基于多轴惯性传感器的方向盘转角检测系统  

Steering Wheel Angle Detection System Based on Multiple-Axis Inertial Sensor

作　　者：全威 李洪涛 QUAN Wei;LI Hongtao(School of Transportation Science and Engineering,Harbin Institute of Technology,Harbin 150080,Heilongjiang,China;School of Traffic and Transportation,Northeast Forestry University,Harbin 150040,Heilongjiang,China)

机构地区：[1]哈尔滨工业大学交通科学与工程学院,黑龙江哈尔滨150080 [2]东北林业大学交通学院,黑龙江哈尔滨150040

出　　处：《重庆交通大学学报（自然科学版）》2020年第4期116-122,128,共8页Journal of Chongqing Jiaotong University(Natural Science)

基　　金：国家自然科学基金(51578197,51578198)。

摘　　要：提出一种基于多轴惯性传感器的方向盘转角检测系统,实现无线外置式、全范围转角实时检测。通过将三轴加速度分量在Roll-Pitch模型中进行姿态解析,并利用三轴角速度数据对解析角度进行互补滤波以改善高频特性,设计归零补偿和全角补偿算法,系统能够获取以0°为初始角度,±720°绝对位置的方向盘全角数据。方向转角检测结果通过蓝牙模块无线传输至PC或智能终端。对比实验结果表明:该系统检测的方向盘转角与真值呈现良好的线性相关。实车测试结果表明:本系统可实现对常见的驾驶行为的实车、实时辅助判别。A steering wheel angle detection system based on multiple-axis inertial sensor was proposed to realize wireless external and full range angle real-time detection.Based on the attitude analysis of three-axis acceleration component in Roll-Pitch model,the complementary filtering for analytic angle was carried out by using three-axis angular velocity data,in order to improve the high frequency characteristics.The reset compensation and the full angle compensation algorithm were designed,and the system could obtain the steering wheel full angle data with an initial angle of 0°and an absolute position of±720°.The detection results of steering wheel angle were wirelessly transmitted to PC or other intelligent terminals through Bluetooth module.The results of comparative experiments show that the steering wheel angle detected by the proposed system has a good linear correlation with the true value.The field test results show that the proposed system can realize real-vehicle,real-time and auxiliary discrimination of common driving behaviors.

关 键 词：车辆工程 方向盘转角传感器 多轴惯性传感器 姿态检测 驾驶行为 无线传输 

分 类 号：U463.4[机械工程—车辆工程]