The invention relates to the technical field of automatic driving, and particularly discloses a neutral position control method and system for an automatic driving vehicle, and the method comprises the steps: reading a historical learning value through a steering neutral position controller; according to the value of the vehicle body attitude sensor, the vehicle speed and the camera signal, whether the vehicle is in a straight-going state is judged, and if the vehicle is in the straight-going state, a steering wheel angle is used for carrying out neutral position learning to determine a steering neutral position deviation learning value; updating the historical learning value by using the steering median deviation learning value; a steering neutral position controller is used for continuously optimizing transverse control according to the steering neutral position deviation learning value; continuously detecting whether the steering neutral position deviation learning value exceeds a preset alarm threshold value or not, and if the steering neutral position deviation learning value exceeds the preset alarm threshold value, notifying an alarm device to give an alarm; continuously detecting whether a neutral position resetting condition is met or not, and if so, controlling the steering machine to reset the steering neutral position by using a steering neutral position controller; and if the steering engine succeeds in feeding back, the steering neutral position deviation learning value is cleared away.
本发明涉及自动驾驶技术领域,具体公开了一种自动驾驶车辆中位控制方法和系统,包括:利用转向中位控制器读取历史学习值;根据车身姿态传感器的值、车速和摄像头信号,判断车辆是否处于直行状态,如果处于直行状态,则使用方向盘角度进行中位学习,以确定转向中位偏差学习值;利用转向中位偏差学习值更新历史学习值;利用转向中位控制器根据转向中位偏差学习值持续优化横向控制;持续检测转向中位偏差学习值是否超过预设的报警阈值,如果转向中位偏差学习值超过预设的报警阈值,则通知报警装置报警;持续检测是否满足中位重置条件,如果满足,则利用转向中位控制器控制转向机重置转向中位;如果转向机反馈成功,则清除转向中位偏差学习值。
Automatic driving vehicle neutral position control method and system
一种自动驾驶车辆中位控制方法和系统
18.04.2025
Patent
Elektronische Ressource
Chinesisch
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 |
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