CN109318988B - Motor vehicle steering wheel corner detection method and system based on double-axis accelerometer - Google Patents

Motor vehicle steering wheel corner detection method and system based on double-axis accelerometer Download PDF

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CN109318988B
CN109318988B CN201811324500.5A CN201811324500A CN109318988B CN 109318988 B CN109318988 B CN 109318988B CN 201811324500 A CN201811324500 A CN 201811324500A CN 109318988 B CN109318988 B CN 109318988B
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steering wheel
axis
motor vehicle
angle
accelerometer
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CN109318988A (en
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陈宗海
江建文
包鹏
赵皓
王纪凯
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University of Science and Technology of China USTC
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University of Science and Technology of China USTC
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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

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  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
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Abstract

The application discloses a method and a system for detecting the steering wheel angle of a motor vehicle based on a biaxial accelerometer, wherein the method comprises the following steps: collecting data of a double-axis accelerometer, wherein the double-axis accelerometer is arranged in the center of the front surface of a motor vehicle steering wheel decorative disc; and processing the acquired data of the biaxial accelerometer to obtain the rotation angle and the inclination angle of the steering wheel of the motor vehicle. The rotation angle and the angle of inclination that detect out the steering wheel that this application can be quick accurate, install convenient moreover, cost controllable, the security performance is high, no device wearing and tearing hidden danger, do not receive illumination, shelter from the influence of environmental factor such as sheltering from.

Description

Motor vehicle steering wheel corner detection method and system based on double-axis accelerometer
Technical Field
The application relates to the technical field of motor vehicle state detection, in particular to a motor vehicle steering wheel corner detection method and system based on a double-axis accelerometer.
Background
With the wide application of motor vehicles, the steering wheel angle of the motor vehicle needs to be detected in order to ensure safety in the use process of the motor vehicle.
At present, the method and the system for detecting the steering angle of the steering wheel of the motor vehicle generally have the defects of difficult installation, higher cost, low safety performance, hidden wear of devices, and larger influence by environmental factors such as illumination, shielding and the like.
Therefore, how to detect out the rotation angle and the angle of inclination of steering wheel fast and accurately, the installation is convenient moreover, with controllable costs, the security performance is high, do not have device wearing and tearing hidden danger, do not receive environmental factor influences such as illumination, shelter from, is the problem that awaits a urgent need to solve.
Disclosure of Invention
In view of the above, the application provides a method and a system for detecting a steering wheel angle of a motor vehicle based on a biaxial accelerometer, which can quickly and accurately detect a rotation angle and an inclination angle of a steering wheel, and are convenient to install, controllable in cost, high in safety performance, free of device wear hidden danger, and free of influence of environmental factors such as illumination and shielding.
The application provides a motor vehicle steering wheel corner detection method based on a biaxial accelerometer, which comprises the following steps:
collecting data of a double-axis accelerometer, wherein the double-axis accelerometer is arranged in the center of the front surface of a motor vehicle steering wheel decorative plate;
and processing the acquired data of the biaxial accelerometer to obtain the rotation angle and the inclination angle of the steering wheel of the motor vehicle.
Preferably, the acquiring data of the biaxial accelerometer comprises:
components of the acceleration of gravity in the x-axis and y-axis of the two-axis accelerometer are collected.
Preferably, the processing the acquired data of the biaxial accelerometer to obtain the rotation angle and the inclination angle of the steering wheel of the motor vehicle comprises:
carrying out abnormal value elimination and mean value filtering pretreatment on the acquired data of the dual-axis accelerometer;
and calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the two-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle.
Preferably, the method further comprises:
and transmitting the rotation angle and the inclination angle of the steering wheel of the motor vehicle to a mobile terminal.
Preferably, the transmitting the rotation angle and the inclination angle of the steering wheel of the motor vehicle to the mobile terminal includes:
acquiring the rotation angle and the inclination angle of the steering wheel of the motor vehicle through Bluetooth;
and sending the acquired rotation angle and inclination angle of the steering wheel of the motor vehicle to a mobile terminal through Bluetooth.
