A fault diagnosis method for steering wheel angle sensor based on improved Mahalanobis distance
A technology of rotation angle sensor and Mahalanobis distance, which is applied in the direction of steering mechanism, control device, vehicle components, etc., can solve the problem of lack of real-time diagnosis technology of steering wheel angle sensor, and achieve the effect of improving robustness
Active Publication Date: 2022-08-05
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0005] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a steering wheel angle sensor fault diagnosis method based on the improved Mahalanobis distance to solve the lack of real-time diagnosis technology for the steering wheel angle sensor in the existing vehicle driving process The problem
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[0068] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the embodiments and the accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.
[0069] refer to figure 2 As shown, a fault diagnosis method for a steering wheel angle sensor based on the improved Mahalanobis distance of the present invention includes the following steps:
[0070] 1) Use the GPS inertial navigator to obtain the vehicle's lateral velocity v, longitudinal velocity u, and yaw angular velocity w r information;
[0071] 2) Establish an extended Kalman filter model to solve the estimated value δ of the steering wheel angle of the vehicle f (k), with the measured value δ of the steering wheel angle sensor on the vehicle fm (k) observations as the extended Kalman filter model;
[0072] Among them, the establishment of the extended Kalman filter model is a...
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The invention discloses a fault diagnosis method for a steering wheel angle sensor based on the improved Mahalanobis distance. The method includes the following steps: 1) acquiring the information of the lateral speed, longitudinal speed and yaw angular speed of the vehicle; 2) establishing an extended Kalman filter model Solve the estimated value of the steering wheel angle of the vehicle, and use the measurement value of the vehicle steering wheel angle sensor as the observation value of the extended Kalman filter model; 3) Use the improved Mahalanobis distance as the diagnostic basis, and calculate based on the extended Kalman filter model The fault diagnosis model of the steering wheel angle sensor is established to realize the detection of the integrity of the steering wheel angle sensor, and at the same time, it is detected whether the measurement accuracy of the steering wheel angle sensor meets the requirements of the current vehicle speed. The invention solves the problem of lack of real-time diagnosis technology for the steering wheel angle sensor during the running process of the existing vehicle.
Description
technical field [0001] The invention belongs to the technical field of wire-controlled steering, in particular to a fault diagnosis method for a steering wheel angle sensor based on an improved Mahalanobis distance. Background technique [0002] With the development of smart cars, the steering-by-wire system has replaced the traditional mechanically connected steering system and has become an indispensable part of smart cars. The steering-by-wire system collects the angle signal of the driver turning the steering wheel through the steering wheel angle sensor, and calculates the front wheel angle of the vehicle in combination with the current driving speed and yaw rate of the vehicle, and then controls the steering motor to drive the steering wheel to rotate to implement the steering action. [0003] However, the steering wheel angle sensor is used as the basis for the calculation of the steering angle of the steer-by-wire system, and the reliability and accuracy of its work ...
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IPC IPC(8): B60W50/00B62D15/02
CPCB60W50/00B62D15/02B60W2050/0037
Inventor 章波赵万忠刘畅王春燕刘津强高犇周长志
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS