TWI386331B - Inclination detecting device and method of vehicle - Google Patents

Description

Vehicle tilt sensing device and method

The present invention relates to a tilt sensing device and method for a vehicle, and more particularly to a tilt sensing device and method for a vehicle that can instantly sense the tilt condition of the vehicle.

In general, when the vehicle turns at a high speed, the body of the vehicle is easily tilted, which may cause a risk of dumping or overturning. Taking an electric tricycle as an example, since the electric tricycle is small in size, light in weight, and uses a single wheel and a handle to perform direction control, the centrifugal force generated when the electric tricycle turns is liable to cause a risk of falling. Therefore, if the tilt state of the vehicle can be sensed immediately, the vehicle can be decelerated or warned to avoid the danger of dumping or overturning.

At present, a sensor for sensing a moving vehicle, such as a three-axis accelerometer, can sense the acceleration and tilt angle changes of the vehicle body on the three-axis component, and calculate the tilt angles of the three axes separately, and then calculate Know the tilt of the car body. However, the operation of this three-axis accelerometer is complicated, and the required computing resources and calculation time are also long. Moreover, the sensing method of the three-axis vector needs to be operated by a higher-order processor, thereby increasing component cost.

SUMMARY OF THE INVENTION It is therefore an aspect of the present invention to provide a tilt sensing apparatus and method for a vehicle whereby the tilting condition of the vehicle can be sensed instantaneously, and the sensing operation of the tilt angle can be greatly simplified to reduce component cost.

According to an embodiment of the invention, the tilt sensing device of the vehicle of the present invention comprises at least one sensor and control unit. The sensor is configured to output a first sensing signal and a second sensing signal, wherein the first sensing signal has a first acceleration component and a first tilt component of the vehicle in a first axial direction, and the second sensing signal has a vehicle The second acceleration component and the second inclination component in the second axial direction, and the angle between the first axial direction and the traveling direction of the vehicle is the same as the angle between the second axial direction and the traveling direction of the vehicle. The control unit is configured to compare the first sensing signal and the second sensing signal to obtain a first tilt component and a second tilt component, and obtain a tilt angle of the vehicle according to the first tilt component and the second tilt component.

Moreover, according to an embodiment of the present invention, the tilt sensing method of the vehicle of the present invention includes: sensing a vehicle in a first axial direction to obtain a first sensing signal, wherein the first sensing signal has a vehicle at a first acceleration component and an first inclination component in an axial direction; sensing, in a second axial direction, the vehicle to obtain a second sensing signal, wherein the second sensing signal has a second second of the vehicle in the second axial direction An acceleration component and a second inclination component, and an angle between the first axial direction and a traveling direction of the vehicle is the same as an angle between the second axial direction and a traveling direction of the vehicle; and comparing the first sensing signal and The second sensing signal is obtained to obtain a first tilt component and a second tilt component, and obtain a tilt angle of the vehicle according to the first tilt component and the second tilt component.

Moreover, according to an embodiment of the present invention, the tilt sensing device can be applied to a vehicle

Therefore, the tilt sensing device and method of the vehicle of the present invention can utilize a two-axis or single-axis sensor to instantly sense the tilting condition of the vehicle, and can greatly simplify the calculation of the tilt angle to reduce component cost. Furthermore, the present invention can accordingly act in accordance with the tilt angle of the vehicle to avoid the risk of tipping or overturning.

The above and other objects, features, advantages and embodiments of the present invention will become more apparent and understood. It is to be understood that the embodiments are merely illustrative of the embodiments of the invention and are not intended to limit the invention.

Please refer to FIG. 1 , which is a block diagram of a tilt sensing device disposed on a vehicle according to an embodiment of the invention. The tilt sensing device 110 of the vehicle of the present embodiment is disposed at any position of the vehicle body 120 of the vehicle 100 for instantly sensing the tilting condition of the vehicle 100 to avoid a situation in which the vehicle 100 is dumped or overturned. This vehicle 100 is, for example, a tricycle, a two-wheeled vehicle, a four-wheeled vehicle, a single-wheeled vehicle, an electric vehicle, an electric scooter, or an internal combustion engine powered vehicle.

As shown in FIG. 1 , the tilt sensing device 110 of the present embodiment includes at least one sensor 111 and a control unit 112 . The sensor 111 is electrically connected to the control unit 112 for sensing the vehicle 100 in the first axial direction 101 and the second axial direction 102, and outputs the first sensing signal Ax and the second sensing signal Yx. To the control unit 112. Wherein, the first sensing signal Ax has a first acceleration component Aa and a first inclination component At of the vehicle 100 in the first axial direction 101, and the second sensing signal Yx has a second acceleration of the vehicle 100 in the second axial direction 102. The component Ya and the second inclination component Yt, and the angle θ ₁ between the first axial direction 101 and a traveling direction 103 of the vehicle 100 is the same as the angle θ ₂ between the second axial direction 102 and the traveling direction 103 of the vehicle 100 . The direction of travel 103 of the vehicle 100 may generally be the front-rear direction of the vehicle 100.

