CN111976832B - Method and device for calculating steering wheel angle data and electronic equipment - Google Patents
Method and device for calculating steering wheel angle data and electronic equipment Download PDFInfo
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- CN111976832B CN111976832B CN201910425733.2A CN201910425733A CN111976832B CN 111976832 B CN111976832 B CN 111976832B CN 201910425733 A CN201910425733 A CN 201910425733A CN 111976832 B CN111976832 B CN 111976832B
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- 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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Abstract
The invention provides a method and a device for calculating steering wheel angle data and electronic equipment, which can be used for carrying out data accuracy verification on first angle output information and second angle output information after the first angle output information output by a first sensor and the second angle output information output by a second sensor are obtained, so that the influence of inaccurate first angle output information and inaccurate second angle output information on the calculation of the rotation angle of a steering wheel is avoided.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a method and a device for calculating steering wheel angle data and electronic equipment.
Background
The user adjusts the driving direction of the vehicle by turning the steering wheel on the vehicle, which has a mechanical stroke of approximately two to three and a half turns.
In the process of rotating the steering wheel by a user, the rotation angle of the steering wheel is usually measured by using a magnetic field angle sensor, and after the magnetic field angle sensor acquires an angle signal, the rotation angle of the steering wheel can be directly calculated based on the measured angle signal.
However, after the angle signal is acquired, there is no process of correcting the angle signal, and further, when the acquired angle signal is incorrect, the calculated rotation angle of the steering wheel is also deviated.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for calculating steering wheel angle data, and an electronic device, so as to solve the problem that after an angle signal is acquired, there is no process of correcting the angle signal, and further, when the acquired angle signal is incorrect, there is an error in the calculated rotation angle of the steering wheel.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of calculating steering wheel angle data, comprising:
acquiring first angle output information output by a first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
acquiring second angle output information output by a second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
carrying out data accuracy verification on the first angle output information and the second angle output information, and determining a first angle output value qualified in verification and a second angle output value qualified in verification;
and calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified by verification and the second angle output value qualified by verification.
Preferably, the data accuracy verification is performed on the first angle output information and the second angle output information, and a first angle output value qualified in verification and a second angle output value qualified in verification are determined, including:
selecting one first angle output value from at least three first angle output values as a reference output value;
calculating a difference value between each of the first angle output values except the reference output value and the reference output value respectively;
determining a first angle output value which is qualified in verification according to a comparison result of each difference value and a first preset value;
calculating an angle correction output value of the first sensor based on the first angle output value qualified in verification and the confidence coefficient corresponding to the first angle output value qualified in verification;
and checking the second angle output information according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
Preferably, verifying the second angle output information according to the angle correction output value of the first sensor to obtain a second angle output value qualified by verification, includes:
selecting one second angle output value from at least three second angle output values as a reference correction value;
calculating a difference value between each of the second angle output values except the reference correction value and the reference correction value, respectively;
determining a second angle output value qualified by the initial verification according to the comparison result of each difference value and the designated numerical value;
calculating an angle correction output value of the second sensor based on the second angle output value qualified in the initial verification and the confidence coefficient corresponding to the second angle output value qualified in the initial verification;
and checking the angle correction output value of the second sensor according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
Preferably, the calculating the rotation angle of the steering wheel based on the first angle output value qualified for verification and the second angle output value qualified for verification includes:
carrying out angle conversion on the first angle output value qualified for verification or the second angle output value qualified for verification, and calculating to obtain a first rotation angle of the steering wheel;
calculating to obtain a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
calculating to obtain a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
Preferably, the angle conversion is performed on the first angle output value qualified in the verification or the second angle output value qualified in the verification, and the first rotation angle of the steering wheel is obtained through calculation, including:
taking the first angle output value qualified through verification or the second angle output value qualified through verification as a target angle output value;
calculating the difference value between the target angle output value and the target angle output value at the previous moment;
determining an angle factor according to a comparison result of the difference value and a second preset value; the angle factor represents the proportional relation between the target angle output value and the rotation angle of the steering wheel;
and calculating to obtain a first rotation angle of the steering wheel based on the angle factor and the target angle output value.
Preferably, after the rotation angle of the steering wheel is calculated based on the first angle output value qualified for verification and the second angle output value qualified for verification, the method further includes:
determining a rotation angle qualified in verification from the first rotation angle, the second rotation angle and the third rotation angle;
calculating to obtain a rotation angle correction value of the steering wheel according to the rotation angle qualified by verification;
calculating the rotating speed of the steering wheel based on the first rotating angle, the second rotating angle and the third rotating angle;
and outputting the rotation angle adjustment value and the rotation speed of the steering wheel.
A steering wheel angle data calculation device, comprising:
the first information acquisition module is used for acquiring first angle output information output by the first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
the second information acquisition module is used for acquiring second angle output information output by the second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
the verification module is used for verifying the data accuracy of the first angle output information and the second angle output information and determining a first angle output value qualified for verification and a second angle output value qualified for verification;
and the angle calculation module is used for calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified in verification and the second angle output value qualified in verification.
