阅读说明：本技术 方向盘角度偏差自动修正方法、系统、车辆及存储介质 (Method and system for automatically correcting steering wheel angle deviation, vehicle and storage medium ) 是由 韩亚奇 贺勇 于 2021-09-22 设计创作，主要内容包括：本发明公开了一种方向盘角度偏差自动修正方法、系统、车辆及存储介质,包括：根据传感器输入判断当前行驶路线为直线,在直线距离满足一定条件下,实时记录方向盘转角,满足预设条件即认为完成转角补偿值的计算,将转角补偿值加入到控制算法中,同时将转角补偿值存入整车的存储单元中,以便下次启动车辆时自动读取该转角补偿值。本发明提高了车辆操纵稳定性和自动驾驶安全性。(The invention discloses a method and a system for automatically correcting the angle deviation of a steering wheel, a vehicle and a storage medium, wherein the method comprises the following steps: the method comprises the steps of judging that a current driving route is a straight line according to input of a sensor, recording a steering wheel corner in real time when a straight line distance meets a certain condition, considering that calculation of a corner compensation value is finished when a preset condition is met, adding the corner compensation value into a control algorithm, and simultaneously storing the corner compensation value into a storage unit of the whole vehicle so as to automatically read the corner compensation value when the vehicle is started next time. The invention improves the vehicle operation stability and the automatic driving safety.)

1. A system method for automatically correcting the angle deviation of a steering wheel is characterized by comprising the following steps:

step 1, activating an automatic driving system or detecting that an active correction button is triggered;

step 2, judging whether the vehicle running state lasts for a preset time and is in a straight line running state; if yes, recording n steering wheel rotation angle values in the straight driving state and storing the n steering wheel rotation angle values, otherwise, quitting, and restarting to record data until the current road is a straight line and the driving time exceeds a preset time;

step 3, analyzing the fluctuation of the steering wheel corner according to the collected steering wheel corner, specifically:

firstly, calculating the average value of the steering wheel corners, then calculating the dispersion degree, namely the standard deviation, of the steering wheel corners in the running time, judging whether the standard deviation is smaller than a first preset threshold value, if so, returning to the step 2, if not, carrying out normal analysis according to the average value and the standard deviation, judging whether the collected steering wheel corner distribution meets the 3 sigma principle, if so, considering that a calculation condition is finished once, and if not, returning to the step 2;

and 4, repeatedly executing the step 2 and the step 3, after the condition of twice calculation is finished, calculating the difference value of the average values of the steering wheel angles of twice, judging whether the difference value is smaller than a second preset threshold value, if so, considering the average value of the average values of the steering wheel angles recorded twice as a steering angle compensation value, adding the calculated steering angle compensation value into a control model, compensating the steering wheel angle error, and writing the steering wheel angle compensation value into a storage unit of the whole vehicle so as to be directly called next time.

2. The automatic steering wheel angle deviation correction system method according to claim 1, characterized by further comprising: and reading the stored steering wheel rotation angle compensation value, and judging whether the rotation angle compensation value is larger than a third preset threshold value, if so, giving an alarm, and if not, not giving the alarm.

3. The steering wheel angle deviation automatic correction system method according to claim 2, characterized in that: the first preset threshold is 0.05 °.

4. The steering wheel angle deviation automatic correction system method according to any one of claims 1 to 3, characterized in that: the second preset threshold is 0.5 °.

5. The steering wheel angle deviation automatic correction system method according to claim 4, characterized in that: the third preset threshold is 5 °.

6. An automatic steering wheel angle deviation correction system, comprising a memory and a controller, wherein the memory stores a computer-readable program, and the computer-readable program is capable of executing the steps of the automatic steering wheel angle deviation correction method according to any one of claims 1 to 5 when the computer-readable program is called by the controller.

7. A vehicle, characterized in that: the automatic steering wheel angle deviation correction system according to claim 6 is adopted.

8. A storage medium, characterized by: stored with a computer readable program which when invoked is able to execute the steps of the automatic system for the correction of angular deviations of steering wheels according to any one of claims 1 to 5.

Technical Field

The invention belongs to the technical field of automatic correction of angular deviation of an automobile steering wheel, and particularly relates to an automatic correction method and system of angular deviation of a steering wheel, a vehicle and a storage medium.

