Vehicle steering angle measurement system and method

Abstract

The embodiment of the present invention discloses a vehicle steering angle measurement system and method, which is invented to solve the problem of low accuracy of steering angle calculation in the prior art, and includes a first MEMS gyroscope arranged on the front wheel of the vehicle, a second MEMS gyroscope arranged in the cab of the vehicle, a dual-antenna GNSS vector receiver, the antennas of the dual-antenna GNSS vector receiver are arranged on the top of the vehicle and placed front and back, and an embedded controller arranged in the cab; the first MEMS gyroscope is used to obtain the first steering information of the vehicle; the second MEMS gyroscope is used to obtain the second steering information of the vehicle; the dual-antenna GNSS vector receiver is used to obtain the motion information of the vehicle through the antenna; the embedded controller is used to correct the first steering information according to the second steering information and the motion information, obtain the corrected target steering information, and generate steering angle information according to the target steering information and the motion information. The present invention can be applied in the field of agricultural machinery automation.

Description

Technical Field

[0001] The invention relates to an information processing technology, and in particular to a vehicle steering angle measurement system and method. Background Art

[0002] With the advancement of science and technology, agricultural machinery automation technology has become increasingly mature. In the process of agricultural machinery automation operation, precise control of agricultural machinery steering has become one of the important assessment criteria for measuring the quality of automation operation, and how to accurately calculate the steering angle has become an urgent problem to be solved.

[0003] Currently, there are two main methods for measuring steering angle:

[0004] One is to use multiple micro-electro-mechanical system (MEMS) sensors to measure the heading angular velocity and the front wheel rotation angular velocity respectively, and calculate the steering angle. However, the noise level of MEMS sensors is very large, and it is impossible to obtain accurate steering angle measurement results.

[0005] Another method is to use a single-antenna global navigation satellite system (GNSS) receiver to obtain the heading angular velocity, and combine it with the heading angle and front wheel rotation angular velocity obtained by the MEMS gyroscope to calculate the steering angle. However, when the vehicle is moving at a low speed, the accuracy of the heading angular velocity obtained by the single-antenna GNSS receiver cannot be guaranteed, which in turn affects the calculation accuracy of the steering angle. Summary of the invention

[0006] To solve the above problems, an embodiment of the present invention provides a vehicle steering angle measurement system and method, which can accurately calculate the vehicle steering angle.

[0007] The vehicle steering angle measurement system provided by the embodiment of the present invention comprises: a first MEMS gyroscope arranged in the front wheel of the vehicle, a second MEMS gyroscope arranged in the driving cabin of the vehicle, a dual-antenna GNSS vector receiver, the antennas of the dual-antenna GNSS vector receiver are arranged on the top of the vehicle and placed front and back, and an embedded controller arranged in the driving cabin;

[0008] The first MEMS gyroscope is used to obtain first steering information of the vehicle;

[0009] The second MEMS gyroscope is used to obtain second steering information of the vehicle;

[0010] The dual-antenna GNSS vector receiver is used to obtain the motion information of the vehicle through the antenna;

[0011] The embedded controller is used to correct the first steering information according to the second steering information and the motion information, obtain corrected target steering information, and generate steering angle information according to the target steering information and the motion information.

[0012] Furthermore, the antenna is placed in a position parallel to the central axis of the vehicle, or the antenna is arranged on the central axis of the vehicle.

[0013] Furthermore, the second MEMS gyroscope is arranged inside the embedded controller, and / or the dual-antenna GNSS vector receiver is arranged inside the embedded controller.

[0014] Further, the first steering information includes: a first heading angular velocity and a steering angular velocity of the vehicle;

[0015] The second steering information includes: a second heading angular velocity of the vehicle;

[0016] The motion information includes: speed, position and heading information of the vehicle.

