CN108116495A - Detect the method and system of steering wheel for vehicle corner variation - Google Patents
Detect the method and system of steering wheel for vehicle corner variation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- 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
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Abstract
The present invention provides the method and system of detection steering wheel for vehicle corner variation, and method includes：At interval of preset time period, three axis angular rate vectors are obtained from six axis gyroscopes of vehicle intelligent terminal；According to the three axis angular rates vector and the geometrical relationship between the angular velocity vector of Vehicular turn plane, angular velocity vector is calculated；According to the angular velocity vector and the ratio relation of speed, the situation of change of acquisition steering wheel for vehicle corner.The present invention on the basis of additionally cost is not increased, can not only realize the acquisition of the situation of change of steering wheel for vehicle corner based on original hardware resource；And the accuracy of acquired data is high, can really reflect the practical operation situation of steering wheel；Further, moreover it is possible to effectively remove the interference signal of outer bound pair sampled data, promote the precision of data results again.The present invention can as whether the good basis of the detection of the driving states such as fatigue driving and early warning, and then provide service for the control of driving safety.
Description
Technical field
The present invention relates to vehicle-mounted data monitoring fields, particularly relate to the method for detection steering wheel for vehicle corner variation and are
System.
Background technology
With the development of national economy, the problem of vehicle guaranteeding organic quantity just rapidly increases year by year, and vehicle drive is safe
More prominent, substantial amounts of traffic accident causes huge life and property loss to country.Wherein, fatigue driving is to cause traffic thing
One of therefore the main reason for, therefore detection to fatigue driving and early warning become current all kinds of commercial car, passenger car needs to extend
One of function even as standard configuration.
At present in fatigue driving detection scheme, it is often necessary to the steering wheel angle data of collection vehicle, and then pass through mathematics
These data of modeling analysis, so as to judge the driving condition of driver.However, current many commercial car, especially load-carrying vehicle, absolutely
Major part is not equipped with ESC (electronics vehicle body stabilizing control system), and such vehicle is also just not directly detected steering wheel angle
Data, if installing steering wheel angle sensor additional, typically cost is high and installation is inconvenient.
Patent application publication number is the patent application of 104269026 A of CN, is provided a kind of based on the tired of Android platform
Please real time monitoring and prevention method are sailed.The GPS positioning and gyro sensor carried using smart mobile phone is obtained vehicle and driven
Acceleration and steering wheel angle data during sailing.Since mobile phone does not have fixed point, there is this angle of conversion in use
The possibility of degree, therefore the accuracy rate of this detection steering wheel for vehicle corner is not high, the detection of fatigue driving and early warning result are very
It is susceptible to erroneous judgement.
The content of the invention
The technical problems to be solved by the invention are：The method and system of detection steering wheel for vehicle corner variation, tool are provided
There is the characteristics of realization method is easy, at low cost and accuracy rate is high.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
The method for detecting the variation of steering wheel for vehicle corner, including：
At interval of preset time period, three axis angular rate vectors are obtained from six axis gyroscopes of vehicle intelligent terminal；
According to the three axis angular rates vector and the geometrical relationship between the angular velocity vector of Vehicular turn plane,
Angular velocity vector is calculated；
According to the angular velocity vector and the ratio relation of speed, the situation of change of acquisition steering wheel for vehicle corner.
Another technical solution provided by the invention is：
The system for detecting the variation of steering wheel for vehicle corner, including：
First acquisition module, at interval of preset time period, three axis to be obtained from six axis gyroscopes of vehicle intelligent terminal
Angular velocity vector；
Computing module, for according to the three axis angular rates vector with perpendicular to Vehicular turn plane angular velocity vector it
Between geometrical relationship, angular velocity vector is calculated；
Second acquisition module for the ratio relation according to the angular velocity vector and speed, obtains steering wheel for vehicle and turns
The situation of change at angle.
