CN109318988A - Motor vehicle steering wheel angle detection method and system based on twin-axis accelerometer - Google Patents
Motor vehicle steering wheel angle detection method and system based on twin-axis accelerometer Download PDFInfo
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- CN109318988A CN109318988A CN201811324500.5A CN201811324500A CN109318988A CN 109318988 A CN109318988 A CN 109318988A CN 201811324500 A CN201811324500 A CN 201811324500A CN 109318988 A CN109318988 A CN 109318988A
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- China
- Prior art keywords
- steering wheel
- twin
- motor vehicle
- axis
- axis accelerometer
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Classifications
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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
-
- 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
Abstract
This application discloses a kind of motor vehicle steering wheel angle detection method and system based on twin-axis accelerometer, method include: to acquire the data of twin-axis accelerometer, wherein twin-axis accelerometer is mounted on the positive center of motor vehicle steering wheel decorations disk；The data of collected twin-axis accelerometer are handled, rotation angle and the inclination angle of motor vehicle steering wheel are obtained.The application can fast and accurately detect rotation angle and the inclination angle of steering wheel, and the such environmental effects such as install convenient, cost are controllable, security performance is high, wear hidden danger without device, are not illuminated by the light, block.
Description
Technical field
This application involves state of motor vehicle detection technique field more particularly to a kind of motor vehicles based on twin-axis accelerometer
Steering wheel angle detection method and system.
Background technique
With the extensive use of motor vehicle, in the use process of motor vehicle, to guarantee security needs to the side of motor vehicle
It is detected to disk corner.
Currently, the method and system of motor vehicle steering wheel roll angle inspection, generally existing difficult to install, higher cost, safety
The environmental factors such as performance is low, wears hidden danger there are device, is illuminated by the light, blocks are affected.
Therefore, rotation angle and the inclination angle of steering wheel, and install convenient, cost how fast and accurately to be detected
Controllably, security performance it is high, without device abrasion hidden danger, the such environmental effects such as be not illuminated by the light, block, be one and urgently to be resolved ask
Topic.
Summary of the invention
In view of this, the motor vehicle steering wheel angle detection method that this application provides a kind of based on twin-axis accelerometer and
System can fast and accurately detect rotation angle and the inclination angle of steering wheel, and install convenient, cost are controllable, safety
The such environmental effects such as energy is high, wears hidden danger without device, is not illuminated by the light, blocks.
This application provides a kind of motor vehicle steering wheel angle detection method based on twin-axis accelerometer, comprising:
Acquire the data of twin-axis accelerometer, wherein the twin-axis accelerometer is mounted on motor vehicle steering wheel decorations disk
Positive center；
The data of the collected twin-axis accelerometer are handled, the rotation angle of motor vehicle steering wheel is obtained and are inclined
Oblique angle.
Preferably, the data of the acquisition twin-axis accelerometer include:
Acquire component of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer.
Preferably, the data to the collected twin-axis accelerometer are handled, and obtain motor vehicle steering wheel
Rotation angle and inclination angle include:
Abnormality value removing and mean filter pretreatment are carried out to the data of the collected twin-axis accelerometer；
According to component and motor vehicle steering wheel of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer
Existing relationship between rotation angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel.
Preferably, the method also includes:
The rotation angle for sending the motor vehicle steering wheel and inclination angle are to mobile terminal.
Preferably, the rotation angle for sending the motor vehicle steering wheel and inclination angle to mobile terminal include:
Rotation angle and the inclination angle of the motor vehicle steering wheel are obtained by bluetooth；
The rotation angle for the motor vehicle steering wheel that will acquire by bluetooth and inclination angle are sent to mobile terminal.
A kind of motor vehicle steering wheel roll angle inspection system based on twin-axis accelerometer, comprising:
Data acquisition module, for acquiring the data of twin-axis accelerometer, wherein the twin-axis accelerometer is mounted on machine
The positive center of motor-car steering wheel decorations disk；
Microcontroller handles for the data to the collected twin-axis accelerometer, obtains vehicle directional
The rotation angle of disk and inclination angle.
