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 invention relates to the field of vehicle-mounted data monitoring, in particular to a method and a system for detecting the change of a steering angle of a steering wheel of a vehicle.
Background
With the development of national economy, the quantity of motor vehicles kept is rapidly increasing year by year, the problem of vehicle driving safety is more prominent, and a large number of traffic accidents cause huge life and property losses to the country. Among them, fatigue driving is one of the main causes of traffic accidents, so detection and early warning of fatigue driving become one of the functions that various commercial vehicles and passenger vehicles need to be expanded and even used as standard.
In the existing fatigue driving detection scheme, steering wheel angle data of a vehicle often need to be collected, and then the data are analyzed through mathematical modeling, so that the driving state of a driver is judged. However, most commercial vehicles, especially trucks, are not equipped with an ESC (electronic body stability control system), and such vehicles cannot directly detect steering wheel angle data, and if a steering wheel angle sensor is added, the cost is high and the installation is very inconvenient.
Patent application publication No. CN 104269026A provides a fatigue driving real-time monitoring and preventing method based on an Android platform. And acquiring acceleration and steering wheel angle data of the vehicle in the driving process by using a GPS (global positioning system) positioning and gyroscope sensor carried by the smart phone. Because the mobile phone has no fixed point and the possibility of changing the angle exists in the using process, the accuracy rate of detecting the steering wheel angle of the vehicle is not high, and misjudgment can easily occur on the detection and early warning result of fatigue driving.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the system for detecting the change of the steering angle of the steering wheel of the vehicle have the characteristics of simple implementation mode, low cost and high accuracy.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method of detecting a change in a steering angle of a vehicle, comprising:
acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every preset time period;
calculating to obtain an angular velocity vector according to a geometric relationship between the three-axis angular velocity vector and an angular velocity vector perpendicular to a vehicle steering plane;
and obtaining the change condition of the steering wheel angle of the vehicle according to the ratio relation of the angular velocity vector and the vehicle speed.
The invention provides another technical scheme as follows:
a system for detecting a change in a steering angle of a vehicle, comprising:
the first acquisition module is used for acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every preset time period;
the calculation module is used for calculating to obtain angular velocity vectors according to the geometrical relationship between the three-axis angular velocity vectors and the angular velocity vectors vertical to the vehicle steering plane;
and the second acquisition module is used for acquiring the change condition of the steering angle of the vehicle steering wheel according to the ratio relation between the angular velocity vector and the vehicle speed.
The invention has the beneficial effects that: different from the prior art, the ESC equipment is additionally arranged for acquiring the change condition of the steering wheel angle of the vehicle, so that the cost is increased; or the gyroscope of the smart phone is used for detection, so that the accuracy is low and the like. According to the invention, the angular velocity vector is obtained by calculation directly through the three-axis angular velocity vector acquired by the six-axis gyroscope of the vehicle-mounted intelligent terminal in real time; then, according to an Ackerman corner geometric principle and a centripetal acceleration formula, the ratio of the steering angle sine value of the front wheel of the vehicle to the angular velocity vector and the vehicle speed is deduced to meet a linear relation, and when the steering angle sine value of the front wheel of the vehicle is small, the ratio of the steering angle of the steering wheel of the vehicle to the angular velocity vector and the vehicle speed is approximately linear, so that the change condition of the steering angle of the steering wheel of the vehicle can be directly known according to the change trend and the statistical rule of the ratio of the angular velocity vector to the vehicle speed. The invention can more accurately acquire the behavior characteristics of the driver operating the steering wheel directly according to the existing hardware resources on the premise of not increasing the cost, finally realize the detection and early warning of the driving state of the driver, and provide a good analysis basis for analyzing the driving state such as fatigue driving.
