CN103412136B - Vehicle yaw velocity measurement method - Google Patents
Vehicle yaw velocity measurement method Download PDFInfo
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- CN103412136B CN103412136B CN201310355158.6A CN201310355158A CN103412136B CN 103412136 B CN103412136 B CN 103412136B CN 201310355158 A CN201310355158 A CN 201310355158A CN 103412136 B CN103412136 B CN 103412136B
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Abstract
The invention discloses a vehicle yaw velocity measurement system and method. The system comprises a roll angle sensor, a vehicle speed sensor, a steering wheel steering angle sensor and a central processor, wherein a signal of the roll angle sensor, a signal of the vehicle speed sensor, and a signal of the steering wheel steering angle sensor are transmitted to the input end of the central processor respectively, the output end of the central processor is connected with a displayer, and the central processor is used for calculating the vehicle yaw velocity according to input signals. The method comprises the steps that firstly, the central processor receives the signal of the roll angle sensor, the signal of the vehicle speed sensor and the signal of the steering wheel steering angle sensor; secondly, the vehicle yaw velocity is calculated according to a formula; at last, a result is turned back to the central processor to be displayed. To resolve the problems that in the prior art, cost is high and installation is complex, according to the vehicle yaw velocity measurement system and method, the vehicle yaw velocity is indirectly measured through the vehicle roll angle, the vehicle speed and the steering wheel steering angle, convenient and rapid on-site installation is achieved with low cost, and the calculation result is outputted and displayed in real time.
Description
Technical field
The present invention relates to a kind of measuring system and method, particularly a kind of measuring system of Vehicular yaw angular velocity and method.
Background technology
Vehicular yaw angular velocity is the important indicator of vehicle handling stability, is also the Main Basis that Study on Vehicle Dynamic Control system carries out control decision.Existing measuring method depends on inertial sensor, as gyroscope, accelerometer.
But, problems such as measuring the gyroscope of yaw velocity and have that physical dimension is large, intensity difference, easily power down, noise are large.Although the physical dimension of the micro-mechanical gyroscope that present use is more reduces to some extent, noise problem also makes moderate progress, but still there is the such as problem such as calibrated error and temperature drift, and price is too high, limit widely using of sensor: micro-mechanical gyroscope price general charged is at several thousand yuans, and the better fibre optic gyroscope price of performance is especially up to tens thousand of yuans.
Therefore, be necessary to invent the feasible Automobile Test System with low cost of a set of simple on-site.
Summary of the invention
For the problems referred to above existed in the vehicle fitting of Vehicular yaw angular velocity in prior art and method thereof, the invention provides a kind of measuring system that can calculate Vehicular yaw angular velocity in real time and method.
Technical scheme of the present invention is:
A kind of vehicle yaw velocity measurement system, it is characterized in that: comprise side rake angle sensor, vehicle speed sensor, steering wheel angle sensor, central processing unit, the signal of described side rake angle sensor, vehicle speed sensor, steering wheel angle sensor transfers to the input end of central processing unit respectively, the output terminal of central processing unit connects display, and central processing unit is used for calculating Vehicular yaw angular velocity according to input signal.
As a further improvement on the present invention, described side rake angle sensor is installed on vehicle body barycenter place, and vehicle speed sensor is installed on wheel hub, and steering wheel angle sensor is installed on steering axle near steering wheel place.
A kind of vehicle yaw velocity measurement method, specifically comprises the steps:
(1) side rake angle sensor is installed on vehicle body barycenter place, vehicle speed sensor is installed on wheel hub, and steering wheel angle sensor is installed on steering axle near steering wheel place;
(2) signal of central processing unit receiver side obliquity sensor, vehicle speed sensor, steering wheel angle sensor is utilized;
(3) central processing unit calculates Vehicular yaw angular velocity according to input signal, and calculation relational expression is:
γ=k
v/
+ a
2+ b
+ c；( k
v，a,b,c>0)
k
v=mv;
a=mδ
2;
b=mδ;
c=m;
Wherein, v is the speed of a motor vehicle, and δ is steering wheel angle,
for vehicle roll angle, m is vehicle mass coefficient, and a is quadratic term coefficient, and b is Monomial coefficient, and c is constant coefficient; (needing to be described each symbol in formula) herein
(4) result is transported on display and shows by central processing unit.
As a further improvement on the present invention, level meter sensor is selected to gather body roll angle signal described in; Electro-optical pickoff is selected to gather wheel rotation speed signals; Magnetic induction sensor is selected to gather steering wheel angle signal.
The invention has the beneficial effects as follows:
By vehicle roll angle, the speed of a motor vehicle, steering wheel angle indirect inspection, low cost realizes field erected convenient and swift, real-time display translation result of calculation.
Accompanying drawing explanation
Fig. 1 is the theory of constitution figure of a kind of vehicle yaw velocity measurement system of the present invention;
Fig. 2 is the position view of rotation direction sensor and vehicle speed sensor;
Fig. 3 is speed of a motor vehicle Vehicular yaw angular velocity and side rake angle present when being definite value parabolic function graph of a relation;
Fig. 4 is steering wheel angle Vehicular yaw angular velocity and side rake angle present when being definite value parabolic function graph of a relation.