Preferably, the inspection module comprises:
the selection submodule is used for selecting one first angle output value from at least three first angle output values as a reference output value;
a difference value calculating submodule for calculating a difference value between each of the first angle output values except the reference output value and the reference output value, respectively;
the determining submodule is used for determining a first angle output value which is qualified in verification according to a comparison result of each difference value and a first preset value;
the calculation submodule is used for calculating an angle correction output value of the first sensor based on the first angle output value qualified in verification and the confidence coefficient corresponding to the first angle output value qualified in verification;
and the checking submodule is used for checking the second angle output information according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
Preferably, the verification submodule comprises:
the selecting unit is used for selecting one second angle output value from at least three second angle output values as a reference correction value;
a difference value calculating unit for calculating a difference value between each of the second angle output values except the reference correction value and the reference correction value, respectively;
the first checking unit is used for determining a second angle output value qualified by the initial checking according to the comparison result of each difference value and the designated value;
the numerical value calculating unit is used for calculating an angle correction output value of the second sensor based on the second angle output value qualified in the initial verification and the confidence coefficient corresponding to the second angle output value qualified in the initial verification;
and the second checking unit is used for checking the angle correction output value of the second sensor according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
Preferably, the angle calculation module includes:
the first angle meter operator module is used for carrying out angle conversion on the first angle output value qualified in verification or the second angle output value qualified in verification to calculate and obtain a first rotation angle of the steering wheel;
the second angle calculation submodule is used for calculating a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
the third angle calculation operator module is used for calculating a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
Preferably, the first angle operator module comprises:
a first determining unit, configured to use the first angle output value qualified through verification or the second angle output value qualified through verification as a target angle output value;
the first calculation unit is used for calculating the difference value between the target angle output value and the target angle output value at the previous moment;
the second determining unit is used for determining an angle factor according to a comparison result of the difference value and a second preset value; the angle factor represents the proportional relation between the target angle output value and the rotation angle of the steering wheel;
and the second calculation unit is used for calculating the first rotation angle of the steering wheel based on the angle factor and the target angle output value.
Preferably, the method further comprises the following steps: the selection module is used for determining a rotation angle qualified for verification from the first rotation angle, the second rotation angle and the third rotation angle after the rotation angle of the steering wheel is calculated and obtained by the angle calculation module based on a first angle output value qualified for verification and a second angle output value qualified for verification;
the correction value calculation module is used for calculating a rotation angle correction value of the steering wheel according to the rotation angle qualified by the verification;
the rotating speed calculation module is used for calculating the rotating speed of the steering wheel based on the first rotating angle, the second rotating angle and the third rotating angle;
and the output module is used for outputting the rotation angle adjustment value and the rotation speed of the steering wheel.
An electronic device, comprising: a memory and a processor;
wherein the memory is used for storing programs;
the processor calls a program and is used to:
acquiring first angle output information output by a first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
acquiring second angle output information output by a second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
carrying out data accuracy verification on the first angle output information and the second angle output information, and determining a first angle output value qualified in verification and a second angle output value qualified in verification;
and calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified by verification and the second angle output value qualified by verification.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a method and a device for calculating steering wheel angle data and electronic equipment, which can be used for carrying out data accuracy verification on first angle output information and second angle output information after the first angle output information output by a first sensor and the second angle output information output by a second sensor are obtained, so that the influence of inaccurate first angle output information and inaccurate second angle output information on the calculation of the rotation angle of a steering wheel is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for calculating steering wheel angle data according to the present invention;
fig. 2 is a schematic view of a scenario of a method for calculating steering wheel angle data according to the present invention;
fig. 3 is a flowchart of another method for calculating steering wheel angle data according to the present invention;
FIG. 4 is a flowchart of a method for angle scaling according to the present invention;
FIG. 5 is a flow chart of a method for a vernier algorithm according to the present invention;
FIG. 6 is a schematic view of a linear prediction algorithm according to the present invention;
FIG. 7 is a schematic view of a Kalman prediction algorithm provided in the present invention;
fig. 8 is a schematic structural diagram of a device for calculating steering wheel angle data according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
The embodiment of the invention provides a method for calculating steering wheel angle data, which mainly aims at the requirements of future intelligent driving and aims to meet the IOS26262 functional safety standard, reduce the failure rate (FIT value) of a product in the automatic driving process and improve the safety of the product. The working conditions covered by the automatic driving automobile are more and more complex, so that the software and hardware redundancy index requirements on all the working conditions to reach the ASIL D safety requirements are higher, and the failure frequency of the whole system (EPS) is less than 10 times/109 h.
Referring to fig. 1, the method of calculating steering wheel angle data may include:
s11, acquiring first angle output information output by the first sensor;
the first sensor is provided with at least three angle sensors; the first angle output information includes at least three first angle output values.
S12, acquiring second angle output information output by a second sensor;
the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value.