Drawings
FIG. 1 is a schematic flow chart of a method of detecting a change in steering angle of a vehicle steering wheel according to the present invention;
FIG. 2 is a schematic flow chart of a method according to a first embodiment of the present invention;
FIG. 3 is a schematic representation of the geometric relationship between the three-axis angular velocity vector and the angular velocity vector perpendicular to the vehicle steering plane;
FIG. 4 is a schematic representation of the geometric relationship between the steering angle and the steering radius of the front wheels of the vehicle;
FIG. 5 is a waveform diagram of sampled data prior to filtering;
FIG. 6 is a waveform diagram after filtering of sample data;
FIG. 7 is a schematic diagram of the functional template structure of the system for detecting the change of the steering angle of the steering wheel of the vehicle according to the present invention;
fig. 8 is a schematic structural diagram of a functional template according to a third embodiment of the present invention.
Description of reference numerals:
1. a first acquisition module; 2. a calculation module; 3. a second acquisition module; 4. a calibration module;
5. a filtering module; 21. a first calculation unit; 22. a second calculation unit.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
The most key concept of the invention is as follows: calculating directly according to the angular velocity vector acquired by the vehicle-mounted terminal in real time to obtain an angular velocity vector; and then obtaining the change condition of the steering wheel angle of the vehicle through the ratio relation of the angular velocity vector and the vehicle speed.
Referring to fig. 1, 3 and 4, the present invention provides a method for detecting a change in a steering angle of a steering wheel of a vehicle, including:
acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every preset time period;
calculating to obtain an angular velocity vector according to a geometric relationship between the three-axis angular velocity vector and an angular velocity vector perpendicular to a vehicle steering plane;
and obtaining the change condition of the steering wheel angle of the vehicle according to the ratio relation of the angular velocity vector and the vehicle speed.
It is to be noted that the above can be directly relied upon(ω is angular velocity vector, v is vehicle speed) the principle of obtaining the change of the steering wheel angle of the vehicle is:
according to the Ackermann steering geometry principle and the centripetal acceleration formula of the vehicle, the sine value sin theta and sin theta of the steering angle of the front wheel of the vehicle can be obtained through derivationA linear relationship is satisfied; and because the steering angle theta of the wheels and the steering wheel angle phi of the vehicle are approximately in a fixed proportional relationship, when the theta is smaller, the steering wheel steering angle phi and the steering wheel angle phi of the vehicle are equalIn an approximately linear relationship. In practical applications, we do not pay attention to the specific rotation angle of the steering wheel of the vehicle, but pay attention to the behavior characteristics of the driver operating the steering wheel for a period of time, because phi and phi are equal toHas an approximately linear relationship, so that it can be directly analyzedThe result is equivalent, but the calculation process is simpler and more convenient.
Further, the method also comprises the following steps:
the gravity influence vector of the six-axis gyroscope is calibrated, and when the six-axis gyroscope is viewed from the upper part of the vehicle downwards, the anticlockwise rotation is negative, and the clockwise rotation is positive.
From the above description, it can be known that the calibration, that is, whether the precision detection of the six-axis gyroscope meets the standard or not, eliminates errors in time, improves the precision of the used gyroscope, and further ensures the precision of the obtained three-axis angular velocity vector. By specifying positive and negative orientations of the gyroscope, due to the three axes of a six-axis gyroscopeThe axes of acceleration and three-axis angular velocity coincide, so that the gravity influences the vectorCoinciding with the direction of the angular velocity vector perpendicular to the vehicle steering plane, the vehicle turns around a directional axis parallel to this vector (this application does not take into account special cases such as vehicle rollover).
Further, the angular velocity vector is obtained by calculating according to the geometric relationship between the three-axis angular velocity vector and the angular velocity vector perpendicular to the vehicle steering plane, specifically:
calculating to obtain a cosine value of an included angle between a component in the triaxial direction of the gyroscope and an angular velocity vector according to a point-product formula of a triaxial acceleration vector acquired by the six-axis gyroscope and a calibrated gravity influence vector;
and calculating to obtain the angular velocity vector according to the cosine value of the included angle between the component with the maximum modulus in the components of the gyroscope in the three-axis direction and the angular velocity vector.
