CN110285985A - Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system - Google Patents
Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system Download PDFInfo
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- CN110285985A CN110285985A CN201910467142.1A CN201910467142A CN110285985A CN 110285985 A CN110285985 A CN 110285985A CN 201910467142 A CN201910467142 A CN 201910467142A CN 110285985 A CN110285985 A CN 110285985A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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Abstract
The invention relates to the appraisal procedure of intelligent vehicle steering system, device, system and storage mediums, are accurately assessed with realizing the steering system of intelligent vehicle, improve the safety of intelligent vehicle.The appraisal procedure of the intelligent vehicle steering system, comprising: obtain the steering data of intelligent vehicle, the steering data include multiple groups front wheel slip angle and steering wheel angle；Based on the steering data, matched curve is generated；The matched curve and reference curve are compared, the steering system of the intelligent vehicle is assessed based on comparing result.
Description
Technical field
The invention relates to automatic Pilot technical fields, and in particular to the appraisal procedure of intelligent vehicle steering system, dress
It sets, system and storage medium.
Background technique
Steering system (steering system) is a series of dresses for changing or keeping running car or reverse direction
It sets, can control the driving direction of automobile by steering system.
In the prior art, steering system is demarcated, groundwork is to find zero-bit initial value.But existing skill
Lower to stated accuracy requirement in art, usually after the completion of calibration, steering wheel gets to extreme position, corner difference to the left and to the right
It is to meet the requirements in 10 ° of ranges.
Currently, intelligent unmanned technology is quickly grown, unmanned intelligence is to be based on various data by controller
Steering system is controlled, needs to carry out steering system the calibration of higher precision；Meanwhile to steering system Real-time Feedback number
According to accuracy propose requirements at the higher level, to guarantee the safety of intelligent vehicle.
Summary of the invention
Of the existing technology in order to solve the problems, such as, at least one embodiment of the application provides intelligent vehicle steering system
Appraisal procedure, device, system and storage medium, the steering system of intelligent vehicle is accurately assessed in real time, improve intelligence
The safety of vehicle.
In a first aspect, the application provides a kind of appraisal procedure of intelligent vehicle steering system, comprising:
The steering data of intelligent vehicle are obtained, the steering data include multiple groups front wheel slip angle and steering wheel angle；
Based on the steering data, matched curve is generated；
The matched curve and reference curve are compared, the steering system of the intelligent vehicle is assessed based on comparing result.
Second aspect, the application provide a kind of assessment device of intelligent vehicle steering system, comprising:
Module is obtained, for obtaining the steering data of intelligent vehicle, the steering data include multiple groups front wheel slip angle and direction
Disk corner；
Fitting module generates matched curve for being based on the steering data；
Evaluation module assesses the intelligent vehicle based on comparing result for comparing the matched curve and reference curve
Steering system.
The third aspect, the application provide a kind of assessment system of intelligent vehicle steering system, turn to including the intelligent vehicle
The assessment device of system.
Fourth aspect, the application provide a kind of non-transient computer readable storage medium, and the non-transient computer is readable
Storage medium stores computer instruction, and the computer instruction makes computer execute the appraisal procedure of the intelligent vehicle steering system
The step of.
In the embodiment of the present application, by obtaining the multiple groups front wheel slip angle and steering wheel angle of intelligent vehicle in real time, and generate quasi-
Curve is closed, matched curve and reference curve are compared, by comparing obtaining as a result, it is possible to which feedback that is timely, preparing turns
To the state of system, to improve the safety of intelligent vehicle.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the application
Example is applied, it for those of ordinary skill in the art, without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of integrated stand composition of intelligent vehicle provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of the appraisal procedure of intelligent vehicle steering system provided by the present application；
Fig. 3 is the schematic diagram of one of assessment system of intelligent vehicle steering system provided by the present application；
Fig. 4 is the flow chart of one of scaling method of intelligent vehicle steering system provided by the present application；
Fig. 5 is two schematic diagram of the assessment system of intelligent vehicle steering system provided by the present application；
Fig. 6 is two flow chart of the scaling method of intelligent vehicle steering system provided by the present application；
Fig. 7 is three schematic diagram of the assessment system of intelligent vehicle steering system provided by the present application；
Fig. 8 is the flow chart of one of appraisal procedure of intelligent vehicle steering system provided by the present application；
Fig. 9 is four schematic diagram of the assessment system of intelligent vehicle steering system provided by the present application；
Figure 10 is two flow chart of the appraisal procedure of intelligent vehicle steering system provided by the present application；
Figure 11 is the schematic diagram of the assessment device of intelligent vehicle steering system provided by the present application；
Figure 12 is a kind of structural schematic diagram of the mobile unit of intelligent vehicle provided by the present application；
Figure 13 is the flow chart of the appraisal procedure of the execution intelligent vehicle steering system of mobile unit provided by the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Fig. 1 is a kind of integrated stand composition of intelligent vehicle provided by the embodiments of the present application, in Fig. 1, the acquisition of first sensor group
Data include but is not limited to vehicle external environment data and detection vehicle position data, first sensor group for example including
But it is not limited to camera, laser radar, millimetre-wave radar, GPS (Global Positioning System, global positioning system
At least one of system) and IMU (Inertial Measurement Unit, Inertial Measurement Unit).Automated driving system can obtain
Take the data of first sensor group.
