CN104764419A - Vehicle angle sensor system based on laser source - Google Patents
Vehicle angle sensor system based on laser source Download PDFInfo
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- CN104764419A CN104764419A CN201510095220.1A CN201510095220A CN104764419A CN 104764419 A CN104764419 A CN 104764419A CN 201510095220 A CN201510095220 A CN 201510095220A CN 104764419 A CN104764419 A CN 104764419A
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Abstract
The invention discloses a vehicle angle sensor system based on a laser source. A rotating disc coaxial with a front wheel and steering together with the front wheel is arranged at the inner side of the front wheel of a vehicle, a fan-shaped scaleplate optical grating is connected to the edge of the disc face of the rotating disc through a fixing plate, a gap is reserved between the scaleplate optical grating and a front axle of the vehicle, an indicative optical grating and a photodiode receiver are arranged in the gap, and the indicative optical grating is connected with the photodiode receiver through a signal line. In the vehicle steering process, the rotating disc and the front wheel steer by the same angle to drive the scaleplate optical grating to do circular motion, the scaleplate optical grating and the indicative optical grating form Moire fringes, steering angle information is input into the photodiode receiver through optical signals of the Moire fringes, the photodiode receiver converts the optical signals into electric signals, and the electric signals are converted into digital signals through a signal processing circuit to be transmitted to a single chip microcomputer; as the wheel steering angle is directly measured, accumulative errors are small, delay is short, and the anti-interference ability and the measurement accuracy are high.
Description
Technical field
The invention belongs to vehicle corner sensor technology, specifically a kind of vehicle corner sensor system relating to the control of opto-electronic conversion and electric signal and the roll angle inspection for vehicle for the treatment of technology and control, for the steering angle of Real-Time Monitoring vehicle front-wheel.
Background technology
The quality of vehicle electronic system weighs an important indicator of automotive comprehensive performance, and sensor occupies critical role in vehicle electronic system.Wherein, vehicle corner sensor is used for rotational angle when measuring vehicle turns to, be mainly used in the following system in automobile: self-adaptive headlamp system (Adaptive Frontlighting System, AFS), electric boosting steering system (Electronic Power Steering, EPS), navigation and DAS (Driver Assistant System) (Advanced Driver Assistance System, ADAS).According to the principle of work of vehicle corner sensor, photoelectric effect, electric resistance partial pressure effect and Hall effect etc. can be divided into; According to the difference of original signal coding, decoding process, absolute value rotary angle transmitter and relative value rotary angle transmitter can be divided into.
At present for vehicle corner sensor that the sensor in vehicle corner sensor is all based on bearing circle, bearing circle is rotated when Vehicular turn, the anglec of rotation of bearing circle is calculated the anglec of rotation being converted into wheel by single-chip microcomputer, this vehicle corner sensor has certain time delay, is unfavorable for processing accident rapidly.
Summary of the invention
The object of the invention is the deficiency existed for existing vehicle corner sensor, a kind of Vehicle Sensor System based on LASER Light Source is proposed, directly rotation of wheel angle is measured, rapidly electric signal is inputted single-chip microcomputer, facilitate single-chip microcomputer process electric signal and control.
The technical solution used in the present invention is: be provided with inside vehicle front-wheel one with front-wheel coaxial and and the rotating disk that jointly turns to of front-wheel, edge near rotating disk card connects a fan-shaped scale grating by a fixed head, gap is had between macro-axis before the car of scale grating and vehicle, indication grating and photodiode receiver is provided with at gap location, indication grating is between scale grating and photodiode receiver, and photodiode receiver to be fixedly connected on before car on macro-axis outside surface; Indication grating and semiconductor laser lay respectively at the both sides of scale grating, and semiconductor laser is just in time relative to indication grating the covering of the fan of scale grating; Indication grating connects photodiode receiver by signal wire, photodiode receiver is connected with signal processing circuit, signal processing circuit is made up of differential operational amplifier and shaping circuit, signal processing circuit connects single-chip microcomputer by signal wire, and single-chip microcomputer connects semiconductor laser through control line; During Vehicular turn, rotating disk and front-wheel occur to turn to angle, scale grating is driven to move in a circle, scale grating and indication grating form Moire fringe, steering angle information is by the light signal input photodiode receiver of Moire fringe, and light signal is converted to electric signal and converts electrical signals to digital signal by signal processing circuit again and be transferred to single-chip microcomputer by photodiode receiver.
