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KR20030046785A - Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor - Google Patents

Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor Download PDF

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Publication number
KR20030046785A
KR20030046785A KR1020010077040A KR20010077040A KR20030046785A KR 20030046785 A KR20030046785 A KR 20030046785A KR 1020010077040 A KR1020010077040 A KR 1020010077040A KR 20010077040 A KR20010077040 A KR 20010077040A KR 20030046785 A KR20030046785 A KR 20030046785A
Authority
KR
South Korea
Prior art keywords
yaw rate
gyroscope sensor
steering angle
rate gyroscope
steering
Prior art date
Application number
KR1020010077040A
Other languages
Korean (ko)
Inventor
정용균
고영훈
Original Assignee
금호산업주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 금호산업주식회사 filed Critical 금호산업주식회사
Priority to KR1020010077040A priority Critical patent/KR20030046785A/en
Publication of KR20030046785A publication Critical patent/KR20030046785A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

PURPOSE: A steering angle measuring method is provided to precisely measure a steering angle of a steering wheel by installing a yaw rate gyroscope sensor on the steering wheel or a steering shaft. CONSTITUTION: A yaw rate gyroscope sensor(40) is used for measure a steering angle of a steering wheel(10). The yaw rate gyroscope sensor(40) has a compact size and superior endurance against external impact. The yaw means a movement in left and right directions. The yaw rate gyroscope sensor(40) is installed on the steering wheel(10) or on a steering shaft(30). When a driver operates the steering wheel(10) in left and right directions, the yaw rate gyroscope sensor(40) detects the movement of the steering wheel(10), thereby calculating an angular velocity. When a vehicle straightly runs, a value of the yaw rate gyroscope sensor(40) is zero.

Description

요 레이트 자이로 센서를 이용한 조향각 측정방법{Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor}Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor}

본 발명은 자동차의 성능시험을 위한 것으로 스티어링 휠의 조향각 측정방법에 관한 것으로 보다 더 상세하게는 요 레이트 자이로스코프(Yaw Rate Gyroscope)를 이용한 조향각 측정방법에 관한 것이다.The present invention relates to a steering angle measurement method of a steering wheel for a performance test of a vehicle, and more particularly, to a steering angle measurement method using a yaw rate gyroscope.

차량의 안전성 및 내구성 등을 시험하기 위하여 차량 성능에 대하여 여러 시험을 행하게 된다.In order to test the safety and durability of the vehicle, various tests are performed on the vehicle performance.

이와 같은 차량 성능 측정을 위한 시험의 일환으로 스티어릴휠(핸들)의 조향각 측정이 필요한데, 종래의 스티어링휠 조향각 측정기는 도 1 에 도시된 바와 같이 스티어링휠(10) 위에 설치된다. 종래의 스티어링휠 조향각 측정기(20)는 그 저면에 3축지지대(21)가 형성되어 이 3축지지대(21)에 의하여 스티어링휠(10) 위에 고정 설치되며 시험시에 스티어링 휠(10)에 진동이 심하므로 견고하게 고정되어야 한다. 따라서 조향각 측정기(20)를 설치하는 작업이 오래걸리고 고장발생이 빈번하고 장비의 특성상 수리시간이 오래걸리는 등 어려움이 있다.As part of the test for measuring the vehicle performance, steering angle measurement of the steering wheel (handle) is required. The conventional steering wheel steering angle measuring device is installed on the steering wheel 10 as shown in FIG. 1. The conventional steering wheel steering angle measuring device 20 has a triaxial support 21 formed on the bottom thereof, and is fixedly installed on the steering wheel 10 by the triaxial support 21 and vibrated on the steering wheel 10 during the test. It is so severe that it must be firmly fixed. Therefore, the work of installing the steering angle measuring device 20 takes a long time, the occurrence of failure frequently, and the repair time takes a long time due to the characteristics of the equipment.