The data of second sensor group acquisition include but is not limited to the dynamics data of vehicle, and second sensor group is for example wrapped
Wheel speed sensor, velocity sensor, acceleration transducer, steering wheel angle sensor, front wheel slip angle is included but is not limited to pass
At least one of sensor.Automated driving system can obtain the data of second sensor group.
Under pilot steering mode, driver drives vehicle by the device of operation control vehicle driving, controls vehicle row
The device sailed for example including but be not limited to brake pedal, steering wheel and gas pedal etc..The device for controlling vehicle driving can be direct
It operates vehicle bottom and executes system control vehicle driving.Vehicle bottom executes system and controls vehicle driving, and vehicle bottom executes system
System includes: steering system, braking system and dynamical system.
Automated driving system is the software systems run on an operating system, and vehicle-mounted hardware system is to support operating system fortune
Capable hardware system.Automated driving system is based on planning control algorithm and carries out programmed decision-making to Vehicular automatic driving.Automatic Pilot
System can be wirelessly communicated with cloud server, the various information of interaction.
Automated driving system can realize the step of each embodiment of the appraisal procedure of intelligent vehicle steering system, such as such as Fig. 2 institute
Show, include the following steps 201 to 203:
201, obtain the steering data of intelligent vehicle.
202, based on data are turned to, generate matched curve.
203, matched curve and reference curve are compared, the steering system based on comparing result assessment intelligent vehicle.
The embodiment of the present application by obtaining the multiple groups front wheel slip angle and steering wheel angle of intelligent vehicle in real time, and it is bent to generate fitting
Line compares matched curve and reference curve, obtaining as a result, it is possible to feedback steering system that is timely, preparing by comparing
The state of system, to improve the safety of intelligent vehicle.
The embodiment of the present application can be applied to the factory assessment of intelligent vehicle, the state in the daily maintenance of intelligent vehicle, traveling
In judgement or the repairing of disabled vehicle.
It is appreciated that can in real time or periodically obtain the steering data of intelligent vehicle in the embodiment of the present application.Such as
Obtain the steering data of intelligent vehicle in real time or periodically with second sensor group shown in FIG. 1.Obtain the steering of intelligent vehicle
Data, be not limited to intelligent vehicle it is static when or intelligent vehicle straight trip, or in negotiation of bends, or with certain speed traveling.The steering number
According to may include multiple groups front wheel slip angle and steering wheel angle.
In some possible embodiments, intelligent vehicle normally travel on road, automatically turned to or driver behaviour
When turning to, automated driving system can obtain intelligence in real time or periodically by second sensor group as shown in Figure 1
The multiple groups front wheel slip angle of vehicle and corresponding multiple groups steering wheel angle are turned based on the multiple groups front wheel slip angle and corresponding multiple groups steering wheel
Angle generates matched curve, by comparison matched curve and reference curve, determines whether the steering system of intelligent vehicle is abnormal, thus into
The prompt of row steering system state, such as prompt driver, or prompted by cloud server as shown in Figure 1.
In some possible embodiments, when carrying out daily maintenance to intelligent vehicle, steering wheel can be operated by maintenance staff
It turns to, automated driving system can obtain intelligent vehicle in real time or periodically by second sensor group as shown in Figure 1
Multiple groups front wheel slip angle and corresponding multiple groups steering wheel angle, it is raw based on the multiple groups front wheel slip angle and corresponding multiple groups steering wheel angle
At matched curve, by comparison matched curve and reference curve, determine whether the steering system of intelligent vehicle is abnormal, to be maintenance
Process provides reference.