The beneficial effects of the present invention are：It is different from the acquisition needs of the steering wheel for vehicle corner situation of change of the prior art
Optional equipment ESC equipment, cost increase；Or it is detected by the gyroscope of smart mobile phone, the problems such as accuracy rate is not high.This hair
The bright three axis angular rate vectors directly gathered in real time by six axis gyroscopes of vehicle intelligent terminal itself, are calculated angular speed
Vector；Then according to Ackermann angle geometrical principle and centripetal acceleration formula, it is derived by vehicle front wheel steering angle sine value
Meet linear relationship with the ratio of angular velocity vector and speed, and when vehicle front wheel steering angle sine value is smaller, direction of traffic
Disk corner is in linear approximate relationship with angular velocity vector and the ratio of speed, it is possible thereby to direct basis angular velocity vector and speed
Ratio variation tendency and statistical law know the situation of change of steering wheel for vehicle corner.The present invention can be added to
On the premise of this, direct basis existing hardware resource more accurately obtains the behavioural characteristic that driving personnel operates steering wheel, most
The detection and early warning to driving personnel's driving states are realized eventually, to analyse whether that the driving states such as fatigue driving provide good point
Analysis basis.
Description of the drawings
Fig. 1 is the flow diagram of the method for present invention detection steering wheel for vehicle corner variation；
Fig. 2 is the method flow schematic diagram of the embodiment of the present invention one；
Fig. 3 is that three axis angular rate vectors and the geometrical relationship between the angular velocity vector of Vehicular turn plane are illustrated
Figure；
Geometrical relationship schematic diagrams of the Fig. 4 between vehicle front wheel steering angle and turning radius；
Fig. 5 is the oscillogram before sampled data filtering；
Fig. 6 is the filtered oscillogram of sampled data；
Fig. 7 is the functional template structure composition schematic diagram of the system of present invention detection steering wheel for vehicle corner variation；
Fig. 8 is the functional template structure composition schematic diagram of the embodiment of the present invention three.
Label declaration：
1st, the first acquisition module；2nd, computing module；3rd, the second acquisition module；4th, demarcating module；
5th, filter module；21st, the first computing unit；22nd, the second computing unit.
Specific embodiment
For the technology contents that the present invention will be described in detail, the objects and the effects, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is：The angular velocity vector that direct basis car-mounted terminal obtains in real time is calculated,
Obtain angular velocity vector；Then angular velocity vector and the ratio relation of speed, the variation feelings of acquisition steering wheel for vehicle corner are passed through
Condition.
Fig. 1, Fig. 3 and Fig. 4 are refer to, the present invention provides a kind of method for detecting the variation of steering wheel for vehicle corner, including：
At interval of preset time period, three axis angular rate vectors are obtained from six axis gyroscopes of vehicle intelligent terminal；
According to the three axis angular rates vector and the geometrical relationship between the angular velocity vector of Vehicular turn plane,
Angular velocity vector is calculated；
According to the angular velocity vector and the ratio relation of speed, the situation of change of acquisition steering wheel for vehicle corner.
It it should be noted that being capable of direct basis(ω is angular velocity vector, and v is speed) obtains steering wheel for vehicle corner
The principle of situation of change be：
According to vehicle Ackermann steering geometrical principle and centripetal acceleration formula, vehicle front wheel steering angle can be derived by
Sine value sin θ withMeet linear relationship；It is in again fixed ratio since wheel turning angle θ is approximate with steering wheel for vehicle corner φ
Example relation, therefore when θ is smaller, turning angle of steering wheel φ withIn linear approximate relationship.In practical applications, we and be not related to
The angle that note steering wheel for vehicle specifically rotates, but the behavioural characteristic that driver operates steering wheel whithin a period of time is paid close attention to, due to
φ withIn linear approximate relationship, therefore can Direct AnalysisVariation tendency and statistical law, the result is that equivalent, but calculate
Process is easier.
Further, further include：
Demarcate the gravity impact vector of six axis gyroscopes, and specify from vehicle up direction look down when, it is negative to rotate counterclockwise,
It rotates clockwise as just.
Seen from the above description, whether calibration complies with standard the accuracy detection of six axis gyroscopes, eliminates error in time,
Improve the accuracy for using gyroscope, and then ensure the accuracy of three acquired axis angular rate vectors.By specifying gyro
The positive and negative orientation of instrument, due to the 3-axis acceleration of six axis gyroscopes and the coordinate overlapping of axles of three axis angular rates, gravity influences
VectorIt is overlapped with the angular velocity vector direction perpendicular to Vehicular turn plane, Vehicular turn is surrounded parallel to this vector
Axis of orientation rotates (the application is without considering special circumstances such as vehicle rollovers).
