CN109254172B - Position calibration method and device of vehicle acceleration sensor and vehicle control equipment - Google Patents
Position calibration method and device of vehicle acceleration sensor and vehicle control equipment Download PDFInfo
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Abstract
The invention relates to a position calibration method for an acceleration sensor for a vehicle, a position calibration device for an acceleration sensor for a vehicle, and a vehicle control device. The position calibration method of the acceleration sensor for the vehicle of the invention is suitable for being executed in computer equipment, wherein the method comprises the following steps: accelerating a vehicle on a road surface with a specified condition, acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measuring points and acceleration values output by an acceleration sensor for the vehicle, and judging that the acceleration sensor for the vehicle has an installation angle error when the error between the wheel speed gradient values and the acceleration values is in a specified range; and calibrating the acceleration value output by the vehicle acceleration sensor based on the wheel speed gradient value. According to the present invention, the output value of the acceleration sensor for a vehicle can be calibrated.
Description
Technical Field
The present invention relates to the field of vehicle control, and in particular, to a method for calibrating a position of an acceleration sensor for a vehicle, a device for calibrating a position of an acceleration sensor for a vehicle, and a vehicle control apparatus.
Background
The acceleration sensor for the vehicle is used for measuring the acceleration of the vehicle, is widely applied to EPB, HHC, AVH and the like, has certain requirements on the installation precision of the acceleration sensor, and directly influences the performance if the acceleration sensor is not accurately installed.
Generally, the installation position of the vehicle acceleration sensor is fixed when the whole vehicle leaves a factory, for example, the vehicle acceleration sensor is normally installed below a front seat, such as on a centroid position. However, in the event of a vehicle collision, the mounting angle of the sensor may deviate, resulting in an output error, which may affect the performance of the entire vehicle.
On the other hand, in addition to the vehicle collision, there may be a case where the angle is inversely fitted or deviated when the acceleration sensor for a vehicle is mounted before the vehicle is shipped. In addition, there is a problem that the zero point of the acceleration sensor for a vehicle is not found, although the acceleration sensor for a vehicle is mounted at a correct position.
There is no method or device for detecting such mounting error of the acceleration sensor for a vehicle, such as mounting error or zero point error.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a position calibration method for an acceleration sensor for a vehicle, a position calibration device for an acceleration sensor for a vehicle, and a vehicle control apparatus, which are capable of calibrating a mounting error or a zero point error of the acceleration sensor for a vehicle.
A position calibration method for an acceleration sensor for a vehicle according to an aspect of the present invention is adapted to be executed in a computer device, and is characterized by including the steps of:
an installation angle error determination step of accelerating a vehicle on a road surface under a prescribed condition, acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measurement points and acceleration values output by an acceleration sensor for the vehicle, and determining that an installation angle error exists in the acceleration sensor for the vehicle when an error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the acceleration sensor for the vehicle is within a prescribed range; and
an error calibration step of calibrating an acceleration value output from the vehicle acceleration sensor based on the wheel speed gradient value when it is determined that there is an error in the attachment angle error determination step.
Optionally, the mounting angle error determination step includes the sub-steps of:
a collecting substep, wherein the vehicle is accelerated on the road surface with the specified condition, and wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and acceleration values output by the vehicle acceleration sensor are collected when the vehicle speed increases by a specified value;
a calculating sub-step, comparing and calculating every two adjacent measuring points, wherein the wheel speed gradient values of the two adjacent measuring points are set as AX1 and AX2, the acceleration values of the vehicle acceleration sensor output by the two adjacent measuring points are set as AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
a determination sub-step of determining that there is an installation angle error in the case of b < b1 or b > b2 and m1< m < m 2.
Optionally, the error calibration step comprises the sub-steps of:
a sampling sub-step of acquiring wheel speed gradient values AX1, AX2, AX3 … AXN and acceleration values AX11, AX22, AX33 … AXNN output from a vehicular acceleration sensor for N measurement points in the case where it is determined in the mounting angle error determination step that there is an error, where N is a natural number;
a first calculation substep of Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
a second calculating sub-step of calculating the average value of Cosa1 and Cosa2 … Cosa (N-1) to obtain Cosa'; and
and a calibration substep of calibrating the acceleration value AX output by the acceleration sensor for the vehicle at present to AX ', wherein AX ' = AX/Cosa '.
Optionally, the second calculating step comprises the steps of:
removing singular points for Cosa1, Cosa2 … Cosa (N-1); and
and comparing the maximum Cosa value with the minimum Cosa value of the remaining points after the singular point is removed, and taking the average value of the Cosa values of the remaining points as Cosa' when the difference between the maximum Cosa value and the minimum Cosa value is within a specified range.