In possible implementation, reference curve is the curve obtained when the steering system calibration of intelligent vehicle, in some realities
It applies in example, the reference curve reflects the functional relation of steering wheel angle and front wheel slip angle；Wherein, the zero of the reference curve
Position initial value is the front wheel slip angle when steering wheel angle is zero.The assessment of intelligent vehicle steering system provided by the embodiments of the present application
The part steps of each embodiment of method can be equally used for the calibration of intelligent vehicle steering system.In some embodiments, for intelligence
The calibration of vehicle steering system can be the appraisal procedure and device and four-wheel position finder of intelligent vehicle steering system provided by the present application
Cooperation is realized.For example, combining four-wheel position finder in the state that intelligent vehicle is static with step 201 and step 202, determining reference
Curve (i.e. the matched curve of step 202).Four-wheel position finder can be prenex ruler and optics level position indicator, bracing wire position indicator,
CCD position indicator, laser orientation instru-ment and 3D image position indicator etc..
As shown in figure 3, the assessment system of intelligent vehicle steering system includes: four-wheel position finder, assessment device 12, steering angle
Sensor, steering motor, Chinese herbaceous peony wheel 11.Device 12 is assessed (for ease of description, indicating intelligent vehicle steering system below to assess device
The assessment device of system) it cooperates with four-wheel position finder, demarcate the steering system of intelligent vehicle.Wherein, it is fixed to receive four-wheel for assessment device 12
The data or information that position instrument is sent, the front wheel slip angle of four-wheel position finder monitoring car front-wheel 11；Assessing device 12 can be with steering angle
Spend sensor and steering motor interaction.In some examples, the steering system of intelligent vehicle is demarcated, may include step as shown in Figure 4
Rapid 401 to 406:
401, intelligent vehicle is placed in the detection position of four-wheel position finder.
402, four-wheel position finder is opened, the front wheel slip angle of the Chinese herbaceous peony wheel 11 of intelligent vehicle is adjusted.The state of Chinese herbaceous peony wheel 11 is by 1 way
Diameter is fed back to four-wheel position finder.
403, continue the front wheel slip angle for adjusting Chinese herbaceous peony wheel 11, makes four-wheel position finder output valve zero.Four-wheel position finder by its
As a result assessment device is sent by 8 approach.
404, assessment device 12 receives the steering data of intelligent vehicle by 4 and 6 approach.
The steering data can be intelligent vehicle front-wheel 11 and pass through 2 approach feedback to steering angle sensor.That is, assessment device
12 receive the value of one group of steering wheel angle and front wheel slip angle when intelligent vehicle front wheel slip angle is zero.
405, continue to adjust intelligent vehicle front-wheel 11, makes the respectively different angle of front wheel slip angle.For example, 2.5 °/5 °/10 °/-
2.5 °/- 5 °/- 10 °, obtain the value of several groups of steering wheel angles and front wheel slip angle.It, can also according to the actual situation voluntarily in the step
Different front wheel slip angles are set, including the front wheel slip angle when steering wheel angle is zero.
406, assessment device 12 fits the reference curve of steering wheel angle and front wheel slip angle, at the beginning of the zero-bit of reference curve
Initial value demarcates intelligent vehicle.In the embodiment of the present application, the zero-bit initial value of reference curve is the front-wheel when steering wheel angle is zero
Corner.
In some embodiments, as shown in figure 5, the assessment system of intelligent vehicle steering system includes: four-wheel position finder, assessment dress
Set 12, ECU (Electronic Control Unit, electronic control unit), steering angle sensor, steering motor, Chinese herbaceous peony wheel
11.Assessment device 12 cooperates with four-wheel position finder, demarcates the steering system of intelligent vehicle.Wherein, it is fixed to receive four-wheel for assessment device 12
The data or information that position instrument is sent, the front wheel slip angle of four-wheel position finder monitoring car front-wheel 11；Assess device 12 can by ECU with
Steering angle sensor and steering motor interaction.In such cases, the steering system for demarcating intelligent vehicle may include such as Fig. 6 institute
The step 601 shown is to 606:
601, intelligent vehicle is placed in the detection position of four-wheel position finder.