As shown in FIG. 1 , in the present embodiment, the sensor 111 can be, for example, a two-axis acceleration gauge that can respectively sense the G value and the angular variation of the acceleration of the vehicle 100 on the two axial directions 101 , 102 . The G value outputs the first sensing signal Ax and the second sensing signal Yx, and thus the sensing signals Ax and Yx are the combined quantities of the acceleration value and the angular variation value, as shown in the following equations (1) and (2):

Ax=Aa+At (1)

Yx=Ya+Yt (2)

As shown in FIG. 1 , in the present embodiment, the first axial direction 101 can intersect perpendicularly to the second axial direction 102 . At this time, the angle θ ₁ between the first axial direction 101 and the traveling direction 103 of the vehicle 100 can be 45 degrees, and the angle θ ₂ between the second axis 102 and the direction of travel 103 may be 45 degrees.

As shown in FIG. 1, the control unit 112 of this embodiment is, for example, a microprocessor, a programmable controller (PLC), a multi-processing unit, an integrated circuit, a digital signal processor, a processor with a processing route, a computer device, or The other similar unit is configured to receive and compare the first sensing signal Ax and the second sensing signal Yx to obtain the first tilt component At and the second tilt component Yt, and according to the first tilt component At and the second tilt component Yt To obtain a tilt angle of the vehicle 100. In the present embodiment, since the first axial direction 101 and the second axial direction 102 sensed by the sensor 111 are equiangularly symmetric with respect to the traveling direction 103 of the vehicle 100, and the acceleration received by the vehicle body 120 should be the same, The first acceleration component Aa of the first sensing signal Ax of the embodiment is equal to the second acceleration component Ya of the second sensing signal Yx. Therefore, when the control unit 112 performs the comparison action of the first sensing signal Ax and the second sensing signal Yx, the first acceleration component Aa and the second acceleration component Ya can be mutually offset, that is, the comparison result of the control unit 112 is only There is a first inclination component At and a second inclination component Yt. Next, the control unit 112 can know the tilt angle of the vehicle 100 based on the comparison result, and can respond accordingly to avoid the risk of tipping or overturning that occurs when the tilt angle of the vehicle 100 is too hot.

Please refer to FIG. 2, which is a block diagram of a tilt sensing device according to an embodiment of the invention. In an embodiment, the vehicle 100 is, for example, an electric vehicle, and further includes a first motor 130 and a second motor 140 disposed on the vehicle body 120 and coupled to the first transmission wheel (not shown) and the first The second transmission wheel (not shown), the first transmission wheel and the second transmission wheel are respectively disposed on the left and right sides of the vehicle body 120 to drive the vehicle 100 to travel. When the vehicle 100 makes a turn, for example, and the inclination angle of the vehicle 100 is greater than a threshold, the control unit 112 may control the first motor 130 and the second motor 140 to have different power outputs, so that the first transmission wheel and the second transmission wheel have Different rotational speeds are avoided to avoid an increase in the tilt angle of the vehicle 100, and the tilting of the vehicle 100 can be slowed down.

In another embodiment, the control unit 112 of the tilt sensing device 110 can be electrically connected to a display device (not shown), which is disposed at a position that can be viewed by a driver or a passenger. At this time, the control unit 112 can output a tilt signal to the display device, so that the display device can instantly display the tilt angle of the vehicle 100, so that the driving can know the tilting situation of the vehicle 100 at any time, so as to timely perform the corresponding action. For example, slowing down, turning or braking. The manner in which the tilt angle of the display device is displayed for the vehicle 100 may be a light number, a number, or a graphic.

In another embodiment, the control unit 112 of the tilt sensing device 110 can be electrically connected to the warning device (not shown). When the tilt angle of the vehicle 100 is greater than a preset threshold, the control unit 112 can control the alert. The device issues an alert to alert the driving vehicle 100 that the current tilt angle is too large and there is a risk of tipping, thereby preventing the risk of tipping or overturning in advance. The warning device can be sounded, lighted or displayed.

