The invention provides a zero offset compensation method and device for vehicle steering and an automatic driving vehicle, and can be applied to the technical field of unmanned driving, automatic driving and unmanned vehicles. The zero offset compensation method for vehicle steering comprises the steps that the actual yaw velocity and the steering wheel rotation angle control quantity of a vehicle in the running process are obtained, and the actual yaw velocity is the yaw velocity detected by a detection sensor on the vehicle; using a steering model to process the steering wheel steering angle control amount to obtain a predicted steering angle control amount, the steering model including consideration of response time of a steering engine of the vehicle to the instruction; processing the predicted steering angle control quantity by using a vehicle model to obtain an expected yaw velocity; according to the actual yaw velocity and the expected yaw velocity, the corner zero offset compensation amount is determined; and performing zero offset compensation on the steering wheel steering angle control quantity by using the steering angle zero offset compensation quantity to obtain a steering zero offset compensation result of the vehicle.
本公开提供了一种车辆转向的零偏补偿方法、装置和自动驾驶车辆,可以应用于无人驾驶、自动驾驶和无人车技术领域。该车辆转向的零偏补偿方法包括:获取车辆在行驶过程中的实际横摆角速度和方向盘转角控制量,其中,实际横摆角速度是车辆上的检测传感器检测到的横摆角速度;利用转向模型,对方向盘转角控制量进行处理,得到预测转角控制量,其中,转向模型包括对车辆的转向机对指令的响应时间的考虑;利用车辆模型,对预测转角控制量进行处理,得到期望横摆角速度;根据实际横摆角速度和期望横摆角速度,确定转角零偏补偿量;以及,利用转角零偏补偿量,对方向盘转角控制量进行零偏补偿,得到对车辆的转向的零偏补偿结果。
Zero offset compensation method and device for vehicle steering and automatic driving vehicle
车辆转向的零偏补偿方法、装置和自动驾驶车辆
2024-08-20
Patent
Electronic Resource
Chinese
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