CN100548769C - The Vehicle Stability System of Vehicular sensor device and use Vehicular sensor device - Google Patents
The Vehicle Stability System of Vehicular sensor device and use Vehicular sensor device Download PDFInfo
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- CN100548769C CN100548769C CNB2005800439817A CN200580043981A CN100548769C CN 100548769 C CN100548769 C CN 100548769C CN B2005800439817 A CNB2005800439817 A CN B2005800439817A CN 200580043981 A CN200580043981 A CN 200580043981A CN 100548769 C CN100548769 C CN 100548769C
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Abstract
A kind of Vehicle Stability System that can simplify the electric wiring structure and be beneficial to the Vehicular sensor device of installation and use this Vehicular sensor device.Described Vehicular sensor device is configured to vehicle movement quantity sensor (1a) and steering angle sensor (1b) is installed in the same housing or direct and housing mechanical connection.Therefore, can be used in the electric wiring bundle that the detection signal from vehicle movement quantity sensor (1a) and steering angle sensor (1b) is transferred to ECU (3) puts together.In addition, because all the sensors can be positioned at same housing, so the structure of electric wiring bundle can be simplified and can more easily install.
Description
Technical field
The present invention relates to a kind of Vehicular sensor device and a kind of Vehicle Stability System that uses this Vehicular sensor device, wherein Vehicular sensor device comprises that vehicle movement quantity sensor and being used to detects the combination of the steering angle sensor of wheel turning angle.The vehicle movement quantity sensor comprises the driving dynamic pick up that is used to detect physical quantity, for example Yaw rate sensor and lateral acceleration sensor.
Background technology
Traditionally, ESC (electronic stability control Electronic Stability Control) system be known (for example, translator of Japanese document 2004-506572 referring to disclosed PCT international application), this system carries out the control of stablizing vehicle based on the detection signal from vehicle movement quantity sensor and steering angle sensor, wherein the vehicle movement quantity sensor comprises the driving dynamic pick up that is used to detect physical quantity, for example Yaw rate sensor and lateral acceleration sensor.In this ESC system, the vehicle movement quantity sensor is positioned at the engine room of vehicle, and steering angle sensor is positioned at as upper/lower positions: this position is near the pivot center that turns to and is in the compartment of vehicle.In addition, the controller (ECU) of vehicle movement quantity sensor and ESC system puts together, and steering angle sensor is connected by the ECU of electric wiring bundle with the ESC system.Thus, from the detection signal input controller of each sensor.
Yet, because vehicle movement quantity sensor and steering angle sensor independently are provided with in a conventional manner, so be used to connect the installation site that the installation site of the distribution of vehicle movement quantity sensor and ECU significantly is different from the distribution that is used to be connected steering angle sensor and ECU.Be installed under the situation of diverse location at vehicle movement quantity sensor and steering angle sensor, all need mounting structure at each sensor.In addition, because sensor must be installed separately, therefore be not easy sensor installation.Become complicated and be not easy sensor installation because distribution is arranged, the cost that therefore obtains sensor device is very high.
Summary of the invention
Therefore an object of the present invention is to simplify the structure and the easier sensor installation of distribution.In addition, a purpose is to reduce the influence of temperature and vibration on vehicle sensor device.In addition, a purpose provides a kind of Vehicle Stability System that uses Vehicular sensor device.
In the present invention, first aspect is: the vehicle movement quantity sensor is installed and is equipped with within it in the housing of steering angle sensor, perhaps direct the and housing mechanical connection of vehicle movement quantity sensor.
As mentioned above, if the vehicle movement quantity sensor is installed in the housing that has held steering angle sensor or directly and the housing mechanical connection, the distribution that is used to connect the vehicle movement quantity sensor and the ECU of for example controller can be installed to identical position or position close to each other with the distribution that is used to be connected steering angle sensor and ECU so.Therefore, these distributions can be put together.Thus, can simplify the structure and the easier sensor installation of distribution.
In the case, vehicle movement quantity sensor and steering angle sensor can be positioned at the compartment of vehicle.
By vehicle movement quantity sensor and steering angle sensor are installed in the compartment, can reduce the influence of the detection signal of interior heat of engine room and vibration on vehicle amount of exercise sensor.
