The embodiment of the invention relates to the technical field of intelligent driving, and particularly discloses a steering wheel turning angle compensation method and system based on visual perception. According to the embodiment of the invention, whether an enabling condition exists or not is judged by detecting the enabling condition; when the starting condition exists, road working conditions are recognized, and whether a front road is a transverse slope road or not is judged; when the front road is a transverse slope road, acquiring target road data; according to the target road data, performing steering wheel angle compensation analysis, and determining a steering wheel angle compensation value; and performing feedforward control of steering wheel angle compensation according to the steering wheel angle compensation value. The method can recognize a transverse slope road, obtain target road data, perform steering wheel angle compensation analysis, determine a steering wheel angle compensation value and further perform feedforward control of steering wheel angle compensation, so that when a vehicle passes through the transverse slope road, the stability of vehicle transverse control can be improved to a greater extent, and the vehicle is kept running in the middle; and the comfort and safety of the driver are improved.

    本发明实施例涉及智能驾驶技术领域,具体公开了一种基于视觉感知的方向盘转角补偿方法及系统。本发明实施例通过进行启用条件检测,判断是否具有启用条件;在具有启用条件时,识别道路工况,判断前方道路是否为横斜坡道路;在前方道路为横斜坡道路时,获取目标道路数据;根据目标道路数据,进行方向盘转角补偿分析,确定方向盘转角补偿值;按照方向盘转角补偿值,进行方向盘转角补偿的前馈控制。能够识别横斜坡道路,获取目标道路数据,进行方向盘转角补偿分析,确定方向盘转角补偿值,进而进行方向盘转角补偿的前馈控制,使得车辆经过横斜坡道路时,能更大限度提升车辆横向控制的稳定性,保持车辆居中行驶,提升驾驶员舒适性和安全性。


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    Titel :

    Steering wheel angle compensation method and system based on visual perception


    Weitere Titelangaben:

    一种基于视觉感知的方向盘转角补偿方法及系统


    Beteiligte:

    Erscheinungsdatum :

    30.06.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge




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