CN112678069B - Vehicle steering angle measurement system based on absolute sensor - Google Patents
Vehicle steering angle measurement system based on absolute sensor Download PDFInfo
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- CN112678069B CN112678069B CN202011626385.4A CN202011626385A CN112678069B CN 112678069 B CN112678069 B CN 112678069B CN 202011626385 A CN202011626385 A CN 202011626385A CN 112678069 B CN112678069 B CN 112678069B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a vehicle steering angle measuring system based on an absolute sensor, which comprises a main gear, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a ring counting gear, wherein the first angle sensor, the second angle sensor, the third angle sensor and a main control unit are arranged on a circuit board; the first angle measuring gear, the second angle measuring gear and the ring counting gear are respectively correspondingly arranged on the first rotating shaft, the second rotating shaft and the third rotating shaft and meshed with the main gear, and the rotating angle of the steering wheel is calculated according to the rotating angle of the first angle measuring gear, the rotating angle of the second angle measuring gear and the rotating number of turns of the ring counting gear. The high-precision and wide-range non-contact detection of the rotating position of the steering wheel rotating shaft is realized through the four-gear structure, the angle sensor and the main control unit, and the rotating angle is output faster and more accurately.
Description
Technical Field
The invention belongs to the technical field of intelligent automobiles, and particularly relates to a vehicle steering angle measuring system based on an absolute sensor.
Background
Intelligent networking automobile technology has been rapidly developed, and requirements of people on comfort, stability, safety and the like in automobile driving are improved. Intelligent internet-connected vehicles represent a future technological development trend, however, a key technical difficulty of intelligent internet-connected vehicles is the steering problem of the vehicles, and the vehicles completely depend on the steering wheel to control the direction in the driving process, so that the importance of the steering wheel in the automatic driving vehicles is more prominent.
The first technical scheme is as follows: a non-contact steering wheel angle sensor based on a gyroscope and a singlechip CAN output the rotational angular speed and angle of a steering wheel in a CAN protocol format. When the steering wheel rotation angle is larger than one circle, the steering wheel rotation angle can be accurately obtained, and the sensor realizes non-contact measurement.
The second technical scheme is as follows: a steering wheel angle measurement method, device and system acquire an image frame comprising an image of a steering wheel and an image of a marker arranged on the steering wheel, extract characteristics of the marker in the image frame, and calculate the steering wheel angle in a second image frame from the steering wheel angle in a first image frame according to the characteristics of the marker.
The first and second prior art schemes have the technical problems that the rotation angle of the steering wheel has a certain delay and cannot be measured in real time, and the calculated angle precision cannot meet the requirement.
Disclosure of Invention
To solve at least one of the problems set forth in the background art. The invention provides a vehicle steering angle measuring system based on an absolute sensor.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a vehicle steering angle measurement system based on an absolute sensor, comprising: the steering wheel comprises a main gear, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a ring counting gear, wherein the first angle sensor, the second angle sensor, the third angle sensor and a main control unit are arranged on a circuit board; the steering wheel comprises a steering wheel body, a steering wheel, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a circle counting gear, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are arranged in parallel with the rotating shaft of the steering wheel body, the first angle measuring gear, the second angle measuring gear and the circle counting gear are respectively correspondingly arranged on the first rotating shaft, the second rotating shaft and the third rotating shaft and are meshed with the main gear, the first angle sensor is arranged above the first angle measuring gear and is used for measuring the rotating angle of the first angle measuring gear, the second angle sensor is arranged above the second angle measuring gear and is used for measuring the rotating angle of the second angle measuring gear, the third angle sensor is arranged above the circle counting gear and is used for measuring the rotating circle counting gear, the rotating circle counting gear is an integer, and the main control unit is communicated with the first angle sensor, the second angle sensor and the third angle sensor are communicated with each other, and the rotating angle of the steering wheel is calculated according to the rotating angle of the first angle measuring gear, the rotating angle of the second angle measuring gear and the rotating circle counting angle of the circle counting gear.