In the case, vehicle movement quantity sensor and steering angle sensor can be installed near Steering gear inside or the Steering gear, and wherein Steering gear is regulated the angle of inclination of bearing circle by means of the leaning device of the steering operation mechanism 2 of control deflection angle.More specifically, vehicle movement quantity sensor and steering angle sensor can be positioned at cubicle switchgear, and this cubicle switchgear has held the arm for direction indicator that is attached to steering operation mechanism.
The vehicle movement quantity sensor can be installed on the part of steering operation mechanism, regulates irrelevant thereby the orientation of vehicle movement quantity sensor remains unchanged at this portion with the performed angle of inclination of leaning device.
Regulate irrelevantly by making the orientation of vehicle movement quantity sensor remain unchanged at this portion on the part that the vehicle movement quantity sensor is installed to steering operation mechanism with the performed angle of inclination of leaning device, can eliminate corresponding to the influence of the gravity at angle of inclination to the detection signal of vehicle movement quantity sensor.
In second aspect, comprise at Vehicle Stability System under the situation of Vehicular sensor device, the wherein influence that regulated by the angle of inclination by the vehicle movement amount of indicating from the output signal of vehicle movement quantity sensor, Vehicle Stability System comprises controller, is used to receive the detection signal from vehicle movement quantity sensor and steering angle sensor.Controller comprises the angle of inclination deriving means that is used to obtain the angle of inclination that causes because of steering operation mechanism, and based on the amount of exercise of the angle of inclination correction vehicle that is obtained by the angle of inclination deriving means, described amount of exercise is by the output signal indication from the vehicle movement quantity sensor.
Therefore, by proofreading and correct the vehicle movement amount that obtains from the vehicle movement quantity sensor, can eliminate influence corresponding to the gravity at angle of inclination.
For example, the vehicle movement quantity sensor comprise as drive dynamic pick up be used to detect vehicle under the situation of the front and back of the acceleration/accel on fore-and-aft direction acceleration pick-up, the angle of inclination deriving means obtains the angle of inclination by the acceleration/accel that uses the vehicle fore-and-aft direction, when vehicle stops detecting device and detects vehicle and stop by determining described acceleration/accel by the detection signal of front and back acceleration pick-up output.
The angle of inclination deriving means can obtain the angle of inclination by communication in the car.In the case, the angle of inclination deriving means can obtain location information by communication in the car from the angle of inclination information-storing device by means of the location information deriving means, and this angle of inclination information-storing device makes the angle of inclination be associated with location information by the definite Steering gear of leaning device and with its memory.The angle of inclination deriving means can be from the indirect angle of inclination that obtains corresponding to location information of angle of inclination information-storing device then.
In the third aspect, the invention provides a kind of Vehicular sensor device, comprising: comprise that at least one drives the vehicle movement quantity sensor of dynamic pick up; With the steering angle sensor that is used to detect the vehicle deflection angle, it is characterized in that: described vehicle movement quantity sensor is installed in the housing that described steering angle sensor wherein is installed, direct and the described housing mechanical connection of perhaps described vehicle movement quantity sensor, described vehicle movement quantity sensor and described steering angle sensor are positioned at the compartment of described vehicle; And described vehicle movement quantity sensor and described steering angle sensor are positioned near Steering gear inside or the described Steering gear, described Steering gear is regulated the angle of inclination of bearing circle by means of the leaning device of the steering operation mechanism of the described deflection angle of control, wherein, described vehicle movement quantity sensor is installed on the part of described steering operation mechanism, makes described vehicle movement quantity sensor remain unchanged with respect to the described part of being oriented in of gravity direction place and regulates irrelevant with the angle of inclination of described leaning device.
In fourth aspect, the invention provides a kind of Vehicular sensor device, comprising: comprise that at least one drives the vehicle movement quantity sensor of dynamic pick up; With the steering angle sensor that is used to detect the vehicle deflection angle, it is characterized in that: described vehicle movement quantity sensor is installed in the housing that described steering angle sensor wherein is installed, direct and the described housing mechanical connection of perhaps described vehicle movement quantity sensor, described vehicle movement quantity sensor and described steering angle sensor are positioned at the compartment of described vehicle, and described vehicle movement quantity sensor and described steering angle sensor are positioned at cubicle switchgear, described cubicle switchgear holds the arm for direction indicator that is attached to described steering operation mechanism, wherein, described vehicle movement quantity sensor is installed on the part of described steering operation mechanism, makes described vehicle movement quantity sensor remain unchanged with respect to the described part of being oriented in of gravity direction place and regulates irrelevant with the angle of inclination of described leaning device.
