CN112519885A - Automobile steering free stroke measuring method based on combined inertial navigation - Google Patents
Automobile steering free stroke measuring method based on combined inertial navigation Download PDFInfo
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- CN112519885A CN112519885A CN202011429604.XA CN202011429604A CN112519885A CN 112519885 A CN112519885 A CN 112519885A CN 202011429604 A CN202011429604 A CN 202011429604A CN 112519885 A CN112519885 A CN 112519885A
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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
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
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Abstract
The invention discloses an automobile steering free stroke measuring method based on combined inertial navigation, which comprises the following steps: connecting bus equipment, adjusting the position of the vehicle, acquiring first steering data of the vehicle, acquiring second steering data of the vehicle, calculating and acquiring the free stroke of the steering wheel, calculating the sum of phi y and phi z, and finally acquiring the free stroke of the vehicle. The method can save the complicated steps and complicated mechanical equipment of the original vehicle free stroke measuring method, and can finish the accurate measurement of the vehicle free stroke through the own hardware of the vehicle.
Description
Technical Field
The invention relates to the field of automobile steering systems, in particular to a method for measuring the free stroke of automobile steering.
Background
The free travel of the steering wheel of a motor vehicle is the angular travel of the steering wheel during the idle phase. The free stroke is typically 10-30. The steering free stroke of the commercial vehicle is usually large, and when the commercial vehicle is subjected to automatic driving transverse control, the steering free stroke needs to be accurately measured in order to realize accurate control of steering.
The existing automobile steering free stroke measurement is generally carried out by a mechanical detection device or by an angle sensor to carry out steering wheel angle rotation measurement. However, the mechanical structure is relatively complex, and the mechanical structure needs to be arranged on a steering wheel for measurement, so that the overall operation is complex.
Disclosure of Invention
The invention provides an automobile steering free stroke measuring method based on combined inertial navigation, which aims to solve the problems in the background technology, utilizes a combined inertial navigation sensor to measure the automobile steering free stroke, and saves the hardware cost and the complexity of measurement.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automobile steering free stroke measuring method based on combined inertial navigation comprises the following steps:
a. connecting bus equipment, and confirming normal transceiving of bus signals;
b. adjusting the position of the vehicle: the vehicle is parked on a horizontal road surface in a static state, and the vehicle is started;
c. acquiring first steering data of the vehicle: through CAN data, the steering wheel is controlled to turn to 0 DEG, the vehicle is controlled to run at a stable speed and a low speed, the steering wheel is driven and controlled to turn right, and the first turning angle value is alpha1，α1The time difference delta t between two adjacent frames is obtained through the CAN when the steering idle stroke is larger than the steering idle stroke1Speed v of the vehicle1Obtaining the vehicle orientation angle difference Delta C by combined inertial navigation1；
d. Acquiring second steering data of the vehicle: through CAN data, the steering wheel is controlled to turn to 0 DEG, the vehicle is controlled to run at a stable speed and a low speed, the steering wheel is driven and controlled to turn left, and the second turning angle value is alpha2，α2The time difference delta t between two adjacent frames is obtained through the CAN when the steering idle stroke is larger than the steering idle stroke2Speed v of the vehicle2Obtaining the vehicle orientation angle difference Delta C by combined inertial navigation2；
e. Calculating and acquiring the free stroke of the steering wheel: by the formula
Respectively carrying the data in the step c and the step d, wherein l is the vehicle wheel base, and i is the steering system angular transmission ratioAll the data are known data, and finally the right free stroke phi y in the step c and the left free stroke phi z in the step d can be obtained;
f. and calculating the sum of phi y and phi z to finally obtain the free travel phi 1 of the vehicle.
More preferably, said steps c to f are repeated a plurality of times to obtain phi a plurality of timesnAnd calculating to obtain phinfThe arithmetic mean of (a) as in the formula: phi is anf＝(φ1+φ2+……+φn)/n。
More preferably, the steering wheel can be rotated by a vehicle driving safety guard, and the vehicle steering wheel can also be rotated by a corresponding angle through a software control instruction.
More preferably, the vehicle moves at a uniform speed and a low speed, and the speed of the vehicle is less than or equal to 20 km/h.
More preferably, the repeated steps c to f are performed at different uniform speeds and different rotation angle values, respectively, to obtain data.
Drawings
FIG. 1 flow chart of a free path measurement method
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment is applied on the premise that the vehicle is provided with the vehicle combination inertial navigation system in a front loading or rear loading mode.
First, formula derivation is performed.
