SE541512C2 - Method and system for determining offset of a steering wheel angle sensor - Google Patents
Method and system for determining offset of a steering wheel angle sensorInfo
- Publication number
- SE541512C2 SE541512C2 SE1750712A SE1750712A SE541512C2 SE 541512 C2 SE541512 C2 SE 541512C2 SE 1750712 A SE1750712 A SE 1750712A SE 1750712 A SE1750712 A SE 1750712A SE 541512 C2 SE541512 C2 SE 541512C2
- Authority
- SE
- Sweden
- Prior art keywords
- steering wheel
- wheel angle
- offset
- samples
- moving window
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle. The method comprises the steps of: collecting (S40) detected steering wheel angle samples from said steering wheel angle sensor; determining (S60; S70) the most frequent angle of a set of steering wheel angle samples; and determining (S90) the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples.The present invention also relates to a system for determining offset of a steering wheel angle sensor. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer readable medium.
Description
METHOD AND SYSTEM FOR DETERMINING OFFSET OF A STEERING WHEEL ANGLE SENSOR TECHNICAL FIELD The invention relates to a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle according to the preamble of claim 1. The invention also relates to a system for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle. The invention also relates to vehicle. The invention in addition relates to a computer program and a computer readable medium.
BACKGROUND ART Vehicles are provided with a steering wheel connected to steerable wheels of the vehicle via a steering mechanism. In order to determine the steering wheel angle a steering wheel angle sensor is arranged in connection to the steering wheel. The steering wheel angle sensor is an essential part in vehicles and is thus used to measure the steering wheel angle. The information of the current steering wheel angle is required by several functions in the vehicle such as the tag axle steering, and so called electronic stability program, since they rely on the steering wheel angle. Along with time and use, offset errors might be introduced in the steering system affecting the steering wheel angle to supply an uncalibrated steering wheel angle. These offsets may occur temporarily, e.g. during loading and unloading of the carriage of a truck, or permanently as a consequence of tearing, service and deformation of the steering front axle.
A stationary or temporary offset in the steering system of a vehicle can thus result in functions relying on the steering wheel angle performing poorly.
US8364348 B2 discloses a method for determining a steering angle offset in a vehicle having a steering unit and a steering angle sensor. Frequency distributions of the steering angle are determined, wherein the steering angle offset is determined based on average values of the steering angle from frequency distributions.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle which facilitates quick and accurate determination of the offset in a cost efficient way.
Another object of the present invention is to provide a system for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle which facilitates quick and accurate determination of the offset in a cost efficient way.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer readable medium, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle. The method comprises the steps of: collecting detected steering wheel angle samples from said steering wheel angle sensor; determining the most frequent angle of a set of steering wheel angle samples; and determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction. Hereby quick and accurate determination of the offset in a cost efficient way is facilitated. Hereby no extra sensors or the like are required, the offset may be efficiently determined by means of information from the steering wheel angle sensor. Further, no vehicle specific parameters are required. Hereby no modelling is required.
Furthermore the step of collecting detected steering wheel angle samples comprises step of arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window and in a second predetermined set of steering wheel angle samples in a second moving window, said first predetermined set of steering wheel angle samples comprising a greater number of steering wheel angle samples than said second set of steering wheel angle samples, and wherein the latest collected sample is continuously replacing the oldest collected sample in the respective set of steering wheel angles samples. By thus utilizing moving windows the required data capacity is reduced. By thus only using the latest set of samples new offsets will be detected faster. By thus having a first moving window with more samples acting as a slow window and a second moving window with less samples acting as a quick window accurate and flexible determination of the offset is facilitated in that the quick window may react quicker to changes such as turns and the slow window will provide accuracy in that a stable offset is obtained during drive. The slow window will further not react to quick changes wherein a more steady output of the offset from the slow window is obtained. The quick window will more quickly detect changes in the offset in that it will change quicker if the offset is changed.
According to an embodiment the method comprises the steps of: comparing offset values determined for said first moving window and second moving window; and, if the difference is below a predetermined value the offset for said first moving window is used, and, if the difference is above a predetermined value the offset for said second moving window is used, and, if said difference is between said predetermined values the influence of the respective offset values for the respective window are weighted in order to obtain an offset value to be used. Hereby an efficient way of quickly and accurately determining the offset of the steering wheel angle sensor.
According to an embodiment the method comprises the step of determining an offset value for said second moving window to be used in said comparison by determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value, and, if this is the case, said peak sample value is used as offset value for said comparison, and if not, a previously determined offset value is used for said comparison. Hereby transient of the quick window and the volatility of the quick window due to fewer samples will be taken into account. By thus requiring that the peak sample value needs to exceed to a predetermined extent the second highest peak sample value uncertainties may be avoided. For example, if the vehicle is cornering, and all samples belonging to the turn are being used to determine the offset of the quick window no significant peak will be found which is desired as the vehicle is not travelling in a straight forward direction.
