KR100857367B1 - Measuring method of angular velocity for car - Google Patents

Abstract

A measuring method of angular velocity for a vehicle is provided to reduce errors occurring when measuring the angular velocity by detecting an A wave form and a B wave form through a steering angle sensing slit and determining whether an edge of the A wave form and an edge of the B wave form show alternately. A measuring method of angular velocity for a vehicle includes the steps of: detecting an A wave form and a B wave form through a steering angle sensing slit installed at a rotative plate of a steering shaft; determining whether an edge of the A wave form and an edge of the B wave form show alternately; and determining that a steering wheel changes a direction, when the edges of the A and B wave forms show more than twice.

Description

Measuring Method of Angular Velocity For Car}

The present invention relates to a method for measuring a steering angle of a vehicle for precisely measuring a steering angle based on sensor data in a steering angle sensor.

The steering device of the vehicle is a device for switching the alignment state of the front wheel, which is the steering wheel, to arbitrarily change the traveling direction of the driving vehicle. When the driver directly manipulates the steering wheel during steering, its steering force is passed through the steering shaft. It is transmitted to the link mechanism to change the alignment of the front wheels.

In addition, when the vehicle is turning, the turning degree is used as input data of various devices such as a power steering device or an electronic suspension device. For this purpose, the degree of steering according to the turning of the vehicle is measured based on the angle at which the steering shaft changes. have.

1 is a schematic diagram illustrating a steering angle detection sensor of a vehicle, FIG. 2 is a schematic diagram illustrating an example of extracting a steering angle, and FIG. 3 is a schematic diagram illustrating a waveform of a first sensor for calculating a conventional steering angle speed.

In general, the steering angle detection sensor is integrally coupled to the steering shaft 11, and rotates in the same direction and angle during steering, concentrically, a plurality of steering angle detection slits 12 and one neutral position determination slit 13 Each of the rotating plate 14 is provided with, and the sensor (15, 16, 17) disposed to be somewhat spaced apart on one side of the rotating plate (14).

The sensors 15, 16, and 17 are formed of a neutral neutral sensor 15 and a first sensor 16 and a second sensor 17 disposed to the left and right of the neutral sensor 15, respectively. When the optical signals are applied to the slits 12 and 13 by the sensors 15, 16 and 17, the on / off of the optical signals is continuously generated and a waveform is output.

In addition, the steering angle detection slit 12 is formed so that one cycle is 8 degrees, and the first sensor 16 and the second sensor 17 form a 90 degree phase difference between the steering angle detection slit 12. It is provided at the position to be recognized.

The output signal of the first sensor 16 is called an A waveform, the output signal of the second sensor 17 is called a B waveform, and the output signal of the neutral sensor 15 is defined as a Z waveform. 2, as shown in FIG. 2.

Accordingly, in the first sensor 16 and the second sensor 17, light is incident on the steering angle detecting slit 12 formed at intervals of 8 degrees as the steering shaft 11 rotates. When the incident angle of the steering angle detection slit 12 is entered, falling edges 22 and 26 are generated in FIG. 2, and the light incident to the steering angle detection slit 12 exits the steering angle detection slit 12. Rising Edges 24 and 28 are generated.

In addition, the A waveform is 8 degrees in which the distance from the falling edge 22 to the next falling edge 26 is one cycle. The same applies to the above B waveform.

Therefore, since the angle between the adjacent rising edge 24 and the falling edge 26 is 4 degrees, the first sensor 16 and the second sensor 17 are formed to have a phase difference of 90 degrees. The angle between the adjacent edge 12 and the edge 13 of the 16 or second sensor 17 is 2 degrees.

Referring to the conventional steering direction extraction and steering angular velocity detection method using the sensor having the above configuration as follows.

When the steering shaft 11 rotates during the steering of the vehicle, the rotating plate 14 also rotates in the same direction and speed. At this time, the first sensor 16 and the second sensor 17 are connected to the rotating plate 14. A plurality of steering angle detection slits 12 formed in a concentric shape generate pulses having different phases according to transmission or blocking of light, and the pulse signal is an electronic calculation unit (ECU) (not shown) as shown in FIG. 2. The steering direction and the steering angular velocity can be detected at the time of steering.

And the method of calculating the steering angular velocity related to the present invention of the steering direction and the steering angular velocity is measured based only on the waveform A of FIG. 2 as shown in (a) of FIG. 3, when the steering continues in one direction, falling at the rising edge The time to the edge is measured and measured by the formula of 4 degrees / Δt.

That is, steering angle velocity = steering angle change / Δt = 4 degrees / Δt

Δt is measured by counting a clock provided inside the vehicle body such as an ECU.

The reason for calculating the steering angular velocity based only on the A waveform as described above is that the situation in which the steering angular velocity is measured is a high speed driving, and therefore, quick measurement and calculation are required.

However, the conventional steering angle velocity measurement method as described above cannot recognize that the steering direction is changed as follows.

That is, when the steering direction is changed in FIG. 1, since the light of the first sensor 16 passes through an end of an arbitrary steering angle detection slit 12 and then returns to the end again, steering continues in one direction. The steering angular velocity should not be measured.