Optionally, the method further comprises: a zero point error determination step of reading an acceleration value output from an acceleration sensor for a vehicle and a wheel speed gradient value output from a wheel speed sensor when the vehicle starts and stops on a road surface under a predetermined condition, and determining that a zero point error exists in the acceleration sensor for the vehicle when a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero-point error calibration step of calibrating the acceleration value AX ' output from the current vehicular acceleration sensor to an acceleration value AX ', where the acceleration value AX ' is an acceleration value AX + offset value, when the zero-point error determination step determines that the zero-point error exists.
Alternatively, the road surface of the prescribed condition means that the road surface is within plus or minus 10 degrees and the road surface is dry.
A position calibration device for an acceleration sensor for a vehicle according to an aspect of the present invention includes:
the mounting angle error determination module is used for accelerating the vehicle on the road surface with the specified condition, acquiring the wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and the acceleration values output by the vehicle acceleration sensor, and determining that the mounting angle error exists in the vehicle acceleration sensor under the condition that the error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the vehicle acceleration sensor is in a specified range; and
and the error calibration module calibrates the acceleration value output by the vehicle acceleration sensor based on the wheel speed gradient value under the condition that the installation angle error judgment module judges that the error exists.
Optionally, the mounting angle error determination module includes the following sub-modules:
the acquisition submodule is used for acquiring wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and acceleration values output by the vehicle acceleration sensor when the vehicle speed increases by a specified value;
a calculation submodule which compares every two adjacent measurement points in the measurement points acquired by the acquisition submodule, wherein the wheel speed gradient values of the two adjacent measurement points are set to be AX1 and AX2, the acceleration values of the vehicle acceleration sensor outputs of the two adjacent measurement points are set to be AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
and a determination submodule for determining that there is an installation angle error when b < b1 or b > b2 and m1< m < m 2.
Optionally, the error calibration module comprises the following sub-modules:
the sampling sub-module is used for acquiring wheel speed gradient values AX1, AX2 and AX3 … AXN and acceleration values AX11, AX22 and AX33 … AXNN output by the vehicle acceleration sensor under the condition that the installation angle error judgment module judges that errors exist, wherein N is a natural number;
a first calculation submodule for calculating Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
the second calculation submodule calculates the average value of Cosa1 and Cosa2 … Cosa (N-1) to obtain Cosa'; and
and the calibration submodule calibrates the acceleration value AX output by the current vehicular acceleration sensor to be AX ', wherein AX ' = AX/Cosa '.
Optionally, the second computation submodule includes:
a singular point removing submodule for removing singular points of Cosa1 and Cosa2 … Cosa (N-1); and
and an average value calculation sub-module which compares a maximum Cosa value and a minimum Cosa value of the remaining points from which the singular point is removed by the singular point removal sub-module, and calculates an average value of the Cosa values of the remaining points as Cosa' when a difference between the maximum Cosa value and the minimum Cosa value is within a prescribed range.
Optionally, the method further comprises:
the device comprises a zero error determination module, a detection module and a control module, wherein the zero error determination module is used for reading an acceleration value output by an acceleration sensor for a vehicle and a wheel speed gradient value output by a wheel speed sensor under the condition that the vehicle is started and is static on a road surface under a specified condition, and determining that the acceleration sensor for the vehicle has a zero error under the condition that a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero point error calibration module which calibrates the acceleration value AX output by the current vehicle acceleration sensor to an acceleration value AX 'when the zero point error determination module determines that the zero point error exists, wherein the acceleration value AX' is an acceleration value AX + deviation value.
A vehicle control device according to an aspect of the present invention includes:
a processor; and
a storage device adapted to store a plurality of instructions, wherein,
the instructions are adapted to be loaded by the processor and to perform the steps of:
an installation angle error determination step of acquiring a wheel speed gradient value output by a wheel speed sensor and an acceleration value output by a vehicle acceleration sensor at a plurality of measurement points when the vehicle is accelerated on the road surface under the prescribed condition, and determining that the installation angle error exists in the vehicle acceleration sensor when an error between the wheel speed gradient value output by the wheel speed sensor and the acceleration value output by the vehicle acceleration sensor is within a prescribed range; and
an error calibration step of calibrating an acceleration value output from the vehicle acceleration sensor based on the wheel speed gradient value when it is determined that there is an error in the attachment angle error determination step.
