Vehicle torque and angle measurement method and system

Abstract

The present invention discloses a method and system for measuring vehicle torque and angle, and relates to the field of vehicle technology. The measuring method comprises: the main sensing module obtains the first sensing data of the vehicle through the first mode; the control module calculates the first torque and angle of the vehicle according to the first sensing data; the control module determines whether the first torque and angle meet the preset conditions; if so, the control module determines the final torque and angle of the vehicle with the first torque and angle; if not, the auxiliary sensing module obtains the second sensing data of the vehicle through the second mode; the control module calculates the second torque and angle of the vehicle according to the second sensing data; the control module determines the final torque and angle of the vehicle according to the first torque and angle and the second torque and angle; the first mode is different from the second mode. Through the present invention, in special circumstances, it is still possible to obtain more accurate steering wheel angles and torques, thereby improving the robustness of the system.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle torque and angle measurement method and system. Background Art

[0002] In recent years, with the rapid growth of social economy, the rapid development of the automotive electronics industry and related industries, users' requirements for vehicles have gradually increased, and the electronic power steering system has gradually become a standard feature of vehicles. It is a power steering system that relies on the motor to provide auxiliary torque. In the electronic power steering system, the measurement of torque and angle is particularly important. The existing torque and angle sensors can obtain the steering wheel rotation angle and torque by executing the existing torque and angle measurement methods. However, when special circumstances occur, such as a surge in rotation angle or torque, damage to the sensor itself, or data transmission failure, it is impossible to measure accurate torque and angle. Summary of the invention

[0003] The present invention provides a vehicle torque and angle measurement method and system, which can still obtain relatively accurate steering wheel angle and torque in special circumstances, thereby improving the robustness of the system.

[0004] The present invention provides the following scheme:

[0005] In a first aspect, a method for measuring torque angle is provided, which is applied to a vehicle torque and angle measurement system, wherein the measurement system includes a control module, a main sensor module, a secondary sensor module, an input shaft, an output shaft, and a torsion bar located between the input shaft and the output shaft;

[0006] The measuring method comprises:

[0007] The main sensing module acquires first sensing data of the vehicle through a first mode;

[0008] The control module calculates a first torque and angle of the vehicle according to the first sensing data;

[0009] The control module determines whether the first torque and angle meet preset conditions;

[0010] If satisfied, the control module determines the final torque and angle of the vehicle using the first torque and angle;

[0011] If not, the secondary sensing module obtains second sensing data of the vehicle through a second mode;

[0012] The control module calculates a second torque and angle of the vehicle according to the second sensing data;

[0013] The control module determines a final torque and angle of the vehicle based on the first torque and angle and the second torque and angle;

[0014] The first mode is different from the second mode.

[0015] Optionally, the control module determines whether the first torque and angle meet a preset condition, including:

[0016] The control module determines whether the first torque and angle are lower than a maximum threshold;

[0017] and / or,

[0018] The control module determines whether the first torque and angle are higher than a minimum threshold;

[0019] and / or,

[0020] The control module determines whether a difference between the first torque and angle and a previous final torque and angle of the vehicle is less than a first difference threshold.

[0021] Optionally, the control module determines the final vehicle torque and angle according to the first torque and angle and the second torque and angle, including:

[0022] The control module determines whether the second torque and angle meet the preset condition;

[0023] If satisfied, the control module determines a final vehicle torque and angle using the second torque and angle;

[0024] If not, the control module determines whether the difference between the first torque and angle and the second torque and angle is greater than a second difference threshold;

[0025] If it is not greater than the second difference threshold, the average value of the first torque and angle and the second torque and angle is taken as the final torque and angle of the vehicle.

[0026] Optionally, the measuring method further includes:

[0027] The control module obtains the first torque and angle and the second torque and angle and calculates whether the difference between the two is greater than the second difference threshold;

[0028] If the difference is greater than the second difference threshold, the control module initiates a correction operation for the main sensing module and the slave sensing module.

[0029] Optionally, the method further comprises:

[0030] Connecting the vehicle to a standard sensor module of an external device;

[0031] When the vehicle performs a steering test, the control module obtains sensing data from the standard sensor module, the main sensor module and the auxiliary sensor module and calculates and obtains corresponding torque and angle test values ​​respectively;

[0032] The control module determines whether the main sensor module and the secondary sensor module need to be calibrated according to the relationship between the torque and angle test values ​​of the standard sensor module, the main sensor module and the secondary sensor module.

