CN109835416A

CN109835416A - A kind of vehicle steering wheel steering assist system and method

Info

Publication number: CN109835416A
Application number: CN201910173594.9A
Authority: CN
Inventors: 黄向东; 张博雅; 温帆; 唐之刚; 王少卿; 宁清曌
Original assignee: Xian University of Science and Technology
Current assignee: Xian University of Science and Technology
Priority date: 2019-03-07
Filing date: 2019-03-07
Publication date: 2019-06-04
Anticipated expiration: 2039-03-07
Also published as: CN109835416B

Abstract

The invention discloses a kind of vehicle steering wheel steering assist system and methods, vehicle steering wheel steering assist system includes rotation angle of automotive steering wheel measuring unit, automobile tire rotational angle measuring unit and vehicle steering wheel steering assistance control unit, and rotation angle of automotive steering wheel measuring unit includes dsp processor module, power circuit block, the first Zigbee wireless communication module, Angle Measurement Module, key circuit module and display module；Automobile tire rotational angle measuring unit includes ARM microcontroller, the 2nd Zigbee wireless communication module and magnetostrictive displacement sensor；Vehicle steering wheel steering assistance control unit includes power-assisted steering motor.Vehicle steering wheel steering assist system design of the invention rationally, in conjunction with householder method, can assist driving new hand to carry out being correctly oriented disk operation, can efficiently reduce the traffic accident caused by tire fault, using effect is good, convenient for promoting the use of.

Description

A kind of vehicle steering wheel steering assist system and method

Technical field

The invention belongs to technical field of vehicle safety, and in particular to a kind of vehicle steering wheel steering assist system and method.

Background technique

With China's rapid development of economy, the rapid advances of automobile industry and continuous improvement of people's living standards, vapour Vehicle quantity gradually increases, and various countries worldwide has the stringent quality of comparison to control driver's qualification, and ordinary people must be It can just drive a car after taking out a driver's license, this is both the guarantee to driver's inherently safe, also protects the public peace of society Entirely, student pilot can face a serious problem at study initial stage: the current position of steering wheel can not be grasped, it is rigid in student Just take driver's license drive upper this stage of road in the case where wagon flow is larger, road conditions are complicated part driver due to it is nervous also without Method grasps current steering wheel position, causes huge security risk, jeopardizes the safety of driver and pedestrian.

Vehicle steering wheel be driver manipulate vehicle traveling direction device, steering wheel by steering mechanism control tire to A left side changes to the right vehicle traveling direction or keeps automobile straight-line travelling, and in automobile during running at high speed, tire fault is institute The one of the major reasons for thering is driver to worry and be most difficult to that prevention and sudden traffic accident occurs the most, steering gear ratio Refer to the ratio between wheel steering degree and wheel steering degree, the wheel steering degree of each vehicle and the steering degree of wheel Between there are certain steering gear ratios, if tire breaks down, steering gear ratio can change, wheel steering degree with Its corresponding wheel steering degree is inconsistent, and planning driving path is caused to deviate the requirement of driver, if correcting not in time at this time, Heavy traffic accident, especially heavy goods vehicle can occur, therefore, being badly in need of a kind of vehicle steering wheel steering assist system can be It when motor turning transmission ratio changes, is corrected by operation, provides drive appropriate to the power-assisted steering motor in steering linkage Dynamic voltage.

Power-assisted steering motor has nonlinearity and time variation, and regulatory PID control is it is difficult to ensure that power-assisted steering motor exists Good control effect is obtained under different working condition；Compared with regulatory PID control, fuzzy-adaptation PID control can reduce overshoot, mention High response speed has better effect particularly with time lag and uncertainty plant, but the rule base of fuzzy controller is once Foundation just can not update, and lack adaptivity, certainly will influence the precision of entire control system；Artificial neural network has strong None-linear approximation ability, self-learning capability and parallel processing capability, if can be fuzzy control, ANN Control and traditional PI D Control combines, then can solve the deficiencies of conventional PID controllers are not easy online real-time setting parameter, then bacterium is recycled to look for Food optimization algorithm optimizes the weight of PID neural network, carries out on-line tuning to three parameters of PID, in the prior art, Also lack the control method of the excellent effect to power-assisted steering motor.

Summary of the invention

In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of automobile steering Disk steering assist system, structure is simple, and rationally, it is convenient and at low cost to realize for design, in conjunction with householder method, can assist driving New hand carries out being correctly oriented disk operation, can efficiently reduce the traffic accident caused by tire fault, using effect is good, just In popularization and use.

In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of vehicle steering wheel steering assist system, Including rotation angle of automotive steering wheel measuring unit, automobile tire rotational angle measuring unit and vehicle steering wheel steering assistance control Unit processed, the rotation angle of automotive steering wheel measuring unit include for being mounted on the shell of steering wheel middle position and setting Set and be integrated with measuring circuit on the intracorporal circuit board of shell, the circuit board, the measuring circuit include dsp processor module and For the power circuit block of electricity consumption module for power supply each in the measuring circuit, and connect with dsp processor module first Zigbee wireless communication module；The input of the dsp processor module is terminated with Angle Measurement Module and key circuit module, institute The output for stating dsp processor module is terminated with display module, and the power circuit block includes lithium battery and defeated with lithium battery The first voltage conversion circuit module for being used to be converted to 3.7V voltage 3.3V voltage of outlet connection, and it is defeated with lithium battery Outlet connection for 3.7V voltage to be converted to the second voltage conversion circuit module of 3.3V and 1.9V voltage, at the DSP Reason device module is connect with the output end of second voltage conversion circuit module, the Angle Measurement Module, key module, display module It is connect with first voltage conversion circuit module with the first Zigbee wireless communication module；The automobile tire rotational angle measurement Unit includes ARM microcontroller and connects with ARM microcontroller and be used to be wirelessly connected with the first Zigbee wireless communication module And the 2nd Zigbee wireless communication module communicated, the input of the ARM microcontroller, which is terminated with, is mounted on vehicle steering wheel turn Magnetostrictive displacement sensor on pull rod；The vehicle steering wheel steering assistance control unit includes being mounted on automobile steering Power-assisted steering motor in disk steering linkage, the power-assisted steering motor are defeated by motor drive module and ARM microcontroller Outlet connection.

A kind of above-mentioned vehicle steering wheel steering assist system, the shape of the shell are cylinder, the shell it is upper Surface is provided with for multiple apertures that key module and display module is exposed, and the side of described device shell, which is provided with, to be used for To the miniUSB interface holes of lithium battery charging.

A kind of above-mentioned vehicle steering wheel steering assist system, the first voltage conversion circuit module include 3.3V linear Voltage-stablizer Q2, nonpolar capacitor C10, nonpolar capacitor C11, nonpolar capacitor C12, light emitting diode D1 and resistance R21, it is described One end of the 1st pin of linear voltage regulator Q2, the 3rd pin and nonpolar capacitor C11 with the 3.7V voltage output end of lithium battery The other end of connection, the 2nd pin of the linear voltage regulator Q2 and nonpolar capacitor C11 are grounded, the linear voltage regulator Q2 The 5th pin be first voltage conversion circuit module 3.3V voltage output end, and with one end of nonpolar capacitor C10, non-pole Property capacitor C12 one end and one end of resistance R21 be all connected with, the other end of the resistance R21 and the anode of light emitting diode D1 The cathode of connection, the other end of the nonpolarity capacitor C10, the other end of nonpolar capacitor C12 and light emitting diode D1 connects Ground；The second voltage conversion circuit module include voltage adjuster TPS767D301, polar capacitor CT1, polar capacitor CT2, Polar capacitor CT3, polar capacitor CT4, nonpolar capacitor C7, nonpolar capacitor C8, nonpolar capacitor C9, nonpolar capacitor C13, Nonpolar capacitor C14, nonpolar capacitor C15, nonpolar capacitor C16, inductance L1, inductance L2, resistance R16 and resistance R17, it is described The 5th pin of voltage adjuster TPS767D301, the 6th pin, the 11st pin, the 12nd pin, polar capacitor CT1 it is positive, non- One end of polar capacitor C13 and one end of nonpolar capacitor C14 are connect with the 3.7V voltage output end of lithium battery, the voltage The 3rd pin of adjuster TPS767D301, the 4th pin, the 9th pin, the 10th pin, the 29th pin, polar capacitor CT1 it is negative The other end of pole, the other end of nonpolar capacitor C13 and nonpolar capacitor C14 is grounded, the voltage adjuster The 23rd pin of TPS767D301 is the 1.9V voltage output end of second voltage conversion circuit module, and and voltage adjuster The 24th pin, one end of resistance R16, the anode of polar capacitor CT2, one end of nonpolar capacitor C7 and the inductance of TPS767D301 One end of L1 is all connected with, the other end of the 25th pin of the voltage adjuster TPS767D301 and resistance R16 with resistance R17 One end connection, the other end of the cathode of the polar capacitor CT2, the other end of nonpolar capacitor C7 and resistance R17 is grounded, The other end of the inductance L1 is grounded by nonpolarity capacitor C15, and the 17th pin of the voltage adjuster TPS767D301 is The 3.3V voltage output end of second voltage conversion circuit module, and with the 18th pin of voltage adjuster TPS767D301, polarity The anode of capacitor CT3, one end of nonpolar capacitor C8, the anode of polar capacitor CT4, one end of nonpolar capacitor C9 and inductance L2 One end be all connected with, the 19th pin of the voltage adjuster TPS767D301, the cathode of polar capacitor CT3, nonpolar capacitor The other end of the other end of C8, the cathode of polar capacitor CT4 and nonpolar capacitor C9 is grounded, and the other end of the inductance L2 is logical Cross nonpolarity capacitor C16 ground connection.

