CN220483401U - Device for detecting steering wheel angle and steering direction of vehicle - Google Patents

Abstract

A device for detecting the steering angle and the steering direction of a vehicle steering wheel comprises a steering wheel sleeve and a photoelectric detection unit; the rear side of the steering wheel sleeve is provided with an annular color belt which is equally angularly divided into 256 continuous areas, the 256 areas are numbered in sequence and respectively numbered 0 to 255, and the colors of the areas are different; the photoelectric detection unit comprises an outer shell, a power supply, a controller and a memory are arranged in the outer shell, three photoelectric sensors capable of identifying colors are arranged on the front side of the outer shell, each photoelectric sensor is fixed on the front side of the outer shell through a universal joint, and the photoelectric sensors and the memory are connected with the power supply through the controller. Along with synchronous rotation of the color ribbon and the steering wheel, the photoelectric sensor detects red, green and blue color values of colors of different areas on the color ribbon, and the controller analyzes and calculates the color ribbon, so that the steering angle and the steering direction of the steering wheel can be obtained and output in real time, the system is stable and reliable, is convenient to install, is not easy to be disturbed, and does not influence driving safety.

Description

Device for detecting steering wheel angle and steering direction of vehicle

Technical Field

The utility model relates to a device for detecting the steering angle and the steering direction of a steering wheel of a vehicle.

Background

The motor vehicle is driven linearly, and the traffic accidents rarely occur, and the accidents occur in the turning and lane changing processes of the vehicle, mainly because the vehicle speed is too fast and the control is lost in the turning and lane changing processes, the driving blind area is enlarged and the observation is insufficient, some driver training mechanisms adopt intelligent robot coaches, some driver exams adopt an automatic mode, the fields are closely related to the turning angle and the steering of the vehicle steering wheel, and when a vehicle operating system or a later application device acquires the real-time data of the turning angle and the steering of the steering wheel, the driver can take necessary intervention measures to change the incorrect driving behavior of the driver, or judge whether the driving state of the vehicle meets the requirement of safe driving of the vehicle, so the method has important significance in timely acquiring the angle data of the steering wheel and practical application in the required field.

Current technologies for acquiring steering wheel angle include analyzing an intranet equipped with a vehicle, installing an angle sensor on a main rotation shaft of a steering wheel, and the like. The manner of intranet acquisition is not applicable to vehicles which are not equipped with an intranet; the mode of installing the angle sensor on the main rotating shaft of the steering wheel has the defects of large engineering quantity and high cost.

Disclosure of Invention

The utility model aims to solve the technical problems of providing the device for detecting the steering angle and the steering direction of the steering wheel of the vehicle, which has the advantages of simple structure, convenient installation, wide applicability, quick response, no influence on driving safety, stable system operation, high detection precision and difficult interference, and is not limited by the vehicle type.

In order to solve the technical problems, the utility model provides a device for detecting the steering angle and the steering direction of a vehicle, which comprises a steering wheel sleeve and a photoelectric detection unit;

the steering wheel sleeve is of an annular structure, the cross section of the steering wheel sleeve is of a C shape or a U shape, the opening direction of the steering wheel sleeve points to the central axis, one side of the steering wheel sleeve along the central axis direction is arranged to be front, the other side of the steering wheel sleeve is arranged to be rear, an annular color band is arranged along the circumferential direction of the steering wheel, the annular color band is divided into 256 continuous areas at equal angles, the 256 areas are numbered in sequence, the areas are respectively numbered as No. 0-255, and the colors of the areas are different;

the photoelectric detection unit comprises an outer shell, a power supply, a controller and a memory are arranged in the outer shell, three photoelectric sensors capable of identifying colors are arranged on the front side of the outer shell, each photoelectric sensor is fixed on the front side of the outer shell through a universal joint, and the photoelectric sensors and the memory are connected with the power supply through the controller.

For simplicity of description, a device for detecting a steering angle and a steering direction of a vehicle according to the present utility model will be hereinafter simply referred to as the present device.

The detection method of the device comprises the following steps:

(1) The steering wheel is rotated to a complete correcting state, then the front side of the steering wheel sleeve is just opposite to the driver and is arranged on the steering wheel, and the center of the O-shaped area is just positioned at the 12O' clock position of the steering wheel;

(2) Then the photoelectric detection unit is arranged on the automobile instrument desk at the position opposite to the steering wheel, and three photoelectric sensors are adjusted to enable the three photoelectric sensors to be opposite to the centers of the 32 # region, the 0 # region and the 224 # region of the color band respectively;

(3) When the steering wheel rotates, the color ribbon on the steering wheel sleeve synchronously rotates along with the steering wheel, the three photoelectric sensors detect the color of the target position at the same time with the same frequency, and the rotating direction and the current rotating angle of the steering wheel at the moment are judged according to the color change of the color ribbon on the detection area.

