CN112590931A - Drive-by-wire chassis corner testing and compensating system and method - Google Patents
Drive-by-wire chassis corner testing and compensating system and method Download PDFInfo
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- CN112590931A CN112590931A CN202110012327.0A CN202110012327A CN112590931A CN 112590931 A CN112590931 A CN 112590931A CN 202110012327 A CN202110012327 A CN 202110012327A CN 112590931 A CN112590931 A CN 112590931A
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- 238000012360 testing method Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a system and a method for testing and compensating a rotation angle of a drive-by-wire chassis. According to the wire control chassis corner testing and compensating system, the wheel corner of the unmanned vehicle is detected by adopting the wheel angle detecting module and the upper computer, and the wheel corner control signal is dynamically compensated and adjusted according to the detection information, so that the problems that the corner adjustment is not accurate, the operation is complex and the dynamic compensation cannot be carried out on the corner control signal in the prior art are solved.
Description
Technical Field
The invention relates to the field of unmanned vehicle detection, in particular to a system and a method for testing and compensating a rotation angle of a drive-by-wire chassis.
Background
The wheel rotation angle test is one of important means for judging the steering control precision of a vehicle, the conventional wheel rotation angle test device generally only detects and measures the maximum rotation angle of a wheel, and adjusts the output quantity of a steering control signal after a rotation angle error is input to an ESP (electronic stability program) in a averaging-removing mode.
In addition, in the process of detecting the turning angle of the unmanned vehicle, the steering device of the unmanned vehicle is disassembled and then the steering test is carried out, so that the measurement mode has larger errors due to the influence of other parts of the vehicle.
In addition, if the detected steering angle error is large, the prior art can only modify the whole software program in the ESP.
Therefore, the device or the method capable of accurately measuring the vehicle turning angle and compensating the error is a technical problem to be solved urgently in the field.
Disclosure of Invention
In order to solve the problems, the invention provides a system and a method for testing and compensating the rotation angle of a drive-by-wire chassis.
In order to achieve the purpose, the invention provides the following scheme:
a drive-by-wire chassis corner testing and compensating system comprises:
an ESP module for generating a wheel angle control signal;
the wheel angle detection module is used for detecting wheel corner information of the unmanned vehicle;
and the upper computer is respectively connected with the ESP module and the wheel angle detection module, is used for determining a corner error according to the wheel corner information and the wheel corner control signal, and is used for generating a corner compensation signal according to the corner error and then sending the corner compensation signal to the ESP module.
Preferably, the ESP module is connected to the upper computer via a can bus.
Preferably, the upper computer includes:
the input unit is used for inputting a preset rotation angle of the wheel;
and the display unit is respectively connected with the input unit, the ESP module and the wheel angle detection module and is used for displaying the wheel rotation angle information, the wheel rotation angle control signal and the rotation angle error.
Preferably, the wheel angle detection module includes:
the corner disc is used for fixing wheels of the unmanned vehicle;
and the angle sensor unit is arranged on the corner disc, electrically connected with the upper computer and used for detecting the rotation angle of the corner disc.
Preferably, the angle sensor unit includes:
and the angle sensors are circumferentially arranged along the corner disc and are electrically connected with the upper computer.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the wire control chassis corner testing and compensating system provided by the invention, the wheel corner of the unmanned vehicle is detected by adopting the wheel angle detecting module and the upper computer, and the wheel corner control signal is dynamically compensated and adjusted according to the detection information, so that the problems of inaccurate corner adjustment, complex operation and incapability of dynamically compensating the corner control signal in the prior art are solved.
The invention also provides a corner testing and compensating method corresponding to the provided wire control chassis corner testing and compensating system. The corner testing and compensating method comprises the following steps:
acquiring a preset corner angle;
generating a wheel rotation angle control signal according to the preset rotation angle by adopting an ESP module;
controlling the wheels to rotate according to the wheel rotation angle control signals, and acquiring actual rotation angle values of the wheels;
determining a rotation angle error according to the actual rotation angle value and the preset rotation angle;
generating a corner compensation signal according to the corner error;
and returning to the step of obtaining the preset corner angle until the corner error reaches a set error range.