Further, it is described according to the three axis angular rates vector with perpendicular to Vehicular turn plane angular velocity vector it
Between geometrical relationship, angular velocity vector is calculated, be specially：
According to the dot product formula for the calibrated gravity impact vector of 3-axis acceleration vector sum that six axis gyroscopes obtain, meter
Calculate the included angle cosine value of the component and angular velocity vector that obtain three direction of principal axis of gyroscope；
The one-component of modulus value maximum and the included angle cosine value of angular velocity vector in the component of foundation three direction of principal axis of gyroscope,
Angular velocity vector is calculated.
Seen from the above description, six axis gyro sensors include 3-axis acceleration sensor and three axis angular rates sense
Device can obtain three axis angular rate vector of 3-axis acceleration vector sum simultaneously.According to three shaft angle of gyroscope
Axis angular rate vector withIncluded angle cosine value, 3-axis acceleration vector and gravity impact vector obtained by calibrating can be passed through's
Dot product formula to calculating obtains.
Further, it is described according to the three axis angular rates vector with perpendicular to Vehicular turn plane angular velocity vector it
Between geometrical relationship, angular velocity vector is calculated, afterwards, further comprises：
Low-pass filtering treatment is carried out to the angular velocity vector.
Seen from the above description, interference signal can be removed by filtering process, ensure the validity of angular velocity vector and divided
Analyse the accuracy of result.
Further, the angular velocity vector is filtered using Butterworth digital low-pass filtering algorithm, if
Band connection frequency is determined for 0-0.5HZ, and stop-band frequency is more than 0.75HZ, and passband maximum attenuation coefficient is 1, minimum attenuation in stop band coefficient
For 5.
Seen from the above description, can be that the data and curves after filtering process are closer by above-mentioned specific filtering algorithm
In actual waveform, realize the basic removing of most of interference signal, greatly improve precision of analysis.
Referring to Fig. 7, another technical solution provided by the invention is：
The system for detecting the variation of steering wheel for vehicle corner, including：
First acquisition module, at interval of preset time period, three axis to be obtained from six axis gyroscopes of vehicle intelligent terminal
Angular velocity vector；
Computing module, for according to the three axis angular rates vector with perpendicular to Vehicular turn plane angular velocity vector it
Between geometrical relationship, angular velocity vector is calculated；
Second acquisition module for the ratio relation according to the angular velocity vector and speed, obtains steering wheel for vehicle and turns
The situation of change at angle.
Referring to Fig. 8, it is further, it further includes：
Demarcating module, for demarcate six axis gyroscopes gravity impact vector, and specify from vehicle up direction look down when, it is inverse
Hour hands rotation is negative, is rotated clockwise as just.
Further, the computing module includes：
First computing unit, the calibrated gravity of 3-axis acceleration vector sum for being obtained according to six axis gyroscopes influence
The component of three direction of principal axis of gyroscope and the included angle cosine value of angular velocity vector is calculated in the dot product formula of vector；
Second computing unit, for the one-component and angular speed according to modulus value maximum in the component of three direction of principal axis of gyroscope
The included angle cosine value of vector, is calculated angular velocity vector.
Further, further include：
Filter module, the angular velocity vector for computing module to be calculated carry out low-pass filtering treatment.
Further, the filter module, specifically for using Butterworth digital low-pass filtering algorithm to angle speed
Degree vector be filtered, set band connection frequency as 0-0.5HZ, stop-band frequency be more than 0.75HZ, passband maximum attenuation system
Number is 1, and minimum attenuation in stop band coefficient is 5.
Embodiment one
Fig. 2 to Fig. 4 is refer to, the present embodiment provides a kind of method for detecting the variation of steering wheel for vehicle corner, suitable for row
Vehicle monitoring analysis field can grasp the behavioural characteristic that driving personnel operates steering wheel, be so as to fulfill to driving personnel accordingly
The no analysis there are the bad steerings state such as fatigue driving provides good basis.