A kind of above-mentioned vehicle steering wheel steering assist system, the dsp processor module includes dsp chip TMS320F2812, crystal oscillator Y1, nonpolarity capacitor CX1 and nonpolar capacitor CX2, and connect with dsp chip TMS320F2812 Reset circuit, one end of one end of the crystal oscillator Y1 and nonpolar capacitor CX1 with dsp chip TMS320F2812 the 77th One end of pin connection, the other end of the crystal oscillator Y1 and nonpolarity capacitor CX2 with dsp chip TMS320F2812 the 76th The other end of pin connection, the other end of the nonpolarity capacitor CX1 and nonpolar capacitor CX2 are grounded, the dsp chip The 31st pin, the 64th pin, the 69th pin, the 81st pin, the 114th pin and the 145th pin of TMS320F2812 is with second The 3.3V voltage output end of voltage conversion circuit module connects, and the 23rd pin of the dsp chip TMS320F2812, the 37th are drawn Foot, the 56th pin, the 75th pin, the 100th pin, the 112nd pin, the 128th pin, the 143rd pin and the 154th pin are with The 1.9V voltage output end of two voltage conversion circuit modules connects, the 19th pin of the dsp chip TMS320F2812, the 32nd Pin, the 38th pin, the 52nd pin, the 58th pin, the 70th pin, the 78th pin, the 86th pin, the 99th pin, the 105th are drawn Foot, the 113rd pin, the 120th pin, the 129th pin, the 142nd pin and the 153rd pin are grounded；The reset circuit includes Processor monitor chip MAX690_ESA, switching diode DT1, nonpolar capacitor CX3, nonpolar capacitor CX4, resistance RX8 With resistance RX9, the 1st pin, the 2nd pin, the 8th pin and the nonpolar capacitor of the processor monitor chip MAX690_ESA One end of CX3 is connect with the 3.3V voltage output end of second voltage conversion circuit module, the processor monitor chip The other end of the 3rd pin of MAX690_ESA, the 4th pin and nonpolar capacitor CX3 is grounded, the processor monitor chip The 6th pin of MAX690_ESA is connect with the 131st pin of dsp chip TMS320F2812, and passes through the electricity of resistance RX9 and second The 3.3V voltage output end of voltage conversion circuit module connects, the 7th pin of the microprocessor monitors device chip MAX690_ESA, One end of the anode of switching diode DT1, one end of resistance RX8 and nonpolar capacitor CX4 with dsp chip TMS320F2812 The connection of the 135th pin, the other end of the cathode of the switching diode DT1 and resistance RX8 with second voltage conversion circuit The 3.3V voltage output end of module connects, the other end ground connection of the nonpolarity capacitor CX4.

A kind of above-mentioned vehicle steering wheel steering assist system, the Angle Measurement Module include three-dimensional perspective sensor MPU-6050, nonpolar capacitor C17, nonpolar capacitor C18, nonpolar capacitor C19, resistance R18 and resistance R19, the three-dimensional One end of the 8th pin of angular transducer MPU-6050, the 13rd pin and nonpolar capacitor C17 with first voltage conversion circuit The 3.3V voltage output end of module connects, and the 1st pin of the three-dimensional perspective sensor MPU-6050, the 11st pin, the 18th are drawn The other end of foot and nonpolar capacitor C17 are grounded, and the 10th pin of the three-dimensional perspective sensor MPU-6050 passes through non-pole Property capacitor C18 ground connection, the 20th pin of the three-dimensional perspective sensor MPU-6050 is described by nonpolarity capacitor C19 ground connection The 23rd pin of three-dimensional perspective sensor MPU-6050 is defeated by resistance R19 and the 3.3V voltage of first voltage conversion circuit module Outlet connection, and connect with the 119th pin of dsp chip TMS320F2812, and the of the three-dimensional perspective sensor MPU-6050 24 pins are connect by resistance R18 with the 3.3V voltage output end of first voltage conversion circuit module, and and dsp chip The 157th pin of TMS320F2812 connects, and the 6th pin of the three-dimensional perspective sensor MPU-6050, the 7th pin, the 9th are drawn Foot and the 12nd pin are corresponding in turn to the 155th pin, the 34th pin, the 127th pin and the 79th with dsp chip TMS320F2812 Pin connection.

A kind of above-mentioned vehicle steering wheel steering assist system, the key module include key S1, key S2, resistance One end of R23 and resistance R24, the key S1 pass through the 3.3V voltage output of resistance R23 and first voltage conversion circuit module End connection, and connect with the 18th pin of dsp chip TMS320F2812, one end of the key S2 passes through resistance R24 and first The 3.3V voltage output end of voltage conversion circuit module connects, and connect with the 43rd pin of dsp chip TMS320F2812, institute The other end of the other end and key S2 of stating key S1 is grounded.

A kind of above-mentioned vehicle steering wheel steering assist system, the display module include TFT display screen U5, the TFT The 31st pin of display screen U5 is connect with the 3.3V voltage output end of first voltage conversion circuit module, the TFT display screen U5 The 1st pin and the 32nd pin be grounded, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, of the TFT display screen U5 6 pins, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the 12nd pin, the 13rd pin, the 14th pin, 15 pins, the 16th pin, the 17th pin, the 18th pin, the 19th pin, the 20th pin, the 21st pin, the 22nd pin, the 23rd are drawn Foot, the 24th pin, the 25th pin, the 26th pin, the 27th pin and the 28th pin are corresponding in turn to and dsp chip TMS320F2812 The 66th pin, the 147th pin, the 139th pin, the 97th pin, the 96th pin, the 74th pin, the 73rd pin, the 68th pin, 65th pin, the 54th pin, the 39th pin, the 36th pin, the 33rd pin, the 30th pin, the 27th pin, the 24th pin, the 21st Pin, the 42nd pin, the 51st pin, the 160th pin, the 44th pin, the 136th pin, the 88th pin, the 123rd pin, the 122nd Pin, the 110th pin and the connection of the 92nd pin.

A kind of above-mentioned vehicle steering wheel steering assist system, the first Zigbee wireless communication module includes model The VCC pin and first voltage of ZigBee the wireless communication module U6, the ZigBee wireless communication module U6 of CC2530 are converted The 3.3V voltage output end of circuit module connects, the GND pin ground connection of the ZigBee wireless communication module U6, the ZigBee The TX pin of wireless communication module U6 is connect with the 91st pin of dsp chip TMS320F2812, the ZigBee radio communication mold The RX pin of block U6 is connect with the 90th pin of dsp chip TMS320F2812.

The invention also discloses a kind of methods of vehicle steering wheel steering assist system, including for assisting driving new hand just Really identify the steering wheel rotational angle recognition methods of steering wheel rotational angle and for being abnormal in wheel steering transmission ratio When variation, ARM microcontroller controls power-assisted steering motor, the method that auxiliary driver carries out steering wheel control；

The steering wheel rotational angle recognition methods the following steps are included:

Step A1, when vehicle steering wheel and the equal fault-free of automobile tire, vehicle steering wheel is placed in initial position, i.e., 0 ° Position；

Step A2, the back side of shell of rotation angle of automotive steering wheel measuring unit is pasted onto the interposition of vehicle steering wheel Set place；

Step A3, vehicle steering wheel is rotated to the left, every 45 ° of rotation, by the key S1 in one-touch module, angle Measurement module detects current angular information, and is transmitted to dsp processor module and carries out record storage, until vehicle steering wheel rotates To limit on the left；

Step A4, vehicle steering wheel is gone back into initial position；

Step A5, vehicle steering wheel is rotated to the right, every 45 ° of rotation, by the key S2 in one-touch module, angle Measurement module detects current angular information, and is transmitted to dsp processor module and carries out record storage, until vehicle steering wheel rotates To limit on the right-right-hand limit；

Step A6, after automobile starting, the rotational angle of Angle Measurement Module real-time detection vehicle steering wheel works as driver When beating steering wheel to the left, display module shows arrow to the left, while showing rotation angle, when needing to return steering wheel to the right, Arrow to the left is still lighted, and prompts current steering wheel to be still in left side angular regions, while arrow to the right can be glittering, Prompt is currently rotating steering wheel to the right, and until steering wheel goes back to initial position, arrow to the left and arrow to the right are equal Extinguish；When driver beats steering wheel to the right, display module shows arrow to the right, while showing rotation angle, when need to When steering wheel is returned on a left side, arrow to the right is still lighted, and prompts current steering wheel to be still in right side angular regions, while to the left Arrow can be glittering, prompt currently rotating steering wheel to the left, until steering wheel goes back to initial position, arrow to the left and Arrow to the right extinguishes；

The ARM microcontroller controls power-assisted steering motor, the method that auxiliary driver carries out steering wheel control include with Lower step:

