CN112729278A - Method and control device for assigning measured values of an acceleration sensor - Google Patents

Method and control device for assigning measured values of an acceleration sensor Download PDF

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Publication number
CN112729278A
CN112729278A CN202011081947.1A CN202011081947A CN112729278A CN 112729278 A CN112729278 A CN 112729278A CN 202011081947 A CN202011081947 A CN 202011081947A CN 112729278 A CN112729278 A CN 112729278A
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China
Prior art keywords
acceleration
motor vehicle
acceleration sensor
measuring
measured values
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CN202011081947.1A
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Chinese (zh)
Inventor
R·曼苏尔
T·阿斯彻
F-J·弗罗巴赫
M·沃尔特纳
R·格罗纳
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ZF Friedrichshafen AG
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ZF Friedrichshafen AG
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Publication of CN112729278A publication Critical patent/CN112729278A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0082—Automatic parameter input, automatic initialising or calibrating means for initialising the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/90—Single sensor for two or more measurements
    • B60W2420/905—Single sensor for two or more measurements the sensor being an xyz axis sensor

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A method and a control device for assigning measured values of an acceleration sensor, wherein the acceleration sensor (6) of a motor vehicle has at least two measuring axes, by means of which accelerations of the motor vehicle in different directions can be detected in a measuring-technical sense, the method comprising: the measured value of the measuring axis of the acceleration sensor (6) is detected in a stationary state of the motor vehicle, wherein this measured value of the acceleration sensor (6) is assigned to the vertical acceleration of the motor vehicle if the measured value corresponds to the acceleration due to gravity. Detecting further measured values of the measuring axes of the acceleration sensor (6) while the motor vehicle is traveling straight, wherein a correlation coefficient is derived for the measured values of a/each measuring axis of the acceleration sensor (6) which are not assigned to the vertical acceleration, and wherein the measured values of the respective measuring axis are assigned to the longitudinal/lateral acceleration depending on the derived correlation coefficient or each correlation coefficient.