A vehicle steering wheel angle detection system based on a dual-axis accelerometer, comprising:
the data acquisition module is used for acquiring data of a double-axis accelerometer, wherein the double-axis accelerometer is arranged in the center of the front surface of a motor vehicle steering wheel decorative disc;
and the microcontroller is used for processing the acquired data of the dual-axis accelerometer to obtain the rotation angle and the inclination angle of the steering wheel of the motor vehicle.
Preferably, the data acquisition module is specifically configured to:
components of the acceleration of gravity in the x-axis and y-axis of the two-axis accelerometer are collected.
Preferably, the microcontroller is specifically configured to:
carrying out abnormal value elimination and mean value filtering pretreatment on the acquired data of the dual-axis accelerometer;
and calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the two-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle.
Preferably, the system further comprises:
and the sending module is used for sending the rotation angle and the inclination angle of the steering wheel of the motor vehicle to the mobile terminal.
Preferably, the sending module includes: bluetooth sending module and bluetooth receiving module, wherein:
the Bluetooth sending module is used for acquiring the rotation angle and the inclination angle of the steering wheel of the motor vehicle from the microcontroller and sending the rotation angle and the inclination angle to the Bluetooth receiving module;
and the Bluetooth receiving module is used for sending the acquired rotation angle and inclination angle of the steering wheel of the motor vehicle to the mobile terminal.
In summary, the present application discloses a method for detecting a steering wheel angle of a motor vehicle, which includes collecting data of a dual-axis accelerometer when the steering wheel angle of the motor vehicle needs to be detected, wherein the dual-axis accelerometer is installed at a center position of a front surface of a decorative panel of the motor vehicle steering wheel, and then processing the collected data of the dual-axis accelerometer to obtain a rotation angle and an inclination angle of the motor vehicle steering wheel. The rotation angle and the angle of inclination that detect out the steering wheel that this application can be quick accurate, install convenient moreover, cost controllable, the security performance is high, no device wearing and tearing hidden danger, do not receive illumination, shelter from the influence of environmental factor such as sheltering from.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a method of embodiment 1 of a method for detecting a steering wheel angle of a motor vehicle based on a biaxial accelerometer according to the present disclosure;
FIG. 2 is a flowchart of a method of embodiment 2 of a method for detecting a steering wheel angle of a motor vehicle based on a dual-axis accelerometer according to the present disclosure;
FIG. 3 is a flowchart of a method of embodiment 3 of a method for detecting a steering wheel angle of a motor vehicle based on a dual-axis accelerometer according to the present disclosure;
FIG. 4 is a schematic structural diagram of an embodiment 1 of a steering wheel angle detection system for a motor vehicle based on a dual-axis accelerometer according to the present disclosure;
FIG. 5 is a schematic structural diagram of an embodiment 2 of a steering wheel angle detection system for a motor vehicle based on a dual-axis accelerometer according to the present disclosure;
FIG. 6 is a schematic structural diagram of an embodiment 3 of a steering wheel angle detection system for a motor vehicle based on a dual-axis accelerometer according to the present disclosure;
FIG. 7 is a schematic view of an installation location of a dual-axis accelerometer as disclosed herein;
fig. 8 is a model diagram of the gravity acceleration g decomposition disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, which is a flowchart of embodiment 1 of a method for detecting a steering wheel angle of a motor vehicle based on a dual-axis accelerometer disclosed in the present application, the method may include the following steps:
s101, collecting data of a double-axis accelerometer, wherein the double-axis accelerometer is arranged in the center of the front surface of a motor vehicle steering wheel decorative disc;
when the steering wheel angle of the motor vehicle needs to be detected, the steering wheel of the motor vehicle is righted, as shown in fig. 7, the double-shaft accelerometer is installed at the center of the front face of the steering wheel decoration plate, the plane of the X shaft and the plane of the Y shaft of the double-shaft accelerometer are parallel to the plane of the steering wheel of the motor vehicle, and the X shaft and the Y shaft of the double-shaft accelerometer are mutually perpendicular. Then, data of the two-axis accelerometer are collected when the motor vehicle is in operation.