Aspect the 5th, the invention provides a kind of Vehicle Stability System that comprises Vehicular sensor device.Described Vehicular sensor device comprises: comprise that at least one drives the vehicle movement quantity sensor of dynamic pick up; With the steering angle sensor that is used to detect the vehicle deflection angle, wherein: described vehicle movement quantity sensor is installed in the housing that described steering angle sensor wherein is installed, direct and the described housing mechanical connection of perhaps described vehicle movement quantity sensor, described vehicle movement quantity sensor and described steering angle sensor are positioned at the compartment of described vehicle; And described vehicle movement quantity sensor and described steering angle sensor are positioned near Steering gear inside or the described Steering gear, and described Steering gear is regulated the angle of inclination of bearing circle by means of the leaning device of the steering operation mechanism of the described deflection angle of control.Described Vehicle Stability System is based on stablizing vehicle from the vehicle movement quantity sensor that is installed to described Vehicular sensor device and the detection signal of steering angle sensor, described Vehicle Stability System comprises the controller that is used to receive from the detection signal of described vehicle movement quantity sensor and described steering angle sensor, wherein, described controller comprises the angle of inclination deriving means that is used to obtain the angle of inclination that causes because of steering operation mechanism, and proofread and correct the amount of exercise of described vehicle based on the angle of inclination that is obtained by described angle of inclination deriving means, described amount of exercise is by the output signal indication from described vehicle movement quantity sensor.
In summary of the invention, each label of said apparatus indicate this device and the embodiment described later in concrete device between corresponding relation.
Description of drawings
Fig. 1 is the figure that the ECU 3 in steering operation mechanism 2 and the ESC system is shown, and wherein the Vehicular sensor device 1 according to first embodiment of the invention is installed on steering operation mechanism 2, from the detection signal input ECU 3 of Vehicular sensor device 1;
Fig. 2 is the scheme drawing that illustrates along the cross section of Fig. 1 center line A-A;
Fig. 3 illustrates the scheme drawing of regulating the angle of inclination of bearing circle 2b by means of leaning device 2a;
Fig. 4 A is the block diagram that illustrates according to the relation between the position of sensor in the Vehicular sensor device 1 of first embodiment and ECU 3;
Fig. 4 B is the block diagram that the relation between the position of sensor in the traditional approach and ECU 3 is shown;
Fig. 5 is the diagram of circuit that the slant correction processing of being carried out by the ECU in the ESC system 3 is shown;
Fig. 6 illustrates the figure to the influence of the detection signal of front and back acceleration pick-up that is caused by tiltangle;
Fig. 7 illustrates the scheme drawing that transverse acceleration wherein is applied to the inclination kinematic model on the vehicle;
Fig. 8 is the scheme drawing that the tooth bar of steering operation mechanism 2 is shown, and the Vehicular sensor device 1 of second embodiment of the invention is installed on steering operation mechanism 2;
Fig. 9 is the section drawing of a part of tooth bar in the power steering gear shown in Fig. 8, and wherein Vehicular sensor device 1 is attached to tooth bar; And
Figure 10 is the scheme drawing that steering operation mechanism 2 is shown, and the Vehicular sensor device 1 of another embodiment is installed on steering operation mechanism 2 according to the present invention.
The specific embodiment
First embodiment
First embodiment of the present invention will be described hereinafter.Fig. 1 shows the steering operation mechanism 2 that is equipped with according to the Vehicular sensor device 1 of this embodiment, also shows from the ECU 3 in the detection signal input ESC system wherein of Vehicular sensor device 1.Fig. 2 is the scheme drawing along the cross section of Fig. 1 center line A-A.Hereinafter, the arrangement structure of Vehicular sensor device 1 will be described with reference to these accompanying drawings.