Step B1, when vehicle steering wheel rotates, it is mounted on the magnetostriction position in vehicle steering wheel steering linkage Displacement sensor detects the translation distance value of steering linkage, the translation distance value that ARM microcontroller acquisition testing arrives；It is mounted on automobile The rotational angle of Angle Measurement Module detection vehicle steering wheel in rotation angle of automotive steering wheel measuring unit on steering wheel Value e₁, and by wireless connection and the first Zigbee wireless communication module communicated and the 2nd Zigbee wireless communication module, it will The steering wheel angle of rotation angle value e detected₁It is transferred in ARM microcontroller；

Step B2, ARM microcontroller is according to pre-set steering linkage translation distance and automobile tire rotational angle Corresponding data obtains the rotational angle of automobile tire, detailed process from storage data are as follows:

Step B201, in automobile tire slewing area, angle of rotation every change from limit on the left to limit on the right-right-hand limit on the inside of statistics tire Change 1 ° of corresponding steering linkage translation distance；

Step B202, by the corresponding data of multiple groups steering linkage translation distance and automobile tire rotational angle storage to ARM In microcontroller；

Step B203, when magnetostrictive displacement sensor detects the translation distance value of steering linkage, ARM microcontroller The rotational angle of automobile tire is obtained from storage data；

Step B3, ARM microcontroller turns to the steering between degree and the steering degree of tire according to vehicle steering wheel and passes Dynamic ratio, calculates the angle of rotation angle value e of vehicle steering wheel₂；

Step B4, the steering wheel angle of rotation that ARM microcontroller is detected according to rotation angle of automotive steering wheel measuring unit Angle value e₁Calculated steering wheel angle of rotation angle value e is detected with automobile tire rotational angle measuring unit₂Difference, to turn to draw Power-assisted steering motor on bar implements Optimization of Fuzzy Neural Network PID Control, detailed process are as follows:

Step B401, ARM microcontroller calculates e₁With e₂Difference e=e₁-e₂；Calculating difference change rate ec=(e₁-e₂)/ e₁；

Step B402, using e and ec as two nodes of input layer in fuzzy neural network；

Step B403, e and ec is divided into fuzzy subset, determines the number of nodes for being blurred layer in fuzzy neural network, is subordinate to Function uses Gaussian function；

Step B404, the number of nodes of fuzzy rule layer in fuzzy neural network is determined；

Step B405, gravity model appoach ambiguity solution is used to the deblurring layer in fuzzy neural network, becomes a node, and make For a node of PID input layer in PID neural network；

Step B406, by K_P、K_I、K_DAs PID layers in PID neural network of three nodes, looked for food using improved bacterium Optimization algorithm optimizes the weight of PID neural network, makes the K of static parameter_P、K_I、K_DIt is converted into dynamic adjustment form；

Step B407, the output layer output in PID neural network is to the control voltage U after the optimization of power-assisted steering motor^*。

Optimization algorithm is looked for food to the weight of PID neural network using improved bacterium described in above-mentioned method and step B406 The detailed process optimized are as follows:

Step B4061, initialization bacterium is looked for food optimization algorithm parameter: bacterium optimization algorithm parameter of looking for food includes bacterium Total number of bacteria S corresponding with pid control parameter in flora, the search work dimension p of pid control parameter, pid control parameter Chemotactic times N_c, during chemotactic pid control parameter one-way movement maximum step number N_S, pid control parameter number of copy times N_re, the study times N of pid control parameter_ed, pid control parameter maximum chemotactic step-length C_maxWith the minimum of pid control parameter Chemotactic step-length C_min；

Step B4062, flora position is initialized: using the method for random initializtion and according to formula X=X_min+rand× (X_max-X_min) in p dimension space initialized location of the 2S point as bacterium is initialized, wherein randomly selecting S bacterium as bacterium Group X₁, remaining S bacterium is as flora X₂；X_minFor the minimum value for optimizing section, X_maxFor the maximum value for optimizing section, X is thin The initialized location of bacterium, rand are the random number for being evenly distributed on [0,1] section；

Step B4063, fitness value updates: according to formulaCalculate the suitable of each bacterium Answer angle value；Wherein, d_attractThe depth of gravitation, w between bacterium and bacterium_attractThe width of gravitation between bacterium and bacterium, h_repellentThe height of repulsion, w between bacterium and bacterium_repellentThe width of repulsion between bacterium and bacterium, P (i, j, k, l) For position of the bacterium i after the operation of jth time taxis, kth time duplication operation and the l times Transfer free energy, P (1:S, j, k, l) is A random site in the neighborhood of current individual P (i, j, k, l), J_CC(i, j, k, l) be bacterium i the operation of jth time taxis, Fitness value after kth time duplication operation and the l times Transfer free energy；

Step B4064, the parameter of cyclic variable is arranged: wherein chemotactic cycle-index j is 1~N_c, replication cycle number k is 1~N_re, study circulation number l is 1~N_ed；

Step B4065, it is recycled into chemotactic, carries out chemotactic operation, method particularly includes:

To flora X₂, the operation of Q21~step Q211 chemotactic carries out chemotactic to each bacterium according to the following steps:

Step Q21, bacterium i is assigned a value of i+1 again, judges whether the scale of bacterium i is less than bacterium scale S, when being less than Shi Zhihang step Q22 is jumped when being not less than and is executed step Q212；

Step Q22, the fitness value of bacterium i is calculated；

Step Q23, bacterium i is flipped up an one step in the side being randomly generated；

Step Q24, j is enabled to be initialized as 1；

Step Q25, the fitness value of bacterium i on new position is calculated；

Step Q26, judge whether j is less than maximum step number N_c, step Q27 is executed when being less than, and is jumped and is held when being not less than Row step Q21；

Step Q27, j is assigned a value of j+1 again；

Step Q28, judge whether the fitness value of bacterium i on new position changes, step Q29 is executed when change, when not having Have and changes season j=N_S, and jump and execute step Q26；

Step Q29, the more fitness value of novel bacteria i；

Step Q210, bacterial population continues up travelling in the side of overturning；

Step Q211, it jumps and executes step Q25, continue cycling through, until the value of i in step Q21 is equal to S；

Step Q212, chemotactic operation terminates；

To flora X₁, the operation of Q11~step Q112 chemotactic carries out chemotactic to each bacterium according to the following steps:

Step Q11, bacterium i is assigned a value of i+1 again, judges whether the scale of bacterium i is less than bacterial clump scale S, when Less than when execute step Q12, when not less than when jump execute step Q112；

Step Q12, the fitness value of bacterium i is calculated；

Step Q13, according to formulaCalculate bacteria flora density function factor D (i), and according to formula C (i)=AD (i)+B chemotactic step-length C (i) is calculated；Bacterium i is enabled to be flipped up in the side being randomly generated again Step-length C (i)；Wherein, L is maximum length in the diagonal line of search space, and X (m, i) is bacterium i in the position that search space m is tieed up Coordinate value,The mean place coordinate value tieed up for all bacteriums in current search space in search space m；

Step Q14, j is enabled to be initialized as 1；

Step Q15, the fitness value of bacterium i on new position is calculated；

Step Q16, judge whether j is less than maximum step number N_c, step Q17 is executed when being less than, and is jumped and is held when being not less than Row step Q11；

Step Q17, j is assigned a value of j+1 again；

Step Q18, judge whether the fitness value of bacterium i on new position changes, step Q19 is executed when change, when not having Have and changes season j=N_S, and jump and execute step Q16；

Step Q19, the more fitness value of novel bacteria i；

Step Q110, bacterial population continues up travelling in the side of overturning；

Step Q111, it jumps and executes step Q15, continue cycling through, until the value of i in step Q11 is equal to S；

Step Q112, chemotactic operation terminates；

Step B4066, into replication cycle, duplication operation is carried out, method particularly includes:

To flora X₁, F11~step F16 duplication is operated and is replicated to each bacterium according to the following steps:

Step F11, bacterium i is assigned a value of i+1 again, judges whether the scale of bacterium i is less than bacterium scale S, when being less than Shi Zhihang step F12 is jumped when being not less than and is executed step F16；

Step F12, the sum of the fitness for all positions that bacterium passes through in last time duplication operation circulation is calculated, and is defined For health degree value；

Step F13, bacterium is ranked up according to the superiority and inferiority of health degree value；

Step F14, it jumps and executes step F11；

Step F15, health degree difference is eliminatedA bacterium, it is remainingA each spontaneous fission of bacterium go out one it is complete with oneself Exactly the same new individual；

Step F16, duplication operation terminates；

To flora X₂, F21~step F24 duplication is operated and is replicated to each bacterium according to the following steps:

Step F21, it calculates institute germy fitness value and to be ranked up according to sequence from small to large, and selects currently Optimal bacterium is as elite bacterium；

Step F22, to current best half bacterium, according to formula X '₂(i)=X₂(i)+N (0,1) implements mutation operation, It generatesA novel bacteria simultaneously constitutes new careful flora X ' with original bacterium₂；Wherein, N (0,1) is that obey mean value be 0, The Gaussian Profile that variance is 1；

Step F23, to current worst half bacterium, according to golden section ratio and take sequence preceding 61.8% bacterium with Select elite bacterium carries out crossover operation in step F21, generatesA novel bacteria is simultaneously constituted newly with original bacterium Careful flora X "₂；

Step F24, from careful flora X '₂With careful flora X "₂In pick out fitness value it is best preceding S bacterium replacement Bacterial flora X originally₂；

Step B4067, into study circulation, learning manipulation is carried out, method particularly includes: by flora X₁With flora X₂In it is thin Bacterium is ranked up, and by flora X₁Sequence select 0.382S bacterium and bacterium according to roulette method in preceding 61.8% bacterium Group X₂Middle sequence is swapped in rear 38.2% bacterium, is exchanged the 0.382S bacterium come and is formed new flora X₂；

Step B4068, judge whether the cycle-index of chemotactic circulation, replication cycle and study circulation has reached setting value, When reached, circulation terminates, and compares the optimal bacterium found in two floras by fitness value, it is complete to select best conduct Office's optimal solution, and result is exported, it otherwise, continues cycling through and executes step B4065~step B4068, until chemotactic circulation, duplication The cycle-index of circulation and study circulation has reached setting value.

