JP5836246B2 - Steering angle deviation measuring method and measuring system - Google Patents

Description

  The present invention relates to a measuring method and a measuring system of a steering angle deviation amount of a vehicle.

  Conventionally, a method has been proposed in which a vehicle is simulated on a bench test machine and the amount of steering angle deviation is measured during traveling (see, for example, Patent Document 1).

Japanese Patent No. 4644337

However, in the above conventional method, since the vehicle is simulated running on the bench tester, it is impossible to measure the actual steering angle deviation amount during road running.
Therefore, a method is adopted in which the operator actually drives the vehicle and starts measurement of the steering angle deviation amount by, for example, pressing a measurement start button of a steering level attached to the steering wheel. In this method, the measurement start button must be operated while the vehicle is traveling straight ahead, so that the burden on the operator is large. Also, if the vehicle cannot travel straight due to a side look when the button is operated, the measurement must be performed again.
The present invention has been made in view of the above-described circumstances, and provides a measurement method and a measurement system for a steering angle deviation that can reduce the burden on an operator and can efficiently and accurately measure the steering angle deviation. With the goal.

In order to achieve the above object, the present invention provides a method for measuring a steering angle deviation amount of a vehicle traveling on a road, a change in the steering angle of the vehicle by a steering level mounted on the vehicle, and the vehicle. A change in the speed of the vehicle is acquired by the mounted acceleration sensor and a change in the traveling direction of the vehicle by the gyro sensor mounted in the vehicle, and each of the three changes is within a set threshold value. 2 is selected as a selected section, it is determined whether the change in the steering angle immediately before the selected section is within a threshold, and it is determined whether the change in speed immediately after the selected section is within the threshold. The selected section is set as a steering angle deviation amount measuring section when two determination results are within a threshold value.
According to the above configuration, since the steering angle deviation amount measurement section for measuring the steering angle deviation amount is automatically set, it is not necessary for the operator to operate the device. In addition, since the steering angle deviation measurement section is set during stable travel, the steering angle deviation can be accurately measured.

In the above configuration, the method for measuring the steering angle deviation amount according to the present invention is based on the change in the steering angle and the change in the traveling direction of the vehicle acquired in the steering angle deviation measurement section. An amount is calculated.
According to the above configuration, the steering angle deviation amount can be accurately calculated even when the traveling direction of the vehicle changes.

In addition, the present invention provides a steering angle deviation measuring system for a vehicle traveling on a road, the steering level mounted on the vehicle and acquiring a change in the steering angle of the vehicle, the vehicle mounted on the vehicle, An acceleration sensor that acquires a change in speed of the vehicle, a gyro sensor that is mounted on the vehicle and acquires a change in the traveling direction of the vehicle, and a control unit that receives the three changes. A section in which each of the three changes is within the set threshold is selected as a selection section, and it is determined whether the change in the steering angle immediately before the selection section is within the threshold, and the speed of the speed immediately after the selection section is determined. It is determined whether the change is within a threshold, and when the two determination results are within the threshold, the selected section is set as a steering angle deviation amount measurement section. And butterflies.
According to the above configuration, since the steering angle deviation amount measurement section for measuring the steering angle deviation amount is automatically set, it is not necessary for the operator to operate the device. In addition, since the steering angle deviation measurement section is set during stable travel, the steering angle deviation can be accurately measured.

In the above configuration, the steering angle deviation measuring system according to the present invention is based on a change in steering angle and a change in the traveling direction of the vehicle acquired in the steering angle deviation measurement section. An amount is calculated.
According to the above configuration, the steering angle deviation amount can be accurately calculated even when the traveling direction of the vehicle changes.

  According to the present invention, since the steering angle deviation measuring section for measuring the steering angle deviation is automatically set, it is not necessary for the operator to operate the device, the burden on the operator can be reduced, and the measurement can be performed again. The steering angle deviation amount can be measured efficiently. In addition, since the steering angle deviation measurement section is set during stable travel, the steering angle deviation can be accurately measured.

