KR20130016975A - Steering angle sensing system and computing method of absolute steering angle using the same - Google Patents

Abstract

PURPOSE: A steering angle indicator for a vehicle and a calculation method of a steering angle are provided to more accurately calculate the steering angle indicator by minimizing a calculation error of the steering angle which is from a backlash phenomenon of a gear and external noise. CONSTITUTION: A steering angle indicator for a vehicle comprises a main gear(100), a main disk(600), a sub gear(200), a sub magnet(210), a main detection sensor(300), a sub detection sensor(400), and an operation unit(500). The main gear integrally rotates with a steering shaft(800). The main disk integrally rotates with the main gear by integrating into the outside of the main gear and includes a barcode(610) on one side. The sub gear rotates while the sub gear is directly interlocked with the main gear. The sub magnet is connected to the sub gear in order to rotate integrally with the sub gear. The main detection sensor generates a main detection signal by detecting the change of the barcode according to the rotation of the main disk. The sub detection sensor generates a sub detection signal by detecting the change of a magnetic field according to the rotation of the sub magnet. The operation unit calculates the steering angle of a steering wheel by receiving the main detection signal and the sub detection signal and by calculating the main detection signal and the sub detection signal through a separate algorithm. [Reference numerals] (500) Operation unit

Description

Steering Angle Sensing System and Computing Method of Absolute Steering Angle Using The Same}

The present invention relates to a vehicle steering angle detection device and a steering angle calculation method using the same. More specifically, by minimizing the number of sub gears and preventing noise caused by magnetic force by using a main disk having a barcode and an optical sensor detecting the same, the steering angle measurement by the backlash phenomenon and external noise generation of the gears is prevented. The vehicle steering angle detection device can minimize the error and produce a more accurate steering angle, and the structure of the device can be further simplified through a simple algorithm, and the operation speed can be improved by simplifying the calculation method. It relates to a steering angle calculation method of the vehicle steering angle detection device capable of calculating.

In general, a steering device which is essentially applied to a vehicle is a device for converting a path and a driving direction of a vehicle according to a driver's request, and includes a steering wheel, a steering shaft, and a steering angle sensing device. . The steering wheel operated by the driver is connected to the steering shaft and the rotational force of the steering wheel is transmitted to the steering shaft which is linked to the steering wheel. The steering angle detection device is connected to the steering shaft to detect the rotation angle of the steering wheel to transmit data on the steering intention (angle, angular velocity) of the driver to a control device such as an ECU.

Recently, the vehicle has a variety of safety devices, such as vehicle dynamic control or traction control system, which can achieve more precise and stable driving operation through the electronic control of the vehicle control device. In order to secure the performance for implementing such a safety device, precision and reliability of input data used to determine whether the safety device is executed is required. In this regard, the steering angle detection device is also required to have a higher degree of precision. Accordingly, in recent years, a variety of non-contact high precision steering angle detection devices have been developed.

In general, a magnetic method using an AMR sensor is widely used as a detection method of a non-contact high precision steering angle sensing device. This magnetic method generally consists of inserting a magnet into two gears with different gear ratios and calculating the absolute angle over the entire steering angle range using the sensor output generated by the magnetic field change due to gear rotation.

1 is a view schematically showing the configuration of a general vehicle steering angle detection apparatus according to the prior art.

As shown in FIG. 1, a general vehicle steering angle sensing device according to the related art is coupled to a steering shaft (not shown) of a vehicle and rotates integrally with the steering shaft, and the main gear 100. And first and second sub gears 200a and 200b meshed with and rotated. First and second magnets 210a and 210b are coupled to the first and second sub gears 200a and 200b to rotate integrally with the first and second sub gears 200a and 200b, respectively. First and second detection sensors 400a and 400b are installed outside the second sub-gear 200a and 200b to detect magnetic field changes of the first and second magnets 210a and 210b. In this case, the first and second detection sensors are AMR sensors.

