CN111452871B - Automatic zero-offset calibration method and system for automobile steering wheel - Google Patents
Automatic zero-offset calibration method and system for automobile steering wheel Download PDFInfo
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- CN111452871B CN111452871B CN202010327529.XA CN202010327529A CN111452871B CN 111452871 B CN111452871 B CN 111452871B CN 202010327529 A CN202010327529 A CN 202010327529A CN 111452871 B CN111452871 B CN 111452871B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012937 correction Methods 0.000 claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000004458 analytical method Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses an automatic zero offset calibration method and system for an automobile steering wheel, which comprises a processor, wherein the processor is connected with a curve drawing module in parallel, the curve drawing module is connected with an acquisition module in series, the acquisition module is connected with a measurement module in series, the processor is connected with a storage module in parallel, the processor is connected with a reading module in parallel, the reading module is connected with a calculation module in series, the calculation module is connected with a calibration module in series, the calibration module is connected with a comparison module in series, the comparison module is connected with the storage module in parallel, the zero offset data can be acquired in real time by respectively measuring the execution angle variation and the actual angle variation, the actual operation data of the steering wheel can be compared and analyzed, the calculation is carried out through the difference, the accuracy is high, and the data acquired in real time is stored, and a calibration dynamic sample can be formed by combining the correction change data, so that the subsequent development and research are facilitated.
Description
Technical Field
The invention relates to the field of automobile calibration, in particular to an automatic zero-offset calibration method and system for an automobile steering wheel.
Background
In the current developable and daily life, the automatic driving technology of automobiles is more and more common, the linear driving is realized by calibrating and controlling the deviation of a steering wheel, and the direction correction is realized according to road markings, so that the driving safety can be ensured.
However, most of the existing square disc calibration is performed in a manual auxiliary correction mode, so that only weak calibration can be realized, manual real-time auxiliary correction is needed, only simple actual execution quantity measurement is performed, effective comparison cannot be performed, and meanwhile, calibration data during automatic driving cannot be analyzed and stored, which is not beneficial to subsequent development and research, so that a new calibration system needs to be provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an automatic zero offset calibration method and system for an automobile steering wheel.
In order to achieve the purpose, the invention adopts the following technical scheme:
the automatic zero offset calibration method and system for the automobile steering wheel comprises a processor, wherein the processor is connected with a curve drawing module in parallel, the curve drawing module is connected with an acquisition module in series, the acquisition module is connected with a measurement module in series, the processor is connected with a storage module in parallel, the processor is connected with a reading module in parallel, the reading module is connected with a calculation module in series, the calculation module is connected with a calibration module in series, the calibration module is connected with a comparison module in series, and the comparison module is connected with the storage module in parallel.
Preferably, the comparison module is connected with a correction module in parallel, and the correction module is connected with an execution module in series.
Preferably, the execution module is connected to the processor in parallel, and the execution module is connected to the storage module in parallel.
Preferably, there are two measurement modules, and the two measurement modules respectively correspond to the execution angle variation and the actual angle variation.
Preferably, the storage module further comprises an absolute value of the manually calibrated zero data.
Preferably, the calibration method comprises the following steps:
s1, the measuring module directly measures the executing action amount of the steering wheel, and the two positions respectively measure the executing angle variation and the actual angle variation;
s2, the acquisition module acquires data in real time and transmits the data to the curve drawing module;
s3, the curve drawing module respectively draws the line graphs of the two groups of data and transmits the line graphs to the processor for data summarization;
s4, the processor collects the data and stores the data in a storage module during transmission to form a real-time change database;
s5, reading the real-time change database by the reading module, and carrying out data analysis and calculation by the calculation module during transmission to obtain two groups of data differences;
s6, the calibration module calibrates according to the data difference to form a calibration zero offset;
s7, the comparison module reads the absolute value of the manual calibration zero point data in the storage module, and compares the absolute value with the calibration zero offset for analysis, if the absolute value meets the preset threshold value, the comparison module does not act, and if the absolute value does not meet the preset threshold value, the absolute value is transmitted to the correction module;
s8, the correction module corrects data according to the deviation amount to form an execution offset;
and S9, the execution module performs zero offset correction according to the execution offset, and transmits the execution offset to the storage module for recording and storing.