Advantage of the present invention is: the present invention is based on photoelectric effect principle, is a kind of Incremental Measuring System, and employing noncontact individual pen relative angle output metering system measures relative angle during wheel steering, and strong anti-interference performance, measuring accuracy is high.By directly measuring wheel steering angle, cumulative errors is little, postpone little, be convenient to the conversion carrying out photosignal rapidly, thus digital signal is given in time single-chip microcomputer and process, so compared with the current vehicle corner sensor based on bearing circle, interference free performance and movement response speed are all significantly increased.
Accompanying drawing explanation
Fig. 1 is the mechanical erection structure diagram of a kind of Vehicle Sensor System based on LASER Light Source of the present invention;
Fig. 2 is the differential operational amplifier schematic diagram of signal processing circuit in Fig. 1;
Fig. 3 is the shaping circuit schematic diagram of signal processing circuit in Fig. 1;
Fig. 4 is workflow diagram of the present invention;
In figure: 1. front-wheel; 2. fixed head; 3. semiconductor laser; 4. scale grating; 5. indication grating; 6. signal processing circuit; 7. axletree; 8. laser stent; 9. photodiode receiver; 10. rotating disk.
Embodiment
As shown in Figure 1, a kind of Vehicle Sensor System based on LASER Light Source of the present invention is arranged near front-wheel 1.Drive type vehicle for a left side, have larger space near inside its off-front wheel, so the present invention be arranged near inside off-front wheel, also namely front-wheel 1 is the off-front wheel of vehicle; Drive type vehicle for the right side, the space near inside its near front wheel is comparatively large, so the present invention be arranged near inside the near front wheel, also namely front-wheel 1 is the near front wheel.
The present invention includes single-chip microcomputer, rotating disk 10, semiconductor laser 3, scale grating 4, indication grating 5, photodiode receiver 9.The effect of single-chip microcomputer controls and data processing the digital signal of input.Rotating disk 10, semiconductor laser 3, scale grating 4, indication grating 5 and photodiode receiver 9 form Grating self-imaging optical system.Near front-wheel 1 is rotating disk 10, and rotating disk 10 is installed with coaxial, is arranged on the inner side of front-wheel 1, is turned to together with front-wheel 1 by steering co-controlling, and do not contact with front-wheel 1 keeping parallelism all the time, rotating disk 10 moves without other except doing divertical motion.
Scale grating 4 is connected by a fixed head 2 in the edge of the card near rotating disk 10.Rotating disk 10 is between front-wheel 1 and fixed head 2, scale grating 4, and namely relative to rotating disk 10, fixed head 2 and scale grating 4 are in the side, opposite of front-wheel 1.Scale grating 4 is fan-shaped, like this, when divertical motion occurs front-wheel 1, scale grating 4 will be driven to move in a circle, so the size of wheel turning angle just equals the size at the circular motion angle of scale grating 4.
Scale grating 4 is upper left with vehicle, certain gap is retained between macro-axis 7 before car between right two front-wheels, gap location before scale grating 4 and car between macro-axis 7 installs indication grating 5 and photodiode receiver 9, indication grating 5 is between scale grating 4 and photodiode receiver 9, indication grating 5 is fixed in photodiode receiver 9, indication grating 5 also connects photodiode receiver 9 by signal wire, angular displacement size and angular displacement direction are fed back by the way of output of electric signal by photodiode receiver 9, analog signals is converted to electric signal.Indication grating 5 is parallel with scale grating 4 but do not contact with the covering of the fan of scale grating 4, and photodiode receiver 9 to be fixedly connected on before car on macro-axis 7 outside surface.
