JP2000065562A - Rotation angle detector - Google Patents

Abstract

(57) [Problem] To provide a rotation angle detection device capable of detecting a steering angle amount of a multi-turn steering while having a simple structure. SOLUTION: An absolute steering angle sensor 1 capable of outputting within 360 °, a speed sensor 2, a yaw rate sensor 3,
Storage means for preliminarily storing the information of the speed sensor 2 and the information of the yaw rate sensor 3 which have a fixed relationship with the information of the steering angle of multiple rotations specific to the vehicle; an output signal from the speed sensor 2 and the yaw rate sensor 3 Calculating means for calculating an approximate multi-rotation steering angle by comparing the stored information of the speed sensor 2 and the information of the yaw rate sensor 3 when an output signal from the multi-rotation sensor is input; The microcomputer 4 is provided with a microcomputer 4 as a correction processing means for correcting a steering angle based on a signal of the absolute steering angle sensor 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a rotation angle of a multi-turn steering used in a vehicle body control system or the like.

[0002]

2. Description of the Related Art Conventionally, an apparatus for detecting an absolute steering angle of a multi-rotation steering wheel is disclosed in Japanese Patent Publication No. 8-511350. FIG. 5 is a conceptual explanatory view. This is a signal from a 360 ° disc 101 that is shifted from each other and repeats every 360 °, and a signal from a multi-turn disc 102 that is output according to the angular range of four turns of the steering and detects the number of turns. It is configured as follows. These two disks 10
Reference numerals 1 and 102 are associated by a structure such as a reduction gear 103.

[0003]

In this absolute steering angle sensor, a disk 101 having an angle detecting slit for one rotation (output within 360 ° is possible) and a reduction gear 103 for detecting rotation of multiple rotations are provided. It requires a complicated structure,
There have been issues in reliability and cost.

An object of the present invention is to solve such a problem, and an object of the present invention is to provide a rotation angle detecting device which can detect a steering angle amount of a multi-turn steering while having a simple structure. .

[0005]

In order to solve this problem, a rotation angle detecting device according to the present invention comprises an absolute steering angle sensor capable of outputting within 360 °, a speed sensor, a yaw rate sensor, and a vehicle-specific sensor. Storage means for preliminarily storing the information of the speed sensor and the information of the yaw rate sensor, which have a fixed relationship with the information of the steering angle of the multi-turn, and an output signal from the speed sensor and an output signal from the yaw rate sensor are inputted. Calculating means for calculating an approximate multi-rotation steering angle by comparing the stored information of the speed sensor and the information of the yaw rate sensor, and calculating the calculated multi-rotation steering angle with the absolute steering angle sensor. And a correction processing means for performing correction based on the above signal.

[0006] With this configuration, a structurally simple 36
By using an absolute steering angle sensor capable of outputting within 0 °, a rotation angle detection device capable of detecting a steering angle amount of a multi-turn steering can be realized.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention provides an absolute steering angle sensor capable of outputting within 360 °, a speed sensor, a yaw rate sensor, and a multi-turn steering angle specific to a vehicle. Storage means for preliminarily storing the information of the speed sensor and the information of the yaw rate sensor, which form a fixed relationship with the information, and the output signal from the speed sensor and the output signal from the yaw rate sensor are stored when input. Calculating means for calculating an approximate multi-rotation steering angle by comparing the information from the speed sensor and the information from the yaw rate sensor; and correcting the calculated multi-rotation steering angle based on a signal from the absolute steering angle sensor. With the correction processing means, high-precision multi-turn absolute steering angle information can be output while using an absolute steering angle sensor with a simple structure. An effect that is also simultaneously reliable and inexpensive if there.

According to a second aspect of the present invention, in the first aspect, an acceleration sensor is provided instead of the speed sensor. Therefore, the output signal of the acceleration sensor is integrated by integrating the output signal of the acceleration sensor. A signal equivalent to the output signal is obtained, and even when the speed sensor is not mounted on the vehicle, a highly accurate multi-rotation absolute steering angle information can be obtained similarly.

