Mechanism, method, computer-readable storage medium and vehicle for measuring the position of a steering rack

Abstract

This application discloses a mechanism, method, computer-readable storage medium, and automobile for measuring the position of a steering rack. The mechanism for measuring the position of the steering rack includes: a sensor disposed at a steering rack actuator housing, the sensor having an excitation circuit, a first receiving circuit, and a second receiving circuit; and a sensing element disposed at the steering rack. Movement of the steering rack relative to the steering rack actuator housing can cause movement of the sensing element relative to the sensor. The excitation circuit is used to excite an induced current in the sensing element, the induced current generating an induced magnetic field. The first receiving circuit generates a first voltage due to the induced magnetic field, and the second receiving circuit generates a second voltage due to the induced magnetic field. The mechanism for measuring the position of the steering rack according to this application can measure the position of the steering rack.

Description

Technical Field

[0001] This application relates to the automotive field, and more specifically, to a mechanism for measuring the position of a steering rack, a method for measuring the position of a steering rack, a computer-readable storage medium, and an automobile having such a mechanism for measuring the position of a steering rack. Background Technology

[0002] Steer-by-wire (SBW) systems eliminate the mechanical connection between the steering wheel and the steering wheels, using an electric motor to drive the steering system and control the car's steering. The SBW system includes a steering wheel, which the driver uses to provide a steering request angle. The controller then drives a steering rack based on the requested steering angle, causing the wheels connected to the rack to turn. Each time the vehicle is started, the SBW system needs to obtain the position of the steering rack. Summary of the Invention

[0003] The main technical problem this application aims to solve is how to measure the position of the steering rack.

[0004] To address the aforementioned technical problems, this application provides a mechanism for measuring the position of a steering rack, the mechanism comprising:

[0005] A sensor is installed in the housing of the steering rack actuator, and the sensor includes an excitation circuit, a first receiving circuit, and a second receiving circuit.

[0006] A sensor is located on the steering rack, and the movement of the steering rack relative to the steering rack actuator housing can cause the sensor to move relative to the sensor.

[0007] The excitation circuit is used to excite an induced current in the sensing element, the induced current can generate an induced magnetic field, the first receiving circuit can generate a first voltage due to the induced magnetic field, and the second receiving circuit can generate a second voltage due to the induced magnetic field.

[0008] On the other hand, this application provides a method for measuring the position of a steering rack, wherein...

[0009] A sensor is installed in the housing of the steering rack actuator, and the sensor includes an excitation circuit, a first receiving circuit, and a second receiving circuit.

[0010] A sensor is installed at the steering rack, and the movement of the steering rack relative to the steering rack actuator housing can drive the sensor to move relative to the sensor.

[0011] The excitation circuit excites an induced current in the sensing element, and the induced current generates an induced magnetic field. The first receiving circuit generates a first voltage due to the induced magnetic field, and the second receiving circuit generates a second voltage due to the induced magnetic field. The position of the steering rack relative to the steering rack actuator housing is determined based on the values ​​of the first voltage and the second voltage.

[0012] In another aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned method.

[0013] Furthermore, this application provides an automobile that includes the aforementioned mechanism for measuring the position of the steering rack.

[0014] According to the technical solution of this application, a sensor and an inductive element are respectively disposed on the steering rack actuator housing and the steering rack. An induced current is excited in the inductive element through an excitation circuit. The induced current generates an induced magnetic field. A first receiving circuit generates a first voltage due to the induced magnetic field, and a second receiving circuit generates a second voltage due to the induced magnetic field. The position of the steering rack relative to the steering rack actuator housing is obtained based on the values ​​of the first voltage and the second voltage. Attached Figure Description

[0015] The disclosure of this application is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Wherein:

[0016] Figure 1 The illustration schematically shows a steering system that includes a mechanism for measuring the position of a steering rack according to one embodiment of this application;

[0017] Figure 2 The exploded diagram is shown schematically. Figure 1 A portion of the mechanism used to measure the position of the steering rack; and

[0018] Figure 3 The diagram is shown in an enlarged view. Figure 2 Printed circuit board components in the process. Detailed Implementation

[0019] The embodiments of this application will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of this application.