Optionally, the instructions are further adapted to be loaded by a processor and to perform the steps of: a zero point error determination step of reading an acceleration value output from an acceleration sensor for a vehicle and a wheel speed gradient value output from a wheel speed sensor when the vehicle starts and stops on a road surface under a predetermined condition, and determining that a zero point error exists in the acceleration sensor for the vehicle when a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero-point error calibration step of calibrating the acceleration value AX ' output from the current vehicular acceleration sensor to an acceleration value AX ', where the acceleration value AX ' is an acceleration value AX + offset value, when the zero-point error determination step determines that the zero-point error exists.
As described above, according to the position calibration method of the acceleration sensor for a vehicle, the position calibration device of the acceleration sensor for a vehicle, and the vehicle control device of the present invention, the zero point error and the mounting position error of the acceleration sensor for a vehicle can be monitored, and the measurement accuracy of the acceleration sensor for a vehicle can be improved.
Other features and advantages of the methods and apparatus of the present invention will be more particularly apparent from or elucidated with reference to the drawings described herein, and the following detailed description of the embodiments used to illustrate certain principles of the invention.
Drawings
Fig. 1 is a flowchart illustrating a method for calibrating a position of an acceleration sensor for a vehicle according to an embodiment of the present invention.
Fig. 2 is a flowchart showing a method for calibrating the position of an acceleration sensor for a vehicle according to still another embodiment of the present invention.
Fig. 3 is a schematic diagram showing Cosa1 ═ AX22/AX 2.
FIG. 4 is a schematic diagram showing the removal of outliers.
Fig. 5 is a structural diagram showing a position calibration device for an acceleration sensor for a vehicle according to an embodiment of the present invention.
Fig. 6 is a structural diagram showing a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention.
Fig. 7 is a structural diagram showing a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention.
Detailed Description
The following description is of some of the several embodiments of the invention and is intended to provide a basic understanding of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
The errors of the acceleration sensor for a vehicle can be roughly classified into two types: the sensor is correctly installed, but the zero point of the sensor is not found (also called zero point error); an angular mounting error (positional error) of the sensor due to machining, mounting, and the like. The former case requires calibration of the zero point and the latter case requires calibration of the position.
The inventors of the present invention compared the acceleration value of the acceleration sensor for a vehicle and the wheel speed gradient value outputted from the wheel speed sensor, and found that the error between the wheel speed gradient value outputted from the wheel speed sensor and the acceleration value outputted from the acceleration sensor for a vehicle is almost 0 in the case where the acceleration sensor for a vehicle is normally mounted (i.e., there is no zero point error and there is no position error).
On the other hand, the inventors found, through a plurality of data measurements, that in the case where the acceleration sensor position for a vehicle is rotated by a certain angle, for example, 30 degrees, the ratio of the acceleration value of the acceleration sensor for a vehicle and the wheel speed gradient output from the wheel speed sensor is 0.84, and in the case where the acceleration sensor position for a vehicle is normally installed (i.e., in the case where the installation angle is 0 degrees), the ratio of the acceleration value of the acceleration sensor for a vehicle and the wheel speed gradient output from the wheel speed sensor is 0.837, and found that even in the case where the installation angle of the acceleration sensor for a vehicle is deviated, the ratio of the acceleration value of the acceleration sensor for a vehicle and the wheel speed gradient output from the wheel speed sensor can be substantially ensured to be consistent.
Based on the above-mentioned research by the inventors, the present invention proposes the following position calibration method in order to eliminate the error of the acceleration sensor for a vehicle.
Fig. 1 is a flowchart illustrating a method for calibrating a position of an acceleration sensor for a vehicle according to an embodiment of the present invention.
As shown in fig. 1, a method for calibrating a position of an acceleration sensor for a vehicle according to an embodiment of the present invention is adapted to be executed in a computer device, and includes the steps of:
zero point error determination step S10: under the condition that a vehicle is started and is static on a road surface with specified conditions, reading an acceleration value output by a vehicle acceleration sensor and a wheel speed gradient value output by a wheel speed sensor, and determining that the vehicle acceleration sensor has a zero point error under the condition that a deviation value exists between the acceleration value and the wheel speed gradient value; and
zero point error calibration step S20: calibrating the acceleration value AX output by the current vehicle acceleration sensor to an acceleration value AX 'when the zero point error determination step determines that the zero point error exists, wherein the acceleration value AX' is an acceleration value AX + deviation value; and
error storage step S30: it is stored when there is a deviation value between the acceleration value and the wheel speed gradient value (this error storing step S30 is a preferable step).
The road surface under the specified conditions is a dry road surface within 10 degrees of the horizontal plane. In addition, as an embodiment, the wheel speed gradient value output by the wheel speed sensor can be automatically calculated according to the speed change of the wheel speed sensor by ESP software of the applicant (Bosch).