Preferably, the line graph of step S3 includes broken lines of two sets of data, and is located in the same graph.
According to the automatic zero offset calibration method and system for the automobile steering wheel, provided by the invention, zero offset data can be obtained in real time by respectively measuring the execution angle variation and the actual angle variation, actual operation data of the steering wheel can be contrastively analyzed, calculation is further carried out through a difference value, the accuracy is high, a calibration dynamic sample can be formed by storing the data obtained in real time and combining with the correction variation data, the subsequent development and research are facilitated, the calibration accuracy and stability are effectively improved, the safety and the high efficiency of use are ensured, and the popularization and the use are facilitated.
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FIG. 1 is a flow diagram of the present invention.
In the figure: the device comprises a processor 1, a curve drawing module 11, an acquisition module 12, a measurement module 13, a storage module 14, a reading module 15, a calculation module 16, a calibration module 17, a comparison module 2, a correction module 21 and an execution module 22.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
The automatic zero offset calibration method and system for the steering wheel of the automobile comprise a processor 1, wherein the processor 1 is connected with a curve drawing module 11 in parallel, the curve drawing module 11 is connected with an acquisition module 12 in series, the acquisition module 12 is connected with a measurement module 13 in series, the processor 1 is connected with a storage module 14 in parallel, the processor 1 is connected with a reading module 15 in parallel, the reading module 15 is connected with a calculation module 16 in series, the calculation module 16 is connected with a calibration module 17 in series, the calibration module 17 is connected with a comparison module 2 in series, and the comparison module 2 is connected with the storage module 14 in parallel.
Preferably, the comparison module 2 is connected in parallel with a correction module 21, and the correction module 21 is connected in series with an execution module 22.
Preferably, the execution module 22 is connected to the processor 1 in parallel, and the execution module 22 is connected to the storage module 14 in parallel.
Preferably, there are two measurement modules 13, and the two measurement modules correspond to the execution angle variation and the actual angle variation, respectively.
Preferably, the storage module 14 further includes an absolute value of the manually calibrated zero data.
Preferably, the calibration method comprises the following steps:
s1, the measuring module directly measures the executing action amount of the steering wheel, and the two positions respectively measure the executing angle variation and the actual angle variation;
s2, the acquisition module acquires data in real time and transmits the data to the curve drawing module;
s3, the curve drawing module respectively draws the line graphs of the two groups of data and transmits the line graphs to the processor for data summarization;
s4, the processor collects the data and stores the data in a storage module during transmission to form a real-time change database;
s5, reading the real-time change database by the reading module, and carrying out data analysis and calculation by the calculation module during transmission to obtain two groups of data differences;
s6, the calibration module calibrates according to the data difference to form a calibration zero offset;
s7, the comparison module reads the absolute value of the manual calibration zero point data in the storage module, and compares the absolute value with the calibration zero offset for analysis, if the absolute value meets the preset threshold value, the comparison module does not act, and if the absolute value does not meet the preset threshold value, the absolute value is transmitted to the correction module;
s8, the correction module corrects data according to the deviation amount to form an execution offset;
and S9, the execution module performs zero offset correction according to the execution offset, and transmits the execution offset to the storage module for recording and storing.
Preferably, the line graph of step S3 includes broken lines for two sets of data, and is located in the same graph.
According to the automatic zero offset calibration method and system for the automobile steering wheel, provided by the invention, zero offset data can be obtained in real time by respectively measuring the execution angle variation and the actual angle variation, actual operation data of the steering wheel can be contrastively analyzed, calculation is further carried out through a difference value, the accuracy is high, a calibration dynamic sample can be formed by storing the data obtained in real time and combining with the correction variation data, the subsequent development and research are facilitated, the calibration accuracy and stability are effectively improved, the safety and the high efficiency of use are ensured, and the popularization and the use are facilitated.