Peak sample value refers to the most frequent angle of a set of steering wheel angle samples and second highest peak sample value refers to the second most frequent angle of said set of steering wheel angle samples.
According to an embodiment the method comprises the steps of: determining the vehicle speed; and performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value. By thus performing the determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value a more accurate determination of the offset is facilitated in that the uncertainty increases at lower speeds due to e.g. more movement of the steering wheel.
According to an embodiment the method comprises the step of calibrating said steering wheel angle sensor based on thus determined offsets. Hereby the real-time calibration of the steering wheel angle sensor is facilitated in an efficient and accurate way.
Specifically an object of the invention is achieved by a system for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle. The system comprises means for collecting detected steering wheel angle samples from said steering wheel angle sensor. The system further comprises means for determining the most frequent angle of a set of steering wheel angle samples, and means for determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction.
Furthermore the means for collecting detected steering wheel angle samples comprises means for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window and in a second predetermined set of steering wheel angle samples in a second moving window, said first predetermined set of steering wheel angle samples being arranged to comprise a greater number of steering wheel angle samples than said second set of steering wheel angle samples, and wherein the latest collected sample is arranged to continuously replace the oldest collected sample in the respective set of steering wheel angles samples.
According to an embodiment the system comprises means for comparing offset values determined for said first moving window and second moving window; wherein the offset for said first moving window is arranged to be used if the difference is below a predetermined value; and wherein the offset for said second moving window is arranged to be used if the difference is above a predetermined value; and wherein the influence of the respective offset values for the respective window are arranged to be weighted in order to obtain an offset value to be used if said difference is between said predetermined values.
According to an embodiment the system comprises means for determining an offset value for said second moving window to be used in said comparison, comprising means for determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value, wherein said peak sample value is arranged to be used as offset value for said comparison if it is determined that said peak sample value exceeds the second highest peak sample value to a predetermined extent, and wherein previously determined offset value is arranged to be used for said comparison if it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent.
According to an embodiment the system comprises means for determining the vehicle speed; and means for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value.
According to an embodiment the system comprises means for calibrating said steering wheel angle sensor based on thus determined offsets.
The system for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle is adapted to perform the methods as set out herein.
The system according to the invention has the advantages according to the corresponding method claims.
Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.
A computer program for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform the method as set out herein.
A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1a schematically illustrates a side view of a vehicle according to the present invention; Fig. 1b schematically illustrates a plan view of the vehicle in fig. 1 a; Fig. 2 schematically illustrates a steering arrangement for a vehicle according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle according to an embodiment of the present invention; Fig. 5 schematically illustrates a block diagram of a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle according to an embodiment of the present invention; and Fig. 6 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.
Hereinafter the term “offset of a steering wheel angle sensor” refers to the deviation, in degrees, from the zero position when the vehicle is travelling straight ahead.
Offset of a steering wheel angle sensor may appear as a stationary offset which typically occurs as a consequence of deformation of axis or stays in the chassis, tire wear or service.
Offset of a steering wheel angle sensor may also appear as temporary offset which may occur during loading of a vehicle. The forces from the load affect the positions of the wheels and if the load is not evenly distributed it can affect the steering. Also certain driving conditions can be defined as temporary offsets, comprising e.g. crosswinds, lower vehicle speeds and banking and cross slopes.
Hereinafter the term “peak sample value” refers to the most frequent angle of a set of steering wheel angle samples and the term “second highest peak sample value” refers to the second most frequent angle of said set of steering wheel angle samples.
Fig. 1a schematically illustrates a side view of a vehicle V according to the present invention, and fig. 1b schematically illustrates a side view of the vehicle V in fig. 1a.
The exemplified vehicle V is a heavy duty vehicle in the shape of a truck. The vehicle V has front axle X with steerable front wheels RW, LW a right front wheel RW and a left front wheel LW. As illustrated in fig. 1b said vehicle V comprises a steering wheel SW. Said front wheels RW, LW are connected to the steering wheel SW via a link mechanism. The vehicle comprises a system I for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel SW of a vehicle V during driving of the vehicle.
Fig. 2 schematically illustrates a steering arrangement A for a vehicle according to an embodiment of the present invention.
Said steering arrangement A comprises a steering wheel SW, a steering column SC, a wheel axle X with steerable wheels RW, LW and a link mechanism LM.
The steering wheel SW is connected to the front wheels RW, LW via said steering column SC connected to said link mechanism LM. Torque applied to the steering wheel SW by the driver of the vehicle is transmitted to the wheels RW, LW via said steering column SC and link mechanism LM.
Said link mechanism LM comprises a steering gear SG for amplifying torque transmitted from the steering wheel SW to the wheels RW, LW. For a heavy duty vehicle the steering gear SG is according to an embodiment arranged to amplify said torque at a ratio of about 20:1.
