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CN-122009321-A - Method for calibrating the steering angle of the wheels of a vehicle, auxiliary driving system and vehicle

CN122009321ACN 122009321 ACN122009321 ACN 122009321ACN-122009321-A

Abstract

The application relates to a method for calibrating the steering angle of the wheels of a vehicle, comprising controlling the rotation of the respective wheels on the basis of the set steering angle of the respective wheels of the vehicle when the vehicle is in a crab mode, the default values of the set steering angles of the front axle wheels and the rear axle wheels being set to a predetermined value (S1), monitoring the track deviation between the actual movement track and the planned movement track of the vehicle during the movement of the vehicle in the crab mode (S2), calculating the corrected steering angle of the wheels of the vehicle on the basis of at least the planned movement track and the track deviation of the vehicle at predetermined calculation time intervals (S3), and calibrating the set steering angle of the respective wheels of the vehicle on the basis of the corrected steering angle calculated at the respective calculation time intervals within one steering angle calibration period (S4).

Inventors

  • WOLTERMANN BERND

Assignees

  • 梅赛德斯-奔驰集团股份公司

Dates

Publication Date
20260512
Application Date
20260326

Claims (14)

  1. 1. A method for calibrating a wheel steering angle of a vehicle (1), the method comprising: In the case of the vehicle (1) activating the crab mode, the respective wheels of the vehicle (1) are controlled to rotate based on the set steering angles of the respective wheels of the vehicle (1), wherein default values of the set steering angles of the front axle wheels and the rear axle wheels of the vehicle (1) are set to preset values; Monitoring a track deviation between an actual motion track and a planned motion track of the vehicle (1) during the movement of the vehicle (1) in the crab mode; calculating a corrected steering angle of the wheels of the vehicle (1) at predetermined calculation intervals based on at least the planned travel trajectory of the vehicle (1) and the monitored trajectory deviation; the set steering angle of each wheel of the vehicle (1) is calibrated based on the corrected steering angle calculated at each calculation time interval within one steering angle calibration period.
  2. 2. The method according to claim 1, wherein the length of each steering angle calibration period is adjusted based on the corrected steering angle calculated at each calculation time interval within one steering angle calibration period, wherein the length of each steering angle calibration period is in particular greater than or equal to the calculation time interval.
  3. 3. The method according to claim 2, wherein the duration of a current steering angle calibration period and/or the duration of a next steering angle calibration period is adjusted based on statistics of corrected steering angles calculated at respective calculation time intervals within one steering angle calibration period.
  4. 4. The method according to claim 3, wherein a steering angle deviation between corrected steering angles calculated at respective calculation time intervals within one steering angle calibration period is counted, wherein, Reducing the duration of a current steering angle calibration period and the duration of a next steering angle calibration period, and calibrating the set steering angles of the individual wheels of the vehicle (1) on the basis of the corrected steering angles calculated in the current steering angle calibration period, if the number of statistical deviations of the steering angle within a predefined number of value intervals is greater than or equal to a number of times threshold, wherein the number of times threshold is positively correlated with the duration of the steering angle calibration period, and/or, And when the statistical number of the steering angle deviation in the preset numerical value interval is smaller than a number threshold, calibrating the set steering angle of each wheel of the vehicle (1) based on the corrected steering angle calculated in the current steering angle calibration period, and increasing the duration of the next steering angle calibration period, wherein the number threshold is positively correlated with the duration of the steering angle calibration period.
  5. 5. Method according to claim 4, wherein the set steering angle of the individual wheels of the vehicle (1) is calibrated based on statistical data of the corrected steering angle calculated in the steering angle calibration period, wherein the statistical data comprise for example an average of the corrected steering angles calculated in the steering angle calibration period or the corrected steering angle calculated last in the steering angle calibration period.
  6. 6. The method according to any one of claims 1 to 5, wherein the calculated corrected steering angle comprises one or more of a total corrected steering angle for all wheels of the vehicle (1), a corrected steering angle for front axle wheels of the vehicle (1), a corrected steering angle for rear axle wheels of the vehicle (1), and a change curve of corrected steering angles for each wheel of the vehicle (1) and related to a set steering angle for the corresponding wheel of the vehicle (1).
  7. 7. Method according to any of the preceding claims, wherein the corrected steering angle of the wheels of the vehicle (1) is calculated based on the planned travel trajectory of the vehicle (1), the monitored trajectory deviation and load condition information of the vehicle (1), wherein the load condition information of the vehicle (1) comprises, for example, one or more of the following data, the total load capacity of the vehicle (1) and the load capacities of the individual wheels of the vehicle (1).
  8. 8. Method according to any of the preceding claims, wherein a track deviation between an actual movement track and a planned movement track of the vehicle (1) is monitored during a movement of the vehicle (1) in crab mode, based on a reference in the surroundings of the vehicle (1), wherein the reference has a linear-shaped portion, the length of which exceeds a predefined length threshold, wherein the reference comprises for example one or more of a wall, a lane marking, a parking space marking, and an obstacle.
  9. 9. Method according to any of the preceding claims, wherein the corrected steering angle of the wheels of the vehicle (1) is calculated by means of an end-to-end model based at least on the planned travel trajectory of the vehicle (1) and the monitored trajectory deviation, and/or the set steering angle of the respective wheels of the vehicle (1) is calibrated by means of an end-to-end model based on the corrected steering angles calculated at the respective calculation time intervals within one steering angle calibration period and the duration of the respective steering angle calibration period is adjusted, wherein the end-to-end model comprises, for example, a vision-language-action model.
  10. 10. A driving assistance system (10), the driving assistance system (10) comprising: an environment sensing unit (11) configured to monitor a track deviation between an actual motion track and a planned motion track of the vehicle (1) during a movement of the vehicle (1) in a crab mode; Control unit (12) configured for at least assisted execution of the method according to any one of the preceding claims.
  11. 11. The driving assistance system (10) according to claim 10, wherein the environment sensing unit (11) comprises one or more of an onboard camera, a millimeter wave radar, and a lidar.
  12. 12. The driving assistance system (10) according to claim 10 or 11, wherein the control unit (12) is integrated in an environment-aware unit (11), in particular in the vehicle-mounted camera, and an end-to-end model is deployed in the control unit (12), wherein a corrected steering angle of the wheels of the vehicle is calculated by the end-to-end model based on at least a planned driving trajectory of the vehicle (1) and the monitored trajectory deviation, and/or wherein the set steering angle of the individual wheels of the vehicle (1) is calibrated by the end-to-end model within one steering angle calibration period based on the calculated corrected steering angle and the duration of the individual steering angle calibration period is adjusted, wherein the end-to-end model comprises, for example, a vision-language-action model.
  13. 13. A vehicle (1), the vehicle (1) comprising a driving assistance system (10) according to any one of claims 10 to 12.
  14. 14. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions which, when executed by a processor, at least assist in carrying out the steps of the method according to any one of claims 1 to 9.