[0020] Please see Figures 1 to 3As shown, a mechanism for measuring the position of a steering rack according to a specific embodiment of this application includes a sensor 13 disposed at a steering rack actuator housing 10 and a sensing element 21 disposed at a steering rack 20. The steering rack 20 is located in the steering rack actuator housing 10 and is movable relative to the steering rack actuator housing 10, for example, by translation. The sensing element 21 may be metal, such as copper. The sensor 13 is provided with an excitation circuit 14, a first receiving circuit 11, and a second receiving circuit 12. The excitation circuit 14, the first receiving circuit 11, and the second receiving circuit 12 are formed, for example, in a printed circuit board assembly 15 embedded in the sensor 13.

[0021] refer to Figure 3 As shown, the excitation circuit 14 extends approximately the same distance as the first receiving circuit 11 and the second receiving circuit 12, and the excitation circuit 14 is rectangular in shape and surrounds the first receiving circuit 11 and the second receiving circuit 12. The movement of the steering rack 20 relative to the steering rack actuator housing 10 can drive the sensing element 21 to move relative to the sensor 13. According to Lenz's law, the excitation circuit 14 is used to excite an induced current in the sensing element 21, which generates an induced magnetic field. The first receiving circuit 11 generates a first voltage due to the induced magnetic field, and the second receiving circuit 12 generates a second voltage due to the induced magnetic field.

[0022] In this technical solution according to the present application, sensor 13 and sensing element 21 are respectively disposed at steering rack actuator housing 10 and steering rack 20. First, an induced current is excited in sensing element 21 through excitation circuit 14. The induced current generates an induced magnetic field. Then, first receiving circuit 11 and second receiving circuit 12 generate a first voltage and a second voltage respectively due to the induced magnetic field. Then, based on the values ​​of the first voltage and the second voltage, for example by looking up a table or calculation, the position of sensor 13 relative to sensing element 21, that is, the position of steering rack 20 relative to steering rack actuator housing 10, is obtained. Since the position of steering rack actuator housing 10 relative to the vehicle body is fixed, the position of steering rack 20 relative to the vehicle body can be obtained from the position of steering rack 20 relative to steering rack actuator housing 10, and thus the steering angle of the wheel can be obtained.

[0023] The first receiving circuit 11 and the second receiving circuit 12 can be configured as harmonic shapes, for example, the first receiving circuit 11 and the second receiving circuit 12 can be configured as harmonic shapes with a complete cycle, so as to better generate the first voltage and the second voltage under the action of the induced magnetic field, and thus the position of the steering rack 20 relative to the steering rack actuator housing 10 can be obtained by the values ​​of the first voltage and the second voltage.

[0024] The first receiving circuit 11 and the second receiving circuit 12 can be constructed with the same sinusoidal wave shape and their phase difference is 90 degrees, reference Figure 3 As shown. The first receiving circuit 11 and the second receiving circuit 12 are constructed with the same sinusoidal wave shape, such that the highest amplitudes of the first voltage and the second voltage generated in the first receiving circuit 11 and the second receiving circuit 12 are the same. The phase difference between the first receiving circuit 11 and the second receiving circuit 12 is 90 degrees, which allows for better differentiation between the first voltage and the second voltage generated in the first receiving circuit 11 and the second receiving circuit 12. In this way, the values ​​of the first voltage and the second voltage generated in the first receiving circuit 11 and the second receiving circuit 12 can be better processed and analyzed.