The method may include：
S1：After vehicle intelligent terminal equipment is installed, six axis gyroscopes of calibration (three axis angular rates and three axis angular rates) pass
The gravity impact vector of sensorAnd specified view angle from vehicle up direction look down when, it is negative to rotate counterclockwise, rotate clockwise for
Just.
Due to the 3-axis acceleration of six axis gyroscopes and the coordinate overlapping of axles of three axis angular rates, gravity impact vector
It is overlapped with the angular velocity vector direction perpendicular to Vehicular turn plane, Vehicular turn is surrounded parallel to gravity impact vector
Axis of orientation rotates (this programme is without considering special circumstances such as vehicle rollovers).
S2：When driving, at interval of preset time period, three shaft angles are obtained from six axis gyroscopes of vehicle intelligent terminal
Velocity.
S3：So according to the three axis angular rates vector and the geometry between the angular velocity vector of Vehicular turn plane
Angular velocity vector is calculated in relation
The preset time period is preferably 100ms.The calculating process of the angular velocity vector ω specifically includes：
Fig. 3 is refer to be analyzed, wherein,For gravity impact vector, for calculating perpendicular to the angle of vehicle rotational plane
The angle of velocity and each angular speed reference axis.
As shown in figure 3, the angular velocity vector of Vehicular turn
Wherein, For rotative component of the vehicle on three change in coordinate axis direction, take wherein numerical value maximum
One-component, it is assumed that beAndForWithAngle, then meet：
It can similarly obtain：
Wherein,
It is respectively (1,0,0), (0,1,0), (0,0,1) for the unit vector of 3 change in coordinate axis direction.
S4：According to the angular velocity vector and the ratio relation of speed, the situation of change of acquisition steering wheel for vehicle corner φ.
Direct basis(ω is angular velocity vector, and v is speed) obtains the principle of the situation of change of steering wheel for vehicle corner
For：
Referring to Fig. 4, according to Ackermann steering geometry steering principle, it is known that vehicle front wheel steering angle θ and turning radius R are deposited
In the geometrical relationship of such as Fig. 4；Wherein L is wheelbase, then has：
∵ a againce=ω2R=ω v；
Wherein, aceBe vehicle in the centripetal acceleration that front wheel steering angle is θ, speed is v, ω is the moment vehicle
The angular speed of turning；
When θ is smaller, (1) formula can approximation be reduced to：
K is constant；
Since wheel turning angle θ is approximate with steering wheel for vehicle corner φ in fixed proportionate relationship, implicit proportionality coefficient is
K ', the proportionality coefficient can real vehicle measure or seek advice from vehicle manufacturer and get, therefore as available from the above equation：
K=kk ' is constant
It can be seen that when θ is smaller, φ withNear-linear dependency.
In practical applications, we and be not concerned with the concrete numerical value of steering wheel for vehicle corner φ, but pay close attention to driving personnel
Operate the behavioural characteristic of steering wheel whithin a period of time, i.e. the variation tendency of φ and statistical law, therefore, during actual analysis, directly
Connect analysisValue can grasp.
The present embodiment is directly using original hardware resource, in the case where not increasing cost substantially, by simply analyzing
It calculates, can realize that indirect detection is to steering wheel for vehicle corner exactly, and then realize the row that steering wheel is operated to driving personnel
It is characterized, to analyze driving states, such as whether the detection of fatigue driving etc. and early warning analysis provide good basis.
Embodiment two
Fig. 5 and Fig. 6 are refer to, the present embodiment on the basis of embodiment one further expand by extension, due to vehicle itself
The reasons such as vibration or road bump, from the real-time magnitude of angular velocity that gyroscope is read there are the interference signal of multiple frequency range, for sample
The validity and its precision of analysis of notebook data, the present embodiment carry out gyro data on the basis of embodiment one
Filtering process, to improve the accuracy of testing result.
Something in common is not repeated, and difference lies in after angular velocity vector ω is calculated in the S3 of embodiment one, also wrap
It includes：
S31：Low-pass filtering treatment is carried out to the angular velocity vector ω.