상기와 같이 종래의 조향각측정 방법의 문제점을 해결하기 위하여 본 발명이 창안된 것으로 본 발명에 따른 조향각 측정방법은 요 레이트 자이로스코프 센서를 스티어링 휠이나 스티어링 샤프트에 설치하여 조향각을 측정하도록하는데 그 특징이 있다.In order to solve the problems of the conventional steering angle measuring method as described above, the steering angle measuring method according to the present invention is to install a yaw rate gyroscope sensor on a steering wheel or a steering shaft to measure the steering angle. have.

도 1 은 종래의 조향각 측정방법을 구현하는 상태도1 is a state diagram for implementing a conventional steering angle measurement method

도 2 는 본 발명에 따른 조향각 측정방법을 구현함에 있어서 스티어링 휠에 요 레이트 자이로 센서를 장착한 상태도2 is a state in which a yaw rate gyro sensor is mounted on a steering wheel in implementing a steering angle measuring method according to the present invention;

도 3 은 본 발명에 따른 조향각 측정방법을 구현함에 있어서 스티어링 샤프 트에 요레이트 자이로 센서를 장착한 상태도3 is a state in which the yaw rate gyro sensor is mounted on the steering shaft in implementing the steering angle measuring method according to the present invention;

***도면의 주요부호에 대한 설명****** Explanation of major symbols in drawings ***

10 : 스티어링 휠 30 : 스티어링 샤프트10: steering wheel 30: steering shaft

40 : 요 레이트 자이로 센서40: yaw rate gyro sensor

도 2 및 도 3 은 본 발명에 따른 요 레이트 자이로스코프 센서(이하 요 레이트 자이로 센서라 함)를 이용한 조향각측정방법을 구현하는 상태를 개략적으로 도시한 도면이다.2 and 3 are views schematically showing a state of implementing a steering angle measuring method using a yaw rate gyroscope sensor (hereinafter referred to as a yaw rate gyroscope sensor) according to the present invention.

본 발명에서는 요 레이트 자이로 센서(Yaw Rate Gyroscope Sensor)를 이용하는데, 본 고안에 이용되는 요 레이트 자이로 센서는 수평구동체의 구동량을 측정하는 센서로 그 크기가 작을 뿐아니라 외부의 충격에 강하여 내구성이 양호하다.In the present invention, the yaw rate gyro sensor (Yaw Rate Gyroscope Sensor) is used, the yaw rate gyro sensor used in the present invention is a sensor for measuring the driving amount of the horizontal drive body is not only small in size but also strong against external impact and durable Is good.

"요(YAW)"는 좌/우의 움직임을 뜻하는데, 요 레이트 자이로 센서(40)를 스티어링 휠(10)에 장착(도 2 참조)하거나 스티어링 샤프트(30)에 장착(도 3 참조)하므로써 운전자가 방향전환을 위하여 스티어링 휠(10)을 좌우로 조작하면 이 움직임의 크기와 속도를 요 레이트 자이로 센서(40)가 인식하여 각속도를 구하는 것이다."YAW" refers to the movement of the left and right, the driver by mounting the yaw rate gyro sensor 40 to the steering wheel 10 (see FIG. 2) or to the steering shaft 30 (see FIG. 3). When the steering wheel 10 is manipulated to the left and right to change the direction, the yaw rate gyro sensor 40 recognizes the magnitude and speed of the movement to obtain the angular velocity.

차량이 직진상태로 주행하는 경우 요 레이트 자이로 센서의 값은 0°를 나타내고 차량이 주행방향을 바꾸기 위하여 스티어링 휠(10) 또는 스티어링 샤프트(30)에 좌 또는 우로 힘을 가하면 요 레이트 자이로 센서(40)가 조타각도를 감지하여 신호를 발생하여 컨버터에 송신하고 이 컨버터는 컴퓨터에 좌 또는 우로 움직인 각도를 디스플레이하게 된다.The value of the yaw rate gyro sensor indicates 0 ° when the vehicle is driving straight and the yaw rate gyro sensor 40 is applied when the vehicle applies force to the steering wheel 10 or the steering shaft 30 to the left or right to change the driving direction. ) Detects the steering angle, generates a signal, and sends it to the converter, which displays the angle moved left or right on the computer.