A steering wheel angle sensor 130 is arranged in connection to the steering wheel SW for detecting the steering wheel angle of the steering wheel SW of the vehicle during driving of the vehicle.
Fig. 3 schematically illustrates a block diagram of a system I for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle according to an embodiment of the present invention.
The system I comprises a control arrangement 100. Said control arrangement 100 may comprise any suitable control unit, processing unit, computer, server unit or the like for determining offset of a steering wheel angle sensor.
The system I comprises means 110 for determining the vehicle speed. Said means 110 for determining the vehicle speed may comprise any suitable means for determining the vehicle speed of a vehicle during drive of the vehicle. The means 110 for determining the vehicle speed may comprise a speedometer arranged on board the vehicle. The means 110 for determining the vehicle speed may comprise a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle during drive of the vehicle so as to determine the vehicle speed.
The system I comprises means 120 for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value. The means 120 for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value comprises means for determining whether the vehicle speed is above a predetermined vehicle speed threshold value and means for activating said offset determination if it is determined that said vehicle speed is above said predetermined vehicle speed threshold value. Said predetermined vehicle speed threshold value may be any suitable vehicle speed threshold value and may depend on certain factors such as type of vehicle. Said predetermined vehicle speed threshold value is according to an embodiment in the range of 25-35 km/h. The means 120 may be any suitable processing means. The means 120 may be comprised in the control arrangement 100.
The system I comprises a steering wheel angle sensor 130 for detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle.
The system I comprises means 140 for collecting detected steering wheel angle samples from said steering wheel angle sensor. The means 140 for collecting detected steering wheel angle samples from said steering wheel angle sensor comprises means 140a for processing said steering wheel angle samples. Said means 140a for processing said steering wheel angle samples is arranged to process said samples into a predefined resolution. The samples may be made into any suitable predefined resolution. For example -0.5 degrees to 0.5 degrees may be predefined to 0 degrees etc.
According to an embodiment of the system I the means 140 for collecting detected steering wheel angle samples comprises means 142 for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window 150 and in a second predetermined set of steering wheel angle samples in a second moving window 160.
Said first predetermined set of steering wheel angle samples are arranged to comprise a greater number of steering wheel angle samples than said second set of steering wheel angle samples. Thus, the first moving window 150 comprises a greater number of samples than the second moving window 160. Thus, the first moving window 150 constitutes the slow moving window 150 and the second moving window 160 constitutes the quick moving window 160. The first moving window 150 may comprise any suitable number of samples and the second moving window 160 may comprise any suitable number of samples being less than the samples of the first moving window 150 with a certain factor. According to an embodiment the first moving window 150 comprises a set of steering wheel angle samples of about 3000 and the second moving window 160 comprises a set of steering wheel angle samples of about 300. For a steering wheel angle sensor configured to detect the steering wheel angle every 20ms, i.e. at a frequency of 50 Hz, the first moving window 150 will be filled with 3000 samples in 60 seconds and the second moving window 160 will be filled with 300 samples in 6 seconds.
The latest collected sample is arranged to continuously replace the oldest collected sample in the respective set of steering wheel angles samples. Thus, the latest sample of the first moving window 150 will replace the oldest sample, and the latest sample of the second moving window 160 will replace the oldest sample. It is the same samples that are provided to the first moving window 150 and the second moving window 160.
The means 142 for arranging thus collected steering wheel angle samples is configured to construct a frequency distribution of said set of samples in the first moving window 150 and in the second moving window 160.
The means 140 may be any suitable processing means. The means 140 may be comprised in the control arrangement 100.
According to an embodiment of the system I the first moving window 150 comprises means 152 for determining the most frequent angle of a set of steering wheel angle samples of said first moving window 150. The thus determined most frequent angle of a set of steering wheel angle samples of said first moving window 150 is determined to be the offset value for the first moving window 150.
According to an embodiment of the system I the second moving window 160 comprises means 162 for determining the most frequent angle of a set of steering wheel angle samples of said second moving window 160. The thus determined most frequent angle of a set of steering wheel angle samples of said second moving window 160 is determined to be the offset value for the second moving window 160. The means 162 is thus arranged to determine the offset value for the second moving window.
The system I thus comprises means 152, 162 for determining the most frequent angle of a set of steering wheel angle samples.
The system I thus comprises means 180 for determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples. Said most frequent angle is assumed to correspond to said vehicle driving essentially in a straight forward direction.
According to an embodiment the system I comprises means 162 for determining an offset value for said second moving window 160.
Said means 162 for determining an offset value for said second moving window 160 comprises means 162a for determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value. A peak sample value exceeding the second highest peak sample value to predetermined extent is according to an embodiment when said peak sample value is at least twice as high as the second highest peak value.