And S102, processing the acquired data of the double-axis accelerometer to obtain the rotation angle and the inclination angle of the steering wheel of the motor vehicle.
And then, processing the acquired data of the double-axis accelerometer, and finally obtaining the rotation angle and the inclination angle of the steering wheel of the motor vehicle after processing.
In summary, in the above embodiments, when the steering wheel angle of the motor vehicle needs to be detected, data of the dual-axis accelerometer is collected first, where the dual-axis accelerometer is installed at a central position of the front surface of the decorative panel of the motor vehicle steering wheel, and then the collected data of the dual-axis accelerometer is processed to obtain the rotation angle and the inclination angle of the motor vehicle steering wheel. The rotation angle and the angle of inclination that detect out the steering wheel that this application can be quick accurate, install convenient moreover, cost controllable, the security performance is high, no device wearing and tearing hidden danger, do not receive illumination, shelter from the influence of environmental factor such as sheltering from.
As shown in fig. 2, which is a flowchart of embodiment 2 of a method for detecting a steering wheel angle of a motor vehicle based on a dual-axis accelerometer, the method may include the following steps:
s201, collecting components of gravity acceleration on an x axis and a y axis of a double-axis accelerometer, wherein the double-axis accelerometer is installed in the center of the front face of a motor vehicle steering wheel decorative disc;
when the steering wheel angle of the motor vehicle needs to be detected, the steering wheel of the motor vehicle is righted, as shown in fig. 7, the double-shaft accelerometer is arranged at the center of the front face of the steering wheel decoration plate, the plane of the x axis and the plane of the y axis of the double-shaft accelerometer are parallel to the plane of the steering wheel of the motor vehicle, and the x axis and the y axis of the double-shaft accelerometer are mutually vertical. Then, the components of the acceleration of gravity in the x-axis and the y-axis of the two-axis accelerometer are collected when the vehicle is in operation.
S202, carrying out abnormal value elimination and mean value filtering pretreatment on the acquired data of the dual-axis accelerometer;
after components of the gravity acceleration on the x axis and the y axis of the biaxial accelerometer are collected, the collected data are further preprocessed, and the preprocessing comprises the following steps: outlier rejection, which is used to filter those data that are significantly erroneous, and mean filtering, which is used to further reduce the noise impact.
S203, calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the double-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle;
as shown in FIG. 8, the acceleration of gravity g can be decomposed into components g in the x, y, z axes of a two-axis accelerometerx,gy,gzAnd satisfies the relationship gx 2+gy 2+gz 2＝g2Wherein the z-axis is perpendicular to the plane formed by the x-and y-axes. Under normal steering wheel operation, the two-axis accelerometer measures the components of the gravitational acceleration g in the x-axis and the y-axis, and the component g of the gravitational acceleration g in the z-axis is constant because the inclination angle of the steering wheel is constant, i.e. the z-axis direction is constantzIs unchanged thereby gx,gySatisfies the relationship gx 2+gy 2＝g2-gz 2Wherein g is2-gz 2Is a constant. And because of, the directionOne turn of the disk from return to positive to left, gxThe change rule of (2): 0 → -gxmax→0→gxmax→0，gyThe change rule of (2): -gxmax→0→gxmax→0→-gxmax. In summary of the two conditions, the rotation angle θ of the steering wheeliAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000061
at the same time, the steering wheel tilt angle θjAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000062
wherein,
Figure BDA0001858337550000063
and S204, transmitting the rotation angle and the inclination angle of the steering wheel of the motor vehicle to the mobile terminal.