However, even when the steering direction is changed, the controller such as the ECU recognizes the waveform moved between the edge 24 and the next edge 26 among the A waveforms of FIG. 2 and substitutes it into the steering angle velocity calculation formula to calculate the steering angle.

This is a phenomenon that occurs because the A waveform is a waveform that continues to the right with time.

In order to explain this in more detail, the wave shape shown in (b) of FIG. 3 is considered as a shape between adjacent steering angle detection slits 12.

In this state, when the direction of the steering changes, when the rising edge 42 is generated at the end 40 of the steering angle detection slit 12, when the direction of the steering is changed, the direction of the wave is changed to the left accordingly. Falling Edge 44 is generated again after passing through the end 40, but the controller such as the ECU recognizes the waveform moved between the edge 24 and the next edge 26 of the A waveform of FIG. This is calculated by substituting the steering angle velocity calculation formula.

Therefore, in the case of changing the steering direction as described above, the calculated value of the steering angular velocity may occur when Δt is very small. In this case, an error in which the steering angular velocity rapidly increases as shown in FIG. There is a problem that occurs.

In addition, the problem that the error occurs is similarly generated in the case of steering shaking.

It is an object of the present invention to accurately grasp the state of abnormal steering angle change, such as shaking or steering, and to provide an accurate steering angle speed measurement method of a vehicle except such a state.

The present invention includes detecting the A waveform and the B waveform through the steering angle sensing slit formed on the steering plate of the steering shaft, and determining whether the Edge of the A waveform and the Edge of the B waveform alternately appear. Provides a method for measuring steering angular velocity.

And it may include the step of measuring the steering angular velocity that proceeds when the edge of the A waveform and the edge of the B waveform alternately, when the number of the edge of the A waveform or the edge of the B waveform is two times in succession It may include the step of determining to change the direction, and when the edge of the A waveform or the edge of the B waveform is repeated three or more times in succession may include the step of determining that the steering oscillates.

In addition, the steering angular velocity measurement may be measured by dividing the angle between the edge of the adjacent A waveform and the edge of the B waveform by time.

The present invention has the effect of providing a method for measuring the steering angular velocity of the vehicle to eliminate the error generated when the steering angular velocity due to the disturbance generated on the special road surface, such as the steering direction change, the steering column vibration, the steering momentary operation, the bank. .

And by measuring the change in the waveform has the effect of knowing whether the steering or vibration is oscillating.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

4 is a flow chart showing a steering angle velocity measurement process according to the present invention, Figure 5 is a schematic diagram showing the change of the A waveform and the B waveform according to the present invention, Figure 6 is a schematic diagram for calculating the steering angle velocity according to the present invention. .

The present invention detects the A waveform and the B waveform of FIG. 5 through the steering angle detection slit 12 formed on the rotating plate 14 of the steering shaft 11 of FIG. 1, and the edge and the B waveform of the A waveform. It provides a method for measuring the steering angle of the vehicle, characterized in that it comprises the step of determining whether the edge alternately.

And the step of detecting the A waveform and the B waveform through the steering angle detection slit formed on the rotating plate 14 of the steering shaft 11, the steering angle detection slit on the rotating plate 14 of the steering shaft 11 as shown in FIG. A first step S100 of forming 12, a second step S200 of providing a first sensor 16 and a second sensor 17 adjacent to the rotating plate 14, and the first sensor A third step S300 of incidence of light from the 16 and the second sensor 17 to the steering angle detecting slit 12 by 90 degrees, and the A waveform represented by the first sensor 16; It includes the process up to the fourth step (S400) for detecting the B waveform represented by the second sensor (17).

In the present invention, the fifth step (S500) of determining whether the edge of the A waveform and the edge of the B waveform alternates when the fourth step (S400) passes, and the edge of the A waveform and the edge of the B waveform alternately. The sixth step (S600) for measuring the steering angular velocity that proceeds when it appears.

In addition, according to the present invention, when the edge of the A waveform and the edge of the B waveform do not appear alternately in the fifth step S500, the present invention determines whether the number of the edges of the A waveform or the edge of the B waveform is consecutively displayed twice. A step S700 and an eighth step S800 of determining that the steering changes direction when the number of the A-shaped edge or the B-shaped edge appear in succession is also included.

In addition, the present invention provides a ninth step (S900) of determining that the steering oscillates when the A-shaped edge or the B-shaped edge appears repeatedly three or more times in succession in the seventh step (S700), and In the case of the eighth step S800 and the ninth step S900, a tenth step S1000 in which the steering angular velocity is not measured is also included.

Meanwhile, the process of each step will be described in more detail as follows.

The first step S100 is a process of forming a steering angle sensing slit 12 on the rotating plate 14 of the steering shaft 11 of FIG. 1, and the second step S200 is adjacent to the rotating plate 14. Thus, the first sensor 16 and the second sensor 17 are prepared.

