CN103245284A - Gyroscope-chip-based steering wheel angle measurement method and device thereof - Google Patents
Gyroscope-chip-based steering wheel angle measurement method and device thereof Download PDFInfo
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- CN103245284A CN103245284A CN2013101769030A CN201310176903A CN103245284A CN 103245284 A CN103245284 A CN 103245284A CN 2013101769030 A CN2013101769030 A CN 2013101769030A CN 201310176903 A CN201310176903 A CN 201310176903A CN 103245284 A CN103245284 A CN 103245284A
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Abstract
The invention relates to a gyroscope-chip-based steering wheel angle measurement method. In the method, a microprocessor, a first gyroscope chip positioned on a steering wheel, a second gyroscope chip arranged on a vehicle body positioned beside the steering wheel and a Hall switch device are adopted. The method is characterized by comprising the following steps: a, the microprocessor acquires angular velocity output by the first gyroscope chip and angular velocity output by the second gyroscope chip at interval times; b, angular velocity of the steering wheel relative to the vehicle body is obtained; c, rotating angle of the steering wheel is obtained; and d, the situation that whether the steering wheel is rotated to a correct point position or not is determined, if yes, the Hall switch device sends an interrupt signal to the microprocessor, and the microprocessor responds interruption to enter a corresponding interrupt routine correction angle value. The steering wheel angle measurement method is convenient, simple in device structure, higher in reliability, high in integrated level, easy to install on a steering shaft and lower in cost, improves the usability and the compatibility of the device, and has better practicality and economy.
Description
Technical field
The present invention relates to a kind of steering wheel angle measuring method based on gyroscope chip and its device, it is related to sensor technical field, the more particularly to sensor for measuring corner of vehicle steering wheel.
Background technology
The effect of steering wheel angle sensor is the rotational angle of measurement direction disk, is the important component of Auto Electronic Controlled System, can be widely applied to steering, chassis height, ESP（Body electronics systems stabilisation）、AFS（Active steering headlamp system）Etc. system.
Common angular transducer is usually what is detected using principles such as potentiometer type, photoelectric coding disc type, condenser type, inductance type and Hall-types.Potentiometer type steering wheel angle sensor belongs to touch sensor, is worn and torn because potentiometer is present, therefore the life-span is shorter, and reliability is relatively low.As the development of electronic technology is at present gradually to contactless transformation, photoelectric coding disc type, condenser type, inductance type and Hall-type steering wheel angle sensor belong to noncontacting proximity sensor, sense part and be not present abrasion, but they all more or less have received some limitations.Such as, photoelectric coding disc type is oversized, and cost is higher, easily vibrated, dust influence.Capacitive output characteristics is stepped, and resolving power is not high, due to the presence of edge effect, and the corresponding relation of area and electric capacity is very uncertain, less stable.The measurement accuracy of Hall-type is strict to gear structure shape need, and the material and processing technology of gear are more special, so processing charges is of a relatively high.
The content of the invention
It is an object of the invention to provide a kind of steering wheel angle measuring method based on gyroscope chip, help to solve the problems such as existing steering wheel for vehicle outer corner measurement is inconvenient.
Technical program of the present invention lies in：
A kind of steering wheel angle measuring method based on gyroscope chip, including microprocessor, the first gyroscope chip on steering wheel and the second gyroscope chip on the motor-vehicle bodies of steering wheel side and Hall switch device, it is characterised in that：Carry out as follows,
a）The time obtains the angular speed that the first gyroscope chip is exported to microprocessor at equal intervals
The angular speed exported with the second gyroscope chip
；
b）Obtain angular speed of the steering wheel with respect to vehicle body,
；
c）Obtain the rotational angle of steering wheel
,
, in formula：
For initial angle,
For angular speed,
For initial time,
For current time；In digital display circuit, using its discrete type equation solution rotational angle
：In formula,
For initial angle,
For angular speed,
Represent the time interval of sampled data；
d）Judge whether steering wheel rotates to check point position；If it is, Hall switch device sends interrupt signal to microprocessor, microprocessor responds are interrupted, into respective interrupt correction to program angle value。
Prescribed direction spiral rotating shaft return normotopia be set toZero point, it is negative, steering wheel angle scope to rotate clockwise just, to rotate counterclockwise
.The method of described interrupt routine correction angle is specifically performed as follows：
If,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
The angular error when occurring angle correct need to be only met to be less than
, the bearing calibration is effective.
