Steering wheel turning angle detection method, terminal equipment and storage medium

Abstract

The invention relates to a steering wheel rotation angle detection method, terminal equipment and a storage medium. The method comprises the following steps: carrying out acceleration acquisition at a fixed period through an acceleration sensor mounted on a steering wheel; and according to the distance from the acceleration sensor to the rotation center of the steering wheel and the acceleration value acquired by the acceleration sensor in a period of time, the rotation angle of the steering wheel in the period of time is calculated. According to the invention, only one single-axis acceleration sensor is needed, accurate steering wheel rotation angle detection can be realized, and the method has the advantages of low cost and easy use.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a steering wheel angle detection method, terminal equipment and storage medium. Background Art

[0002] The existing automotive steering wheel angle sensor uses a mechanical structure of multiple gears to measure the angle and the number of turns. Although the measurement results are relatively accurate, there are problems such as complex structure and high cost. For some low-cost vehicles, it is necessary to study a more low-cost and accurate steering wheel angle detection method. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes a steering wheel angle detection method, a terminal device and a storage medium.

[0004] The specific plan is as follows:

[0005] A method for detecting a steering wheel angle comprises the following steps:

[0006] Acceleration is collected at a fixed period through an acceleration sensor installed on the steering wheel;

[0007] The angle that the steering wheel has turned during this period of time is calculated based on the distance from the acceleration sensor to the rotation center of the steering wheel and the acceleration values ​​collected by the acceleration sensor during a period of time.

[0008] Furthermore, the angle that the steering wheel has turned during this period of time The calculation formula is:

[0009]

[0010]

[0011] s i =v i T

[0012] Among them, ω i represents the angle of the steering wheel at the i-th sampling moment during this period of time, i∈[1,n], n represents that this period of time includes n sampling moments, r represents the distance from the acceleration sensor to the steering wheel rotation center, s i represents the displacement at the i-th sampling moment during this period of time, T represents the period, and v i It represents the moving speed of the acceleration sensor along the rotation tangential direction at the i-th sampling moment within this period of time.

[0013] Furthermore, the moving speed of the acceleration sensor along the tangential direction of rotation at a certain sampling moment is calculated by Simpson's one-third rule.

[0014] Furthermore, the acceleration sensor adopts a single-axis acceleration sensor in a MEMS sensor.

[0015] Furthermore, the acceleration sensor is mounted on the outer circle of the steering wheel.

[0016] A steering wheel angle detection terminal device comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method in an embodiment of the present invention when executing the computer program.

[0017] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described above in an embodiment of the present invention are implemented.

[0018] The present invention adopts the above technical solution and only needs one single-axis acceleration sensor to achieve relatively accurate steering wheel angle detection, which has the advantages of low cost and easy use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shown is a flow chart of Embodiment 1 of the present invention.

[0020] Figure 2 The figure shows a schematic diagram of the working process of the acceleration sensor after installation in this embodiment. DETAILED DESCRIPTION

[0021] To further illustrate various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in this field should be able to understand other possible implementations and advantages of the present invention.

[0022] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0023] Embodiment 1:

[0024] The embodiment of the present invention provides a method for detecting a steering wheel angle. Figure 1 As shown, the method comprises the following steps:

[0025] S1: Acceleration is collected at a fixed period through the acceleration sensor installed on the steering wheel.

[0026] S2: Calculate the angle that the steering wheel has turned during a period of time according to the distance from the acceleration sensor to the rotation center of the steering wheel and the acceleration value collected by the acceleration sensor during a period of time.

[0027] In this embodiment, the acceleration sensor preferably adopts a single-axis acceleration sensor among MEMS sensors, which has competitive advantages such as miniaturization, low weight, low power consumption, low cost, and multiple functions. The installation position is preferably installed on the outer circle of the steering wheel.

[0028] like Figure 2 The figure shows the working process of the acceleration sensor after installation, where A is the steering column, M is the sensor, B is the fixed rod connected to the steering column and perpendicular to A, and M is installed on B so that when the steering column rotates, M can also rotate coaxially by the same angle. The detection direction of the acceleration sensor is perpendicular to both B and A and tangent to the rotation trajectory. n Represents the output acceleration value of the acceleration sensor at the nth sampling moment.