Specifically, the first sensor and the second sensor are different types of sensors, the angle ranges of the first sensor and the second sensor are different, and the requirement for collecting steering wheel angle data is met, namely the common multiple of the first sensor and the second sensor covers the angle of the omnidirectional wheel.
The first sensor comprises at least three angle sensors, the second sensor comprises at least one angle sensor, and the second sensor can also comprise at least three angle sensors as the first sensor.
Specifically, the first sensor may be a torque angle sensor TAS, which includes three HISW sensors (with an angle range of 40 °), each of which is an angle sensor, and each of which outputs a first angle output value. The second sensor may be an MLX sensor (angular range 296 deg.). In this embodiment, the second sensor includes only one angle sensor. This MLX sensor outputs a second angle output value.
Three HISW sensors and one MLX sensor can both output angle output values, but the output angle output values are possibly wrong due to detection errors, and further data verification needs to be carried out on the output first angle output values and the output second angle output values so as to ensure that output signals meet the requirements of functional safety/redundancy verification.
The method of the embodiment of the invention can be applied to systems such as an Electronic Control Unit (ECU), a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), an Application Specific Integrated Circuit (ASIC) and the like, but is not limited to the Application. In the case of an ASIC system, the sensor may also be integrated inside the ASIC, which is not described herein. The algorithm will be described below by taking the illustrated ECU system as an example.
Referring to fig. 2, angle information is collected by two types of angle sensors with different ranges, wherein the first angle sensor includes 3 sensor chips and outputs 3 paths of digital/analog angle signals. The second angle sensor comprises 1 sensor chip and outputs 1 path of digital/analog angle signals. The ECU converts signals sent by the sensors into digital signals of unified units (measurement), and then the digital signals are submitted to a calculation method of steering wheel angle data to carry out angle/rotating speed and fault diagnosis to obtain output angles, output rotating speeds or error signals, the error signals are sent to a fault processing module to be processed, and the output angles and the output rotating speeds are sent to a torque calculation module to carry out subsequent calculation.
The running interval of the calculation method of the steering wheel angle data is 1 ms. The angle range of the first sensor is 0-40 degrees, and the angle range of the second sensor is 0-296 degrees.
S13, carrying out data accuracy verification on the first angle output information and the second angle output information, and determining a first angle output value qualified in verification and a second angle output value qualified in verification;
in this embodiment, data accuracy verification is performed on the first angle output information and the second angle output information, a first angle output value obtained by screening numerical values and a second angle output value qualified in verification are screened, and a first angle output value with an error and a second angle output value qualified in verification are rejected.
And S14, calculating the rotation angle of the steering wheel based on the first angle output value qualified by verification and the second angle output value qualified by verification.
In this embodiment, after acquiring the first angle output information output by the first sensor and the second angle output information output by the second sensor, data accuracy verification is performed on the first angle output information and the second angle output information, so that the influence of inaccurate first angle output information and inaccurate second angle output information on the calculation of the rotation angle of the steering wheel is avoided.
In addition, the angle diagnosis algorithm and the angle checking algorithm are added, so that error signals and algorithms can be effectively analyzed and screened out, the safety and the stability of the system are greatly improved, and the requirements of intelligent driving and functional safety are met.
Thirdly, according to the embodiment of the invention, the angle prediction is increased, the accuracy is improved, and the delay is reduced. The analytical algorithm is redundant, and the robustness and accuracy of the software are improved.
Alternatively, on the basis of the foregoing embodiment, referring to fig. 3, step S12 may include:
s21, selecting one first angle output value from at least three first angle output values as a reference output value;
specifically, the three first angle output values of the first angle sensor are respectively A, B, C, the first angle output value a is used as a reference output value, and B or C can be used as a reference output value.
S22, calculating the difference between each of the first angle output values except the reference output value and the reference output value respectively;
the difference between B, C and a is calculated separately, and in this case the absolute value of the difference can be used to ensure that no negative numbers occur.
Let | a-B | ═ x1, and | a-C | ═ x 2.
S23, determining a first angle output value which is qualified through verification according to the comparison result of each difference value and a first preset value;
specifically, if x1 and x2 are greater than the threshold, the signal a is judged to be invalid; if x1 is greater than the threshold value and x2 is less than the threshold value, the B signal is invalid; if X1 is less than the threshold X and X2 is greater than the threshold, the C signal is disabled. And rejecting the failure signal.
And comparing the mean values of the three signals A, B and C with the mean values of the signals A, B and C at the last moment, and if the mean values are larger than the threshold value Y, determining that all the signals are invalid and reporting an error to an upper-level system.
The first angle output value which is qualified in verification can be determined through the method.