Preferably, the data acquisition module is specifically used for:
Acquire component of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer.
Preferably, the microcontroller is specifically used for:
Abnormality value removing and mean filter pretreatment are carried out to the data of the collected twin-axis accelerometer；
According to component and motor vehicle steering wheel of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer
Existing relationship between rotation angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel.
Preferably, the system also includes:
Sending module, the rotation angle and inclination angle for sending the motor vehicle steering wheel are to mobile terminal.
Preferably, the sending module includes: bluetooth sending module and bluetooth receiving module, in which:
The bluetooth sending module, for obtaining the rotation angle of the motor vehicle steering wheel from the microcontroller and inclining
Oblique angle, and the rotation angle and inclination angle are sent to the bluetooth receiving module；
The bluetooth receiving module, the rotation angle of the motor vehicle steering wheel for will acquire and inclination angle are sent
To mobile terminal.
In conclusion this application discloses a kind of motor vehicle steering wheel angle detection method, when needing to vehicle directional
When disk corner is detected, the data of twin-axis accelerometer are acquired first, wherein twin-axis accelerometer is mounted on vehicle directional
Disk adorns the positive center of disk, then handles the data of collected twin-axis accelerometer, obtains motor vehicle side
Rotation angle and inclination angle to disk.The application can fast and accurately detect rotation angle and the inclination angle of steering wheel, Er Qiean
Fill the such environmental effects such as convenient, cost is controllable, security performance is high, wears hidden danger without device, is not illuminated by the light, blocks.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of motor vehicle steering wheel angle detection method embodiment based on twin-axis accelerometer disclosed in the present application
1 method flow diagram；
Fig. 2 is a kind of motor vehicle steering wheel angle detection method embodiment based on twin-axis accelerometer disclosed in the present application
2 method flow diagram；
Fig. 3 is a kind of motor vehicle steering wheel angle detection method embodiment based on twin-axis accelerometer disclosed in the present application
3 method flow diagram；
Fig. 4 is a kind of motor vehicle steering wheel roll angle inspection system embodiment based on twin-axis accelerometer disclosed in the present application
1 structural schematic diagram；
Fig. 5 is a kind of motor vehicle steering wheel roll angle inspection system embodiment based on twin-axis accelerometer disclosed in the present application
2 structural schematic diagram；
Fig. 6 is a kind of motor vehicle steering wheel roll angle inspection system embodiment based on twin-axis accelerometer disclosed in the present application
3 structural schematic diagram；
Fig. 7 is the schematic view of the mounting position of twin-axis accelerometer disclosed in the present application；
Fig. 8 is the illustraton of model that gravity acceleration g disclosed in the present application decomposes.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
As shown in Figure 1, being a kind of motor vehicle steering wheel roll angle inspection side based on twin-axis accelerometer disclosed in the present application
The flow chart of method embodiment 1, the method may include following steps:
S101, the data for acquiring twin-axis accelerometer, wherein twin-axis accelerometer is mounted on motor vehicle steering wheel decorations disk
Positive center；
When needing to detect motor vehicle steering wheel corner, the steering wheel of positive motor vehicle is returned, as shown in fig. 7, will be double
Axis accelerometer is mounted on the positive center of steering wheel decorations disk, plane and machine where the X-axis and Y-axis of twin-axis accelerometer
Plane where motor-car steering wheel is parallel, and the X-axis and Y-axis of twin-axis accelerometer are mutually perpendicular to.Then, acquisition motor vehicle is working
When, the data of twin-axis accelerometer.
S102, the data of collected twin-axis accelerometer are handled, obtain motor vehicle steering wheel rotation angle and
Inclination angle.
Then, the data of collected twin-axis accelerometer are handled, by processing, finally obtains vehicle directional
The rotation angle of disk and inclination angle.