[0033] Optionally, the main sensing module includes a gear module meshed with the input shaft, a gear rotation angle measuring element arranged on the gear module, an input rotor and an output rotor respectively arranged at opposite ends of the input shaft and the output shaft, and a rotor rotation angle measuring element arranged between the input shaft and the output shaft;

[0034] The main sensing module acquires the first sensing data of the vehicle through the first mode, including:

[0035] The rotor rotation angle measuring element generates a measurement magnetic field, and measures the rotation angles of the input rotor and the output rotor respectively according to the induced voltage generated when the input rotor and the output rotor cut the measurement magnetic field;

[0036] The gear rotation angle measuring element measures the rotation angle of the gear module;

[0037] The control module calculates the first torque and angle of the vehicle according to the first sensing data, including:

[0038] The control module calculates a first torque and angle of the vehicle according to a rotation angle of the input rotor, a rotation angle of the output rotor, and a rotation angle of the gear module.

[0039] Optionally, the rotor rotation angle measuring element comprises: an excitation coil, a receiving coil, a PCB board and a control chip;

[0040] The excitation coil, the receiving coil and the control chip are all arranged on the PCB board, and the excitation coil and the receiving coil are located on the same end surface of the PCB board;

[0041] The excitation coil is used to generate the measurement magnetic field;

[0042] The receiving coil is used to measure the induced voltage generated by the input rotor and the output rotor cutting the measurement magnetic field;

[0043] The control chip is used to calculate the rotation angles of the input rotor and the output rotor according to the induced voltage.

[0044] Optionally, the rotor rotation angle measuring element further comprises: a correction coil, arranged in a non-torque influence area, having a standard output voltage, and used to measure a correction voltage generated by the input rotor and the output rotor cutting the measurement magnetic field;

[0045] The control chip is used to calculate the rotation angles of the input rotor and the output rotor according to the induced voltage, including:

[0046] The control chip corrects the induced voltage according to the difference between the corrected voltage and the standard output voltage and calculates the rotation angles of the input rotor and the output rotor according to the corrected induced voltage.

[0047] Optionally, the secondary sensing module includes an angle sensor and a torque sensor, the angle sensor is arranged in the steering wheel of the vehicle, and the torque sensor is connected to the torsion bar;

[0048] The secondary sensing module acquiring the second sensing data of the vehicle through the second mode includes:

[0049] The angle sensor acquires a steering angle of the vehicle, and the torque angle sensor acquires a torque of the vehicle.

[0050] In a second aspect, a vehicle torque and angle measurement system is also provided, the measurement system comprising a control module, a main sensor module, a secondary sensor module, an input shaft, an output shaft, and a torsion bar located between the input shaft and the output shaft;

[0051] The main sensing module is used to obtain first sensing data of the vehicle through a first mode;

[0052] The secondary sensing module is used to obtain second sensing data of the vehicle through a second mode;

[0053] The control module is used to calculate a first torque and angle of the vehicle according to the first sensing data and determine a final torque and angle of the vehicle based on the first torque and angle when it is determined that the first torque and angle meet a preset condition;

[0054] The control module is further configured to obtain the second sensing data to calculate the second torque and angle of the vehicle when it is determined that the first torque and angle do not meet a preset condition, and determine the final torque and angle of the vehicle according to the first torque and angle and the second torque and angle;

[0055] The first mode is different from the second mode.

[0056] Optionally, the measurement system further comprises:

[0057] The shell is arranged on the outside of the main sensor module and is used to wrap the main sensor module.

[0058] Optionally, the shell includes a cover body and a main body, the cover body is in the shape of an annular sheet and is sleeved outside the input shaft, the main body is in the shape of a barrel and is sleeved outside the input shaft and the output shaft, and after one end of the main body is connected to the cover body, a space is formed inside for accommodating the main sensor module.

[0059] Optionally, the measurement system further comprises:

[0060] A protective shell is arranged in the housing and between the cover body and the output rotor, and one end of the protective shell abuts against the cover body to wrap the rotor rotation angle measuring element.

[0061] Optionally, the cover body is connected to the main body by at least one of a snap fastener, a slot, a nail hole and / or glue;

[0062] The cover body is connected to the protective shell by at least one of a snap fastener, a slot, a nail hole and / or glue.

[0063] Optionally, the PCB board is connected to the protective shell in both the axial and radial directions of the input shaft;

[0064] The PCB board is connected to the protective shell by at least one of a fastener, a slot, a nail hole and / or glue.