[0029] The formula for calculating the angle that the steering wheel has turned over a period of time is:

[0030]

[0031]

[0032] s i =v i T

[0033] Among them, ω i represents the angle of the steering wheel at the i-th sampling moment during this period of time, i∈[1,n], n represents that this period of time includes n sampling moments, and r represents the distance from the acceleration sensor to the steering wheel rotation center (i.e. Figure 2 Distance from sensor M to steering column A), s i represents the displacement at the i-th sampling moment during this period of time, T represents the period, and v i It represents the moving speed of the acceleration sensor along the rotation tangential direction at the i-th sampling moment within this period of time.

[0034] In this embodiment, the moving speed of the acceleration sensor along the rotation tangential direction at a certain sampling moment is calculated by Simpson's one-third rule. The specific calculation formula is:

[0035]

[0036] Among them, v n-1 and v n They represent the moving speed of the acceleration sensor along the tangential direction of rotation at the n-1th and nth sampling moments, respectively. n-1 and x n-2 Respectively represent the output acceleration values ​​of the acceleration sensor at the n-1th and n-2th sampling moments.

[0037] The embodiment of the present invention only requires one single-axis acceleration sensor to achieve relatively accurate steering wheel angle detection, and has the advantages of low cost and ease of use.

[0038] Embodiment 2:

[0039] The present invention also provides a steering wheel angle detection terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the above-mentioned method embodiment of the first embodiment of the present invention when executing the computer program.

[0040] Further, as an executable solution, the steering wheel angle detection terminal device may be a computing device such as a vehicle-mounted computer, a cloud server, etc. The steering wheel angle detection terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art may understand that the composition structure of the above-mentioned steering wheel angle detection terminal device is only an example of a steering wheel angle detection terminal device, and does not constitute a limitation on the steering wheel angle detection terminal device. It may include more or less components than the above-mentioned components, or a combination of certain components, or different components. For example, the steering wheel angle detection terminal device may also include input and output devices, network access devices, buses, etc., which are not limited in the embodiments of the present invention.

[0041] Further, as an executable solution, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the steering wheel angle detection terminal device, and uses various interfaces and lines to connect various parts of the entire steering wheel angle detection terminal device.

[0042] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the steering wheel angle detection terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0043] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

[0044] If the module / unit integrated in the steering wheel angle detection terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc.

[0045] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for detecting a steering wheel angle, characterized in that: The following steps are involved: Acceleration is collected at a fixed period through an acceleration sensor installed on the steering wheel; The angle that the steering wheel has turned during this period of time is calculated based on the distance from the acceleration sensor to the rotation center of the steering wheel and the acceleration values ​​collected by the acceleration sensor during a period of time.

2. The steering wheel angle detection method according to claim 1, characterized in that: The angle the steering wheel has turned during this period of time The calculation formula is: s i =v i T Among them, ω i represents the angle of the steering wheel at the i-th sampling moment during this period of time, i∈[1,n], n represents that this period of time includes n sampling moments, r represents the distance from the acceleration sensor to the steering wheel rotation center, s i represents the displacement at the i-th sampling moment during this period of time, T represents the period, and v i It represents the moving speed of the acceleration sensor along the rotation tangential direction at the i-th sampling moment within this period of time.

3. The steering wheel angle detection method according to claim 2, characterized in that: The moving speed of the acceleration sensor along the tangential direction of rotation at a certain sampling moment is calculated by Simpson's one-third rule.

4. The steering wheel angle detection method according to claim 1, characterized in that: The acceleration sensor adopts a single-axis acceleration sensor in a MEMS sensor.

5. The steering wheel angle detection method according to claim 1, characterized in that: The acceleration sensor is installed on the outer circle of the steering wheel.

6. A steering wheel angle detection terminal device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the methods of claims 1 to 5 when executing the computer program.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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