Compared with the prior art, the present invention has the following advantages:

1, vehicle steering wheel steering assist system structure of the invention is simple, and design rationally, realizes convenient and at low cost, vapour Vehicle steering wheel rotational angle measuring unit need to only be installed in existing vehicle steering wheel.

2, rotation angle of automotive steering wheel measuring unit of the invention passes through Angle Measurement Module combination dsp processor mould Block the intuitively rotation direction and rotational angle of display direction disk, auxiliary driver can carry out correct on the display module Operation is avoided due to the overstretched accident for causing to play the initiation of steering wheel mistake.

3, vehicle steering wheel steering assist system combination method of the invention can be found in time because of tire fault initiation It turns to rotation and corrects steering gear ratio by the Optimization of Fuzzy Neural Network PID Control to power-assisted steering motor than variation, have The less traffic accident caused by tire fault is imitated, using effect is good, convenient for promoting the use of.

In conclusion vehicle steering wheel steering assist system structure of the invention is simple, design rationally, realize it is convenient and at This is low, in conjunction with householder method, can assist driving new hand and carries out being correctly oriented disk operation, can efficiently reduce because of tire therefore Hinder the traffic accident caused, using effect is good, convenient for promoting the use of.

Below by drawings and examples, technical scheme of the present invention will be described in further detail.

Detailed description of the invention

Fig. 1 is schematic block circuit diagram of the invention；

Fig. 2 is the structural schematic diagram of the shell in rotation angle of automotive steering wheel measuring unit of the present invention；

Fig. 3 is the circuit diagram of first voltage conversion circuit module of the present invention；

Fig. 4 is the circuit diagram of second voltage conversion circuit module of the present invention；

Fig. 5 is the circuit diagram of dsp processor module of the present invention；

Fig. 6 is the circuit diagram of reset circuit of the present invention；

Fig. 7 is the circuit diagram of Angle Measurement Module of the present invention；

Fig. 8 is the circuit diagram of key circuit module of the present invention；

Fig. 9 is that the invention shows the circuit diagrams of module；

Figure 10 is the circuit diagram of the first Zigbee wireless communication module of the invention；

Figure 11 is the topology diagram of Fuzzy Neural PID of the present invention control；

Figure 12 is the effect contrast figure of method and fuzzy-adaptation PID control of the invention, PID control and fuzzy neural PID control.

Description of symbols:

1-shell；2-dsp processor modules；3-power circuit blocks；

3-1-lithium battery；3-2-first voltage conversion circuit module；

3-3-second voltage conversion circuit module；4-Angle Measurement Modules；

5-key circuit modules；6-display modules；

7-the one Zigbee wireless communication module；8-ARM microcontrollers；

9-the two Zigbee wireless communication module；10-magnetostrictive displacement sensors；

11-power-assisted steering motors；12-motor drive modules.

Specific embodiment

As shown in Figure 1, vehicle steering wheel steering assist system of the invention includes that rotation angle of automotive steering wheel measurement is single Member, automobile tire rotational angle measuring unit and vehicle steering wheel steering assistance control unit, in conjunction with Fig. 2, the automobile steering Disk rotational angle measuring unit includes for being mounted on the shell 1 of steering wheel middle position and the circuit being arranged in shell 1 Plate, is integrated with measuring circuit on the circuit board, and the measuring circuit includes dsp processor module 2 and for the measuring circuit In each electricity consumption module for power supply power circuit block 3, and connect with dsp processor module 2 the first Zigbee wireless communication Module 7；The input of the dsp processor module 2 is terminated with Angle Measurement Module 4 and key circuit module 5, the DSP processing The output of device module 2 is terminated with display module 6, and the power circuit block 3 includes lithium battery 3-1 and defeated with lithium battery 3-1 The first voltage conversion circuit module 3-2 for being used to be converted to 3.7V voltage 3.3V voltage of outlet connection, and and lithium battery The second voltage conversion circuit module 3-3 for being used to be converted to 3.7V voltage 3.3V and 1.9V voltage of the output end connection of 3-1, The dsp processor module 2 is connect with the output end of second voltage conversion circuit module 3-3, and the Angle Measurement Module 4 is pressed Key module 5, display module 6 and the first Zigbee wireless communication module 7 are connect with first voltage conversion circuit module 3-2；Institute Automobile tire rotational angle measuring unit is stated to include ARM microcontroller 8 and connect with ARM microcontroller 8 and be used for and first The 2nd Zigbee wireless communication module 9 that Zigbee wireless communication module 7 is wirelessly connected and communicates, the ARM microcontroller 8 Input is terminated with the magnetostrictive displacement sensor 10 being mounted in vehicle steering wheel steering linkage；The vehicle steering wheel turns to Auxiliary Control Element includes the power-assisted steering motor 11 being mounted in vehicle steering wheel steering linkage, the power-assisted steering motor 11 It is connect by motor drive module 12 with the output end of ARM microcontroller 8.

In the present embodiment, as shown in Fig. 2, the shape of the shell 1 is cylinder, the upper surface of the shell 1 is provided with For multiple apertures that key module 5 and display module 6 is exposed, the side of described device shell 1 is provided with for lithium electricity The miniUSB interface holes of pond 3-1 charging.

In the present embodiment, as shown in figure 3, the first voltage conversion circuit module 3-2 include 3.3V linear voltage regulator Q2, Nonpolar capacitor C10, nonpolar capacitor C11, nonpolar capacitor C12, light emitting diode D1 and resistance R21, the linear voltage stabilization One end of the 1st pin of device Q2, the 3rd pin and nonpolar capacitor C11 is connect with the 3.7V voltage output end of lithium battery 3-1, The other end of the 2nd pin of the linear voltage regulator Q2 and nonpolar capacitor C11 are grounded, and the 5th of the linear voltage regulator Q2 the Pin be first voltage conversion circuit module 3-2 3.3V voltage output end, and with one end of nonpolar capacitor C10, nonpolarity One end of capacitor C12 and one end of resistance R21 are all connected with, and the other end of the resistance R21 and the anode of light emitting diode D1 connect It connects, the cathode of the other end of the nonpolarity capacitor C10, the other end of nonpolar capacitor C12 and light emitting diode D1 is grounded； As shown in figure 4, the second voltage conversion circuit module 3-3 includes voltage adjuster TPS767D301, polar capacitor CT1, pole Property capacitor CT2, polar capacitor CT3, polar capacitor CT4, nonpolar capacitor C7, nonpolar capacitor C8, nonpolar capacitor C9, non-pole Property capacitor C13, nonpolar capacitor C14, nonpolar capacitor C15, nonpolar capacitor C16, inductance L1, inductance L2, resistance R16 and electricity Hinder R17, the 5th pin, the 6th pin, the 11st pin, the 12nd pin, polar capacitor CT1 of the voltage adjuster TPS767D301 Anode, nonpolar capacitor C13 one end and nonpolar capacitor C14 one end with the 3.7V voltage output end of lithium battery 3-1 Connection, the 3rd pin, the 4th pin, the 9th pin, the 10th pin, the 29th pin, polarity of the voltage adjuster TPS767D301 The other end of the cathode of capacitor CT1, the other end of nonpolar capacitor C13 and nonpolar capacitor C14 is grounded, the voltage adjustment The 23rd pin of device TPS767D301 is the 1.9V voltage output end of second voltage conversion circuit module 3-3, and is adjusted with voltage The 24th pin, one end of resistance R16, the anode of polar capacitor CT2, one end of nonpolar capacitor C7 and the electricity of device TPS767D301 One end of sense L1 is all connected with, and the other end of the 25th pin of the voltage adjuster TPS767D301 and resistance R16 are and resistance One end of R17 connects, and the other end of the cathode of the polar capacitor CT2, the other end of nonpolar capacitor C7 and resistance R17 connects The other end on ground, the inductance L1 is grounded by nonpolarity capacitor C15, the 17th pin of the voltage adjuster TPS767D301 For the 3.3V voltage output end of second voltage conversion circuit module 3-3, and with the 18th pin of voltage adjuster TPS767D301, The anode of polar capacitor CT3, one end of nonpolar capacitor C8, the anode of polar capacitor CT4, one end of nonpolar capacitor C9 and electricity One end of sense L2 is all connected with, the 19th pin, the cathode of polar capacitor CT3, nonpolarity of the voltage adjuster TPS767D301 The other end of the other end of capacitor C8, the cathode of polar capacitor CT4 and nonpolar capacitor C9 is grounded, and the inductance L2's is another End is grounded by nonpolarity capacitor C16.