Therefore, when the steering shaft rotates as the driver rotates the steering wheel (not shown), the main gear 100 rotates, and thus the first and second sub gears 200a and 200b and the first and second magnets are rotated accordingly. 210a and 210b rotate. The change in the magnetic field according to the rotation of the first and second magnets 210a and 210b is detected by the first and second detection sensors 400a and 400b, and the respective detection signals are transmitted to the operation unit 500 to separate them. The algorithm calculates the steering angle by the steering wheel.

The vehicle steering angle sensing device according to the related art uses a configuration using a plurality of sub gears so as to calculate the entire range of multiple rotating steering angles. Since it increases, there was a problem that the error of the steering angle in the structure is very increased. In addition, the magnetic steering angle sensing device of the magnetic type generates a large amount of external noise due to a large number of magnets and electrical signals, and thus generates a distortion of the sensing signal. In particular, in recent years, since the vehicle requires a high precision in which a tolerance range is made smaller for the steering angle calculated value, it is more problematic in that such a requirement cannot be satisfied.

The present invention is invented to solve the problems of the prior art, an object of the present invention is to minimize the number of sub-gear using the main disk and the optical sensor that detects the bar code and at the same time to generate noise due to magnetic force, etc. The present invention provides a vehicle steering angle sensing device capable of calculating a more accurate steering angle by minimizing a steering angle measurement error caused by gear backlash and external noise.

Another object of the present invention is to further simplify the structure of the device through an algorithm that can calculate the steering angle using one main gear and one sub-gear, it is possible to improve the operation speed through the simplified calculation method It is to provide a vehicle steering angle detection device and a steering angle calculation method that can calculate the steering angle more accurately.

The present invention includes a main gear coupled to rotate integrally with the steering shaft of the vehicle; A main disk coupled along a circumference of the outer circumferential surface of the main gear so as to rotate integrally with the main gear and having a bar code formed on one surface thereof; A sub gear meshed with the main gear and rotating; A sub magnet coupled to the sub gear to rotate integrally with the sub gear; A main detection sensor configured to generate a main detection signal by detecting a barcode change according to the rotation of the main disk; A sub detection sensor configured to generate a sub detection signal by detecting a magnetic field change according to the rotation of the sub magnet; And an operation unit configured to calculate the steering angle by receiving the main sensing signal and the sub sensing signal and calculating the steering angle.

In this case, the main detection sensor may be applied as an optical sensor capable of detecting a barcode of the main disk.

In addition, the barcode may be formed to be detected by the main sensing sensor in units of 360 ° in one rotation.

In addition, the barcode may be formed to be repeatedly detected by the main sensing sensor in an angle unit of 360 ° divided by an integer in one rotation.

In addition, the sub-magnet is formed to be two-pole magnetized along the radial direction in the center of the sub-gear, the sub-sensing sensor may be applied as an AMR sensor disposed in a position adjacent to the sub-gear.

In addition, the sub-magnet is formed in a ring shape so as to multi-pole magnetized at equal intervals along the circumferential direction of the sub-gear, the sub-sensor sensor is arranged in the circumferential direction of the sub-gear at a position adjacent to the sub-gear It can be applied as a Hall sensor.

On the other hand, the present invention is a method for calculating the steering angle using the vehicle steering angle detection device of claim 4, wherein the main cycle angle (X) in which the change of the barcode is periodically detected by the main detection sensor every one revolution of the main gear ) And a first sub-period angle (X + k) or a second sub that converts an angle corresponding to one period of the output waveform of the sub-sensing sensor by the rotation of the sub-gear into the main periodic angle (X). An intermediate calculation step of calculating a period angle Xk; A calculation angle calculating step of calculating a main calculation angle (P1) and a sub calculation angle (P2) by calculating the detection signals sensed by the main sensing sensor and the sub sensing sensor, respectively; A plurality of main absolute angles C1 that may be set for the main operation angle P1 are calculated using the main period angle X, and the first sub period angle X + k or the second sub is calculated. An absolute angle calculation step of calculating each of a plurality of sub absolute angles C2 that can be set for the sub operation angle P2 using a period angle Xk; And a pair of main absolute angles C1 and sub-absolute angles having the smallest difference among the main absolute angles C1 and the sub-absolute angles C2, which are respectively calculated through the absolute angle calculation step and paired with each other. And a steering angle output step of outputting a mean value of either C2) or a steering angle as a steering angle.