Fig. 3 illustrates the scheme drawing of regulating the angle of inclination of bearing circle 2b by means of leaning device 2a.As shown in Figure 3, leaning device 2a has the physical construction of regulating the angle of inclination as the bolt at inclination center by using.More specifically, regulate locking device 2f and be positioned under the bolt 2e that is used for steering shaft 2d, and the locking/unlocking state of adjusting locking device 2f is controlled by operating lever 2g.When locking device 2f is regulated in operating lever 2g and release, the angle of inclination scalable that becomes.
The compartment of vehicle and engine room are separated from each other in the position that is depicted as long and short dash line Z.Cubicle switchgear 2c is positioned at the compartment.Therefore, Vehicular sensor device 1 and corresponding vehicle movement quantity sensor 1a and steering angle sensor 1b are positioned at the compartment.
Therefore, can illustrate as block diagram shown in Fig. 4 A according to the Vehicular sensor device 1 and the ECU 3 of present embodiment, wherein ECU 3 is positioned at engine room, and Vehicular sensor device 1 is positioned at the compartment.In the conventional relationship of Vehicular sensor device 1 and ECU 3, the vehicle movement quantity sensor is positioned at the position different with present embodiment shown in Fig. 4 B.More specifically, ECU and vehicle movement quantity sensor are positioned at engine room, and steering angle sensor is positioned at the compartment.
Therefore, the electric wiring bundle that is used for the detection signal from vehicle movement quantity sensor 1a and steering angle sensor 1b is transferred to ECU 3 can be placed on together.In addition, because all the sensors can be positioned at single housing, so the structure of electric wiring bundle can be simplified and easier installation.
If the vehicle movement quantity sensor is positioned at engine room, then sensor will obviously be subjected to temperature and vibration effect.Therefore, engine room is not the accurate momental correct position that is used to detect vehicle.By comprising that as mentioned above the two Vehicular sensor device 1 of vehicle movement quantity sensor 1a and steering angle sensor 1b is installed in the compartment, can reduce heat in the engine room and vibration to influence from the detection signal of vehicle movement quantity sensor 1a.
Yet as mentioned above, steering operation mechanism 2 has leaning device 2a.Therefore, the orientation of vehicle movement quantity sensor 1a changes according to the adjusting of leaning device 2a.Therefore, vehicle movement quantity sensor 1a is subjected to gravity effect and possibly can't detect the accurate amount of exercise of vehicle.For example, the front and back acceleration pick-up may receive the detection signal that has reflected gravity.
In this embodiment, the ECU 3 in the ESC system that stablizes vehicle based on the detection signal of Vehicular sensor device 1 carries out the slant correction that will be described below and handles.
Fig. 5 illustrates the diagram of circuit that slant correction is handled.Slant correction is handled with the time gap of computation period and is carried out.Can correctly obtain each physical quantity by carrying out the slant correction processing.
At first, in step 100, the read sensor value.More specifically, ECU 3 receives the detection signal that drives dynamic pick up from each, and described driving dynamic pick up for example is front and back acceleration pick-up, lateral acceleration sensor and the Yaw rate sensor that is under the jurisdiction of among the vehicle movement quantity sensor 1a of Vehicular sensor device 1.Acceleration/accel Gx, lateral acceleration G y and yaw rate γ before and after ECU 3 calculates then.In addition, ECU 3 receives detection signal and the calculating deflection angle from steering angle sensor 1b.
In step 110, read tilt angle theta subsequently.Be under the jurisdiction of ECU 3 and carry out this part that reads action in the present invention as the angle of inclination deriving means.As described below, whether have the function of remembering tilt angle theta based on vehicle, this of execution tilt angle theta reads action.
Some vehicles with memory tilt angle theta function can enhance the steering wheel 2b and come out smoothly to help chaufeur when chaufeur comes out.When chaufeur had been set tilt angle theta, these vehicles were the location information of Steering gear with this tilt angle theta memory.When chaufeur sat on the operator's saddle once more, bearing circle 2b was based on having indicated the map information automatically regulating that concerns between Steering gear memory area information and the tilt angle theta to obtain the tilt angle theta of expectation.
Therefore, by using the communication in the car can be with the time gap of computation period from having stored the information that obtains relevant this tilt angle theta corresponding to the position (angle of inclination information-storing device) of the Steering gear location information of this tilt angle theta.In addition, also the information storage of the relevant tilt angle theta that obtained may be obtained tilt angle theta from ECU 3 in ECU 3 and with the time gap of computation period.The information of relevant tilt angle theta can be the location information of tilt angle theta itself or Steering gear.