In the present embodiment, as shown in figure 5, the dsp processor module 2 include dsp chip TMS320F2812, crystal oscillator Y1, Nonpolar capacitor CX1 and nonpolar capacitor CX2, and the reset circuit to connect with dsp chip TMS320F2812, the crystal oscillator One end of Y1 and one end of nonpolar capacitor CX1 are connect with the 77th pin of dsp chip TMS320F2812, the crystal oscillator Y1 The other end and one end of nonpolar capacitor CX2 connect with the 76th pin of dsp chip TMS320F2812, the nonpolarity The other end of the other end of capacitor CX1 and nonpolar capacitor CX2 are grounded, and the 31st of the dsp chip TMS320F2812 is drawn Foot, the 64th pin, the 69th pin, the 81st pin, the 114th pin and the 145th pin with second voltage conversion circuit module 3-3 3.3V voltage output end connection, the 23rd pin, the 37th pin, the 56th pin, the 75th of the dsp chip TMS320F2812 Pin, the 100th pin, the 112nd pin, the 128th pin, the 143rd pin and the 154th pin with second voltage conversion circuit mould The 1.9V voltage output end of block 3-3 connects, the 19th pin of the dsp chip TMS320F2812, the 32nd pin, the 38th pin, 52nd pin, the 58th pin, the 70th pin, the 78th pin, the 86th pin, the 99th pin, the 105th pin, the 113rd pin, 120 pins, the 129th pin, the 142nd pin and the 153rd pin are grounded；As shown in fig. 6, the reset circuit includes processor Monitor chip MAX690_ESA, switching diode DT1, nonpolar capacitor CX3, nonpolar capacitor CX4, resistance RX8 and resistance The 1st pin of RX9, the processor monitor chip MAX690_ESA, the 2nd pin, the 8th pin and nonpolar capacitor CX3 One end is connect with the 3.3V voltage output end of second voltage conversion circuit module 3-3, the processor monitor chip The other end of the 3rd pin of MAX690_ESA, the 4th pin and nonpolar capacitor CX3 is grounded, the processor monitor chip The 6th pin of MAX690_ESA is connect with the 131st pin of dsp chip TMS320F2812, and passes through the electricity of resistance RX9 and second The 3.3V voltage output end of voltage conversion circuit module 3-3 connects, and the 7th of the microprocessor monitors device chip MAX690_ESA is drawn Foot, the anode of switching diode DT1, one end of resistance RX8 and nonpolar capacitor CX4 one end and dsp chip The 135th pin of TMS320F2812 connects, and the cathode of the switching diode DT1 and the other end of resistance RX8 are electric with second The 3.3V voltage output end of voltage conversion circuit module 3-3 connects, the other end ground connection of the nonpolarity capacitor CX4.

In the present embodiment, as shown in fig. 7, the Angle Measurement Module 4 includes three-dimensional perspective sensor MPU-6050, non-pole Property capacitor C17, nonpolar capacitor C18, nonpolar capacitor C19, resistance R18 and resistance R19, the three-dimensional perspective sensor MPU- 3.3V of the one end of 6050 the 8th pin, the 13rd pin and nonpolar capacitor C17 with first voltage conversion circuit module 3-2 Voltage output end connection, the 1st pin, the 11st pin, the 18th pin and the nonpolarity of the three-dimensional perspective sensor MPU-6050 The other end of capacitor C17 is grounded, and the 10th pin of the three-dimensional perspective sensor MPU-6050 is connect by nonpolarity capacitor C18 20th pin on ground, the three-dimensional perspective sensor MPU-6050 is grounded by nonpolarity capacitor C19, the three-dimensional perspective sensing The 23rd pin of device MPU-6050 is connect by resistance R19 with the 3.3V voltage output end of first voltage conversion circuit module 3-2, And connect with the 119th pin of dsp chip TMS320F2812, the 24th pin of the three-dimensional perspective sensor MPU-6050 is logical Resistance R18 is crossed to connect with the 3.3V voltage output end of first voltage conversion circuit module 3-2, and with dsp chip TMS320F2812 The 157th pin connection, the 6th pin, the 7th pin, the 9th pin and the 12nd pin of the three-dimensional perspective sensor MPU-6050 It is corresponding in turn to and is connect with the 155th pin, the 34th pin, the 127th pin and the 79th pin of dsp chip TMS320F2812.

In the present embodiment, as shown in figure 8, the key module 5 includes key S1, key S2, resistance R23 and resistance R24, One end of the key S1 is connect by resistance R23 with the 3.3V voltage output end of first voltage conversion circuit module 3-2, and with The 18th pin of dsp chip TMS320F2812 connects, and one end of the key S2 passes through resistance R24 and first voltage conversion electricity The 3.3V voltage output end of road module 3-2 connects, and connect with the 43rd pin of dsp chip TMS320F2812, the key S1 The other end and the other end of key S2 be grounded.

In the present embodiment, as shown in figure 9, the display module 6 includes TFT display screen U5, the of the TFT display screen U5 31 pins are connect with the 3.3V voltage output end of first voltage conversion circuit module 3-2, the 1st pin of the TFT display screen U5 It is grounded with the 32nd pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th of the TFT display screen U5 Pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the 12nd pin, the 13rd pin, the 14th pin, the 15th pin, 16 pins, the 17th pin, the 18th pin, the 19th pin, the 20th pin, the 21st pin, the 22nd pin, the 23rd pin, the 24th are drawn Foot, the 25th pin, the 26th pin, the 27th pin and the 28th pin are corresponding in turn to and draw with the 66th of dsp chip TMS320F2812 Foot, the 147th pin, the 139th pin, the 97th pin, the 96th pin, the 74th pin, the 73rd pin, the 68th pin, the 65th pin, 54th pin, the 39th pin, the 36th pin, the 33rd pin, the 30th pin, the 27th pin, the 24th pin, the 21st pin, the 42nd Pin, the 51st pin, the 160th pin, the 44th pin, the 136th pin, the 88th pin, the 123rd pin, the 122nd pin, the 110th Pin and the connection of the 92nd pin.

In the present embodiment, as shown in Figure 10, the first Zigbee wireless communication module 7 includes model CC2530's The VCC pin and first voltage conversion circuit module of ZigBee wireless communication module U6, the ZigBee wireless communication module U6 The 3.3V voltage output end of 3-2 connects, and the GND pin ground connection of the ZigBee wireless communication module U6, the ZigBee is wireless The TX pin of communication module U6 is connect with the 91st pin of dsp chip TMS320F2812, the ZigBee wireless communication module U6 RX pin connect with the 90th pin of dsp chip TMS320F2812.

The method of vehicle steering wheel steering assist system of the invention includes for assisting driving new hand correctly to identify direction The steering wheel rotational angle recognition methods of disk rotational angle and for when wheel steering transmission ratio is abnormal variation, ARM Microcontroller 8 controls power-assisted steering motor 11, the method that auxiliary driver carries out steering wheel control；

Step A2,1 back side of shell of rotation angle of automotive steering wheel measuring unit is pasted onto the centre of vehicle steering wheel At position；

Step A3, vehicle steering wheel is rotated to the left, every 45 ° of rotation, by the key S1 in one-touch module 5, angle It spends measurement module 4 and detects current angular information, and be transmitted to dsp processor module 2 and carry out record storage, until vehicle steering wheel Turn to limit on the left；

Step A4, vehicle steering wheel is gone back into initial position；

Step A5, vehicle steering wheel is rotated to the right, every 45 ° of rotation, by the key S2 in one-touch module 5, angle It spends measurement module 4 and detects current angular information, and be transmitted to dsp processor module 2 and carry out record storage, until vehicle steering wheel Turn to limit on the right-right-hand limit；

Step A6, after automobile starting, the rotational angle of 4 real-time detection vehicle steering wheel of Angle Measurement Module works as driving Member when beating steering wheel to the left, the arrow of the display of display module 6 to the left, while showing rotation angle, when needing to return steering wheel to the right When, arrow to the left is still lighted, and prompts current steering wheel to be still in left side angular regions, while arrow to the right can dodge It is bright, it prompts currently rotating steering wheel to the right, until steering wheel goes back to initial position, arrow to the left and arrow to the right Extinguish；When driver beats steering wheel to the right, the arrow of the display of display module 6 to the right, while showing rotation angle, work as needs When returning steering wheel to the left, arrow to the right is still lighted, and current steering wheel is prompted still to be in right side angular regions, while to Left arrow can glittering, prompts currently in rotation steering wheel to the left, until steering wheel goes back to initial position, arrow to the left Arrow to the right extinguishes；

The ARM microcontroller 8 controls power-assisted steering motor 11, and the method that auxiliary driver carries out steering wheel control includes Following steps:

