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US20060279278A1 - Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels - Google Patents

Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels Download PDF

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Publication number
US20060279278A1
US20060279278A1 US10/560,106 US56010604A US2006279278A1 US 20060279278 A1 US20060279278 A1 US 20060279278A1 US 56010604 A US56010604 A US 56010604A US 2006279278 A1 US2006279278 A1 US 2006279278A1
Authority
US
United States
Prior art keywords
angular position
determining
steering wheel
absolute angular
difference
Prior art date
Legal status (The legal status 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 status listed.)
Abandoned
Application number
US10/560,106
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English (en)
Inventor
Pascal Desbiolles
Christophe Duret
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTN Europe SA
Original Assignee
Societe Nouvelle de Roulements SNR SA
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 Societe Nouvelle de Roulements SNR SA filed Critical Societe Nouvelle de Roulements SNR SA
Assigned to S.N.R. ROULEMENTS reassignment S.N.R. ROULEMENTS ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: DESBIOLLES, PASCAL, DURET, CHRISTOPHE
Publication of US20060279278A1 publication Critical patent/US20060279278A1/en
Priority to US12/003,528 priority Critical patent/US7605586B2/en
Abandoned legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • 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
    • 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
    • B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains

Definitions

  • the invention relates to a method for determining the absolute angular position of the steering wheel of a motor vehicle with regard to the chassis of said vehicle, as well as to a method for using such a system.
  • absolute angular position we refer to the angle that separates the position of the steering wheel, at any given time, from a reference position, this reference position being fixed and provided with regard to the chassis.
  • the relative angular position is the angle that separates the position of the steering wheel from any initial position whatsoever and is variable with regard to the chassis.
  • the invention aims to solve these problems by proposing a system for determining the absolute angular position of the steering wheel that makes it possible, around measured relative angular positions, to calculate a mobile point-to-point average of the estimates of absolute angular positions that result from measuring the differential speed of the wheels, said average being used to realign a relative angular position so as to obtain the relevant absolute angular position.
  • the invention provides a system for determining the absolute angular position of the steering wheel of a motor vehicle with regard to the chassis of said vehicle, said system including:
  • the invention provides a method for determining the angular position by means of such a system, said method including repeated steps that aim to:
  • the invention relates to a system for determining the absolute angular position of the steering wheel 1 of a motor vehicle with regard to the chassis of said vehicle.
  • this position is intended to be used in integrated chassis control systems or power steering systems.
  • the system includes a device 2 for measuring the differential speed V/V of the wheels on the same axle of the vehicle and a device for incremental measurement of the relative angular position TM of the steering wheel 1 .
  • such a system mounted on a steering assembly including a steering column 3 with which the steering wheel 1 is associated, by means of which the driver applies a torque and thus a steering lock angle.
  • the column 3 is arranged so as to transmit the steering lock angle to the turning wheels of the vehicle.
  • the wheels may be mechanically linked to the column 3 by means of a rack and pinion so as to transform the rotation movement of the steering column 3 into angular displacement of the wheels, or may be decoupled from the column 3 .
  • the steering system also includes a fixed element 4 , solidly attached to the chassis of the motor vehicle.
  • the steering wheel 1 is arranged so as to be able to make several turns, typically two, on either side of the “straight line” position in which the wheels are straight.
  • the incremental measurement device shown in the FIGURE includes an encoder 5 which is solidly attached in rotation around the column 3 and a fixed sensor 6 associated with the element 4 so that the sensitive elements of said sensor are arranged with regard to and at a gap distance from the encoder 5 .
  • the system according to the invention makes it possible to determine the absolute angular position of the encoder 5 and thus of the steering wheel 1 , with regard to the fixed element 4 and thus to the chassis.
  • the encoder 5 includes a main multipolar track.
  • the encoder 5 is formed by a magnetic multipolar ring on which multiple pairs of north and south poles are magnetised and evenly distributed with a constant angle width so as to form the main track.
  • the senor 6 includes at least two sensitive elements, for example chosen form the group including Hall-effect probes, magnetoresistances and giant magnetoresistances.
  • the sensor 6 used is able to deliver periodical electrical signals S 1 , S 2 in quadrature by means of the sensitive elements.