In this way, when the acceleration sensor for a vehicle has a zero-point error, the calibration is performed by the above procedure so that the calibrated acceleration value AX' becomes equal to the acceleration value AX (the current acceleration value output from the acceleration sensor for a vehicle) + the offset value, whereby an accurate output of the acceleration sensor for a vehicle can be obtained.
Next, a method for calibrating the position of an acceleration sensor for a vehicle according to still another embodiment of the present invention will be described.
Fig. 2 is a flowchart showing a method for calibrating the position of an acceleration sensor for a vehicle according to still another embodiment of the present invention.
As shown in fig. 2, a method for calibrating a position of an acceleration sensor for a vehicle according to another embodiment of the present invention is adapted to be executed in a computer device, and includes the steps of:
mounting angle error determination step S101: when the vehicle is accelerated on the road surface with the specified condition, acquiring wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and acceleration values output by the vehicle acceleration sensor, and judging that the vehicle acceleration sensor has an installation angle error under the condition that the error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the vehicle acceleration sensor is in a specified range; and
error calibration step S102: in a case where it is determined in the mounting angle error determination step that there is an error, an acceleration value output by the vehicular acceleration sensor is calibrated based on the wheel speed gradient value.
In the above aspect, the road surface under the specified condition is a road surface which has an angle of less than 10 ° with the horizontal line and is dry.
Next, the mounting angle error determination step S101 and the error calibration step S102 will be specifically described.
Wherein the mounting angle error determining step S101 includes the following substeps:
and a collection substep: acquiring wheel speed gradient values output from the wheel speed sensors of the plurality of measurement points and acceleration values output from the acceleration sensor for the vehicle at every increase of the vehicle speed by a prescribed value, for example, here, as one embodiment, in the acquisition sub-step, for example, the vehicle is accelerated on the road surface of the prescribed condition such that the throttle is slowly stepped on to 80% linear acceleration (10 ° < sensor angle <10 °) to be measured at every increase of 10kph of the vehicle speed as a measurement point, and the wheel speed gradient values output from the wheel speed sensors of the N measurement points and the acceleration values output from the acceleration sensor for the vehicle are acquired;
a calculation substep: comparing and calculating every two adjacent measuring points, wherein the wheel speed gradient values of the two adjacent measuring points are AX1 and AX2, the acceleration values of the vehicle acceleration sensor outputs of the two adjacent measuring points are AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
a decision substep: when b < b1 or b > b2 and m1< m < m2, it is determined that there is an installation angle error.
Next, the error calibration step S102 includes the following sub-steps:
a sampling sub-step: acquiring wheel speed gradient values AX1, AX2, AX3 … AXN and acceleration values AX11, AX22, AX33 … AXNN output from a vehicle acceleration sensor for N measurement points in the case where it is determined in the mounting angle error determination step that there is an error, where N is a natural number;
the first calculation substep: calculating Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
the second calculation substep: calculating the average value of Cosa1 and Cosa2 … Cosa (N-1) to obtain Cosa'; and
a calibration substep: and calibrating the acceleration value AX output by the current vehicle acceleration sensor to be AX ', wherein AX ' = AX/Cosa '.
Fig. 3 is a schematic diagram showing Cosa1 ═ AX22/AX 2.
Next, how to calculate the average value of Cosa1 and Cosa2 … Cosa (N-1) in the second calculation substep described above is explained.
First, singular points, i.e., Cosa having a large difference, are removed for Cosa1 and Cosa2 … Cosa (N-1).
FIG. 4 is a schematic diagram showing the removal of outliers.
As shown in fig. 4, outlier E in fig. 4 is removed for Cosa1, Cosa2 … Cosa (N-1).
Next, the maximum Cosa value and the minimum Cosa value of the remaining points after the outlier E is removed are compared, and when a difference between the maximum Cosa value and the minimum Cosa value is within a predetermined range, an average value of the Cosa values of the remaining points is taken as Cosa'. In this way, when the angular mounting error exists in the vehicular acceleration sensor, the acceleration value AX output by the current vehicular acceleration sensor is calibrated to AX '= AX/Cosa', so that a relatively accurate vehicular acceleration value can be obtained.
In this way, when there is an angular mounting error of the vehicle acceleration sensor, if the digital value of the current vehicle acceleration sensor is AX, the value is calibrated to AX '= AX/Cosa', and thus a calibrated and relatively accurate vehicle acceleration sensor can be obtained.
