KR20110075525A - Method for cotnrolling a steering angle dectecting device - Google Patents

Abstract

PURPOSE: A control method of a detection device is provided to improve stability and reliability by detecting and outputting an exact absolute steering angle if noise occurs in a sensor or an outputted absolute steering angle is distorted by the influence of external environment variable. CONSTITUTION: A control method of a detection device comprises the steps of: sensing changes in magnetic force of a first magnet(31) installed on a first rotor(21) and a second magnet(32) installed on a second rotor(22) using a first magnetic sensor(41) and a second magnetic sensor(42) and outputting signals of constant waveform respectively; amplifying the output signals respectively in a first amplifier and a second amplifier and transferring to a control unit; outputting a first absolute steering angle and a second absolute steering angle against the rotation steering of a steering device in the control unit; checking an error in first data including the first absolute steering angle, and checking an error in second data including the second absolute steering angle; and outputting after comparing the first absolute steering angle with the second absolute steering angle in the control unit.

Description

Steering angle detection device control method {METHOD FOR COTNROLLING A STEERING ANGLE DECTECTING DEVICE}

The present invention relates to a steering angle detection device, a driving method thereof, and a steering angle detection method, and more particularly, a steering angle detection device and a driving method of a steering wheel which detects a steering angle from two control units and selects and outputs an accurate steering angle. And a steering angle detection method.

In general, a steering device is provided in a vehicle, and the steering device is a device for changing a direction and a driving direction of a vehicle according to a user's request, and a steering wheel operated by a user and a steering column rotating in the same manner as the steering wheel. And an angular velocity sensor installed on the steering column to detect the rotation angle of the steering wheel by installing on the steering roll connector and the steering column wound around the cable so that the cable can be unrolled and wound repeatedly so that the steering wheel can control various functions of the car. It consists of.

Conventional angular velocity sensor is composed of a disk that rotates with the steering column by the rotation of the steering wheel and forms a plurality of holes on the surface and a sensing sensor that reads it to calculate and process the steering wheel angle, direction change, and angular velocity. However, due to structural limitations, precise angle and angular velocity values could not be obtained.

Recently, a magnet is installed on two rotating bodies having different rotation ratios, and a magnetic sensor for detecting a change in magnetic force of the magnet is installed to calculate a steering angle of the steering wheel by calculating a magnetic sensing signal output according to the rotation of the two rotating bodies. I'm using the way.

However, in the steering angle detection apparatus according to the related art, overload and arithmetic errors may occur in real operation and absolute steering angle calculation after sensor signal conversion, and the stopping phenomenon and malfunction of the steering angle detection apparatus may be caused by the influence of external environment variables. And so on. In addition, in absolute steering angle detection, even if the absolute steering angle distorted by noise or the like, all outputs within the tolerance range are recognized and output at a normal angle.

SUMMARY OF THE INVENTION The present invention has been made to overcome the above-mentioned conventional problems, and the problem to be solved by the present invention comprises two control units for calculating an absolute steering angle, so that even if an error occurs in any one of the control units, It is an object of the present invention to provide a steering angle detection device capable of calculating an absolute steering angle and detecting an absolute steering angle in real time, a driving method thereof, and a steering angle detection method.

In addition, when the noise occurs in the sensor or when the absolute steering angle calculated by the influence of external environmental variables is distorted, the steering angle detection device and its driving method and steering angle detection which improve the stability and reliability by detecting and outputting the correct absolute steering angle are detected. It is to provide a method.

According to one aspect of the invention, the first magnetic sensor and the second magnetic sensor to detect the change in the magnetic force of the first magnet and the second magnet installed on the second rotating body on the first rotating body to detect a signal of a certain waveform A sensing output step of outputting each; An amplifying transmission step of amplifying the output signal in the first amplifier and the second amplifier, respectively, and transmitting it to the control unit; Calculating a first absolute steering angle and a second absolute steering angle with respect to the rotary steering of the steering apparatus in the control unit; Checking an error from first data including the first absolute steering angle and checking an error from second data including the second absolute steering angle; And a cross-checking step of comparing and outputting the first absolute steering angle and the second absolute steering angle in the control unit.

