KR101604093B1 - Sensor correcting device for turning of a track vihicles - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a sensor correction method for steering recognition of a vehicle, and more particularly, to an apparatus for correcting an output value of an angle sensor for detecting a steering degree of a steering wheel.

A sensor correcting device for steering recognition of a vehicle, comprising: a torque module for measuring a steering torque at the time of steering; an angle module for measuring a steering angle at the time of steering; Calculates a second steering angle based on the output of the angle module, generates a second steering angle value correction parameter based on the first steering angle value, and outputs the second steering angle value And a correction unit for correcting the correction value based on the correction parameter and outputting the correction value.

Vehicle, steering angle, correction

Description

TECHNICAL FIELD [0001] The present invention relates to a sensor correcting device for steering recognition of a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a sensor correction method for steering recognition of a vehicle, and more particularly, to an apparatus for correcting an output value of an angle sensor for detecting a steering degree of a steering wheel.

A steering apparatus used in a vehicle is a device that changes the direction of a steering wheel through a steering wheel to change the traveling direction of the vehicle while driving.

In recent years, an electric power steering system (hereinafter referred to as "EPS system") is applied to a steering apparatus in consideration of driving stability and user convenience, and this EPS system includes a steering angle measuring apparatus and a torque measuring apparatus .

The steering angle measuring device (module) includes a steering angle sensor, which measures the steering angle (absolute angle) of the steering wheel necessary for controlling the vehicle while driving.

The torque sensor (module) is equipped with a torque sensor, which measures the torque applied to the torsion bar to smoothly operate the steering wheel. The angle sensor and the torque sensor as described above are individually modularized together with other constituent members in the torque angle sensor assembly, that is, an angle sensor module and a torque sensor module.

3 shows the relationship between the first and second gears 1 and 2 and the first and second rotary hole ICs 3a and 3b mounted on the printed circuit board 3 after the angle sensor module is assembled As shown in the figure, the central portion (i.e., the rotation axis) of the first and second gears 1 and 2 corresponds to the first and second rotary hole ICs 3a and 3b mounted on the printed circuit board 3, respectively Respectively. In the angle sensor module, the first and second gears 1 and 2 rotate in opposite directions according to the rotation of the position rotor, that is, the rotation of the main gear 4, so that the first and second gears 1 and 2 The change in the magnetic force due to the rotation of the magnets M1 and M2 fixed to the end of the rotary shaft of the first rotary hole IC 3a and the rotary hole IC 3a and 3b is transmitted to the first and second rotary hole ICs 3a and 3b, 3b output a sensing signal, respectively.

One factor that determines the performance of the angle sensor module is hysteresis. The hysteresis in the angle sensor module is obtained when the main gear 4 rotates in different directions, that is, when the main gear 4 rotates in the counterclockwise direction, the first and second rotary hole ICs 3a and 3b And the output of the first and second rotary Hall ICs 3a and 3b in the clockwise direction. A gear backlash between the main gear 4 and the first gear 1 and a clearance between the main gear 4 and the stator holder are known to cause such a difference in output.

Generally, a single key groove is formed in the outer circumferential portion of the stator holder in order to reduce the clearance between the main gear 4 and the stator holder and to accurately transmit the rotational force of the stator holder to the main gear 4, A single protruding portion is integrally formed on the inner peripheral surface. In this structure, when the main gear 4 and the stator holder are engaged, the protrusion of the main gear 4 is accommodated in the keyway of the stator holder. When the main gear 4 and the stator holder are engaged (interference fit) by the injection molding process using a synthetic resin, the protruding portion is formed in the peripheral region of the protrusion of the main gear 4 by the engagement of the protrusion and the key groove As shown in FIG. Due to such a phenomenon, the main gear 4 manufactured in a shape of a regular circle has a shape in which a part of the main gear 4 protrudes in the radial direction after being coupled with the stator holder. When the main gear 4 and the first gear 1 having a shape in which a part of the area other than the main circle are protruded as described above are engaged with the first gear 1 by the protruding area of the main gear 4 An excessive load is applied, so that the first gear 1 and the second gear 2 are not accurately rotated.

The above-described causes particularly occur particularly when the steering direction is changed in the other direction while the steering is continued in one direction.

Such a phenomenon acts as a cause of lowering the accuracy of the steering degree measured by the angle sensor module. The above-described problems can be solved through mechanical improvements, but deviations that can not be solved can be caused due to manufacturing tolerances and the like.

According to an aspect of the present invention, there is provided a calibration device for improving the accuracy of a measurement error of an angle sensor module that can not be solved through mechanical improvement. The present invention corrects the deviation of the angle sensor module by using the sensing value of the torque sensor module.

According to an aspect of the present invention, there is provided a sensor correcting apparatus for steering recognition of a vehicle, comprising: a torque module for measuring a steering torque at the time of steering; an angle module for measuring a steering angle at the time of steering; A first steering angle is calculated based on the output of the torque module, and a second steering angle is calculated by receiving an output of the angle module. A correction parameter of a second steering angle value based on the first steering angle value is calculated And a correction unit for correcting the second steering angle value by a correction parameter and outputting the corrected second steering angle value.

Further, in the sensor correction apparatus for steering recognition of a vehicle according to the present invention, sensing the direction change of the correction unit during steering may include detecting a point at which the output value of the torque module is decreased or increased during the increase or decrease of the output, It is determined that the switching is performed.

In the sensor correction apparatus for steering recognition of a vehicle according to the present invention, the correction parameter is a difference value between a first steering angle value and a second steering angle value, and the correction unit calculates the first steering angle value and the second steering angle value The second steering angle value is added and corrected by a difference value between the first steering angle value and the second steering angle value.