As can be seen from the above description, the six-axis gyroscope sensor includes a three-axis acceleration sensor and a three-axis angular velocity sensor, and can acquire a three-axis acceleration vector and a three-axis angular velocity vector at the same time. According to the three-axis angle of the gyroscopeAxial angular velocity vector andthe cosine value of the included angle can be obtained by the three-axis acceleration vector and the gravity influence vector obtained by calibrationThe point multiplication formula is calculated.
Further, the calculating an angular velocity vector according to the geometric relationship between the three-axis angular velocity vector and an angular velocity vector perpendicular to a vehicle steering plane further includes:
and performing low-pass filtering processing on the angular velocity vector.
As can be seen from the above description, the filtering process can remove the interference signal, and ensure the validity of the angular velocity vector and the accuracy of the analysis result.
Further, filtering the angular velocity vector by using a Butterworth digital low-pass filtering algorithm, and setting the pass band frequency to be 0-0.5HZ, the stop band frequency to be more than 0.75HZ, the maximum attenuation coefficient of the pass band to be 1, and the minimum attenuation coefficient of the stop band to be 5.
It can be known from the above description that through the above specific filtering algorithm, the data curve after filtering processing is closer to the actual waveform, so as to realize the basic elimination of most of interference signals and greatly improve the accuracy of the analysis result.
Referring to fig. 7, another technical solution provided by the present invention is:
a system for detecting a change in a steering angle of a vehicle, comprising:
the first acquisition module is used for acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every preset time period;
the calculation module is used for calculating to obtain angular velocity vectors according to the geometrical relationship between the three-axis angular velocity vectors and the angular velocity vectors vertical to the vehicle steering plane;
and the second acquisition module is used for acquiring the change condition of the steering angle of the vehicle steering wheel according to the ratio relation between the angular velocity vector and the vehicle speed.
Referring to fig. 8, further, the method further includes:
and the calibration module is used for calibrating the gravity influence vector of the six-axis gyroscope and specifying that the anticlockwise rotation is negative and the clockwise rotation is positive when the vehicle looks downwards from the upper part.
Further, the calculation module comprises:
the first calculation unit is used for calculating and obtaining a cosine value of an included angle between a component in the triaxial direction of the gyroscope and an angular velocity vector according to a dot product formula of a triaxial acceleration vector acquired by the six-axis gyroscope and a calibrated gravity influence vector;
and the second calculating unit is used for calculating to obtain the angular velocity vector according to the cosine value of the included angle between the component with the maximum modulus value in the components of the gyroscope in the three-axis direction and the angular velocity vector.
Further, the method also comprises the following steps:
and the filtering module is used for carrying out low-pass filtering processing on the angular velocity vector calculated by the calculating module.
Further, the filtering module is specifically configured to perform filtering processing on the angular velocity vector by using a butterworth digital low-pass filtering algorithm, and set a passband frequency to be 0 to 0.5HZ, a stopband frequency to be 0.75HZ or higher, a passband maximum attenuation coefficient to be 1, and a stopband minimum attenuation coefficient to be 5.
Example one
Referring to fig. 2 to 4, the present embodiment provides a method for detecting a change in a steering angle of a steering wheel of a vehicle, which is applicable to the field of driving monitoring analysis, and can grasp behavior characteristics of a driver operating the steering wheel, thereby providing a good basis for analyzing whether the driver has a bad driving state such as fatigue driving.
The method may include:
s1: after the vehicle-mounted intelligent terminal equipment is installed, calibrating the gravity influence vector of a six-axis gyroscope (three-axis angular velocity and three-axis angular velocity) sensorAnd the view angle is designated as negative for counterclockwise rotation and positive for clockwise rotation when viewed from above the vehicle.
Since the three-axis acceleration and the three-axis angular velocity of the six-axis gyroscope coincide with each other, the gravity influences the vectorThe vehicle turns around a direction axis parallel to the gravity influence vector (this solution does not take into account special cases such as vehicle rollover).