In the method for controlling the steering angle detection device, the checking step includes: an A / D converter of the first magnet, the first magnetic sensor, the first amplifier, and the control unit from first data including the first absolute steering angle. A first checking step of checking for any one of the errors, and any one of the A / D converter of the second magnet, the second magnetic sensor, the second amplifier and the control unit from the data including the second absolute steering angle. It may also include a second check step of checking for errors.

In the steering angle detecting device control method, each of the first checking step includes: an initialization mode step of setting a center point signal for determining whether an error exists, and an intersection point of an output signal of the first magnetic sensor from the first data; An intersection point calculating step of calculating a and an intersection point comparison step of comparing the intersection point with the center point signal may be included.

In the method for controlling the steering angle detection device, the initialization mode step may include: a sensor initialization determination step of determining whether the first magnetic sensor is initialized, and the first magnetic sensor not determined to be initialized in the sensor initialization determination step; In this case, the maximum minimum detection step of detecting the maximum value and the minimum value of the output signal of the first magnetic sensor from the first data, and the center point signal of the predetermined value based on the intermediate value of the maximum value and the minimum value A center point signal setting step of setting the upper and lower ranges may be provided.

In the method for controlling the steering angle detection device, the second checking step may include: a sensor initialization mode step of setting a center point signal for determining whether an error occurs, and an output signal of the second magnetic sensor from the second data. An intersection point calculating step of calculating an intersection point and an intersection point comparison step of comparing the intersection point with the center point signal may be provided.

In the method for controlling the steering angle detection device, the initialization mode step may include: a sensor initialization determination step of determining whether the second magnetic sensor is initialized and the second magnetic sensor not determined to be initialized in the sensor initialization determination step. In this case, the maximum minimum detection step of detecting the maximum value and the minimum value of the output signal of the second magnetic sensor from the second data, and the center point signal of the preset value based on the intermediate value of the maximum value and the minimum value A center point signal setting step of setting the upper and lower ranges may be provided.

As in the present invention, the center point signal and the intersection point are calculated using the output signal from the control unit which receives the signal output from the magnetic sensor and calculates the absolute steering angle, and compares them to grasp the damage of the hardware to quickly generate the error range. Judgment is possible.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is a functional block diagram of a steering angle detection device according to an exemplary embodiment of the present invention, Figure 2 is an exploded perspective view of a sensor unit of the steering angle detection device according to an exemplary embodiment of the present invention, Figure 3 is a 4 is a detailed functional block diagram of a steering angle detecting apparatus according to an exemplary embodiment, and FIG. 4 is a schematic configuration diagram of a sensor unit of a sensor unit of a steering angle detecting apparatus according to an embodiment of the present invention, and FIG. 5 is an output from a sensor unit. 6 is a schematic diagram illustrating a signal waveform, FIG. 6 is a flowchart illustrating a control method of a steering angle detection device according to an embodiment of the present invention, and FIG. 7 is a check step of a control method of a steering angle detection device according to an embodiment of the present invention. 8 is a detailed flowchart of the initialization mode during the checking step of the control method of the steering angle detection apparatus according to an embodiment of the present invention, Figures 9 to 12 FIG. 8 is a waveform diagram of an output signal at the time of a physical error of a steering angle detection device according to an embodiment of the present invention. FIG.

1 to 3, a steering angle detecting apparatus according to an exemplary embodiment of the present invention includes a sensor unit 100, an amplifying unit 200, and a control unit 300.

The sensor unit 100 detects a change in the magnetic force of the rotating body and outputs a signal of a predetermined waveform, that is, a Sin and Cos waveform. The amplifying unit 200 amplifies the magnitude of the analog signal output from the sensor unit 100 and then applies the amplified signal to the control unit 300. The control unit 300 receives a signal output from the amplifying unit 200 to calculate a first absolute steering angle and a second absolute steering angle of the steering apparatus, that is, the steering wheel. The first absolute steering angle and the second absolute steering angle calculated by the control unit 300 are compared with each other, and an absolute steering angle that is not distorted by noise or an external environmental change factor is selected and output.