The zero point error determination method for the vehicle acceleration sensor according to the embodiment of the present invention may further include, in addition to the steps S101 and S102, the steps of:
a zero point error determination step: under the condition that a vehicle is started and is static on a road surface with specified conditions, reading an acceleration value output by a vehicle acceleration sensor and a wheel speed gradient value output by a wheel speed sensor, and determining that the vehicle acceleration sensor has a zero point error under the condition that a deviation value exists between the acceleration value and the wheel speed gradient value; and
zero error calibration: and calibrating the acceleration value AX output by the current vehicular acceleration sensor to an acceleration value AX ', wherein the acceleration value AX' is an acceleration value AX + deviation value, when the zero-point error determination step determines that the zero-point error exists.
As an alternative, the zero point error determination step and the zero point error calibration step may be provided before the above step S101, but this is not limited thereto. The method for calibrating the position of the acceleration sensor for a vehicle according to the embodiments of the present invention has been described above. Next, a position calibration device for an acceleration sensor for a vehicle according to the present invention will be described.
Fig. 5 is a structural diagram showing a position calibration device for an acceleration sensor for a vehicle according to an embodiment of the present invention.
As shown in fig. 5, a position calibration device for an acceleration sensor for a vehicle according to an embodiment of the present invention includes:
the zero point error determination module 100 is used for reading an acceleration value output by an acceleration sensor for the vehicle and a wheel speed gradient value output by a wheel speed sensor under the condition that the vehicle is started and is static on a road surface with specified conditions, and determining that the acceleration sensor for the vehicle has a zero point error under the condition that a deviation value exists between the acceleration value and the wheel speed gradient value; and
a zero point error calibration module 200, which calibrates the acceleration value AX output by the current vehicular acceleration sensor to an acceleration value AX 'when the zero point error determination module determines that the zero point error exists, wherein the acceleration value AX' is an acceleration value AX + deviation value; and
and an error storage module 300 for storing a deviation value between the acceleration value and the wheel speed gradient value.
The road surface under the specified conditions is a dry road surface within 10 degrees of the horizontal plane. In this way, when the zero point error determination module 100 determines that the acceleration sensor for a vehicle has a zero point error, the calibration is performed by the zero point error calibration module 200 so that the calibrated acceleration value AX' is equal to the acceleration value AX (the current acceleration value output by the acceleration sensor for a vehicle) + the offset value, whereby an accurate output of the acceleration sensor for a vehicle can be obtained.
Fig. 6 is a structural diagram showing a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention.
As shown in fig. 6, a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention includes:
the mounting angle error determination module 600 is used for acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measurement points and acceleration values output by an acceleration sensor for a vehicle when the vehicle is accelerated on the road surface under the specified condition, and determining that the mounting angle error exists in the acceleration sensor for the vehicle when the error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the acceleration sensor for the vehicle is within a specified range; and
and an error calibration module 700 for calibrating the acceleration value output from the acceleration sensor for a vehicle based on the wheel speed gradient value when the mounting angle error determination module 600 determines that there is an error.
As shown in fig. 6, the mounting angle error determination module 600 includes the following sub-modules:
the acquisition submodule 610 is used for acquiring the wheel speed gradient value output by the wheel speed sensor of a plurality of measuring points and the acceleration value output by the vehicle acceleration sensor when the vehicle is accelerated on the road surface under the specified condition;
a calculation sub-module 620 configured to compare two adjacent measurement points of the measurement points acquired by the acquisition sub-module 610, where the wheel speed gradient values of the two adjacent measurement points are AX1 and AX2, and the acceleration values of the vehicle acceleration sensor outputs of the two adjacent measurement points are AX11 and AX22, where coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, where b1, b2, m1, and m2 are preset threshold values; and
the determination submodule 630 determines that there is an installation angle error when b < b1 or b > b2 and m1< m < m 2.
As shown in fig. 6, the error calibration module 700 includes the following sub-modules:
a sampling sub-module 710, which collects wheel speed gradient values AX1, AX2, AX3 … AXN and acceleration values AX11, AX22, AX33 … AXNN output by the vehicle acceleration sensor for N measurement points under the condition that the installation angle error determination module 600 determines that there is an error, wherein N is a natural number;
a first calculation submodule 720, which calculates Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
the second calculating submodule 730 calculates the average value of Cosa1 and Cosa2 … Cosa (N-1) obtained by the first calculating submodule 720 to obtain Cosa'; and
the calibration sub-module 740 calibrates the acceleration value AX output by the current vehicular acceleration sensor to AX ', where AX ' = AX/Cosa '.
Wherein the second calculating submodule 730 includes:
a singular point removing submodule for removing singular points of Cosa1 and Cosa2 … Cosa (N-1); and
and an average value calculating sub-module which compares a maximum Cosa value and a minimum Cosa value of the remaining points from which the singular point is removed by the singular point removing sub-module 731, and calculates an average value of the Cosa values of the remaining points as Cosa' when a difference between the maximum Cosa value and the minimum Cosa value is within a prescribed range.