Step B1, when vehicle steering wheel rotates, it is mounted on the magnetostriction position in vehicle steering wheel steering linkage Displacement sensor 10 detects the translation distance value of steering linkage, the translation distance value that 8 acquisition testing of ARM microcontroller arrives；It is mounted on Angle Measurement Module 4 in rotation angle of automotive steering wheel measuring unit in vehicle steering wheel detects the rotation of vehicle steering wheel Angle value e₁, and pass through wireless connection and the first Zigbee wireless communication module 7 communicated and the 2nd Zigbee radio communication mold Block 9, the steering wheel angle of rotation angle value e that will test₁It is transferred in ARM microcontroller 8；

Step B2, ARM microcontroller 8 is according to pre-set steering linkage translation distance and automobile tire rotational angle Corresponding data obtains the rotational angle of automobile tire, detailed process from storage data are as follows:

Step B202, by the corresponding data of multiple groups steering linkage translation distance and automobile tire rotational angle storage to ARM In microcontroller 8；

Step B203, when magnetostrictive displacement sensor 10 detects the translation distance value of steering linkage, ARM microcontroller Device 8 obtains the rotational angle of automobile tire from storage data；

Step B3, ARM microcontroller 8 turns to the steering between degree and the steering degree of tire according to vehicle steering wheel and passes Dynamic ratio, calculates the angle of rotation angle value e of vehicle steering wheel₂；

When it is implemented, 20 ° are turned to if vehicle steering wheel is rotated a circle and will lead to automobile tire, steering gear ratio 360 are equal to divided by 20, i.e. 18:1, the angle of rotation angle value e of the vehicle steering wheel₂The rotational angle for being equal to automobile tire multiplies With 18；

Step B4, the steering wheel angle of rotation that ARM microcontroller 8 is detected according to rotation angle of automotive steering wheel measuring unit Angle value e₁Calculated steering wheel angle of rotation angle value e is detected with automobile tire rotational angle measuring unit₂Difference, to turn to draw Power-assisted steering motor 11 on bar implements Optimization of Fuzzy Neural Network PID Control, detailed process are as follows:

Step B401, ARM microcontroller 8 calculates e₁With e₂Difference e=e₁-e₂；Calculating difference change rate ec=(e₁- e₂)/e₁；

Step B407, the control voltage U after the output layer output in PID neural network optimizes power-assisted steering motor 11^*。

When it is implemented, U^*=K_Pe(k)+K_I∑e(k)+K_D[e (k)-e (k-1)], wherein when e (k) is kth time sampling Difference, difference when e (k-1) is kth -1 time sampling, k is sampling sequence number, k=0,1,2,3 ...；

The weight of PID neural network is carried out using improved bacterium optimization algorithm of looking for food described in step B406 of the present invention The detailed process of optimization are as follows:

Step Q22, the fitness value of bacterium i is calculated；

Step Q24, j is enabled to be initialized as 1；

Step Q25, the fitness value of bacterium i on new position is calculated；

Step Q27, j is assigned a value of j+1 again；

Step Q29, the more fitness value of novel bacteria i；

Step Q212, chemotactic operation terminates；

Step Q12, the fitness value of bacterium i is calculated；

Step Q13, according to formulaCalculate bacteria flora density function factor D (i), and according to formula C (i)=AD (i)+B chemotactic step-length C (i) is calculated；Bacterium i is enabled to be flipped up in the side being randomly generated again Step-length C (i)；Wherein, L is maximum length in the diagonal line of search space, and X (m, i) is bacterium i in the position that search space m is tieed up Coordinate value, X are the mean place coordinate value that all bacteriums are tieed up in search space m in current search space；

Step Q14, j is enabled to be initialized as 1；

Step Q15, the fitness value of bacterium i on new position is calculated；

Step Q17, j is assigned a value of j+1 again；

Step Q19, the more fitness value of novel bacteria i；

Step Q112, chemotactic operation terminates；

Step F14, it jumps and executes step F11；

Step F16, duplication operation terminates；

In order to verify the effect that vehicle steering wheel steering assist system and method for the invention can generate, using MATLAB Software controls power-assisted steering motor 11 to ARM microcontroller 8 of the invention, auxiliary driver carry out the method for steering wheel control into Emulation is gone, the effect pair of the method for the invention emulated and fuzzy-adaptation PID control, PID control and fuzzy neural PID control It is more as shown in figure 12 than scheming.From Figure 12, it can be seen that effect of the invention is better than fuzzy-adaptation PID control, PID control and fuzzy neural PID control.

The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention In the protection scope of art scheme.

Claims

1. a kind of vehicle steering wheel steering assist system, it is characterised in that: including rotation angle of automotive steering wheel measuring unit, vapour Wheel tire rotational angle measuring unit and vehicle steering wheel steering assistance control unit, the rotation angle of automotive steering wheel measurement Unit includes the circuit board for being mounted on the shell of steering wheel middle position (1) and being arranged in shell (1), the circuit Measuring circuit is integrated on plate, the measuring circuit includes dsp processor module (2) and is each electricity consumption mould in the measuring circuit The power circuit block (3) of block power supply, and the first Zigbee wireless communication module to connect with dsp processor module (2) (7)；The input of the dsp processor module (2) is terminated with Angle Measurement Module (4) and key circuit module (5), the DSP The output of processor module (2) is terminated with display module (6), and the power circuit block (3) includes lithium battery (3-1) and and lithium First voltage conversion circuit module (the 3- for being used to be converted to 3.7V voltage 3.3V voltage of the output end connection of battery (3-1) 2) what is, and with the output end of lithium battery (3-1) connect is used to be converted to 3.7V voltage the second electricity of 3.3V and 1.9V voltage Voltage conversion circuit module (3-3), the output end company of the dsp processor module (2) and second voltage conversion circuit module (3-3) Connect, the Angle Measurement Module (4), key module (5), display module (6) and the first Zigbee wireless communication module (7) with First voltage conversion circuit module (3-2) connection；The automobile tire rotational angle measuring unit includes ARM microcontroller (8) With connect with ARM microcontroller (8) and for the first Zigbee wireless communication module (7) be wirelessly connected and communicate second Zigbee wireless communication module (9), the input of the ARM microcontroller (8), which is terminated with, is mounted on vehicle steering wheel steering linkage On magnetostrictive displacement sensor (10)；The vehicle steering wheel steering assistance control unit includes being mounted on vehicle steering wheel Power-assisted steering motor (11) in steering linkage, the power-assisted steering motor (11) are micro- by motor drive module (12) and ARM The output end of controller (8) connects.

2. a kind of vehicle steering wheel steering assist system described in accordance with the claim 1, it is characterised in that: the shell (1) Shape is cylinder, and the upper surface of the shell (1) is provided with for by exposed more of key module (5) and display module (6) A aperture, the side of described device shell (1) are provided with the miniUSB interface holes for charging to lithium battery (3-1).

3. a kind of vehicle steering wheel steering assist system described in accordance with the claim 1, it is characterised in that: the first voltage turns Changing circuit module (3-2) includes 3.3V linear voltage regulator Q2, nonpolar capacitor C10, nonpolar capacitor C11, nonpolar capacitor The 1st pin of C12, light emitting diode D1 and resistance R21, the linear voltage regulator Q2, the 3rd pin and nonpolar capacitor C11 One end is connect with the 3.7V voltage output end of lithium battery (3-1), the 2nd pin of the linear voltage regulator Q2 and nonpolar capacitor The other end of C11 is grounded, and the 5th pin of the linear voltage regulator Q2 is the 3.3V of first voltage conversion circuit module (3-2) Voltage output end, and be all connected with one end of one end of nonpolar capacitor C10, one end of nonpolar capacitor C12 and resistance R21, The other end of the resistance R21 is connect with the anode of light emitting diode D1, the other end, the nonpolarity of the nonpolarity capacitor C10 The other end of capacitor C12 and the cathode of light emitting diode D1 are grounded；The second voltage conversion circuit module (3-3) includes electricity Press adjuster TPS767D301, polar capacitor CT1, polar capacitor CT2, polar capacitor CT3, polar capacitor CT4, nonpolar capacitor C7, nonpolar capacitor C8, nonpolar capacitor C9, nonpolar capacitor C13, nonpolar capacitor C14, nonpolar capacitor C15, nonpolarity Capacitor C16, inductance L1, inductance L2, resistance R16 and resistance R17, the 5th pin of the voltage adjuster TPS767D301, the 6th Pin, the 11st pin, the 12nd pin, the anode of polar capacitor CT1, one end of nonpolar capacitor C13 and nonpolar capacitor C14 One end is connect with the 3.7V voltage output end of lithium battery (3-1), the 3rd pin of the voltage adjuster TPS767D301, the 4th Pin, the 9th pin, the 10th pin, the 29th pin, the cathode of polar capacitor CT1, the other end of nonpolar capacitor C13 and non-pole Property capacitor C14 the other end be grounded, the 23rd pin of the voltage adjuster TPS767D301 is second voltage conversion circuit The 1.9V voltage output end of module (3-3), and with the 24th pin of voltage adjuster TPS767D301, one end of resistance R16, pole Property capacitor CT2 anode, one end of nonpolar capacitor C7 and one end of inductance L1 be all connected with, the voltage adjuster The 25th pin of TPS767D301 and the other end of resistance R16 are connect with one end of resistance R17, the polar capacitor CT2's The other end of cathode, the other end of nonpolar capacitor C7 and resistance R17 is grounded, and the other end of the inductance L1 passes through nonpolarity Capacitor C15 ground connection, the 17th pin of the voltage adjuster TPS767D301 are second voltage conversion circuit module (3-3) 3.3V voltage output end, and it is electric with the 18th pin of voltage adjuster TPS767D301, the anode of polar capacitor CT3, nonpolarity The one end for holding one end of C8, the anode of polar capacitor CT4, one end of nonpolar capacitor C9 and inductance L2 is all connected with, the voltage The 19th pin of adjuster TPS767D301, the cathode of polar capacitor CT3, nonpolar capacitor C8 the other end, polar capacitor CT4 Cathode and the other end of nonpolar capacitor C9 be grounded, the other end of the inductance L2 passes through nonpolarity capacitor C16 ground connection.