Looking at the structure and function of each component in more detail, the sensor unit 100 includes a housing 10, the rotating unit 20, the magnetic force unit 30 and the sensor unit 40, the amplification unit 200 is It consists of a first amplifier 210 and a second amplifier 220.

A steering column interlocked with a wheel may be penetrated inside the housing 10 of the sensor unit 100 so that the steering column may be installed at the center, and a receiving portion 11 having a predetermined size is formed at one side thereof. A cover 12 is provided to cover the receiving portion 11, and the cover 12 is also formed to penetrate so that a steering column linked to the wheel 2 may be installed. The receiving part 11 is provided with a rotating part 20, and the rotating part 20 is provided with a magnetic force part 30. The rotating part 20 includes a first rotating body 21 and a second rotating body 22, and the first and second rotating bodies 21 and 22 have polarities of the first magnet 31 and the second. Magnets 32 are respectively installed. In this case, the first and second rotors 21 and 22 may be formed of gears having different periods, and the first and second magnets 31 and 32 may be connected to the first and second rotors 21 and 22. As it is fixedly installed, as the first and second rotating bodies 21 and 22 rotate, the first and second magnets 31 and 32 also rotate together.

The sensor unit 40 including the first and second magnetic sensors 41 and 42 is installed to detect the change in the magnetic force of the first and second magnets 31 and 32. Here, the first and second magnetic sensors 41 and 42 are installed on the printed circuit board 43 so as to be installed directly below or adjacent to the first and second magnets 31 and 32. When the first and second rotating bodies 21 and 22 rotate, the first and second magnets 31 and 32 rotate, and the polarities of the first and second magnets 31 and 32 change. The first and second magnetic sensors 41 and 42 detect a change in magnetic force generated according to the change in polarity of the first and second magnets 31 and 32, thereby detecting the sin waveform and the sin waveform. Outputs the detection signal of the Cos waveform shifted by 90 degrees.

4 is a block diagram of the first and second magnets 31 and 32 and the first and second magnetic sensors 41 and 42 according to an embodiment of the present invention. The first and second magnetic sensors 41, 42 have two adjacent Wheatstone bridge sensor circuits 41a / 41b, 42a / 42b, each of the Wheatstone bridge sensor circuits 41a / 41b, 42a / 42b. Has the same circuit configuration including a plurality of Hall elements 45, but the orientations of the two Wheatstone bridge sensor circuits 41a / 41b, 42a / 42b are arranged so as to have an angle of 45 ° with respect to each other. do. Here, Vcc1 and Vcc2 represent supply voltages applied to respective Wheatstone bridge sensor circuits, GND1 and GND2 represent ground voltages for respective circuits, and +/- Vo1 and Vo2 are respective Wheatstone bridge sensor circuits. Represents a positive / negative output voltage for.

Each Wheatstone bridge sensor circuit 41a / 41b, 42a / 42b has the same structure, but one Wheatstone bridge sensor circuit 41a, 42a and the other Wheatstone bridge sensor circuits 41b, 42b are mutually The intersection angle between the diagonal lines connecting two non-adjacent nodes is 45 °. Accordingly, when the first and second magnets 31 and 32 disposed to face the whistle bridge sensor circuits 41a / 41b and 42a / 42b are rotated, the positive and negative output voltages of FIG. Two sensor unit measurement signals (X, Y) are detected, and the two sensor unit measurement signals (X, Y) have a constant phase difference but have almost the same waveform. Each measurement signal according to the rotation angles of the first and second magnets 31 and 32 has the following relationship.

Here, when the influence on the temperature T is significantly smaller than the influence on the angle θ, the relationship can be expressed as follows.

When the rotation angles θ of the first and second magnets 31 and 32 are calculated from the relations, they may be represented as the following relationships, respectively.

Accordingly, the rotation angles θ of the first and second magnets 31 and 32 may be calculated based on the measured two signals.