In figure: 1, steering wheel angle sensor; 2, vehicle speed sensor.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The composition of a kind of vehicle yaw velocity measurement system of the present invention as depicted in figs. 1 and 2, comprises body roll angle transducer, vehicle speed sensor 2, steering wheel angle sensor 1, central processing unit.Body roll angle transducer is installed on vehicle body barycenter place, and vehicle speed sensor is installed on wheel hub, and steering wheel angle sensor is installed on steering axle near steering wheel place.Central processing unit input end receives body roll angle transducer, vehicle speed sensor, steering wheel angle sensor signal, and central processing unit output terminal connects display, and central processing unit storage inside calculates the program of Vehicular yaw angular velocity.Wherein, body roll angle transducer selects level meter sensor to gather body roll angle signal, and vehicle speed sensor selects electro-optical pickoff to gather wheel rotation speed signals, and steering wheel angle sensor selects magnetic induction sensor to gather steering wheel angle signal.
A kind of vehicle yaw velocity measurement method of the present invention comprises the following steps: first, central processing unit receives body roll angle transducer, vehicle speed sensor, steering wheel angle sensor signal; Secondly, according to formulae discovery Vehicular yaw angular velocity; Finally, result is returned to central processing unit display.
The relation of yaw velocity and side rake angle is obtained through theory calculate, along with the increase of the speed of a motor vehicle, Vehicular yaw angular velocity and side rake angle present the relation of inverse ratio array function, along with the increase of front wheel angle, Vehicular yaw angular velocity and side rake angle present the relation (as Fig. 3, in 4 shown in solid line) of parabolic function.Therefore, following formula can be summarized as:
γ=k
v/
+ a
2+ b
+ c，( k
v，a,b,c>0) (1)
k
v=mv;
a=mδ
2;
b=mδ;
c=m;
Wherein, v is the speed of a motor vehicle, and δ is steering wheel angle,
for vehicle roll angle, m is vehicle mass coefficient, and a is quadratic term coefficient, and b is Monomial coefficient, and c is constant coefficient.(needing to be described each symbol in formula) herein
In sum, the present invention is directed to prior art cost intensive and install complicated problem, by vehicle roll angle, the speed of a motor vehicle, steering wheel angle indirect inspection, low cost realizes field erected convenient and swift, real-time display translation result of calculation.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. a vehicle yaw velocity measurement method, specifically comprises the steps:
(1) side rake angle sensor is installed on vehicle body barycenter place, vehicle speed sensor is installed on wheel hub, and steering wheel angle sensor is installed on steering axle near steering wheel place;
(2) signal of central processing unit receiver side obliquity sensor, vehicle speed sensor, steering wheel angle sensor is utilized;
(3) central processing unit calculates Vehicular yaw angular velocity according to input signal, and calculation relational expression is:
γ=k
v/j+ aj
2+ bj + c;( k
v，a,b,c>0)
k
v=mv;
a=mδ
2;
b=mδ;
c=m;
Wherein, v is the speed of a motor vehicle, and δ is steering wheel angle, and j is vehicle roll angle, and m is vehicle mass coefficient, and a is quadratic term coefficient, and b is Monomial coefficient, and c is constant coefficient;
(4) result is transported on display and shows by central processing unit.
2. a kind of vehicle yaw velocity measurement method according to claim 1, is characterized in that: level meter sensor selected by described side rake angle sensor; Described vehicle speed sensor selects electro-optical pickoff; Described steering wheel angle sensor selects magnetic induction sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310355158.6A CN103412136B (en) | 2013-08-14 | 2013-08-14 | Vehicle yaw velocity measurement method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310355158.6A CN103412136B (en) | 2013-08-14 | 2013-08-14 | Vehicle yaw velocity measurement method |
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| Publication Number | Publication Date |
|---|---|
| CN103412136A CN103412136A (en) | 2013-11-27 |
| CN103412136B true CN103412136B (en) | 2015-02-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477169B (en) * | 2014-11-20 | 2018-04-13 | 郑州宇通客车股份有限公司 | A kind of Vehicular turn angular velocity detection method |
| CN105241678B (en) * | 2015-11-15 | 2017-09-01 | 北京工业大学 | A kind of rapid control prototyping implementation method of active rear steer |
| CN105774906A (en) * | 2016-03-30 | 2016-07-20 | 苏州莱测检测科技有限公司 | Multifunctional gradienter steering wheel |
| CN108099916A (en) * | 2016-11-25 | 2018-06-01 | 比亚迪股份有限公司 | A kind of method, system and vehicle for monitoring vehicle running state |
| CN113335302A (en) * | 2021-06-29 | 2021-09-03 | 三一专用汽车有限责任公司 | Vehicle steering outward swing monitoring method and system and engineering vehicle |
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| CN101349606A (en) * | 2008-09-05 | 2009-01-21 | 清华大学 | Method for dynamically detecting carriage trucks mass center height |
| CN101973313B (en) * | 2010-10-27 | 2014-05-28 | 江苏大学 | Device and method for stable steering control of vehicles based on self-autonomous body technology |
| CN102582626B (en) * | 2012-02-16 | 2015-06-10 | 吉林大学 | Method for estimating heavy semitrailer status |
| CN103213582B (en) * | 2013-04-18 | 2016-08-24 | 上海理工大学 | Anti-rollover pre-warning and control method based on body roll angular estimation |
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Application publication date: 20131127 Assignee: NANJING GOLDEN DRAGON BUS CO., LTD. Assignor: Jiangsu University Contract record no.: 2015320000266 Denomination of invention: Vehicle yaw velocity measurement method Granted publication date: 20150204 License type: Exclusive License Record date: 20150421 |
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