Another object of the present invention is to provide a kind of steering wheel rotational angle measuring device based on gyroscope chip, help to solve the problems such as existing steering wheel for vehicle corner measuring apparatus effect is not good at present.
Its technical scheme is：
A kind of device of the steering wheel angle measuring method based on gyroscope chip, including the housing on vehicle body, it is characterised in that：The housing is made up of the rotation section fixed with motor vehicle steering wheel rotating shaft and the fixed part on the motor-vehicle bodies of rotation section side, the rotation section of the housing is fixedly connected with the rotor portions of conducting slip ring, the rotation section of the housing is provided with the first gyroscope chip and permanent magnet, the stator department of described conducting slip ring is on the fixed part of housing, pcb board is additionally provided with the fixed part of the housing, the pcb board is provided with the second gyroscope chip, microprocessor and the Hall switch device triggered by permanent magnet.
Wherein, the sensitive axes of the first described gyroscope chip and the second gyroscope chip with motor vehicle steering wheel rotating shaft keeping parallelism.
Each input and output circuit of first gyroscope chip and the rotor outgoing line end of conducting slip ring are electrically connected, and the stator leading-out terminal of pcb board and conducting slip ring on described housing fixed part is electrically connected.
The pcb board is provided with the first gyroscope chip signal acquisition circuit, the second gyroscope chip signal acquisition circuit.
The advantage of the invention is that：The invention provides relatively simple steering wheel angle measuring method, make the measurement of steering wheel angle relatively simple, rotation direction and the sensing of any rotational angle to steering wheel steering spindle can be achieved；The angle measurement core component gyroscope chip of the present invention belongs to solid-state element, and internal no-rotary part, and reliability is higher；The present invention is simple in construction, effectively the integrated level of lifting sensor, is easy to the installation in steering spindle, and cost is relatively low, improves ease for use and equipment compatibility, the economy with more preferably practicality.
Brief description of the drawings
Fig. 1 is the internal structure top view of the housing of the present invention.
Fig. 2 is the external structure top view of the housing of the present invention.
Fig. 3 is the Hall switch device of the present invention and the scheme of installation of permanent magnet.
Fig. 4 is structured flowchart of the invention.
Fig. 5 is measuring method flow chart of the invention.
Embodiment
For the features described above and advantage of the present invention can be become apparent, special embodiment below, and coordinate accompanying drawing, it is described in detail below.
Referring to figs. 1 to Fig. 5, the present invention relates to a kind of steering wheel angle measuring method based on gyroscope chip, the first gyroscope chip including microprocessor, on steering wheel and the second gyroscope chip on the motor-vehicle bodies of steering wheel side and Hall switch device, are carried out as follows：
a）The time obtains the angular speed that the first gyroscope chip is exported to microprocessor at equal intervals
The angular speed exported with the second gyroscope chip
；
b）Obtain angular speed of the steering wheel with respect to vehicle body,
；
c）Obtain the rotational angle of steering wheel
,
, in formula：
For initial angle,
For angular speed,
For initial time,For current time；In digital display circuit, using its discrete type equation solution rotational angle
：
In formula,
For initial angle,
For angular speed,Represent the time interval of sampled data；
d）Judge whether steering wheel rotates to check point position；If it is, Hall switch device sends interrupt signal to microprocessor, microprocessor responds are interrupted, into respective interrupt correction to program angle value
。
Prescribed direction spiral rotating shaft return normotopia be set to
Zero point, it is negative, steering wheel angle scope to rotate clockwise just, to rotate counterclockwise
.The method of above-mentioned interrupt routine correction angle is specifically performed as follows：
If
,Reset to
；
If
,
Reset to
；
If,
Reset to
；
If
,Reset to；
If
,
Reset to
；
The angular error when occurring angle correct need to be only met to be less than
, the bearing calibration is effective.