본 발명에 따른 조향각 측정방법은 상술한 바와 같이 종래의 계측장비에 비하여 극히 단순하여 장비가 간단하고 구매비용이 저렴하며 수리비가 저렴하고 손쉽게 구입할 수 있을 뿐아니라 시험시간이 단축되고, 본 발명에 따른 방법을 수행하는 장비의 공간적 점유율이 적기에 공간활용 효율이 크다.The steering angle measuring method according to the present invention is extremely simple compared to the conventional measuring equipment as described above, the equipment is simple, the purchase cost is low, the repair cost is cheap and can be easily purchased, as well as the test time is shortened, Space utilization efficiency is high because the space occupancy of the equipment performing the method is small.

Claims (1)

자동차의 성능시험을 위한 것으로 스티어링 휠의 조향각 측정방법에 있어서, 요 레이트 자이로 센서(40)를 차량의 스티어링 휠(10) 또는 스티어링 샤프트(30)에 장착하여 차량의 조향각을 측정하도록 하는 요 레이트 자이로 센서를 이용한 조향각 측정방법In the method for measuring the steering angle of the steering wheel for the performance test of the vehicle, the yaw rate gyro for mounting the yaw rate gyro sensor 40 on the steering wheel 10 or the steering shaft 30 of the vehicle to measure the steering angle of the vehicle Steering angle measurement method using sensor
KR1020010077040A 2001-12-06 2001-12-06 Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor KR20030046785A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020010077040A KR20030046785A (en) 2001-12-06 2001-12-06 Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor

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KR1020010077040A KR20030046785A (en) 2001-12-06 2001-12-06 Steering Angle Measuring Method by the use of Yaw Rate Gyroscope Sensor

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245284A (en) * 2013-05-14 2013-08-14 福州大学 Gyroscope-chip-based steering wheel angle measurement method and device thereof
WO2014063398A1 (en) * 2012-10-26 2014-05-01 深圳市美赛达科技股份有限公司 Automotive steering wheel cover and automotive parking assist system
KR20160046674A (en) * 2014-10-21 2016-04-29 현대자동차주식회사 Motor driving device for a vehicle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02106468A (en) * 1988-09-13 1990-04-18 Aisin Seiki Co Ltd Steering controller for vehicle
US4951207A (en) * 1987-09-25 1990-08-21 Honda Giken Kogyo Kabushiki Kaisha Method for controlling the front wheel steer angle
JPH08254431A (en) * 1995-03-16 1996-10-01 Aqueous Res:Kk Steering angle detector of vehicle
JPH08334441A (en) * 1995-06-08 1996-12-17 Toyota Motor Corp Test device for steering device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4951207A (en) * 1987-09-25 1990-08-21 Honda Giken Kogyo Kabushiki Kaisha Method for controlling the front wheel steer angle
JPH02106468A (en) * 1988-09-13 1990-04-18 Aisin Seiki Co Ltd Steering controller for vehicle
JPH08254431A (en) * 1995-03-16 1996-10-01 Aqueous Res:Kk Steering angle detector of vehicle
JPH08334441A (en) * 1995-06-08 1996-12-17 Toyota Motor Corp Test device for steering device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014063398A1 (en) * 2012-10-26 2014-05-01 深圳市美赛达科技股份有限公司 Automotive steering wheel cover and automotive parking assist system
CN103245284A (en) * 2013-05-14 2013-08-14 福州大学 Gyroscope-chip-based steering wheel angle measurement method and device thereof
KR20160046674A (en) * 2014-10-21 2016-04-29 현대자동차주식회사 Motor driving device for a vehicle

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