602, four-wheel position finder is opened, the front wheel slip angle of the Chinese herbaceous peony wheel 11 of intelligent vehicle is adjusted.The state of Chinese herbaceous peony wheel 11 is by 1 way
Diameter is fed back to four-wheel position finder.
603, continue the front wheel slip angle for adjusting Chinese herbaceous peony wheel 11, makes four-wheel position finder output valve zero.Four-wheel position finder by its
As a result assessment device is sent by 8 approach.
604, assessment device 12 receives the steering data of intelligent vehicle ECU by 9 approach.
The steering data can be intelligent vehicle front-wheel 11 by 2 approach feedback to steering angle sensor, and steering angle passes
Sensor is fed back by 4 approach to ECU (electronic control unit).That is, assessment device 12 is when to receive intelligent vehicle front wheel slip angle be zero
One group of steering wheel angle and front wheel slip angle value.
605, continue to adjust intelligent vehicle front-wheel 11, makes the respectively different angle of front wheel slip angle.For example, 2.5 °/5 °/10 °/-
2.5 °/- 5 °/- 10 °, obtain the value of several groups of steering wheel angles and front wheel slip angle.It, can also according to the actual situation voluntarily in the step
Different front wheel slip angles are set, including the front wheel slip angle when steering wheel angle is zero.
606, assessment device 12 fits the reference curve of steering wheel angle and front wheel slip angle, at the beginning of the zero-bit of reference curve
Initial value demarcates intelligent vehicle.In the embodiment of the present application, the zero-bit initial value of reference curve is the front-wheel when steering wheel angle is zero
Corner.
In possible implementation, matched curve in step 202 and the reference curve in step 406, in step 606
Reference curve, zero-bit initial value having the same.
For example, reference curve is denoted as y=f0(x), matched curve is denoted as y=f1(x), wherein x is steering wheel angle, and y is
Front wheel slip angle.More specifically, reference curve can be denoted as y=m0+ x/a or y=m0+x2/ a, naturally it is also possible to be other similar public affairs
Formula, matched curve are identical as the specific formula that reference curve uses.Wherein, a is constant, m0It is initial for the zero-bit of reference curve
Value characterizes the front wheel slip angle when steering wheel angle is zero.For matched curve, have zero-bit identical with reference curve initial
Value.
In the present embodiment, based on above to the calibration of steering system, step 201 and step 202 can be used, in intelligent vehicle
When driving, it obtains in real time and turns to data, and generate matched curve based on data are turned to.
In some embodiments, as shown in fig. 7, the assessment system of intelligent vehicle steering system includes: assessment device 12, steering angle
Spend sensor, steering motor, Chinese herbaceous peony wheel 11.Assessment device 12 is directly connect with steering angle sensor and steering motor, is passed through
Steering motor controls Chinese herbaceous peony wheel 11, and the front wheel slip angle of Chinese herbaceous peony wheel 11 is obtained by steering angle sensor.As shown in figure 8,
The appraisal procedure of intelligent vehicle steering system may include steps of 801 to 805:
801, assessment device 12 is based on desired front wheel slip angle, so that steering motor is adjusted Chinese herbaceous peony wheel 11 by 7 approach, and receive
Corresponding steering wheel angle.
802, assessment device 12 receives the front wheel slip angle of steering angle sensor feedback by 4 approach.The front wheel slip angle is
Steering angle sensor is obtained by 2 approach.
803, assessment device 12 makes steering motor adjust Chinese herbaceous peony wheel 11 based on different expectation front wheel slip angles.
804, steering data of the device 12 based on acquisition are assessed, the fitting for fitting steering wheel angle and front wheel slip angle is bent
Line.
805, assessment device 12 compares matched curve and reference curve, assesses the steering system of intelligent vehicle.The reference curve
It can be understood as the reference curve that corresponding steps obtain in Fig. 4 or Fig. 7.
In some embodiments, such as Fig. 9, the assessment system of intelligent vehicle steering system includes: assessment device 12, ECU, steering angle
Spend sensor, steering motor, Chinese herbaceous peony wheel 11.ECU of the device 12 by intelligent vehicle is assessed, with steering angle sensor and steering electricity
Machine connection controls Chinese herbaceous peony wheel 11 by steering motor, and obtains the front wheel slip angle of Chinese herbaceous peony wheel 11 by steering angle sensor.