  • the sensor includes, in addition, an electronic circuit 7 which delivers the squared digital position signals A, B in quadrature from the signals S 1 , S 2 , which make it possible to calculate the relative angular position ⁇ of the steering wheel 1 .
  • the electronic circuit 7 includes counting means that are capable of determining, from an initial position, the variations of the angular position of the encoder 5 .
  • the counting means include a register in which the value of the angular position is increased or reduced according to an angular value that corresponds to the number of wavefronts of the signals A and B detected, the initial value being fixed, for example, at zero on commissioning the system.
  • the electronic circuit 7 makes it possible to determine the relative position of the encoder 5 with regard to the initial position.
  • the electronic circuit 7 also includes an interpolator of a type for example described in document FR-2,754,063 by the applicant, allowing the resolution of the output signal resolution to be increased. In particular, a resolution of less than 1° of the angular position ⁇ can be obtained.
  • the sensor 6 with its electronic circuit 7 may be incorporated on a silicon substrate or similar, for example AsGa, so as to form an integrated circuit that is customised for a specific application, a circuit sometimes denoted under the term ASIC to refer to an integrated circuit designed entirely or partially according to its specific purpose.
  • the encoder 5 can be formed by a metal or a glass tracking pattern on which the main track is engraved so as to form an optical pattern that is analogous to the multipolar magnetic pattern stated above, the sensitive elements then being formed by optical detectors.
  • the device 2 for measuring the differential speed V/V is supplied with the respective speeds of the left V g and right V d wheels on the same axle, and includes calculation means arranged to provide said differential speed.
  • the determination system also includes a processing device 8 that is able to sample, in a period t, the angular positions TM(t i ) and the differential speeds V/V(t i ) .
  • the processing device includes calculation means suitable, at every t n instant, for:
  • An estimate *(t i ) of the angular position (t i ) is determined by means of the calculation for each measurement of the differential speed V/V(t i ) . Supposing that the friction between the ground and the wheels is negligible, there is a bijective relationship between the angular position *(t i ) and the differential speed V/V(t i ) of the wheels. This friction is particularly negligible when the measurement of the differential speed is taken on the non-drive wheels, but also on the drive wheels when there is normal adherence. According to an embodiment, the relationship is identified with the help of measurements taken on the vehicle in optimum conditions that can include:
  • the incremental angular position TM(t i ) makes it possible to know the variations in the angular position (t i ) over time, but is shifted by a constant offset value with regard to said absolute angular position.
  • the offset(t n ) value corresponds to the minimum of the cost function ⁇ circumflex over ( ⁇ ) ⁇ *(t n ) ⁇ circumflex over ( ⁇ ) ⁇ (t n ) ⁇ offset*1n, 1n being the identity matrix of the dimension n.
  • the method proposes to use all the *(t i ) and TM(t i ) values in a statistical fashion so as to continuously improve the accuracy of the average offset(t n ) since the number of values used increases over time. Moreover, it may be supposed that all the disruptions that affect the calculation of the estimates *(t i ), for example, such as the uneven ground, are centred on zero, the proposed statistical calculation making it possible to rapidly converge towards the sought offset value.
  • the processing device 8 can deliver the absolute angular position (t n ) repeatedly, overcoming most of the faults in the driving area.
  • the accuracy in the determination of the absolute angular position can be improved by planning to implement this process under specific driving conditions.
  • the driving conditions can include a maximum rotation speed of the steering wheel so as to restrict the disruptions linked to the delay in the vehicle coming in line with the trajectory and/or a minimum speed of the vehicle in order to enable an improvement of the accuracy of the estimates.
  • the speed limit of the vehicle may be set at 5 km/h and the speed limit of the steering wheel at 20°/s.
  • the determination system makes it possible to overcome the mechanical indexing faults between the encoder 5 and the steering wheel 1 , since these are corrected when calculating the offset value.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Gyroscopes (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Steering Controls (AREA)
US10/560,106 2003-06-11 2004-06-10 Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels Abandoned US20060279278A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/003,528 US7605586B2 (en) 2003-06-11 2007-12-28 Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0307002A FR2856142B1 (fr) 2003-06-11 2003-06-11 Determination de la position angulaire absolue d'un volant par mesure incrementale et mesure de la vitesse differentielle des roues
FR03/07002 2003-06-11
PCT/FR2004/001453 WO2004111570A2 (fr) 2003-06-11 2004-06-10 Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2004/001453 A-371-Of-International WO2004111570A2 (fr) 2003-06-11 2004-06-10 Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/003,528 Continuation US7605586B2 (en) 2003-06-11 2007-12-28 Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels

Publications (1)

Publication Number Publication Date
US20060279278A1 true US20060279278A1 (en) 2006-12-14

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US10/560,106 Abandoned US20060279278A1 (en) 2003-06-11 2004-06-10 Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels
US12/003,528 Expired - Fee Related US7605586B2 (en) 2003-06-11 2007-12-28 Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels

Family Applications After (1)

Application Number Title Priority Date Filing Date
US12/003,528 Expired - Fee Related US7605586B2 (en) 2003-06-11 2007-12-28 Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels

Country Status (7)

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US (2) US20060279278A1 (fr)
EP (1) EP1631485A2 (fr)
JP (1) JP2007526987A (fr)
KR (1) KR20060022690A (fr)
CN (2) CN1819945A (fr)
FR (1) FR2856142B1 (fr)
WO (1) WO2004111570A2 (fr)

Cited By (6)

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Publication number Priority date Publication date Assignee Title
US20090234540A1 (en) * 2006-04-13 2009-09-17 Michel Collet Method and device for measuring the angular position, between two steering lock stops on a vehicle steering wheel
US20090319120A1 (en) * 2008-06-20 2009-12-24 Nippon Soken, Inc. Vehicle steering angle sensor
US20110128531A1 (en) * 2009-11-30 2011-06-02 Bi Technologies, A Delaware Corporation Rotation and differential angle optical sensor with short optical sensing array
US20110128529A1 (en) * 2009-11-30 2011-06-02 Bi Technologies, A Delaware Corporation Rotation and differential angle optical sensor with non-transition pattern sampling
US20110128528A1 (en) * 2009-11-30 2011-06-02 Bi Technologies, A Delaware Corporation Rotation and differential angle optical sensor which does not require keyed installation
US8077301B2 (en) * 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor with integral bearing races