[0065] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0066] The measurement method provided by the present invention uses the first torque and angle obtained by the main sensor module as the final torque and angle under normal circumstances. When the first torque and the first angle or one of them does not meet the preset conditions, that is, when an abnormality occurs, the final torque and angle of the vehicle are determined by the first torque and angle and the second torque and angle. In this way, through the supplementation between the main sensor module and the auxiliary sensor module, a relatively accurate final torque and angle can still be obtained in abnormal situations, and by setting the working principles of the main sensor module and the auxiliary sensor module to be different, the accuracy of the final torque and angle can be further guaranteed, thereby improving the robustness of the system. When the main sensor module is normal, only the result of the main sensor module can be used as the standard to avoid using the main sensor module and the auxiliary sensor module at any time to cause a waste of resources.

[0067] Furthermore, when the main sensing module is abnormal, how to determine the final torque and angle of the vehicle using the first torque and angle and the second torque and angle is further refined, and by judging and processing the respective situations, the accuracy of the final torque and angle can be further improved.

[0068] Of course, the embodiments of the present invention do not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0070] Figure 1 is a flowchart of a vehicle torque and angle measurement method provided by an embodiment of the present invention;

[0071] Figure 2 is a flowchart of a vehicle torque and angle measurement method provided by another embodiment of the present invention;

[0072] Figure 3 It is a flowchart of determining whether a sensor module is abnormal in a vehicle torque and angle measurement method provided by an embodiment of the present invention;

[0073] Figure 4 is a flowchart of a vehicle torque and angle measurement method provided by another embodiment of the present invention;

[0074] Figure 5 is a structural block diagram of a vehicle torque and angle measurement system provided by an embodiment of the present invention;

[0075] Figure 6 is a partial structural disassembly diagram of a vehicle torque and angle measurement system provided by an embodiment of the present invention;

[0076] Figure 7 It is a structural diagram of a rotor rotation angle measuring element of a vehicle torque and angle measurement system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0077] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0078] It should be noted that the descriptions of the present invention regarding directions such as "left", "right", "left side", "right side", "upper", "lower", "top", "bottom", etc. are all defined based on the relationship between the orientations or positions shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the structure described must be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0079] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] In view of the problems raised by the above background technology, the present invention provides a vehicle torque and angle measurement method, which is applied to a vehicle torque and angle measurement system, wherein the measurement system includes a control module, a main sensor module, a secondary sensor module, an input shaft, an output shaft, and a torsion bar located between the input shaft and the output shaft. The input shaft, the output shaft and the torsion bar are all arranged on the steering column of the vehicle. When the steering wheel of the vehicle is subjected to force, the torsion bar is deformed.

[0081] Figure 1 FIG. 1 is a flowchart of a method for measuring vehicle torque and angle provided by an embodiment of the present invention. Figure 1 As shown, the measuring method comprises:

[0082] S10: the main sensing module acquires first sensing data of the vehicle through a first mode;

[0083] S20: The control module calculates a first torque and angle of the vehicle according to the first sensing data;

[0084] S30: The control module determines whether the first torque and angle meet preset conditions;

[0085] S40: If satisfied, the control module determines the final torque and angle of the vehicle using the first torque and angle;

[0086] S50: If not, the secondary sensing module obtains second sensing data of the vehicle through a second mode;

[0087] S60: The control module calculates a second torque and angle of the vehicle according to the second sensing data;

[0088] S70: The control module determines a final torque and angle of the vehicle according to the first torque and angle and the second torque and angle;

[0089] The first mode is different from the second mode, that is, the working principles of the main sensor module and the secondary sensor module are different.

[0090] The first torque and angle include a first torque and a first angle, and the second torque and angle include a second torque and a second angle.

[0091] Wherein, judging whether the first torque and angle meet the preset conditions includes judging whether the first torque meets the preset conditions and judging whether the first angle meets the preset conditions. It can be understood that the preset conditions set for the first torque and the first angle can be set separately.

[0092] In the above measurement method, under normal circumstances, the first torque and angle obtained by the main sensor module are used as the final torque and angle. When the first torque and the first angle or one of them does not meet the preset conditions, that is, when an abnormality occurs, the final torque and angle of the vehicle are determined by the first torque and angle and the second torque and angle. In this way, through the supplementation between the main sensor module and the auxiliary sensor module, a relatively accurate final torque and angle can still be obtained in abnormal situations, and by setting the working principles of the main sensor module and the auxiliary sensor module to be different, the accuracy of the final torque and angle can be further guaranteed, thereby improving the robustness of the system. When the main sensor module is normal, only the result of the main sensor module can be used as the standard to avoid using the main sensor module and the auxiliary sensor module at any time to cause a waste of resources.