In one embodiment, the upper end of the first rotating shaft, the upper end of the second rotating shaft and the upper end of the third rotating shaft are respectively provided with a first magnetic steel, a second magnetic steel and a third magnetic steel correspondingly, the first angle sensor is located above the first magnetic steel, the second angle sensor is located above the second magnetic steel, and the third angle sensor is located above the third magnetic steel, so that the first angle sensor, the second angle sensor and the third angle sensor measure the rotation angles of the first angle measuring gear and the second angle measuring gear and the rotation number of the third angle measuring gear through giant magnetic effect.
In one embodiment, the first, second and third magnetic steels are cylindrical magnetic steels.
In one embodiment, the first, second and third angle sensors are TLE5012B angle sensors, the registers of the first and second angle sensors are configured as angle value registers, the registers of the third angle sensor are configured as IIF counter values, the first angle sensor outputs the rotation angle of the first angle measurement gear at the current turn, the second angle sensor outputs the rotation angle of the second angle measurement gear at the current turn, and the third angle sensor outputs the rotation number of turns of the counter gear.
In one embodiment, the main control unit is an STM8AF5268 single-chip microcomputer, and the communication between the main control unit and the first angle sensor, the second angle sensor and the third angle sensor specifically includes: and the STM8AF5268 singlechip is connected with the first angle sensor, the second angle sensor and the third angle sensor through a controller area network CAN and reads the measurement values of the sensors in real time through a serial peripheral interface SPI.
In one embodiment, the number of teeth of the main gear is 90, the number of teeth of the first angle measurement gear is 30, the number of teeth of the second angle measurement gear is 27, the number of teeth of the ring counting gear is 30, and calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear and the rotation number of the ring counting gear specifically includes: the steering wheel rotation angle in one direction is equal to the number of turns of the turn gear multiplied by 120 degrees plus the difference of the first angle measurement gear angle value minus the second angle measurement gear angle value.
In one embodiment, calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear, and the rotation number of the turn gear specifically includes: the main control unit reads the values of the registers of the first angle sensor, the second angle sensor and the third angle sensor to obtain the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear and the rotation number of the circle counting gear, and the main control unit calculates the rotation angle of the steering wheel according to a preset algorithm.
In one embodiment, when at least one of the first, second and third angle sensors is detected to be malfunctioning, the main control unit re-reads the values of the registers of the first, second and third angle sensors.
In one embodiment, when the difference value of the first angle measurement gear angle value minus the second angle measurement gear angle value changes, detecting whether the first angle measurement gear and the second angle measurement gear are in failure, if yes, the first angle sensor and the second angle sensor are in normal working state, and if not, detecting whether the first angle sensor, the second angle sensor and the third angle sensor are in failure.
In one embodiment, the first angle measurement gear is located on the left side of the main gear, the second measurement gear is located on the right side of the main gear, and the race gear is located on the left rear side of the main gear.
Compared with the prior art, the invention has the beneficial effects that:
the vehicle steering angle measuring system based on the absolute sensor comprises a main gear, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a ring counting gear, wherein the first angle sensor, the second angle sensor, the third angle sensor and a main control unit are arranged on a circuit board; the steering wheel comprises a steering wheel body, a steering wheel, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a circle counting gear, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are arranged in parallel with the rotating shaft of the steering wheel body, the first angle measuring gear, the second angle measuring gear and the circle counting gear are respectively correspondingly arranged on the first rotating shaft, the second rotating shaft and the third rotating shaft and are meshed with the main gear, the first angle sensor is arranged above the first angle measuring gear and is used for measuring the rotating angle of the first angle measuring gear, the second angle sensor is arranged above the second angle measuring gear and is used for measuring the rotating angle of the second angle measuring gear, the third angle sensor is arranged above the circle counting gear and is used for measuring the rotating circle counting gear, the rotating circle counting gear is an integer, and the main control unit is communicated with the first angle sensor, the second angle sensor and the third angle sensor are communicated with each other, and the rotating angle of the steering wheel is calculated according to the rotating angle of the first angle measuring gear, the rotating angle of the second angle measuring gear and the rotating circle counting angle of the circle counting gear. The high-precision and wide-range non-contact detection of the rotating position of the steering wheel rotating shaft is realized through the four-gear structure, the angle sensor and the main control unit, and the rotating angle is output faster and more accurately.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic illustration of a four-gear structure of an absolute sensor based vehicle steering angle measurement system of the present invention mounted to a steering wheel spindle of an automobile;
FIG. 2 is a schematic diagram of the engagement between four gear structures of the absolute sensor based vehicle steering angle measurement system of the present invention;
FIG. 3 is a schematic diagram of the connection between the master control unit and each sensor and between the upper computer of the absolute sensor-based vehicle steering angle measurement system of the present invention;
fig. 4 is a flow chart of a data communication algorithm between an angle sensor TLE50120 and an STM8AF singlechip of the absolute sensor-based vehicle steering angle measurement system of the present invention.