The principle explanation of the method is as follows:

for simplicity of explanation, the three photosensors are labeled as photosensors No. 1, no. 2, and No. 3, respectively.

The color of each region on the color belt is composed of three primary colors of red, green and blue, the method utilizes the technology of recognizing the colors by the photoelectric sensor to form the connection between the color values of the three primary colors of red, green and blue of different colors and the steering angle and steering of the steering wheel, and the frequency response range of the photoelectric sensor is more than 40GHz, so that the fast enough detection frequency can ensure that the photoelectric sensor can continuously detect twice or more times and can only acquire the color value information of the three primary colors of red, green and blue of the same region or two adjacent regions on the color belt even if a driver rotates the steering wheel at the limit maximum angular speed, thereby ensuring the realization of the functions of the utility model.

Since the driver may be manipulating the steering wheel, the hands may obscure certain areas of the steering wheel, resulting in a situation where the device does not collect the correct color data of the color band. Because two hands can cover two parts on the color belt at most, in order to make the device suitable for all situations, the device adopts the method that three sensors collect red, green and blue color values of three areas far away on the color belt at the same frequency at the same time, so as to ensure that at least one sensor can normally detect the color belt. When the color detected by one or two sensors does not belong to the color on the color band, or when the color of two adjacent areas of the color band is detected to be inconsistent with the preset, the detection data of the sensors at the corresponding positions are set to be abnormal and are discarded.

When the photoelectric sensor No. 2 detects that the color is normal, the color data is selected, and the data is discarded no matter how the photoelectric sensors No. 1 and No. 3 detect. When photoelectric sensor No. 2 detects the abnormality, namely by the shielding: if the detection of the No. 1 photoelectric sensor is normal, the data of the detection result of the No. 3 photoelectric sensor and the data of the detection result of the No. 2 photoelectric sensor are discarded, the color data of the detection result of the No. 1 photoelectric sensor is corrected, and the data of the detection result of the No. 2 photoelectric sensor is replaced and then output; if the detection of the photoelectric sensor 1 is abnormal, namely, the detection is shielded at the same time, the color data detected by the photoelectric sensors 1 and 2 are discarded, the color data detected by the photoelectric sensor 3 is corrected, and the data detected by the photoelectric sensor 2 is replaced and then output. The device has the function of correcting the abnormal detection data of the No. 2 photoelectric sensor by taking the detection data of the No. 2 photoelectric sensor as a reference and the detection data of the No. 1 and No. 3 photoelectric sensors.

The device has the advantages that: the device has the advantages of simple structure, convenient installation, wide applicability, quick response, non-contact detection and no influence on driving safety, and is not limited by vehicle types. The system is stable in operation, high in detection precision and not easy to interfere.

Drawings

Fig. 1 is a front view of a photodetecting unit.

Fig. 2 is a cross-sectional view A-A of fig. 1.

Fig. 3 is a front view of the steering wheel cover.

Fig. 4 is a B-B cross-sectional view of fig. 3.

Fig. 5 is a rear view of the steering wheel cover.

Fig. 6 is a schematic view of the structure of the color band on the steering wheel cover (only a partial area is shown).

Detailed Description

Referring to fig. 1 to 6, a device for detecting steering angle and steering direction of a vehicle comprises a steering wheel cover 1 and a photoelectric detection unit 2;

the steering wheel sleeve 1 is of an annular structure, the cross section of the steering wheel sleeve 1 is C-shaped or U-shaped, the opening direction of the steering wheel sleeve points to the central axis, one side of the steering wheel sleeve 1 along the central axis direction is front, the other side of the steering wheel sleeve is rear, an annular color band 11 arranged along the circumferential direction of the steering wheel is arranged at the rear side of the steering wheel sleeve 1, the annular color band 11 is divided into 256 continuous areas at equal angles, the 256 areas are numbered in sequence, the 256 areas are respectively numbered as No. 0-255, and the colors of all the areas are different;

the photoelectric detection unit 2 comprises an outer shell 21, a power supply 22, a controller 23 and a memory 24 are arranged in the outer shell 21, three photoelectric sensors 3 capable of identifying colors are arranged on the front side of the outer shell 21, each photoelectric sensor 3 is fixed on the front side of the outer shell 21 through a universal joint 31, and the photoelectric sensors 3 and the memory 24 are connected with the power supply 22 through the controller 23.