In this case, when the total rotation angle of the main gear is Y, the constant k of the first sub period angle X + k satisfies (Y / (X + k)) + 1 ≦ (Y / X). Can be set to a minimum integer.

In addition, when the total rotation angle of the main gear is Y, the constant k of the second sub-period angle Xk is set to a maximum integer that satisfies (Y / (Xk))-1≤ (Y / X). Can be.

In addition, a plurality of main absolute angles C1 are calculated through a formula P1 + (X × (S-1)) (S is an integer satisfying 1 ≦ S ≦ (Y / X)), and the sub-absolute angle ( A plurality of C2) may be calculated through the formula P2 + ((Xk) × (T-1)) (where T is an integer satisfying 1 ≦ T ≦ (Y / (Xk))).

According to the present invention, by minimizing the number of sub-gear using the main disk and the optical sensor that detects the bar code and at the same time to prevent the occurrence of noise due to magnetic force, the steering angle due to the backlash phenomenon and external noise generation of the gear Minimizing the measurement error has the effect of calculating a more accurate steering angle.

In addition, the algorithm that can calculate the steering angle using one main gear and one sub-gear can further simplify the structure of the device, simplify the calculation method to improve the operation speed and more precise steering angle There is an effect that can be calculated.

1 is a view schematically showing the configuration of a general vehicle steering angle detection device according to the prior art,
2 and 3 are views schematically showing the configuration of the vehicle steering angle detection apparatus according to an embodiment of the present invention,
4 is a flowchart illustrating a method of calculating a steering angle of a vehicle steering angle detecting apparatus according to an embodiment of the present invention in a stepwise manner;
5 is a diagram exemplarily illustrating shapes of a main period angle and a sub period angle according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

2 and 3 are diagrams schematically showing the configuration of a vehicle steering angle detection apparatus according to an embodiment of the present invention.

The vehicle steering angle sensing device according to an embodiment of the present invention can calculate a more accurate steering angle by minimizing a gear coupling structure and reducing an error generation amount due to a backlash phenomenon and an error generation amount due to external noise using an optical sensor. As a device, a main gear 100, a main disk 600 coupled to the main gear 100, a sub gear 200, a sub magnet 210 coupled to the sub gear 200, and main sensing Sensor 300 and the sub-sensor sensor 400, and the calculation unit 500 for calculating the steering angle through a separate algorithm is configured.

The main gear 100 is configured to be integrally rotated with the steering shaft 800 by penetratingly coupled to the steering shaft 800 to which the rotational force of the steering wheel (not shown) rotated by the driver is transmitted. The main disk 600 is coupled to the main gear 100 along the circumference of the outer circumference.

The main disk 600 is ring-shaped and coupled to the outer circumferential surface of the main gear 100 to rotate integrally with the main gear 100, and one side of the main disk 600 has a barcode 610 that can be detected by the main detection sensor 300. do.

The main detection sensor 300 is configured to generate a main detection signal by detecting a barcode change according to the rotation of the main disk 600, and as shown in FIGS. 2 and 3, close to the top of the barcode 610. Can be deployed. The main sensor 300 is applied as an optical sensor capable of detecting the barcode 610 of the main disk 600.

Unlike the prior art, only one sub gear 200 is provided, and is directly engaged with the main gear 100 and configured to rotate in conjunction with the main gear 100. At this time, the main gear 100 and the sub-gear 200 are formed with gear teeth that can be engaged with each other, the gear ratio is different from each other in such a way that the diameter of each other or the number of teeth are formed different from each other. The sub-magnet 210 is coupled to the sub-gear 200 to rotate integrally with the sub-gear 200.

The sub-magnet 210 is preferably arranged to generate a large magnetic field change around the periphery as it rotates together with the sub-gear 200. For example, as shown in FIG. The N-pole and the S-pole are arranged one by one along the radial direction of the sub-gear 200 in the center portion may be configured to be two-pole magnetized. In addition, as shown in FIG. 3, it may be formed in a ring shape and disposed along the circumferential direction of the sub gear 200, and in this case, may be configured to multi-pole magnetize at equal intervals along the circumferential direction of the sub gear 200. have.