Background

Because of the continuous development of automobile technology, more and more intelligent automobiles are equipped with an automatic driving function and can realize automatic driving according to the input of various sensors, but in the transverse control process, a steering wheel has zero deviation due to road surface bumping, errors of a steering wheel corner sensor and the like, and the larger deviation easily causes the dangerous conditions that a vehicle transversely swings and rushes out of a current lane.

The method and apparatus for compensating a steering wheel angle signal having an offset in a vehicle, as disclosed in patent document CN 105691452B, can find the compensation offset by filtering and averaging, but is low in reliability and is not used for an autonomous driving vehicle.

Therefore, it is necessary to develop a new steering wheel angle deviation automatic correction method, system, vehicle, and storage medium.

Disclosure of Invention

The invention aims to provide a method and a system for automatically correcting the angle deviation of a steering wheel, a vehicle and a storage medium, which can improve the operation stability and the automatic driving safety of the vehicle by acquiring vehicle information to calculate the angle deviation for compensation.

In a first aspect, the present invention provides a method for automatically correcting an angular deviation of a steering wheel, including the steps of:

step 1, activating an automatic driving system or detecting that an active correction button is triggered;

step 2, judging whether the vehicle running state lasts for a preset time and is in a straight line running state; if yes, recording n steering wheel rotation angle values in the straight driving state and storing the n steering wheel rotation angle values, otherwise, quitting, and restarting to record data until the current road is a straight line and the driving time exceeds a preset time;

step 3, analyzing the fluctuation of the steering wheel corner according to the collected steering wheel corner, specifically:

firstly, calculating the average value of the steering wheel corners, then calculating the dispersion degree, namely the standard deviation, of the steering wheel corners in the running time, judging whether the standard deviation is smaller than a first preset threshold value, if so, returning to the step 2, if not, carrying out normal analysis according to the average value and the standard deviation, judging whether the collected steering wheel corner distribution meets the 3 sigma principle, if so, considering that a calculation condition is finished once, and if not, returning to the step 2;

and 4, repeatedly executing the step 2 and the step 3, after the condition of twice calculation is finished, calculating the difference value of the average values of the steering wheel angles of twice, judging whether the difference value is smaller than a second preset threshold value, if so, considering the average value of the average values of the steering wheel angles recorded twice as a steering angle compensation value, adding the calculated steering angle compensation value into a control model, compensating the steering wheel angle error, and writing the steering wheel angle compensation value into a storage unit of the whole vehicle so as to be directly called next time.

Optionally, the method further comprises: and reading the stored steering wheel rotation angle compensation value, and judging whether the rotation angle compensation value is larger than a third preset threshold value, if so, giving an alarm, and if not, not giving the alarm.

Optionally, the first preset threshold is 0.05 °.

Optionally, the second preset threshold is 0.5 °.

Optionally, the third preset threshold is 5 °.

In a second aspect, the present invention provides an automatic correction system for a steering wheel angle deviation, comprising a memory and a controller, wherein the memory stores a computer readable program, and the computer readable program can execute the steps of the automatic correction method for a steering wheel angle deviation according to the present invention when the computer readable program is called by the controller.

In a third aspect, the present invention provides a vehicle, which employs the automatic steering wheel angle deviation correction system according to the present invention.

In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, where the computer readable program is capable of executing the steps of the steering wheel angle deviation automatic correction method according to the present invention when the computer readable program is called.

The invention has the following advantages: the invention collects vehicle information to calculate the angle deviation for compensation, thereby improving the vehicle operation stability and the automatic driving safety.