As shown in Figure 10, the appraisal procedure of intelligent vehicle steering system includes the following steps 1001 to 1005:
1001, assessment device 12 issues desired front wheel slip angle by 10 approach, and ECU makes steering motor adjust Chinese herbaceous peony wheel 11,
It assesses device 12 and corresponding steering wheel angle is obtained by ECU by 9 approach.
1002, ECU receive the front wheel slip angle of steering angle sensor feedback by 4 approach.The front wheel slip angle is steering angle
Degree sensor is obtained by 2 approach.
1003, assessment device 12 issues different expectation front wheel slip angles, and ECU makes steering motor adjust Chinese herbaceous peony wheel accordingly
11。
1004, steering data of the device 12 based on acquisition are assessed, the fitting for fitting steering wheel angle and front wheel slip angle is bent
Line.
1005, assessment device 12 compares matched curve and reference curve, assesses the steering system of intelligent vehicle.The reference curve
It can be understood as the reference curve that corresponding steps obtain in Fig. 4 or Fig. 7.
The above embodiments in Fig. 3, Fig. 5, Fig. 7 and Fig. 9, can control steering angle sensor by 5 approach, herein
It repeats no more.
In possible implementation, matched curve and reference curve are compared, the steering based on comparing result assessment intelligent vehicle
System, comprising:
When comparing same direction disk corner, in matched curve and reference curve, the drift angle difference of front wheel slip angle；
Based on drift angle difference, the steering system of intelligent vehicle is assessed.
For example, reference curve is denoted as y=f0(x), matched curve is denoted as y=f1(x), wherein x is steering wheel angle, and y is
Front wheel slip angle.Based on identical steering wheel angle, then drift angle difference is Δ y=f1(x1)-f0(x1), based on Δ y whether default
In the range of, the state of intelligent vehicle steering system can be monitored in real time.
In the embodiment of the present application, by obtaining the multiple groups front wheel slip angle and steering wheel angle of intelligent vehicle in real time, and generate quasi-
Curve is closed, matched curve and reference curve are compared, by comparing obtaining as a result, it is possible to which feedback that is timely, preparing turns
To the state of system, to improve the safety of intelligent vehicle.
Such as Figure 11, the embodiment of the present application provides a kind of assessment device of intelligent vehicle steering system, it may include obtains module
1101, fitting module 1102 and evaluation module 1103, each module are described as follows:
Module 1101 is obtained, for obtaining the steering data of intelligent vehicle, turning to data includes multiple groups front wheel slip angle and direction
Disk corner；
Fitting module 1102, for generating matched curve based on data are turned to；
Evaluation module 1103, for comparing matched curve and reference curve, the steering based on comparing result assessment intelligent vehicle
System.
It should be noted that the assessment device has the function of ECU simultaneously, or it is connect with the ECU of intelligent vehicle.
In possible implementation, reference curve is the curve obtained when the steering system calibration of intelligent vehicle；Wherein, it refers to
The zero-bit initial value of curve, for the front wheel angle when steering wheel angle is zero.
In possible implementation, matched curve has zero-bit initial value identical with reference curve.
In possible implementation, evaluation module 1103 is specifically used for:
When comparing same direction disk corner, in matched curve and reference curve, the drift angle difference of front wheel slip angle；
Based on drift angle difference, the steering system of intelligent vehicle is assessed.
It is appreciated that evaluation module 1103 can be executed such as the corresponding steps in Fig. 4,6,8 and 10.
Assessment device based on intelligent vehicle steering system provided by the embodiments of the present application can be one kind in intelligent vehicle
Mobile unit, the mobile unit can be the component part of intelligent vehicle, be also possible to the external product independently of intelligent vehicle.Such as figure
Shown in 12, the structural schematic diagram of mobile unit body provided by the present application, comprising: at least one processor 1201, at least one deposits
Reservoir 1202 and other user interfaces 1203.Various components in mobile unit are coupled by bus system 1204.
It is understood that bus system 1204 is for realizing the connection communication between these components.Bus system 1204 is removed
It further include power bus, control bus and status signal bus in addition except data/address bus.But for the sake of clear explanation, scheming
Various buses are all designated as bus system 1204 in 12.
Wherein, user interface 1203 may include display, keyboard or pointing device (for example, mouse, trace ball
(trackball) or touch-sensitive plate etc..