Said means 162 for determining an offset value for said second moving window 160 is arranged to determine said peak sample value as offset value for said second moving window 160 if it is determined that said peak sample value exceeds the second highest peak sample value to a predetermined extent.
Said means 162 for determining an offset value for said second moving window 160 is arranged to determine the previously determined offset value as offset value for said second moving window 160 if it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent.
According to an embodiment the system I comprises means 170 for comparing offset values determined for said first moving window 150 and second moving window 160. The means 170 for comparing offset values determined for said first moving window 150 and second moving window 160 comprises according to an embodiment means for calculating the absolute value of the difference between said offset values.
Said means 170 for comparing offset values determined for said first moving window 150 and second moving window 160 is thus arranged to use said peak sample value as offset value for the second window 160 for said comparison if it is determined that said peak sample value exceeds the second highest peak sample value to a predetermined extent, and arranged to use the previously determined offset value for said comparison if it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent.
The means 170 for comparing offset values determined for said first moving window 150 and second moving window 160 comprises means for determining if the difference is below a predetermined value, above a predetermined value or between said predetermined values.
The offset for said first moving 150 window is arranged to be used if the difference is below a predetermined value.
The offset for said second moving window 160 is arranged to be used if the difference is above a predetermined value.
If said difference is between said predetermined values the influence of the respective offset values for the respective window 150, 160 are arranged to be weighted in order to obtain an offset value to be used.
The system I thus comprises means 180 for determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples. Said most frequent angle is assumed to correspond to said vehicle driving essentially in a straight forward direction.
The means 180 for determining the offset of said steering wheel angle sensor comprises means 180a for determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the first moving window and second moving window.
The means 180a for determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the first moving window and second moving window comprises means 182 for the offset of said first moving 150 window if the difference is below a predetermined value.
The means 180a for determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the first moving window and second moving window comprises means 184 for the offset for said second moving window 160 if the difference is above a predetermined value.
The means 180a for determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the first moving window and second moving window comprises means 186 for weighting the influence of the respective offset values for the respective window in order to obtain an offset value to be used.
According to an embodiment the system I comprises means 190 for calibrating said steering wheel angle sensor based on thus determined offsets.
The control arrangement 100 is operably connected to the means 110 for determining the vehicle speed via a link 10. The control arrangement 100 is via the link 10 arranged to receive signals from said means 110 representing data about current vehicle speed.
The control arrangement 100 is operably connected to the means 120 for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value via a link 20a. The control arrangement 100 is via the link 20a arranged to send signals to said means 120 representing data about current vehicle speed.
The control arrangement 100 is operably connected to the means 120 for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value via a link 20b. The control arrangement 100 is via the link 20b arranged to receive signals from said means 120 representing data for performing said determination of offset of steering wheel angle sensor.
The control arrangement 100 is operably connected to the steering wheel angle sensor 130 for detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle via a link 30. The control arrangement 100 is via the link 30 arranged to receive signals from said sensor 130 representing data for detected steering wheel angle samples.
The control arrangement 100 is operably connected to the means 140 for collecting detected steering wheel angle samples from said steering wheel angle sensor via a link 40a. The control arrangement 100 is via the link 40a arranged to send signals to said means 140 representing data about detected steering wheel angle samples.
The control arrangement 100 is operably connected to the means 140 for collecting detected steering wheel angle samples from said steering wheel angle sensor via a link 40b. The control arrangement 100 is via the link 40b arranged to receive signals from said means 140 representing data about steering wheel angle samples of a predefined resolution.
The control arrangement 100 is operably connected to the means 142 for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window 150 and in a second predetermined set of steering wheel angle samples in a second moving window 160 via a link 42a. The control arrangement 100 is via the link 42a arranged to send signals to said means 142 representing data about steering wheel angle samples of a predefined resolution.
The control arrangement 100 is operably connected to the means 142 for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window 150 and in a second predetermined set of steering wheel angle samples in a second moving window 160 via a link 42b. The control arrangement 100 is via the link 42b arranged to receive signals from said means 142 representing data about steering wheel angle samples of a predefined resolution for said first moving window 150.
The control arrangement 100 is operably connected to the means 142 for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window 150 and in a second predetermined set of steering wheel angle samples in a second moving window 160 via a link 42c. The control arrangement 100 is via the link 42c arranged to receive signals from said means 142 representing data about steering wheel angle samples of a predefined resolution for said second moving window 160.
The control arrangement 100 is operably connected to the first moving window 150 via a link 50. The control arrangement 100 is via the link 50 arranged to send signals to said first moving window 150 representing data about steering wheel angle samples, wherein the latest sample replaces the oldest so that a predetermined set of samples for said first moving window 150 is maintained.
The control arrangement 100 is operably connected to the means 152 for determining the most frequent angle of a set of steering wheel angle samples of said first moving window 150 via a link 52. The control arrangement 100 is via the link 52 arranged to receive signals from said means 152 representing data about offset value for said first moving window 150.