The signals output from the first and second magnetic sensors 41 and 42 are input to the amplifying unit 200. The amplification unit 200 is composed of a first amplifier 210 and a second amplifier 220. The first amplifier 210 receives a signal output from the first magnetic sensor 41, amplifies and outputs it, and the second amplifier 220 receives a signal output from the second magnetic sensor 42, amplifies the signal. Print it out. In the present embodiment, an OP AMP is used as the first amplifier 210 and the second amplifier 220, but the present invention is not limited thereto, and various types of amplifiers may be used. The first and second magnetic sensor output signals amplified and output by the amplifying unit 200 are simultaneously applied to the control unit 300, respectively.

The control unit 300 includes an A / D converter 310, a calculator 320, a data communicator 330, a comparator 340, and a checker 350. Although it may be provided with a separate storage unit (not shown), the inspection unit 350 according to the present embodiment has a predetermined control function and / or storage function to preset data, for example, a magnetic sensor for initialization In the process of calculating the center point signal of the upper and lower ranges, etc. which are set based on the median value may be pre-stored as preset data.

The A / D converter 310 of the control unit 300 converts and outputs an analog signal output from the magnetic sensor to a digital signal. The calculator 320 receives the digital signal output from the A / D converter 310 to calculate an absolute steering angle. The data communication unit 330 may transfer this to a control device such as a TCU. The comparison unit 340 compares each of the first absolute steering angles and the second absolute steering angles calculated by the calculator 320, and selects and outputs an optimal absolute steering angle. The checker 350 performs a function of checking the state of the control unit 300.

More specifically, the first and second magnetic sensor output signals, which are amplified and output from the first and second magnetic sensors through the first amplifier 210 and the second amplifier 220, are digital by the A / D converter 310. Is converted to a signal. The first and second magnetic sensor output signals converted to the digital signals are input to the calculator 320, which calculates a steering angle based on the input first and second magnetic sensor output signals, respectively. Calculate the second absolute steering angle.

In addition, the operation unit 320, the comparison unit 340, and the inspection unit 350 of the control unit 300 are input through the amplification unit 200 and digitally converted through the A / D conversion unit 310 and The cross point signal and the center point signal for each of the first and second magnetic sensor output signals are calculated and compared from the second magnetic sensor output signal to determine whether the steering angle detection device is in error.

The inspection unit 350 of the control unit 300 determines whether or not the steering angle detection device 10 is initialized. The initialization point is a center point for each of the first and second magnetic sensor output signals from the first and second magnetic sensor output signals input through the amplifying unit 200 and digitally converted through the A / D converter 310. Judging from the proper setting of the signal. As described above, two Wheatstone bridge circuits are disposed in each of the first and second magnetic sensors, and respective sine and cosine wave signals are output from the first and second magnetic sensors, based on the median of the maximum and minimum values of the sine and cosine waves. The upper and lower predetermined setting area ranges are set by the center point signals CP (sin CP, cos CP). That is, sine wave and cosine wave type signals from each Wheatstone bridge circuit are output, and each center point signal (CP; sin CP, cos) is obtained using the maximum and minimum values of the respective sine wave signal and the cosine wave signal. CP) is calculated.

For example, in the 10-bit A / D converter 310 capable of detecting an output value of 0 to 1023, the sine wave output signal of the output signals from the two Wheatstone bridge circuits of the first magnetic sensor is the A / D converter. In the coarse case, when the maximum and minimum output values are 900 and 100, respectively, the median is 500 and the upper and lower 50% range is set as a sinusoidal center point signal (sin CP) for sine wave. Setting the upper and lower ranges based on the median value is set to 50% in this embodiment, but various modifications are possible according to design specifications.

In addition, the cosine wave center point signal cos CP may be set through the same process as the output signal of the cosine wave, which is the output signal from the remaining Wheatstone bridge circuit of the first magnetic sensor, and each sine wave of the second magnetic sensor may be set. Likewise, a sinusoidal / cosine wave center point signal sin CP / cos CP may be configured for the cosine wave output signal.