And after the rotation angle and the inclination angle of the motor vehicle steering wheel are calculated, the rotation angle and the inclination angle of the motor vehicle steering wheel are sent to the mobile terminal, so that a user can conveniently check the rotation angle and the inclination angle through the mobile terminal. The mobile terminal can be a mobile phone, a notebook computer, etc.
In summary, in the above embodiments, when the steering wheel angle of the motor vehicle steering wheel needs to be detected, first, components of the acceleration of gravity on the x-axis and the y-axis of the dual-axis accelerometer are collected, where the dual-axis accelerometer is installed at the center position of the front surface of the decorative plate of the motor vehicle steering wheel, then, the collected data of the dual-axis accelerometer is subjected to outlier rejection and mean filtering preprocessing, the rotation angle and the inclination angle of the motor vehicle steering wheel are calculated according to the relationship between the components of the acceleration of gravity on the x-axis and the y-axis of the dual-axis accelerometer and the steering wheel angle and the inclination angle of the motor vehicle steering wheel, and finally, the rotation angle and the inclination angle. The rotation angle and the angle of inclination that detect out the steering wheel that this application can be quick accurate, install convenient moreover, cost controllable, the security performance is high, no device wearing and tearing hidden danger, do not receive illumination, shelter from the influence of environmental factor such as sheltering from.
As shown in fig. 3, which is a flowchart of embodiment 3 of a method for detecting a steering wheel angle of a motor vehicle based on a dual-axis accelerometer, the method may include the following steps:
s301, acquiring components of gravity acceleration on an x axis and a y axis of a double-axis accelerometer, wherein the double-axis accelerometer is installed in the center of the front face of a motor vehicle steering wheel decorative disc;
when the steering wheel angle of the motor vehicle needs to be detected, the steering wheel of the motor vehicle is righted, as shown in fig. 7, the double-shaft accelerometer is arranged at the center of the front face of the steering wheel decoration plate, the plane of the x axis and the plane of the y axis of the double-shaft accelerometer are parallel to the plane of the steering wheel of the motor vehicle, and the x axis and the y axis of the double-shaft accelerometer are mutually vertical. Then, the components of the acceleration of gravity in the x-axis and the y-axis of the two-axis accelerometer are collected when the vehicle is in operation.
S302, carrying out abnormal value elimination and mean value filtering pretreatment on the collected data of the dual-axis accelerometer;
after components of the gravity acceleration on the x axis and the y axis of the biaxial accelerometer are collected, the collected data are further preprocessed, and the preprocessing comprises the following steps: outlier rejection, which is used to filter those data that are significantly erroneous, and mean filtering, which is used to further reduce the noise impact.
S303, calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the double-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle;
as shown in FIG. 8, the acceleration of gravity g can be decomposed into components g in the x, y, z axes of a two-axis accelerometerx,gy,gzAnd satisfies the relationship gx 2+gy 2+gz 2＝g2Wherein the z-axis is perpendicular to the plane formed by the x-and y-axes. In the case of normal steering wheel operation, a two-axis accelerometer measures the components of the acceleration of gravity g in its x-axis and y-axis, since the steering wheel inclination, i.e. the z-axis, is constant, and therefore the gravity is constantComponent g of acceleration g in z-axiszIs unchanged thereby gx,gySatisfies the relationship gx 2+gy 2＝g2-gz 2Wherein g is2-gz 2Is a constant. And because the steering wheel makes one turn from return to positive to left, gxThe change rule of (2): 0 → -gxmax→0→gxmax→0，gyThe change rule of (2): -gxmax→0→gxmax→0→-gxmax. In summary of the two conditions, the rotation angle θ of the steering wheeliAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000081
at the same time, the steering wheel tilt angle θjAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000082
wherein,
Figure BDA0001858337550000083
s304, acquiring the rotation angle and the inclination angle of the steering wheel of the motor vehicle through Bluetooth;
s305, the acquired rotation angle and inclination angle of the steering wheel of the motor vehicle are sent to the mobile terminal through Bluetooth.