The invention further relates to a kind of device of the steering wheel angle measuring method based on gyroscope chip, including the housing on vehicle body, the housing is made up of the rotation section 2 fixed with motor vehicle steering wheel rotating shaft 12 and the fixed part 1 on the motor-vehicle bodies of rotation section side, the rotation section 2 of the housing is fixedly connected with the rotor portions 3 of conducting slip ring, the rotation section 2 of the housing is provided with the first gyroscope chip 5 and permanent magnet 10, the stator department 4 of described conducting slip ring is on the fixed part 1 of housing, pcb board 8 is additionally provided with the fixed part 1 of the housing, the pcb board 8 is provided with the second gyroscope chip 9, microprocessor and the Hall switch device 11 triggered by permanent magnet 10.
The first above-mentioned gyroscope chip 5 and the sensitive axes of the second gyroscope chip 9 with the keeping parallelism of motor vehicle steering wheel rotating shaft 12.
The characteristic being electrically connected using the rotor outgoing line end 6 of the conducting slip ring with stator leading-out terminal 7, the rotor outgoing line end 6 of each input and output circuit and the conducting slip ring of first gyroscope chip 5 is electrically connected, the stator leading-out terminal 7 of pcb board 8 on housing fixed part and the conducting slip ring is electrically connected, so as to realize each input and output circuit of first gyroscope chip 5 and the electrical connection of pcb board 8.
Above-mentioned pcb board 8 is provided with the first gyroscope chip signal acquisition circuit, the second gyroscope chip signal acquisition circuit.
The angular speed influence that the yaw rate of itself is produced on steering wheel shaft during lower surface analysis vehicle movement：
Vehicle is travelled on plane L, and steering wheel shaft is with plane L angulations
, plane K is perpendicular to the steering wheel shaft 12.When vehicle is turned to, vehicle body yaw rate on plane L
Being projected as on plane K
,
The angular speed that i.e. vehicle body yaw rate is produced on plane K to the steering wheel shaft.
Because first gyroscope chip 5, the sensitive direction of principal axis of the chip of the second gyroscope 9 are parallel with steering wheel shaft 12, what second gyroscope chip 9 was measured is vehicle body yaw rate（Yaw rate）Projection angular speed on plane K, what first gyroscope chip 5 was measured is angular speed of the steering wheel shaft 12 with respect to ground on plane K；Second gyroscope chip 9 is measured as result
, the measurement result of first gyroscope chip 5
, wherein
It is that steering wheel shaft 12, with respect to the angular speed of vehicle body, can be obtained on plane K
。
According to kinematic principle, angle is equal to the integration of angular speed in time.Therefore, it is right
Integral operation is the relation that can obtain corner and angular speed：
In formula：
For initial angle,
For angular speed；
For initial time,
For current time.
In digital display circuit, using its discrete type equation：
In formula,
、
、
Implication and formula（1）It is identical,Represent the time interval of sampled data.
According to the outer corner measurement system of above-mentioned principle design, what angular velocity was integrated is inaccurately the main source of error, therefore sample frequency is faster, and integration time interval is smaller, and measurement accuracy is higher.
Because the angular speed that the inaccurate and gyroscope chip that angular velocity is integrated is measured has error in itself, so angle
Error can gradually add up with the time.In order to suppress the accumulative of this error, it is ensured that angle value
Long-time measurement accuracy, Fig. 3 shows that Hall switch device 11 coordinates permanent magnet 10 to realize the function of angle correct.Angle correct point position corresponds to, when steering wheel position is returned just（Corner is 0 degree）When, close to permanent magnet 10, the output electric signal of the Hall switch device 11 saltus step occurs for the Hall switch device 11, notifies the microprocessor correction angle value
。
Prescribed direction spiral rotating shaft return normotopia be set to
Zero point, it is negative, steering wheel angle scope to rotate clockwise just, to rotate counterclockwise.Can all occur angle correct whenever steering wheel turns to angle correct point, therefore occur timing steering wheel angle
Right value may be
、
、
, bearing calibration is specific as follows：
During generation angle correct：
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
The angular error when occurring angle correct need to be only met to be less than
, the bearing calibration is effective.