[0025] The excitation circuit 14, the first receiving circuit 11, and the second receiving circuit 12 are constructed to be sufficiently long, or the sensing element 21 is constructed to be sufficiently long, such that during the movement of the steering rack 20 relative to the steering rack actuator housing 10, the first receiving circuit 11 and the second receiving circuit 12 can always generate a first voltage and a second voltage, respectively. That is, throughout the entire stroke of the steering rack 20 (e.g., 200 mm), the position of the steering rack 20 can always be determined by the first voltage and the second voltage generated in the first receiving circuit 11 and the second receiving circuit 12, respectively.

[0026] For example, the excitation circuit 14, the first receiving circuit 11 and the second receiving circuit 12 are constructed to be relatively short, and the sensing element 21 is constructed to be relatively long, and the excitation circuit 14, the first receiving circuit 11 and the second receiving circuit 12 are always located in the region corresponding to the extension range of the sensing element 21.

[0027] As another example, the sensing element 21 is constructed to be relatively short, while the excitation circuit 14, the first receiving circuit 11, and the second receiving circuit 12 are constructed to be relatively long, and the sensing element 21 is always located in the region corresponding to the extension range of the excitation circuit 14, the first receiving circuit 11, and the second receiving circuit 12.

[0028] At least two sets of sensors 21 may be provided at the steering rack 20, and the sensor 13 is provided with an excitation circuit 14, a first receiving circuit 11 and a second receiving circuit 12 corresponding to each set of sensors 21.

[0029] For example, refer to Figure 2 As shown, two sets of sensors 21, namely a first set and a second set, are provided at the steering rack 20. The sensor 13 has a first set of excitation circuits, a first set of receiving circuits, and a second set of receiving circuits corresponding to the first set of sensors, and a second set of excitation circuits, a first set of receiving circuits, and a second set of receiving circuits corresponding to the second set of sensors. Similar to the previously described principle, the relative position of the first set of sensors can be determined through the first set of sensors and their corresponding first set of excitation circuits, first set of receiving circuits, and second set of receiving circuits; similarly, the relative position of the second set of sensors can be determined through the second set of sensors and their corresponding second set of excitation circuits, first set of receiving circuits, and second set of receiving circuits. The relative position results of the first and second sets of sensors are analyzed and processed to determine the position of the steering rack 20 relative to the steering rack actuator housing 10. In this way, at least one of the following effects can be achieved: redundancy design, in the event of failure of one set of sensors and their corresponding excitation circuit, first receiving circuit and second receiving circuit, the position of the steering rack 20 relative to the steering rack actuator housing 10 can be obtained through another set of sensors and their corresponding excitation circuit, first receiving circuit and second receiving circuit, thereby improving the reliability of the system; combining the relative positions of the two sets of sensors obtained, thereby better determining the position of the steering rack 20 relative to the steering rack actuator housing 10, for example, improving accuracy or range.

[0030] Further, refer to Figure 2 As shown, multiple sensors 21 can be provided in each group, and the lengths of the sensors 21 in different groups are different. For example, the first group of sensors includes multiple first sub-sensors, each with the same length and the same spacing between them; the second group of sensors includes multiple second sub-sensors, each with the same length and the same spacing between them; the length of the first sub-sensors is different from the length of the second sub-sensors. The relative positions of the two groups of sensors can be processed using a vernier algorithm to determine the position of the steering rack 20 relative to the steering rack actuator housing 10. In this way, the excitation circuit 14, the first receiving circuit 11, and the second receiving circuit 12 in the sensor 13 can be constructed to be relatively short, for example, the excitation circuit 14, the first receiving circuit 11, and the second receiving circuit 12 only cover the area corresponding to the extension range of one sub-sensor, thereby reducing the size and weight of the printed circuit board assembly 15 and the sensor 13.

[0031] According to a specific embodiment of this application, a method for measuring the position of a steering rack is provided, in which...

[0032] A sensor 13 is installed at the housing 10 of the steering rack actuator. The sensor 13 includes an excitation circuit 14, a first receiving circuit 11, and a second receiving circuit 12.