Macro-axis 7 outside surface is also fixedly connected with one end of laser stent 8 before car, the other end of laser stent 8 stretches out until exceed scale grating 4 to the footpath of macro-axis 7 before car, the other end of laser stent 8 is fixedly connected with semiconductor laser 3, semiconductor laser 3 and indication grating 5 is made to lay respectively at the both sides of scale grating 4, make indication grating 5 just in time relative with semiconductor laser 3, and the covering of the fan of semiconductor laser 3 perpendicular to scale grating 4 will be ensured, semiconductor laser 3 does not contact with the covering of the fan of scale grating 4.
Photodiode receiver 9 is connected with signal processing circuit 6 with connection terminal by electric wire, signal processing circuit 6 is made up of differential operational amplifier and shaping circuit, be respectively used to input electric signal amplify, Shape correction, installation site does not specially require.Signal processing circuit 6 connects single-chip microcomputer (single-chip microcomputer not shown in FIG.) by signal wire.Single-chip microcomputer connects semiconductor laser 3 through control line, controls lasing light emitter and drives semiconductor laser 3 Emission Lasers.
Vehicle is in operational process, and semiconductor laser 3 drives Emission Lasers vertical irradiation on scale grating 4 by lasing light emitter, scale grating 4 and indication grating 5 has tiny scale, under the interference and diffraction effect of light, forms Moire fringe.Indication grating 5 produces Moire fringe mainly through the diffraction of light and interference effect.Because the relative position relation that scale grating 4 is different with indication grating 5 is determined by the steering angle of front-wheel 1 and rotating disk 10, this position relationship can have influence on the characteristic of Moire fringe, so steering angle information is just included in Moire fringe.Photodiode receiver 9 receives the moire frange signal of indication grating 5 generation and converts moire frange signal to electric signal, and now wheel steering angle information has just been included in electric signal.Photodiode receiver 9 is by wheel steering angle information electric signal input signal processing circuit 6, this electric signal carries out amplifying by signal processing circuit 6, shaping is converted to digital signal, the digital signal comprising wheel steering angle information is inputed to single-chip microcomputer and processes.
The differential operational amplifier of signal processing circuit 6 as shown in Figure 2, the effect of differential operational amplifier is amplified small area analysis, and differential type structure has very strong inhibiting effect to common-mode noise, there is higher input impedance and less output impedance simultaneously, be applicable to very much the amplification to feeble signal.The output concatenation operation amplifier AD549 of the photodiode of photodiode receiver 9.Electric signal after photodiode receiver 9 is changed is fainter, the electric current of the photodiode of photodiode receiver 9 is 2 receive peace (nA) left and right, so the bias current of operational amplifier A D549 can not receive peace more than 0.1, the AD549 operational amplifier that therefore the elegant performance of selective temperature is good, self bias current is little.AD549 is the monolithic integrated circuit electrometer type operational amplifier with extremely low input bias current, and input offset voltage and input offset voltage drift regulate by adopting laser the precision improving it, are especially suitable for use as the sensor that various electric current exports.Photodiode receiver 9 has the output of two path signal after receiving Moire fringe, this two path signal is connect respectively the input signal of pin 2,3 as amplifier of operational amplifier A D549.Pin 4,7 is power pins, and the positive and negative very amplifier connecing 15V power supply respectively provides power supply.Pin 1,5 is pins at biased zero point, and its effect is the biased zero point of resonance-amplifier, when amplifier is without input signal, if the output voltage of output terminal is non-vanishing, then will carries out correction and return to zero; Slide rheostat Rk is connected between pin 1,5, rheostatic sliding end connects pin 4, by the adjustment to rheostat resistance, then can carry out correction zeroing to amplifier, according to operational amplifier A D549 optimum configurations rule, the resistance size of slide rheostat Rk selects 10K Ω.Pin 6 is output terminals of operational amplifier A D549, and the size of the magnitude of voltage of output is determined by the size of current input signal.Between pin 6 and pin 2, connect parallel connection resistance Rf and electric capacity Cf, resistance Rf and electric capacity Cf introduce electric current to input end from output terminal, increase the intensity of input end signal, thus play the effect of a positive feedback.Because input signal is nA level, so positive feedback current is also must in nA level, the resistance size of such resistance Rf will select 10 Ω.By the introducing of positive feedback, the maximum output voltage of output terminal, at about 5V, meets the requirement of subsequent conditioning circuit.