As mentioned above, in the vehicle with memory tilt angle theta function, tilt angle theta is fetched from the position of storage tilt angle theta.The part of information that is under the jurisdiction of ECU 3 and obtains relevant angle of inclination is as the angle of inclination deriving means.
When vehicle did not have the function of memory tilt angle theta, vehicle can obtain detection signal from wheel speed sensor by means of communication in the car, and judges based on detection signal whether vehicle moves.If vehicle stops, being stored among the ECU 3 then based on the front and back acceleration/accel estimation tilt angle theta that calculates in the above-mentioned steps 100, and with this angle of inclination.After this, tilt angle theta can read at the time gap with computation period in step 110.
More specifically, be parked under the situation of level road the detection signal of front and back acceleration pick-up output indication tilt angle theta at vehicle.Therefore, when tilt angle theta was zero, detection signal indication acceleration/accel was zero, because the front and back acceleration pick-up does not detect gravity.Yet, be under the situation of certain angle in tilt angle theta, the front and back acceleration pick-up detects the component of gravity corresponding to tilt angle theta.
For example, as shown in Figure 6, wherein the tilt angle theta along continuous straight runs is zero, when the angle of inclination equals certain angle θ 1, is designated as gravity * sin θ 1 from the detection signal of front and back acceleration pick-up.Therefore, by using following equation can calculate tilt angle theta (certain angle θ 1) and computing value is stored as tilt angle theta in ECU 3.
Equation 1: tilt angle theta=sin
-1(front and back acceleration)
Subsequently in step 120, calculation side degree of tilt estimated value.Based on the transverse acceleration calculation side degree of tilt estimated value that in step 100, calculates.For example, suppose that the side tilt angle estimated value is that RA and transverse acceleration are G, numerical value RA represents as follows so.Numerical value K is a constant, and it is determined and be stored in advance in the ECU 3 according to vehicle feature is unique.More specifically, constant K is determined by the parameter of considering inclination kinematic model shown in Fig. 7.As shown in Figure 7, parameter comprises distance h between suspended weight M, roll rate k, wheelspan Tread, vehicle's center of gravity and the roll center of vehicle and the lateral acceleration G y that is applied to vehicle.
Equation 2:RA=K (transverse acceleration)
In addition, in step 130, calculation side inclination angle velocity estimation value.The bank velocity estimated value is by carrying out to the time derivative of the side tilt angle estimated value RA that calculates in the step 120 that filtering obtains and by following The Representation Equation.
Equation 3:RR=filtering (dRA/dt)
This filtering is the software filtering that ECU 3 carries out, the noise that significantly comprises in order to the time derivative of filtering side tilt angle estimated value RA.Filtered bank velocity estimated value RR is the net result of filtering.
Next, in step 140, acceleration/accel is proofreaied and correct eliminating the influence of tilt angle theta before and after carrying out, and this angle of inclination is included in the front and back acceleration/accel that the time gap with computation period calculates.More specifically, correction by following The Representation Equation is eliminated and carried out to the influence of tilt angle theta by the tilt angle theta of using step 110 and reading.
Equation 4:Gx (compensation value)=Gx (sensor values of detection) cos θ
In step 150, carry out yaw rate in a similar manner and proofread and correct.Carry out yaw rate and proofread and correct eliminating the influence of tilt angle theta, this angle of inclination is included among the yaw rate γ that the time gap with computation period calculates.More specifically, correction by following The Representation Equation is eliminated and carried out to the influence of tilt angle theta by the tilt angle theta of using step 110 and reading.
Equation 5: γ (compensation value)=1/cos θ (γ (sensor values of detection)-RRsin θ)
Thus, the front and back acceleration/accel Gx and the yaw rate γ of tilt angle theta influence can have been obtained to eliminate.Therefore, operate based on the front and back acceleration/accel Gx that not influenced by tilt angle theta and yaw rate γ and at lateral acceleration G y and deflection angle that step 100 reads, can stablize vehicle suitably by making the ESC system.
As mentioned above, in the present embodiment, comprise that the Vehicular sensor device 1 of vehicle movement quantity sensor 1a and steering angle sensor 1b is installed near the leaning device 2a inside or leaning device 2a of steering operation mechanism 2.Therefore, vehicle movement quantity sensor 1a and steering angle sensor 1b are positioned at the compartment, and only ECU 3 is positioned at engine room.