A detection method of a device for detecting the steering angle and the steering direction of a vehicle steering wheel comprises the following steps:

(1) The steering wheel is rotated to a complete correcting state, then the front side of the steering wheel sleeve 1 is just opposite to the driver and is arranged on the steering wheel, and the center of the O-shaped area is just positioned at the 12O' clock position of the steering wheel;

(2) Then the photoelectric detection unit 2 is arranged on the automobile instrument desk at the position opposite to the steering wheel, and three photoelectric sensors 3 are adjusted to enable the three photoelectric sensors 3 to be opposite to the centers of the No. 32 area, the No. 0 area and the No. 224 area of the color band 11 respectively;

(3) When the steering wheel rotates, the color ribbon 11 on the steering wheel sleeve 1 synchronously rotates along with the steering wheel, the three photoelectric sensors 3 detect the color of the target position at the same frequency, and the rotation direction and the current rotation angle of the steering wheel are judged according to the color change of the color ribbon 11 on the detection area.

System logic introduction and feasibility analysis:

to improve the accuracy of detecting steering wheel angle and steering, the color band may be divided into finer detectable regions. In this embodiment, the color ribbon is divided into 256 areas, for convenience of description, only the red component value is set in the color of each area of the used color ribbon to change regularly, the color values of the two primary colors of green and blue are set to 0, the serial number of each area in the 256 areas is the same as the color value of red in the color of the area and corresponds to each other one by one, that is, the number 0 area RGB value is 0/0/0, the number 1 area RGB value is 1/0/0, the number 2 area RGB value is 2/0/… …, the number 255 area is 255/0, and the two areas with the red color values of 0 and 255 are connected end to form a closed loop, and from the view of a driver, the number 0 area, the number 1 area and the 255 area are arranged anticlockwise.

The left-right direction of the steering wheel rotation and the number of turns of left or right can be determined by recording and analyzing whether the area 0 turns left or right on the color belt and the number of times that the area 0 turns left and right; by calculating the ratio of the red color value returned by the device to the total area number (256), the angle (more than or equal to 0 degrees and less than 360 degrees) of the steering wheel rotating in a single circle can be calculated, the actual turning angle of the steering wheel rotating at the moment is calculated, and the device outputs a pulse signal or a digital signal corresponding to the actual turning angle of the steering wheel. Because the frequency response range of the photoelectric sensor is above 40GHz, the frequency of the photoelectric sensor for detecting the color of the color band can be fast enough, so that when a driver rotates the steering wheel even at the limit maximum angular speed, the photoelectric sensor can continuously detect twice or more times and can only acquire the color quantity value of the three primary colors of red, green and blue in the same area or two adjacent areas on the color band, thereby ensuring the realization of the functions of the utility model.

Since the driver may be manipulating the steering wheel, the hands may obscure certain areas of the steering wheel, resulting in a situation where the device does not collect the correct color data of the color band. Because two hands can only shelter two parts on the color belt at most, in order to make the device suitable for all situations, the device adopts the method that three sensors collect red, green and blue color values of three different areas with far distance on the color belt at the same frequency at the same time, so as to ensure that at least one sensor can normally detect the color belt.

Since only the red component of the three primary colors of red, green and blue is kept in the colors of 256 areas of the color band set by the device to change regularly, the color values of the two primary colors of green and blue are set to 0, and the situation that the color values of the two primary colors of green and blue are 0 when the photoelectric sensor returns to the color of the hand of the driver is avoided, the device defines and sets the rule that the three photoelectric sensors detect the color values of the three primary colors of red, green and blue in the colors of three areas of 256 areas on the color band as follows:

setting the types of the three variables of Ps1_R_ R, ps1_R_G and Ps1_R_B as integer types, wherein the three variables respectively represent red, green and blue color values of a certain region color on the color band returned by the photoelectric sensor No. 1;

setting the types of the three variables of the Ps2_R_ R, ps2_R_G and the Ps2_R_B as integer types, and respectively representing the red, green and blue color values of a certain region color on the color band returned by the No. 2 photoelectric sensor;

setting the types of the three variables of the Ps3_R_ R, ps3_R_G and the Ps3_R_B as integer, and respectively representing the red, green and blue color values of a certain region color on the color band returned by the No. 3 photoelectric sensor;

setting the type of the RA variable as integer, and indicating the angle value of the actual rotation of the steering wheel returned by the device;

setting the type of R variable to integer, indicating the return value of the current detection of the device, the value being related to the red component value of a certain region color on the color band,