Preferably, using Butterworth digital low-pass filtering algorithm, the ω value sequences being calculated (are obtained according to real-time
Three axis angular rate vectors, the sequence that the corresponding angular velocity vector being calculated is formed) carry out low-pass filtering, due to
Manual operation causes the frequency that left and right vehicle wheel fluctuates much smaller than double swerve frequency caused by vibration or road bump, through surveying repeatedly
Experiment card, it is respectively 0.1,0.15,1,5 preferably to set wp, ws, rp, rs parameter in filtering algorithm respectively, i.e. band connection frequency is
0-0.5HZ, stop-band frequency are more than 0.75HZ, and passband maximum attenuation coefficient is 1, and minimum attenuation in stop band coefficient is 5, after making filtering
Curve closer to actual waveform.
The oscillogram comparison before and after one section of actual samples data filtering is shown below：As shown in figure 5, it is adopting before filtering
Sample data waveform figure；As shown in fig. 6, it is filtered sampled data oscillogram.
From the comparison of Fig. 5 and Fig. 6, filtered processing, interference noise is substantially clear, using filtered angle speed
The calculating of the situation of change of steering wheel for vehicle corner is carried out based on degree vector, precision of analysis can be significantly improved,
Ensure the situation that the reflection driving personnel of analysis result more strictly according to the facts operates steering wheel for vehicle, be that follow-up data modeling analysis is tired
The driving states such as labor driving characteristics provide good basis.
Embodiment three
Referring to Fig. 8, the present embodiment is a kind of detection steering wheel for vehicle corner variation for providing on the basis of embodiment two
System, including：
Demarcating module 4, for demarcate six axis gyroscopes gravity impact vector, and specify from vehicle up direction look down when,
It is negative to rotate counterclockwise, and is rotated clockwise as just.
First acquisition module 1, at interval of preset time period, three axis to be obtained from six axis gyroscopes of vehicle intelligent terminal
Angular velocity vector；
Computing module 2, for according to the three axis angular rates vector and the angular velocity vector perpendicular to Vehicular turn plane
Between geometrical relationship, angular velocity vector is calculated；The computing module 2 includes：First computing unit 21, for according to six
The dot product formula for the calibrated gravity impact vector of 3-axis acceleration vector sum that axis gyroscope obtains, is calculated gyroscope three
The component of direction of principal axis and the included angle cosine value of angular velocity vector；Second computing unit 22, for according to three direction of principal axis of gyroscope
The included angle cosine value of the one-component of modulus value maximum and angular velocity vector in component, is calculated angular velocity vector；
Filter module 5, the angular velocity vector for computing module to be calculated carry out low-pass filtering treatment；Preferably,
The filter module 5, specifically for being filtered place to the angular velocity vector using Butterworth digital low-pass filtering algorithm
Reason, sets band connection frequency as 0-0.5HZ, and stop-band frequency is more than 0.75HZ, and passband maximum attenuation coefficient is 1, and stopband minimum declines
Subtract coefficient as 5.
Second acquisition module 3 for the ratio relation according to the angular velocity vector and speed, obtains steering wheel for vehicle and turns
The situation of change at angle.
In conclusion the method and system of detection steering wheel for vehicle corner variation provided by the invention, it can not only be not
On the basis of additional increase cost, the acquisition of the situation of change of steering wheel for vehicle corner is realized based on original hardware resource；And
The accuracy of acquired data is high, can really reflect the practical operation situation of steering wheel；Further, moreover it is possible to effectively remove
The interference signal of outer bound pair sampled data promotes the precision of data results again；Finally, the vehicle that the present invention can be obtained
The situation of change of steering wheel angle as whether the good basis of the detection of the driving states such as fatigue driving and early warning, and then to drive
The control of safety provides service.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made directly or indirectly are used in relevant technical field, similarly include
In the scope of patent protection of the present invention.
Claims (10)
1. detect the method for steering wheel for vehicle corner variation, which is characterized in that including：
At interval of preset time period, three axis angular rate vectors are obtained from six axis gyroscopes of vehicle intelligent terminal；
According to the three axis angular rates vector and the geometrical relationship between the angular velocity vector of Vehicular turn plane, calculate
Obtain angular velocity vector；
According to the angular velocity vector and the ratio relation of speed, the situation of change of acquisition steering wheel for vehicle corner.