[0093] Specifically, in an example of the present application, the control module determines whether the first torque and angle meet a preset condition including:

[0094] The control module determines whether the first torque and angle are lower than a maximum threshold;

[0095] and / or,

[0096] The control module determines whether the first torque and angle are higher than a minimum threshold;

[0097] and / or,

[0098] The control module determines whether a difference between the first torque and angle and a previous final torque and angle of the vehicle is less than a first difference threshold.

[0099] The above-mentioned maximum threshold, minimum threshold and difference threshold can be set for torque and angle respectively. As needed, when one or both of the torque and angle do not meet the preset conditions, it can be selected that the first torque and angle do not meet the preset conditions. The subsequent judgment rules for the second torque and angle and the preset conditions are similar.

[0100] Through the above examples, when the torque and angle are too small, too large, or the instantaneous change is too large, the final torque and angle can be adjusted according to the actual situation and the measurement value of the auxiliary sensor module, thereby ensuring the accuracy of the final data.

[0101] Figure 2 FIG. 1 is a flowchart of a method for measuring vehicle torque and angle provided by another embodiment of the present invention. Figure 2 As shown, specifically, in one example of the present application, the control module determines the final vehicle torque and angle according to the first torque and angle and the second torque and angle, including:

[0102] S71: The control module determines whether the second torque and angle meet the preset condition;

[0103] S72: If satisfied, the control module determines a final vehicle torque and angle using the second torque and angle;

[0104] S73: If not, the control module determines whether the difference between the first torque and angle and the second torque and angle is greater than a second difference threshold;

[0105] S74: If it is not greater than the second difference threshold, taking the average of the first torque and angle and the second torque and angle as the final torque and angle of the vehicle.

[0106] Here, the preset conditions of the second torque and angle may be the same as the preset conditions of the first torque and angle, that is, the preset conditions of the second torque and angle include whether the second torque and angle are lower than a maximum threshold, and / or whether the second torque and angle are higher than a minimum threshold, and / or whether the difference between the second torque and angle and the previous final torque and angle of the vehicle is lower than a first difference threshold.

[0107] When the second torque and angle meet the preset conditions, the second torque and angle are used to determine the final torque and angle values ​​in this application. However, when both the first torque and angle and the second torque and angle do not meet the preset conditions, this application further creatively adopts the method of judging the difference between the two. If the difference between the two is small, the measured results are similar. Since both sets of sensor modules have problems and the probability of similar result values ​​is small, it can be considered that the measured results are accurate again at this time. Therefore, the average value of the two can be combined as the final result value to further improve the accuracy of the final torque and angle.

[0108] The difference between the first torque and angle and the second torque and angle refers to the difference between the first torque and the second torque, and the difference between the first angle and the second angle. The second difference threshold is also set to the torque difference threshold and the angle difference threshold respectively. As required, it can be set that when at least one or both of the torque difference and the angle difference meet the conditions, the difference between the first torque and angle and the second torque and angle is greater than the second difference threshold. Preferably, in order to ensure the normal operation of the vehicle, it is also possible to predict whether the main sensor module and the auxiliary sensor module are abnormal periodically or irregularly or based on the user's temporary trigger request. Figure 3 FIG. 1 is a flowchart of a method for measuring vehicle torque and angle according to an embodiment of the present invention for determining whether a sensor module is abnormal. Taking periodic determination as an example, Figure 3 As shown, in one example of the present application, the measuring method further includes:

[0109] S101: The control module periodically obtains the first torque and angle and the second torque and angle;

[0110] S102: Determine whether a difference between the first torque and angle and the second torque and angle is greater than a second difference threshold;

[0111] S103: If it is greater than the second difference threshold, the control module initiates a correction operation for the main sensor module and the secondary sensor module.

[0112] It can be understood that when the main sensor module and the auxiliary sensor module are both normal, the difference between the first torque and angle and the second torque and angle should be relatively close or zero. Therefore, when the difference between the two is greater than the second difference threshold, it means that at least one of the main sensor module and the auxiliary sensor module has a fault, and at this time, the main sensor module and the auxiliary sensor module need to be calibrated.

[0113] The above abnormality determination may be performed periodically, irregularly, or based on a temporary trigger request from a user.