In the figure, 1, a main gear, 2, a second angle measuring gear, 3, a first angle measuring gear, 4, a ring counting gear, 5, a second rotating shaft, 6, a first rotating shaft, 7, first magnetic steel, 8, a first angle sensor, 9, a circuit board, 10, a rotating shaft of a steering wheel, 11, a second angle sensor, 12, a second magnetic steel, 13, a third rotating shaft, 14, a third magnetic steel, 15 and a third angle sensor.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, etc. may be used in embodiments of the present invention to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another.
It is noted that embodiments of the invention and features of the embodiments may be combined with each other without conflict.
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description is given of the specific embodiments, structures, features and effects according to the present invention with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1-2, a vehicle steering angle measurement system based on an absolute sensor, comprising: the main gear 1, the first rotating shaft 6, the second rotating shaft 5, the third rotating shaft 13, the first angle measuring gear 3, the second angle measuring gear 2 and the ring counting gear 4 are arranged on the circuit board 9, the first angle sensor 8, the second angle sensor 11, the third angle sensor 15 and the main control unit are arranged on the circuit board 9, the circuit board 9 can be fixed on the periphery of the rotating shaft of the steering wheel but can not rotate along with the rotating shaft of the steering wheel, and the main gear 1 is arranged on the rotating shaft 10 of the steering wheel and rotates along with the rotating shaft of the steering wheel, so that the rotating angle of the steering wheel can be obtained by obtaining the rotating angle of the main gear 1; the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 are arranged in parallel with the rotating shaft 10 of the steering wheel, the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 can be fixed on a vehicle and can rotate, the first angle measuring gear 3, the second angle measuring gear 2 and the ring counting gear 4 are respectively correspondingly arranged on the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 and rotate along with the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 and are meshed with the main gear 1, the main gear 1 can drive the first angle measuring gear 3, the second angle measuring gear 2 and the ring counting gear 4 to rotate, the first angle sensor 8 is arranged above the first angle measuring gear 3 and is used for measuring the rotation angle of the first angle measuring gear 3, the second angle sensor 11 is arranged above the second angle measuring gear 2 and is used for measuring the rotation angle of the second angle measuring gear 2, the third angle sensor 15 is arranged above the ring counting gear 4 and is used for measuring the rotation number of the ring counting gear 4, the rotation number is an integer, and the main control unit and the first angle sensor 8, the second angle sensor 11 and the second angle measuring gear 4 are used for calculating the rotation number of the ring counting gear 4 according to the communication rotation angle between the first angle measuring gear and the first angle measuring gear 3 and the rotation angle measuring gear 4. The first angle measuring gear 3 is positioned on the left side of the main gear 1, the second angle measuring gear is positioned on the right side of the main gear 1, and the ring gear 4 is positioned on the left rear side of the main gear 1.
In specific implementation, the specific rotation direction of the steering wheel can be judged by setting positive and negative values of the rotation angle and the number of turns through program codes, for example, when the main gear 1 rotates clockwise, the first angle measuring gear 3, the second angle measuring gear 2 and the ring counting gear 4 rotate anticlockwise, the rotation angle and the number of turns of the first angle measuring gear 3, the second angle measuring gear 2 and the ring counting gear 4 are negative values when the counter force needle rotates, the corresponding calculated rotation angle is negative, and the main control unit judges that the rotation direction of the steering wheel is clockwise.