Wherein the singularity removal sub-module and the mean calculation sub-module are not shown in fig. 6.
In this way, when there is an angular mounting error of the vehicle acceleration sensor, if the digital value of the current vehicle acceleration sensor is AX, the value is calibrated to AX '= AX/Cosa', and thus a calibrated and relatively accurate vehicle acceleration sensor can be obtained.
Next, a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention will be described. The position calibration device for an acceleration sensor for a vehicle according to this embodiment is further provided with a zero point error determination module 800 in addition to that shown in fig. 6.
Fig. 7 is a structural diagram showing a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention.
As shown in fig. 7, a position calibration device for an acceleration sensor for a vehicle according to still another embodiment of the present invention includes, in addition to an attachment angle error determination module 600 and an error calibration module 700:
the zero point error determination module 800 reads an acceleration value output by an acceleration sensor for a vehicle and a wheel speed gradient value output by a wheel speed sensor under the condition that the vehicle is started and stationary on a road surface under a specified condition, and determines that the acceleration sensor for the vehicle has a zero point error when a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero point error calibration module 900 for calibrating the acceleration value AX output by the current vehicular acceleration sensor to an acceleration value AX ', where the acceleration value AX' is an acceleration value AX + deviation value, when the zero point error determination module determines that the zero point error exists.
The present invention also provides a vehicle control apparatus including: a processor; and a storage device adapted to store a plurality of instructions, wherein the instructions are adapted to be loaded by the processor and to perform the steps of:
and (3) judging the error of the installation angle: when the vehicle is accelerated on the road surface with the specified condition, acquiring wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and acceleration values output by the vehicle acceleration sensor, and judging that the vehicle acceleration sensor has an installation angle error under the condition that the error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the vehicle acceleration sensor is in a specified range; and
error calibration: in a case where it is determined in the mounting angle error determination step that there is an error, an acceleration value output by the vehicular acceleration sensor is calibrated based on the wheel speed gradient value.
Optionally, the instructions are adapted to be loaded by a processor and to perform the steps of:
the mounting angle error determination step includes the substeps of:
and a collection substep: accelerating the vehicle on the road surface under the specified condition, and acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measuring points and acceleration values output by an acceleration sensor for the vehicle when the vehicle speed increases by a specified value;
a calculation substep: comparing and calculating every two adjacent measuring points, wherein the wheel speed gradient values of the two adjacent measuring points are AX1 and AX2, the acceleration values of the vehicle acceleration sensor outputs of the two adjacent measuring points are AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
a decision substep: when it is determined that b < b1 or b > b2 and m1< m < m2, it is determined that there is an installation angle error.
Optionally, the instructions are adapted to be loaded by a processor and to perform the steps of:
the error calibration step comprises the sub-steps of:
a sampling sub-step: in the case where it is determined in the mounting angle error determination step that there is an error, wheel speed gradient values AX1, AX2, AX3 … AXN and acceleration values AX11, AX22, AX33 … AXNN output from the acceleration sensor for a vehicle are measured for N measurement points, where N is a natural number;
a first calculation step: calculating Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
a second calculation step of calculating the average value of Cosa1 and Cosa2 … Cosa (N-1) to obtain Cosa'; and
a calibration substep: and calibrating the acceleration value AX output by the current vehicle acceleration sensor to be AX ', wherein AX ' = AX/Cosa '.
Optionally, the instructions are adapted to be loaded by a processor and to perform the steps of:
the second calculating step includes the steps of:
removing singular points for Cosa1, Cosa2 … Cosa (N-1);
and comparing the maximum Cosa value with the minimum Cosa value of the remaining points after the singular point is removed, and taking the average value of the Cosa values of the remaining points as Cosa' when the difference between the maximum Cosa value and the minimum Cosa value is within a specified range.
Optionally, the instructions are adapted to be loaded by a processor and to perform the steps of:
a zero point error determination step: under the condition that a vehicle is started and is static on a road surface with specified conditions, reading an acceleration value output by a vehicle acceleration sensor and a wheel speed gradient value output by a wheel speed sensor, and determining that the vehicle acceleration sensor has a zero point error under the condition that a deviation value exists between the acceleration value and the wheel speed gradient value; and
zero error calibration: and calibrating the acceleration value AX output by the current vehicular acceleration sensor to an acceleration value AX ', wherein the acceleration value AX' is an acceleration value AX + deviation value, when the zero-point error determination step determines that the zero-point error exists.
As an alternative, the zero point error determination step and the zero point error calibration step may be provided before the installation angle error determination step, but are not limited thereto.