Preferably, the preset rotation angle angles are sequentially increased by a set step size.
Preferably, the set step size is 10 °.
The advantages of the corner testing and compensating method provided by the invention are the same as those of the wire control chassis corner testing and compensating system provided by the invention, and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a wire-controlled chassis corner testing and compensating system according to the present invention;
FIG. 2 is a schematic structural diagram of a wheel angle detection module according to the present invention;
fig. 3 is a flowchart of a rotation angle testing and compensating method 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 invention aims to provide a drive-by-wire chassis corner testing and compensating system, which can realize dynamic compensation of corner deviation while realizing accurate measurement of a wheel corner.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a drive-by-wire chassis corner testing and compensating system provided by the present invention, and as shown in fig. 1, the drive-by-wire chassis corner testing and compensating system includes: ESP module 1, wheel angle detection module 2 and host computer 3.
The ESP module 1 is used to generate wheel angle control signals. The wheel angle detection module 2 is used for detecting wheel rotation angle information of the unmanned vehicle. The upper computer 3 is respectively connected with the ESP module and the wheel angle detection module, and is used for determining a corner error according to the wheel corner information and the wheel corner control signal, generating a corner compensation signal according to the corner error and then sending the corner compensation signal to the ESP module.
The ESP module 1 is connected to the upper computer 3 via a can bus 4. The ESP module is the ESP system.
The input unit is used for inputting a preset rotation angle of the wheel.
The display unit is respectively connected with the input unit, the ESP module 1 and the wheel angle detection module 2 and is used for displaying wheel angle information, wheel angle control signals and angle errors.
Preferably, as shown in fig. 2, the wheel angle detection module 2 includes: a corner disc 2-1 and an angle sensor unit.
The corner disc 2-1 is used for fixing wheels of the unmanned vehicle.
The angle sensor unit is arranged on the corner disc, is electrically connected with the upper computer and is used for detecting the rotation angle of the corner disc. The angle sensor unit includes: a plurality of angle sensors 2-2. The angle sensors 2-2 are electrically connected with the upper computer and are arranged along the circumferential direction of the corner disc.
Corresponding to the above-mentioned provided system for testing and compensating the rotation angle of the drive-by-wire chassis, the present invention further provides a method for testing and compensating the rotation angle, as shown in fig. 3, the method for testing and compensating the rotation angle comprises:
step 100: and acquiring a preset corner angle.
Step 101: and generating a wheel rotation angle control signal according to the preset rotation angle by adopting an ESP module.
Step 102: and controlling the wheels to rotate according to the wheel rotation angle control signals, and acquiring actual rotation angle values of the wheels.
Step 103: and determining a rotation angle error according to the actual rotation angle value and the preset rotation angle.
Step 104: generating a corner compensation signal according to the corner error;
step 105: and returning to the step of obtaining the preset corner angle until the corner error reaches the set error range. The error range is randomly set by the detection personnel according to the specific vehicle type of the detected unmanned vehicle.
The preset rotation angle angles are sequentially increased by the set step length, preferably 10 degrees are used as the step length for adjustment in the invention, for example, the preset rotation angle selected for the first time is 10 degrees, then, when the second cycle detection is carried out, the selected preset rotation angle is 20 degrees, and so on, and the rotation angle error is output in each detection process until the rotation angle errors continuously output for multiple times can reach the set error range, and the detection is finished.
Based on the technical scheme provided by the invention, the steering system of the unmanned vehicle can be detected to obtain the tire corner without being disassembled, and the tire corner obtained by detection can be compensated and detected in real time, so that the unmanned vehicle has the following advantages compared with the prior art:
1. the real-time detection and compensation of the steering of the unmanned vehicle are realized.