[0114] Figure 4FIG. 1 is a flowchart of a method for measuring vehicle torque and angle provided by another embodiment of the present invention. Figure 4 As shown, in order to calibrate the main sensor module and the secondary sensor module when it is determined that an abnormality occurs, such as the difference between the first torque and angle and the second torque and angle is greater than the second difference threshold, in one example of the present application, the measuring method further includes:

[0115] S201: Connecting the vehicle to a standard sensor module of an external device;

[0116] S202: When the vehicle performs a steering test, the control module obtains sensing data from the standard sensor module, the main sensor module, and the auxiliary sensor module and calculates corresponding torque and angle test values ​​respectively;

[0117] S203: The control module determines whether the main sensor module and the secondary sensor module need to be calibrated according to the relationship between the torque and angle test values ​​of the standard sensor module, the main sensor module and the secondary sensor module.

[0118] It should be noted that the torque and angle obtained by the standard sensor module are the reference torque and angle. By comparing the torque and angle obtained by the main sensor module and the auxiliary sensor module with the reference torque and angle, it can be determined which sensor module has a fault, thereby facilitating targeted correction of the corresponding sensor module and reducing the correction workload.

[0119] The main sensor module and the auxiliary sensor module can be configured in various different ways as required, as long as they obtain sensing data according to different modes.

[0120] Specifically, in one example of the present application, the main sensing module includes a gear module meshing with the input shaft, a gear rotation angle measuring element arranged on the gear module, an input rotor and an output rotor respectively arranged at opposite ends of the input shaft and the output shaft, and a rotor rotation angle measuring element arranged between the input shaft and the output shaft.

[0121] The main sensing module acquires the first sensing data of the vehicle through the first mode, including:

[0122] The rotor rotation angle measuring element generates a measurement magnetic field, and measures the rotation angles of the input rotor and the output rotor respectively according to the induced voltage generated when the input rotor and the output rotor cut the measurement magnetic field.

[0123] The gear rotation angle measuring element is used to measure the rotation angle of the gear module.

[0124] The control module calculates the first torque and angle of the vehicle according to the first sensing data, including:

[0125] The control module calculates a first torque and angle of the vehicle according to a rotation angle of the input rotor, a rotation angle of the output rotor, and a rotation angle of the gear module.

[0126] Among them, the measured magnetic field can sense the cutting effect of all components in the magnetic field on the magnetic lines of force. Therefore, the measured magnetic field can cover the positions of the input shaft and the output shaft. When the steering wheel rotates to drive the input rotor and the output rotor to rotate, the rotation of the output rotor and the input rotor will cut the magnetic field. According to the principle of electromagnetic induction, the measured magnetic field induces induced current and induced voltage on the output rotor and the input rotor. The positions of the input rotor and the output rotor in the magnetic field can be obtained through the induced voltage, and then the rotation angles of the input rotor and the output rotor can be obtained.

[0127] Furthermore, the gear module 60 is connected to the steering system. When the steering wheel rotates, the gear module 60 engaged therewith is first driven to rotate, thereby driving the input shaft 10 to rotate. Usually, when a user turns a vehicle, the number of turns of the steering wheel of a small vehicle is 3 turns to the left and right (±1080°), and the number of turns of the steering wheel of a large vehicle is 4 turns to the left and right (±1440°). Then, the rotation angle of the steering wheel is converted into another rotation angle of the input shaft through the transmission ratio i between the input shaft and the gear module. For example, when the steering wheel rotates 296°, the gear module 60 rotates 296°*i based on the transmission ratio i. When i=45:37, the driven gear 61 of the gear module 60 rotates 360°, generating a signal of one cycle, which is equivalent to the period of the driven gear 61 of the gear module 60 being 296°.

[0128] Further, the gear rotation angle measuring element is arranged outside the gear module, and is used to measure the rotation angle of the gear module, preferably the rotation angle of the driven gear 61 of the gear module 60. The control module is connected to both the rotor rotation angle measuring element and the gear rotation angle measuring element, and is used to obtain the first torque and angle according to the rotation angles of the input rotor, the output rotor and the gear module.

[0129] Preferably, the first angle is the least common multiple of the rotation angle of the input rotor and the rotation angle of the driven gear of the gear module, and the first torque is the difference between the rotation angle of the input rotor and the rotation angle of the output rotor.

[0130] Preferably, the rotor rotation angle measuring element comprises: an excitation coil, a receiving coil, a PCB board and a control chip. The excitation coil, the receiving coil and the control chip are all arranged on the PCB board, and the excitation coil and the receiving coil are located on the same end surface of the PCB board. The excitation coil is used to generate the measurement magnetic field, the receiving coil is used to measure the induced voltage generated by the input rotor and the output rotor cutting the measurement magnetic field, and the control chip is used to calculate the rotation angle of the input rotor and the output rotor according to the induced voltage.