The third step (S300) is a process of injecting light while making a 90 degree difference from the first sensor 16 and the second sensor 17 to the steering angle detecting slit 12, and the fourth step ( S400 illustrates a process of detecting the A waveform represented by the first sensor 16 and the B waveform represented by the second sensor 17 as shown in FIG. 5.

In addition, in the fifth step S500, the A-waveform edges 310, 330, 360, 370, 420, 430, and 440 and the B-waveform edges 320, 340, 350, 380, 410, and 450 in FIG. 5. ) Alternately appears, and the sixth step (S600) is that the A-shaped edges 310 and 330 and the B-shaped edges 320 and 340 are 90 degrees to each other as shown in FIG. This is the process of measuring the steering angular velocity in the case of alternating phase difference.

The steering angular velocity measurement in the sixth step S600 is measured by dividing the angle between the edge A 310 of the A waveform and the edge 320 of the B waveform by the time Δt in FIG. 5A.

In order to more easily explain the fifth step (S500) to the tenth step (S1000) of the present steering angle velocity measurement method, an increase, a normal, and a decrease region are arbitrarily created as shown in FIG. .

That is, as shown in FIG. 6, when the edges of the A waveform or the B waveform are generated, interrupts 110 to 220 are generated by measuring the increase, normal, and decrease regions, and the time Δt1 to Δt11 between adjacent interrupts and interrupts is measured.

In the case of the sixth step S600, an increase area or a decrease, such as the first interrupt 110 to the fourth interrupt 140 or the fifth interrupt 150 to the ninth interrupt 190, is shown. This is a case where interrupts are continuous in the area, and the edges of waveforms A and B appear alternately.

At this time, the state in which the occupant is turning left or right in the steering continues, and in this case, the steering angular velocity requiring measurement is generated, so the steering angular velocity is calculated.

That is, when Δt1 is measured between the first interrupt 110 and the second interrupt 120, the steering angular velocity generated between the first interrupt 110 and the second interrupt 120 is 2 degrees / Δt1.

When the steering direction is changed as shown in the eighth step S800, the edge B of the A waveform 380 appears after the A waveform edges 360 and 370 are repeated twice in succession as shown in FIG. 5B. do.

6 illustrates a relationship between the fourth interrupt 140 and the fifth interrupt 150 among the interrupts 110 to 220, and the interrupt changes from the increase area to the decrease area.

This is a case where the steering direction is changed from left turn to right turn or vice versa. The steering direction is changed. Therefore, the steering angular velocity signal is not calculated.

On the other hand, in the ninth step (S900), as shown in (C) of FIG. It is a repeating process.

This is caused by vibrations of the steering column, instantaneous manipulation of the steering, and disturbances occurring on special road surfaces such as banks, causing the first sensor 16 of FIG. 1 to move up and down the ends of the steering angle detection slit 12 and the second. The sensor 17 is a process that occurs because the state where only the portion of the same steering angle detection slit 12 is displayed continues.

Referring to FIG. 6, the interrupt direction is continuously changed, such as the relationship between the ninth interrupt 190, the tenth interrupt 200, and the eleventh interrupt 210.

Also in this case, the steering angular velocity signal is not calculated.

As described above, the present invention provides a method for measuring a steering angular velocity of a vehicle, which eliminates an error occurring when measuring a steering angular velocity due to a change in steering direction, vibration of a steering column, instantaneous manipulation of a steering, and a disturbance occurring on a special road surface such as a bank. do.

By measuring the change in the waveform, you can see whether the steering or vibration is in progress.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a schematic view showing a steering angle detection sensor of a vehicle.

2 is a schematic diagram showing an example of extracting a steering angle.

Figure 3 is a schematic diagram showing the waveform of the first sensor for the conventional steering angular velocity calculation.

4 is a flow chart illustrating a steering angle velocity measurement process according to the present invention.

5 is a schematic diagram showing a change in the A waveform and the B waveform according to the present invention.

6 is a schematic diagram for calculating a steering angular velocity in accordance with the present invention.

<Description of the code according to the main part of the drawing>

110: first interrupt 140: fourth interrupt

150: fifth interrupt 190: ninth interrupt

Claims (7)

delete delete Detecting the A waveform and the B waveform through the steering angle sensing slit 12 formed on the rotating plate 14 of the steering shaft 11; Determining whether the edge of the A waveform and the edge of the B waveform alternately appear; And determining that the steering changes direction when the number of the edges of the A waveform or the B waveform edge appears two times in succession. Detecting the A waveform and the B waveform through the steering angle sensing slit 12 formed on the rotating plate 14 of the steering shaft 11; Determining whether the edge of the A waveform and the edge of the B waveform alternately appear; When the edge of the A waveform or the edge of the B waveform appears three times or more in succession, the steering angle speed measurement method of the vehicle, characterized in that it comprises the step of determining that the steering oscillates. delete The method according to claim 3 or 4, And measuring steering angular velocity that proceeds when the edges of the A waveform and the Edge of the B waveform alternately appear. The method according to claim 6, The steering angular velocity measurement is a method of measuring the steering angular velocity of the vehicle, characterized in that for measuring the angle between the adjacent edge of the A waveform and the edge of the B waveform divided by time.

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