Method and system for measuring and calibrating steering parameters of vehicle, medium and autonomous vehicle

Patent metadata

Field	Value
Publication number	US-12060126-B2
Application number	US-202217703101-A
Country	US
Kind code	B2
Filing date	Mar 24, 2022
Priority date	Dec 9, 2021
Publication date	Aug 13, 2024
Grant date	Aug 13, 2024

Abstract

The present disclosure relates to a method and system for measuring and calibrating steering parameters of a vehicle, a medium and an autonomous vehicle. The method includes: calculating a steering angle of a front wheel of the vehicle corresponding to each sampling moment at a plurality of consecutive sampling moments respectively. The calculation process at each sampling moment includes: calculating a first calculated value based on a yaw velocity of the vehicle, a vehicle velocity and a wheelbase; calculating a second calculated value based on a vehicle velocity, a lateral acceleration of the vehicle and the wheelbase; calculating a third calculated value based on a rotating angle of the steering wheel and a steering gear ratio; and calculating a steering angle of the front wheel at a current sampling moment based on the first, second and third calculated value of the steering angle of the front wheel.

First claim

What is claimed is:

1. A method for measuring and calibrating steering parameters of a vehicle, comprising:
calculating a steering angle of a front wheel of the vehicle corresponding to each sampling moment at a plurality of consecutive sampling moments respectively;
wherein, a calculation process of the steering angle of a front wheel of the vehicle at each sampling moment comprises:
calculating a first calculated value of the steering angle of the front wheel based on a yaw velocity of the vehicle, a vehicle velocity and a wheelbase between front wheels and rear wheels of the vehicle;
calculating a second calculated value of the steering angle of the front wheel based on the vehicle velocity, a lateral acceleration of the vehicle and the wheelbase between front wheels and rear wheels of the vehicle;
calculating a third calculated value of the steering angle of the front wheel based on a rotating angle of a steering wheel and a steering gear ratio; and
calculating a steering angle of the front wheel at a current sampling moment based on the first calculated value of the steering angle of the front wheel, the second calculated value of the steering angle of the front wheel, and the third calculated value of the steering angle of the front wheel.

2. The method for measuring and calibrating steering parameters of a vehicle according to claim 1 , wherein a calculation formula of the steering angle of the front wheel at the current sampling moment is:
δ t =δ t−1 +w θ ·(δ θ −δ t−1 )+ W a ·(δ a −δ t−1 )+ W ω·(δ ω −δ t−1 );

where δ t is the steering angle of the front wheel corresponding to the current sampling moment t, δ t−1 is the steering angle of the front wheel at a previous sampling moment t−1, δ ω is the first calculated value of the steering angle of the front wheel, δ a is the second calculated value of the steering angle of the front wheel, δ θ is the third calculated value of the steering angle of the front wheel, w ω is a first weighting coefficient, w a is a second weighting coefficient, and w θ is a third weighting coefficient.

3. The method for measuring and calibrating steering parameters of a vehicle according to claim 2 , wherein the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient are all obtained by calculation based on inherent parameters of a vehicle yaw velocity sensor for detecting the yaw velocity of the vehicle, a vehicle lateral acceleration sensor for detecting the lateral acceleration of the vehicle, and a steering wheel rotating angle sensor for detecting the rotating angle of the steering wheel.

4. The method for measuring and calibrating steering parameters of a vehicle according to claim 3 , wherein calculation formulas of the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient are respectively:

W
ω

=

S
ω

/

ω
max

S
ω

/

ω
max

+

S
a

/

a
max

+

S
θ

/

θ
max

;

⁢

W
a

=

S
a

/

a
max

S
ω

/

ω
max

+

S
a

/

a
max

+

S
θ

/

θ
max

;

⁢

W
θ

=

S
θ

/

θ
max

S
ω

/

ω
max

+

S
a

/

a
max

+

S
θ

/

θ
max

;

where S ω is a measurement standard deviation of the vehicle yaw velocity sensor, ω max is a maximum absolute measurement value of the vehicle yaw angle sensor, S a is a measurement standard deviation of the vehicle lateral acceleration sensor, a max is a maximum absolute measurem

Assignees

• Jiangsu Xcmg Construction Machinery Res Institute Ltd
• Xcmg Agricultural Equipment Tech Co Ltd

Inventors

• Zuo Shuai
• Gao Liang
• Ma Houxue
• Chen Ming

Classifications

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D15/0245

  Means or methods for determination of the central position of the steering system, e.g. straight ahead position · CPC title

• B62D5/0457

  characterised by control features of the drive means as such · CPC title

• B62D15/024

  Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car · CPC title

• B62D6/005 Primary

  treating sensor outputs to obtain the actual yaw rate · CPC title