And after the rotation angle and the inclination angle of the motor vehicle steering wheel are calculated, the rotation angle and the inclination angle of the motor vehicle steering wheel are sent to the mobile terminal, so that a user can conveniently check the rotation angle and the inclination angle through the mobile terminal. The mobile terminal can be a mobile phone, a notebook computer, etc.
To sum up, the technical scheme that this application provided compares in the current system that comes measuring steering wheel rotation angle through gear engagement, image mark and encoder, and this application is simple to operate not only, need not unpack the steering wheel apart, only needs to install the system in the positive central point of steering wheel decorative disc puts, does not have device wearing and tearing moreover, low price, receives the environmental impact little.
The data of the biaxial accelerometer are preprocessed, and the rotation angle of the steering wheel is calculated by the preprocessed data. The method has high measurement precision, the measurement precision of the rotation angle can reach +/-0.5 degrees, and the measurement precision of the inclination angle also reaches +/-0.5 degrees.
The Bluetooth is adopted to carry out wireless data transmission, so that the interference of wire winding on the operation of the steering wheel is avoided.
As shown in fig. 4, a schematic structural diagram of an embodiment 1 of a steering wheel angle detecting system for a motor vehicle based on a dual-axis accelerometer disclosed in the present application is shown, where the system may include:
the data acquisition module 401 is used for acquiring data of a dual-axis accelerometer, wherein the dual-axis accelerometer is installed in the center of the front surface of a motor vehicle steering wheel decorative disc;
when the steering wheel angle of the motor vehicle needs to be detected, the steering wheel of the motor vehicle is righted, as shown in fig. 7, the double-shaft accelerometer is installed at the center of the front face of the steering wheel decoration plate, the plane of the X shaft and the plane of the Y shaft of the double-shaft accelerometer are parallel to the plane of the steering wheel of the motor vehicle, and the X shaft and the Y shaft of the double-shaft accelerometer are mutually perpendicular. Then, data of the two-axis accelerometer are collected when the motor vehicle is in operation.
And the microcontroller 402 is used for processing the acquired data of the two-axis accelerometer to obtain the rotation angle and the inclination angle of the steering wheel of the motor vehicle.
And then, processing the acquired data of the double-axis accelerometer, and finally obtaining the rotation angle and the inclination angle of the steering wheel of the motor vehicle after processing.
In summary, in the above embodiments, when the steering wheel angle of the motor vehicle needs to be detected, data of the dual-axis accelerometer is collected first, where the dual-axis accelerometer is installed at a central position of the front surface of the decorative panel of the motor vehicle steering wheel, and then the collected data of the dual-axis accelerometer is processed to obtain the rotation angle and the inclination angle of the motor vehicle steering wheel. The rotation angle and the angle of inclination that detect out the steering wheel that this application can be quick accurate, install convenient moreover, cost controllable, the security performance is high, no device wearing and tearing hidden danger, do not receive illumination, shelter from the influence of environmental factor such as sheltering from.
As shown in fig. 5, a schematic structural diagram of an embodiment 2 of a steering wheel angle detecting system for a motor vehicle based on a dual-axis accelerometer disclosed in the present application is shown, where the system may include:
the data acquisition module 501 is used for acquiring components of the gravity acceleration on an x axis and a y axis of a double-axis accelerometer, wherein the double-axis accelerometer is installed in the center of the front face of a motor vehicle steering wheel decorative disc;
when the steering wheel angle of the motor vehicle needs to be detected, the steering wheel of the motor vehicle is righted, as shown in fig. 7, the double-shaft accelerometer is arranged at the center of the front face of the steering wheel decoration plate, the plane of the x axis and the plane of the y axis of the double-shaft accelerometer are parallel to the plane of the steering wheel of the motor vehicle, and the x axis and the y axis of the double-shaft accelerometer are mutually vertical. Then, the components of the acceleration of gravity in the x-axis and the y-axis of the two-axis accelerometer are collected when the vehicle is in operation.