The control arrangement 100 is operably connected to the second moving window 160 via a link 60. The control arrangement 100 is via the link 60 arranged to send signals to said second moving window 160 representing data about steering wheel angle samples, wherein the latest sample replaces the oldest so that a predetermined set of samples for said second moving window 160 is maintained.
The control arrangement 100 is operably connected to the means 162a for determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value via a link 62a. The control arrangement 100 is via the link 62a arranged to receive signals from said means 162a representing data about offset value for said second moving window 160, said data about offset value for said second moving window 160 is said peak sample value if said peak sample value was determined to exceed the second highest peak sample value to a said predetermined extent and the previously determined offset value if not.
The control arrangement 100 is operably connected to the means 170 for comparing offset values determined for said first moving window 150 and second moving window 160 via a link 70a. The control arrangement 100 is via the link 70a arranged to send signals to said means 170 representing data about offset value for the first moving window 150.
The control arrangement 100 is operably connected to the means 170 for comparing offset values determined for said first moving window 150 and second moving window 160 via a link 70b. The control arrangement 100 is via the link 70b arranged to send signals to said means 170 representing data about offset value for the second moving window 160.
The control arrangement 100 is operably connected to the means 170 for comparing offset values determined for said first moving window 150 and second moving window 160 via a link 70c. The control arrangement 100 is via the link 70c arranged to receive signals from said means 170 representing data about result of said comparison.
The control arrangement 100 is operably connected to the means 180 for determining the offset of said steering wheel angle sensor via a link 80a. The control arrangement 100 is via the link 80a arranged to send signals to said means 180 representing data of a set of steering wheel angle samples.
The control arrangement 100 is operably connected to the means 180 for determining the offset of said steering wheel angle sensor via a link 80b. The control arrangement 100 is via the link 80b arranged to receive signals from said means 180 representing data for offset value corresponding to the thus determined most frequent angle of said set of steering wheel angle samples.
The control arrangement 100 is operably connected to the means 180a for determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the firsts moving window and second moving window via a link 80a1. The control arrangement 100 is via the link 80a1 arranged to send signals to said means 180 representing data of result of comparison of said offset values of the firsts moving window and second moving window.
The control arrangement 100 is operably connected to the means 180a for determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the firsts moving window and second moving window via a link 80a2. The control arrangement 100 is via the link 80a2 arranged to receive signals from said means 180a representing data for offset value, said data for offset value being the offset of said first moving 150 window if the difference was below a predetermined value, the offset for said second moving window 160 if the difference was above a predetermined value and an offset value from weighting the influence of the respective offset values for the respective window if said difference was between said predetermined values.
The control arrangement 100 is operably connected to the means 190 for calibrating said steering wheel angle sensor based on thus determined offsets via a link 90a. The control arrangement 100 is via the link 90a arranged to send signals to said means 190 representing data for determined offset value.
The steering wheel angle sensor 130 is operably connected to the means 190 for calibrating said steering wheel angle sensor based on thus determined offsets via a link 90b. The steering wheel angle sensor 130 is via the link 90b arranged to receive signals from said means 190 representing calibration data for calibrating the steering wheel angle sensor 130 based on the determined offset value.
The means 180a for determining the offset of said steering wheel angle sensor is operably connected to the means 190 for calibrating said steering wheel angle sensor based on thus determined offsets via a link 90c. The control arrangement 100 is via the link 90c arranged to send signals to said means 190 representing data for latest determined offset value to be used/considered for said determination of current offset in 180a.
Fig. 4 schematically illustrates a block diagram of a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle according to an embodiment of the present invention.
According to the embodiment the method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle comprises a step S1. In this step the detected steering wheel angle samples from said steering wheel angle sensor are collected.
According to the embodiment the method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle comprises a step S2. In this step the most frequent angle of a set of steering wheel angle samples is determined.
According to the embodiment the method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle comprises a step S3. In this step the offset of said steering wheel angle sensor is determined as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction.
Fig. 5 schematically illustrates a block diagram of a method for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during drive of the vehicle according to an embodiment of the present invention.
The method comprises the step S10 of determining the vehicle speed. The step of determining the vehicle speed is performed during drive of the vehicle by means of means for determining the vehicle speed.
The method comprises the step S20 of determining whether the current vehicle speed vxis above a predetermined vehicle speed threshold value vmin.
The method comprises the step of performing said determination of offset of steering wheel angle sensor only if the current vehicle speed vxis above said predetermined vehicle speed threshold value vmin.
Thus, if the current vehicle speed vxis not above said predetermined vehicle speed threshold value vminno determination of offset value will be initiated.
Said predetermined vehicle speed threshold value vminis according to an embodiment in the range of 25-35 km/h.
The method comprises the step S30 of detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle by means of a steering wheel angle sensor.