Therefore, can reduce heat in the engine room and vibration to influence from the detection signal of vehicle movement quantity sensor 1a.In addition, the electric wiring bundle to ECU 3 transmission detection signals can be put together, because vehicle movement quantity sensor 1a and steering angle sensor 1b all are positioned at the compartment.In addition, because all the sensors can be positioned at the compartment, so the structure of electric wiring bundle can be simplified and can easier installation.
In addition, tilt angle theta is eliminated in logical mode the influence of front and back acceleration/accel Gx and yaw rate γ.Therefore, can under the situation that not influenced by the angle of inclination, carry out ESC, though vehicle movement quantity sensor 1a is positioned at leaning device 2a or near leaning device 2a and front and back acceleration/accel Gx and yaw rate γ comprise the influence of tilt angle theta.
Therefore, can stablize vehicle suitably based on the physical quantity that not influenced by tilt angle theta.
Second embodiment
Hereinafter, second embodiment of the invention will be described.In the above-described first embodiment, Vehicular sensor device 1 is installed to cubicle switchgear 2c.In the present embodiment, Vehicular sensor device 1 is installed to the position that is different from first embodiment.
Fig. 8 is the scheme drawing that the power steering gear that Vehicular sensor device 1 is installed in the present embodiment is shown.Fig. 9 is the cross sectional view of a part of tooth bar in the power steering gear shown in Fig. 8, and wherein Vehicular sensor device 1 is attached to tooth bar.
Tooth bar auxiliary mechanism 12 comprises ball-screw 13, servo-motor 14 and rack shaft 15.When the pinion shaft that links to each other with steering shaft 2d 16 rotated, rotational force was converted to the power that moves axially rack shaft 15 along rack shaft 15, and servo-motor 14 rotates according to the rotation of rack shaft 15, thereby helped rack shaft 15 to rotate.The torque sensor that is installed to tooth bar auxiliary mechanism 12 is as steering angle sensor 1b.
As shown in Figure 9, pinion shaft 16 inserts miniature gears housing 17 and is supported in the mode that allows its rotation by bearing 19a and 19b.Pinion shaft 16 comprises input shaft 16a and output shaft 16b.The taper location of the contiguous output shaft 16b of miniature gears 16c.Because the tooth portion of miniature gears 16c and the engaging piece 15a of rack shaft 15 engagement are so the rotation of pinion shaft 16 is converted to the power of rack shaft 15 along its axial motion that makes.
Be positioned at the radial outside of input shaft 16a and output shaft 16b as the steering angle sensor 1b of torque sensor.Steering angle sensor 1b comprises the first solver 1ba and the second solver 1bb.By detecting the anglec of rotation of input shaft 16a and output shaft 16b, can obtain the relative mistake of the anglec of rotation of input shaft 16a and output shaft 16b, this relative mistake equals the windup-degree of torsion bar 20.Then, based on the stiffness calculation steering torque of torsion bar 20.Because steering torque is the physical quantity corresponding to deflection angle, torque sensor is as steering angle sensor 1b.
Vehicle movement quantity sensor 1a also is fixed to miniature gears housing 17.Adaptor union 17a and adaptor union 17b are installed to the side surface part of miniature gears housing 17, and wherein adaptor union 17a is used for setting up and being electrically connected of the first solver 1ba and the second solver 1bb, and adaptor union 17b is used for setting up and being electrically connected of vehicle movement quantity sensor 1a.The adaptor union 21a of cable 21 can be connected with 17b with adaptor union 17a, and the electric wiring that wherein is used to connect vehicle movement quantity sensor 1a and ECU 3 is arranged in the cable 21 together with the electric wiring that is used to be connected steering angle sensor 1b and ECU 3.
As mentioned above, the Vehicular sensor device 1 that comprises vehicle movement quantity sensor 1a and steering angle sensor 1b is installed to miniature gears housing 17.Therefore, the electric wiring that is used for the detection signal from vehicle movement quantity sensor 1a and steering angle sensor 1b is input to ECU 3 can put together.In addition, because all the sensors can be positioned at same housing, so the structure of electric wiring bundle can be simplified and can easier installation.