  In addition, according to the present invention, since the steering angle deviation amount of the vehicle is calculated based on the change in the steering angle and the change in the traveling direction of the vehicle acquired in the steering angle deviation amount measurement section, the traveling direction of the vehicle is Even if it changes, the amount of steering angle deviation can be calculated accurately, and re-measurement can be reduced.

1 is a schematic configuration diagram illustrating a steering angle deviation measuring system according to an embodiment of the present invention. It is a block diagram which shows the functional structure of a measurement system. It is a flowchart which shows a measurement procedure. It is a graph which shows a measurement result, (A) is a steering angle, (B) is a running direction of vehicles, (C) is a graph of speed of vehicles.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram showing a steering angle deviation measuring system according to the present embodiment. FIG. 2 is a block diagram showing a functional configuration of the measurement system.
As shown in FIG. 1, the measurement system 1 is roughly configured to include a vehicle 2 and a server (control device) 3, and the amount of steering angle deviation of the vehicle 2 traveling on a test course (road) R by an operator. It is a system to measure.

  As shown in FIG. 2, the vehicle 2 includes a steering level 21, a gyro sensor 22, an acceleration sensor 23, and a vehicle side communication unit 24. The steering level (digital level) 21 is a sensor that is detachably provided on the steering wheel 20 of the vehicle 2 and measures the steering angle of the steering wheel 20, and outputs the measurement result to the vehicle-side communication unit 24. The gyro sensor 22 is a sensor that measures the traveling direction of the vehicle 2, and outputs the measurement result to the vehicle-side communication unit 24. The acceleration sensor 23 is a sensor that measures the speed of the vehicle 2, and outputs the measurement result to the vehicle-side communication unit 24. The vehicle-side communication unit 24 is detachably provided on the steering wheel 20 by being attached to the steering level 21, for example. The vehicle-side communication unit 24 is connected to the steering level 21, the gyro sensor 22, and the acceleration sensor 23, and connected to a network such as the Internet, for example, and wireless communication means for wirelessly communicating with the server 3 connected to the network. It is. The vehicle-side communication unit 24 receives measurement results from the steering level 21, the gyro sensor 22, and the acceleration sensor 23 and outputs the measurement results to the server 3.

  The server 3 includes a control unit 30, a server side communication unit 31, and a storage unit 32. The server side communication unit 31 is a wireless communication unit that is connected to the above-described network such as the Internet and wirelessly communicates with the vehicle side communication unit 24 connected to the network. The server-side communication unit 31 receives the measurement result from the vehicle 2 under the control of the control unit 30 and outputs the measurement result to the control unit 30. The storage unit 32 is a storage unit that stores data in a rewritable manner, and includes, for example, a hard disk device, an EEPROM, and the like. The storage unit 32 stores the results received from the vehicle 2 under the control of the control unit 30. The control unit 30 is a control unit that centrally controls the server 3 and includes a CPU, a ROM, a RAM, and other peripheral circuits.

  By the way, when an operator actually drives the vehicle and measures the amount of steering angle deviation, a method in which the operator reads the steering angle indicated by the bubble level attached to the steering wheel or the like is attached to the steering wheel. The method of starting the measurement of the steering angle deviation amount by pressing the measurement start button of the digital level. In these methods, the operator needs to read the steering angle or operate the measurement start button while driving the vehicle straight along a straight line (white line). Workers are required to have high driving skills. For example, when the vehicle travels 20 meters and the vehicle travels 10 cm away from the straight direction, the steering angle may be affected by 1.0 °. In this way, since the vehicle has to travel straight with high accuracy, the travel distance required for measurement also becomes long. In addition, if the vehicle cannot travel straight due to a side look at reading or button operation, the measurement must be performed again. Further, the measured value of the steering angle read from the bubble level or the like may vary depending on the operator.

