Time delay identification method and device, computer readable storage medium and terminal

Abstract

A time lag identification method and device, a computer readable storage medium and a terminal, the method comprising: performing time lag identification on historical data in a time domain to determine a historical time domain time lag parameter, the historical data comprising sampling data of a steering wheel angle and sampling data of a front wheel angle in a past first preset duration; converting the historical data into a frequency domain to obtain historical frequency domain data, and performing time delay identification to determine a historical frequency domain time delay parameter; determining a cut-off frequency according to a difference value between the historical time domain time-delay parameter and the historical frequency domain time-delay parameter; the current frequency domain data is determined, the frequency domain data with the frequency higher than the cut-off frequency in the current frequency domain data is removed, then time delay identification is carried out to determine real-time frequency domain time delay parameters, and the current frequency domain data comprises the frequency domain response of the current steering wheel turning angle and the frequency domain response of the front wheel turning angle. According to the invention, the accuracy of subsequent time delay identification can be improved.

Description

technical field [0001] The present invention relates to the technical field of digital signal processing, in particular to a time lag identification method and device, a computer-readable storage medium, and a terminal. Background technique [0002] Autonomous driving technology is considered to be an important means to solve traffic congestion problems and improve traffic safety in the future, which is beneficial to society, drivers and pedestrians. The driving mode of self-driving vehicles can be more energy-saving and efficient, which helps to reduce traffic congestion and air pollution. Therefore, in recent years, the development of self-driving technology has been rapid and has received widespread attention. [0003] In vehicle control systems, time lag phenomenon is a phenomenon that widely exists in various control systems. The existence of time lag will cause the vehicle to fail to respond to the output of the controller in time, resulting in obvious overshoot and e...

AI Technical Summary

Problems solved by technology

[0005] However, in the existing time-delay identification methods, the noise of the system time-delay identification is too large and the accuracy is insufficient, resulting in the time-delay compensation results not meeting user needs

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