4. a kind of vehicle steering wheel steering assist system described in accordance with the claim 3, it is characterised in that: the dsp processor Module (2) includes dsp chip TMS320F2812, crystal oscillator Y1, nonpolarity capacitor CX1 and nonpolar capacitor CX2, and with DSP core One end of the reset circuit that piece TMS320F2812 connects, one end of the crystal oscillator Y1 and nonpolar capacitor CX1 are and dsp chip The 77th pin of TMS320F2812 connects, and one end of the other end of the crystal oscillator Y1 and nonpolarity capacitor CX2 are and dsp chip The 76th pin of TMS320F2812 connects, and the other end of the other end of the nonpolarity capacitor CX1 and nonpolar capacitor CX2 are equal Ground connection, the 31st pin of the dsp chip TMS320F2812, the 64th pin, the 69th pin, the 81st pin, the 114th pin and 145th pin is connect with the 3.3V voltage output end of second voltage conversion circuit module (3-3), the dsp chip The 23rd pin of TMS320F2812, the 37th pin, the 56th pin, the 75th pin, the 100th pin, the 112nd pin, the 128th are drawn Foot, the 143rd pin and the 154th pin are connect with the 1.9V voltage output end of second voltage conversion circuit module (3-3), described The 19th pin, the 32nd pin, the 38th pin, the 52nd pin, the 58th pin, the 70th pin, of dsp chip TMS320F2812 78 pins, the 86th pin, the 99th pin, the 105th pin, the 113rd pin, the 120th pin, the 129th pin, the 142nd pin and 153rd pin is grounded；The reset circuit (3) include processor monitor chip MAX690_ESA, switching diode DT1, Nonpolar capacitor CX3, nonpolar capacitor CX4, resistance RX8 and resistance RX9, the processor monitor chip MAX690_ESA's 1st pin, the 2nd pin, the 8th pin and nonpolar capacitor CX3 one end with second voltage conversion circuit module (3-3) The connection of 3.3V voltage output end, the 3rd pin, the 4th pin and the nonpolarity electricity of the processor monitor chip MAX690_ESA The other end for holding CX3 is grounded, the 6th pin and dsp chip of the processor monitor chip MAX690_ESA The 131st pin of TMS320F2812 connects, and passes through the 3.3V voltage of resistance RX9 and second voltage conversion circuit module (3-3) Output end connection, the 7th pin, the anode of switching diode DT1, resistance of the microprocessor monitors device chip MAX690_ESA One end of RX8 and one end of nonpolar capacitor CX4 are connect with the 135th pin of dsp chip TMS320F2812, the switch The 3.3V voltage output end of the cathode of diode DT1 and the other end of resistance RX8 with second voltage conversion circuit module (3-3) Connection, the other end ground connection of the nonpolarity capacitor CX4.

5. a kind of vehicle steering wheel steering assist system according to claim 4, it is characterised in that: the angle measurement mould Block (4) includes three-dimensional perspective sensor MPU-6050, nonpolar capacitor C17, nonpolar capacitor C18, nonpolar capacitor C19, electricity Hinder the 8th pin of R18 and resistance R19, the three-dimensional perspective sensor MPU-6050, the 13rd pin and nonpolar capacitor C17 One end is connect with the 3.3V voltage output end of first voltage conversion circuit module (3-2), the three-dimensional perspective sensor MPU- 6050 the 1st pin, the 11st pin, the 18th pin and nonpolar capacitor C17 the other end be grounded, the three-dimensional perspective sensing The 10th pin of device MPU-6050 is grounded by nonpolarity capacitor C18, and the 20th of the three-dimensional perspective sensor MPU-6050 is drawn Foot is grounded by nonpolarity capacitor C19, and the 23rd pin of the three-dimensional perspective sensor MPU-6050 passes through resistance R19 and first The 3.3V voltage output end of voltage conversion circuit module (3-2) connects, and connects with the 119th pin of dsp chip TMS320F2812 It connects, the 24th pin of the three-dimensional perspective sensor MPU-6050 passes through resistance R18 and first voltage conversion circuit module (3-2) The connection of 3.3V voltage output end, and connect with the 157th pin of dsp chip TMS320F2812, the three-dimensional perspective sensor The 6th pin, the 7th pin, the 9th pin and the 12nd pin of MPU-6050 is corresponding in turn to dsp chip TMS320F2812 155 pins, the 34th pin, the 127th pin and the connection of the 79th pin.

6. a kind of vehicle steering wheel steering assist system according to claim 4, it is characterised in that: the key module It (5) include that one end of key S1, key S2, resistance R23 and resistance R24, the key S1 is turned by resistance R23 and first voltage The 3.3V voltage output end connection of circuit module (3-2) is changed, and is connect with the 18th pin of dsp chip TMS320F2812, it is described One end of key S2 is connect by resistance R24 with the 3.3V voltage output end of first voltage conversion circuit module (3-2), and with The 43rd pin of dsp chip TMS320F2812 connects, and the other end of the key S1 and the other end of key S2 are grounded.

7. a kind of vehicle steering wheel steering assist system according to claim 4, it is characterised in that: the display module It (6) include TFT display screen U5, the 31st pin of the TFT display screen U5 and the 3.3V of first voltage conversion circuit module (3-2) Voltage output end connection, the 1st pin and the 32nd pin of the TFT display screen U5 are grounded, and the 2nd of the TFT display screen U5 the Pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st are drawn Foot, the 12nd pin, the 13rd pin, the 14th pin, the 15th pin, the 16th pin, the 17th pin, the 18th pin, the 19th pin, 20 pins, the 21st pin, the 22nd pin, the 23rd pin, the 24th pin, the 25th pin, the 26th pin, the 27th pin and the 28th draw Foot is corresponding in turn to be drawn with the 66th pin of dsp chip TMS320F2812, the 147th pin, the 139th pin, the 97th pin, the 96th Foot, the 74th pin, the 73rd pin, the 68th pin, the 65th pin, the 54th pin, the 39th pin, the 36th pin, the 33rd pin, 30 pins, the 27th pin, the 24th pin, the 21st pin, the 42nd pin, the 51st pin, the 160th pin, the 44th pin, the 136th Pin, the 88th pin, the 123rd pin, the 122nd pin, the 110th pin and the connection of the 92nd pin.

8. a kind of vehicle steering wheel steering assist system according to claim 4, it is characterised in that: the first Zigbee Wireless communication module (7) includes the ZigBee wireless communication module U6 of model CC2530, the ZigBee wireless communication module The VCC pin of U6 is connect with the 3.3V voltage output end of first voltage conversion circuit module (3-2), the ZigBee wireless communication The GND pin of module U6 is grounded, and the of the TX pin of the ZigBee wireless communication module U6 and dsp chip TMS320F2812 The connection of 91 pins, the RX pin of the ZigBee wireless communication module U6 and the 90th pin of dsp chip TMS320F2812 connect It connects.

9. a kind of householder method using system as claimed in claim 6, which is characterized in that this method includes for assisting driving New hand correctly identifies the steering wheel rotational angle recognition methods of steering wheel rotational angle and for sending out in wheel steering transmission ratio When raw anomalous variation, ARM microcontroller (8) controls power-assisted steering motor (11), and auxiliary driver carries out the side of steering wheel control Method；

Step A1, when vehicle steering wheel and the equal fault-free of automobile tire, vehicle steering wheel is placed in initial position, i.e. 0 ° of position It sets；

Step A2, shell (1) back side of rotation angle of automotive steering wheel measuring unit is pasted onto the interposition of vehicle steering wheel Set place；

Step A3, vehicle steering wheel is rotated to the left, every 45 ° of rotation, by the key S1 in one-touch module (5), angle Measurement module (4) detects current angular information, and is transmitted to dsp processor module (2) and carries out record storage, until automobile steering Disk turns to limit on the left；

Step A4, vehicle steering wheel is gone back into initial position；

Step A5, vehicle steering wheel is rotated to the right, every 45 ° of rotation, by the key S2 in one-touch module (5), angle Measurement module (4) detects current angular information, and is transmitted to dsp processor module (2) and carries out record storage, until automobile steering Disk turns to limit on the right-right-hand limit；