Drawings

FIG. 1 is a flowchart illustrating the automatic calculation of the steering wheel angle compensation value after the automatic driving control system is activated according to the present embodiment;

FIG. 2 is a flowchart illustrating a process of calculating a steering wheel angle compensation value by actively activating a control algorithm when a driver finds a deviation of a steering wheel in the present embodiment;

fig. 3 is a flowchart of actively reminding a driver to perform checking and correction if the rotation angle compensation value is too large when the rotation angle compensation value in the storage unit is read in the embodiment.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1 and fig. 2, in the present embodiment, a method for automatically correcting a steering wheel angle deviation includes the following steps:

step 1, activating an automatic driving system or detecting that an active correction button is triggered;

step 2, judging whether the vehicle running state lasts for a preset time and is in a straight line running state; if yes, recording n steering wheel rotation angle values in the straight driving state and storing the n steering wheel rotation angle values, otherwise, quitting, and restarting to record data until the current road is a straight line and the driving time exceeds a preset time;

step 3, analyzing the fluctuation of the steering wheel corner according to the collected steering wheel corner, specifically:

firstly, calculating the average value of the steering wheel angle, then calculating the dispersion degree of the steering wheel angle in the driving time, namely standard deviation, judging whether the standard deviation is smaller than a first preset threshold (for example: 0.05 degrees), if so, returning to the step 2, if not, carrying out normal analysis according to the obtained average value and the standard deviation, judging whether the acquired steering wheel angle distribution meets the 3 sigma principle (the probability reaches 0.9974), if so, considering that a calculation condition is finished once, and if not, returning to the step 2;

and 4, repeatedly executing the step 2 and the step 3, after the condition of twice calculation is finished, calculating the difference value of the average value of the steering wheel angles of twice, judging whether the difference value is smaller than a second preset threshold value (for example, 0.5 degrees), if so, considering the average value of the steering wheel angles recorded twice as a steering angle compensation value, adding the calculated steering angle compensation value into the control model, compensating the steering wheel angle error, and writing the steering wheel angle compensation value into a storage unit of the whole vehicle so as to directly call the system next time.

In this embodiment, the automatic driving system is started for the first time, the rotation angle compensation value of the steering wheel stored in the storage unit of the entire vehicle is zero, the driver can manually activate the program to calculate the rotation angle compensation value, and after the automatic driving system is activated, the system collects data in real time to meet the preset condition and complete the calculation of the rotation angle compensation value.

As shown in fig. 2, in this embodiment, if the driver manually activates the program, the driver needs to drive the vehicle to the long straight line section, actively activate the active correction button, and then drive the vehicle to travel straight as much as possible, during which the system automatically completes step 2 to step 4, and stores the angle deviation compensation value meeting the condition in the hardware device, so that the activated automatic driving system is stable.

As shown in fig. 1, in this embodiment, after activating the automatic driving system, the system automatically collects data, analyzes whether the current driving road is a straight line, determines the current road condition by judging whether the turning radius is greater than 500m according to the curvature a of the collected lane line information, converts the curve into the curvature, and judges that a is less than 0.002, if the curve is a curve, the subsequent steps cannot be triggered; if the current road is a straight line, triggering the system to record steering wheel angle data, if the road is judged to be a curve within a time threshold T of 10s, quitting the system, and restarting to record data until the current road is a straight line and the running time exceeds a specified time threshold.

In this embodiment, in the step 2, the n steering wheel rotation angle values are θ respectively₁，θ₂,θ₃，……，θ_n；

In this embodiment, in step 3, the formula for calculating the average value of the steering wheel angles is as follows:

θ_average＝(θ₁+…+θ_n)/n；

In this embodiment, in the step 3, the standard deviation S is calculated_θThe formula of (1) is as follows:

as shown in fig. 3, in this embodiment, the method for automatically correcting the angular deviation of the steering wheel further includes: and reading the stored steering wheel angle compensation value, judging whether the angle compensation value is larger than a third preset threshold (for example, 5 degrees), if so, giving an alarm, namely reminding a driver to recalibrate the steering wheel angle, and if not, not giving the alarm. Because there is the risk in the time of the angular deviation is too big activation autopilot, at this moment, the car machine can send the warning, and the suggestion driver drives the car to 4S shop and carries out the steering wheel mark again, eliminates the angular deviation.

In this embodiment, an automatic correction system for a steering wheel angle deviation includes a memory and a controller, where the memory stores a computer readable program, and the computer readable program, when called by the controller, can execute the steps of the automatic correction method for a steering wheel angle deviation as described in this embodiment.

In this embodiment, a vehicle employs the automatic correction system for angular deviation of a steering wheel as described in this embodiment.

In this embodiment, a storage medium stores therein a computer-readable program, and when the computer-readable program is called, the steps of the steering wheel angle deviation automatic correction method according to this embodiment are executed.