In conclusion in the above-described embodiments, when needing to detect motor vehicle steering wheel corner, acquisition is double first
The data of axis accelerometer, wherein twin-axis accelerometer is mounted on the positive center of motor vehicle steering wheel decorations disk, then
The data of collected twin-axis accelerometer are handled, rotation angle and the inclination angle of motor vehicle steering wheel are obtained.The application
It can fast and accurately detect rotation angle and the inclination angle of steering wheel, and install convenient, cost are controllable, security performance is high,
No device abrasion hidden danger such as is not illuminated by the light, blocks at the such environmental effects.
As shown in Fig. 2, being a kind of motor vehicle steering wheel roll angle inspection side based on twin-axis accelerometer disclosed in the present application
The flow chart of method embodiment 2, the method may include following steps:
The component of S201, acquisition acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer, wherein twin-axis accelerometer
It is mounted on the positive center of motor vehicle steering wheel decorations disk；
When needing to detect motor vehicle steering wheel corner, the steering wheel of positive motor vehicle is returned, as shown in fig. 7, will be double
Axis accelerometer is mounted on the positive center of steering wheel decorations disk, plane and machine where the x-axis and y-axis of twin-axis accelerometer
Plane where motor-car steering wheel is parallel, and the x-axis and y-axis of twin-axis accelerometer are mutually perpendicular to.Then, acquisition motor vehicle is working
When, component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer.
S202, abnormality value removing and mean filter pretreatment are carried out to the data of collected twin-axis accelerometer；
After collecting component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer, further to collected
Data are pre-processed, and pretreatment includes: abnormality value removing and mean filter, and abnormality value removing is for filtering those apparent errors
Data, mean filter is for further decreasing influence of noise.
S203, component and vehicle directional disc spins according to acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer
Existing relationship between angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel；
As shown in figure 8, gravity acceleration g can be decomposed into twin-axis accelerometer x, the component g on tri- axis of y, zx,gy,gz,
And meet relationship gx 2+gy 2+gz 2=g2, wherein z-axis and x, the plane of y-axis composition are vertical.The steering wheel normal operating the case where
Under, twin-axis accelerometer measurement is component of the gravity acceleration g in its x-axis and y-axis, due to the constant i.e. z of steering wheel inclination angle
Axis direction is constant, therefore, component g of the gravity acceleration g in z-axiszIt is constant, thus gx,gyMeet relationship gx 2+gy 2=g2-gz 2,
In, g2-gz 2For constant.Again because steering wheel is from returning just to turning around to the left, gxChanging rule: 0 →-gxmax→0→gxmax
→ 0, gyChanging rule :-gxmax→0→gxmax→0→-gxmax.To sum up two conditions, the rotation angle θ of steering wheeliWith gx,gy
Meet relationship:At the same time, steering wheel tilting angle θjWith gx,gyMeet relationship:Its
In,
S204, the rotation angle for sending motor vehicle steering wheel and inclination angle are to mobile terminal.
After the rotation angle and inclination angle for calculating motor vehicle steering wheel, by the rotation angle of motor vehicle steering wheel and inclination
Angle is sent to mobile terminal, is checked convenient for user by mobile terminal.Wherein, mobile terminal can be mobile phone, notebook
Computer etc..
In conclusion in the above-described embodiments, when needing to detect motor vehicle steering wheel corner, acquisition is heavy first
Component of the power acceleration in the x-axis and y-axis of twin-axis accelerometer, wherein twin-axis accelerometer is mounted on motor vehicle steering wheel
The positive center of disk is adornd, abnormality value removing and mean filter then are carried out to the data of collected twin-axis accelerometer
Pretreatment, according to component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer and motor vehicle steering wheel rotation angle and
Existing relationship between inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel, finally sends the motor vehicle side
To the rotation angle of disk and inclination angle to mobile terminal.The application can fast and accurately detect the rotation angle of steering wheel and incline
Oblique angle, and the environmental factors such as install convenient, cost are controllable, security performance is high, wear hidden danger without device, are not illuminated by the light, block
It influences.
