Vehicle front wheel steering angle monitoring method based on nine-axis sensor

Abstract

The invention discloses a nine-axial-sensor-based method for monitoring a turning angle of automobile front wheels. The method comprises: sensing three dimensional accelerations, three dimensional angular speeds and three dimensional terrestrial magnetism intensity of an automobile body and front wheels through a triaxial accelerometer, triaxial gyroscope and triaxial magnetic induction meter, respectively; by using the three dimensional acceleration parameter, the three dimensional angular speed parameter, and the three dimensional terrestrial magnetism intensity of the automobile body, performing calculation according to an attitude algorithm to obtain a travel angle of the automobile body; by using the three dimensional acceleration parameter and the three dimensional angular speed parameter of the front wheels, performing calculation according to the attitude algorithm to obtain a slip angle of the automobile body; by using the three dimensional terrestrial magnetism intensity parameter and three dimensional angular speed parameter of the front wheels, performing calculation according to the attitude algorithm to obtain a travel angle of the front wheels; by using the travel angle parameter of the automobile body, and the slip angle parameter and travel angle parameter of the front wheels, performing calculation according to the attitude algorithm to obtain a steering angleof the front wheels; and performing fusion analysis of the travel angle of the automobile body, and the slip angle and steering angle of the front wheels to obtain the variation trend of the steeringangle of the front wheels.

Description

technical field [0001] The invention relates to a method for monitoring the safe running state of a motor vehicle, in particular to a method for monitoring the steering angle of a front wheel of an automobile based on a nine-axis sensor. Background technique [0002] Motor vehicle operation safety status monitoring technology is the main means to ensure the safe driving of motor vehicles, and it is also the inevitable trend of the development of motor vehicle operation safety detection technology. Use motor vehicle operation safety status monitoring technology to dynamically monitor motor vehicle operation safety status and operating indicators, discover and prevent motor vehicle failures in a timely manner, develop a safety monitoring network system integrating monitoring, control, management and decision-making, and ensure the safe operation of motor vehicles It is of great significance; it is a major social public welfare technical work related to the safety of the countr...

AI Technical Summary

Problems solved by technology

[0004] At present, the driver cannot obtain the parameters of the front wheel steering angle during driving, and only judges the front wheel steering angle through the nonlinear relationship between the steering wheel angle and the front wheel steering angle and the eyes; to measure the parameters of the front wheel steering angle, a specific It is difficult to accurately measure the steering angle parameters; and it also lacks the function of predicting the changing trend of the front wheel steering angle parameters.

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