[0033] A sensor 21 is provided at the steering rack 20. The movement of the steering rack 20 relative to the steering rack actuator housing 10 can drive the sensor 21 to move relative to the sensor 13.

[0034] The excitation circuit 14 excites an induced current in the sensing element 21, and the induced current generates an induced magnetic field. The first receiving circuit 11 generates a first voltage due to the induced magnetic field, and the second receiving circuit 12 generates a second voltage due to the induced magnetic field. The position of the steering rack 20 relative to the steering rack actuator housing 10 is determined based on the values ​​of the first voltage and the second voltage.

[0035] For example, in the method, the values ​​of the first voltage and the second voltage at multiple positions of the steering rack 20 relative to the steering rack actuator housing 10 are first recorded, and the position of the steering rack 20 relative to the steering rack actuator housing 10 is determined based on the recorded values ​​after the first voltage and the second voltage are measured.

[0036] For example, calibration is performed first. During calibration, the steering rack 20 travels its full stroke, and the values ​​of the first and second voltages are recorded at various positions of the steering rack 20 relative to the steering rack actuator housing 10. During vehicle operation, after measuring the values ​​of the first and second voltages, the records are consulted to determine the position of the steering rack 20 relative to the steering rack actuator housing 10. Alternatively, during calibration, only the values ​​of the first and second voltages at a few positions of the steering rack 20 relative to the steering rack actuator housing 10 are recorded, while the values ​​at other positions are obtained through algorithms, such as fitting.

[0037] At least two sets of sensors 21 may be provided at the steering rack 20, and the sensor 13 shall have an excitation circuit 14, a first receiving circuit 11 and a second receiving circuit 12 corresponding to each set of sensors 21. In each set, the transmission frequency of the excitation circuit 14 may be set to be different.

[0038] For example, two sets of sensors are provided at the steering rack 20, namely a first set of sensors and a second set of sensors. The sensor 13 has a first set of excitation circuits, a first set of receiving circuits, and a second set of receiving circuits corresponding to the first set of sensors, and a second set of excitation circuits, a first set of receiving circuits, and a second set of receiving circuits corresponding to the second set of sensors. Similar to the previously described principle, the relative position of the first set of sensors can be determined through the first set of sensors and their corresponding first set of excitation circuits, first set of receiving circuits, and second set of receiving circuits. The relative position of the second set of sensors can be determined through the second set of sensors and their corresponding second set of excitation circuits, first set of receiving circuits, and second set of receiving circuits. The obtained relative position results of the first and second sets of sensors are analyzed and processed to determine the position of the steering rack 20 relative to the steering rack actuator housing 10.

[0039] Furthermore, in the method, the position of the steering rack 20 relative to the steering rack actuator housing 10 can be determined using a vernier algorithm based on the values ​​of the first and second voltages in each group (and thus the relative positions of the sensors 21 in each group).

[0040] For example, multiple sensors can be provided in each group, with different lengths for the sensors in different groups. For instance, the first group of sensors includes multiple first sub-sensors, all of which are of the same length; the second group of sensors includes multiple second sub-sensors, all of which are of the same length, while the lengths of the first sub-sensors differ from the lengths of the second sub-sensors. The relative positions of the two groups of sensors can be processed using a vernier algorithm to determine the position of the steering rack 20 relative to the steering rack actuator housing 10.

[0041] The effects of the features already described regarding the method for measuring the position of the steering rack correspond to the previous descriptions of the mechanism for measuring the position of the steering rack, and will not be repeated here. The method for measuring the position of the steering rack also includes other features of the mechanism previously described for measuring the position of the steering rack, which will not be repeated here.

[0042] This application also includes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in any one or more of the foregoing embodiments. The technical features and effects thereon correspond to the foregoing description and will not be repeated here.