[0131] Preferably, the receiving coil is communicatively connected to the control chip to send the induced voltage to the control chip, thereby facilitating the control chip to calculate the rotation angles of the input rotor and the output rotor according to the induced voltage.

[0132] Preferably, both the exciting coil and the receiving coil face the input rotor.

[0133] In order to further ensure the accuracy of the tested steering wheel angle and torque, in a preferred embodiment of the present application, the rotor rotation angle measuring element also includes: a correction coil, which is arranged in a measurement area not affected by torque, i.e., a non-torque influence area (such as an area where the magnetic anisotropy is parallel to the rotation axis of the torque pivot), and at a certain power, without considering external influences, it should output a standard output voltage. However, in reality, the measurement value of the correction coil is not affected by torque, but it will be affected by temperature, etc., making the measurement result different from the standard output voltage. Therefore, the control chip can determine the correction that should be made to the induced voltage measured by the receiving coil based on the difference between the actual measurement result of the correction coil and the standard output voltage, and then calculate the rotation angle of the input rotor and the output rotor based on the corrected induced voltage.

[0134] Further, the secondary sensing module includes an angle sensor and a torque sensor, the angle sensor is arranged in the steering wheel of the vehicle, and the torque sensor is connected to the torsion bar. The angle sensor and the torque sensor may be existing sensors, for example, a photoelectric sensor or a potentiometer sensor. The secondary sensing module acquires the second sensing data of the vehicle through the second mode, including:

[0135] The angle sensor acquires a steering angle of the vehicle, and the torque angle sensor acquires a torque of the vehicle.

[0136] In another embodiment, in order to reduce the equipment setting at the torsion bar, the secondary sensing device may include an angle sensor, a steering wheel position sensor, and a motor position sensor. The angle sensor is used to determine the second angle, and the relative displacement and stiffness are determined according to the steering wheel position obtained by the steering wheel position sensor and the motor position obtained by the motor position sensor, and the relative displacement and stiffness are further used to estimate the second torque.

[0137] Corresponding to the above method, the present application also provides a vehicle torque and angle measurement system. Figure 5 It is a structural block diagram of a vehicle torque and angle measurement system provided by an embodiment of the present invention. Figure 6 FIG. 1 is a partial structural disassembly diagram of a vehicle torque and angle measurement system provided by another embodiment of the present invention. Figure 5 As shown, see also Figure 6 The measurement system includes a control module 100, a main sensor module 200, a secondary sensor module 300, an input shaft 10, an output shaft 20, and a torsion bar located between the input shaft 10 and the output shaft 20.

[0138] The main sensing module 200 is used to obtain first sensing data of the vehicle through a first mode.

[0139] The secondary sensor module 300 is used to obtain second sensing data of the vehicle through a second mode.

[0140] The control module 100 is used to calculate a first torque and an angle of the vehicle according to the first sensing data and determine a final torque and an angle of the vehicle based on the first torque and an angle when it is determined that the first torque and an angle meet a preset condition.

[0141] The control module 100 is also used to obtain the second sensing data to calculate the second torque and angle of the vehicle when it is determined that the first torque and angle do not meet the preset conditions, and determine the final torque and angle of the vehicle based on the first torque and angle and the second torque and angle.

[0142] The first mode is different from the second mode, that is, the working principles of the main sensor module 200 and the secondary sensor module 300 are different.

[0143] The first torque and angle include a first torque and a first angle, and the second torque and angle include a second torque and a second angle.

[0144] Among them, judging whether the first torque and angle meet the preset conditions includes judging whether the release of the first torque meets the preset conditions and judging whether the first angle meets the preset conditions. Of course, it can be understood that the preset conditions set for the first torque and the first angle can be the same or different.

[0145] In the above measurement system, under normal circumstances, the first torque and angle obtained by the main sensor module 200 are used as the final torque and angle. When the first torque and the first angle or one of them does not meet the preset conditions, that is, when an abnormality occurs, the final torque and angle of the vehicle are determined by the first torque and angle and the second torque and angle. In this way, through the complementation between the main sensor module 200 and the secondary sensor module 300, a relatively accurate final torque and angle can still be obtained in abnormal situations, and by setting the working principles of the main sensor module 200 and the secondary sensor module 300 to be different, the accuracy of the final torque and angle can be further guaranteed, thereby improving the robustness of the system.