It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally includes motor vehicles such as passenger automobiles including Sport Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats, ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum sources).
The above examples mainly describe the method for calibrating the position of the acceleration sensor for a vehicle, the device for calibrating the position of the acceleration sensor for a vehicle, and the vehicle control apparatus according to the present invention. Although only a few embodiments of the present invention have been described in detail, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (11)
1. A method for calibrating a position of an acceleration sensor for a vehicle, adapted to be executed in a computer device, the method comprising the steps of:
an installation angle error determination step of accelerating a vehicle on a road surface under a prescribed condition, acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measurement points and acceleration values output by an acceleration sensor for the vehicle, and determining that an installation angle error exists in the acceleration sensor for the vehicle when an error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the acceleration sensor for the vehicle is within a prescribed range; and
an error calibration step of calibrating an acceleration value output from the vehicular acceleration sensor based on the wheel speed gradient value in a case where it is determined in the attachment angle error determination step that there is an error,
the mounting angle error determination step includes the substeps of:
a collecting substep, wherein the vehicle is accelerated on a road surface with specified conditions, and wheel speed gradient values output by wheel speed sensors of a plurality of measuring points and acceleration values output by an acceleration sensor for the vehicle are collected when the vehicle speed increases by a specified value;
a calculating sub-step, comparing and calculating every two adjacent measuring points, wherein the wheel speed gradient values of the two adjacent measuring points are set as AX1 and AX2, the acceleration values of the vehicle acceleration sensor output by the two adjacent measuring points are set as AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
a determination sub-step of determining that there is an installation angle error in the case of b < b1 or b > b2 and m1< m < m 2.
2. The method for calibrating position of acceleration sensor for vehicle according to claim 1,
the error calibration step comprises the sub-steps of:
a sampling sub-step of acquiring wheel speed gradient values AX1, AX2, AX3 … AXN and acceleration values AX11, AX22, AX33 … AXNN output from a vehicular acceleration sensor for N measurement points in the case where it is determined in the mounting angle error determination step that there is an error, where N is a natural number;
a first calculation substep of Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
a second calculating sub-step of calculating the average value of Cosa1 and Cosa2 … Cosa (N-1) to obtain Cosa'; and
and a calibration substep of calibrating the acceleration value AX output by the acceleration sensor for the vehicle at present to AX ', wherein AX ' = AX/Cosa '.
3. The method of calibrating a position of an acceleration sensor for a vehicle according to claim 2,
the second computing substep comprises the steps of:
removing singular points for Cosa1, Cosa2 … Cosa (N-1); and
and comparing the maximum Cosa value with the minimum Cosa value of the remaining points after the singular point is removed, and taking the average value of the Cosa values of the remaining points as Cosa' when the difference between the maximum Cosa value and the minimum Cosa value is within a specified range.
4. The method for calibrating a position of an acceleration sensor for a vehicle according to any one of claims 1 to 3, further comprising:
a zero point error determination step of reading an acceleration value output from an acceleration sensor for a vehicle and a wheel speed gradient value output from a wheel speed sensor when the vehicle starts and stops on the road surface under the predetermined condition, and determining that a zero point error exists in the acceleration sensor for the vehicle when a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero-point error calibration step of calibrating the acceleration value AX ' output from the current vehicular acceleration sensor to an acceleration value AX ', where the acceleration value AX ' is an acceleration value AX + offset value, when the zero-point error determination step determines that the zero-point error exists.
5. The method for calibrating a position of an acceleration sensor for a vehicle according to any one of claims 1 to 3,
the road surface under the specified condition is that the road surface is within plus or minus 10 degrees and the road surface is dry.
6. A position calibration device for an acceleration sensor for a vehicle, comprising the following program modules:
the mounting angle error determination module is used for accelerating a vehicle on a road surface with specified conditions, acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measurement points and acceleration values output by an acceleration sensor for the vehicle, and determining that the mounting angle error exists in the acceleration sensor for the vehicle under the condition that the error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the acceleration sensor for the vehicle is in a specified range; and
an error calibration module that calibrates an acceleration value output from the acceleration sensor for a vehicle based on the wheel speed gradient value in a case where the mounting angle error determination module determines that there is an error, wherein the mounting angle error determination module includes sub-modules of:
the acquisition submodule is used for acquiring wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and acceleration values output by the vehicle acceleration sensor when the vehicle speed increases by a specified value;
a calculation submodule which compares every two adjacent measurement points in the measurement points acquired by the acquisition submodule, wherein the wheel speed gradient values of the two adjacent measurement points are set to be AX1 and AX2, the acceleration values of the vehicle acceleration sensor outputs of the two adjacent measurement points are set to be AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
and a determination submodule for determining that there is an installation angle error when b < b1 or b > b2 and m1< m < m 2.