Fig. 5 is the flow chart of steering wheel angle measuring method provided in an embodiment of the present invention.Reference picture 5, the method comprising the steps of：
The time obtains the Output speed of the first gyroscope chip 5 to microprocessor at equal intervals
；With the Output speed of the second gyroscope chip 9
；
Obtain angular speed of the steering wheel with respect to vehicle body
；
Obtain the rotational angle of steering wheel
；
When whether steering wheel rotates to check point position, the Hall switch device 11 sends interrupt signal to microprocessor, and microprocessor responds are interrupted, into respective interrupt correction to program angle value
。
The present invention angle-measuring method belong to relative angle measurement rather than measurement of absolute angle, i.e. sensor power down re-power again after can not learn the initial steer angle of steering wheel
.In order to solve this problem, using following scheme：Power-down protection circuit is set on pcb board, and the power-down protection circuit detects main power source i.e. by power down（I.e. supply voltage drops）When, power-down protection circuit switches power to reserve battery and powered, and sends power-off signal to microprocessor, and microprocessor is received after power-off signal, and microprocessor enters power down operations state, will
It is stored in nonvolatile memory that is that microprocessor is carried or extending out（FLASH or EEPROM）In, the angle value stored before power down is re-read on such sensor after electricityAs current initial steer angle
。
Presently preferred embodiments of the present invention, all impartial changes done according to scope of the present invention patent and modification are the foregoing is only, should all belong to the covering scope of the present invention.
Claims (6)
1. a kind of steering wheel angle measuring method based on gyroscope chip, including microprocessor, the first gyroscope chip on steering wheel and the second gyroscope chip on the motor-vehicle bodies of steering wheel side and Hall switch device, it is characterised in that：Carry out as follows,
a）The time obtains the angular speed that the first gyroscope chip is exported to microprocessor at equal intervals
The angular speed exported with the second gyroscope chip
；
b）Obtain angular speed of the steering wheel with respect to vehicle body
,
；
c）Obtain the rotational angle of steering wheel
,, in formula：
For initial angle,For angular speed,
For initial time,
For current time；In digital display circuit, using its discrete type equation solution rotational angle
：
In formula,
For initial angle,
For angular speed,Represent the time interval of sampled data；
d）Judge whether steering wheel rotates to check point position；If it is, Hall switch device sends interrupt signal to microprocessor, microprocessor responds are interrupted, into respective interrupt correction to program angle value
。
2. a kind of steering wheel angle measuring method based on gyroscope chip according to claim 1, it is characterised in that：Prescribed direction spiral rotating shaft return normotopia be set to
Zero point, it is negative, steering wheel angle scope to rotate clockwise just, to rotate counterclockwise
；Described interrupt routine correction angle valueSpecifically it is performed as follows：
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
If
,
Reset to
；
If
,Reset to
；
The angular error when occurring angle correct need to be only met to be less than
, the bearing calibration is effective.
3. a kind of device of the steering wheel angle measuring method based on gyroscope chip, including the housing on vehicle body, it is characterised in that：The housing is made up of the rotation section fixed with motor vehicle steering wheel rotating shaft and the fixed part on the motor-vehicle bodies of rotation section side, the rotation section of the housing is fixedly connected with the rotor portions of conducting slip ring, the rotation section of the housing is provided with the first gyroscope chip and permanent magnet, the stator department of described conducting slip ring is on the fixed part of housing, pcb board is additionally provided with the fixed part of the housing, the pcb board is provided with the second gyroscope chip, microprocessor and the Hall switch device triggered by permanent magnet.
4. a kind of device of steering wheel angle measuring method based on gyroscope chip according to claim 3, it is characterised in that：The first described gyroscope chip and the sensitive axes of the second gyroscope chip with motor vehicle steering wheel rotating shaft keeping parallelism.
5. a kind of device of steering wheel angle measuring method based on gyroscope chip according to claim 4, it is characterised in that：Each input and output circuit of first gyroscope chip and the rotor outgoing line end of conducting slip ring are electrically connected, and the stator leading-out terminal of pcb board and conducting slip ring on described housing fixed part is electrically connected.