The sub detection sensor 400 is configured to generate a sub detection signal by detecting a change in the magnetic field according to the rotation of the sub magnet 210, and includes one AMR sensor 410 as shown in FIG. 2 or FIG. 3. As shown in FIG. 1, two Hall sensors 420 and 430 may be included.

The calculator 500 is configured to receive a main sensing signal and a sub sensing signal generated by the main sensing sensor 300 and the sub sensing sensor 400, and calculate the steering angle of the steering wheel by performing calculation through a separate algorithm. The steering angle calculated by the calculator 500 is transmitted to a separate vehicle controller (not shown) such as an ECU and used as various vehicle control system information.

According to such a structure, the vehicle steering angle detecting apparatus according to an embodiment of the present invention detects a change in the barcode 610 of the main disk 600 according to the rotation of the main gear 100 through the main sensing sensor 300, The change in the magnetic field of the sub magnet 210 according to the rotation of the sub gear 200 may be sensed through the sub detection sensor 400, and the steering angle of the steering wheel may be calculated by calculating the respective detection signals. That is, since the steering angle of the steering wheel can be calculated through the gear coupling structure between the main gear 100 and one sub gear 200, unlike the prior art, since the gear coupling structure is minimized, the backlash generated in the gear contact surface As the phenomenon is reduced, the error of the steering angle calculation value is reduced, and thus a more accurate steering angle can be calculated. In addition, since the main sensing signal may be generated through the main disk 600 having the barcode 610 and the optical sensor detecting the barcode 610, the magnetic field generation and the noise generation thereof may be minimized to more accurately calculate the steering angle. have.

Looking in more detail, the sub-magnet 210 coupled to the sub-gear 200 may be formed in the form of a two-pole magnetized in the radial direction in the center of the sub-gear 200, as shown in FIG. The sub detection sensor 400 that detects a magnetic field change according to the rotation of the magnet 210 may be applied to one AMR sensor 410 disposed adjacent to the sub gear 200 on the outside of the sub gear 200. The AMR sensor 410 detects a change in the magnetic field according to the rotation of the sub magnet 210 to generate a sub detection signal. The sub detection signal is formed by two magnetic signals having a predetermined phase difference as shown in FIG. 2. The magnetic signals α1 and α2 are generated by α1 and α2, and the two magnetic signals α1 and α2 are applied to the calculation unit 500 and calculated together with the main sensing signal to calculate a steering angle.

On the other hand, the sub-magnet 210 coupled to the sub-gear 200 may be formed in a ring shape so as to multi-pole magnetized at equal intervals along the circumferential direction of the sub-gear 200, such a sub-magnet The sub-sensor sensor 400 that detects the magnetic field change according to the rotation of the 210 may be composed of two Hall sensors 420 and 430 disposed along the circumferential direction of the sub-gear 200 at a position adjacent to the sub-gear 200. Can be.

At this time, the two Hall sensors 420, 430 may be arranged in accordance with the shape of the sub-magnet 210 is a multi-pole magnetization, as much as 1/2 of the angle divided by 360 ° by the number of multi-pole magnetization of the sub-magnet 210 It is preferred to be disposed along the circumferential direction at the center angle. For example, as shown in FIG. 3, when the sub-magnets 110 are magnetized to four poles and are arranged along the circumferential direction alternately with the N pole and the S pole in the 90 ° angle range, the two Hall sensors 420 and 430 The center angle is preferably arranged along the circumferential direction at 45 °, which is 1/2 of the angle obtained by dividing 360 ° by the number of multipole magnets.

The two Hall sensors 420 and 430 detect a change in the magnetic field of the sub magnet 210 to generate a sub sensing signal. The sub sensing signals are formed of two magnetic signals having a phase difference in the same form as the one AMR sensor described above. The magnetic signals α1 and α2 are generated by α1 and α2, and the two magnetic signals α1 and α2 are applied to the calculation unit 500 and calculated together with the main sensing signal to calculate a steering angle.