S24, calculating an angle correction output value of the first sensor based on the first angle output value qualified in verification and the confidence coefficient corresponding to the first angle output value qualified in verification;
the setting process of the confidence coefficient can be carried out in two ways:
1. the first mode is as follows:
and setting a confidence coefficient according to the ratio of X1(| A-B |), X2(| A-C |) and the threshold X, wherein the confidence coefficient is used for accumulative homogenization, and when the threshold X is exceeded, the confidence coefficient is 0. The rest of the method is the same.
xn [ X1(| A-B |), X2(| A-C |), and X3(| B-C |) ] is obtained by subtracting two signals from each other, and confidence coefficients of A, B and C are a ═ 1-X1/X respectively; b ═ 1-X2/X; c ═ 1-X3/X; if a <0 or b <0 or c <0 …, the corresponding confidence (a, b, c …) takes 0. The confidence factor averaging formula is:
xout is an angle correction output value of the first sensor, X1, X2, and X3 … are different first angle output values, and a, b, and c … are corresponding confidence coefficients, respectively.
X1, X2 and X3 are absolute values of the difference values of A and B, A and C and B and C respectively, the larger the difference value is, the less credible the signal is, and the lower the confidence degrees of a, B and C are. The confidence is therefore multiplied by the corresponding two signals and divided by 2 (e.g., a corresponds to a, B;
) And normalizing the sum of the signals to obtain the Xout.
2. The second mode is as follows:
in order to reduce the workload of the system, the confidence coefficient of each qualified first angle output value is 0.5, that is, the average value of the qualified first angle output values is taken as the angle correction output value.
And S25, verifying the second angle output information according to the angle correction output value of the first sensor to obtain a qualified second angle output value.
Specifically, first, the angular range of the angle correction output value of the first sensor is converted to the same state as the angular range of the second sensor.
Because two types of sensors with different angle ranges are used, the angle ranges need to be unified, for example, the angle cycle range of 40 degrees is converted into 296 degrees, and then the angle sizes can be compared. Since the steering wheel is not driven at a high speed, the jump in the cycle of 40 ° - >0 ° or 0 ° - >40 ° can be derived from an angular jump greater/smaller than a fixed value/negative fixed value (e.g., ± 20 °), which is an indication of the next or previous turn being entered.
It should be noted that, before the embodiment of the present invention is executed, zero points of two types of sensors with different ranges need to be unified to a zero point (middle position) of a steering wheel.
Angular range conversion method referring to fig. 4:
s31, acquiring the angle correction output value of the first sensor at the current moment and the angle correction output value of the first sensor at the previous moment;
and S32, calculating the difference between the angle correction output value at the current moment and the angle correction output value at the previous moment.
And S33, judging whether the difference is greater than 20 degrees, if so, subtracting the angle factor i by one, if not, adding the angle factor i by one, and if not, keeping the angle factor i unchanged.
S34, subtracting the angle factor i by one;
s35, adding one to the angle factor i;
s36, keeping the angle factor i unchanged;
the difference is compared to 20 deg. in order to determine whether the steering wheel has rotated one turn.
S37, calculating a first output angle according to the angle correction output value and the angle factor of the current moment;
after the angle factor is calculated, the first output angle is set to the angle correction output value +40i at the present time.
S38, judging whether the first output angle is larger than 296 degrees or smaller than 0 degree; if the value is greater than 296 °, the step S39 is executed; if the value is less than 0 degrees, executing the step S310; if the angle is greater than 0 ° and less than 296 °, step S311 is executed;
s39, taking the difference between the first output angle and 296 degrees as a new first output angle;
s310, taking the sum of the first output angle and 296 degrees as a new first output angle;
s311, keeping the first output angle unchanged;
s312, judging that the new first output angle is between 0 and 296 degrees; if yes, go to step S313; if not, the process returns to step S38.
Specifically, the magnitude relation between the first output angle and 296 ° is judged, and if the magnitude relation is larger than 296 °, the second output angle is equal to the first output angle of-296 ° until the output angle is in the range of 0-296 °; if the output angle is smaller than the first output angle, the second output angle is equal to the first output angle +296 degrees until the output angle is within the range of 0-296 degrees; if so, the second output angle is equal to the first output angle.
And S313, outputting the new first output angle.
The new first output angle is the second angle.
The second output angle is a value obtained by converting the angle range of the angle correction output value of the first sensor into the angle range of the second sensor, then the absolute value of the difference between the second output angle and the second angle output value is judged, and if the absolute value of the difference is larger than the threshold value N, the second angle output value is inaccurate. And if the absolute value of the difference is smaller than the threshold value N, the second angle output value is accurate.
Further, on the basis of the present embodiment, step S25 may include:
selecting one second angle output value from at least three second angle output values as a reference correction value;
calculating a difference value between each of the second angle output values except the reference correction value and the reference correction value, respectively;
determining a second angle output value qualified by the initial verification according to the comparison result of each difference value and the designated numerical value;
calculating an angle correction output value of the second sensor based on the second angle output value qualified in the initial verification and the confidence coefficient corresponding to the second angle output value qualified in the initial verification;
and checking the angle correction output value of the second sensor according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
Specifically, in this embodiment, the second sensor may only output one second angle output value, and in addition, the second sensor may also be provided with at least three angle sensors, as with the first sensor, to output at least three second angle output values, and at this time, a data accuracy verification method for the first angle output value output by the first angle sensor is adopted to verify a plurality of second angle output values output by the second sensor.