6. a kind of device of steering wheel angle measuring method based on gyroscope chip according to claim 5, it is characterised in that：The pcb board is provided with the first gyroscope chip signal acquisition circuit, the second gyroscope chip signal acquisition circuit.
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|---|---|---|---|
| CN2013101769030A CN103245284A (en) | 2013-05-14 | 2013-05-14 | Gyroscope-chip-based steering wheel angle measurement method and device thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159271A (en) * | 2015-07-24 | 2015-12-16 | 大连楼兰科技股份有限公司 | Method for obtaining steering wheel angle during turning of driving vehicle |
| CN105216798A (en) * | 2015-10-21 | 2016-01-06 | 广东远峰汽车电子有限公司 | Based on reversing guiding alignment method and the device thereof of relative angle information |
| CN105605219A (en) * | 2015-11-19 | 2016-05-25 | 陈剑锋 | Automobile-gear detecting device based on double dip-angle sensors |
| CN107356224A (en) * | 2017-07-14 | 2017-11-17 | 广东工业大学 | A kind of system for measuring automobile shift angle |
| CN108116495A (en) * | 2016-11-30 | 2018-06-05 | 厦门雅迅网络股份有限公司 | Detect the method and system of steering wheel for vehicle corner variation |
| CN108646733A (en) * | 2018-04-27 | 2018-10-12 | 杭州艾豆智能科技有限公司 | A kind of mobile robot and its antidote of automatic straightening |
| CN109677508A (en) * | 2019-01-29 | 2019-04-26 | 上海华测导航技术股份有限公司 | A kind of vehicle motion data acquisition methods, device, equipment and storage medium |
| CN109916428A (en) * | 2017-12-12 | 2019-06-21 | 珠海全志科技股份有限公司 | Gyro sensors system performance testing method and device in equipment |
| CN109916362A (en) * | 2019-03-04 | 2019-06-21 | 武汉理工大学 | A kind of detection method and system of steering wheel rotational angle |
| CN110030959A (en) * | 2018-06-08 | 2019-07-19 | 上海微小卫星工程中心 | Device and method for determining the circumferential wear position of a rotating mechanism |
| CN112379678A (en) * | 2020-12-18 | 2021-02-19 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
| CN112781483A (en) * | 2019-11-11 | 2021-05-11 | 西华大学 | Intelligent fire monitor angle detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159271A (en) * | 2015-07-24 | 2015-12-16 | 大连楼兰科技股份有限公司 | Method for obtaining steering wheel angle during turning of driving vehicle |
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| CN105605219A (en) * | 2015-11-19 | 2016-05-25 | 陈剑锋 | Automobile-gear detecting device based on double dip-angle sensors |
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| CN107356224A (en) * | 2017-07-14 | 2017-11-17 | 广东工业大学 | A kind of system for measuring automobile shift angle |
| CN109916428B (en) * | 2017-12-12 | 2020-10-09 | 珠海全志科技股份有限公司 | Performance test method and device for gyroscope sensing system in equipment |
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| CN108646733A (en) * | 2018-04-27 | 2018-10-12 | 杭州艾豆智能科技有限公司 | A kind of mobile robot and its antidote of automatic straightening |
| CN110030959A (en) * | 2018-06-08 | 2019-07-19 | 上海微小卫星工程中心 | Device and method for determining the circumferential wear position of a rotating mechanism |
| CN109677508A (en) * | 2019-01-29 | 2019-04-26 | 上海华测导航技术股份有限公司 | A kind of vehicle motion data acquisition methods, device, equipment and storage medium |
| CN109916362A (en) * | 2019-03-04 | 2019-06-21 | 武汉理工大学 | A kind of detection method and system of steering wheel rotational angle |
| CN109916362B (en) * | 2019-03-04 | 2021-01-19 | 武汉理工大学 | Method and system for detecting rotation angle of steering wheel |
| CN112781483A (en) * | 2019-11-11 | 2021-05-11 | 西华大学 | Intelligent fire monitor angle detection method |
| CN112379678A (en) * | 2020-12-18 | 2021-02-19 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
| CN112379678B (en) * | 2020-12-18 | 2021-06-11 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
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Application publication date: 20130814 |