The shaping circuit of signal processing circuit 6 as shown in Figure 3, the effect of shaping circuit is square wave electric signal being shaped as certain dutycycle, square wave can be similar to regards digital signal as, and comprise vehicle angles information in digital signal, single-chip microcomputer can only process digital signal.Because the signal after operational amplifier A D549 amplification is some irregular crest figure, cannot be processed by single-chip microcomputer, so need to carry out shaping by shaping circuit, form the square wave of dutycycle 1:1, and then be converted to the digital signal comprising Vehicular turn angle information and read in process by single-chip microcomputer.In order to reach above object, adopt terminal block J1 to introduce the two-way output signal of operational amplifier A D549, the version that shaping circuit adopts two comparer LM339 to connect into Schmidt trigger exports the two-way of operational amplifier respectively and processes.Two comparer LM339 have two power pins to connect ± 5V power supply, two input ports, and negative sense port is signal input port and input voltage, and forward port is reference voltage port and threshold voltage.Comparer LM339 can compare input voltage and threshold voltage, and when input voltage is greater than threshold voltage, output terminal is equivalent to open circuit, and when input voltage is less than threshold voltage, output terminal is equivalent to connect low level.The two-way output signal of operational amplifier A D549 is connected with the signal input port of first comparer LM339 respectively by resistance R1, is connected with the signal input port of second comparer LM339 by resistance R3 after terminal block J1, enough little for ensureing the electric current of signal input, the resistance of resistance R1, R3 is set to 10K Ω.For second comparer LM339, its output terminal is connected between resistance R6 and resistance R5, its forward port is connected between resistance R5 and resistance R4, and resistance R6, R5, R4 form a path.In order to the threshold voltage making second comparer LM339 is 1V, require R6=10K Ω, R5=10K Ω, R4=500 Ω.For first comparer LM339, its forward port is serially connected between resistance R7 and resistance R9 through regulator potentiometer R8, its output terminal contact resistance R2 and resistance R9; Also R2=10K Ω is required, R9=10K Ω, R7=500 Ω; In order to ensure that input circuit does not bring error to phase difference measurement, make the threshold level of two Schmidt triggers equal by regulator potentiometer R8, they are shaped as the square wave that dutycycle is 1:1.
As shown in Figure 4, when the present invention works, first initialization operation is carried out by single-chip microcomputer, control semiconductor laser 3 Emission Lasers, when Vehicular turn, there is same angle and turn in rotating disk 10 and front-wheel 1, rotating disk 10 drives fan-shaped scale grating 4 to move in a circle by fixed head 2, and rotating disk 10 and front-wheel 1 steering angle equal the circular motion angle of scale grating 4.The signal input photodiode receiver 9 of the Moire fringe that steering angle information is formed by scale grating 4 and indication grating 5, light signal is converted to electric signal by photodiode receiver 9, digital signal is converted electrical signals to again by signal processing circuit 6, digital data transmission carries out computational analysis to single-chip microcomputer, if analyze this steering angle Φ between-θ ~ θ, θ is the standard corner that single-chip microcomputer is preset, then this steering angle information is correct angle information, this correct angle information is transported to the ECU processing enter of vehicle, peripherals is operated.