  Therefore, in the present embodiment, the steering level 21 that is a digital level is used, and the control unit 30 measures the steering angle deviation amount when the vehicle 2 travels relatively straight forward. A deviation amount measurement section is set, and a steering angle deviation amount in the steering angle deviation measurement section is calculated. Specifically, the control unit 30 refers to the measurement results received from the steering level 21, the gyro sensor 22, and the acceleration sensor 23, changes in the steering angle, changes in the speed of the vehicle 2, and changes in the traveling direction of the vehicle 2. (Hereinafter also referred to as parameters) and corresponding threshold values, and when each parameter is within the set threshold values, it is determined that the vehicle 2 is traveling straight ahead, and that section is set as the selected section. Select.

However, since the effect of steering the steering wheel 20 may not immediately appear in the traveling direction of the vehicle 2, even if the change of the steering angle or the variation of the traveling direction of the vehicle 2 is within the threshold, immediately before the selected section If the steering angle is steered, the accuracy of measurement can be improved by determining that the vehicle 2 in the selected section is not necessarily in a stable traveling state.
Further, when the speed of the vehicle 2 changes immediately after the selected section, it is considered that the vehicle is accelerated / decelerated within the selected section. Therefore, even if the speed change of the vehicle 2 is within the threshold value, immediately after the selected section. If the vehicle 2 is accelerated or decelerated, the accuracy of measurement can be improved by determining that the vehicle 2 in the selected section is not necessarily in a stable traveling state.
Therefore, the control unit 30 determines whether the change in the steering angle immediately before the selected section is within the threshold value, determines whether the change in the speed of the vehicle 2 immediately after the selected section is within the threshold value, and determines two determinations. When the result is within the threshold, the selected section is set as the steering angle deviation amount measuring section.

In addition, the control unit 30 calculates the steering angle deviation amount of the vehicle 2 based on the change in the steering angle and the change in the traveling direction of the vehicle 2 acquired in the steering angle deviation amount measurement section.
That is, the control unit 30 includes a selection section selection unit for selecting a selection section, a state determination section immediately before the selection section for determining a state immediately before the selection section, a state determination section immediately after the selection section for determining a state immediately after the selection section, and a steering angle deviation. It functions as a measurement interval setting unit that sets the amount measurement interval and a steering angle deviation amount calculation unit that calculates the steering angle deviation amount. Note that conditions such as a threshold used when the control unit 30 performs selection, determination, setting, and calculation are stored in the storage unit 32.

Hereinafter, the procedure for measuring the steering angle deviation will be described with reference to FIGS.
FIG. 3 is a flowchart showing the measurement procedure. FIG. 4 is a graph showing the measurement results, FIG. 4 (A) is a steering angle, FIG. 4 (B) is a traveling direction of the vehicle 2, and FIG. 4 (C) is a graph of the speed of the vehicle 2. In FIG. 4, the vertical axis indicates the index of each parameter, and the horizontal axis indicates the section (time).
Before the vehicle 2 travels, the steering level 21 and the vehicle side communication unit 24 are attached to the vehicle 2 to be measured, and are associated with the identification number of the vehicle side communication unit 24 and the identification number of the vehicle 2 to be measured. Store in the storage unit 32.
When the vehicle 2 is traveled by the operator (step S1), the steering level 21, the gyro sensor 22, and the acceleration sensor 23 start measurement and output the measurement result to the vehicle side communication unit 24 (step S2). . In the present embodiment, the measurement by the steering level 21, the gyro sensor 22, and the acceleration sensor 23 and the communication of the vehicle-side communication unit 24 are automatically started when the vehicle 2 is turned on. The vehicle side communication unit 24 outputs the measurement results received from the steering level 21, the gyro sensor 22, and the acceleration sensor 23 to the server 3 together with the identification number of the vehicle side communication unit 24 (step S3).

  The control unit 30 stores the measurement result received from the vehicle 2 in the storage unit 32 and, based on the measurement result, a section in which the vehicle 2 is traveling relatively straight and substantially straight, specifically, each parameter. Is selected as a selected section (time) in which a predetermined time (for example, 2 seconds) falls within the threshold (step S4). The selected section is a section in which the control unit 30 determines that the vehicle 2 is traveling straight ahead. As threshold conditions, for example, the steering angle change is set to 3.0 °, the vehicle 2 speed change is set to 3.0 km / h, and the vehicle 2 travel direction change is set to 0.2 ° / second. . The hatched portion in FIG. 4 indicates that the parameter is within the threshold value.