Description

Method for calibrating the steering angle of the wheels of a vehicle, auxiliary driving system and vehicle Technical Field The present application relates to the field of vehicle control technology, and in particular to a method for calibrating a wheel steering angle of a vehicle, a driving assistance system, a vehicle comprising a driving assistance system according to the present application, and a computer program product. Background With the development of vehicle technology, a vehicle equipped with a rear-wheel independent steering function can be switched to a crab mode to complete a diagonal travel or a lateral travel, which allows front-axle wheels and rear-axle wheels of the vehicle to rotate in the same direction at the same rotation angle. The crab travel mode is widely applied to driving scenes such as fast lane changing, obstacle avoidance, parking and the like, and particularly can improve the control flexibility of vehicles in narrow spaces or under complex road conditions. However, in the existing crab mode control method, the phenomenon that the yaw and the body of the vehicle are unstable may occur, which seriously affects the driving stability of the vehicle in the crab mode. Therefore, the existing crab mode control method has a certain improvement room. Disclosure of Invention The applicant found that due to errors in the steering system of the vehicle, the steering angles of the front axle wheels and the rear axle wheels cannot be kept completely consistent during the crab operation of the vehicle, which results in the phenomena of yaw and unstable vehicle body easily occurring during the control of the crab operation of the vehicle by using the existing crab operation mode control method, thereby seriously affecting the running stability of the vehicle in the crab operation mode. To at least partially solve the problems in the prior art, the present application provides a method for calibrating a wheel steering angle of a vehicle, a driving assistance system, a vehicle comprising a driving assistance system according to the present application, and a computer program product. According to a first aspect of the present application, there is provided a method for calibrating a wheel steering angle of a vehicle, the method may comprise: In the case of a crab mode of the vehicle being activated, the respective wheels of the vehicle can be controlled to rotate on the basis of the set steering angles of the respective wheels of the vehicle, wherein a default value of the set steering angles of the front axle wheels and the rear axle wheels of the vehicle is set to a predetermined value; -track deviations between the actual movement track and the planned movement track of the vehicle can be monitored during the movement of the vehicle in crab mode; At predetermined calculation intervals, a corrected steering angle of the wheels of the vehicle can be calculated at least on the basis of the planned travel path of the vehicle and the monitored path deviation; -the set steering angle of each wheel of the vehicle may be calibrated based on the corrected steering angle calculated at each calculation time interval within one steering angle calibration period. The core concept of the application at least comprises monitoring track deviation between an actual motion track and a planned motion track of a vehicle during the movement of the vehicle in a crab mode, calculating corrected steering angles of wheels of the vehicle a plurality of times in a steering angle calibration period and calibrating set steering angles of the respective wheels of the vehicle based on statistics of the calculated corrected steering angles. By the method, steering angles of front axle wheels and rear axle wheels of the vehicle in the crab mode are kept equal as much as possible, so that the crab control precision of the vehicle is improved, the phenomena that the vehicle is possibly yawed and unstable in the vehicle body are eliminated as much as possible, the path re-planning caused by overlarge track deviation between the actual motion track and the planned motion track is avoided, and the running efficiency of the vehicle in the crab mode can be improved. According to an alternative embodiment of the application, the length of each steering angle calibration period is adjusted on the basis of the corrected steering angle calculated at each calculation time interval within one steering angle calibration period, wherein the length of each steering angle calibration period is in particular greater than or equal to the calculation time interval. Alternatively, the duration of the current steering angle calibration period and/or the duration of the next steering angle calibration period may be adjusted based on statistics of corrected steering angles calculated at various calculation time intervals within one steering angle calibration period. Therefore, whether the vehicle is subjected to tire replacement or vehicle-mount