The method comprises the step S40 of collecting detected steering wheel angle samples from said steering wheel angle sensor.
The step of collecting detected steering wheel angle samples from said steering wheel angle sensor processing said steering wheel angle samples into a predefined resolution. The samples may be made into any suitable predefined resolution. For example -0.5 degrees to 0.5 degrees may be predefined to 0 degrees etc.
The method comprises the step S50 of arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window and in a second predetermined set of steering wheel angle samples in a second moving window. The step of arranging thus collected steering wheel angle samples comprises constructing a frequency distribution of said set of samples in the first moving window and in the second moving window. The step of arranging thus collected steering wheel angle samples comprises performing a mode calculation.
Said first predetermined set of steering wheel angle samples comprise a greater number of steering wheel angle samples than said second set of steering wheel angle samples. Thus, the first moving window comprises a greater number of samples than the second moving window. Thus, the first moving window constitutes the slow moving window, i.e. slow mode, and the second moving window constitutes the quick moving window, i.e. quick mode. The first moving window may comprise any suitable number of samples and the second moving window may comprise any suitable number of samples being less than the samples of the first moving window with a certain factor. According to an embodiment the first moving window comprises a set of steering wheel angle samples of about 3000 and the second moving window comprises a set of steering wheel angle samples of about 300. For a steering wheel angle sensor configured to detect the steering wheel angle every 20ms, i.e. at a frequency of 50 Hz, the first moving window 150 will be filled with 3000 samples in 60 seconds and the second moving window 160 will be filled with 300 samples in 6 seconds.
The latest collected sample continuously replaces the oldest collected sample in the respective set of steering wheel angles samples. Thus, the latest sample of the first moving window will replace the oldest sample, and the latest sample of the second moving window will replace the oldest sample. It is the same samples that are provided to the first moving window and the second moving window.
The method comprises the step S60 of determining the most frequent angle of a set of steering wheel angle samples of said first moving window. Thus determined most frequent angle of a set of steering wheel angle samples of said first moving window is determined to be the offset value for the first moving window.
The method comprises the step S70 of determining the most frequent angle of a set of steering wheel angle samples of said second moving window. The thus determined most frequent angle of a set of steering wheel angle samples of said second moving window is determined to be the offset value for the second moving window. The method thus comprises the step of determining the offset value for the second moving window.
The step of determining the offset value for the second moving window comprises the step S72 of determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value. A peak sample value exceeding the second highest peak sample value to predetermined extent is according to an embodiment when said peak sample value is at least twice as high as the second highest peak value. Thus, it is determined whether the peak sample value is a significant peak. Thus, it is determined whether the thus determined most frequent angle of a set of steering wheel angle samples of said second moving window constitutes a peak sample value which to a predetermined extent exceeds the second highest peak sample value.
If it is determined in S72 that said peak sample value exceeds the second highest peak sample value to a predetermined extent said peak sample value is determined as offset value for said second moving window.
If it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent the previously determined offset value is determined as offset value for said second moving window. I.e., if it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent the previously determined offset value when said peak sample value did exceed the second highest peak sample value to said predetermined extent, is determined as offset value for said second moving window.
If it is determined in S72 that said peak sample value exceeds the second highest peak sample value to a predetermined extent said peak sample value, i.e. said significant peak, is stored in S74 to be used as offset value when it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent, second highest peak sample value.
The method comprises the step S80 of comparing offset values determined for said first moving window and second moving window. The step of comparing offset values determined for said first moving window and second moving window comprises according to an embodiment calculating the absolute value of the difference between said offset values.
Thus, if it is determined in S72 that said peak sample value exceeds the second highest peak sample value to a predetermined extent said peak sample value is determined as offset value for said second moving window and is thus provided from S72 to S80 for said comparison in S80.
Further, if it is determined in S72 that said peak sample value does not exceed the second highest peak sample value to a predetermined extent the previously determined offset value, i.e. significant peak, stored in S74 is provided from S74 to S80 for said comparison.
The step of comparing offset values determined for said first moving window and second moving window thus uses said peak sample value as offset value for the second window for said comparison if it is determined that said peak sample value exceeds the second highest peak sample value to a predetermined extent, and the previously determined offset value for said comparison if it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent.
The step of comparing offset values determined for said first moving window and second moving window comprises determining if the difference is below a predetermined value, above a predetermined value or between said predetermined values.
The offset for said first moving window is used if the difference is below a predetermined value. The offset for said second moving window is used if the difference is above a predetermined value.
If said difference is between said predetermined values the influence of the respective offset values for the respective window are weighted in order to obtain an offset value to be used.
The method comprises the step S90 of determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples. Said most frequent angle is assumed to correspond to said vehicle driving essentially in a straight forward direction.
The step of determining the offset of said steering wheel angle sensor comprises determining the offset of said steering wheel angle sensor based on said comparison of said offset values of the first moving window and second moving window.