In the sensor correction apparatus for steering recognition of a vehicle according to the present invention, the correction unit may determine that the steering mode is switched only when the output value decreased or increased during the increase or decrease of the output value of the torque module is equal to or greater than a set value .

The present invention is advantageous in that the output of the angle sensor module can be corrected by correcting the deviation of the original angle sensor module, which can not be solved by mechanical improvement, using the measured value of the torque sensor module.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the second component may be referred to as a first component, and similarly, the first component may also be referred to as a second component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, a sports image analysis system according to an embodiment of the present invention will be described in detail with reference to the drawings, and the same or corresponding components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof are omitted .

FIG. 1 is a block diagram for explaining an operation of a sensor correction device for steering recognition of a vehicle according to an embodiment of the present invention. FIG. 2 is a view for showing output values of the torque module and the angle module shown in FIG. 1 FIG. 2A is a graph showing an output value of the torque module, FIG. 2B is a graph showing an output value of the angle module, and FIG. 3 is a view for explaining the operation of the angle module for detecting a steering angle when steering the vehicle.

The sensor correcting apparatus for steering recognition of a vehicle according to the present embodiment includes a torque module 10 for measuring a steering torque at the time of steering, an angle module 20 for measuring a steering angle at the time of steering, And a correction unit 32 for correcting the measured steering angle value of the steering angle sensor 20 and outputting the corrected steering angle value. The torque module 10 is provided with a linear Hall IC (Linear Hall IC), and its output is represented by a voltage value. That is, an A / D converter 31 is provided as an analog output between the torque module 10 and the correction unit 32 to convert an analog output value into a digital signal, and a diode (symbol display) 10). The angle module 20 is provided with a conventional rotary Hall IC, and its output is represented by a digit.

The correction unit 32, which receives the outputs of the torque module 10 and the angle module 20 and corrects the output of the angle module 20 as described above, performs a steering operation in the opposite direction during the steering in the clockwise or counterclockwise direction And the correction parameter is applied to the output of the angle module 20 to perform the correction.

In other words, when it is sensed that the steering is performed in the opposite direction during the steering in one direction, the first steering angle is calculated by receiving the output of the torque module 10, and the output of the angle module 20 is received 2 steering angle, and generates a correction parameter of the second steering angle value based on the first steering angle value. The correction parameter is a difference between the first steering angle value and the second steering angle value, and the correction unit 32 corrects the second steering angle value of the angle module using the correction parameters as described above.

2, when the steering wheel is in a neutral state in FIG. 2A, the steering angle is 0 °, so that the output value of the torque module 10 at this time is about 2.5 [V]. At this time, when the steering wheel is steered in the clockwise direction, the torque module 10 raises the value to the right on the graph and outputs the maximum torque value 4.2 [V] when the steering wheel is steered to the clockwise end, When the steering wheel is steered, the value falls to the left on the graph and the maximum torque value is 0.8 [V] when the steering wheel is steered counterclockwise. If the steering wheel is steered in the opposite direction during the steering of the steering wheel in either one direction, that is, clockwise or counterclockwise, the output of the torque module 10 will drop or rise while it is rising or falling. The correction unit 32 calculates the steering angle by receiving the output value of the torque module 10 at the set time. When the sensing sensitivity of the torque module 10 is 0.46 V / Deg, 3 [V] is detected, and when 2.08 [V] is detected at the second detection time, it can be seen that a steering angle of about 2 ° is made counterclockwise.

Similarly, when the first detection time of the angle module 20 is set to 150.3 °, and when the second detection time is set to 149 °, a steering angle of about 1.3 ° is calculated. The difference between the steering angle value detected by the torque module 10 and the steering angle value is 0.7 deg., The correction unit 32 corrects the output steering angle value of the angle module 20 Give.

The correction unit 32 performs the correction by determining the change of direction only when the output value of the torque module 10 is equal to or larger than the set value, when the steering in the other direction occurs during the steering in either one direction It is possible. This is to perform more accurate correction by selecting an effective correction range in consideration of mechanical hysteresis.

Since the deviation of the steering angle of the angle module 20 as described above is caused by a mechanical manufacturing tolerance and the like, there is a limitation that can be overcome by improvement of the mechanism. Therefore, the output value of the torque module 10, So that more accurate steering can be performed.

The embodiment of the present invention described above should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of protection of the present invention as long as it is obvious to those skilled in the art.

1 is a block diagram for explaining the operation of a sensor correction device for steering recognition of a vehicle according to an embodiment of the present invention;

FIG. 2 is a graph showing output values of the torque module and the angle module shown in FIG. 1. FIG. 2 (a) is a graph showing an output value of the torque module,

3 is a view for explaining the occurrence of a detection deviation of an angle module for sensing a steering angle when the vehicle is steered;

Claims (4)

A torque module for measuring a steering torque at the time of steering, An angle module for measuring a steering angle at the time of steering, The output of the torque module and the output of the angle module are input for each set time when the direction change at the time of steering is detected, And a correction unit for calculating a second steering angle value based on the first steering angle value and correcting the second steering angle value based on the correction parameter and outputting the corrected first steering angle value and the second steering angle, And a sensor correcting device for recognizing steering of the vehicle. delete The method according to claim 1, Wherein the correction parameter is a difference value between a first steering angle value and a second steering angle value, Wherein the correction unit corrects and corrects the second steering angle value by a difference value between the first steering angle value and the second steering angle value. The method according to claim 1, Wherein the correction unit determines that steering is switched when steering is performed only when the output value decreased or increased during the increase or decrease of the output value of the torque module is equal to or greater than a set value.

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