As shown in figure 3, being a kind of motor vehicle steering wheel roll angle inspection side based on twin-axis accelerometer disclosed in the present application
The flow chart of method embodiment 3, the method may include following steps:
The component of S301, acquisition acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer, wherein twin-axis accelerometer
It is mounted on the positive center of motor vehicle steering wheel decorations disk；
When needing to detect motor vehicle steering wheel corner, the steering wheel of positive motor vehicle is returned, as shown in fig. 7, will be double
Axis accelerometer is mounted on the positive center of steering wheel decorations disk, plane and machine where the x-axis and y-axis of twin-axis accelerometer
Plane where motor-car steering wheel is parallel, and the x-axis and y-axis of twin-axis accelerometer are mutually perpendicular to.Then, acquisition motor vehicle is working
When, component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer.
S302, abnormality value removing and mean filter pretreatment are carried out to the data of collected twin-axis accelerometer；
After collecting component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer, further to collected
Data are pre-processed, and pretreatment includes: abnormality value removing and mean filter, and abnormality value removing is for filtering those apparent errors
Data, mean filter is for further decreasing influence of noise.
S303, component and vehicle directional disc spins according to acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer
Existing relationship between angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel；
As shown in figure 8, gravity acceleration g can be decomposed into twin-axis accelerometer x, the component g on tri- axis of y, zx,gy,gz,
And meet relationship gx 2+gy 2+gz 2=g2, wherein z-axis and x, the plane of y-axis composition are vertical.The steering wheel normal operating the case where
Under, twin-axis accelerometer measurement is component of the gravity acceleration g in its x-axis and y-axis, due to the constant i.e. z of steering wheel inclination angle
Axis direction is constant, therefore, component g of the gravity acceleration g in z-axiszIt is constant, thus gx,gyMeet relationship gx 2+gy 2=g2-gz 2,
In, g2-gz 2For constant.Again because steering wheel is from returning just to turning around to the left, gxChanging rule: 0 →-gxmax→0→gxmax
→ 0, gyChanging rule :-gxmax→0→gxmax→0→-gxmax.To sum up two conditions, the rotation angle θ of steering wheeliWith gx,gy
Meet relationship:At the same time, steering wheel tilting angle θjWith gx,gyMeet relationship:Its
In,
S304, rotation angle and the inclination angle that motor vehicle steering wheel is obtained by bluetooth；
S305, the rotation angle for the motor vehicle steering wheel that will acquire by bluetooth and inclination angle are sent to mobile terminal.
After the rotation angle and inclination angle for calculating motor vehicle steering wheel, by the rotation angle of motor vehicle steering wheel and inclination
Angle is sent to mobile terminal, is checked convenient for user by mobile terminal.Wherein, mobile terminal can be mobile phone, notebook
Computer etc..
In conclusion technical solution provided by the present application, passes through gear engagement, image tagged and coding compared to existing
Device carrys out measurement direction and spirals the system of gyration, and the application is not only easy for installation, does not need to dismantle steering wheel, need to only pacify system
Positive center loaded on steering wheel decorations disk, and there is no devices to wear, cheap, affected by environment small.
The application pre-processes the data of twin-axis accelerometer, with the rotation of pretreated direction data calculation disk
Corner.Measurement accuracy with higher, rotation angle measurement accuracy degree can reach ± 0.5 °, and incline measurement precision also reaches ±
0.5°。
The wireless transmission that data are carried out using bluetooth is avoided conducting wire winding and generates interference to steering wheel operation.