S2: in the driving process, at preset time intervals, three-axis angular velocity vectors are obtained from a six-axis gyroscope of the vehicle-mounted intelligent terminal.
S3: then calculating to obtain angular velocity vector according to the geometric relationship between the three-axis angular velocity vector and the angular velocity vector vertical to the vehicle steering plane
The preset time period is preferably 100 ms. The calculation process of the angular velocity vector ω specifically includes:
please refer to fig. 3 for analysis, wherein,the gravity influence vector is used for calculating the included angle between the angular velocity vector which is vertical to the vehicle rotation plane and each angular velocity coordinate axis.
As shown in FIG. 3, the angular velocity vector of the vehicle steering
Wherein, taking the rotation component of the vehicle in the directions of three coordinate axes, and assuming that the rotation component is the component with the largest numerical valueAnd isIs composed ofAndthe included angle of (c) satisfies:
the same can be obtained:
wherein,
the unit vectors in the 3 coordinate axis directions are (1, 0, 0), (0, 1, 0), and (0, 0, 1), respectively.
S4: and obtaining the change condition of the steering wheel angle phi of the vehicle according to the ratio relation of the angular velocity vector and the vehicle speed.
Direct basis(ω is angular velocity vector, v is vehicle speed) the principle of obtaining the change of the steering wheel angle of the vehicle is:
referring to fig. 4, according to the ackermann steering geometry steering principle, it can be known that the steering angle θ and the steering radius R of the front wheels of the vehicle have the geometrical relationship as shown in fig. 4; wherein L is the wheel base, then there are:
is also benzodiazepine ace＝ω2R＝ωv；
Wherein, aceThe method is characterized in that the centripetal acceleration of the vehicle under the condition that the steering angle of a front wheel is theta and the vehicle speed is v is shown, and omega is the angular speed of the vehicle turning at the moment;
when θ is small, (1) can be simplified to be approximated as:
k is a constant;
because the steering angle theta of the wheels and the steering wheel angle phi of the vehicle are approximately in a fixed proportional relationship, and the implicit proportional coefficient is k', the proportional coefficient can be obtained by real vehicle measurement or vehicle manufacturers, and therefore the following formula can be obtained:
k is constant
It can be seen that when θ is small, φ andapproximately linearly related.
In practical application, the specific numerical value of the steering wheel angle phi of the vehicle is not concerned, but the behavior characteristics of a driver operating the steering wheel within a period of time, namely the change trend and the statistical law of the phi, are concerned, so that the actual analysis is directly carried outThe value of (2) can be grasped.
The method directly uses the original hardware resources, and can accurately and indirectly detect the steering wheel angle of the vehicle through simple analysis and calculation under the condition of not increasing the cost basically, so that the behavior characteristics of a driver operating the steering wheel are realized, and a good basis is provided for analyzing the driving state, such as whether fatigue driving exists or not, and the like.
Example two
Referring to fig. 5 and fig. 6, the present embodiment further extends and expands on the basis of the first embodiment, because of vehicle vibration or road surface bump, interference signals of multiple frequency bands exist in the real-time angular velocity value read from the gyroscope, and for the validity of sample data and the accuracy of the analysis result thereof, the present embodiment performs filtering processing on the gyroscope data on the basis of the first embodiment to improve the accuracy of the detection result.
The same points are not described in detail, except that after the angular velocity vector ω is calculated in S3 in the first embodiment, the method further includes:
s31: and performing low-pass filtering processing on the angular velocity vector omega.