It is appreciated that the memory 1202 in the present embodiment can be volatile memory or nonvolatile memory, or
It may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read-
OnlyMemory, ROM), programmable read only memory (ProgrammableROM, PROM), Erasable Programmable Read Only Memory EPROM
(ErasablePROM, EPROM), electrically erasable programmable read-only memory (ElectricallyEPROM, EEPROM) dodge
It deposits.Volatile memory can be random access memory (RandomAccessMemory, RAM), and it is slow to be used as external high speed
It deposits.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(StaticRAM, SRAM), dynamic random access memory (DynamicRAM, DRAM), Synchronous Dynamic Random Access Memory
(SynchronousDRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (SynchlinkDRAM, SLDRAM) and direct rambus random access memory
(DirectRambusRAM, DRRAM).Memory 202 described herein is intended to include but is not limited to these to be suitble to any other
The memory of type.
In some embodiments, memory 1202 stores following element, and unit or data structure can be performed, or
Their subset of person or their superset: operating system 1221 and application program 1222.
Wherein, operating system 1221 include various system programs, such as ccf layer, core library layer, driving layer etc., are used for
Realize various basic businesses and the hardware based task of processing.Application program 1222 includes various application programs, such as media
Player (MediaPlayer), browser (Browser) etc., for realizing various applied business.Realize the embodiment of the present application
The appraisal procedure of intelligent vehicle steering system may be embodied in application program 1222.
In the embodiment of the present application, program or instruction that processor 1201 is stored by calling memory 1202, specifically,
It can be the program or instruction stored in application program 1222, processor 1201 is used to execute the assessment side of intelligent vehicle steering system
Step provided by each embodiment of method.For example, as shown in figure 13, comprising:
1301, processor 1201 obtains the steering data of intelligent vehicle.
1302, processor 1201 is based on turning to data, generates matched curve.
1303, processor 1201 compares matched curve and reference curve, the steering system based on comparing result assessment intelligent vehicle
System.
In the embodiment of the present application, by obtaining the multiple groups front wheel slip angle and steering wheel angle of intelligent vehicle in real time, and generate quasi-
Curve is closed, matched curve and reference curve are compared, by comparing obtaining as a result, it is possible to which feedback that is timely, preparing turns
To the state of system, to improve the safety of intelligent vehicle.
Certainly, processor 1201 is also used for executing the scaling method of intelligent vehicle steering system, is not repeating herein.
The method of above-mentioned the embodiment of the present application can be applied in processor 1201, or be realized by processor 1201.Place
Managing device 1201 may be a kind of IC chip, the processing capacity with signal.During realization, each step of the above method
Suddenly it can be completed by the integrated logic circuit of the hardware in processor 1201 or the instruction of software form.Above-mentioned processor
1201 can be general processor, digital signal processor (DigitalSignalProcessor, DSP), specific integrated circuit
(ApplicationSpecific IntegratedCircuit, ASIC), ready-made programmable gate array
(FieldProgrammableGateArray, FPGA) either other programmable logic device, discrete gate or transistor logic
Device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present application
Figure.General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with the application
The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor
In hardware and software unit combination execute completion.Software unit can be located at random access memory, and flash memory, read-only memory can
In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage
Medium is located at memory 1202, and processor 1201 reads the information in memory 1202, completes the above method in conjunction with its hardware
Step.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter
Number processor (DSP), digital signal processing appts (DSPDevice, DSPD), programmable logic device (PLD), field-programmable
Gate array (FPGA), general processor, controller, microcontroller, microprocessor, for executing the other of herein described function
In electronic unit or combinations thereof.
The embodiment of the present application provides a kind of assessment system of intelligent vehicle steering system, including intelligent vehicle as shown in figure 11
The assessment device of steering system；Or including mobile unit as shown in figure 12.
It further include steering motor and steering angle sensor as shown in Figure 3 and Figure 7, intelligence is controlled in possible implementation
Device processed and steering motor and steering angle sensor communicate to connect；Alternatively, as shown in figs. 5 and 9, intelligent controller passes through ECU
It is communicated to connect with steering motor and steering angle sensor.In some embodiments, device is assessed, is additionally configured to issue steering and refers to
It enables, obtains the steering wheel angle fed back based on steering order；Wherein, steering order carries front wheel slip angle；Steering motor is configured to
Based on steering order, the front-wheel of intelligent vehicle is controlled；Steering angle sensor is configured to monitoring direction disk corner.