As shown in figure 4, being a kind of motor vehicle steering wheel roll angle inspection system based on twin-axis accelerometer disclosed in the present application
The structural schematic diagram for embodiment 1 of uniting, the system may include:
Data acquisition module 401, for acquiring the data of twin-axis accelerometer, wherein twin-axis accelerometer is mounted on machine
The positive center of motor-car steering wheel decorations disk；
When needing to detect motor vehicle steering wheel corner, the steering wheel of positive motor vehicle is returned, as shown in fig. 7, will be double
Axis accelerometer is mounted on the positive center of steering wheel decorations disk, plane and machine where the X-axis and Y-axis of twin-axis accelerometer
Plane where motor-car steering wheel is parallel, and the X-axis and Y-axis of twin-axis accelerometer are mutually perpendicular to.Then, acquisition motor vehicle is working
When, the data of twin-axis accelerometer.
Microcontroller 402 handles for the data to collected twin-axis accelerometer, obtains motor vehicle steering wheel
Rotation angle and inclination angle.
Then, the data of collected twin-axis accelerometer are handled, by processing, finally obtains vehicle directional
The rotation angle of disk and inclination angle.
In conclusion in the above-described embodiments, when needing to detect motor vehicle steering wheel corner, acquisition is double first
The data of axis accelerometer, wherein twin-axis accelerometer is mounted on the positive center of motor vehicle steering wheel decorations disk, then
The data of collected twin-axis accelerometer are handled, rotation angle and the inclination angle of motor vehicle steering wheel are obtained.The application
It can fast and accurately detect rotation angle and the inclination angle of steering wheel, and install convenient, cost are controllable, security performance is high,
No device abrasion hidden danger such as is not illuminated by the light, blocks at the such environmental effects.
As shown in figure 5, being a kind of motor vehicle steering wheel roll angle inspection system based on twin-axis accelerometer disclosed in the present application
The structural schematic diagram for embodiment 2 of uniting, the system may include:
Data acquisition module 501, for acquiring component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer,
In, twin-axis accelerometer is mounted on the positive center of motor vehicle steering wheel decorations disk；
When needing to detect motor vehicle steering wheel corner, the steering wheel of positive motor vehicle is returned, as shown in fig. 7, will be double
Axis accelerometer is mounted on the positive center of steering wheel decorations disk, plane and machine where the x-axis and y-axis of twin-axis accelerometer
Plane where motor-car steering wheel is parallel, and the x-axis and y-axis of twin-axis accelerometer are mutually perpendicular to.Then, acquisition motor vehicle is working
When, component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer.
Microcontroller 502 carries out abnormality value removing and mean filter for the data to collected twin-axis accelerometer
Pretreatment；
After collecting component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer, further to collected
Data are pre-processed, and pretreatment includes: abnormality value removing and mean filter, and abnormality value removing is for filtering those apparent errors
Data, mean filter is for further decreasing influence of noise.
Microcontroller 502 is also used to component and machine according to acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer
Existing relationship between motor-car steering wheel rotation angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel；
As shown in figure 8, gravity acceleration g can be decomposed into twin-axis accelerometer x, the component g on tri- axis of y, zx,gy,gz,
And meet relationship gx 2+gy 2+gz 2=g2, wherein z-axis and x, the plane of y-axis composition are vertical.The steering wheel normal operating the case where
Under, twin-axis accelerometer measurement is component of the gravity acceleration g in its x-axis and y-axis, due to the constant i.e. z of steering wheel inclination angle
Axis direction is constant, therefore, component g of the gravity acceleration g in z-axiszIt is constant, thus gx,gyMeet relationship gx 2+gy 2=g2-gz 2,
In, g2-gz 2For constant.Again because steering wheel is from returning just to turning around to the left, gxChanging rule: 0 →-gxmax→0→gxmax
→ 0, gyChanging rule :-gxmax→0→gxmax→0→-gxmax.To sum up two conditions, the rotation angle θ of steering wheeliWith gx,gy
Meet relationship:At the same time, steering wheel tilting angle θjWith gx,gyMeet relationship:Its
In,
Sending module 503, the rotation angle and inclination angle for sending motor vehicle steering wheel are to mobile terminal.