Preferably, a Butterworth digital low-pass filtering algorithm is adopted to perform low-pass filtering on the calculated omega value sequence (a sequence formed by angular velocity vectors corresponding to the three-axis angular velocity vectors obtained through calculation according to the three-axis angular velocity vectors obtained in real time), the frequency of left-right fluctuation of a vehicle caused by manual operation is far smaller than left-right shaking frequency caused by vibration or road surface bump, and repeated tests prove that parameters wp, ws, rp and rs in the filtering algorithm are respectively set to be 0.1, 0.15, 1 and 5, namely the passband frequency is 0-0.5HZ, the stopband frequency is more than 0.75HZ, the maximum passband attenuation coefficient is 1, and the stopband minimum attenuation coefficient is 5, so that a curve after filtering is closer to an actual waveform.
The following gives a comparison of the oscillograms before and after filtering a segment of actual sampled data: FIG. 5 is a waveform diagram of sampled data prior to filtering; as shown in fig. 6, which is a waveform diagram of the filtered sampled data.
As can be seen from the comparison between fig. 5 and fig. 6, after the filtering process, the interference clutter is basically clear, and the change condition of the steering wheel angle of the vehicle is calculated based on the filtered angular velocity vector, so that the accuracy of the analysis result can be remarkably improved, the condition that the vehicle driver operates the steering wheel is more faithfully reflected in the analysis result, and a good basis is provided for the subsequent data modeling and analysis of driving states such as fatigue driving characteristics.
EXAMPLE III
Referring to fig. 8, the present embodiment provides a system for detecting a change in a steering angle of a steering wheel of a vehicle based on the second embodiment, including:
and the calibration module 4 is used for calibrating the gravity influence vector of the six-axis gyroscope and specifying that the anticlockwise rotation is negative and the clockwise rotation is positive when the vehicle looks downwards from the upper part.
The first acquisition module 1 is used for acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every interval of a preset time period;
the calculation module 2 is used for calculating to obtain an angular velocity vector according to a geometric relationship between the three-axis angular velocity vector and an angular velocity vector vertical to a vehicle steering plane; the calculation module 2 comprises: the first calculating unit 21 is configured to calculate, according to a dot product formula of a triaxial acceleration vector acquired by the six-axis gyroscope and a calibrated gravity influence vector, a cosine value of an included angle between a component in a triaxial direction of the gyroscope and an angular velocity vector; the second calculating unit 22 is configured to calculate an angular velocity vector according to an included angle cosine value between a component with the largest modulus value in the components in the three-axis directions of the gyroscope and the angular velocity vector;
the filtering module 5 is used for performing low-pass filtering processing on the angular velocity vector calculated by the calculating module; preferably, the filtering module 5 is specifically configured to perform filtering processing on the angular velocity vector by using a butterworth digital low-pass filtering algorithm, and set a passband frequency to be 0 to 0.5HZ, a stopband frequency to be 0.75HZ or higher, a passband maximum attenuation coefficient to be 1, and a stopband minimum attenuation coefficient to be 5.
And the second obtaining module 3 is used for obtaining the change condition of the steering angle of the steering wheel of the vehicle according to the ratio relation between the angular velocity vector and the vehicle speed.
In summary, the method and the system for detecting the change of the steering angle of the vehicle steering wheel provided by the invention can not only realize the acquisition of the change condition of the steering angle of the vehicle steering wheel based on the original hardware resources on the basis of not additionally increasing the cost; the accuracy of the acquired data is high, and the actual operation condition of the steering wheel can be truly reflected; furthermore, interference signals of the external boundary to the sampled data can be effectively removed, and the precision of the data analysis result is improved again; finally, the change condition of the steering wheel angle of the vehicle, which is acquired by the invention, can be used as a good basis for detecting and early warning driving states such as fatigue driving and the like, thereby providing service for the control of driving safety.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of detecting a change in a steering angle of a vehicle, comprising:
acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every preset time period;
calculating to obtain an angular velocity vector according to a geometric relationship between the three-axis angular velocity vector and an angular velocity vector perpendicular to a vehicle steering plane;
and obtaining the change condition of the steering wheel angle of the vehicle according to the ratio relation of the angular velocity vector and the vehicle speed.