The microcontroller 502 is used for carrying out abnormal value elimination and mean value filtering pretreatment on the acquired data of the dual-axis accelerometer;
after components of the gravity acceleration on the x axis and the y axis of the biaxial accelerometer are collected, the collected data are further preprocessed, and the preprocessing comprises the following steps: outlier rejection, which is used to filter those data that are significantly erroneous, and mean filtering, which is used to further reduce the noise impact.
The microcontroller 502 is also used for calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the two-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle;
as shown in FIG. 8, the acceleration of gravity g can be decomposed into components g in the x, y, z axes of a two-axis accelerometerx,gy,gzAnd satisfies the relationship gx 2+gy 2+gz 2＝g2Wherein the z-axis is perpendicular to the plane formed by the x-and y-axes. In the case of normal steering wheel operation, the two-axis accelerometer measures the components of the acceleration of gravity g in its x-axis and y-axis, since the steering wheel inclination is constant, i.e. constantThe z-axis direction is constant, and therefore, the component g of the gravitational acceleration g in the z-axiszIs unchanged thereby gx,gySatisfies the relationship gx 2+gy 2＝g2-gz 2Wherein g is2-gz 2Is a constant. And because the steering wheel makes one turn from return to positive to left, gxThe change rule of (2): 0 → -gxmax→0→gxmax→0，gyThe change rule of (2): -gxmax→0→gxmax→0→-gxmax. In summary of the two conditions, the rotation angle θ of the steering wheeliAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000101
at the same time, the steering wheel tilt angle θjAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000102
wherein,
Figure BDA0001858337550000103
and a sending module 503, configured to send the rotation angle and the tilt angle of the steering wheel of the vehicle to the mobile terminal.
And after the rotation angle and the inclination angle of the motor vehicle steering wheel are calculated, the rotation angle and the inclination angle of the motor vehicle steering wheel are sent to the mobile terminal, so that a user can conveniently check the rotation angle and the inclination angle through the mobile terminal. The mobile terminal can be a mobile phone, a notebook computer, etc.
In summary, in the above embodiments, when the steering wheel angle of the motor vehicle steering wheel needs to be detected, first, components of the acceleration of gravity on the x-axis and the y-axis of the dual-axis accelerometer are collected, where the dual-axis accelerometer is installed at the center position of the front surface of the decorative plate of the motor vehicle steering wheel, then, the collected data of the dual-axis accelerometer is subjected to outlier rejection and mean filtering preprocessing, the rotation angle and the inclination angle of the motor vehicle steering wheel are calculated according to the relationship between the components of the acceleration of gravity on the x-axis and the y-axis of the dual-axis accelerometer and the steering wheel angle and the inclination angle of the motor vehicle steering wheel, and finally, the rotation angle and the inclination angle. The rotation angle and the angle of inclination that detect out the steering wheel that this application can be quick accurate, install convenient moreover, cost controllable, the security performance is high, no device wearing and tearing hidden danger, do not receive illumination, shelter from the influence of environmental factor such as sheltering from.
As shown in fig. 6, which is a schematic structural diagram of an embodiment 3 of a steering wheel angle detecting system for a motor vehicle based on a dual-axis accelerometer disclosed in the present application, the system may include:
the data acquisition module 601 is used for acquiring components of the gravity acceleration on an x axis and a y axis of a double-axis accelerometer, wherein the double-axis accelerometer is installed in the center of the front face of a motor vehicle steering wheel decorative disc;
when the steering wheel angle of the motor vehicle needs to be detected, the steering wheel of the motor vehicle is righted, as shown in fig. 7, the double-shaft accelerometer is arranged at the center of the front face of the steering wheel decoration plate, the plane of the x axis and the plane of the y axis of the double-shaft accelerometer are parallel to the plane of the steering wheel of the motor vehicle, and the x axis and the y axis of the double-shaft accelerometer are mutually vertical. Then, the components of the acceleration of gravity in the x-axis and the y-axis of the two-axis accelerometer are collected when the vehicle is in operation.
