CN210154812U - Follow-up steering analog control device for automobile - Google Patents

Abstract

The utility model specifically relates to a vehicle follow-up steering simulation control device with simple structure and convenient use. The simulation control device comprises a single chip microcomputer, a signal input port of the single chip microcomputer is respectively connected to the signal input ends of an angular displacement sensor, an inclination sensor, a vehicle speed increase button and a vehicle speed decrease button; a signal output end of the single chip microcomputer is respectively connected to the control lines of a horizontal follow-up servo and a vertical follow-up servo, and the signal output end of the single chip microcomputer is also connected to an OLED display module; compared with the current adaptive headlight system, the structure is simple and easy to use, and a complicated bench system is not required, so that parameter calibration is convenient for use in the early stage design of the vehicle.

Description

Automobile follow-up steering simulation control device

technical field

The utility model relates to the field of automobile test benches, in particular to an automobile follow-up steering simulation control device.

Background technique

Follow-up steering headlights are also called adaptive lighting systems, adaptive frontlighting system (Adaptive Frontlighting System) English abbreviation AFS, follow-up steering headlights can automatically adjust the deflection of the headlights according to the driving speed, steering angle, etc., so as to be able to advance in advance. Illuminates the steering area and provides all-round safety lighting to ensure the driver has optimum visibility at all times, enhancing driving safety in the dark. Ordinary headlights have a fixed illumination range. When a car turns on a curve at night, because the lighting angle cannot be adjusted, a "blind spot" often appears on the inside of the curve, which greatly threatens the driver's safe driving at night.

The core technology of the follow-up steering system is parameter calibration and control strategy, that is to measure and calibrate parameters such as steering wheel angle, vehicle speed, and body inclination, and then control the rotation angle of the headlight driving steering gear according to the calibration results; when designing new cars, there is often no There are ready-made parameters, so in order to facilitate the early design of the new car, a system that can simulate the follow-up steering of the headlights is required, and the structure of the simulation system should be as simple as possible and easy to use to meet the rapid design of the car in the early stage.

Utility model content

In view of the above problems, the purpose of the present utility model is to provide an analog control device for automobile follow-up steering with simple structure and convenient use.

In order to achieve the purpose of the above utility model, the technical scheme adopted by the utility model is: a car follow-up steering analog control device, the analog control device includes a single-chip microcomputer, and the signal input ports of the single-chip microcomputer are respectively connected with an angular displacement sensor, an inclination sensor, a vehicle speed increase button, and a vehicle speed. The signal input end of the lower button is connected; the signal output end of the single-chip microcomputer is respectively connected with the control lines of the horizontal servo servo and the vertical servo servo, and the signal output end of the single-chip microcomputer is also connected with the OLED display module;

The horizontal servo servo is installed horizontally on a rectangular bracket, the inclination sensor is pasted on the bracket, the horizontal rotating shaft is installed on the bottom surface of the bracket, and the bearings are installed at both ends of the rotating shaft. It can rotate relative to the gantry along the axis of the horizontal rotating shaft. The output shaft of the horizontal servo is connected to the casing of the vertical servo. The rotating shaft of the vertical servo is perpendicular to the rotating shaft of the horizontal servo. The output shaft of the steering gear is sleeved with car headlights; the angular displacement sensor is installed on the steering wheel, and the steering wheel is fixed on the bench or set separately;

The control device also includes a battery, the battery is a 12V or 24V battery, the battery is connected to a step-down module, and the step-down module steps down the input power voltage of 12V or 24V to 5V, and then outputs the fixed output to the single-chip microcomputer, the angular displacement sensor, and the inclination angle. The sensor, vehicle speed increase button, and vehicle speed decrease button work, and the power cord of the battery is also connected to the power cords of the horizontal servo servo, the vertical servo servo, and the headlights of the car.