According to a third aspect of the present invention, in the second aspect, an absolute steering angle sensor capable of outputting within 360 °, an acceleration sensor, a yaw rate sensor, storage means, various calculation means, Since the microcomputer as the correction processing means is integrated in the case, high-precision multi-turn absolute steering angle information can be obtained even if the vehicle is not equipped with a speed sensor, acceleration sensor, yaw rate sensor, etc. from the beginning. Has the effect of being

Hereinafter, an embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. (Embodiment 1) FIG. 1 is a block diagram for explaining a rotation angle detecting device according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes an absolute steering angle sensor capable of outputting within 360 °, and outputs an absolute angle signal such as a gray code uniquely determined in a 360 ° cycle. The rotation axis of the absolute steering angle sensor is directly connected to the steering axis of the vehicle. Reference numeral 2 denotes a speed sensor which detects a moving speed of the vehicle. If a speed sensor is already mounted on the vehicle side, the signal may be used as the speed sensor 2. Reference numeral 3 denotes a yaw rate sensor that detects a rotational angular velocity of the vehicle in the yaw direction. Also, when a yaw rate sensor is already mounted on the vehicle side, the signal may be used as the yaw rate sensor 3. Reference numeral 4 denotes a microcomputer as storage means, various calculation means, correction processing means, and the like.

The basic technical concept of the present invention will be described below. When the vehicle is stationary, a signal within 360 ° can be obtained from the absolute steering angle sensor 1, but the yaw rate sensor 3
, The absolute steering angle for multiple rotations cannot be calculated. In this state, it is assumed that the multi-turn absolute steering angle information is not determined. If the vehicle moves even slightly, the signals of the speed sensor 2 and the yaw rate sensor 3 are obtained, so that the behavior of the vehicle can be detected. This behavior corresponds to the steering rotation angle, and includes an error component such as tire slip, but can roughly correspond to the first and second steering rotation angles of the steering. . For example, when the steering rotation angle is the 0th rotation, the output of the yaw rate sensor 3 remains small even if the output of the speed sensor 2 increases. Further, when the steering rotation angle is the first rotation, the output of the yaw rate sensor 3 corresponds to the output of the speed sensor 2 and sharply increases, and at the second rotation, the ratio further increases. That is, the speed sensor 2 which has a predetermined relationship with the information of the multi-turn steering angle specific to the vehicle in advance.
And the outline of the information of the yaw rate sensor 3 can be grasped in advance. FIG. 2 is a diagram for explaining this relationship. Therefore, if the above information is stored in the microcomputer 4 in advance, the multi-rotation steering angle can be obtained by calculation from the output signal from the speed sensor 2 and the output signal from the yaw rate sensor 3. In addition, since the absolute steering angle sensor 1 can obtain a highly accurate value within 360 °, the steering angle amount described above is corrected based on this value to determine the number of rotations of the absolute steering angle. Obtained with high accuracy.

With the above configuration, it is possible to obtain multi-turn absolute steering angle information with high accuracy by using an absolute steering angle sensor that outputs only information within 360 °. Therefore, if this system is used as a steering rotation angle detection system for a vehicle body control system, the signals from the speed sensor and the yaw rate sensor are used, and compared with the conventional multi-rotation absolute steering angle sensor, In terms of hardware, an absolute steering angle (information output within 360 °) sensor having a simpler structure can be used. Thereby, high reliability and low price as a rotation angle detecting device can be achieved.

(Embodiment 2) FIG. 3 is a block diagram for explaining a rotation angle detecting device according to a second embodiment of the present invention. In FIG. 3, reference numeral 1 denotes an absolute steering angle sensor capable of outputting within 360 °, and outputs an angle signal uniquely determined in a 360 ° cycle. Reference numeral 5 denotes an acceleration sensor which detects acceleration in the traveling direction of the vehicle. If an acceleration sensor for the traveling direction is already mounted on the vehicle side, the signal may be used as the acceleration sensor 5. Reference numeral 3 denotes a yaw rate sensor that detects a rotational angular velocity of the vehicle in the yaw direction. If the yaw rate sensor 3 is already mounted on the vehicle side, the signal may be used as the yaw rate sensor 3. Reference numeral 4 denotes a microcomputer as storage means, various calculation means, correction processing means, and the like.