[0146] Specifically, in one embodiment, the control module 100 is further configured to control the main sensor module 200 to be normally on, and control the auxiliary sensor module 300 to be turned on when the first torque and angle meet preset conditions.

[0147] In this way, when the data collected by the main sensor module 200 is normal, the secondary sensor module 300 is kept turned off. On the one hand, the power used by the secondary sensor module 300 can be saved, and on the other hand, there is no need to calculate the data of the secondary sensor module 300, thereby reducing the amount of calculation of the system.

[0148] Specifically, in one example of the present application, the main sensing module 200 includes a gear module 60 meshing with the input shaft 10, a gear rotation angle measuring element 50 arranged on the gear module 60, an input rotor 11 and an output rotor 21 respectively arranged at opposite ends of the input shaft 10 and the output shaft 20, and a rotor rotation angle measuring element 40 arranged between the input shaft 10 and the output shaft 20.

[0149] Figure 7 FIG. 1 is a structural diagram of a rotor rotation angle measuring element of a vehicle torque and angle measuring system provided by an embodiment of the present invention. Figure 7 As shown, in one embodiment of the present application, the rotor rotation angle measuring element 40 includes: an excitation coil 41, a receiving coil 42, a PCB board 44 and a control chip 43. The excitation coil 41, the receiving coil 42 and the control chip 43 are all arranged on the PCB board 44, and the excitation coil 41 and the receiving coil 42 are located on the same end surface of the PCB board 44. The excitation coil 41 is used to generate the measurement magnetic field, the receiving coil 42 is used to measure the induced voltage generated by the input rotor 11 and the output rotor 21 cutting the measurement magnetic field, and the control chip 43 is used to calculate the rotation angle of the input rotor 11 and the output rotor 21 according to the induced voltage.

[0150] In order to protect the main sensor module 200 , in a specific embodiment of the present application, the measurement system further includes a shell, which is arranged on the outside of the main sensor module 200 and is used to wrap the main sensor module 200 .

[0151] In a further embodiment, the housing includes a cover and a main body, the cover is in the shape of an annular sheet and is sleeved outside the input shaft 10, the main body is in the shape of a barrel and is sleeved outside the input shaft 10 and the output shaft 20, and one end of the main body is connected to the cover to form a space for accommodating the main sensor module 200. It should be noted that the main body covers part of the input shaft 10 and the output shaft 20, but not all of them.

[0152] In a further embodiment, the measuring system further comprises a protective shell, which is disposed in the housing and between the cover and the output rotor 21, and one end of the protective shell abuts against the cover to wrap the rotor rotation angle measuring element 40. This can provide more effective protection for the rotor rotation angle measuring element to minimize damage to the rotor when the vehicle is bumpy.

[0153] In a specific embodiment, the cover body is connected to the main body by at least one of a fastener, a slot, a nail hole and / or glue, and the cover body is connected to the protective shell by at least one of a fastener, a slot, a nail hole and / or glue.

[0154] In a preferred embodiment, the PCB board 44 is connected to the protective shell in both the axial and radial directions of the input shaft 10 to improve the stability of the PCB board. The PCB board is connected to the protective shell by at least one of a fastener, a slot, a nail hole and / or glue.

[0155] The auxiliary sensor module 300 may be specifically described in the related part of the above method, which will not be described in detail here.

[0156] The technical solution provided by the present invention is described in detail above. The structure and implementation methods of the present invention are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle torque and angle measurement method, applied to a vehicle torque and angle measurement system, characterized in that: The measurement system includes a control module, a main sensor module, a secondary sensor module, an input shaft, an output shaft, and a torsion bar located between the input shaft and the output shaft; The measuring method comprises: The main sensing module acquires first sensing data of the vehicle through a first mode; The control module calculates a first torque and angle of the vehicle according to the first sensing data; The control module determines whether the first torque and angle meet preset conditions; If satisfied, the control module determines the final torque and angle of the vehicle using the first torque and angle; If not, the secondary sensing module obtains second sensing data of the vehicle through a second mode; The control module calculates a second torque and angle of the vehicle according to the second sensing data; The control module determines a final torque and angle of the vehicle based on the first torque and angle and the second torque and angle; The first mode is different from the second mode.

2. The measuring method according to claim 1, characterized in that: The control module determines whether the first torque and angle meet the preset conditions including: The control module determines whether the first torque and angle are lower than a maximum threshold; and / or, The control module determines whether the first torque and angle are higher than a minimum threshold; and / or, The control module determines whether a difference between the first torque and angle and a previous final torque and angle of the vehicle is less than a first difference threshold.