Under an inertial coordinate system, assuming that the positive direction of the vehicle towards the Y axis is 0 degrees, the positive direction is achieved by clockwise rotation, the positive value is achieved by clockwise rotation of the steering wheel and the tire angle of the vehicle from 0 degrees, and the negative value is achieved by counterclockwise rotation from 0 degrees, so that a vehicle kinematics model can be deduced as shown in a formula (1):
in the above formula, the first and second carbon atoms are,
xt、ytand
xt-1、yt-1representing the orientation and coordinates of the vehicle at time t and t-1, respectively, vt-1Expressed as the speed of the vehicle at time t-1, at is expressed as the time interval from time t-1 to time t, deltat-1Expressed as the front wheel angle of the vehicle at time t-1 and l as the vehicle wheelbase.
The vehicle tire rotation angle can be obtained by the vehicle kinematic model and the vehicle orientation information fed back by the combined inertial navigation, and the calculation formula is shown as the formula (2):
in the actual measurement process, the steering wheel is placed in a state of eliminating left (right) side idle stroke, the speed information of the vehicle at the time t-1 CAN be directly obtained by analyzing CAN data, the orientation information of the vehicle at the time t and the time t-1 CAN be obtained by combining inertial navigation equipment, namely the front wheel steering angle at the time t-1 CAN be obtained, and the calculated front wheel steering angle value and the steering wheel steering angle value sent by bus equipment are substituted into a formula (3) to obtain the left (right) side idle stroke phi of the steering wheel, wherein the formula is as follows:
in the above formula: α is the steering wheel angle, iwwIs the steering system angle ratio.
The calculation formula of the left side idle stroke and the right side idle stroke of the steering wheel obtained by the joint type (2) and (3) is shown as a formula (4), and the free stroke of the steering wheel can be obtained by adding the left side idle stroke and the right side idle stroke of the steering wheel.
The free stroke calculation formula is as follows:
wherein l is a vehicle wheel base, i is a steering system angular transmission ratio, and is known data; and delta C is the vehicle orientation angle difference, v is the vehicle running speed, and delta t is the time difference of the vehicle orientation angle difference, so that data are acquired by measurement.
Secondly, acquiring the core data of the free travel of the vehicle, comprising the following steps:
a. connecting bus equipment, and confirming normal transceiving of bus signals;
b. adjusting the position of the vehicle: the vehicle is parked on a horizontal road surface in a static state, and the vehicle is started;
c. acquiring first steering data of the vehicle: controlling the steering wheel to turn to 0 degree through CAN data, controlling the vehicle to run at a low speed of less than or equal to 20km/h, driving and controlling the steering wheel to turn rightwards, wherein the first turning angle value is alpha1，α1Is larger than the steering idle stroke, is generally more than or equal to 50 degrees, and obtains the time difference delta t of two adjacent frames through the CAN1Speed v of the vehicle1Obtaining the vehicle orientation angle difference Delta C by combined inertial navigation1；
d. Acquiring second steering data of the vehicle: controlling the steering wheel to turn to 0 degree through CAN data, controlling the vehicle to run at a low speed of less than or equal to 20km/h, driving and controlling the steering wheel to turn left, wherein the second turning angle value is alpha2，α2Is larger than the steering idle stroke, is generally more than or equal to 50 degrees, and obtains the time difference delta t of two adjacent frames through the CAN2Speed v of the vehicle2Obtaining the vehicle orientation angle difference Delta C by combined inertial navigation2；
e. Calculating and acquiring the free stroke of the steering wheel: by the formula
Respectively carrying the data in the step c and the step d, and finally obtaining the right free stroke phi y in the step c and the left free stroke phi z in the step d;
f. and calculating the sum of phi y and phi z to finally obtain the free travel phi 1 of the vehicle.
g. Repeating the steps c to f for multiple times at different vehicle speeds and steering wheel rotation angles to obtain phi for multiple timesnAnd calculating to obtain phinfThe arithmetic mean of (a) as in the formula: phi is anf＝(φ1+φ2+……+φn)/n。
The above embodiment is described by taking a conventional common vehicle as a case, so that operators who run at a constant speed and fix a steering angle are both drivers, and if the vehicle is provided with a drive-by-wire chassis device or a vehicle with electric control steering and electric driving capabilities, the corresponding steering angle value and the vehicle running speed CAN be issued to the vehicle through CAN communication, so that the test condition CAN be more accurate, and the method is not only suitable for the conventional vehicle, but also more suitable for measuring the free travel on an advanced auxiliary driving technology and an automatic driving vehicle.
