Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
• • 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

Definitions

• the present invention relates to a steering angle detecting device that detects a steering angle of steering.
• the steering angle detection device that detects the handle rotation angle uses an encoder that sends a pulse signal every time the steering shaft rotates by a unit angle, and the pulse signal of this encoder is used as a microphone. Input to the computer and count.
• This type of steering angle detection device is advantageous in terms of space and accuracy.
• the steering angle detection device using the above-described encoder cannot detect the absolute steering angle, Turning off the ignition switch causes the steering angle stored in memory to be lost. As a result, when the power is turned on next time, the relative rotation angle with the origin of the steering wheel position in the stopped state as the origin is detected, and the neutral position of the steering wheel (straight running state) cannot be recognized.
• the present invention has been made in order to solve the above-mentioned drawbacks of the prior art device.
• the object of the present invention is to gradually increase the neutral position of the detected steering wheel as the vehicle travels after the power is turned on. It is an object of the present invention to provide an improved steering angle detecting device which can approach a true neutral position.
• Another object of the present invention is to provide an improved steering angle detecting device capable of changing the detected neutral position of the steering wheel considerably more slowly than a change in the rotation angle of the steering wheel. Is to provide.
• a steering angle sensor according to the present MizunotoAkira is steer 1 after power; every time Ngushafu Bok is a unit angle, count down Ta-up or count down depending on the direction of rotation of stearic down Gushafu DOO Then, a counter for detecting the rotation angle of the steering shaft is provided.
• the averaging means reads the rotation angle stored in the counter and obtains an average value of the accumulated value of the rotation angle.
• Rotation angle calculation means is further provided, and this calculation means calculates the rotation angle stored in the force center into the average value obtained by the averaging means, that is, the rotation angle starting from the neutral position.
• the neutral position is determined by calculating the average value of the cumulative rotation angle of the steering shaft, and the steering angle is calculated starting from the neutral position. Even if the memory of the vehicle is lost, the steering angle can be detected based on the running condition of the vehicle after power is turned on. In particular, since the steering angle is determined based on the average planting of the cumulative steering angle, This allows the calculated neutral position to approach the true neutral position exactly.
• FIG. 1 is a control circuit diagram of the steering angle detecting device
• FIG. 2 is a diagram showing an encoder
• FIG. 3 is an output waveform diagram thereof
• FIGS. 4 and 5 are flow charts
• FIG. It is a figure for explaining operation.
• FIG. 1 10 is an encoder, 11 is a waveform shaping circuit, and 12 is a combi- ter.
• the computer 12 includes a steering direction determining means 13, a counting means 14, an averaging means 15, and a zero turning angle calculating means 16.
• reference numeral 20 denotes a steering shaft.
• a steering wheel (not shown) is connected to one end of the steering shaft 20, and a steering wheel (not shown) is connected to the other end. Is omitted.
• a rotating plate 21 is mounted on the steering shaft 20, and a number of slits 22 are formed at equal angular intervals on the circumference of the rotating plate 21.
• the A-phase detection sensor 23 and the B-phase detection sensor 24 which consist of the light-emitting element and the light-receiving element opposed to each other across the rotation plate 21, are shifted in phase by 14 periods.
• the sensors 23 and 24 are fixed to a fixed portion such as a steering column.
• the sensors 23 and 24 receive the light passing through the slit 22 and steer the shaft.
• pulse signals SS 1 and SS 2 shifted by one to four periods are generated for every 20 unit rotations.
• the rotary plate 21 and the sensors 23 and 24 constitute the encoder 10.
• the steering direction discriminating means 13 generates one cycle of the pulse signal by a combination of two pulse signals SS 1 and SS 2 generated by the encoder 10 and shifted by 14 cycles. Is divided into four area signals S from “0j” to “3J”, and the steering direction of the steering wheel is determined based on the current area signal and the previous area signal.