[0043] This application also includes an automobile with a mechanism for measuring the position of a steering rack according to any one or more of the foregoing embodiments, the technical features and effects of which correspond to the foregoing description, and therefore will not be repeated here.

Claims

1. A mechanism for measuring the position of a steering rack, characterized in that, The institutions include: A sensor (13) is disposed in the housing (10) of the steering rack actuator. The sensor (13) includes an excitation circuit (14), a first receiving circuit (11), and a second receiving circuit (12). A sensor (21) is disposed at the steering rack (20). The movement of the steering rack (20) relative to the steering rack actuator housing (10) can drive the sensor (21) to move relative to the sensor (13). The excitation circuit (14) is used to excite an induced current in the sensing element (21), the induced current is able to generate an induced magnetic field, the first receiving circuit (11) is able to generate a first voltage due to the induced magnetic field, and the second receiving circuit (12) is able to generate a second voltage due to the induced magnetic field.

2. The mechanism for measuring the position of a steering rack according to claim 1, characterized in that, The first receiving circuit (11) and the second receiving circuit (12) are respectively constructed in harmonic shapes.

3. The mechanism for measuring the position of a steering rack according to claim 2, characterized in that, The first receiving circuit (11) and the second receiving circuit (12) are constructed with the same sine wave shape and their phase difference is 90 degrees.

4. The mechanism for measuring the position of a steering rack according to claim 1, characterized in that, The excitation circuit (14), the first receiving circuit (11), and the second receiving circuit (12) are constructed to be long enough, or the sensing element (21) is constructed to be long enough, such that during the movement of the steering rack (20) relative to the steering rack actuator housing (10), the first receiving circuit (11) and the second receiving circuit (12) are always able to generate a first voltage and a second voltage, respectively.

5. The mechanism for measuring the position of a steering rack according to claim 4, characterized in that, At least two sets of sensors are provided at the steering rack, and the sensor is provided with an excitation circuit, a first receiving circuit and a second receiving circuit corresponding to each set of sensors.

6. The mechanism for measuring the position of a steering rack according to claim 5, characterized in that, Each group has multiple sensors, and the lengths of the sensors in different groups are different.

7. A method for measuring the position of a steering rack, characterized in that, In the method, A sensor (13) is installed in the housing (10) of the steering rack actuator. The sensor (13) includes an excitation circuit (14), a first receiving circuit (11), and a second receiving circuit (12). A sensor (21) is provided at the steering rack (20). The movement of the steering rack (20) relative to the steering rack actuator housing (10) can drive the sensor (21) to move relative to the sensor (13). The excitation circuit (14) excites an induced current in the sensing element (21), the induced current generates an induced magnetic field, the first receiving circuit (11) generates a first voltage due to the induced magnetic field, the second receiving circuit (12) generates a second voltage due to the induced magnetic field, and the position of the steering rack (20) relative to the steering rack actuator housing (10) is determined based on the values ​​of the first voltage and the second voltage.

8. The method for measuring the position of a steering rack according to claim 7, characterized in that, In the method, the values ​​of the first voltage and the second voltage at multiple positions of the steering rack (20) relative to the steering rack actuator housing (10) are first recorded, and the position of the steering rack (20) relative to the steering rack actuator housing (10) is determined based on the recorded values ​​of the first voltage and the second voltage.

9. The method for measuring the position of a steering rack according to claim 7, characterized in that, In the method, at least two sets of sensors are provided at the steering rack, and the sensor is provided with an excitation circuit, a first receiving circuit and a second receiving circuit corresponding to each set of sensors.

10. The method for measuring the position of a steering rack according to claim 9, characterized in that, In the method, the position of the steering rack (20) relative to the steering rack actuator housing (10) is determined using a vernier algorithm based on the values ​​of the first voltage and the second voltage in each group.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program performs the steps of the method described in any one of claims 7 to 10.

12. A car, characterized in that, It includes a mechanism for measuring the position of the steering rack according to any one of claims 1 to 6.

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