Preferably, the model of the single-chip microcomputer is S9KEAZ128AMLK, and the S9KEAZ128AMLK single-chip microcomputer includes a S9KEAZ128AMLK single-chip microcomputer control chip, and the chip is also packaged with an OLED interface, a Bluetooth interface, a reset module, and a clock module; the C3 pin in the S9KEAZ128AMLK is sequentially connected with an A/D converter. The H0 pin is connected to the control line of the horizontal servo servo, the H1 pin is connected to the control line of the vertical servo servo, and the H3 and H4 pins are connected to the output of the inclination sensor through the I2C bus. Terminal connection; D0 pin is connected to the speed increase button, D1 pin is connected to the speed reduction button, F2, F3, A6, A7, C7 pins are connected to the OLED display module;

The model of the inclination sensor is MPU6050, the model of the angular displacement sensor is WDD35D4; the model of the step-down module is LM2596, the vehicle speed increase button and the vehicle speed decrease button are respectively a sliding rheostat. The lead wire is connected to an A/D converter, and the two A/D converters are connected to the D0 pin or D1 pin of the microcontroller respectively; the sliding rheostat model is B102 single-turn carbon film knob type sliding rheostat.

The utility model has the following beneficial effects: the device can realize the simulation process of the following functions:

(1) Display: Through the OLED display, the steering wheel angle, body inclination and vehicle speed can be displayed in real time.

(2) According to the corner signal collected by the angular displacement sensor and the vehicle speed signal simulated by the vehicle speed increase button (13) and the vehicle speed decrease button (14) at this time, adjust the left and right steering of the headlights to compensate for the blind spot of the field of view.

(3) Compensating the slope of the field of view: When the car is going up and down the slope, the body has a certain pitching angle, which reduces the lighting range of the car headlights. At this time, the headlight position adjustment system adjusts the upper and lower lighting angles of the headlights according to the change of the slope angle. , compensate the lighting range and expand the driver's field of vision.

Compared with the current adaptive headlight system, the structure is simple and easy to use. It does not require a complex bench system, which is convenient for parameter calibration in the early design of the car.

Description of drawings

Figure 1 is the pin connection diagram of S9KEAZ128AMLK microcontroller;

Fig. 2 is the pin connection diagram of the OLED module;

Figure 3 is the pin connection diagram of the MPU6050 tilt sensor;

Fig. 4 is the pin connection diagram of the angular displacement sensor;

Fig. 5 is the circuit diagram of the speed increase button;

Fig. 6 is the circuit schematic diagram of the analog control device;

Figure 7 is the wiring diagram of the single chip microcomputer, the motor driver and the motor;

Figure 8 is a schematic diagram of the installation of the horizontal servo servo and the vertical servo servo.

Detailed ways

The automotive follow-up steering analog control device shown in Figure 1-8 includes a single-chip microcomputer 1. The signal input ports of the single-chip microcomputer 1 are respectively connected with the signal input terminals of the angular displacement sensor 11, the inclination sensor 12, the vehicle speed increase button 13, and the vehicle speed decrease button 14. connection; the signal output end of the single-chip microcomputer 1 is respectively connected with the control lines of the horizontal servo servo 15 and the vertical servo servo 16, and the signal output end of the single-chip microcomputer 1 is also connected with the OLED display module 17;

The horizontal servo steering gear 15 is horizontally installed on a rectangular support 31, the inclination sensor 12 is pasted on the support 31, the horizontal rotating shaft 32 is installed on the lower bottom of the support, and the two ends of the rotating shaft 32 are provided with bearings. On the stand 33, the bracket 31 can be rotated relative to the stand 33 along the axis of the horizontal shaft 32, the output shaft of the horizontal servo 15 is connected with the casing of the vertical servo 16, and the The rotating shaft is perpendicular to the rotating shaft of the horizontal servo steering gear 15, and the output shaft of the vertical servo servo 16 is sleeved with automobile headlights; the angular displacement sensor 11 is installed on the steering wheel, and the steering wheel is fixed on the bench or set separately;

The control device also includes a battery 18, the battery 18 is a 12V or 24V battery, the battery 18 is connected to a step-down module 20, and the step-down module 20 steps down the input power voltage of 12V or 24V to 5V, or a 12V or 24V power adapter can be used, One end of the adapter is connected with the household AC socket, and the other end is connected with the step-down module 20; The power cords of the vehicle are also connected to the power cords of the horizontal servo servo 15, the vertical servo servo 16, and the headlights 17 of the car.

