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Unmanned vehicle steering compensation method and device, computer equipment and storage medium

A compensation method and unmanned vehicle technology, which is applied in the direction of steering mechanism, steering rod, automatic steering control components, etc., can solve the problems of steering system wear, distortion of driving trajectory, and affecting the stability of unmanned vehicles, so as to ensure stability and Safety, the effect of reducing the difference

Active Publication Date: 2020-04-21
深圳一清创新科技有限公司
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Problems solved by technology

[0003] However, after the unmanned vehicle has been driving for a long time, the steering system will wear to a certain extent, making it difficult to accurately steer the unmanned vehicle after receiving the steering command, resulting in distorted driving trajectory and affecting the driving performance of the unmanned vehicle. stability

Method used

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  • Unmanned vehicle steering compensation method and device, computer equipment and storage medium
  • Unmanned vehicle steering compensation method and device, computer equipment and storage medium
  • Unmanned vehicle steering compensation method and device, computer equipment and storage medium

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Embodiment Construction

[0059] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0060] The unmanned vehicle steering compensation method provided by this application can be applied to such as figure 1shown in the application environment. Wherein, the unmanned vehicle system comprises central processing unit 102, VCU (Vehicle Control Unit, vehicle controller) 104, MCU (MicroController Unit, microcontroller, refers to motor controller here) 106, steering motor 108, transmission device 110 , steering wheel 112 and wheels 114. The CPU 102 and the VCU 104 communicate through a CAN (Controller Area Network) bus. VCU 104 and MCU 106 communicate via CAN bu...

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Abstract

The invention relates to an unmanned vehicle steering compensation method and device, computer equipment and a storage medium. The method comprises the steps of obtaining the steering wheel target turning angle of the unmanned vehicle; driving a steering motor according to the steering wheel target turning angle; driving wheels of the unmanned vehicle to rotate to obtain wheel rotation trajectory,according to the wheel rotation trajectory, obtaining the actual wheel rotating angle of the unmanned vehicle through calculation; determining the wheel target turning angle of the unmanned vehicle according to the steering wheel target turning angle; performing calculating to obtain a wheel rotation angle difference value according to the wheel target rotation angle and the wheel actual rotationangle; determining the steering wheel steering compensation value of the unmanned vehicle according to the wheel steering angle difference value; and furthermore, compensating the target steering angle of the steering wheel of the unmanned vehicle according to the steering compensation value of the steering wheel, so that the steering system accurately steers the unmanned vehicle after receivingthe steering instruction, the difference between the compensated target steering angle of the wheel and the actual steering angle of the wheel is reduced, and the stability and safety of driving of the unmanned vehicle are ensured.

Description

technical field [0001] The present application relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle steering compensation method, device, computer equipment and storage medium. Background technique [0002] An unmanned vehicle is an intelligent vehicle that senses the road environment through an on-board sensor system, automatically plans a driving route, and controls the vehicle to reach a predetermined target. It is one of the important directions of automobile development. Among them, the steering system is used to control the driving direction of the unmanned vehicle to ensure that the unmanned vehicle can travel according to the established trajectory. [0003] However, after the unmanned vehicle has been driving for a long time, the steering system will wear to a certain extent, making it difficult to accurately steer the unmanned vehicle after receiving the steering command, resulting in distorted driving trajectory and affecting t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B62D113/00
CPCB62D6/002
Inventor 信韧甘露刘明王鲁佳
Owner 深圳一清创新科技有限公司
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