2. the method for detection steering wheel for vehicle corner variation as described in claim 1, which is characterized in that further include：
Demarcate the gravity impact vector of six axis gyroscopes, and specify from vehicle up direction look down when, it is negative to rotate counterclockwise, up time
Pin is rotated as just.
3. the method for detection steering wheel for vehicle corner variation as claimed in claim 2, which is characterized in that described according to described three
Axis angular rate vector and the geometrical relationship between the angular velocity vector of Vehicular turn plane, are calculated angular velocity vector
Amount, specially：
According to the dot product formula for the calibrated gravity impact vector of 3-axis acceleration vector sum that six axis gyroscopes obtain, calculate
To the component of three direction of principal axis of gyroscope and the included angle cosine value of angular velocity vector；
According to the one-component of modulus value maximum and the included angle cosine value of angular velocity vector in the component of three direction of principal axis of gyroscope, calculate
Obtain angular velocity vector.
4. the method for detection steering wheel for vehicle corner variation as described in claim 1, which is characterized in that described according to described three
Axis angular rate vector and the geometrical relationship between the angular velocity vector of Vehicular turn plane, are calculated angular velocity vector
Amount, afterwards, further comprises：
Low-pass filtering treatment is carried out to the angular velocity vector.
5. the method for detection steering wheel for vehicle corner variation as claimed in claim 4, which is characterized in that use Butterworth number
Word low-pass filtering algorithm is filtered the angular velocity vector, sets band connection frequency as 0-0.5HZ, stop-band frequency is
More than 0.75HZ, passband maximum attenuation coefficient are 1, and minimum attenuation in stop band coefficient is 5.
6. detect the system of steering wheel for vehicle corner variation, which is characterized in that including：
First acquisition module, at interval of preset time period, three shaft angles speed to be obtained from six axis gyroscopes of vehicle intelligent terminal
Spend vector；
Computing module, for according to the three axis angular rates vector and between the angular velocity vector of Vehicular turn plane
Angular velocity vector is calculated in geometrical relationship；
Second acquisition module for the ratio relation according to the angular velocity vector and speed, obtains steering wheel for vehicle corner
Situation of change.
7. the system of detection steering wheel for vehicle corner variation as claimed in claim 6, which is characterized in that further include：
Demarcating module, for demarcate six axis gyroscopes gravity impact vector, and specify from vehicle up direction look down when, counterclockwise
It is negative to rotate, and is rotated clockwise as just.
8. the system of detection steering wheel for vehicle corner variation as claimed in claim 7, which is characterized in that
The computing module includes：
First computing unit, for the calibrated gravity impact vector of 3-axis acceleration vector sum obtained according to six axis gyroscopes
Dot product formula, the component of three direction of principal axis of gyroscope and the included angle cosine value of angular velocity vector is calculated；
Second computing unit, for the one-component and angular velocity vector according to modulus value maximum in the component of three direction of principal axis of gyroscope
Included angle cosine value, angular velocity vector is calculated.
9. the system of detection steering wheel for vehicle corner variation as claimed in claim 6, which is characterized in that further include：
Filter module, the angular velocity vector for computing module to be calculated carry out low-pass filtering treatment.
10. the system of detection steering wheel for vehicle corner variation as claimed in claim 9, which is characterized in that the filter module,
Specifically for being filtered using Butterworth digital low-pass filtering algorithm to the angular velocity vector, band connection frequency is set
For 0-0.5HZ, stop-band frequency is more than 0.75HZ, and passband maximum attenuation coefficient is 1, and minimum attenuation in stop band coefficient is 5.
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| CN109910734A (en) * | 2019-03-28 | 2019-06-21 | 江苏满运软件科技有限公司 | A kind of motor turning reminding method, system, equipment and storage medium |
| CN109910734B (en) * | 2019-03-28 | 2020-06-16 | 江苏满运软件科技有限公司 | Automobile steering prompting method, system, equipment and storage medium |
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