Other embodiments
In the above-described embodiment, Vehicular sensor device 1 is positioned near leaning device 2a inside or the leaning device 2a, thereby can eliminate the influence of tilt angle theta to vehicle movement quantity sensor 1a.Yet vehicle movement quantity sensor 1a can be according to making vehicle movement quantity sensor 1a not be provided with by the mode of the influence at angle of inclination.
For example, on the part that the tilt angle theta that vehicle movement quantity sensor 1a can navigate to leaning device 2a can not change because of tilt adjustment, rather than navigate on the part that the tilt angle theta of leaning device 2a can change because of tilt adjustment (turn side).In the case, still need vehicle movement quantity sensor 1a to be positioned at the compartment, thereby simplify the structure of electric wiring, and be beneficial to the installation of electric wiring with the heat of minimizing engine room and the influence of vibration on vehicle amount of exercise sensor 1a.
As shown in figure 10, even vehicle movement quantity sensor 1a is positioned at the part that its tilt angle theta changes because of tilt adjustment, if vehicle movement quantity sensor 1a is installed to support 2i, then need not to consider the influence of tilt angle theta, its medium-height trestle 2i is attached to strut 2h, strut 2h extends along steering shaft 2d, and the orientation of support 2i remains unchanged and the maintenance level when tilt angle theta changes because of tilt adjustment.For example, when carrying out the tilt adjustment of bearing circle 2b, support 2i is not influenced and correspondingly maintenance level by tilt adjustment.Finish and bearing circle 2b when locking when tilt adjustment, support 2i is still motionless.
In the above-described embodiment, acceleration pick-up, lateral acceleration sensor and Yaw rate sensor before and after vehicle movement quantity sensor 1a comprises.Yet the present invention may be used on having the Vehicular sensor device 1 that comprises the vehicle movement quantity sensor 1a of at least one in these sensors.In addition, same situation can be suitable for acceleration pick-up, roll rate sensor and pitch rate sensor up and down.The present invention may be used on having the Vehicular sensor device 1 that comprises the vehicle movement quantity sensor 1a of at least one in these sensors.
In addition, in second embodiment, Vehicular sensor device 1 is installed to tooth bar auxiliary type power steering gear.Yet the present invention may be used on the power steering gear of other types, for example miniature gears auxiliary type and Steering gear auxiliary type.In miniature gears auxiliary type and Steering gear auxiliary type power steering gear, determine position as the torque sensor of vehicle movement quantity sensor 1a.By vehicle movement quantity sensor 1a is installed to determined position, can obtain the advantage of second embodiment.
Step illustrated in the accompanying drawings is corresponding to the device of carrying out various processing.
Claims (6)
1. Vehicular sensor device comprises:
Comprise that at least one drives the vehicle movement quantity sensor (1a) of dynamic pick up; With
Be used to detect the steering angle sensor (1b) of vehicle deflection angle,
It is characterized in that:
Described vehicle movement quantity sensor is installed in the housing that described steering angle sensor wherein is installed, the direct and described housing mechanical connection of perhaps described vehicle movement quantity sensor,
Described vehicle movement quantity sensor and described steering angle sensor are positioned at the compartment of described vehicle; And
Described vehicle movement quantity sensor and described steering angle sensor are positioned near Steering gear inside or the described Steering gear, described Steering gear is regulated the angle of inclination of bearing circle (2b) by means of the leaning device (2a) of the steering operation mechanism (2) of the described deflection angle of control
Wherein, described vehicle movement quantity sensor is installed on the part of described steering operation mechanism, makes described vehicle movement quantity sensor remain unchanged with respect to the described part of being oriented in of gravity direction place and regulates irrelevant with the angle of inclination of described leaning device.
2. Vehicular sensor device comprises:
Comprise that at least one drives the vehicle movement quantity sensor (1a) of dynamic pick up; With
Be used to detect the steering angle sensor (1b) of vehicle deflection angle,
It is characterized in that:
Described vehicle movement quantity sensor is installed in the housing that described steering angle sensor wherein is installed, the direct and described housing mechanical connection of perhaps described vehicle movement quantity sensor,
Described vehicle movement quantity sensor and described steering angle sensor are positioned at the compartment of described vehicle, and
Described vehicle movement quantity sensor and described steering angle sensor are positioned at cubicle switchgear (2c), and described cubicle switchgear holds the arm for direction indicator that is attached to described steering operation mechanism,
Wherein, described vehicle movement quantity sensor is installed on the part of described steering operation mechanism, makes described vehicle movement quantity sensor remain unchanged with respect to the described part of being oriented in of gravity direction place and regulates irrelevant with the angle of inclination of described leaning device.