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FR2935485B1 (fr) * 2008-08-28 2010-09-10 Roulements Soc Nouvelle Systeme et procede de mesure du mouvement axial d'une piece mobile en rotation
FR2935486B1 (fr) * 2008-08-28 2010-09-10 Roulements Soc Nouvelle Dispositif de codage magnetique
CN102243082B (zh) * 2010-05-10 2015-05-20 上海宏曲电子科技有限公司 光敏角位传感器
CN102241273A (zh) * 2010-05-10 2011-11-16 上海宏曲电子科技有限公司 激光式数码舵角指示系统
CN102478409A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 间接式被动激光角位传感器
CN102478391A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 直接式主动激光角位传感器
CN102478394A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 间接式分体型主动激光角位传感器
CN102478406A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 直接式被动激光角位传感器
CN102478393A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 直接式分体型被动激光角位传感器
CN103017786B (zh) * 2011-09-26 2016-02-17 东莞易步机器人有限公司 自平衡两轮车转向偏移量校准装置及校准方法
CN103177311A (zh) * 2011-12-21 2013-06-26 上海华虹Nec电子有限公司 尼尔森规格管理方法及系统
CN107356273B (zh) * 2016-05-09 2021-04-30 成都安驭科技有限公司 一种提高编码检测装置可靠性的方法
FR3052254B1 (fr) * 2016-06-07 2018-06-15 Stmicroelectronics (Rousset) Sas Dispositif de determination du mouvement d'un element rotatif, en particulier pour les releves de compteurs d'eau et/ou de gaz
CN107628110A (zh) * 2017-09-29 2018-01-26 株洲易力达机电有限公司 一种汽车电动助力转向盘角度识别方法
FR3077263B1 (fr) * 2018-01-31 2021-01-08 Jtekt Europe Sas Amelioration de l’evaluation de la position angulaire absolue d’un volant de conduite par prise en consideration de la situation lors de la coupure de contact du vehicule
FR3101704B1 (fr) 2019-10-08 2021-09-24 Robert Bosch Automotive Steering Vendome Procédé de détection d’une position angulaire absolue ou d’une course de déplacement angulaire absolue d’un organe tournant
JP7443140B2 (ja) * 2020-04-09 2024-03-05 Dmg森精機株式会社 位置検出装置
CN111516755A (zh) * 2020-04-22 2020-08-11 东风汽车集团有限公司 一种方向盘转角信号校准方法和转角零位确认方法
KR102521764B1 (ko) 2020-09-25 2023-04-14 한국신발피혁연구원 실리카 마스터배치 제조방법 및 이로부터 제조된 실리카 마스터배치

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US5001637A (en) * 1988-08-01 1991-03-19 Honda Giken Kogyo Kabushiki Kaisha Steering wheel turning angle detector and method for controlling yawing for vehicle
US5078226A (en) * 1989-06-15 1992-01-07 Nippon Soken, Inc. Power steering apparatus for a vehicle with yaw control
US5343393A (en) * 1990-06-04 1994-08-30 Nippondenso Co., Ltd. Steering angle detecting apparatus for motor vehicles based on the phase difference between a steering angle detection signal and steering angle estimated signal
US5642281A (en) * 1994-01-14 1997-06-24 Matsushita Electric Industrial Co., Ltd. Steering angle control apparatus

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090234540A1 (en) * 2006-04-13 2009-09-17 Michel Collet Method and device for measuring the angular position, between two steering lock stops on a vehicle steering wheel
US8290664B2 (en) * 2006-04-13 2012-10-16 Continental Automotive France Method and device for measuring the angular position, between two steering lock stops on a vehicle steering wheel
US20090319120A1 (en) * 2008-06-20 2009-12-24 Nippon Soken, Inc. Vehicle steering angle sensor
US20110128531A1 (en) * 2009-11-30 2011-06-02 Bi Technologies, A Delaware Corporation Rotation and differential angle optical sensor with short optical sensing array
US20110128529A1 (en) * 2009-11-30 2011-06-02 Bi Technologies, A Delaware Corporation Rotation and differential angle optical sensor with non-transition pattern sampling
US20110128528A1 (en) * 2009-11-30 2011-06-02 Bi Technologies, A Delaware Corporation Rotation and differential angle optical sensor which does not require keyed installation
US8077301B2 (en) * 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor with integral bearing races
US8077303B2 (en) 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor with short optical sensing array
US8077302B2 (en) 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor which does not require keyed installation
US8218134B2 (en) 2009-11-30 2012-07-10 Bi Technologies Corporation Rotation and differential angle optical sensor with non-transition pattern sampling

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WO2004111570A2 (fr) 2004-12-23
KR20060022690A (ko) 2006-03-10
EP1631485A2 (fr) 2006-03-08
CN1819945A (zh) 2006-08-16
CN1826510A (zh) 2006-08-30
WO2004111570A3 (fr) 2005-03-24
JP2007526987A (ja) 2007-09-20
CN100447534C (zh) 2008-12-31
US7605586B2 (en) 2009-10-20
FR2856142A1 (fr) 2004-12-17
US20080177502A1 (en) 2008-07-24
FR2856142B1 (fr) 2005-09-30

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