2. The device has simple structure, easy operation and low cost.
3. The accuracy of the steering angle calibration can be effectively improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a drive-by-wire chassis corner test and compensating system which characterized in that includes:
an ESP module for generating a wheel angle control signal;
the wheel angle detection module is used for detecting wheel corner information of the unmanned vehicle;
and the upper computer is respectively connected with the ESP module and the wheel angle detection module, is used for determining a corner error according to the wheel corner information and the wheel corner control signal, and is used for generating a corner compensation signal according to the corner error and then sending the corner compensation signal to the ESP module.
2. The chassis angle by wire test and compensation system of claim 1, wherein the ESP module is connected to the upper computer through a can bus.
3. The drive-by-wire chassis angle testing and compensating system of claim 1, wherein the upper computer comprises:
the input unit is used for inputting a preset rotation angle of the wheel;
and the display unit is respectively connected with the input unit, the ESP module and the wheel angle detection module and is used for displaying the wheel rotation angle information, the wheel rotation angle control signal and the rotation angle error.
4. The drive-by-wire chassis angle testing and compensating system of claim 1, wherein the wheel angle detection module comprises:
the corner disc is used for fixing wheels of the unmanned vehicle;
and the angle sensor unit is arranged on the corner disc, electrically connected with the upper computer and used for detecting the rotation angle of the corner disc.
5. The chassis angle by wire test and compensation system of claim 4, wherein the angle sensor unit comprises:
and the angle sensors are circumferentially arranged along the corner disc and are electrically connected with the upper computer.
6. A rotation angle testing and compensating method is characterized by comprising the following steps:
acquiring a preset corner angle;
generating a wheel rotation angle control signal according to the preset rotation angle by adopting an ESP module;
controlling the wheels to rotate according to the wheel rotation angle control signals, and acquiring actual rotation angle values of the wheels;
determining a rotation angle error according to the actual rotation angle value and the preset rotation angle;
generating a corner compensation signal according to the corner error;
and returning to the step of obtaining the preset corner angle until the corner error reaches a set error range.
7. The rotation angle testing and compensating method according to claim 6, wherein the preset rotation angle angles are sequentially increased in a set step size.
8. The rotation angle testing and compensating method according to claim 6, wherein the set step size is 10 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110012327.0A CN112590931A (en) | 2021-01-06 | 2021-01-06 | Drive-by-wire chassis corner testing and compensating system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110012327.0A CN112590931A (en) | 2021-01-06 | 2021-01-06 | Drive-by-wire chassis corner testing and compensating system and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004155244A (en) * | 2002-11-05 | 2004-06-03 | Mitsubishi Electric Corp | Steering gear for vehicle |
| CN106828597A (en) * | 2016-12-27 | 2017-06-13 | 徐州重型机械有限公司 | Transfer, hanging oil cylinder, control system, method and crane |
| CN108860293A (en) * | 2018-06-05 | 2018-11-23 | 北京智行者科技有限公司 | A kind of rotating direction control method and steering control device |
| KR20190038738A (en) * | 2017-09-30 | 2019-04-09 | 우신전자산업주식회사 | Steering angle monitoring device and method for wheels with respect to steering wheel rotation amounts |
| CN110285985A (en) * | 2019-05-31 | 2019-09-27 | 驭势科技（浙江）有限公司 | Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system |
-
2021
- 2021-01-06 CN CN202110012327.0A patent/CN112590931A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004155244A (en) * | 2002-11-05 | 2004-06-03 | Mitsubishi Electric Corp | Steering gear for vehicle |
| CN106828597A (en) * | 2016-12-27 | 2017-06-13 | 徐州重型机械有限公司 | Transfer, hanging oil cylinder, control system, method and crane |
| KR20190038738A (en) * | 2017-09-30 | 2019-04-09 | 우신전자산업주식회사 | Steering angle monitoring device and method for wheels with respect to steering wheel rotation amounts |
| CN108860293A (en) * | 2018-06-05 | 2018-11-23 | 北京智行者科技有限公司 | A kind of rotating direction control method and steering control device |
| CN110285985A (en) * | 2019-05-31 | 2019-09-27 | 驭势科技（浙江）有限公司 | Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system |
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