In one embodiment, the number of teeth of the main gear 1 is 90, the number of teeth of the first angle measurement gear 3 is 30, the number of teeth of the second angle measurement gear 2 is 27, the number of teeth of the ring gear 4 is 30, and calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear 3, the rotation angle of the second angle measurement gear 2, and the number of rotation turns of the ring gear 4 specifically includes: the steering wheel rotation angle in one direction is equal to the number of turns of the turn gear 4 multiplied by 120 degrees plus the difference of the angle value of the first angle measuring gear 3 minus the angle value of the second angle measuring gear 2. Therefore, the rotating angle of the steering wheel can be obtained through a difference algorithm, and the structure is simple and easy to realize.
Therefore, the high-precision and wide-range non-contact detection of the rotating position of the steering wheel rotating shaft is realized through the four-gear structure, the angle sensor and the main control unit, and the rotating angle is output faster and more accurately.
As shown in fig. 1-2, in one embodiment, the upper end of the first rotating shaft 6, the upper end of the second rotating shaft 5, and the upper end of the third rotating shaft 13 are respectively provided with a first magnetic steel 7, a second magnetic steel 12, and a third magnetic steel 14, the first angle sensor 8 is located directly above the first magnetic steel 7, the second angle sensor 11 is located directly above the second magnetic steel 12, and the third angle sensor 15 is located directly above the third magnetic steel 14, so that the rotation angles of the first angle sensor 8, the second angle sensor 11, and the third angle sensor 15 measure the rotation numbers of the first angle measurement gear 3 and the second angle measurement gear 2 and the rotation numbers of the third angle measurement gear through giant magnetic effect, and the first magnetic steel 7, the second magnetic steel 12, and the third magnetic steel 14 are cylindrical magnetic steels. Therefore, the non-contact detection with high precision and wide range can be realized, and the rotation angle can be output faster and more accurately.
In one embodiment, the first angle sensor 8, the second angle sensor 11, and the third angle sensor 15 are TLE5012B angle sensors, the registers of the first angle sensor 8 and the second angle sensor 11 are configured as angle value registers, the registers of the third angle sensor 15 are configured as IIF counter values, the first angle sensor 8 outputs the rotation angle of the first angle measuring gear 3 at the current turn, the second angle sensor 11 outputs the rotation angle of the second angle measuring gear 2 at the current turn, and the third angle sensor 15 outputs the rotation number of turns of the ring gear 4. Therefore, the non-contact detection with high precision and wide range can be realized, and the rotation angle can be output faster and more accurately.
In one embodiment, the main control unit is an STM8AF5268 single-chip microcomputer, and the communication between the main control unit and the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 specifically includes: the STM8AF5268 singlechip is connected with the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 through a controller area network CAN, and the measurement values of the sensors are read in real time through a serial peripheral interface SPI. Therefore, the non-contact detection with high precision and wide range can be realized, and the rotation angle can be output faster and more accurately.
Fig. 3 is a schematic diagram of connection between a main control unit and each sensor and between an upper computer of the vehicle steering angle measurement system based on the absolute sensor, wherein the first angle sensor 8, the second angle sensor 11, the third angle sensor 15 and the main control chip are connected with each other to communicate and transmit information, and the main control chip is connected with the upper computer through a CAN bus transceiver module to transmit control instructions to the upper computer.
Fig. 4 is a flow chart of a data communication algorithm between an angle sensor TLE50120 and an STM8AF singlechip of the absolute sensor-based vehicle steering angle measurement system according to the present invention, after a main control chip starts to work, the number of turns of a measurement gear is calculated by a preset difference algorithm, the measurement gear is a first angle measurement gear 3 and a second angle measurement gear 2, then whether all sensors work normally is judged, when the measurement gear works normally, the number of turns of the measurement gear is read, and then whether the difference value of the measurement gear changes, when the gear changes, whether the gear fails is judged, if the gear does not change, the steps are re-executed, when the gear fails, all angle sensors work normally, when the measurement gear does not work normally, the number of turns register value is read from a register of the sensor, the number of turns of the measurement gear is determined again by the difference algorithm, then the number of turns of the measurement gear is read is re-executed, and then whether the difference value of the measurement gear changes is judged.