  When the section satisfying the above condition is selected as the selected section, the control unit 30 determines whether or not the steering angle change immediately before the selected section is within the threshold and whether or not the speed change immediately after the selected section is within the threshold (step) S5). Immediately before and after the selected section, for example, it is set within 5 seconds before and after the selected section, the steering angle change threshold is set to the same (3.0 °) as the selected section threshold, for example, and the speed change threshold is For example, it is set to be the same (3.0 km / h) as the threshold value of the selected section. Note that the threshold value immediately before and after the selected section may be different from the threshold value of the selected section.

When the steering angle change immediately before the selected section is not within the threshold value and the speed change immediately after the selected section is not within the threshold value (step S5: No), the control unit 30 returns the process to step S4.
On the other hand, when the steering angle change immediately before the selected section is within the threshold value, and the speed change immediately after the selected section is within the threshold value (step S5: Yes), the control unit 30 ensures that the vehicle 2 travels in the selected section. Therefore, the selected section is regarded as appropriate, and the selected section is set as the steering angle deviation measuring section (step S6).

Next, the control unit 30 calculates a value obtained by subtracting the change in the traveling direction of the vehicle 2 from the change in the steering angle acquired in the steering angle deviation measurement section as a steering angle deviation amount of the vehicle 2 (step S30). S7), this steering angle deviation amount is stored in the storage unit 32 together with the identification number of the vehicle 2 to be measured associated with the identification number of the vehicle side communication unit 24, and the process is terminated.
Since the processing (calculation) by the control unit 30 is performed while the vehicle 2 is traveling, the steering angle deviation amount is calculated when the vehicle 2 finishes traveling on the test course R. Once the steering angle deviation is calculated, no further calculations are performed. On the other hand, when traveling is not stable and an appropriate steering angle deviation amount measurement section is not set, the vehicle travels again.
When the measurement running of the vehicle is completed, the steering level 21 and the vehicle side communication unit 24 are removed, and the measurement procedure of the steering angle deviation amount is completed.

  As described above, according to this embodiment, the steering level of the vehicle 2 is changed by the steering level 21 mounted on the vehicle 2 and the acceleration sensor 23 mounted on the vehicle 2 The change in speed and the change in the traveling direction of the vehicle 2 are acquired by the gyro sensor 22 mounted on the vehicle 2, and a section in which each of the three changes is within a set threshold is selected as a selection section. , Determine whether the change in the steering angle immediately before the selected section is within the threshold, determine whether the speed change immediately after the selected section is within the threshold, and select when the results of the two determinations are within the threshold The section is set as a steering angle deviation amount measuring section. With this configuration, the steering angle deviation measuring section for measuring the steering angle deviation is automatically set, so that the operator does not need to operate the device, and the operator can concentrate on driving the vehicle 2 straight ahead. The travel distance can be shortened, the re-measurement can be reduced, and the measurement process can be shortened.

Further, by looking at the change in the speed of the vehicle 2 and the change in the traveling direction of the vehicle 2, the selected section can be selected during stable traveling. The change in the speed of the vehicle 2 and the change in the traveling direction of the vehicle 2 are necessary for determining that the behavior of the normal vehicle is stable because the existing gyro sensor 22 and the acceleration sensor 23 are used for the vehicle 2. This eliminates the need for a sensor that measures the roll and pitch, and reduces the number of parts.
Furthermore, by determining the change in the steering angle immediately before the selected section and the change in speed immediately after the selected section, the steering angle deviation measurement section is set during more stable travel, so the steering angle deviation amount can be accurately determined. It can be measured. In this embodiment, the measurement accuracy can be improved by 40% compared to the conventional method of starting the measurement of the steering angle deviation amount by pressing the measurement start button of the digital level. In addition, by fixing the steering wheel 20 and traveling at a constant speed, the steering angle deviation amount can be measured with higher accuracy over a shorter travel distance.