Claims (2)
1. The automatic zero-offset calibration method of the automobile steering wheel is based on an automatic zero-offset calibration system of the automobile steering wheel, the automatic zero-offset calibration system of the automobile steering wheel comprises a processor (1), and the automatic zero-offset calibration method is characterized in that: the device comprises a processor (1), a curve drawing module (11) connected in parallel, an acquisition module (12) connected in series with the curve drawing module (11), a measurement module (13) connected in series with the acquisition module (12), a storage module (14) connected in parallel with the processor (1), a reading module (15) connected in parallel with the processor (1), a calculation module (16) connected in series with the reading module (15), a calibration module (17) connected in series with the calculation module (16), a comparison module (2) connected in series with the calibration module (17), a comparison module (2) connected in parallel with the storage module (14), a correction module (21) connected in parallel with the comparison module (2), an execution module (22) connected in series with the correction module (21), and an execution module (22) connected in parallel with the processor (1), the execution modules (22) are connected to the storage module (14) in parallel, the number of the measurement modules (13) is two, the two measurement modules correspond to the execution angle variation and the actual angle variation respectively, and the storage module (14) further comprises an absolute value of the manual calibration zero data;
the automatic zero-offset calibration method for the automobile steering wheel comprises the following steps:
s1, the measuring module directly measures the executing action amount of the steering wheel, and the two positions respectively measure the executing angle variation and the actual angle variation;
s2, the acquisition module acquires data in real time and transmits the data to the curve drawing module;
s3, the curve drawing module respectively draws the line graphs of the two groups of data and transmits the line graphs to the processor for data summarization;
s4, the processor collects the data and transmits the data to the storage module for storage to form a real-time change database;
s5, reading the real-time change database by the reading module, and transmitting the real-time change database to the calculation module for data analysis and calculation to obtain two groups of data differences;
s6, the calibration module calibrates according to the data difference to form a calibration zero offset;
s7, the comparison module reads the absolute value of the manual calibration zero point data in the storage module, and compares the absolute value with the calibration zero offset for analysis, if the absolute value meets the preset threshold value, the comparison module does not act, and if the absolute value does not meet the preset threshold value, the absolute value is transmitted to the correction module;
s8, the correction module corrects data according to the deviation amount to form an execution offset;
and S9, the execution module performs zero offset correction according to the execution offset, and transmits the execution offset to the storage module for recording and storing.
2. The automatic zero offset calibration method for the automobile steering wheel according to claim 1, characterized in that: the line graph of step S3 includes broken lines for both sets of data and is located within the same graph.
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| CN202010327529.XA CN111452871B (en) | 2020-04-23 | 2020-04-23 | Automatic zero-offset calibration method and system for automobile steering wheel |
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| CN114964311A (en) * | 2022-05-13 | 2022-08-30 | 山东新一代信息产业技术研究院有限公司 | IMU zero offset processing method |
| CN115556828A (en) * | 2022-11-04 | 2023-01-03 | 合众新能源汽车有限公司 | Steering wheel angle zero drift test method, test system, test equipment and computer readable storage medium |
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| CN111267952B (en) * | 2017-11-17 | 2021-06-11 | 南京视莱尔汽车电子有限公司 | Steering control system of automatic driving automobile |
| CN108528530B (en) * | 2018-03-08 | 2022-01-28 | 博泰车联网科技(上海)股份有限公司 | Steering wheel self-adaptive calibration method and system based on neural network and vehicle-mounted terminal |
| CN109649490B (en) * | 2019-01-22 | 2020-07-07 | 广州小鹏汽车科技有限公司 | Automatic zero-offset calibration method and system for automobile steering wheel and vehicle |
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Address after: No. 21 Wansheng Road, Furniture Production Base, Wanquan Town, Pingyang County, Wenzhou City, Zhejiang Province, 325409 Patentee after: Ruian Qianchuan AUTO PARTS Co.,Ltd. Country or region after: China Address before: 325000 International Auto Parts Industrial Park, Tangxia Town, Ruian City, Wenzhou City, Zhejiang Province Patentee before: RUIAN QIANCHUAN AUTOMOTIVE ACCESSORIES CO.,LTD. Country or region before: China |