The invention provides a steering wheel zero offset determination method and device, equipment and a medium, and the method comprises the steps: obtaining a calculated course angle of a vehicle at a second moment through a measured course angle of the vehicle at a first moment, a speed of the vehicle at the second moment and a measured steering wheel rotation angle; and determining the steering wheel zero offset of the vehicle based on the calculated course angle, the driving distance of the vehicle in the target time period and the measured course angle at the second moment, so that the steering wheel zero offset with a small value and an upper bound is projected to the driving distance with a large value and no upper bound, and the steering wheel zero offset is obtained. According to the method, the calculated course angle at the second moment and the measured course angle at the second moment are embodied, and the calculated course angle is used for representing the variable quantity of the course angle in the target time period under the condition that the steering wheel zero offset does not exist, so that the steering wheel zero offset can be represented through the calculated course angle at the second moment, the measured course angle at the second moment and the driving distance; the steering wheel zero offset of any numerical value can be quickly obtained, and the accuracy and precision of determining the steering wheel zero offset can be improved.
本公开提供了一种方向盘零偏的确定方法、装置、设备及介质,可以通过车辆在第一时刻的测量航向角和在第二时刻的速度和测量方向盘转角,得到车辆在第二时刻的计算航向角,进而基于计算航向角、车辆在目标时间段内的行驶距离以及第二时刻的测量航向角,确定车辆的方向盘零偏,这样,将小数值且有上界的方向盘零偏,投射到大数值且无上界的行驶距离上,通过第二时刻的计算航向角和第二时刻的测量航向角进行体现,由于计算航向角用于表征在不存在方向盘零偏的情况下目标时间段内航向角的变化量,因此通过第二时刻的计算航向角、第二时刻的测量航向角以及行驶距离,可以快速得到任意数值的方向盘零偏,有助于提高确定方向盘零偏的准确性和精确性。
Method, device and equipment for determining zero offset of steering wheel and medium
一种方向盘零偏的确定方法、装置、设备及介质
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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