2. The method of detecting a change in a steering angle of a vehicle according to claim 1, further comprising:
the gravity influence vector of the six-axis gyroscope is calibrated, and when the six-axis gyroscope is viewed from the upper part of the vehicle downwards, the anticlockwise rotation is negative, and the clockwise rotation is positive.
3. The method for detecting a change in a steering angle of a steering wheel of a vehicle according to claim 2, wherein the angular velocity vector is calculated based on a geometric relationship between the three-axis angular velocity vector and an angular velocity vector perpendicular to a steering plane of the vehicle, specifically:
calculating to obtain a cosine value of an included angle between a component in the triaxial direction of the gyroscope and an angular velocity vector according to a point-product formula of a triaxial acceleration vector acquired by the six-axis gyroscope and a calibrated gravity influence vector;
and calculating to obtain the angular velocity vector according to the cosine value of the included angle between the component with the maximum modulus in the components of the gyroscope in the three-axis direction and the angular velocity vector.
4. The method of detecting a change in a steering angle of a vehicle steering wheel according to claim 1, wherein the angular velocity vector is calculated based on a geometric relationship between the three-axis angular velocity vector and an angular velocity vector perpendicular to a steering plane of the vehicle, and thereafter, further comprising:
and performing low-pass filtering processing on the angular velocity vector.
5. The method of detecting a change in a steering wheel angle of a vehicle according to claim 4, wherein the angular velocity vector is subjected to filtering processing using a Butterworth digital low-pass filter algorithm, setting a pass-band frequency of 0-0.5HZ, a stop-band frequency of 0.75HZ or higher, a pass-band maximum attenuation coefficient of 1, and a stop-band minimum attenuation coefficient of 5.
6. A system for detecting a change in a steering angle of a vehicle steering wheel, comprising:
the first acquisition module is used for acquiring a three-axis angular velocity vector from a six-axis gyroscope of the vehicle-mounted intelligent terminal every preset time period;
the calculation module is used for calculating to obtain angular velocity vectors according to the geometrical relationship between the three-axis angular velocity vectors and the angular velocity vectors vertical to the vehicle steering plane;
and the second acquisition module is used for acquiring the change condition of the steering angle of the vehicle steering wheel according to the ratio relation between the angular velocity vector and the vehicle speed.
7. The system for detecting a change in steering angle of a vehicle according to claim 6, further comprising:
and the calibration module is used for calibrating the gravity influence vector of the six-axis gyroscope and specifying that the anticlockwise rotation is negative and the clockwise rotation is positive when the vehicle looks downwards from the upper part.
8. The system for detecting a change in steering angle of a vehicle according to claim 7,
the calculation module comprises:
the first calculation unit is used for calculating and obtaining a cosine value of an included angle between a component in the triaxial direction of the gyroscope and an angular velocity vector according to a dot product formula of a triaxial acceleration vector acquired by the six-axis gyroscope and a calibrated gravity influence vector;
and the second calculating unit is used for calculating to obtain the angular velocity vector according to the cosine value of the included angle between the component with the maximum modulus value in the components of the gyroscope in the three-axis direction and the angular velocity vector.
9. The system for detecting a change in steering angle of a vehicle according to claim 6, further comprising:
and the filtering module is used for carrying out low-pass filtering processing on the angular velocity vector calculated by the calculating module.
10. The system for detecting a change in a steering wheel angle of a vehicle according to claim 9, wherein said filter module, in particular for filtering said angular velocity vector using a butterworth digital low pass filter algorithm, sets a pass band frequency of 0-0.5HZ, a stop band frequency of 0.75HZ or higher, a pass band maximum attenuation coefficient of 1, and a stop band minimum attenuation coefficient of 5.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109606467A (en) * | 2018-12-29 | 2019-04-12 | 百度在线网络技术（北京）有限公司 | A kind of vehicle steering method and vehicle |
| 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 |
| CN109916362A (en) * | 2019-03-04 | 2019-06-21 | 武汉理工大学 | A kind of detection method and system of steering wheel rotational angle |
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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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