In another embodiment, the control unit 112 of the tilt sensing device 110 can be electrically connected to a power module (not shown), and the power module can be connected to the wheel to drive the traveling power of the vehicle 100. The group can be, for example, a motor or an engine. When the tilt angle of the vehicle 100 is greater than the preset threshold value, the control unit 112 can correspondingly control the power output of the power module to prevent the tilt angle of the vehicle 100 from continuing to increase and slow down the tilting condition of the vehicle 100. For example, the control unit 112 can control the power module to decelerate or stop the power output to improve the tilting condition of the vehicle 100.

Referring to FIG. 3, a flow chart of a method for tilt sensing according to an embodiment of the present invention is shown. When the tilt sensing method of the vehicle of the present embodiment is performed, first, the sensor 111 of the tilt sensing device 110 can sense the vehicle 100 in the first axial direction 101 to obtain the first sensing signal Ax. (Step S201), and in the second axial direction 102, the vehicle 100 is sensed to obtain a second sensing signal Yx (step S202). Next, the control unit 112 may compare the first sensing signal Ax and the second sensing signal Yx to obtain the first tilt component At and the second tilt component Yt, and according to the first tilt component At and the second tilt component Yt. The inclination angle of the vehicle 100 is obtained (step S203). After obtaining the tilt angle of the vehicle 100, the control unit 112 can more appropriately perform a control action to improve the tilting situation of the vehicle 100.

Please refer to FIG. 4 , which is a block diagram of a tilt sensing device according to still another embodiment of the present invention. In still another embodiment, the sensor 311 of the tilt sensing device 110 can be two single-axis acceleration gauges, respectively sensing the two axial directions 101, 102 of the vehicle 100 to obtain the first sensing signal Ax and The second sensing signal Yx. The two single-axis acceleration gauges are preferably disposed in close proximity, and the first axial direction 101 and the second axial direction 102 sensed by the single-axis acceleration gauges 311 are equiangularly symmetric with respect to the traveling direction 103 of the vehicle 100, thereby eliminating acceleration. The component, thus greatly simplifying the operation of the tilt angle. Wherein, the angle θ ₁ or θ ₂ between the first axial direction 101 or the second axial direction 102 and the traveling direction 103 may be 0 to 180 degrees, for example, 30 degrees or 60 degrees.

It can be seen from the above embodiments of the present invention that the tilt sensing device and method of the vehicle of the present invention can utilize a two-axis or single-axis sensor to instantly sense the tilting condition of the vehicle, and can utilize the sensor for sensing. The axial (first axial, second axial) configuration of the vehicle's driving direction eliminates the effects of the acceleration component, thereby greatly simplifying the calculation of the tilt angle and eliminating the need for a high-order processor and reducing component costs. Furthermore, the present invention can correspondingly act after instantly knowing the tilt angle of the vehicle, for example, generating left and right side speed differences, deceleration, braking or warning to avoid the risk of dumping or overturning.

In view of the above, the present invention has been disclosed in the above preferred embodiments, and is not intended to limit the invention, and the present invention may be made without departing from the spirit and scope of the invention. Various modifications and refinements are made, and the scope of the present invention is defined by the scope of the appended claims.

101. . . First axial direction

102. . . Second axial direction

103. . . Direction of travel

100. . . vehicle

110. . . Tilt sensing device

111. . . Sensor

112. . . control unit

120. . . Car body

130. . . First motor

140. . . Second motor

S201. . . Sensing the first sensing signal in the first axial direction

S202. . . Sensing a second sensing signal in the second axial direction

S203. . . Comparing the first sensing signal with the second sensing signal

The above and other objects, features, advantages and embodiments of the present invention will become more apparent and understood.

1 is a block diagram of a tilt sensing device disposed on a vehicle in accordance with an embodiment of the present invention.

2 is a block diagram of a tilt sensing device in accordance with an embodiment of the present invention.

3 is a flow chart of a method of tilt sensing method in accordance with an embodiment of the present invention.

4 is a block diagram of a tilt sensing device in accordance with yet another embodiment of the present invention.

101. . . First axial direction

102. . . Second axial direction

103. . . Direction of travel

100. . . vehicle

110. . . Tilt sensing device

111. . . Sensor

112. . . control unit

120. . . Car body

Claims (20)