In one embodiment, calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear 3, the rotation angle of the second angle measurement gear 2, and the rotation number of the turn gear 4 specifically includes: the main control unit reads the values of the registers of the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15, the rotation angle of the first angle measuring gear 3, the rotation angle of the second angle measuring gear 2 and the rotation number of the circle counting gear 4, and the main control unit calculates the rotation angle of the steering wheel according to a preset algorithm. When at least one of the first, second and third angle sensors 8, 11 and 15 is detected to be faulty, the main control unit re-reads the values of the registers of the first, second and third angle sensors 8, 11 and 15. When the difference between the angle value of the first angle measuring gear 3 and the angle value of the second angle measuring gear 2 is changed, detecting whether the first angle measuring gear 3 and the second angle measuring gear 2 are in failure, if so, the first angle sensor 8 and the second angle sensor 11 are in a normal working state, and if not, detecting whether the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 are in failure.
Thus, the absolute sensor-based vehicle steering angle measurement system comprises a main gear 1, a first rotating shaft 6, a second rotating shaft 5, a third rotating shaft 13, a first angle measurement gear 3, a second angle measurement gear 2 and a ring counting gear 4, wherein a first angle sensor 8, a second angle sensor 11, a third angle sensor 15 and a main control unit which are arranged on a circuit board 9, and the main gear 1 is arranged on a rotating shaft 10 of a steering wheel; the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 are arranged in parallel with the rotating shaft 10 of the steering wheel, the first angle measuring gear 3, the second angle measuring gear 2 and the ring counting gear 4 are correspondingly arranged on the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 respectively and meshed with the main gear 1, the first angle sensor 8 is arranged above the first angle measuring gear 3 and used for measuring the rotating angle of the first angle measuring gear 3, the second angle sensor 11 is arranged above the second angle measuring gear 2 and used for measuring the rotating angle of the second angle measuring gear 2, the third angle sensor 15 is arranged above the ring counting gear 4 and used for measuring the rotating number of the ring counting gear 4, the rotating number is an integer, and the main control unit is communicated with the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 and used for calculating the rotating angle of the steering wheel according to the rotating angle of the first angle measuring gear 3, the rotating angle of the second angle measuring gear 2 and the rotating number of the ring counting gear 4. The high-precision and wide-range non-contact detection of the rotating position of the steering wheel rotating shaft is realized through the four-gear structure, the angle sensor and the main control unit, and the rotating angle is output faster and more accurately.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention
In the description of the present invention, the terms "first," "second," "another," "yet another" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A vehicle steering angle measurement system based on an absolute sensor, comprising:
the main gear is arranged on the rotating shaft of the steering wheel;
the steering wheel comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a ring counting gear, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are arranged in parallel with the rotating shaft of the steering wheel, and the first angle measuring gear, the second angle measuring gear and the ring counting gear are respectively correspondingly arranged on the first rotating shaft, the second rotating shaft and the third rotating shaft and meshed with the main gear;
the steering wheel comprises a first angle sensor, a second angle sensor, a third angle sensor and a main control unit, wherein the first angle sensor is arranged above a first angle measuring gear and used for measuring the rotation angle of the first angle measuring gear, the second angle sensor is arranged above a second angle measuring gear and used for measuring the rotation angle of the second angle measuring gear, the third angle sensor is arranged above a circling gear and used for measuring the rotation number of the circling gear, the rotation number is an integer, and the main control unit is communicated with the first angle sensor, the second angle sensor and the third angle sensor and used for calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measuring gear, the rotation angle of the second angle measuring gear and the rotation number of the circling gear;