The microcontroller 602 is configured to perform outlier rejection and mean filtering preprocessing on the acquired data of the dual-axis accelerometer;
after components of the gravity acceleration on the x axis and the y axis of the biaxial accelerometer are collected, the collected data are further preprocessed, and the preprocessing comprises the following steps: outlier rejection, which is used to filter those data that are significantly erroneous, and mean filtering, which is used to further reduce the noise impact.
The microcontroller 602 is further used for calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the two-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle;
as shown in FIG. 8, the acceleration of gravity g can be decomposed into components g in the x, y, z axes of a two-axis accelerometerx,gy,gzAnd satisfies the relationship gx 2+gy 2+gz 2＝g2Wherein the z-axis is perpendicular to the plane formed by the x-and y-axes. Under normal steering wheel operation, the two-axis accelerometer measures the components of the gravitational acceleration g in the x-axis and the y-axis, and the component g of the gravitational acceleration g in the z-axis is constant because the inclination angle of the steering wheel is constant, i.e. the z-axis direction is constantzIs unchanged thereby gx,gySatisfies the relationship gx 2+gy 2＝g2-gz 2Wherein g is2-gz 2Is a constant. And because the steering wheel makes one turn from return to positive to left, gxThe change rule of (2): 0 → -gxmax→0→gxmax→0，gyThe change rule of (2): -gxmax→0→gxmax→0→-gxmax. In summary of the two conditions, the rotation angle θ of the steering wheeliAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000121
at the same time, the steering wheel tilt angle θjAnd gx,gySatisfies the relationship:
Figure BDA0001858337550000122
wherein,
Figure BDA0001858337550000123
the bluetooth sending module 603 is used for acquiring the rotation angle and the inclination angle of the steering wheel of the motor vehicle through bluetooth;
and the bluetooth receiving module 604 is configured to send the acquired rotation angle and inclination angle of the steering wheel of the motor vehicle to the mobile terminal through bluetooth.
And after the rotation angle and the inclination angle of the motor vehicle steering wheel are calculated, the rotation angle and the inclination angle of the motor vehicle steering wheel are sent to the mobile terminal, so that a user can conveniently check the rotation angle and the inclination angle through the mobile terminal. The mobile terminal can be a mobile phone, a notebook computer, etc.
To sum up, the technical scheme that this application provided compares in the current system that comes measuring steering wheel rotation angle through gear engagement, image mark and encoder, and this application is simple to operate not only, need not unpack the steering wheel apart, only needs to install the system in the positive central point of steering wheel decorative disc puts, does not have device wearing and tearing moreover, low price, receives the environmental impact little.
The data of the biaxial accelerometer are preprocessed, and the rotation angle of the steering wheel is calculated by the preprocessed data. The method has high measurement precision, the measurement precision of the rotation angle can reach +/-0.5 degrees, and the measurement precision of the inclination angle also reaches +/-0.5 degrees.