Also, the calculator 320 and / or the checker 350 and / or the comparator 340 calculates the intersection point P of the sine wave and the cosine wave output signal of the first magnetic sensor and the second magnetic sensor. The checker 350 causes the comparator 340 to compare the intersection point P and the sinusoidal / cosine wave center point signal (sin CP / cos CP), and according to a comparison result performed by the comparator 340 Determine and check the error and output the corresponding signal.

6 is a flowchart of a steering angle detection method according to an exemplary embodiment of the present invention, and FIG. 7 is a detailed flowchart of an inspection step of the steering angle detection method of the present invention. Referring to FIGS. 6 and 7, first, detection of magnetic force changes of a first magnet installed on a first rotating body of a sensor unit and a second magnet provided on a second rotating body to output a signal having a predetermined waveform, respectively. To execute the step (S410). Thereafter, an amplification transmission step of performing the process of amplifying the first and second magnetic sensor output signals output from the sensor unit 100 to the first control unit and the second control unit by the amplification unit 200 It is executed (S420). That is, the output signal of the first magnetic sensor is input to the first amplifier 210 and the output signal of the second magnetic sensor is input to the second amplifier 220, and after being amplified, are input to the control unit 300.

Then, the signals from the first and second magnetic sensors input to the control unit 300 are converted into digital signals by the A / D converter 310 and computed by the calculation unit 420 to be used for the first absolute steering angle and the second absolute. A calculating step of calculating the steering angle is performed (S430).

Then, the inspection unit 350 of the control unit 300 executes the inspection step (S430-1), the inspection step (S430-1) is the first inspection step (S440) and the second inspection step (S450) Include. In the checking step S430-1, an error of a component as hardware is determined and checked from each of the first data and the second data including the first and second magnetic sensor output signals and the first and second absolute steering angles. The first checking step (S440) includes a first magnet, a first magnetic sensor, a first amplifier and an A / A associated with the first magnetic sensor output signal from the first data including the first magnetic sensor output signal and the first absolute steering angle. Checking whether the hardware of the D converter or the like error is checked, and the second inspection step (S450) is a second magnet, a second magnetic sensor, a second from the second data including the second magnetic sensor output signal and the second absolute steering angle Check and determine whether hardware such as amplifier and A / D converter is in error. 7 is a detailed flowchart of the checking step S430-1, and the first checking step S440 and the second checking step S450 have the same structure, and reference numerals for the respective steps are shown in FIG. Described in parallel, the step starting with reference numeral 44 for each step refers to the detailed step of the first checking step, and the step starting with reference numeral 45 refers to the detailed step of the second checking step. .

First, the checker 350 executes the initialization mode of the steering angle detection apparatus 10 (S441 / S451), and it is determined whether the sensor is initialized in the initialization mode S441 / S451. Whether the sensor is initialized is determined by whether the center point signals CP (sin CP, cos CP) for the sine wave and cosine wave output signals of the first magnetic sensor and the second magnetic sensor are set. More specifically, in the initialization mode (S441 / S451), the sensor initialization determination step (S4411 / S4511) is performed first, and when there is a center point signal for the sine wave and cosine wave output signals of the first magnetic sensor and the second magnetic sensor. The initialization mode S441 / S451 ends.

On the other hand, when no center point signal exists for the sine wave and cosine wave output signals of the first magnetic sensor and the second magnetic sensor, the control flow is transferred to steps S4413 / S4513. Step S4414 / S4513 is a sensor maximum minimum detection step, which uses the output signals of the first magnetic sensor and the second magnetic sensor to detect the maximum and minimum values for the sine and cosine wave output signals from the respective magnetic sensors. Then, the operation unit 320 calculates and calculates the sin CP and the cos CP for the output signal of each magnetic sensor using the maximum and minimum values of the sine wave and cosine wave output signals of the detected magnetic sensors, respectively. The setting step is executed (S4415 / S4515, S4417 / S4517), and the control flow for the initialization mode is terminated.