The embodiment of the present application also provides a kind of non-transient computer readable storage medium, which is characterized in that non-transient calculating
Machine readable storage medium storing program for executing stores computer instruction, and computer instruction makes the appraisal procedure of computer execution intelligent vehicle steering system
Step.
In the embodiment of the present application, by obtaining the multiple groups front wheel slip angle and steering wheel angle of intelligent vehicle in real time, and generate quasi-
Curve is closed, matched curve and reference curve are compared, by comparing obtaining as a result, it is possible to which feedback that is timely, preparing turns
To the state of system, to improve the safety of intelligent vehicle.
In the embodiment of the present application, for software implementations, this paper institute can be realized by executing the unit of function described herein
The technology stated.Software code is storable in memory and is executed by processor.Memory can in the processor or located
It manages and is realized outside device.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that unless existing clear between the step of embodiment of the method
Sequencing, otherwise execution sequence can arbitrarily adjust.Disclosed device and method, may be implemented in other ways.
For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic
Function division, there may be another division manner in actual implementation, such as multiple units or components can combine or can collect
At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling
It closes or direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit can be with
It is electrically mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present application is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute each embodiment the method for the application all or part
Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program
The medium of code.
Although being described in conjunction with the accompanying presently filed embodiment, those skilled in the art can not depart from this Shen
Various modifications and variations are made in the case where spirit and scope please, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (12)
1. a kind of appraisal procedure of intelligent vehicle steering system characterized by comprising
The steering data of intelligent vehicle are obtained, the steering data include multiple groups front wheel slip angle and steering wheel angle；
Based on the steering data, matched curve is generated；
The matched curve and reference curve are compared, the steering system of the intelligent vehicle is assessed based on comparing result.
2. appraisal procedure as described in claim 1, which is characterized in that the reference curve is the steering system calibration of intelligent vehicle
When obtained curve；Wherein, the zero-bit initial value of the reference curve is the front-wheel when the steering wheel angle is zero
Corner.
3. appraisal procedure as claimed in claim 2, which is characterized in that the matched curve has identical as the reference curve
The zero-bit initial value.
4. appraisal procedure as claimed in claim 2, which is characterized in that described to compare the matched curve and reference curve, base
The steering system of the intelligent vehicle is assessed in comparing result, comprising:
When comparing the identical steering wheel angle, in the matched curve and reference curve, the drift angle difference of the front wheel slip angle；
Based on the drift angle difference, the steering system of the intelligent vehicle is assessed.
5. a kind of assessment device of intelligent vehicle steering system characterized by comprising
Module is obtained, for obtaining the steering data of intelligent vehicle, the steering data include that multiple groups front wheel slip angle and steering wheel turn
Angle；
Fitting module generates matched curve for being based on the steering data；
Evaluation module assesses the steering of the intelligent vehicle based on comparing result for comparing the matched curve and reference curve
System.
6. assessment device as claimed in claim 5, which is characterized in that the reference curve is the steering system calibration of intelligent vehicle
When obtained curve；Wherein, the zero-bit initial value of the reference curve is the front-wheel when the steering wheel angle is zero
Corner.
7. assessment device as claimed in claim 6, which is characterized in that the matched curve has identical as the reference curve
The zero-bit initial value.
8. assessment device as claimed in claim 6, which is characterized in that the evaluation module is specifically used for:
When comparing the identical steering wheel angle, in the matched curve and reference curve, the drift angle difference of the front wheel slip angle；
Based on the drift angle difference, the steering system of the intelligent vehicle is assessed.
9. a kind of assessment system of intelligent vehicle steering system, which is characterized in that including as described in claim 5 to 8 any one
Intelligent vehicle steering system assessment device.
10. assessment system as claimed in claim 9, which is characterized in that further include steering motor and steering angle sensor, institute
It states intelligent controller and the steering motor and the steering angle sensor communicates to connect；
The assessment device is additionally configured to issue steering order, obtains the steering wheel fed back based on the steering order and turns
Angle；Wherein, the steering order carries front wheel slip angle；
The steering motor is configured to the steering order, controls the front-wheel of intelligent vehicle；
The steering angle sensor is configured to monitor the steering wheel angle.
11. assessment system as claimed in claim 10, which is characterized in that the assessment device passes through ECU and steering electricity
Machine and steering angle sensor communication connection.
12. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction executes computer as described in Claims 1-4 the step of appraisal procedure.
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