[0017] The vehicle steering angle measurement method provided by an embodiment of the present invention includes: a first MEMS gyroscope arranged in the front wheel of the vehicle obtains the first steering information of the vehicle; a second MEMS gyroscope arranged in the driving cabin of the vehicle obtains the second steering information of the vehicle; a dual-antenna GNSS vector receiver obtains the motion information of the vehicle through antennas arranged on the top of the vehicle and placed front and back; an embedded controller arranged in the driving cabin corrects the first steering information according to the second steering information and the motion information to obtain corrected target steering information; the embedded controller generates steering angle information according to the target steering information and the motion information.

[0018] Furthermore, the embedded controller corrects the first steering information according to the second steering information and the motion information, and obtaining the corrected target steering information includes: the embedded controller fuses the second heading angular velocity contained in the second steering information with the heading information contained in the motion information to generate target heading information; the embedded controller uses the target heading information to compensate for the zero bias error of the first MEMS gyroscope, and obtains the corrected target steering information of the first MEMS gyroscope.

[0019] Compared with the prior art, the present invention has a dual-antenna GNSS vector receiver whose antennas are arranged on the top of the vehicle and placed front and back, so that the dual-antenna GNSS vector receiver can accurately obtain the vehicle's motion information even when the vehicle is stationary or in a low-speed state, thereby solving the problem in the prior art that the accuracy of the heading angular velocity obtained by the single-antenna GNSS receiver cannot be guaranteed when the vehicle is moving at a low speed, thereby improving the calculation accuracy of the steering angle; in addition, since the second MEMS gyroscope can obtain the second steering information, and the embedded controller can correct the first steering information according to the second steering information and the motion information, the corrected target steering information has higher accuracy, further improving the calculation accuracy of the steering angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0021] Figure 1 The vehicle steering angle measurement system provided by the embodiment of the present invention is installed on the vehicle. Figure 1 ;

[0022] Figure 2 The vehicle steering angle measurement system provided by the embodiment of the present invention is installed on the vehicle. Figure 2 ;

[0023] Figure 3 This is a block diagram of the data processing principle for calculating the steering angle in the vehicle steering angle measurement system provided by an embodiment of the present invention;

[0024] Figure 4 is a flow chart of a vehicle steering angle measurement method provided by an embodiment of the present invention;

[0025] Figure 5 yes Figure 4 The flowchart of step 404 in the vehicle steering angle measurement method provided by the embodiment of the present invention is shown. DETAILED DESCRIPTION

[0026] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to solve the problem of low accuracy in calculating steering angles in the prior art, an embodiment of the present invention provides a vehicle steering angle measurement system and method.

[0029] like Figure 1 and 2 As shown, the vehicle steering angle measurement system provided by the embodiment of the present invention includes: a first MEMS gyroscope 2 arranged in the front wheel 1 of the vehicle, a second MEMS gyroscope 5 arranged in the vehicle cab, a dual-antenna GNSS vector receiver, antennas 3 and 4 of the dual-antenna GNSS vector receiver are arranged on the top of the vehicle and placed front and back, and an embedded controller 6 arranged in the cab.

[0030] Among them, the first MEMS gyroscope 2 is used to obtain the first steering information of the vehicle. In the present embodiment, the first steering information is specifically the first heading angular velocity and the steering angular velocity of the vehicle. Of course, in actual use, the first steering information may also include other steering-related information, which is not elaborated here; the second MEMS gyroscope 5 is used to obtain the second steering information of the vehicle. In the present embodiment, the second steering information includes: the second heading angular velocity of the vehicle. In actual use, the second steering information may also include other steering-related information, which is not elaborated here; the dual-antenna GNSS vector receiver obtains the motion information of the vehicle through antennas 3 and 4. In the present embodiment, the motion information includes: the speed, position and heading information of the vehicle, etc.; the embedded controller 6 is used to correct the first steering information according to the second steering information and the motion information, obtain the corrected target steering information, and generate the steering angle information according to the target steering information and the motion information.