Then, the control flow is switched to step S443 / 453, in which the control unit 300 including the calculating unit 320, the comparing unit 340, and the checking unit 350 includes a first magnetic sensor and a second magnetic sensor, respectively. Compute the intersection point of the sine wave and the cosine wave output signal. In other words, the intersection point is defined as an output value at a point where respective sine and cosine wave output signals of the first magnetic sensor and the second magnetic sensor cross each other.

Then, the control flow is switched to the comparison step, the comparison unit 340 includes an intersection point comparison step (S445 / S455, S447 / S457) for comparing the intersection point and sin CP and cos CP. First, the control flow is transferred to steps S445 / S455 where the intersection point sine comparison step S445 / S455 is executed. That is, it is determined whether the intersection point exists between-| sin CP | and | sin CP |, where-| sin CP | and | sin CP | are values based on the median being zero. If not, the shifting can be adjusted. If it is determined in step S445 / 455 that the intersection point is not placed in the range between-| sin CP | and | sin CP |, the control flow is transferred to step S447 / S457 to execute the intersection point cosine comparison step (S447 / S457). , At the intersection cosine comparison step (S447 / S457), it is determined whether the intersection exists between-| cos CP | and | cos CP |, and the intersection is between-| cos CP | and | cos CP | If it is determined that there is not in the normal state output step (S449 / S459) for outputting the final output signal to the normal state is executed.

On the contrary, in the step S445 / S455 and the step S447 / S457, when the intersection point exists in the range between-| sin CP | and | sin CP |, or exists in the range between-| cos CP | and | cos CP | It is determined that the second magnet, the first / second magnetic sensor, the first / second amplifier, or the AD converter are malfunctioning (S448 / S458), and a predetermined signal is output through the sound output unit or the light output unit to inform the driver of the malfunction. You can also output a warning signal.

After the checking step S430-1 is completed, the control flow is transferred to step S460, and the cross-check step S460 is executed. In the cross-checking step S460, the comparator 340 compares the first absolute steering angle with the second absolute steering angle and outputs an appropriate absolute steering angle signal. When the steady state output step is executed in the checking step S430-1, whether the first absolute steering angle and the second absolute steering angle are the same in the crosschecking step S460 or the difference between the two is substantially the same within a predetermined range. If it is determined that it is within the range and is determined to be the same or substantially the same, one of the first absolute steering angle and the second absolute steering angle may be selected to transmit an absolute steering angle signal to an electric device such as an ECU or a TCU, and if not, an error signal may be transmitted. You can print

In addition, in the case of the cross-check step S460, a value existing within a preset range among an error range of the first absolute steering angle and the second absolute steering angle, that is, a difference between the absolute steering angle in the previous step may be compared and output as a new absolute steering angle signal. It may be. For example, if the steering angle from the magnetic sensor detected every 1 ms is excessively sharply increased, it is determined that an error occurs and the value existing within the corresponding range is judged as a normally detected steering angle and outputted. A predetermined signal may be output for informing an error of one of the magnetic sensors.

8 to 11 show diagrams of the intersection point and the center point signal in the case of a hardware error obtained through the steering angle detection method of the present invention, wherein CP is a center point signal obtained from the output signal of the Wheatstone bridge circuit of the magnetic sensor. A sinusoidal center point signal sin CP is shown, which is an example for explanation. In all these cases, the intersection point P is present in the center point signal CP. As shown in Fig. 8, the intersection point P is within the range of the sinusoidal center point signal, in which case an attenuation phenomenon such as the attenuation of the cosine wave output signal is generated in case of an error of the amplification unit. (P) is within the range of the sinusoidal center point signal, in which case the cosine wave output signal is shown to have almost no output value. Such an output is a failure of either the magnetic sensor or the Wheatstone bridge circuit in the magnetic sensor This can occur if the amplification unit is faulty or if the A / D converter is faulty. As shown in FIG. 10, when the output signal of the magnetic sensor to which the sine wave and the cosine wave are to be output is the same waveform signal, this is output when the magnet is damaged or a defect of the magnetic sensor itself occurs. As shown in FIG. 11, the sinusoidal output signal indicates a normal state, but when the period of the cosine wave output signal is shortened, the sinusoidal output signal may be output when an error of the magnetic sensor or a deformation of the magnet occurs.