The Bluetooth is adopted to carry out wireless data transmission, so that the interference of wire winding on the operation of the steering wheel is avoided.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A method for detecting the steering wheel angle of a motor vehicle based on a biaxial accelerometer is characterized by comprising the following steps:
collecting components of gravity acceleration on an x axis and a y axis of a double-axis accelerometer, wherein the double-axis accelerometer is installed in the center of the front face of a motor vehicle steering wheel decorative disc;
carrying out abnormal value elimination and mean value filtering pretreatment on the acquired components on the x axis and the y axis of the dual-axis accelerometer;
calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the dual-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle;
wherein the relationship between the components of the acceleration of gravity in the x-axis and y-axis of the two-axis accelerometer and the vehicle steering wheel rotation angle and tilt angle specifically comprises:
the gravitational acceleration g can be decomposed into components on the x, y, z three axes of a biaxial accelerometer
Figure 186736DEST_PATH_IMAGE001
、
Figure 300186DEST_PATH_IMAGE002
、
Figure 225416DEST_PATH_IMAGE003
And satisfy the relationship
Figure 262774DEST_PATH_IMAGE004
Angle of rotation of steering wheel
Figure 324270DEST_PATH_IMAGE005
And
Figure 608621DEST_PATH_IMAGE006
、
Figure 83465DEST_PATH_IMAGE007
satisfy the relationship
Figure 111464DEST_PATH_IMAGE008
Angle of inclination of steering wheel
Figure 293046DEST_PATH_IMAGE009
And
Figure 295769DEST_PATH_IMAGE010
、
Figure 195592DEST_PATH_IMAGE011
satisfy the relationship
Figure 761702DEST_PATH_IMAGE012
Wherein
Figure 125687DEST_PATH_IMAGE013
。
2. the method of claim 1, further comprising:
and transmitting the rotation angle and the inclination angle of the steering wheel of the motor vehicle to a mobile terminal.
3. The method of claim 2, wherein the transmitting the rotation angle and the tilt angle of the steering wheel of the motor vehicle to the mobile terminal comprises:
acquiring the rotation angle and the inclination angle of the steering wheel of the motor vehicle through Bluetooth;
and sending the acquired rotation angle and inclination angle of the steering wheel of the motor vehicle to a mobile terminal through Bluetooth.
4. A vehicle steering wheel angle detection system based on a dual-axis accelerometer, comprising:
the data acquisition module is used for acquiring components of the gravity acceleration on an x axis and a y axis of the double-axis accelerometer, wherein the double-axis accelerometer is installed in the center of the front face of the motor vehicle steering wheel decorative disc;
the microcontroller is used for carrying out abnormal value elimination and mean value filtering pretreatment on the acquired components on the x axis and the y axis of the dual-axis accelerometer, and calculating the rotation angle and the inclination angle of the steering wheel of the motor vehicle according to the relationship between the components of the gravity acceleration on the x axis and the y axis of the dual-axis accelerometer and the rotation angle and the inclination angle of the steering wheel of the motor vehicle;
wherein the relationship between the components of the acceleration of gravity in the x-axis and y-axis of the two-axis accelerometer and the vehicle steering wheel rotation angle and tilt angle specifically comprises:
the gravitational acceleration g can be decomposed into components on the x, y, z three axes of a biaxial accelerometer
Figure 486261DEST_PATH_IMAGE014
、
Figure 873380DEST_PATH_IMAGE015
、
Figure 53302DEST_PATH_IMAGE016
And satisfy the relationship
Figure 943897DEST_PATH_IMAGE017
Angle of rotation of steering wheel
Figure 740952DEST_PATH_IMAGE018
And
Figure 412105DEST_PATH_IMAGE019
、
Figure 585597DEST_PATH_IMAGE020
satisfy the relationship
Figure 596278DEST_PATH_IMAGE021
Angle of inclination of steering wheel
Figure 377284DEST_PATH_IMAGE022
And
Figure 473416DEST_PATH_IMAGE023
、
Figure 185020DEST_PATH_IMAGE024
satisfy the relationship
Figure 112524DEST_PATH_IMAGE025
Wherein
Figure 251382DEST_PATH_IMAGE026
。
5. the system of claim 4, further comprising:
and the sending module is used for sending the rotation angle and the inclination angle of the steering wheel of the motor vehicle to the mobile terminal.
6. The system of claim 5, wherein the sending module comprises: bluetooth sending module and bluetooth receiving module, wherein:
the Bluetooth sending module is used for acquiring the rotation angle and the inclination angle of the steering wheel of the motor vehicle from the microcontroller and sending the rotation angle and the inclination angle to the Bluetooth receiving module;
and the Bluetooth receiving module is used for sending the acquired rotation angle and inclination angle of the steering wheel of the motor vehicle to the mobile terminal.
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