• step 30 it is determined whether or not S is equal to 0S. If YES, the program is returned assuming that the steering wheel has been stopped. In the case of NO, proceed to the steps from 31 onward, in step 31, check whether S is “0”, in step 3 2, check whether S is strong and whether it is “1”, in step 33, It is determined whether or not S is “2”. If neither of these is found, S is recognized as “3” in step 3 4.
• step 31 If S is determined to be “0” in step 31, the process proceeds to step 35, and it is determined whether 0 S is “1”.
• Rotation direction of steering 1 / Nguhoi Lumpur in the case of YES It is determined that the direction is forward rotation (clockwise), and in step 39, 1 is added to the rotation angle stored in the memory of the combi-user 12 and step 3 5 If the determination result is N 0, it is determined that the rotation direction of the steering wheel is reverse (counterclockwise), and in step 40 the rotation angle 6 stored in the memory is determined. Subtract 1 from this. Similarly, if it is determined in step 32 that S is “1”, it is determined in step 36 whether 0 S is “0”.
• step 33 If it is determined in step 33 that the S force is “2”, it is determined in step 37 whether 0 S is “0”, and in step 34, S is “3”. If it is recognized that “0” is “1” in step 38, it is determined. Then, as described above, in step 39 or step 40, the contents of the rotation angle ⁇ stored in the memory are added or subtracted according to the results of these determinations.
• a pulse signal is output from the vehicle speed sensor 15a, which outputs a pulse signal every time the vehicle travels a unit distance, an interrupt signal is sent out, and the interrupt signal is sent out.
• 1 is added to the memory counter that accumulates the number of processes n, and at step 51, the rotation angle ⁇ stored in the counting means 14 is read.
• step 52 the rotation angle ⁇ is added to the content 1 of the memory counter that accumulates the rotation angle 6 for each unit travel distance, and then in step 53, the cumulative number of times is calculated from the cumulative value of the rotation angle ⁇ 1.
• the average value of the rotation angles is obtained by dividing n, and this average value is stored in the memory as CENTER.
• step 54 it is determined whether the cumulative number n has reached the set value n1. In the case of N0, the rotational angle CENTBR is subtracted from the rotation angle in step 55, and the result is output as the steering angle A.
• the turning angle ⁇ is read, the CENTER is calculated from the average value, and the rotation angle is calculated as the cultivation angle starting from the CENTER. Will be required.
• the rotation angle obtained by the output of the encoder 10 is the steering angle at power-on. It is based on the location of Ngweil. By the way, the normal handle operation is performed to the right or left beyond the actual neutral position, and most of the traveling is straight traveling except for special cases such as mountain running.
• the steering wheel is turned on in the state of P1 with the steering wheel cut almost to the left, and the steering wheel is turned on when the vehicle starts running. Is operated as indicated by the broken line, the rotation angle ⁇ stored in the memory is based on the P1 position.
• the CENTER obtained in step 53 is a value initially biased toward the P1 side from the actual neutral position as shown by the solid line in FIG. 6, that is, smaller than the angle of P1 with respect to the neutral position. It will show the value.
• the CENTER gradually approximates to the neutral position, and after the car has traveled, for example, several hundred meters, the CENTER is almost equal to the neutral position. Therefore, even if the steering wheel is largely operated in the lying down state, the value of CENTER is hardly affected. I will be.
• step 54 if the determination result in step 54 is YES, the cumulative number n is corrected to n 2 (0 ⁇ n 2 ⁇ n 1) in step 57, and the step 5 In step 8, the following equation is executed to correct the cumulative rotation angle ⁇ 1 according to the corrected cumulative number n 2, and the overflow of 1 is prevented.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Length Measuring Devices With Unspecified Measuring Means (AREA)

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ID=14426883

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Citations (5)

• 1984
  • 1984-05-24 JP JP10617484A patent/JPS60249011A/ja active Granted
• 1985
  • 1985-05-21 WO PCT/JP1985/000279 patent/WO1993013384A1/ja unknown

Patent Citations (5)

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