3. Vehicle Stability System that comprises Vehicular sensor device,
Described Vehicular sensor device comprises:
Comprise that at least one drives the vehicle movement quantity sensor (1a) of dynamic pick up; With
Be used to detect the steering angle sensor (1b) of vehicle deflection angle,
Wherein:
Described vehicle movement quantity sensor is installed in the housing that described steering angle sensor wherein is installed, the direct and described housing mechanical connection of perhaps described vehicle movement quantity sensor,
Described vehicle movement quantity sensor and described steering angle sensor are positioned at the compartment of described vehicle; And
Described vehicle movement quantity sensor and described steering angle sensor are positioned near Steering gear inside or the described Steering gear, described Steering gear is regulated the angle of inclination of bearing circle (2b) by means of the leaning device (2a) of the steering operation mechanism (2) of the described deflection angle of control
Described Vehicle Stability System is based on stablizing vehicle from the vehicle movement quantity sensor that is installed to described Vehicular sensor device and the detection signal of steering angle sensor, described Vehicle Stability System comprises the controller (3) that is used to receive from the detection signal of described vehicle movement quantity sensor and described steering angle sensor
Wherein, described controller comprises the angle of inclination deriving means (110) that is used to obtain the angle of inclination that causes because of steering operation mechanism, and proofread and correct the amount of exercise of described vehicle based on the angle of inclination that is obtained by described angle of inclination deriving means, described amount of exercise is by the output signal indication from described vehicle movement quantity sensor.
4. Vehicle Stability System as claimed in claim 3, wherein:
Described vehicle movement quantity sensor comprises as the front and back acceleration pick-up that is used to detect the acceleration/accel of described vehicle on fore-and-aft direction that drives dynamic pick up; And
Described angle of inclination deriving means comprises that being used to detect the vehicle that described vehicle stops to stop detecting device and obtain described angle of inclination by the acceleration/accel that uses described vehicle fore-and-aft direction, determines described acceleration/accel by the detection signal of described front and back acceleration pick-up output when described vehicle stops detecting device and detects vehicle and stop.
5. Vehicle Stability System as claimed in claim 3, wherein said angle of inclination deriving means obtains described angle of inclination by communication in the car.
6. Vehicle Stability System as claimed in claim 5, wherein said angle of inclination deriving means:
Comprise the angle of inclination information acquisition device, described angle of inclination information acquisition device obtains the information at relevant described angle of inclination by communication in the car from the angle of inclination information-storing device, and described angle of inclination information-storing device is used to make described angle of inclination to be associated with location information by the definite described Steering gear of described leaning device and with its memory; And
Obtain described angle of inclination indirectly by the information of using described angle of inclination information acquisition device to obtain relevant described angle of inclination.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004376288 | 2004-12-27 | ||
| JP376288/2004 | 2004-12-27 | ||
| JP297569/2005 | 2005-10-12 |
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| CN101084144A CN101084144A (en) | 2007-12-05 |
| CN100548769C true CN100548769C (en) | 2009-10-14 |
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| CN (1) | CN100548769C (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2106973A1 (en) * | 2008-04-03 | 2009-10-07 | Delphi Technologies, Inc. | Control unit under the steering wheel and associated assembly method |
| EP2767846B1 (en) * | 2013-02-18 | 2017-01-11 | Volvo Car Corporation | Method for calibrating a sensor cluster in a motor vehicle |
| US10843727B2 (en) * | 2017-07-07 | 2020-11-24 | Jtekt Corporation | Steering apparatus |
| KR102451995B1 (en) | 2017-12-13 | 2022-10-06 | 현대자동차주식회사 | Method for estimating steering wheel torque of vehicle |
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2005
- 2005-12-12 CN CNB2005800439817A patent/CN100548769C/en not_active Expired - Fee Related
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| CN101084144A (en) | 2007-12-05 |
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