setting the type of LR variable as integer, representing the last detected return value of the device, when R is the same as LR, representing that the detected object is the same area in 256 areas, within the detection precision range of the device, representing that the steering wheel does not rotate or the steering angle is extremely small in a systematic error within the time interval of the current and the last two continuous detections, and when R is different from LR, representing that the detected object is two adjacent areas in 256 areas, within the detection precision range of the device, representing that the steering wheel of the vehicle rotates;

setting the type of NL variable as integer, and indicating the left turn number of the steering wheel;

setting the type of NR variable as integer, which represents the turn number of steering wheel to right;

setting the type of the T variable as integer, wherein the T variable represents the left and right steering of the steering wheel, the initial value is 0, the left steering of the steering wheel is represented when the T variable is 1, the right steering of the steering wheel is represented when the T variable is 2, the left steering of the steering wheel is represented when the T variable is 3, and the right steering of the steering wheel is represented when the T variable is 4;

from the view angle of a driver, the three photoelectric sensors are numbered as a photoelectric sensor No. 1, a photoelectric sensor No. 2 and a photoelectric sensor No. 3 respectively from left to right;

if the green and blue color values of the color returned by the photoelectric sensor No. 2 are both 0, the green and blue color values of the color of a certain area on the color band are returned instead of the green and blue color values of the hand color of the driver, the color of a certain area on the color band is detected by the photoelectric sensor No. 2, and the area is not blocked by the hand of the driver, at this time, the return value R of the device is the color value Ps2_R_R of the red component of the color of the certain area on the color band detected by the photoelectric sensor No. 2;

if at least one of the green and blue color values of the color returned by the No. 2 photoelectric sensor is not '0', which means that the detected color is not the green and blue color value of the color of a certain area on the color band, but the green and blue color value of the color of the hand of the driver, which means that the certain area on the color band detected by the No. 2 photoelectric sensor is blocked by the hand of the driver (even if the driver wears a glove, the glove color rarely has the blue and green color values of 0), meanwhile, if the green and blue color values returned by the No. 1 photoelectric sensor are '0', which means that the detected color is the green and blue color value of the color of the certain area on the color band, which is not blocked by the hand of the driver, and the color value of the red component in the color of the certain area on the color band detected by the No. 1 photoelectric sensor is subtracted by 32 at this time, which is corrected to be the color value of the red component in the color band detected by the No. 2 photoelectric sensor under the condition that the color of not blocked by the hand of the color band, which is not required to be considered by the driver;

if at least one of the green and blue color values of the color returned by the photoelectric sensor No. 2 is not '0', and at least one of the green and blue color values of the color returned by the photoelectric sensor No. 1 is not '0', the color detected by the photoelectric sensor No. 2 is not a certain area color on the color band, but is the color of the hand of the driver or the glove worn, the certain area on the color band detected by the photoelectric sensor No. 2 and the color band detected by the photoelectric sensor No. 1 are blocked by the hand of the driver, at this time, the return value R of the device is the color value of the red component in the certain area color on the color band detected by the photoelectric sensor No. 3, and the red component in the certain area color on the color band detected by the photoelectric sensor No. 2 is subtracted 224, so as to be corrected into the color value of the red component in the certain area color on the color band detected by the photoelectric sensor No. 2 under the condition that the color is not blocked;

the result is that the angle value in a single turn of the steering wheel which is obtained by the device at the moment and turns leftwards or rightwards is calculated simply according to (R/256), and the actual turning angle of the steering wheel leftwards or rightwards is the angle value of the single turn plus the complete turn of the steering wheel turning leftwards or rightwards multiplied by 360 degrees;

the memory is provided with 5 memory units, namely a memory unit 1, a memory unit 2, a memory unit 3, a memory unit 4 and a memory unit 5, wherein the stored values are respectively named as NL, NR, R, LR, T variables, NL is the number of turns of the steering wheel rotating leftwards, NR is the number of turns of the steering wheel rotating rightwards, R is the last detected return value of the device, LR is the last detected return value of the device, T variables are the left and right turning of the steering wheel, the initial values of the 5 variables are all 0 (the steering wheel is completely corrected in the initial state, the turning angle is 0 DEG, the color values of red components in the colors of the No. 0 area are respectively aligned with the centers of the No. 32, no. 0 and No. 224 areas of the ribbon, the numbers of turns of the steering wheel rotating leftwards and rightwards are all 0, at the moment, the steering wheel does not rotate), the steering wheel cannot simultaneously rotate leftwards and rightwards according to the operation reality of the steering wheel, and vice versa, so that at least one value of NL and NR is 0 at any moment;

starting continuous detection after the device is electrified;