The model of MCU 1 is S9KEAZ128AMLK. The S9KEAZ128AMLK MCU contains a S9KEAZ128AMLK MCU control chip, and the chip is also packaged with OLED interface, Bluetooth interface, reset module, and clock module; Table 1 shows the functions of some pins of the 9KEAZ128AMLK MCU. The pins are connected to an A/D converter 19 and an angular displacement sensor 11 in turn; the H0 pin is connected to the control line of the horizontal servo 15, the H1 pin is connected to the control line of the vertical servo 16, and the H3 pin 、 The H4 pin is connected to the output end of the tilt sensor 12 through the I2C bus; the D0 pin is connected to the vehicle speed increase button 13, the D1 pin is connected to the vehicle speed reduction button 14, and the F2, F3, A6, A7, and C7 pins are connected to the OLED display Module 17:

Table 1 S9KEAZ128AMLK MCU part pin list

pin connection part D0, D1 key module H3, H4 Inclination sensor module F2, F3, A6, A7, C7 OLED display module C3 Angle sensor module H0, H1 execution module

The pins of the OLED display module 17 are shown in Figure 2, and the corresponding pins function as follows:

1VCC: connect to power 5V

2GND: power ground

3RST: reset

4DO: clock pin; D1: data pin

5CS: chip select, active low, must be grounded if you don't want to use it

6DC: data/command selection, used to set the ICC address when the ICC interface is used

The model of the inclination sensor 12 is MPU6050, and its output is a digital signal, which can be directly connected to the microcontroller 1. The model of the angular displacement sensor 11 is WDD35D4; The sensor is connected with the steering shaft of the steering wheel to detect the input change of the steering wheel angle and meet the measurement requirements.

The model of the step-down module 20 is LM2596, the vehicle speed increase button 13 and the vehicle speed decrease button 14 are respectively a sliding rheostat, the sliding rheostat is powered by the step-down module 20, and the wires arranged in parallel at both ends of the sliding rheostat are connected with an A/D converter 19 The two A/D converters 19 are then connected to the D0 pin or D1 pin of the microcontroller 1 respectively; the sliding rheostat model is B102 single-turn carbon film knob type sliding rheostat.

The models of the horizontal servo servo 15 and the vertical servo servo 16 are all MG996R servos. The MG996R servos are controlled by three control wires, of which the red wire is the power wire, the brown wire is the ground wire, and the yellow wire is the control wire. The power line and the ground line are used to provide the energy required by the DC motor and the control circuit inside the steering gear. The power line and the ground line are connected with the battery 18 or the power adapter, and the drive chip control line of the horizontal servo servo 15 is connected with the H0 of the single-chip microcomputer. The pins are connected, and the control line of the driving chip of the vertical servo servo 16 is connected with the H1 pin of the single-chip microcomputer.

The analog control device is a simplified adaptive AFS control system. By manually rotating the steering wheel, the angular displacement sensor collects the steering wheel angle signal, the manual rotation bracket 31 simulates the body tilt when the car turns, and the tilt sensor collects the body tilt angle signal, which is increased by the vehicle speed. The input signal of the button 13 or the speed reduction button 14 simulates the acceleration or deceleration of the vehicle speed, and is sent to the single-chip microcomputer 1 for processing. The single-chip computer adjusts the position of the headlights according to the value preset by the program and according to the collected input signals, and obtains the rotation angle of the headlights; After the car headlight is powered on, it can be judged inversely that the parameter setting in the control program is appropriate according to its light irradiation range, and make corresponding modifications. Compared with the current adaptive headlight system, this solution is simple in structure and easy to use. Do not need a complex bench system, it is convenient for parameter calibration in the early design of the car, and the simulation process of the following functions can be realized:

(1) Display: Through the OLED display, the steering wheel angle, body inclination and vehicle speed can be displayed in real time.

(2) Adjust the left and right steering of the headlights according to the corner signal collected by the angular displacement sensor and the vehicle speed signal simulated by the vehicle speed increase button 13 and the vehicle speed decrease button 14 to compensate for the blind spot of the field of view.

(3) Compensating the slope of the field of view: When the car is going up and down the slope, the body has a certain pitching angle, which reduces the lighting range of the car headlights. At this time, the headlight position adjustment system adjusts the upper and lower lighting angles of the headlights according to the change of the slope angle. , compensate the lighting range and expand the driver's field of vision.

