquire the real-time speed of the vehicle and the real-time trajectory curvature of the vehicle when the vehicle is driving on a curve.

[0056] In the embodiment of the present invention, the real-time vehicle speed is the vehicle speed acquired in real time by the wheel speed sensor when the vehicle turns, and the real-time trajectory curvature is the trajectory curvature calculated based on the real-time yaw rate and the real-time vehicle speed; wherein, the real-time yaw rate is the vehicle speed when the vehicle turns The yaw rate of the vehicle acquired in real time through the IMU does not specifically limit the a...

Embodiment 2

[0076] see image 3 , image 3 It is a schematic flowchart of another method for adjusting the steering wheel angle of a vehicle disclosed in the embodiment of the present invention. Such as image 3 As shown, the method for adjusting the steering wheel angle of the vehicle may include the following steps.

[0077] 301. During the driving process of the vehicle, collect the sample data of the steering wheel angle, the sample data of the vehicle speed and the sample data of the trajectory curvature of the vehicle.

[0078] In the embodiment of the present invention, the steering wheel angle sample data, vehicle speed sample data, and trajectory curvature sample data of the vehicle are the steering wheel steering angle, vehicle speed, and trajectory curvature collected at a certain data collection moment during the driving process of the vehicle, and the collection of each physical quantity For the manner, reference may be made to Embodiment 1, which will not be repeated here...

Embodiment 3

[0119] see Figure 4 , Figure 4 It is a structural schematic diagram of a vehicle steering wheel angle adjustment system disclosed in an embodiment of the present invention. The vehicle steering wheel angle adjustment system is applied to a vehicle so that the vehicle can perform figure 1 or image 3 Any method for adjusting the steering wheel angle of a vehicle. Such as Figure 4 As shown, the system for adjusting the steering wheel angle of the vehicle may include an acquisition unit 401, a first calculation unit 402, and an adjustment unit 403, wherein:

[0120] The acquisition unit 401 is configured to acquire the real-time speed of the vehicle and the real-time trajectory curvature of the vehicle when the vehicle is driving on a curve.

[0121] The first calculation unit 402 is used to substitute the real-time vehicle speed, the real-time trajectory curvature and the real-time factor coefficient of the vehicle into the preset polynomial model to obtain the target ste...

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Abstract

The embodiment of the invention relates to the technical field of automatic driving, and discloses a method and system for adjusting a steering angle of a vehicle steering wheel and a vehicle. The method comprises the following steps: when the vehicle runs on a curve, acquiring the real-time speed of the vehicle and the real-time track curvature of the vehicle, substituting the real-time speed, the real-time track curvature and the real-time factor coefficient of the vehicle into a preset polynomial model, solving a target steering wheel steering angle of the vehicle, and adjusting the steering wheel steering angle of the vehicle according to the target steering wheel steering angle, wherein the real-time factor coefficient is obtained by performing polynomial regression processing on thepolynomial model by using steering wheel steering angle sample data, vehicle speed sample data and track curvature sample data of the vehicle. By implementing the embodiment of the invention, the steering wheel steering angle can be self-adaptively adjusted, and the complicated manual debugging steps are reduced.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and system for adjusting the steering wheel angle of a vehicle, and a vehicle. Background technique [0002] In the scenario of automatic driving, when a smart car drives to a curve area, it usually adjusts the steering wheel angle autonomously, so as to control the self-vehicle to drive according to the pre-planned path trajectory, so as to ensure the safety of driving on the curve. Among them, the steering wheel angle is not only determined by the cornering speed and the curvature of the path trajectory, but also often related to the individual parameters of the vehicle (such as the steering wheel zero deviation, the position of the center of mass, etc.), and these individual vehicle parameters are mainly determined through artificial static debugging and calibration. However, in practice, it has been found that individual parameters of the vehicle will be af...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D15/02
CPCB62D15/024B62D15/025
Inventor 李红军刘中元柴文楠黄亚
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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