The invention relates to a zero offset calibration method and device for a vehicle steering wheel, a vehicle, equipment and a medium, in particular to the technical field of power systems. The method includes: controlling a vehicle to run in a preset vehicle speed range along a calibration map according to an expected turning angle; lateral deviation and actual turning angles of the vehicle at different vehicle speeds in a preset vehicle speed range are collected; according to the actual rotation angle and the expected rotation angle, zero deflection angle measurement values at different vehicle speeds are calculated; based on a preset vehicle speed range, the lateral deviation and a zero-deflection angle estimated value, establishing a correlation among the vehicle speed, the lateral deviation and the zero-deflection angle, the zero-deflection angle estimated value being calculated based on the lateral deviation and the route length of the calibration map; determining a target zero deflection angle estimated value corresponding to the actual vehicle speed and the actual transverse deviation of the vehicle according to the correlation; and filtering and fusing the target zero-deflection angle estimated value and the zero-deflection angle measured value to obtain a zero-deflection angle calibration value, so that the zero-deflection angle calibration value is automatically compensated to the issuing turning angle to control the steering of wheels.
本申请涉及一种车辆转向轮的零偏标定方法、装置、车辆、设备及介质,尤其涉及电力系统技术领域。包括:控制车辆在预设车速范围内沿标定地图按照期望转角行驶;采集车辆在预设车速范围内不同车速下的横向偏差和实际转角;根据实际转角和期望转角,计算不同车速下的零偏角测量值;基于预设车速范围、横向偏差和零偏角估计值,建立车速、横向偏差和零偏角之间的相关关系,零偏角估计值基于横向偏差和标定地图的路线长度计算得到;根据相关关系确定车辆的实际车速和实际横向偏差对应的目标零偏角估计值;对目标零偏角估计值和零偏角测量值进行滤波融合得到零偏角标定值,以将零偏角标定值自动补偿到下发转角中控制车轮转向。
Zero offset calibration method and device for vehicle steering wheel, vehicle, equipment and medium
车辆转向轮的零偏标定方法、装置、车辆、设备及介质
2025-05-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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