Claims (5)
1. A method for measuring the free stroke of automobile steering based on combined inertial navigation is characterized by comprising the following steps:
a. connecting bus equipment, and confirming normal transceiving of bus signals;
b. adjusting the position of the vehicle: the vehicle is parked on a horizontal road surface in a static state, and the vehicle is started;
c. acquiring first steering data of the vehicle: through CAN data, the steering wheel is controlled to turn to 0 DEG, the vehicle is controlled to run at a stable speed and a low speed, the steering wheel is driven and controlled to turn right, and the first turning angle value is alpha1，α1The time difference delta t between two adjacent frames is obtained through the CAN when the steering idle stroke is larger than the steering idle stroke1Speed v of the vehicle1Obtaining the vehicle orientation angle difference Delta C by combined inertial navigation1；
d. Acquiring second steering data of the vehicle: through CAN data, the steering wheel is controlled to turn to 0 DEG, the vehicle is controlled to run at a stable speed and a low speed, the steering wheel is driven and controlled to turn left, and the second turning angle value is alpha2，α2The time difference delta t between two adjacent frames is obtained through the CAN when the steering idle stroke is larger than the steering idle stroke2Speed v of the vehicle2By combined inertial navigation acquisitionVehicle orientation angle difference DeltaC2；
e. Calculating and acquiring the free stroke of the steering wheel: by the formula
Respectively carrying the data in the step c and the step d, wherein l is the vehicle wheel base, i is the steering system angular transmission ratio, the data are known data, and finally the right free stroke phi y in the step c and the left free stroke phi z in the step d can be obtained;
f. and calculating the sum of phi y and phi z to finally obtain the free travel phi 1 of the vehicle.
2. The method as claimed in claim 1, wherein the steps c to f are repeated to obtain phi for multiple timesnAnd calculating to obtain phinfThe arithmetic mean of (a) as in the formula: phi is anf＝(φ1+φ2+……+φn)/n。
3. The method for measuring the free path of the automobile steering based on the combined inertial navigation system as claimed in claim 1 or 2,
the rotating steering wheel can rotate through a vehicle driving safety operator, and can also rotate through a corresponding angle through a software control instruction.
4. The method as claimed in claim 3, wherein the method for measuring the free path of the vehicle steering based on the combined inertial navigation system,
the vehicle moves at a uniform speed and a low speed, and the speed of the vehicle is less than or equal to 20 km/h.
5. The method for measuring the free path of the automobile steering based on the combined inertial navigation system of claim 2,
and in the processes of repeating the steps c to f, measuring and acquiring data at different uniform speeds and different rotation angle values respectively.
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| CN202011429604.XA CN112519885B (en) | 2020-12-07 | 2020-12-07 | Automobile steering free stroke measuring method based on combined inertial navigation |
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| CN202011429604.XA CN112519885B (en) | 2020-12-07 | 2020-12-07 | Automobile steering free stroke measuring method based on combined inertial navigation |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09240506A (en) * | 1996-03-05 | 1997-09-16 | Honda Motor Co Ltd | Steering spoke angle adjusting method and adjusting apparatus for the same |
| US20030212476A1 (en) * | 2002-02-15 | 2003-11-13 | Aanen Arie G. | Vehicle steering angle position determination method |
| US20040094351A1 (en) * | 2002-11-19 | 2004-05-20 | Koyo Seiko Co., Ltd. | Steering angle correction device |
| US20120095649A1 (en) * | 2010-10-15 | 2012-04-19 | Willy Klier | Continuous correction for steering wheel angle offset |
| CN202693316U (en) * | 2012-05-16 | 2013-01-23 | 北汽福田汽车股份有限公司 | Device for measuring free travel of steering wheel |
| US20130124043A1 (en) * | 2011-11-02 | 2013-05-16 | GM Global Technology Operations LLC | Electrical limitation of a steering gear travel path |
| CN203511764U (en) * | 2013-09-27 | 2014-04-02 | 北汽福田汽车股份有限公司 | Free stroke detection system of automobile steering wheel and automobile with same |
| CN104260780A (en) * | 2014-10-17 | 2015-01-07 | 茆海洋 | Free stroke angle measuring device of steering wheel |
-
2020
- 2020-12-07 CN CN202011429604.XA patent/CN112519885B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09240506A (en) * | 1996-03-05 | 1997-09-16 | Honda Motor Co Ltd | Steering spoke angle adjusting method and adjusting apparatus for the same |
| US20030212476A1 (en) * | 2002-02-15 | 2003-11-13 | Aanen Arie G. | Vehicle steering angle position determination method |
| US20040094351A1 (en) * | 2002-11-19 | 2004-05-20 | Koyo Seiko Co., Ltd. | Steering angle correction device |
| US20120095649A1 (en) * | 2010-10-15 | 2012-04-19 | Willy Klier | Continuous correction for steering wheel angle offset |
| US20130124043A1 (en) * | 2011-11-02 | 2013-05-16 | GM Global Technology Operations LLC | Electrical limitation of a steering gear travel path |
| CN202693316U (en) * | 2012-05-16 | 2013-01-23 | 北汽福田汽车股份有限公司 | Device for measuring free travel of steering wheel |
| CN203511764U (en) * | 2013-09-27 | 2014-04-02 | 北汽福田汽车股份有限公司 | Free stroke detection system of automobile steering wheel and automobile with same |
| CN104260780A (en) * | 2014-10-17 | 2015-01-07 | 茆海洋 | Free stroke angle measuring device of steering wheel |
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