the upper end of the first rotating shaft, the upper end of the second rotating shaft and the upper end of the third rotating shaft are respectively and correspondingly provided with first magnetic steel, second magnetic steel and third magnetic steel, the first angle sensor is positioned above the first magnetic steel, the second angle sensor is positioned above the second magnetic steel, and the third angle sensor is positioned above the third magnetic steel, so that the first angle sensor, the second angle sensor and the third angle sensor measure the rotation angles of the first angle measuring gear and the second angle measuring gear and the rotation number of turns of the third angle measuring gear through giant magnetic effect;
the first angle sensor, the second angle sensor and the third angle sensor are TLE5012B angle sensors, the registers of the first angle sensor and the second angle sensor are configured as angle value registers, the registers of the third angle sensor are configured as IIF counter values, the first angle sensor outputs the rotating angle of the first angle measuring gear at the current circle, the second angle sensor outputs the rotating angle of the second angle measuring gear at the current circle, and the third angle sensor outputs the rotating number of circles of the circle counting gear;
the number of teeth of the main gear is 90, the number of teeth of the first angle measurement gear is 30, the number of teeth of the second angle measurement gear is 27, the number of teeth of the ring counting gear is 30, and the calculating of the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear and the rotation number of the ring counting gear specifically comprises: the steering wheel rotation angle in one direction is equal to the number of turns of the turn gear multiplied by 120 degrees plus the difference of the first angle measurement gear angle value minus the second angle measurement gear angle value.
2. The absolute sensor based vehicle steering angle measurement system of claim 1, wherein: the first magnetic steel, the second magnetic steel and the third magnetic steel are cylindrical magnetic steels.
3. The absolute sensor based vehicle steering angle measurement system of claim 1, wherein: the main control unit is an STM8AF5268 singlechip, and the main control unit is in communication with the first angle sensor, the second angle sensor and the third angle sensor specifically comprises: and the STM8AF5268 singlechip is connected with the first angle sensor, the second angle sensor and the third angle sensor through a controller area network CAN and reads the measurement values of the sensors in real time through a serial peripheral interface SPI.
4. The absolute sensor based vehicle steering angle measurement system of claim 1, wherein: the calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measuring gear, the rotation angle of the second angle measuring gear and the rotation number of the circle counting gear specifically comprises: the main control unit reads the values of the registers of the first angle sensor, the second angle sensor and the third angle sensor to obtain the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear and the rotation number of the circle counting gear, and the main control unit calculates the rotation angle of the steering wheel according to a preset algorithm.
5. The absolute sensor based vehicle steering angle measurement system of claim 4, wherein: when at least one of the first, second and third angle sensors is detected to be faulty, the main control unit re-reads the values of the registers of the first, second and third angle sensors.
6. The absolute sensor based vehicle steering angle measurement system of claim 5, wherein: when the difference value of the angle value of the first angle measuring gear minus the angle value of the second angle measuring gear is in transition, detecting whether the first angle measuring gear and the second angle measuring gear are in failure or not, if yes, the first angle sensor and the second angle sensor are in normal working states, and if not, detecting whether the first angle sensor, the second angle sensor and the third angle sensor are in failure or not.
7. The absolute sensor based vehicle steering angle measurement system of claim 1, wherein: the first angle measurement gear is located on the left side of the main gear, the second angle measurement gear is located on the right side of the main gear, and the ring counting gear is located on the left rear side of the main gear.
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| CN202011626385.4A CN112678069B (en) | 2020-12-31 | 2020-12-31 | Vehicle steering angle measurement system based on absolute sensor |
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| CN202011626385.4A CN112678069B (en) | 2020-12-31 | 2020-12-31 | Vehicle steering angle measurement system based on absolute sensor |
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| FR2899862A1 (en) * | 2006-04-13 | 2007-10-19 | Siemens Vdo Automotive Sas | Steering wheel`s angular position measuring method for vehicle, involves calculating absolute wheel angular position from angular and counter values of one sensor, and from angular values of sensors and counter values in respective modes |
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