The control process of the analog control device is: C7 controls the chip selection function of the OLED, A6 resets the OLED at a low level, and A7 controls the OLED data and commands; the single chip 1 receives the steering wheel angle and vehicle speed signals through the C3, D0 and D1 interfaces, and goes through the control processing. , the H0 serial port controls the operation of the horizontal servo servo; H3 and H4 receive the inclination signal, and H1 controls the operation of the vertical servo motor to realize the up and down rotation and left and right rotation adjustment of the headlight.

As shown in Figure 7, the main process of the analog control device is: after the system is initialized, start to call the display subroutine to display; then call the button subroutine to obtain vehicle speed data; and then judge whether the timer 100ms timing is completed, if completed, the timing The flag position is 0; the AD conversion subroutine is called to obtain the AD conversion value, and the steering wheel angle is calculated by the AD conversion value; the front and rear pitch angles of the vehicle body are calculated by obtaining the data of the inclination sensor, the PWM duty cycle is calculated, and the PWM pulse control signal is output to drive the horizontal follower The steering gear 15 and the vertical servo steering gear 16 are used to adjust the position of the headlights.

Claims (2)

1. The automobile follow-up steering simulation control device is characterized in that: the simulation control device comprises a single-chip microcomputer (1), and the signal input port of the single-chip microcomputer (1) is respectively connected with an angular displacement sensor (11), an inclination sensor (12), a vehicle speed increase button ( 13) The signal input end of the vehicle speed reduction button (14) is connected; the signal output end of the single chip microcomputer (1) is respectively connected with the control lines of the horizontal servo servo (15) and the vertical servo servo (16), and the single chip (1) ) of the signal output terminal is also connected with the OLED display module (17); The horizontal servo (15) is horizontally installed on a cuboid bracket (31), the inclination sensor (12) is pasted on the bracket (31), and the horizontal rotating shaft (32) is installed on the bottom surface of the bracket, and the two rotating shafts (32) Bearings are provided at the ends, and the bearings are mounted on the stand (33) provided with the bearing seat, so that the bracket (31) can rotate relative to the stand (33) along the axis of the horizontal shaft (32), and the horizontal servo (15) The output shaft of the vertical servo servo (16) is connected to the casing of the vertical servo servo (16), and the rotating shaft of the vertical servo servo (16) is perpendicular to the rotating shaft of the horizontal servo servo (15). The car headlights are sleeved on the shaft; the angular displacement sensor (11) is installed on the steering wheel, and the steering wheel is fixed on the bench or set separately; The control device further comprises a battery (18), the battery (18) is a 12V or 24V battery, the battery (18) is connected to the step-down module (20), and the step-down module (20) drops the voltage of the 12V or 24V input power supply. voltage to 5V, and then fixedly output to the microcontroller (1), angular displacement sensor (11), inclination sensor (12), vehicle speed increase button (13), vehicle speed decrease button (14) to work, and the power lines of the battery (18) are also separately Connect to the horizontal servo (15), the vertical servo (16), and the power cables of the car headlights. 2. automobile follow-up steering simulation control device according to claim 1, is characterized in that: the model of described single-chip microcomputer (1) is S9KEAZ128AMLK, and S9KEAZ128AMLK single-chip microcomputer comprises a S9KEAZ128AMLK single-chip microcomputer control chip, and is also packaged with OLED interface, Bluetooth interface, reset module, clock module; C3 pin in S9KEAZ128AMLK is connected to an A/D converter (19) and an angular displacement sensor (11) in turn, and H0 pin is connected to the control line of the horizontal servo (15) , the H1 pin is connected to the control line of the vertical servo (16), the H3 pin and H4 pin are connected to the output end of the inclination sensor (12) through the I2C bus; the D0 pin is connected to the vehicle speed increase button (13) connection , D1 pin is connected to the vehicle speed reduction button (14), F2, F3, A6, A7, C7 pins are connected to the OLED display module (17); The model of the inclination sensor (12) is MPU6050, the model of the angular displacement sensor (11) is WDD35D4; the model of the step-down module (20) is LM2596, the vehicle speed increase button (13) and the vehicle speed decrease button (14) are respectively a sliding rheostat. The sliding varistor is powered by the step-down module (20), and the wires arranged in parallel at both ends of the sliding varistor are connected to an A/D converter (19), and the two A/D converters (19) are respectively connected to the single-chip microcomputer (1). D0 pin or D1 pin connection; sliding rheostat model is B102 single-turn carbon film knob type sliding rheostat.

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