In this case, when the hardware damage occurs, the intersection point of the sine wave and the cosine wave of the magnetic sensor output signal is within the center point signal range, so that it is possible to determine whether the steering angle detection device is physically damaged from the output signal, It is possible to clearly specify the range to be adjusted in the event of a fault, thus speeding up the calibration of the work, and improving the reliability of operation through this self-diagnosis function.

What has been described above is merely an exemplary embodiment of a steering angle detecting device, a driving method thereof, and a steering angle detecting method according to the present invention, and the present invention is not limited to the above-described embodiment, as claimed in the following claims. Without departing from the gist of the present invention, any person having ordinary skill in the art may have the technical spirit of the present invention to the extent that various modifications can be made.

1 is a functional block diagram of a steering angle detection apparatus according to an exemplary embodiment of the present invention.

2 is an exploded perspective view of a sensor unit of a steering angle detection device according to an exemplary embodiment of the present invention.

3 is a detailed functional block diagram of a steering angle detection apparatus according to an exemplary embodiment of the present invention.

4 is a flowchart of a steering angle detection method according to an exemplary embodiment of the present invention.

5 is a schematic configuration diagram of a magnetic sensor and a magnet of a steering angle detection device implementing a steering angle detection method according to an exemplary embodiment of the present invention.

6 is a schematic flowchart of a steering angle detection method according to an embodiment of the present invention.

7 is a detailed flowchart of an inspection step of a steering angle detection method according to an embodiment of the present invention.

* Description of the symbols for the main parts of the drawings *

100: sensor unit

200: amplification unit

300 control unit

Claims (6)

A sensing output step of sensing a first magnetic sensor and a second magnetic sensor of the first magnet installed on the first rotating body and the second magnet installed on the second rotating body to respectively output a signal having a predetermined waveform; An amplifying transmission step of amplifying the output signal in the first amplifier and the second amplifier, respectively, and transmitting it to the control unit; Calculating a first absolute steering angle and a second absolute steering angle with respect to the rotary steering of the steering apparatus in the control unit; Checking an error from first data including the first absolute steering angle and checking an error from second data including the second absolute steering angle; And And a cross-check step of comparing and outputting the first absolute steering angle and the second absolute steering angle in the control unit. The method of claim 1, The checking steps above are: A first checking step of checking an error of any one of the first magnet, the first magnetic sensor, the first amplifier, and the A / D converter of the control unit from the first data including the first absolute steering angle; And a second checking step of checking an error of any one of the second magnet, the second magnetic sensor, the second amplifier, and the A / D converter of the control unit from the data including the second absolute steering angle. A steering angle detection device control method. 3. The method of claim 2, The first checking step is respectively: An initialization mode step of setting a center point signal for judging an error; An intersection point calculating step of calculating an intersection point for the output signal of the first magnetic sensor from the first data; And a crossing point comparing step of comparing the crossing point with the center point signal. The method of claim 3, The initialization mode step is: A sensor initialization determining step of determining whether to initialize the first magnetic sensor; A maximum minimum detection step of detecting a maximum value and a minimum value of an output signal of the first magnetic sensor from the first data when it is determined that the first magnetic sensor is not initialized in the sensor initialization determination step; And a center point signal setting step of setting the center point signal to an upper and lower range of a preset value based on the intermediate value of the maximum value and the minimum value. 3. The method of claim 2, The second checking step is respectively: A sensor initialization mode step of setting a center point signal for determining an error; An intersection point calculating step of calculating an intersection point for the output signal of the second magnetic sensor from the second data; And a crossing point comparing step of comparing the crossing point with the center point signal. The method of claim 5, The initialization mode step is: A sensor initialization determining step of determining whether to initialize the second magnetic sensor; A maximum minimum detection step of detecting a maximum value and a minimum value of an output signal of the second magnetic sensor from the second data when it is determined that the second magnetic sensor is not initialized in the sensor initialization determination step; And a center point signal setting step of setting the center point signal to an upper and lower range of a preset value based on the intermediate value of the maximum value and the minimum value.

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