After the rotation angle and inclination angle for calculating motor vehicle steering wheel, by the rotation angle of motor vehicle steering wheel and inclination
Angle is sent to mobile terminal, is checked convenient for user by mobile terminal.Wherein, mobile terminal can be mobile phone, notebook
Computer etc..
In conclusion in the above-described embodiments, when needing to detect motor vehicle steering wheel corner, acquisition is heavy first
Component of the power acceleration in the x-axis and y-axis of twin-axis accelerometer, wherein twin-axis accelerometer is mounted on motor vehicle steering wheel
The positive center of disk is adornd, abnormality value removing and mean filter then are carried out to the data of collected twin-axis accelerometer
Pretreatment, according to component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer and motor vehicle steering wheel rotation angle and
Existing relationship between inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel, finally sends the motor vehicle side
To the rotation angle of disk and inclination angle to mobile terminal.The application can fast and accurately detect the rotation angle of steering wheel and incline
Oblique angle, and the environmental factors such as install convenient, cost are controllable, security performance is high, wear hidden danger without device, are not illuminated by the light, block
It influences.
As shown in fig. 6, being a kind of motor vehicle steering wheel roll angle inspection system based on twin-axis accelerometer disclosed in the present application
The structural schematic diagram for embodiment 3 of uniting, the system may include:
Data acquisition module 601, for acquiring component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer,
In, twin-axis accelerometer is mounted on the positive center of motor vehicle steering wheel decorations disk；
When needing to detect motor vehicle steering wheel corner, the steering wheel of positive motor vehicle is returned, as shown in fig. 7, will be double
Axis accelerometer is mounted on the positive center of steering wheel decorations disk, plane and machine where the x-axis and y-axis of twin-axis accelerometer
Plane where motor-car steering wheel is parallel, and the x-axis and y-axis of twin-axis accelerometer are mutually perpendicular to.Then, acquisition motor vehicle is working
When, component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer.
Microcontroller 602 carries out abnormality value removing and mean filter for the data to collected twin-axis accelerometer
Pretreatment；
After collecting component of the acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer, further to collected
Data are pre-processed, and pretreatment includes: abnormality value removing and mean filter, and abnormality value removing is for filtering those apparent errors
Data, mean filter is for further decreasing influence of noise.
Microcontroller 602 is also used to component and machine according to acceleration of gravity in the x-axis and y-axis of twin-axis accelerometer
Existing relationship between motor-car steering wheel rotation angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel；
As shown in figure 8, gravity acceleration g can be decomposed into twin-axis accelerometer x, the component g on tri- axis of y, zx,gy,gz,
And meet relationship gx 2+gy 2+gz 2=g2, wherein z-axis and x, the plane of y-axis composition are vertical.The steering wheel normal operating the case where
Under, twin-axis accelerometer measurement is component of the gravity acceleration g in its x-axis and y-axis, due to the constant i.e. z of steering wheel inclination angle
Axis direction is constant, therefore, component g of the gravity acceleration g in z-axiszIt is constant, thus gx,gyMeet relationship gx 2+gy 2=g2-gz 2,
In, g2-gz 2For constant.Again because steering wheel is from returning just to turning around to the left, gxChanging rule: 0 →-gxmax→0→gxmax
→ 0, gyChanging rule :-gxmax→0→gxmax→0→-gxmax.To sum up two conditions, the rotation angle θ of steering wheeliWith gx,gy
Meet relationship:At the same time, steering wheel tilting angle θjWith gx,gyMeet relationship:Its
In,
Bluetooth sending module 603, for obtaining rotation angle and the inclination angle of motor vehicle steering wheel by bluetooth；
Bluetooth receiving module 604, the rotation angle of the motor vehicle steering wheel for will acquire by bluetooth and inclination angle
It is sent to mobile terminal.