storing the color value of the red component in the color of a certain area on the color band detected by the device at the latest time into R, analyzing and calculating the actual rotation angle value of the steering wheel at the moment, and finally storing the R value into LR;

since the red component color values of the colors of 256 areas on the color belt are arranged from 0 to 255 anticlockwise from small to large, by analyzing the changes of the R value and the LR value, whether the area 0 on the color belt turns left or right or not can be judged, and the number of times that the area 0 turns left or right is recorded, so that the left and right directions of the steering wheel turning and the number of turns left or right are determined, by calculating the ratio of the red color value returned by the device to the total area number (256), the angle (more than or equal to 0 degree and less than 360 degrees) of the steering wheel turning in a single turn at the moment can be calculated, then the actual turning angle of the steering wheel turning at the moment is calculated, and because the vehicle starts to be in a completely-righting state, the vehicle turns left or right, the same angle is required to be turned back, and the area 0 also turns to the initial position at the moment, and all combinations of the return values (R, LR) continuously detected by the device in the left and right turning and righting processes of the vehicle necessarily comprise (0, 1,0 and 255) and the number of turns left and 255) of the steering wheel can be judged to be in a certain state, and the fact that the right and the right direction of the steering wheel turns around a certain area (0 and the left and right) turns around the left or 0 turns) is required to be in a certain state is required to be turned right is required to be in a certain state is analyzed when the state is relatively is small is calculated, and the following:

if NL is 0 and (R, LR) = (1, 0), then NR is replaced with nr+1, indicating that this time is the NR-th turn after steering right and replacement;

if NL is 0 and (R, LR) = (0, 1), then NR is replaced with NR-1, indicating that this time is the steering wheel left turn, the replaced NR-th turn or full return (0 th turn), and is the left turn during steering wheel right turn return;

if NR is 0 and (R, LR) = (255, 0), NL is replaced with nl+1, which means that the steering wheel turns left at this time and the NL-th ring is replaced;

if NR is 0 and (R, LR) = (0, 255), then NL is replaced with NL-1, indicating that this time is the right turn of the steering wheel, the NL-th ring after replacement, or the full return (0 th ring), and is the right turn during the steering wheel left turn return;

if NL is 0, and R and LR are both not 0 and R > LR, then T is 2, indicating that this time is steering wheel turning right;

if NL is 0, and R and LR are both not 0 and R < LR, then T is 3, indicating that this time is left turn during steering wheel right turn back;

if NR is 0, and R and LR are both not 0 and R < LR, then T is 1, indicating that this time is steering wheel left;

if NR is 0, R and LR are not 0 and R > LR, the moment is right turning in the steering wheel left turning return process, and T is 4;

when R is the same as LR, the object detected at this time and the object detected at last time are the same area in 256 areas, within the detection precision range of the device, the steering wheel is not rotated in the time interval of the two continuous detections or the steering wheel is extremely small in rotation angle and belongs to a system error, when R is different from LR, the object detected at this time and the object detected at last time are two adjacent areas in 256 areas, and within the detection precision range of the device, the steering wheel of the vehicle is rotated;

the above situation exhausts all the turning situations of the steering wheel;

if NL is 0, the steering wheel turns right, and its actual angle is (NR-1) 360+ (R/256) 360, and after the control circuit outputs a digital signal or pulse signal corresponding to the angle value, LR is replaced by R;

if NR is 0, the steering wheel turns leftwards, and the actual rotation angle is (NL-1) 360+ (R/256) 360, and after the control circuit outputs a digital signal or pulse signal corresponding to the angle value, LR is replaced by R;

the source code for realizing the functions in the language C is as follows:

Claims (1)

1. a device for detecting steering angle and steering of a vehicle steering wheel, characterized in that: comprises a steering wheel sleeve and a photoelectric detection unit;

the steering wheel sleeve is of an annular structure, the cross section of the steering wheel sleeve is of a C shape or a U shape, the opening direction of the steering wheel sleeve points to the central axis, one side of the steering wheel sleeve along the central axis direction is arranged to be front, the other side of the steering wheel sleeve is arranged to be rear, an annular color band is arranged along the circumferential direction of the steering wheel, the annular color band is divided into 256 continuous areas at equal angles, the 256 areas are numbered in sequence, the areas are respectively numbered as No. 0-255, and the colors of the areas are different;

the photoelectric detection unit comprises an outer shell, a power supply, a controller and a memory are arranged in the outer shell, three photoelectric sensors capable of identifying colors are arranged on the front side of the outer shell, each photoelectric sensor is fixed on the front side of the outer shell through a universal joint, and the photoelectric sensors and the memory are connected with the power supply through the controller.