In the present embodiment, a detailed description of the same configuration and operation as in the second embodiment will be omitted, and only different portions will be described in detail.

By integrating the output signal of the acceleration sensor 5, a signal equivalent to the output signal of the speed sensor 2 described in the first embodiment can be obtained. Other configurations and processing procedures are the same as those of the first embodiment.

With the above configuration, in addition to the effects described in the first embodiment, the following notable points can be expected. A vehicle that does not have a speed sensor but has a traveling direction acceleration sensor can achieve the basic technical idea of the present invention. Also, if the vehicle has neither a speed sensor nor an acceleration sensor,
An acceleration sensor can be more easily attached to a vehicle than a speed sensor.

(Embodiment 3) FIG. 4 is a block diagram for explaining a rotation angle detecting device according to a third embodiment of the present invention. 4, an absolute steering angle sensor 1, an acceleration sensor 5, a yaw rate sensor 3 capable of outputting within 360 °, and a microcomputer 4 as storage means, various calculation means and correction processing means are housed in a case 6. .

Since these operations are the same as those described in the second embodiment, description thereof will be omitted.

With the above configuration, even if the vehicle is not equipped with a speed sensor, an acceleration sensor, a yaw rate sensor, or the like from the beginning, high-precision multi-rotation absolute steering angle information can be obtained by using the present rotation angle detection device. can get.

[0020]

The information of the absolute steering angle sensor capable of outputting within 360 °, the speed sensor, the yaw rate sensor, and the information of the speed sensor, which has a fixed relationship with the information of the multi-turn steering angle inherent to the vehicle, and Storage means for storing information of the yaw rate sensor in advance, and comparing the information of the speed sensor and the information of the yaw rate sensor stored when the output signal from the speed sensor and the output signal from the yaw rate sensor are input, and roughly Calculating means for calculating the multi-rotation steering angle, and correction processing means for correcting the calculated multi-rotation steering angle based on the signal of the absolute steering angle sensor. A highly reliable and inexpensive rotation angle detector that can output highly accurate multi-rotation absolute steering angle information while using a steering angle sensor It can be provided.

[Brief description of the drawings]

FIG. 1 is a block diagram for explaining a rotation angle detection device according to a first embodiment of the present invention;

FIG. 2 is an explanatory diagram showing a relationship among output information of a speed sensor, a yaw rate sensor, and a steering angle.

FIG. 3 is a block diagram for explaining a rotation angle detection device according to a second embodiment of the present invention.

FIG. 4 is a block diagram for explaining a rotation angle detection device according to a third embodiment of the present invention.

FIG. 5 is a conceptual explanatory diagram of a conventional multi-rotation steering rotation angle detection device.

[Explanation of symbols]

 Reference Signs List 1 absolute steering angle sensor 2 speed sensor 3 yaw rate sensor 4 microcomputer 5 acceleration sensor 6 case

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masahiro Saito 1006 Kazuma Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. F-term (reference) 2F069 AA86 BB21 BB22 DD27 GG56 GG59 HH11 2F105 AA02 BB12 BB17 3D030 DB19

Claims (3)

[Claims] 1. An absolute steering angle sensor capable of outputting within 360 °, a speed sensor, a yaw rate sensor, and information on the speed sensor having a fixed relationship with information on a multi-turn steering angle inherent to a vehicle. Storage means for storing information of the yaw rate sensor in advance, and comparing the information of the speed sensor and the information of the yaw rate sensor stored when the output signal from the speed sensor and the output signal from the yaw rate sensor are input, and roughly A rotation angle detecting device, comprising: a calculating means for calculating the multi-rotation steering angle; and a correction processing means for correcting the calculated multi-rotation steering angle based on a signal from the absolute steering angle sensor. 2. The rotation angle detecting device according to claim 1, further comprising an acceleration sensor instead of the speed sensor. 3. The rotation angle detection device according to claim 2, wherein an absolute steering angle sensor, an acceleration sensor, and a yaw rate sensor capable of outputting within 360 ° are incorporated in one case.