7. The apparatus for calibrating position of acceleration sensor for vehicle according to claim 6, characterized in that,
the error calibration module includes the following sub-modules:
the sampling sub-module is used for acquiring wheel speed gradient values AX1, AX2 and AX3 … AXN and acceleration values AX11, AX22 and AX33 … AXNN output by the vehicle acceleration sensor under the condition that the installation angle error judgment module judges that errors exist, wherein N is a natural number;
a first calculation submodule for calculating Cosa1 ═ AX22/AX2, Cos2 ═ AX33/AX3, … Cosa (N-1) ═ AXNN/AXN;
the second calculation submodule calculates the average value of Cosa1 and Cosa2 … Cosa (N-1) to obtain Cosa'; and
and the calibration submodule calibrates the acceleration value AX output by the current vehicular acceleration sensor to be AX ', wherein AX ' = AX/Cosa '.
8. The acceleration sensor for vehicles of position calibration device according to claim 7,
the second calculation submodule includes:
a singular point removing submodule for removing singular points of Cosa1 and Cosa2 … Cosa (N-1); and
and an average value calculation sub-module which compares a maximum Cosa value and a minimum Cosa value of the remaining points from which the singular point is removed by the singular point removal sub-module, and calculates an average value of the Cosa values of the remaining points as Cosa' when a difference between the maximum Cosa value and the minimum Cosa value is within a prescribed range.
9. The device for calibrating a position of an acceleration sensor for a vehicle according to any one of claims 6 to 8, further comprising:
the device comprises a zero error determination module, a detection module and a control module, wherein the zero error determination module is used for reading an acceleration value output by an acceleration sensor for a vehicle and a wheel speed gradient value output by a wheel speed sensor under the condition that the vehicle is started and is static on a road surface under a specified condition, and determining that the acceleration sensor for the vehicle has a zero error under the condition that a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero point error calibration module which calibrates the acceleration value AX output by the current vehicle acceleration sensor to an acceleration value AX ', wherein the acceleration value AX' is an acceleration value AX + deviation value, under the condition that the zero point error judgment module judges that the zero point error exists.
10. A vehicle control apparatus is provided with:
a processor; and
a storage device adapted to store a plurality of instructions, wherein,
the instructions are adapted to be loaded by the processor and to perform the steps of:
an installation angle error determination step of accelerating a vehicle on a road surface under a prescribed condition, acquiring wheel speed gradient values output by wheel speed sensors of a plurality of measurement points and acceleration values output by an acceleration sensor for the vehicle, and determining that an installation angle error exists in the acceleration sensor for the vehicle when an error between the wheel speed gradient values output by the wheel speed sensors and the acceleration values output by the acceleration sensor for the vehicle is within a prescribed range; and
an error calibration step of calibrating an acceleration value output from the vehicular acceleration sensor based on the wheel speed gradient value in a case where it is determined in the attachment angle error determination step that there is an error,
the mounting angle error determination step includes the substeps of:
a collecting substep, wherein the vehicle is accelerated on the road surface with the specified condition, and wheel speed gradient values output by the wheel speed sensors of a plurality of measuring points and acceleration values output by the vehicle acceleration sensor are collected when the vehicle speed increases by a specified value;
a calculating sub-step, comparing and calculating every two adjacent measuring points, wherein the wheel speed gradient values of the two adjacent measuring points are set as AX1 and AX2, the acceleration values of the vehicle acceleration sensor output by the two adjacent measuring points are set as AX11 and AX22, coefficients b and m are set, b is (AX 1-AX 11)/(AX 2-AX 22), m is AX2AX11/AX1AX22, and b1, b2, m1 and m2 are preset threshold values; and
a determination sub-step of determining that there is an installation angle error in the case of b < b1 or b > b2 and m1< m < m 2.
11. The vehicle control apparatus according to claim 10,
the instructions are further adapted to be loaded by a processor and to perform the steps of: a zero point error determination step of reading an acceleration value output from an acceleration sensor for a vehicle and a wheel speed gradient value output from a wheel speed sensor when the vehicle starts and stops on a road surface under a predetermined condition, and determining that a zero point error exists in the acceleration sensor for the vehicle when a deviation value exists between the acceleration value and the wheel speed gradient value; and
and a zero point error calibration step of calibrating the acceleration value AX output by the current vehicle acceleration sensor to an acceleration value AX 'when the zero point error determination module determines that the zero point error exists, wherein the acceleration value AX' is an acceleration value AX + deviation value.
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