Claims (7)
1. the vehicle corner sensor system based on LASER Light Source, it is characterized in that: be provided with and the rotating disk (10) that with front-wheel (1) jointly turns to coaxial with front-wheel (1) in front-wheel (1) inner side of vehicle, edge near rotating disk (10) card connects a fan-shaped scale grating (4) by a fixed head (2), gap is had between macro-axis (7) before the car of scale grating (4) and vehicle, indication grating (5) and photodiode receiver (9) is provided with at gap location, indication grating (5) is positioned between scale grating (4) and photodiode receiver (9), photodiode receiver (9) to be fixedly connected on before car on macro-axis (7) outside surface, indication grating (5) and semiconductor laser (3) lay respectively at the both sides of scale grating (4), and semiconductor laser (3) is just in time relative to indication grating (5) the covering of the fan of scale grating (4), indication grating (5) connects photodiode receiver (9) by signal wire, photodiode receiver (9) is connected with signal processing circuit (6), signal processing circuit (6) is made up of differential operational amplifier and shaping circuit, signal processing circuit (6) connects single-chip microcomputer by signal wire, and single-chip microcomputer connects semiconductor laser (3) through control line, during Vehicular turn, rotating disk (10) and front-wheel (1) occur to turn to angle, scale grating (4) is driven to move in a circle, scale grating (4) and indication grating (5) form Moire fringe, steering angle information is by light signal input photodiode receiver (9) of Moire fringe, and light signal is converted to electric signal and is converted electrical signals to digital signal by signal processing circuit (6) and be transferred to single-chip microcomputer again by photodiode receiver (9).
2. according to claim 1 based on the vehicle corner sensor system of LASER Light Source, it is characterized in that: indication grating (5) is parallel with scale grating (4) and do not contact with the covering of the fan of scale grating (4), semiconductor laser (3) does not contact with the covering of the fan of scale grating (4).
3. according to claim 1 based on the vehicle corner sensor system of LASER Light Source, it is characterized in that: before car, macro-axis (7) outside surface is fixedly connected with laser stent (8) one end, laser stent (8) other end stretches out to the footpath of macro-axis (7) before car and is fixedly connected with semiconductor laser (3).
4. according to claim 1 based on the vehicle corner sensor system of LASER Light Source, it is characterized in that: differential operational amplifier has an operational amplifier A D549, the two path signal that photodiode receiver (9) exports connects the pin 2,3 of operational amplifier A D549 respectively as input signal, the pin 4,7 of operational amplifier A D549 connects the both positive and negative polarity of 15V power supply respectively, between the pin 1,5 of operational amplifier A D549, connect slide rheostat Rk, the sliding end of slide rheostat Rk connects pin 4; Pin 6 is output terminals of operational amplifier A D549, connects resistance Rf in parallel and electric capacity Cf between pin 6 and pin 2.
5. according to claim 4 based on the vehicle corner sensor system of LASER Light Source, it is characterized in that: shaping circuit is the structure of the Schmidt trigger that employing two comparer LM339 connect into, the two-way output signal of operational amplifier A D549 is connected with the signal input port of first comparer LM339 respectively by resistance R1, is connected with the signal input port of second comparer LM339 by resistance R3 after terminal block, and the output terminal of second comparer LM339 is connected between resistance R6 and resistance R5, forward port is connected between resistance R5 and resistance R4; The forward port of first comparer LM339 is serially connected between resistance R7 and resistance R9 through regulator potentiometer R8, output terminal contact resistance R2 and resistance R9; Make the threshold level of two Schmidt triggers equal by regulator potentiometer R8.
6. according to claim 4 based on the vehicle corner sensor system of LASER Light Source, it is characterized in that: the bias current of operational amplifier A D549 is no more than 0.1 and receives peace, and the resistance of slide rheostat Rk is 10K Ω.
7. according to claim 5 based on the vehicle corner sensor system of LASER Light Source, it is characterized in that: R2=10K Ω, R4=500 Ω, R5=10K Ω, R6=10K Ω, R7=500 Ω, R9=10K Ω.
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| CN201510095220.1A CN104764419B (en) | 2015-03-04 | 2015-03-04 | A kind of vehicle corner sensor system based on LASER Light Source |
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Cited By (2)
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| CN107796310A (en) * | 2017-06-01 | 2018-03-13 | 常州秦宁迈超电子科技有限公司 | The device and its measuring method of grating displacement sensor monocycle error in dipping |
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