The method comprises the step S100of calibrating said steering wheel angle sensor based on thus determined offsets.
The method comprises the step S110 of return the latest determined offset value to S90 to be used/considered for said determination of current offset in the step S90.
With reference to figure 6, a diagram of an apparatus 500 is shown. The control arrangement 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle during driving of the vehicle. The program P comprises routines for determining the vehicle speed. The program P comprises routines for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value. The program P comprises routines for collecting detected steering wheel angle samples from said steering wheel angle sensor. The program P comprises routines for determining the most frequent angle of a set of steering wheel angle samples. The program P comprises routines for determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction. The routines for collecting detected steering wheel angle samples comprises routines for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window and in a second predetermined set of steering wheel angle samples in a second moving window, said first predetermined set of steering wheel angle samples comprising a greater number of steering wheel angle samples than said second set of steering wheel angle samples, and wherein the latest collected sample is continuously replacing the oldest collected sample in the respective set of steering wheel angles samples. The program P comprises routines for comparing offset values determined for said first moving window and second moving window; and, if the difference is below a predetermined value the offset for said first moving window is used, and, if the difference is above a predetermined value the offset for said second moving window is used, and, if said difference is between said predetermined values the influence of the respective offset values for the respective window are weighted in order to obtain an offset value to be used. The program P comprises routines for determining an offset value for said second moving window to be used in said comparison by determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value, and, if this is the case, said peak sample value is used as offset value for said comparison, and if not, a previously determined offset value is used for said comparison. The program P comprises routines for calibrating said steering wheel angle sensor based on thus determined offsets. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.
When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining the vehicle speed. The signals received on data port 599 can be used by apparatus 500 for performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value. The signals received on data port 599 can be used by apparatus 500 for collecting detected steering wheel angle samples from said steering wheel angle sensor. The signals received on data port 599 can be used by apparatus 500 for determining the most frequent angle of a set of steering wheel angle samples. The signals received on data port 599 can be used by apparatus 500 for determining the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction. The signals used for collecting detected steering wheel angle samples comprises signals used for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window and in a second predetermined set of steering wheel angle samples in a second moving window, said first predetermined set of steering wheel angle samples comprising a greater number of steering wheel angle samples than said second set of steering wheel angle samples, and wherein the latest collected sample is continuously replacing the oldest collected sample in the respective set of steering wheel angles samples. The signals received on data port 599 can be used by apparatus 500 for comparing offset values determined for said first moving window and second moving window; and, if the difference is below a predetermined value the offset for said first moving window is used, and, if the difference is above a predetermined value the offset for said second moving window is used, and, if said difference is between said predetermined values the influence of the respective offset values for the respective window are weighted in order to obtain an offset value to be used. The signals received on data port 599 can be used by apparatus 500 for determining an offset value for said second moving window to be used in said comparison by determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value, and, if this is the case, said peak sample value is used as offset value for said comparison, and if not, a previously determined offset value is used for said comparison. The signals received on data port 599 can be used by apparatus 500 for calibrating said steering wheel angle sensor based on thus determined offsets.
Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.
The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.
Claims (13)
1. A method for determining offset of a steering wheel angle sensor (130) detecting the steering wheel angle of the steering wheel of a vehicle (V) during driving of the vehicle, characterized by the steps of: collecting (S1 ; S40) detected steering wheel angle samples from said steering wheel angle sensor; determining (S2; S60, S70) the most frequent angle of a set of steering wheel angle samples; and determining (S3; S90) the offset of said steering wheel angle sensor as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction, wherein the step of collecting detected steering wheel angle samples comprises step of arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window (150) and in a second predetermined set of steering wheel angle samples in a second moving window (160), said first predetermined set of steering wheel angle samples comprising a greater number of steering wheel angle samples than said second set of steering wheel angle samples, and wherein the latest collected sample is continuously replacing the oldest collected sample in the respective set of steering wheel angles samples.
2. A method according to claim 1 , comprising the steps of: comparing offset values determined for said first moving window (150) and second moving window (160); and, if the difference is below a predetermined value the offset for said first moving window (150) is used, and, if the difference is above a predetermined value the offset for said second moving window (160) is used, and, if said difference is between said predetermined values the influence of the respective offset values for the respective window are weighted in order to obtain an offset value to be used.
3. A method according to claim 2, comprising the step of determining an offset value for said second moving window (160) to be used in said comparison by determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value, and, if this is the case, said peak sample value is used as offset value for said comparison, and if not, a previously determined offset value is used for said comparison.
4. A method according to any of claims 1 -3, comprising the steps of: determining the vehicle speed; and performing said determination of offset of steering wheel angle sensor only if the vehicle speed is above a predetermined vehicle speed threshold value.
5. A method according to any of claims 1 -4, comprising the step of calibrating said steering wheel angle sensor (130) based on thus determined offsets.