The bar code 610 formed on the main disk 600 coupled to the main gear 100 may be formed to be detected by the main sensing sensor 300 at 360 ° angles in one rotation of the main gear 100. 2 and 3 is preferably formed to be repeatedly detected by the main sensor 300 in the angle unit (X) divided by an integer 360 ° in one revolution for a more precise measurement. For example, as shown in FIGS. 2 and 3, 360 ° may be divided by 5 to be repeatedly detected every 72 ° angle unit in one rotation. In this case, a separate mark 611 may be formed on the barcode 610 to start a new detection for every 72 ° angle unit.

FIG. 4 is a flowchart illustrating a method of calculating a steering angle of a vehicle steering angle sensing apparatus according to an embodiment of the present invention. FIG. 5 is a view illustrating a form of a main period angle and a sub period angle according to an embodiment of the present invention. It is a figure shown normally.

Steering angle calculation method of the vehicle steering angle detection apparatus according to an embodiment of the present invention is the intermediate calculation step (E1, E2), the calculation angle calculation step (E3), the absolute angle calculation step (E4), the steering angle output step (E5) , E6).

In the intermediate calculation steps E1 and E2, as shown in FIGS. 2 and 3, the barcode 610 of the main disk 600 is repeatedly detected by the main sensing sensor 300 in units of angles obtained by dividing 360 ° by an integer. For example, first, the main period angle X, in which the change of the barcode 610 is periodically detected by the main sensing sensor 300, is calculated at each rotation of the main gear 100 (E1). . The main period angle X can be found at 360 / N. That is, when the change of the barcode 610 is repeatedly detected five times every one revolution of the main gear 100, the main period angle X is calculated as 72/5 as 360/5.

When the main period angle X is calculated as described above, the first sub period angle X + k or the second sub period angle X-k is calculated (E2). Here, the first and second sub period angles are values obtained by converting an angle corresponding to one period of the output waveform of the sub sensing sensor 400 due to the rotation of the sub gear 200 into a main period angle X. This sub-period angle may be expressed by adding or subtracting a constant k to the main period angle X. In this case, in the case of the first sub-period angle X + k, the constant k is set to a minimum integer satisfying (Y / (X + k)) + 1 ≦ (Y / X), and the second sub-period angle ( In the case of Xk), the constant k is preferably set to a maximum integer that satisfies (Y / (Xk))-1? (Y / X). Here, Y corresponds to the overall rotation angle of the main gear 100.

For example, if the total rotation angle of the main gear 100 is 1800 °, and the number of detection repetitions is 5 for each rotation of the main gear 100, the main period angle X is 360/5, 72 °, The first sub-period angle X + k, where the constant k is a minimum integer that satisfies (1800 / (72 + k) +1) ≦ 1800/72, which is 3. Similar calculation is also made for the second sub-period angle X-k, and the constant k becomes 2 at the second sub-period angle.

Referring to the first sub-period angle X + k, the main gear 100 has an output waveform of one cycle for each 72 ° angle formed by the main sensing sensor 300, and the sub-gear 200 includes the main gear ( Each time 100) rotates by 75 °, an output waveform of one cycle is formed. That is, each time the main gear 100 rotates by 75 °, the sub gear 200 rotates 180 ° or 360 ° so that the output waveform of one cycle is formed by the sub detection sensor 400. For example, when the sub detection sensor 400 is an AMR sensor, when the main gear 100 rotates 75 °, the sub gear 200 rotates 180 °, and the sub detection sensor 400 is a GMR sensor. The sub gear 200 rotates 360 degrees when the main gear 100 rotates 75 degrees.

Therefore, in the entire rotation angle 1800 ° angle section of the main gear 100, the main detection sensor 300 generates a 25 cycle output waveform for every 72 ° rotation angle of the main gear 100, the sub-sense sensor 400 A 24 cycle output waveform is generated for each 75 ° rotational angle of the main gear 100. A repeating output waveform for this main period angle X and the first sub period angle X + k is shown in FIG. 5.