  In addition, according to the present embodiment, the steering angle deviation amount of the vehicle 2 is calculated based on the change in the steering angle acquired in the steering angle deviation amount measurement section and the change in the traveling direction of the vehicle 2. . With this configuration, even if the traveling direction of the vehicle 2 changes, the amount of steering angle deviation can be calculated accurately, so that driving skill for traveling the vehicle 2 straight ahead with high accuracy is not required. Further, since the traveling of the vehicle 2 may be slightly bent, the re-measurement can be reduced, and the steering angle deviation measuring section can be set short, so that the measurement process can be shortened. Further, since the travel distance can be shortened, it is possible to contribute to space saving of the test course R.

However, the above embodiment is an aspect of the present invention, and it is needless to say that the embodiment can be appropriately changed without departing from the gist of the present invention.
For example, in the above-described embodiment, the selection section selection unit, the state immediately before the selection section determination unit, the state determination unit immediately after the selection section, the measurement section setting unit, and the steering angle deviation amount calculation unit have been described as the control unit 30, but each is individually It may be provided.

  Moreover, in the said embodiment, although the control apparatus containing a control means (control part 30) was provided in the server 3 side, you may provide a control apparatus in the vehicle 2 so that attachment or detachment is possible. For example, if the control device is attached to the steering level 21, the control device can be easily attached and detached, and no wireless communication means is required.

  Moreover, in the said embodiment, although the measurement by the steering level 21, the gyro sensor 22, and the acceleration sensor 23 and the communication of the vehicle side communication part 24 were started automatically at the time of power activation of the vehicle 2, it is limited to this. For example, an activation button for activating the steering level 21, the gyro sensor 22, the acceleration sensor 23, and the vehicle-side communication unit 24 may be provided, and the activation may be started when the operator presses the activation button before traveling.

1 Measurement System 2 Vehicle 3 Server (Control Device)
DESCRIPTION OF SYMBOLS 20 Steering wheel 21 Steering level 22 Acceleration sensor 23 Gyro sensor 30 Control part (control means)
R test course (road)

Claims (4)

In a method of measuring the amount of steering angle deviation of a vehicle traveling on a road,
A change in the steering angle of the vehicle with a steering level mounted on the vehicle;
A change in speed of the vehicle with an acceleration sensor mounted on the vehicle;
Obtaining a change in the traveling direction of the vehicle with a gyro sensor mounted on the vehicle,
The section where each of the three changes is within the set threshold is selected as the selected section,
Determining whether the change in the steering angle immediately before the selected section is within a threshold;
Determine whether the change in speed immediately after the selected section is within a threshold,
A method for measuring a steering angle deviation amount, wherein the selected section is set as a steering angle deviation amount measurement section when two determination results are within a threshold value.   2. The steering according to claim 1, wherein the steering angle deviation amount of the vehicle is calculated based on a change in steering angle and a change in a traveling direction of the vehicle acquired in the steering angle deviation amount measurement section. Measuring method of angular deviation. In a system for measuring the amount of steering angle deviation of a vehicle traveling on a road,
A steering level mounted on the vehicle to obtain a change in steering angle of the vehicle;
An acceleration sensor mounted on the vehicle for acquiring a change in speed of the vehicle;
A gyro sensor mounted on the vehicle for obtaining a change in the traveling direction of the vehicle;
Control means for receiving three said changes;
With
The control means includes
The section where each of the three changes is within the set threshold is selected as the selected section,
Determining whether the change in the steering angle immediately before the selected section is within a threshold;
Determine whether the change in speed immediately after the selected section is within a threshold,
When the two determination results are within a threshold, the selected section is set as a steering angle deviation amount measurement section, and the steering angle deviation amount measurement system is characterized in that   The steering according to claim 3, wherein the steering angle deviation amount of the vehicle is calculated based on a change in steering angle and a change in the traveling direction of the vehicle acquired in the steering angle deviation amount measurement section. Measurement system for angular deviation.

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