And after the second angle output value qualified in the initial verification is obtained through verification, calculating to obtain an angle correction output value of the second sensor, and if the difference value between the angle correction output value of the first sensor and the angle correction output value of the second sensor is within a preset range, taking the second angle output value qualified in the initial verification as the second angle output value qualified in the verification.
In the embodiment, a verification process for verifying the first angle output value and the second angle output value is provided, so that the numerical values can be verified according to the verification method in the embodiment, error data can be removed in time, and the reliability of the calculated data is ensured.
Optionally, on the basis of any of the foregoing embodiments, step S14 may include:
1) carrying out angle conversion on the first angle output value qualified for verification or the second angle output value qualified for verification, and calculating to obtain a first rotation angle of the steering wheel;
optionally, on the basis of this embodiment, the process of performing angle conversion on the first angle output value qualified for verification or the second angle output value qualified for verification to calculate the first rotation angle of the steering wheel may include:
1.1) taking the first angle output value qualified in the verification or the second angle output value qualified in the verification as a target angle output value;
1.2) calculating the difference value between the target angle output value and the target angle output value at the previous moment;
1.3) determining an angle factor according to a comparison result of the difference value and a second preset value; the angle factor represents the proportional relation between the target angle output value and the rotation angle of the steering wheel;
1.4) calculating a first rotation angle of the steering wheel based on the angle factor and the target angle output value.
Specifically, the first output angle obtained by the calculation is the first rotation angle of the steering wheel.
It should be noted that, the process of calculating the first rotation angle by taking the output value of the first sensor as an example and calculating the first rotation angle by using the output value of the second sensor is similar to the process of calculating the first rotation angle by using the output value of the first sensor, and is not repeated herein, please refer to the corresponding description above.
2) Calculating to obtain a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
specifically, referring to fig. 5, the steering wheel angle may be divided into N (1480 ° divided into 37 angle intervals of 40 °) angle intervals of class 1. The first angle output value qualified through checking and the second angle output value qualified through checking are subjected to angle subtraction to obtain a stepped signal, and the signal can be corresponding to an angle interval through table lookup. Gain in the figure is the maximum value of the class 1 angular range in the figure. The steering wheel angle is 40 ° + N +1 type angle. And the type 1 angle is a first angle output value qualified in verification, and the type 2 angle is a second angle output value qualified in verification. The signal processing includes: the first angle output value qualified through checking and the second angle output value qualified through checking are subjected to angle subtraction to obtain a stepped signal, and the signal can be corresponding to an angle interval through table lookup.
3) Calculating to obtain a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
The waveform prediction algorithm can be implemented in two ways, which are respectively: the linear prediction algorithm and the kalman prediction algorithm are now introduced separately.
1. Linear prediction algorithm:
referring to fig. 6, linear prediction is to determine the slope from the current time angle value and the previous time angle value, considering that the angular trajectory is linear, and to use the current time value and the slope to correct the angle at the current time. The angle value is x (n), that is, angels in the graph may be a first rotation angle or a second rotation angle, at this time, not only the first rotation angle or the second rotation angle angels (0) at the current moment but also the first rotation angle or the second rotation angle angels (1) at the previous moment are needed, and the slope is K, then:
X(n)predict＝X(n)+K·Tcal
wherein, TsampleFor the sampling time, TcalThe sampled data processing time.
2. Kalman prediction algorithm:
referring to fig. 7, the angle prediction value calculation formula:
X′(n)＝AX(n)+Bu(n)+w(n)
wherein X' (n) is a correction angle at the current time, X (n) is an angle value, that is, angels in the graph may be a first rotation angle or a second rotation angle, at this time, not only the first rotation angle or the second rotation angle angels (0) at the current time but also the first rotation angle or the second rotation angle angels (1) at the previous time are required, a represents an internal relationship of X (a linear relationship in a method may be adopted), B represents a relationship between correction of an external correction amount control amount and X (which may be calculated from a torque or set to 0), u (n) is an external control amount (which may be used by a torque) at the current time, and w (n) is interference of an external environment.
w (n) is calculated as follows:
w(n)＝k·(Z(n)-Z′(n))
Z′(n)＝H(n)*X′(n)+D*u(n)
where k denotes a kalman gain, Z (n) denotes an angle correction output value of the first sensor, Z' (n) denotes a predicted value of an influence of an angle on torque or the like, and D denotes a disturbance matrix (which may be 0) of an external control amount on the sensor.
In practical application, T can be setsample≈TcalOr order Tsample＝Tcal. The operation is convenient.
In this embodiment, a plurality of calculation methods for calculating the rotation angle of the steering wheel are provided, and the calculation methods can be applied to different scenes. In addition, the delay caused by angle sampling and resolving is reduced by adopting a prediction algorithm.
Optionally, on the basis of the previous embodiment, after the rotation angle of the steering wheel is calculated and obtained based on the first angle output value qualified for verification and/or the second angle output value qualified for verification, the method further includes:
1) determining a rotation angle qualified in verification from the first rotation angle, the second rotation angle and the third rotation angle;
specifically, the process of screening the rotation angles qualified for verification from the first rotation angle, the second rotation angle, and the third rotation angle may be similar to the process of screening the first angle output values qualified for verification from the plurality of first angle output values in the above embodiment, and details are not repeated here.