6. A system for determining offset of a steering wheel angle sensor (130) detecting the steering wheel angle of the steering wheel of a vehicle (V) during driving of the vehicle, characterized by means (140) for collecting detected steering wheel angle samples from said steering wheel angle sensor (130); means (152, 162) for determining the most frequent angle of a set of steering wheel angle samples; and means (180) for determining the offset of said steering wheel angle sensor (130) as the thus determined most frequent angle of said set of steering wheel angle samples, said most frequent angle being assumed to correspond to said vehicle driving essentially in a straight forward direction, wherein the means (140) for collecting detected steering wheel angle samples comprises means (142) for arranging thus collected steering wheel angle samples in a first predetermined set of steering wheel angles samples in a first moving window (150) and in a second predetermined set of steering wheel angle samples in a second moving window (160), said first predetermined set of steering wheel angle samples being arranged to comprise a greater number of steering wheel angle samples than said second set of steering wheel angle samples, and wherein the latest collected sample is arranged to continuously replace the oldest collected sample in the respective set of steering wheel angles samples.
7. A system according to claim 6, comprising means (170) for comparing offset values determined for said first moving window (150) and second moving window (160); wherein the offset for said first moving window (150) is arranged to be used if the difference is below a predetermined value; and wherein the offset for said second moving window (160) is arranged to be used if the difference is above a predetermined value; and wherein the influence of the respective offset values for the respective window are arranged to be weighted in order to obtain an offset value to be used if said difference is between said predetermined values.
8. A system according to claim 7, comprising means for determining an offset value for said second moving window (160) to be used in said comparison, comprising means for determining whether said second set of samples comprises peak sample value which to a predetermined extent exceeds the second highest peak sample value, wherein said peak sample value is arranged to be used as offset value for said comparison if it is determined that said peak sample value exceeds the second highest peak sample value to a predetermined extent, and wherein previously determined offset value is arranged to be used for said comparison if it is determined that said peak sample value does not exceed the second highest peak sample value to a predetermined extent.
9. A system according to any of claims 6-8, comprising means (110) for determining the vehicle speed; and means (120) for performing said determination of offset of steering wheel angle sensor (130) only if the vehicle speed is above a predetermined vehicle speed threshold value.
10. A system according to any of claims 6-9, comprising means (190) for calibrating said steering wheel angle sensor based on thus determined offsets.
11. 1 1 . A vehicle (V) comprising a system (I) according to any of claims 6-10.
12. A computer program (P) for determining offset of a steering wheel angle sensor detecting the steering wheel angle of the steering wheel of a vehicle (V) during drive of the vehicle, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1 -5.
13. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any of claims 1 -5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1750712A SE541512C2 (en) | 2017-06-07 | 2017-06-07 | Method and system for determining offset of a steering wheel angle sensor |
| DE102018004057.8A DE102018004057A1 (en) | 2017-06-07 | 2018-05-18 | Method and system for determining the offset of a steering wheel angle sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1750712A SE541512C2 (en) | 2017-06-07 | 2017-06-07 | Method and system for determining offset of a steering wheel angle sensor |
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| Publication Number | Publication Date |
|---|---|
| SE1750712A1 SE1750712A1 (en) | 2018-12-08 |
| SE541512C2 true SE541512C2 (en) | 2019-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| SE1750712A SE541512C2 (en) | 2017-06-07 | 2017-06-07 | Method and system for determining offset of a steering wheel angle sensor |
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| DE (1) | DE102018004057A1 (en) |
| SE (1) | SE541512C2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019106568A1 (en) * | 2019-03-14 | 2020-09-17 | Zf Automotive Germany Gmbh | Method and device for determining a sensor offset |
| CN111976832B (en) * | 2019-05-21 | 2021-12-21 | 上海汽车集团股份有限公司 | Method and device for calculating steering wheel angle data and electronic equipment |
| CN110802590B (en) * | 2019-10-24 | 2021-06-29 | 深圳市优必选科技股份有限公司 | Angle calibration method, steering engine, building block robot and storage medium |
| BR112022025649A2 (en) * | 2020-06-16 | 2023-03-07 | Beijing Unistrong Science & Tech Co Ltd | METHOD FOR ACQUIRING STEERING ANGLE OF VEHICLE, APPLIANCE, DEVICE AND STORAGE MEDIA |
| CN117218859B (en) * | 2023-11-09 | 2024-02-23 | 中煤科工集团信息技术有限公司 | Mining vehicle overspeed measuring and calculating method, system, electronic equipment and storage medium |
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| DE102007002708A1 (en) | 2007-01-18 | 2008-07-24 | Continental Aktiengesellschaft | Method and device for determining a steering angle offset |
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| DE102018004057A1 (en) | 2018-12-13 |
| SE1750712A1 (en) | 2018-12-08 |
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