[0031] In this embodiment, the embedded controller 6 modifies the first steering information according to the second steering information and the motion information to obtain the modified target steering information. The step of generating the steering angle information according to the target steering information and the motion information can be as follows: Figure 3 As shown, where ω is the steering angular velocity, is the heading angular velocity, ε is the zero bias error, L is the wheelbase between the front and rear wheels of the vehicle, v is the center speed of the rear axle of the vehicle, is the desired steering angle of the vehicle.

[0032] like Figure 3 As shown, in this embodiment, the simplified vehicle two-wheel model is Among them, the meaning of each variable is: L is the front and rear wheelbase, Figure 1 As shown; V is the speed of the center of the rear wheel axle of the vehicle; is the vehicle heading angular velocity; V is the method for obtaining the center velocity of the rear wheel axle of the vehicle: the speed at the location of the rear antenna output by the dual-antenna receiver is compensated by the vehicle model to obtain the center velocity of the rear wheel axle; The method for obtaining the heading angular velocity is as follows: the vehicle heading angular velocity output by the second gyroscope and the heading angle information output by the dual antenna receiver are subjected to Kalman data fusion; according to the output of the first MEMS gyroscope and the obtained (vehicle heading angular velocity), the wheel rotation angular velocity with MEMS zero bias is obtained, and the steering angle with cumulative error (∫ωdt) is obtained by integration; according to the simplified vehicle two-wheel model, the wheel steering angle calculated by mathematical formula is obtained Finally, based on the device characteristics of the MEMS gyroscope, it is considered that the MEMS device error is mainly zero bias and random walk, and a model is built for it. Using the Kalman filtering algorithm, the steering angle error and the MEMS gyroscope zero bias are used as state quantities. The vehicle model obtains the difference between the steering angle and the gyroscope integral output steering angle as the observed quantity; the optimal estimation of the steering angle is performed.

[0033] Furthermore, in order to enable the dual-antenna GNSS vector receiver to more accurately obtain the motion information of the vehicle, the antennas 3 and 4 are placed parallel to the central axis of the vehicle, or on the central axis of the vehicle.

[0034] Furthermore, in order to improve the processing speed of the embedded controller for information, the second MEMS gyroscope is arranged inside the embedded controller, and / or the dual-antenna GNSS vector receiver is arranged inside the embedded controller.

[0035] Compared with the prior art, the present invention has a dual-antenna GNSS vector receiver whose antennas are arranged on the top of the vehicle and placed front and back, so that the dual-antenna GNSS vector receiver can accurately obtain the vehicle's motion information even when the vehicle is stationary or in a low-speed state, thereby solving the problem in the prior art that the accuracy of the heading angular velocity obtained by the single-antenna GNSS receiver cannot be guaranteed when the vehicle is moving at a low speed, thereby improving the calculation accuracy of the steering angle; in addition, since the second MEMS gyroscope can obtain the second steering information, and the embedded controller can correct the first steering information according to the second steering information and the motion information, the corrected target steering information has higher accuracy, further improving the calculation accuracy of the steering angle.

[0036] like Figure 4 As shown, an embodiment of the present invention further provides a vehicle steering angle measurement method, comprising:

[0037] Step 401: A first MEMS gyroscope disposed on a front wheel of a vehicle obtains first steering information of the vehicle.

[0038] Step 402: A second MEMS gyroscope disposed in the vehicle cab obtains second steering information of the vehicle.

[0039] Step 403: A dual-antenna GNSS vector receiver obtains the motion information of the vehicle through antennas disposed on the top of the vehicle and placed in the front and rear.

[0040] Step 404: an embedded controller disposed in the cab corrects the first steering information according to the second steering information and the motion information to obtain corrected target steering information.

[0041] Step 405: The embedded controller generates steering angle information according to the target steering information and the motion information.

[0042] Furthermore, if Figure 5 As shown, step 404 may include:

[0043] Step 501: The embedded controller fuses the second heading angular velocity included in the second steering information with the heading information included in the motion information to generate target heading information.