2) Calculating to obtain a rotation angle correction value of the steering wheel according to the rotation angle qualified by verification;
specifically, after the rotation angles qualified for verification are obtained, if the rotation angles qualified for verification are multiple, referring to the process of "calculating the angle correction output value of the first sensor based on the first angle output value qualified for verification and the confidence coefficient corresponding to the first angle output value qualified for verification", setting the confidence coefficient of each rotation angle qualified for verification ", and then obtaining the rotation angle after normalization, that is, the rotation angle correction value of the steering wheel, according to each rotation angle qualified for verification and the corresponding confidence coefficient.
2) Calculating the rotating speed of the steering wheel based on the first rotating angle, the second rotating angle and the third rotating angle;
then respectively according to a rotating speed algorithm
And calculating to obtain a plurality of rotating speeds of the steering wheel. Wherein, X (n) is the first rotation angle, the second rotation angle or the third rotation angle at the current moment, X (n-1) is the first rotation angle, the second rotation angle or the third rotation angle at the previous moment, and V is the rotation speed. After the plurality of rotating speeds are obtained through calculation, a process of calculating the angle correction output value of the first sensor based on the first angle output value qualified through verification and the confidence coefficient corresponding to the first angle output value qualified through verification is similar, and the rotating speed of the steering wheel is obtained through calculation.
3) And outputting the rotation angle adjustment value and the rotation speed of the steering wheel.
In this embodiment, the rotation angle and the rotation speed of the steering wheel are checked, so as to ensure the accuracy of the data.
Alternatively, on the basis of the above embodiment, another embodiment of the present invention provides a device for calculating steering wheel angle data, and referring to fig. 8, the device may include:
a first information obtaining module 101, configured to obtain first angle output information output by a first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
a second information obtaining module 102, configured to obtain second angle output information output by a second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
the checking module 103 is configured to perform data accuracy checking on the first angle output information and the second angle output information, and determine a first angle output value qualified for checking and a second angle output value qualified for checking;
and the angle calculating module 104 is configured to calculate a rotation angle of the steering wheel based on the first angle output value qualified through verification and the second angle output value qualified through verification.
In this embodiment, after acquiring the first angle output information output by the first sensor and the second angle output information output by the second sensor, data accuracy verification is performed on the first angle output information and the second angle output information, so that the influence of inaccurate first angle output information and inaccurate second angle output information on the calculation of the rotation angle of the steering wheel is avoided.
It should be noted that, for the working process of each module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the embodiment of the computing device, the verification module includes:
the selection submodule is used for selecting one first angle output value from at least three first angle output values as a reference output value;
a difference value calculating submodule for calculating a difference value between each of the first angle output values except the reference output value and the reference output value, respectively;
the determining submodule is used for determining a first angle output value which is qualified in verification according to a comparison result of each difference value and a first preset value;
the calculation submodule is used for calculating an angle correction output value of the first sensor based on the first angle output value qualified in verification and the confidence coefficient corresponding to the first angle output value qualified in verification;
and the checking submodule is used for checking the second angle output information according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
Further, the verification submodule includes:
the selecting unit is used for selecting one second angle output value from at least three second angle output values as a reference correction value;
a difference value calculating unit for calculating a difference value between each of the second angle output values except the reference correction value and the reference correction value, respectively;
the first checking unit is used for determining a second angle output value qualified by the initial checking according to the comparison result of each difference value and the designated value;
the numerical value calculating unit is used for calculating an angle correction output value of the second sensor based on the second angle output value qualified in the initial verification and the confidence coefficient corresponding to the second angle output value qualified in the initial verification;
and the second checking unit is used for checking the angle correction output value of the second sensor according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
In the embodiment, a verification process for verifying the first angle output value and the second angle output value is provided, so that the numerical values can be verified according to the verification method in the embodiment, error data can be removed in time, and the reliability of the calculated data is ensured.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of any one of the embodiments of the computing device, the angle calculating module includes:
the first angle meter operator module is used for carrying out angle conversion on the first angle output value qualified in verification or the second angle output value qualified in verification to calculate and obtain a first rotation angle of the steering wheel;
the second angle calculation submodule is used for calculating a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
the third angle calculation operator module is used for calculating a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
Further, the first angle operator module comprises:
a first determining unit, configured to use the first angle output value qualified through verification or the second angle output value qualified through verification as a target angle output value;
the first calculation unit is used for calculating the difference value between the target angle output value and the target angle output value at the previous moment;
the second determining unit is used for determining an angle factor according to a comparison result of the difference value and a second preset value; the angle factor represents the proportional relation between the target angle output value and the rotation angle of the steering wheel;
and the second calculation unit is used for calculating the first rotation angle of the steering wheel based on the angle factor and the target angle output value.
In this embodiment, a plurality of calculation methods for calculating the rotation angle of the steering wheel are provided, and the calculation methods can be applied to different scenes. In addition, the delay caused by angle sampling and resolving is reduced by adopting a prediction algorithm.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the previous embodiment, the method further includes: the selection module is used for determining a rotation angle qualified for verification from the first rotation angle, the second rotation angle and the third rotation angle after the rotation angle of the steering wheel is calculated and obtained by the angle calculation module based on a first angle output value qualified for verification and a second angle output value qualified for verification;
the correction value calculation module is used for calculating a rotation angle correction value of the steering wheel according to the rotation angle qualified by the verification;
the rotating speed calculation module is used for calculating the rotating speed of the steering wheel based on the first rotating angle, the second rotating angle and the third rotating angle;
and the output module is used for outputting the rotation angle adjustment value and the rotation speed of the steering wheel.
In this embodiment, the rotation angle and the rotation speed of the steering wheel are checked, so as to ensure the accuracy of the data.
It should be noted that, for the working process of each module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the embodiment of the method and the apparatus for calculating steering wheel angle data, another embodiment of the present invention provides an electronic device, including: a memory and a processor;
wherein the memory is used for storing programs;
the processor calls a program and is used to:
acquiring first angle output information output by a first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
acquiring second angle output information output by a second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
carrying out data accuracy verification on the first angle output information and the second angle output information, and determining a first angle output value qualified in verification and a second angle output value qualified in verification;
and calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified by verification and the second angle output value qualified by verification.
In this embodiment, after acquiring the first angle output information output by the first sensor and the second angle output information output by the second sensor, data accuracy verification is performed on the first angle output information and the second angle output information, so that the influence of inaccurate first angle output information and inaccurate second angle output information on the calculation of the rotation angle of the steering wheel is avoided.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. 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 invention. Thus, the present invention 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 (11)
1. A method of calculating steering wheel angle data, comprising:
acquiring first angle output information output by a first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
acquiring second angle output information output by a second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
carrying out data accuracy verification on the first angle output information and the second angle output information, and determining a first angle output value qualified in verification and a second angle output value qualified in verification;
calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified by verification and the second angle output value qualified by verification;
the calculating of the rotation angle of the steering wheel based on the first angle output value qualified in verification and the second angle output value qualified in verification comprises the following steps:
carrying out angle conversion on the first angle output value qualified for verification or the second angle output value qualified for verification, and calculating to obtain a first rotation angle of the steering wheel;
calculating to obtain a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
calculating to obtain a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
2. The calculation method according to claim 1, wherein performing data accuracy check on the first angle output information and the second angle output information to determine a first angle output value that is qualified for check and a second angle output value that is qualified for check comprises:
selecting one first angle output value from at least three first angle output values as a reference output value;
calculating a difference value between each of the first angle output values except the reference output value and the reference output value respectively;
determining a first angle output value which is qualified in verification according to a comparison result of each difference value and a first preset value;
calculating an angle correction output value of the first sensor based on the first angle output value qualified in verification and the confidence coefficient corresponding to the first angle output value qualified in verification;
and checking the second angle output information according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
3. The method of claim 2, wherein verifying the second angular output information based on the angular correction output value of the first sensor to obtain a verified second angular output value comprises:
selecting one second angle output value from at least three second angle output values as a reference correction value;
calculating a difference value between each of the second angle output values except the reference correction value and the reference correction value, respectively;
determining a second angle output value qualified by the initial verification according to the comparison result of each difference value and the designated numerical value;
calculating an angle correction output value of the second sensor based on the second angle output value qualified in the initial verification and the confidence coefficient corresponding to the second angle output value qualified in the initial verification;
and checking the angle correction output value of the second sensor according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
4. The calculation method according to claim 1, wherein the calculating the first rotation angle of the steering wheel by performing angle conversion on the first angle output value qualified for verification or the second angle output value qualified for verification comprises:
taking the first angle output value qualified through verification or the second angle output value qualified through verification as a target angle output value;
calculating the difference value between the target angle output value and the target angle output value at the previous moment;
determining an angle factor according to a comparison result of the difference value and a second preset value; the angle factor represents the proportional relation between the target angle output value and the rotation angle of the steering wheel;
and calculating to obtain a first rotation angle of the steering wheel based on the angle factor and the target angle output value.
5. The calculation method according to claim 4, wherein after calculating the rotation angle of the steering wheel based on the verified first angle output value and the verified second angle output value, further comprising:
determining a rotation angle qualified in verification from the first rotation angle, the second rotation angle and the third rotation angle;
calculating to obtain a rotation angle correction value of the steering wheel according to the rotation angle qualified by verification;
calculating the rotating speed of the steering wheel based on the first rotating angle, the second rotating angle and the third rotating angle;
and outputting the rotation angle adjustment value and the rotation speed of the steering wheel.