In the calculation angle calculation step E3, the main detection signal and the sub detection signal of the main detection sensor 300 and the sub detection sensor 400 described above are applied to the calculation unit 500, and the calculation unit 500 is provided by a separate equation. The signal is subjected to arithmetic processing, and a main arithmetic angle P1 and a sub arithmetic angle P2 are calculated, respectively.

In the absolute angle calculation step E4, the calculation unit 500 calculates a plurality of main absolute angles C1 that may be set with respect to the main operation angle P1 using the main period angle X, and the first sub period. Using the angle X + k or the second sub period angle Xk, a plurality of sub absolute angles C2 that can be set for the sub operation angle P2 are respectively calculated (E4).

In this case, the plurality of main absolute angles C1 and the plurality of sub absolute angles C2 are calculated by the following equation.

Equation 1: Main Absolute Angle (C1) = P1 + (X × (S-1)

        Where S is an integer satisfying 1≤S≤ (Y / X)

Equation 2: Sub Absolute Angle (C2) = P2 + ((X + k) × (T-1))

Where T is an integer satisfying 1≤T≤ (Y / (X + k))

Equation 2 is a method of obtaining the sub absolute angle C2 using the first sub period angle X + k. If Equation 2 is used to obtain the sub absolute angle C2 using the second sub period angle Xk. , Equation 2 is changed as follows.

Equation 2: Sub Absolute Angle (C2) = P2 + ((X-k) × (T-1))

Where T is an integer satisfying 1≤T≤ (Y / (Xk))

The main absolute angle C1 and the sub absolute angle C2 calculated as described above are calculated in pairs and correspond to each other, as can be seen through the equations. In the steering angle output stages E5 and E6, the paired multiple Select a pair of main absolute angles C1 and sub absolute angles C2 having the smallest difference from each other (E5), and then select the selected main absolute angle C1. And an average value of the sub absolute angle C2 or one of the two values as the steering angle (E6).

For example, the output signal is calculated by the main sensing sensor 300 and the sub sensing sensor 400 to calculate a corresponding main operation angle P1 and sub operation angle P2, respectively. The main absolute angle C1 that can be set for (P1) is repeated in 72 ° periods, and a plurality of them are set, and the sub absolute angle C2 that can be set for sub-computation angles P2 is repeated in 75 ° periods. Many are set.

For example, when the main operation angle is calculated as 56 ° and the sub operation angle is calculated as 35 ° by the main detection sensor 300 and the sub detection sensor 400, the main absolute angles are 56, 128, 200, 272, 344, 416, 488, 560, 632. In this way, a plurality of 72 ° periods are set, and the sub-absolute angles are 35, 110, 185, 260, 335, 410, 485, 560, 635, and Guy 75 °. A plurality of cycles are set. At this time, each of the main absolute angle (C1) and the sub-absolute angle (C2) is set in pairs, each represents the same value at the actual steering angle point or the difference is the smallest, this value is the main gear ( The final steering angle of 100). In the above example, since the same angles are represented at 560 °, the steering angle is output at 560 °.

At this time, the main absolute angle (C1) and the sub-absolute angle (C2), the smallest difference between each other may be represented by the same value, but because of the slight difference between the reasons such as the error of the gear or sensor characteristics, in this case the main The value of either the absolute angle C1 or the sub absolute angle C2 may be output as the steering angle for the steering wheel, or the average of the values may be output as the steering angle.

In the above description, the steering angle is calculated using the first sub period angle X + k as an example, but the steering angle may be calculated by applying the second sub period angle Xk in the same manner.