A tilt sensing device for a vehicle, comprising: at least one sensor for outputting a first sensing signal and a second sensing signal, wherein the first sensing signal has the vehicle in a first axial direction a first acceleration component and a first inclination component, the second sensing signal having a second acceleration component and a second inclination component of the vehicle in a second axial direction, and the first axial direction and the vehicle An angle between a direction of travel is the same as an angle between the second axis and the direction of travel of the vehicle; and a control unit for comparing the first sensing signal and the second sensing signal to Obtaining the first inclination component and the second inclination component, and obtaining an inclination angle of the vehicle according to the first inclination component and the second inclination component; wherein the at least one sensor is a two-axis acceleration gauge Or two single-axis accelerometers. The tilt sensing device according to claim 1, wherein the vehicle is a tricycle, a two-wheeled vehicle, a four-wheeled vehicle, a single-wheeled vehicle, an electric vehicle, an electric scooter or an internal combustion engine powered vehicle. The tilt sensing device of claim 1, wherein an angle between the first axial direction and the traveling direction and an angle between the first axial direction and the traveling direction are 45 degrees. The tilt sensing device of claim 1, further comprising a first motor and a second motor, the first motor is coupled to a first transmission wheel, and the second motor is coupled to a second Transmission wheel, when the inclination angle of the vehicle is greater than one door When depreciating, the control unit controls the first motor and the second motor to have different power outputs. The tilt sensing device of claim 1, wherein the control unit is electrically connected to a display device for displaying the tilt angle. The tilt sensing device of claim 1, wherein the control unit is electrically connected to a warning device, and when the tilt angle is greater than a preset threshold, the control unit controls the alert device to issue a warning. . The tilt sensing device of claim 1, wherein the control unit is electrically connected to a power module, and when the tilt angle is greater than a preset threshold, the control unit controls the power module. Power output. A tilt sensing method for a vehicle, comprising: sensing a vehicle in a first axial direction to obtain a first sensing signal, wherein the first sensing signal has the vehicle in the first axial direction a first acceleration component and a first tilt component; sensing the vehicle in a second axis to obtain a second sensing signal, wherein the second sensing signal has the vehicle on the second axis a second acceleration component and a second dip component, and an angle between the first axis and a direction of travel of the vehicle is the same as an angle between the second axis and the direction of travel of the vehicle And comparing the first sensing signal and the second sensing signal to obtain the first tilt component and the second tilt component, and obtaining the vehicle according to the first tilt component and the second tilt component Tilt angle The first sensing signal and the second sensing signal are sensed by using at least one sensor, and the at least one sensor is a two-axis acceleration gauge or two single-axis acceleration gauges. The tilt sensing method according to claim 8, wherein the vehicle is a tricycle, a two-wheeled vehicle, a four-wheeled vehicle, a single-wheeled vehicle, an electric vehicle, an electric scooter or an internal combustion engine powered vehicle. The tilt sensing method of claim 8, wherein an angle between the first axial direction and the traveling direction and an angle between the first axial direction and the traveling direction are 45 degrees. The tilt sensing method of claim 8, wherein the first sensing signal and the second sensing signal are compared by a control unit. A vehicle includes: a vehicle body; a tilt sensing device disposed on the vehicle body, wherein the tilt sensing device includes: at least one sensor for outputting a first sensing signal and a second sense Measuring a signal, wherein the first sensing signal has a first acceleration component and a first inclination component of the vehicle in a first axial direction, and the second sensing signal has a first dimension of the vehicle in a second axial direction a second acceleration component and a second inclination component, and an angle between the first axis and a direction of travel of the vehicle is the same between the second axis and the direction of travel of the vehicle And a control unit for comparing the first sensing signal and the second sensing signal to obtain the first tilt component and the second tilt component, and according to the first tilt component and the second tilt angle Component, to obtain a tilt angle of the vehicle; wherein the at least one sensor is a two-axis accelerometer or two single-axis accelerometers. The vehicle of claim 12, wherein the vehicle is a tricycle, a two-wheeled vehicle, a four-wheeled vehicle, a single-wheeled vehicle, an electric vehicle, an electric scooter or an internal combustion engine powered vehicle. The vehicle of claim 12, wherein the at least one sensor is a two-axis acceleration gauge. The vehicle of claim 12, wherein the at least one sensor is two single-axis acceleration gauges. The vehicle of claim 12, wherein an angle between the first axial direction and the traveling direction and an angle between the first axial direction and the traveling direction are 45 degrees. The vehicle of claim 12, further comprising a first motor and a second motor, the first motor is coupled to a first transmission wheel, and the second motor is coupled to a second transmission wheel. The control unit controls the first motor and the second motor to have different work when the tilt angle of the vehicle is greater than a threshold value Rate output. The vehicle of claim 12, wherein the control unit is electrically connected to a display device for displaying the tilt angle. The vehicle of claim 12, wherein the control unit is electrically connected to a warning device, and when the inclination angle is greater than a predetermined threshold, the control unit controls the warning device to issue an alarm. The vehicle of claim 12, wherein the control unit is electrically connected to a power module, and when the tilt angle is greater than a predetermined threshold, the control unit controls the power output of the power module. .