[0044] Step 502: The embedded controller uses the target heading information to compensate for the zero bias error of the first MEMS gyroscope, and obtains the target steering information corrected by the first MEMS gyroscope.

[0045] The specific implementation principle of the vehicle steering angle measurement method provided by the embodiment of the present invention can be found in Figure 3 The data processing principle block diagram of calculating the steering angle in the vehicle steering angle measurement system provided by the embodiment of the present invention is shown, and will not be described in detail here.

[0046] Compared with the prior art, the present invention has a dual-antenna GNSS vector receiver whose antennas are arranged on the top of the vehicle and placed front and back, so that the dual-antenna GNSS vector receiver can accurately obtain the vehicle's motion information even when the vehicle is stationary or in a low-speed state, thereby solving the problem in the prior art that the accuracy of the heading angular velocity obtained by the single-antenna GNSS receiver cannot be guaranteed when the vehicle is moving at a low speed, thereby improving the calculation accuracy of the steering angle; in addition, since the second MEMS gyroscope can obtain the second steering information, and the embedded controller can correct the first steering information according to the second steering information and the motion information, the corrected target steering information has higher accuracy, further improving the calculation accuracy of the steering angle.

[0047] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A vehicle steering angle measurement system, characterized in that: include: A first MEMS gyroscope disposed on a front wheel of a vehicle, a second MEMS gyroscope disposed in a cab of the vehicle, a dual-antenna GNSS vector receiver, the antennas of the dual-antenna GNSS vector receiver being disposed on a top of the vehicle and arranged front and back, and an embedded controller disposed in the cab; The first MEMS gyroscope is used to obtain first steering information of the vehicle; The second MEMS gyroscope is used to obtain second steering information of the vehicle; The dual-antenna GNSS vector receiver is used to obtain the motion information of the vehicle through the antenna; The embedded controller is used to correct the first steering information according to the second steering information and the motion information, obtain the corrected target steering information, and generate steering angle information according to the target steering information and the motion information; The embedded controller corrects the first steering information according to the second steering information and the motion information, and obtaining the corrected target steering information includes: The embedded controller fuses the second heading angular velocity included in the second steering information with the heading information included in the motion information to generate target heading information; The embedded controller uses the target heading information to compensate for the zero bias error of the first MEMS gyroscope, and obtains the target steering information corrected by the first MEMS gyroscope.

2. The system according to claim 1, characterized in that The antenna is placed at a position parallel to the central axis of the vehicle, or the antenna is arranged on the central axis of the vehicle.

3. The system according to claim 1, characterized in that The second MEMS gyroscope is arranged inside the embedded controller, and / or the dual-antenna GNSS vector receiver is arranged inside the embedded controller.

4. The system according to claim 1, characterized in that The first steering information includes: a first heading angular velocity and a steering angular velocity of the vehicle; The second steering information includes: a second heading angular velocity of the vehicle; The motion information includes: speed, position and heading information of the vehicle.

5. A method for measuring a vehicle steering angle, characterized in that: include: A first MEMS gyroscope disposed on a front wheel of the vehicle acquires first steering information of the vehicle; A second MEMS gyroscope disposed in the vehicle driving cabin obtains second steering information of the vehicle; A dual-antenna GNSS vector receiver obtains the motion information of the vehicle through antennas arranged on the top of the vehicle and placed in front and behind; An embedded controller disposed in the cab modifies the first steering information according to the second steering information and the motion information to obtain modified target steering information; The embedded controller generates steering angle information according to the target steering information and the motion information; The embedded controller corrects the first steering information according to the second steering information and the motion information, and obtaining the corrected target steering information includes: The embedded controller fuses the second heading angular velocity included in the second steering information with the heading information included in the motion information to generate target heading information; The embedded controller uses the target heading information to compensate for the zero bias error of the first MEMS gyroscope, and obtains the target steering information corrected by the first MEMS gyroscope.

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