After the rotation angle and inclination angle for calculating motor vehicle steering wheel, by the rotation angle of motor vehicle steering wheel and inclination
Angle is sent to mobile terminal, is checked convenient for user by mobile terminal.Wherein, mobile terminal can be mobile phone, notebook
Computer etc..
In conclusion technical solution provided by the present application, passes through gear engagement, image tagged and coding compared to existing
Device carrys out measurement direction and spirals the system of gyration, and the application is not only easy for installation, does not need to dismantle steering wheel, need to only pacify system
Positive center loaded on steering wheel decorations disk, and there is no devices to wear, cheap, affected by environment small.
The application pre-processes the data of twin-axis accelerometer, with the rotation of pretreated direction data calculation disk
Corner.Measurement accuracy with higher, rotation angle measurement accuracy degree can reach ± 0.5 °, and incline measurement precision also reaches ±
0.5°。
The wireless transmission that data are carried out using bluetooth is avoided conducting wire winding and generates interference to steering wheel operation.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond scope of the present application.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of motor vehicle steering wheel angle detection method based on twin-axis accelerometer characterized by comprising
Acquire the data of twin-axis accelerometer, wherein the twin-axis accelerometer is mounted on the front of motor vehicle steering wheel decorations disk
Center；
The data of the collected twin-axis accelerometer are handled, the rotation angle and inclination of motor vehicle steering wheel are obtained
Angle.
2. the method according to claim 1, wherein the data of the acquisition twin-axis accelerometer include:
Acquire component of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer.
3. according to the method described in claim 2, it is characterized in that, the data to the collected twin-axis accelerometer
It is handled, the rotation angle and inclination angle for obtaining motor vehicle steering wheel include:
Abnormality value removing and mean filter pretreatment are carried out to the data of the collected twin-axis accelerometer；
According to component of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer and vehicle directional disc spins
Existing relationship between angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel.
4. according to the method described in claim 3, it is characterized by further comprising:
The rotation angle for sending the motor vehicle steering wheel and inclination angle are to mobile terminal.
5. according to the method described in claim 4, it is characterized in that, the rotation angle for sending the motor vehicle steering wheel and
Inclination angle to mobile terminal includes:
Rotation angle and the inclination angle of the motor vehicle steering wheel are obtained by bluetooth；
The rotation angle for the motor vehicle steering wheel that will acquire by bluetooth and inclination angle are sent to mobile terminal.
6. a kind of motor vehicle steering wheel roll angle inspection system based on twin-axis accelerometer characterized by comprising
Data acquisition module, for acquiring the data of twin-axis accelerometer, wherein the twin-axis accelerometer is mounted on motor vehicle
The positive center of steering wheel decorations disk；
Microcontroller handles for the data to the collected twin-axis accelerometer, obtains motor vehicle steering wheel
Rotation angle and inclination angle.
7. system according to claim 6, which is characterized in that the data acquisition module is specifically used for:
Acquire component of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer.
8. system according to claim 7, which is characterized in that the microcontroller is specifically used for:
Abnormality value removing and mean filter pretreatment are carried out to the data of the collected twin-axis accelerometer；
According to component of the acceleration of gravity in the x-axis and y-axis of the twin-axis accelerometer and vehicle directional disc spins
Existing relationship between angle and inclination angle calculates rotation angle and the inclination angle of motor vehicle steering wheel.
9. system according to claim 8, which is characterized in that further include:
Sending module, the rotation angle and inclination angle for sending the motor vehicle steering wheel are to mobile terminal.
10. system according to claim 9, which is characterized in that the sending module includes: bluetooth sending module and bluetooth
Receiving module, in which:
The bluetooth sending module, for obtaining the rotation angle and inclination of the motor vehicle steering wheel from the microcontroller
Angle, and the rotation angle and inclination angle are sent to the bluetooth receiving module；
The bluetooth receiving module, the rotation angle of the motor vehicle steering wheel for will acquire and inclination angle are sent to shifting
Dynamic terminal.
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| 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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