3. The measuring method according to claim 1, characterized in that: The control module determines the final torque and angle of the vehicle according to the first torque and angle and the second torque and angle, including: The control module determines whether the second torque and angle meet the preset condition; If satisfied, the control module determines the final torque and angle of the vehicle using the second torque and angle; If not, the control module determines whether the difference between the first torque and angle and the second torque and angle is greater than a second difference threshold; If it is not greater than the second difference threshold, the average value of the first torque and angle and the second torque and angle is taken as the final torque and angle of the vehicle.

4. The measuring method according to claim 1, characterized in that: The measuring method further comprises: The control module obtains the first torque and angle and the second torque and angle and calculates whether the difference between the two is greater than a second difference threshold; If the difference is greater than the second difference threshold, the control module initiates a correction operation for the main sensing module and the slave sensing module.

5. The measuring method according to claim 4, characterized in that: The measuring method further comprises: Connecting the vehicle to a standard sensor module of an external device; When the vehicle performs a steering test, the control module obtains sensing data from the standard sensor module, the main sensor module and the auxiliary sensor module and calculates and obtains corresponding torque and angle test values ​​respectively; The control module determines whether the main sensor module and the slave sensor module need to be calibrated according to the relationship between the torque and angle test values ​​of the standard sensor module, the main sensor module and the slave sensor module.

6. The measuring method according to claim 1, characterized in that: The main sensing module includes a gear module meshed with the input shaft, a gear rotation angle measuring element arranged on the gear module, an input rotor and an output rotor respectively arranged at opposite ends of the input shaft and the output shaft, and a rotor rotation angle measuring element arranged between the input shaft and the output shaft; The main sensing module acquires the first sensing data of the vehicle through the first mode, including: The rotor rotation angle measuring element generates a measurement magnetic field, and measures the rotation angles of the input rotor and the output rotor respectively according to the induced voltage generated when the input rotor and the output rotor cut the measurement magnetic field; The gear rotation angle measuring element measures the rotation angle of the gear module; The control module calculates the first torque and angle of the vehicle according to the first sensing data, including: The control module calculates a first torque and angle of the vehicle according to a rotation angle of the input rotor, a rotation angle of the output rotor, and a rotation angle of the gear module.

7. The measuring method according to claim 6, characterized in that: The rotor rotation angle measuring element comprises: an excitation coil, a receiving coil, a PCB board and a control chip; The excitation coil, the receiving coil and the control chip are all arranged on the PCB board, and the excitation coil and the receiving coil are located on the same end surface of the PCB board; The excitation coil is used to generate the measurement magnetic field; The receiving coil is used to measure the induced voltage generated by the input rotor and the output rotor cutting the measurement magnetic field; The control chip is used to calculate the rotation angles of the input rotor and the output rotor according to the induced voltage.

8. The measuring method according to claim 7, characterized in that: The rotor rotation angle measuring element further includes: a correction coil, which is arranged in a non-torque influence area and has a standard output voltage, and is used to measure the correction voltage generated by the input rotor and the output rotor cutting the measurement magnetic field; The control chip is used to calculate the rotation angles of the input rotor and the output rotor according to the induced voltage, including: The control chip corrects the induced voltage according to the difference between the corrected voltage and the standard output voltage and calculates the rotation angles of the input rotor and the output rotor according to the corrected induced voltage.

9. The measuring method according to claim 1, characterized in that: The secondary sensing module includes an angle sensor and a torque sensor, wherein the angle sensor is arranged in the steering wheel of the vehicle, and the torque sensor is connected to the torsion bar; The secondary sensing module acquiring the second sensing data of the vehicle through the second mode includes: The angle sensor acquires a steering angle of the vehicle, and the torque sensor acquires a torque of the vehicle.

10. A vehicle torque and angle measurement system, characterized in that: The measurement system includes a control module, a main sensor module, a secondary sensor module, an input shaft, an output shaft, and a torsion bar located between the input shaft and the output shaft; The main sensing module is used to obtain first sensing data of the vehicle through a first mode; The secondary sensing module is used to obtain second sensing data of the vehicle through a second mode; The control module is used to calculate a first torque and angle of the vehicle according to the first sensing data and determine a final torque and angle of the vehicle based on the first torque and angle when it is determined that the first torque and angle meet a preset condition; The control module is further configured to obtain the second sensing data to calculate the second torque and angle of the vehicle when it is determined that the first torque and angle do not meet a preset condition, and determine the final torque and angle of the vehicle according to the first torque and angle and the second torque and angle; The first mode is different from the second mode.

Images