Step A6, after automobile starting, the rotational angle of Angle Measurement Module (4) real-time detection vehicle steering wheel works as driver When beating steering wheel to the left, display module (6) display arrow to the left, while showing rotation angle, when needing to return steering wheel to the right When, arrow to the left is still lighted, and prompts current steering wheel to be still in left side angular regions, while arrow to the right can dodge It is bright, it prompts currently rotating steering wheel to the right, until steering wheel goes back to initial position, arrow to the left and arrow to the right Extinguish；When driver beats steering wheel to the right, the arrow of display module (6) display to the right, while showing rotation angle, when need When returning steering wheel to the left, arrow to the right is still lighted, and prompts current steering wheel to be still in right side angular regions, simultaneously Arrow to the left can be glittering, prompts currently rotating steering wheel to the left, until steering wheel goes back to initial position, arrow to the left Head extinguishes with arrow to the right；

The ARM microcontroller (8) controls power-assisted steering motor (11), and the method that auxiliary driver carries out steering wheel control includes Following steps:

Step B1, when vehicle steering wheel rotates, the magnetostrictive displacement being mounted in vehicle steering wheel steering linkage is passed Sensor (10) detects the translation distance value of steering linkage, the translation distance value that ARM microcontroller (8) acquisition testing arrives；It is mounted on Turn of Angle Measurement Module (4) detection vehicle steering wheel in rotation angle of automotive steering wheel measuring unit in vehicle steering wheel Dynamic angle value e₁, and pass through wireless connection and the first Zigbee wireless communication module (7) communicated and the 2nd Zigbee channel radio Believe module (9), the steering wheel angle of rotation angle value e that will test₁It is transferred in ARM microcontroller (8)；

Step B2, ARM microcontroller (8) is according to pair of pre-set steering linkage translation distance and automobile tire rotational angle Data are answered, obtain the rotational angle of automobile tire, detailed process from storage data are as follows:

Step B201, in automobile tire slewing area, angle of rotation every 1 ° of variation from limit on the left to limit on the right-right-hand limit on the inside of statistics tire Corresponding steering linkage translation distance；

Step B202, by the corresponding data of multiple groups steering linkage translation distance and automobile tire rotational angle storage to ARM micro-control In device (8) processed；

Step B203, when magnetostrictive displacement sensor (10) detects the translation distance value of steering linkage, ARM microcontroller (8) rotational angle of automobile tire is obtained from storage data；

Step B3, ARM microcontroller (8) turns to the steering between degree and the steering degree of tire according to vehicle steering wheel and is driven Than calculating the angle of rotation angle value e of vehicle steering wheel₂；

Step B4, the steering wheel rotational angle that ARM microcontroller (8) is detected according to rotation angle of automotive steering wheel measuring unit Value e₁Calculated steering wheel angle of rotation angle value e is detected with automobile tire rotational angle measuring unit₂Difference, to steering linkage On power-assisted steering motor (11) implement Optimization of Fuzzy Neural Network PID Control, detailed process are as follows:

Step B401, ARM microcontroller (8) calculates e₁With e₂Difference e=e₁-e₂；Calculating difference change rate ec=(e₁-e₂)/ e₁；

Step B403, e and ec is divided into fuzzy subset, determines the number of nodes for being blurred layer in fuzzy neural network, membership function Using Gaussian function；

Step B405, gravity model appoach ambiguity solution is used to the deblurring layer in fuzzy neural network, becomes a node, and conduct A node of PID input layer in PID neural network；

Step B406, by K_P、K_I、K_DAs PID layers in PID neural network of three nodes, looked for food optimization using improved bacterium Algorithm optimizes the weight of PID neural network, makes the K of static parameter_P、K_I、K_DIt is converted into dynamic adjustment form；

Step B407, the output layer output in PID neural network is to the control voltage U after power-assisted steering motor (11) optimization^*。

10. according to the method for claim 9, it is characterised in that: use improved bacterium to look for food described in step B406 excellent Change the detailed process that algorithm optimizes the weight of PID neural network are as follows:

Step B4061, initialization bacterium is looked for food optimization algorithm parameter: bacterium optimization algorithm parameter of looking for food includes bacteria flora In total number of bacteria S corresponding with pid control parameter, the search work dimension p of pid control parameter, pid control parameter chemotactic Times N_c, during chemotactic pid control parameter one-way movement maximum step number N_S, pid control parameter number of copy times N_re,、PID The study times N of control parameter_ed, pid control parameter maximum chemotactic step-length C_maxWith the minimum chemotactic step-length of pid control parameter C_min；

Step B4062, flora position is initialized: using the method for random initializtion and according to formula X=X_min+rand×(X_max- X_min) in p dimension space initialized location of the 2S point as bacterium is initialized, wherein randomly selecting S bacterium as flora X₁, Remaining S bacterium is as flora X₂；X_minFor the minimum value for optimizing section, X_maxFor the maximum value for optimizing section, X is bacterium Initialized location, rand are the random number for being evenly distributed on [0,1] section；

Step B4064, the parameter of cyclic variable is arranged: wherein chemotactic cycle-index j is 1~N_c, replication cycle number k be 1~ N_re, study circulation number l is 1~N_ed；

Step Q21, bacterium i is assigned a value of i+1 again, judges whether the scale of bacterium i is less than bacterium scale S, when less than when hold Row step Q22 is jumped when being not less than and is executed step Q212；

Step Q22, the fitness value of bacterium i is calculated；

Step Q24, j is enabled to be initialized as 1；

Step Q25, the fitness value of bacterium i on new position is calculated；

Step Q26, judge whether j is less than maximum step number N_c, step Q27 is executed when being less than, and jumps execution step when being not less than Q21；

Step Q27, j is assigned a value of j+1 again；

Step Q28, judge whether the fitness value of bacterium i on new position changes, step Q29 is executed when change, when not changing Become season j=N_S, and jump and execute step Q26；

Step Q29, the more fitness value of novel bacteria i；

Step Q212, chemotactic operation terminates；

Step Q11, bacterium i is assigned a value of i+1 again, judges whether the scale of bacterium i is less than bacterial clump scale S, when being less than Shi Zhihang step Q12 is jumped when being not less than and is executed step Q112；

Step Q12, the fitness value of bacterium i is calculated；

Step Q13, according to formulaIt calculates bacteria flora density function factor D (i), and Chemotactic step-length C (i) is calculated according to formula C (i)=AD (i)+B；Bacterium i is enabled to be flipped up step-length C in the side being randomly generated again (i)；Wherein, L is maximum length in the diagonal line of search space, and X (m, i) is the position coordinates that bacterium i is tieed up in search space m Value, X are the mean place coordinate value that all bacteriums are tieed up in search space m in current search space；

Step Q14, j is enabled to be initialized as 1；

Step Q15, the fitness value of bacterium i on new position is calculated；

Step Q16, judge whether j is less than maximum step number N_c, step Q17 is executed when being less than, and jumps execution step when being not less than Q11；

Step Q17, j is assigned a value of j+1 again；

Step Q18, judge whether the fitness value of bacterium i on new position changes, step Q19 is executed when change, when not changing Become season j=N_S, and jump and execute step Q16；

Step Q19, the more fitness value of novel bacteria i；

Step Q112, chemotactic operation terminates；

Step F11, bacterium i is assigned a value of i+1 again, judges whether the scale of bacterium i is less than bacterium scale S, when less than when hold Row step F12 is jumped when being not less than and is executed step F16；

Step F12, the sum of the fitness for all positions that bacterium passes through in last time duplication operation circulation is calculated, and is defined as being good for Health angle value；

Step F14, it jumps and executes step F11；

Step F15, health degree difference is eliminatedA bacterium, it is remainingA each spontaneous fission of bacterium goes out one and oneself complete phase Same new individual；

Step F16, duplication operation terminates；

Step F21, it calculates institute germy fitness value and to be ranked up according to sequence from small to large, and selects currently optimal Bacterium as elite bacterium；

Step F22, to current best half bacterium, according to formula X '₂(i)=X₂(i)+N (0,1) implements mutation operation, generatesA novel bacteria simultaneously constitutes new careful flora X ' with original bacterium₂；Wherein, N (0,1) be obey mean value be 0, mean square deviation For 1 Gaussian Profile；

Step F23, to current worst half bacterium, according to golden section ratio and bacterium and the step to sort preceding 61.8% is taken Select elite bacterium carries out crossover operation in F21, generatesA novel bacteria simultaneously constitutes newly careful with original bacterium Flora X "₂；

Step F24, from careful flora X '₂With careful flora X "₂In to pick out the best preceding S bacterium replacement of fitness value original Bacterial flora X₂；

Step B4067, into study circulation, learning manipulation is carried out, method particularly includes: by flora X₁With flora X₂In bacterium into Row sequence, and by flora X₁Sequence select 0.382S bacterium and flora X according to roulette method in preceding 61.8% bacterium₂ Middle sequence is swapped in rear 38.2% bacterium, is exchanged the 0.382S bacterium come and is formed new flora X₂；

Step B4068, judge whether chemotactic circulation, the cycle-index of replication cycle and study circulation have reached setting value, when reaching Then, circulation terminates, and compares the optimal bacterium found in two floras by fitness value, selects the best conduct overall situation most Excellent solution, and result is exported, it otherwise, continues cycling through and executes step B4065~step B4068, until chemotactic circulation, replication cycle Setting value is had reached with the cycle-index of study circulation.