6. A device for calculating steering wheel angle data, comprising:
the first information acquisition module is used for acquiring first angle output information output by the first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
the second information acquisition module is used for acquiring second angle output information output by the second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
the verification module is used for verifying the data accuracy of the first angle output information and the second angle output information and determining a first angle output value qualified for verification and a second angle output value qualified for verification;
the angle calculation module is used for calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified in verification and the second angle output value qualified in verification;
the angle calculation module includes:
the first angle meter operator module is used for carrying out angle conversion on the first angle output value qualified in verification or the second angle output value qualified in verification to calculate and obtain a first rotation angle of the steering wheel;
the second angle calculation submodule is used for calculating a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
the third angle calculation operator module is used for calculating a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
7. The computing device of claim 6, wherein the verification module comprises:
the selection submodule is used for selecting one first angle output value from at least three first angle output values as a reference output value;
a difference value calculating submodule for calculating a difference value between each of the first angle output values except the reference output value and the reference output value, respectively;
the determining submodule is used for determining a first angle output value which is qualified in verification according to a comparison result of each difference value and a first preset value;
the calculation submodule is used for calculating an angle correction output value of the first sensor based on the first angle output value qualified in verification and the confidence coefficient corresponding to the first angle output value qualified in verification;
and the checking submodule is used for checking the second angle output information according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
8. The computing device of claim 7, wherein the verification sub-module comprises:
the selecting unit is used for selecting one second angle output value from at least three second angle output values as a reference correction value;
a difference value calculating unit for calculating a difference value between each of the second angle output values except the reference correction value and the reference correction value, respectively;
the first checking unit is used for determining a second angle output value qualified by the initial checking according to the comparison result of each difference value and the designated value;
the numerical value calculating unit is used for calculating an angle correction output value of the second sensor based on the second angle output value qualified in the initial verification and the confidence coefficient corresponding to the second angle output value qualified in the initial verification;
and the second checking unit is used for checking the angle correction output value of the second sensor according to the angle correction output value of the first sensor to obtain a second angle output value which is qualified in checking.
9. The computing device of claim 6, wherein the first angle operator module comprises:
a first determining unit, configured to use the first angle output value qualified through verification or the second angle output value qualified through verification as a target angle output value;
the first calculation unit is used for calculating the difference value between the target angle output value and the target angle output value at the previous moment;
the second determining unit is used for determining an angle factor according to a comparison result of the difference value and a second preset value; the angle factor represents the proportional relation between the target angle output value and the rotation angle of the steering wheel;
and the second calculation unit is used for calculating the first rotation angle of the steering wheel based on the angle factor and the target angle output value.
10. The computing device of claim 6, further comprising: the selection module is used for determining a rotation angle qualified for verification from the first rotation angle, the second rotation angle and the third rotation angle after the rotation angle of the steering wheel is calculated and obtained by the angle calculation module based on a first angle output value qualified for verification and a second angle output value qualified for verification;
the correction value calculation module is used for calculating a rotation angle correction value of the steering wheel according to the rotation angle qualified by the verification;
the rotating speed calculation module is used for calculating the rotating speed of the steering wheel based on the first rotating angle, the second rotating angle and the third rotating angle;
and the output module is used for outputting the rotation angle adjustment value and the rotation speed of the steering wheel.
11. An electronic device, comprising: a memory and a processor;
wherein the memory is used for storing programs;
the processor calls a program and is used to:
acquiring first angle output information output by a first sensor; the first sensor is provided with at least three angle sensors; the first angle output information comprises at least three first angle output values;
acquiring second angle output information output by a second sensor; the angle range of the first sensor is different from that of the second sensor, and the steering wheel corner data acquisition requirement is met; the second sensor is provided with at least one angle sensor; the second angle output information comprises at least one second angle output value;
carrying out data accuracy verification on the first angle output information and the second angle output information, and determining a first angle output value qualified in verification and a second angle output value qualified in verification;
calculating to obtain the rotation angle of the steering wheel based on the first angle output value qualified by verification and the second angle output value qualified by verification;
the calculating of the rotation angle of the steering wheel based on the first angle output value qualified in verification and the second angle output value qualified in verification comprises the following steps:
carrying out angle conversion on the first angle output value qualified for verification or the second angle output value qualified for verification, and calculating to obtain a first rotation angle of the steering wheel;
calculating to obtain a second rotation angle of the steering wheel by adopting a vernier algorithm according to the first angle output value qualified by verification and the second angle output value qualified by verification;
calculating to obtain a third rotation angle of the steering wheel by adopting a waveform prediction algorithm according to the first rotation angle or the second rotation angle; the third rotation angle is a corrected angle obtained by correcting the first rotation angle or the second rotation angle;
the rotation angle of the steering wheel comprises a first rotation angle, a second rotation angle and/or a third rotation angle.
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| JP5822008B1 (en) * | 2014-08-08 | 2015-11-24 | 日本精工株式会社 | Angle detection device, motor equipped with this angle detection device, torque sensor, electric power steering device, and automobile |
| BR112016003522B1 (en) * | 2014-09-02 | 2022-04-05 | Nsk Ltd. | ASSISTED ELECTRICAL STEERING DEVICE |
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