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. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

100: main gear 200: sub gear
210: sub magnet 300: main detection sensor
400: sub detection sensor 500: calculator
600: main disk 610: barcode

Claims (11)

A main gear coupled to rotate integrally with the steering shaft of the vehicle;
A main disk coupled along a circumference of the outer circumferential surface of the main gear so as to rotate integrally with the main gear and having a bar code formed on one surface thereof;
A sub gear meshed with the main gear and rotating;
A sub magnet coupled to the sub gear to rotate integrally with the sub gear;
A main detection sensor configured to generate a main detection signal by detecting a barcode change according to the rotation of the main disk;
A sub detection sensor configured to generate a sub detection signal by detecting a magnetic field change according to the rotation of the sub magnet; And
An operation unit configured to calculate the steering angle by receiving the main sensing signal and the sub sensing signal
Vehicle steering angle detection apparatus comprising a.
The method of claim 1,
The main sensing sensor is a vehicle steering angle sensing device, characterized in that applied to the optical sensor that can detect the barcode of the main disk.
The method of claim 2,
The bar code is a vehicle steering angle detection device, characterized in that is formed to be detected by the main sensor in 360 ° angle unit in one rotation.
The method of claim 2,
The bar code is a vehicle steering angle detection device, characterized in that the bar is repeatedly detected by the main detection sensor in units of angle divided by 360 ° in one revolution.
The method of claim 1,
The sub magnet is formed so as to be two-pole magnetized along the radial direction in the center of the sub-gear, the sub-sensor sensor is applied to the AMR sensor disposed in a position adjacent to the sub-gear.
The method of claim 1,
The sub-magnet is formed in a ring shape so as to multi-pole magnetized at equal intervals along the circumferential direction of the sub-gear, and the sub-sensor sensors are disposed along the circumferential direction of the sub-gear at a position adjacent to the sub-gear. Vehicle steering angle sensing device, characterized in that applied to.
A method of calculating a steering angle using the vehicle steering angle detecting device according to claim 4,
For each revolution of the main gear, a change in the barcode is calculated for the main period angle X which is periodically detected by the main sensing sensor, and corresponds to one period of the output waveform of the sub sensing sensor due to the rotation of the sub gear. Calculating a first sub-period angle X + k or a second sub-period angle Xk obtained by converting the angle to the main period angle X;
A calculation angle calculating step of calculating a main calculation angle (P1) and a sub calculation angle (P2) by calculating the detection signals sensed by the main sensing sensor and the sub sensing sensor, respectively;
A plurality of main absolute angles C1 that may be set for the main operation angle P1 are calculated using the main period angle X, and the first sub period angle X + k or the second sub is calculated. An absolute angle calculation step of calculating each of a plurality of sub absolute angles C2 that can be set for the sub operation angle P2 using a period angle Xk; And
The pair of main absolute angles C1 and the sub absolute angles C2 having the smallest difference among the main absolute angles C1 and the sub-absolute angles C2, which are calculated correspondingly through the absolute angle calculation step and are paired with each other. Steering angle output step of outputting the average value of) or any one of them as steering angle
Steering angle calculation method of a vehicle steering angle detection apparatus comprising a.
The method of claim 7, wherein
When the total rotation angle of the main gear is Y, the constant k of the first sub period angle X + k is a minimum integer satisfying (Y / (X + k)) + 1 ≦ (Y / X). Steering angle calculation method of the vehicle steering angle detection apparatus, characterized in that set to.
The method of claim 8,
The main absolute angle (C1) is calculated through a plurality of formula P1 + (X × (S-1)) (S is an integer satisfying 1≤S≤ (Y / X)),
A plurality of sub-absolute angles C2 are calculated through a formula P2 + ((X + k) × (T-1)) (T is an integer satisfying 1 ≦ T ≦ (Y / (X + k))). A steering angle calculation method of a vehicle steering angle sensing device, characterized in that.
The method of claim 7, wherein
When the total rotation angle of the main gear is Y, the constant k of the second sub-period angle Xk is set to a maximum integer that satisfies (Y / (Xk))-1≤ (Y / X). A steering angle calculation method of a vehicle steering angle detecting device.
11. The method of claim 10,
The main absolute angle (C1) is calculated through a plurality of formula P1 + (X × (S-1)) (S is an integer satisfying 1≤S≤ (Y / X)),
A plurality of sub-absolute angles C2 are calculated through a formula P2 + ((Xk) × (T-1)) (T is an integer satisfying 1 ≦ T ≦ (Y / (Xk))). Steering angle calculation method of the vehicle steering angle detection device.

Images