Description

Method and control device for assigning measured values of an acceleration sensor
Technical Field
The invention relates to a method for automatically assigning measured values of an acceleration sensor of a motor vehicle to an acceleration direction of the motor vehicle, wherein the acceleration sensor has at least two measuring axes, preferably three measuring axes, by means of which accelerations of the motor vehicle in different directions can be detected in a measurement-technical sense. The invention also relates to a control device.
Background
A powertrain for a motor vehicle has a drive assembly and a transmission connected between the drive assembly and a driven member. The transmission converts speed and torque and prepares to provide tractive effort of the drive assembly at the driven member. The operation of the transmission is controlled and/or regulated by a transmission control device. For this purpose, the transmission is assigned a transmission control. In order to control and/or regulate the operation of the transmission, the transmission control device processes the measured values of the sensors, for example the measured values of the acceleration sensor. For this purpose, the transmission is assigned an acceleration sensor, which can be an integral component of the transmission control device.
The transmission is mounted in a defined mounting position in a drive train of a motor vehicle. It may happen that the same type of transmission is mounted in a vehicle in different mounting positions depending on the motor vehicle. It is therefore known from practice, for example in the case of trucks, to mount the transmission in such a way that the transmission input shaft of the transmission points forward in the forward driving direction; in the case of buses, on the other hand, the transmission is usually mounted in the drive train in such a way that the transmission input shaft of the transmission points rearward opposite to the forward direction of travel. If the transmission control device is firmly mounted on the transmission and the acceleration sensor is likewise firmly mounted in the transmission (for example integrated into the transmission control device), the mounting direction of the acceleration sensor also depends on the mounting direction of the transmission in the drive train.
Furthermore, the acceleration sensors can be mounted in the control device in different orientations. If such an acceleration sensor is implemented as a 3D sensor with three measuring axes or as a 2D sensor with two measuring axes, the measuring axes of the acceleration sensor can be assigned to different directions from the control device to the control device or from the transmission to the transmission, depending on the installation direction of the acceleration sensor in the transmission or in the transmission control device. It is therefore not always possible to assign the same acceleration direction to each measuring axis of the acceleration sensor, i.e. longitudinal acceleration or lateral acceleration or vertical acceleration (hochbeschleunigg). Instead, differences can also occur here depending on the installation direction of the transmission in the drive train or depending on the installation direction of the acceleration sensor.
However, it is important for the normal operation of a transmission already installed in the drive train of a motor vehicle that the measuring axes of the acceleration sensors are defined unambiguously to such an extent that the respective measuring axes of the acceleration sensors can be unambiguously assigned to the respective acceleration direction of the motor vehicle to which they are assigned. This has caused difficulties until now.
A navigation device for a motor vehicle is known from DE 102016220440 a 1. The navigation device comprises an acceleration sensor for determining acceleration data of the motor vehicle, wherein the acceleration sensor is arranged in the installation position. The installation position of the acceleration sensor can be determined by means of GPS data.
Disclosure of Invention
There is a need for: the measured values of an acceleration sensor of the motor vehicle are automatically assigned to the acceleration direction of the motor vehicle in a simple and reliable manner.
According to the invention, the measured value of the measuring axis of the acceleration sensor is detected in a stationary state of the motor vehicle, wherein the measured value of the measuring axis of the acceleration sensor is assigned to the vertical acceleration of the motor vehicle if the measured value of the measuring axis of the acceleration sensor detected in the stationary state corresponds to the acceleration due to gravity.
According to the invention, further measured values of the measuring axes of the acceleration sensor are detected when the motor vehicle is traveling straight, wherein a correlation coefficient is derived for measured values of a measuring axis or each measuring axis of the acceleration sensor which are not assigned to the vertical acceleration of the motor vehicle, and wherein the measured values of the respective measuring axis of the acceleration sensor are assigned to the longitudinal acceleration and/or the lateral acceleration of the motor vehicle as a function of the derived correlation coefficient or each correlation coefficient.
By means of the invention, the measured values of the measuring axis of the acceleration sensor can be automatically, simply and reliably assigned to the acceleration direction, and therefore the measured values of the acceleration sensor can be automatically, simply and reliably used as vertical acceleration or longitudinal acceleration or lateral acceleration. Depending on the measured values of the measuring shaft, which are obtained when the motor vehicle is stationary and when the motor vehicle is traveling straight, the measuring shaft of the acceleration sensor can be easily and reliably assigned to the acceleration direction.
Preferably, a linear correlation between the calculated longitudinal acceleration of the motor vehicle and the measured values of the respective measuring axis which result when driving straight and which are not assigned to the vertical acceleration is determined as a respective correlation coefficient, wherein a measured value of the respective measuring axis is assigned to the longitudinal acceleration of the motor vehicle if the value of this correlation coefficient is greater than a limit value; conversely, if the value of the respective correlation coefficient is less than the limit value, the measured value of this measuring axis is not assigned to the longitudinal acceleration. By means of this correlation, the measured values of the measuring shaft can be simply and reliably assigned to the longitudinal acceleration.
According to a first refinement of the invention, the acceleration sensor is a 3D sensor having three measuring axes, by means of which the vertical acceleration, the lateral acceleration and the longitudinal acceleration of the motor vehicle can be detected. The measured value of the measuring axis of the acceleration sensor is detected in a stationary state of the motor vehicle, and the measured value of the measuring axis of the acceleration sensor, which corresponds to the gravitational acceleration, is assigned to the vertical acceleration of the motor vehicle. The other measured values of the measuring axes of the acceleration sensor are detected while the motor vehicle is traveling straight, wherein a respective correlation coefficient is determined between the measured values of the two measuring axes of the acceleration sensor, which are not assigned to the vertical acceleration, and the longitudinal acceleration of the motor vehicle, and wherein the measured value of one of the measuring axes of the acceleration sensor is assigned to the longitudinal acceleration of the motor vehicle and the measured value of the other of the measuring axes of the acceleration sensor is assigned to the lateral acceleration of the motor vehicle as a function of the correlation coefficients. This is preferred if the acceleration sensor is a 3D sensor with three measuring axes extending perpendicular to each other.
According to a second refinement of the invention, the acceleration sensor is a 2D sensor having two measuring axes, by means of which the acceleration of the motor vehicle can be detected. Detecting the measured value of the measuring axis of the acceleration sensor in the stationary state of the motor vehicle and checking whether the measured value of one of the two measuring axes corresponds to the acceleration due to gravity, wherein if this is the case, the measured value of this measuring axis of the acceleration sensor, which corresponds to the acceleration due to gravity, is assigned to the vertical acceleration of the motor vehicle; conversely, if this is not the case, the measurement values of either of the two measurement axes are not assigned to a vertical acceleration. The other measured values of the measuring axes of the acceleration sensor are detected while the motor vehicle is traveling straight, wherein a correlation coefficient is respectively derived between the measured values of the or each measuring axis of the acceleration sensor, which are not assigned to the vertical acceleration of the motor vehicle, and the longitudinal acceleration of the motor vehicle, and wherein the measured values of the measuring axes of the acceleration sensor are assigned to the longitudinal acceleration of the motor vehicle as a function of this or each correlation coefficient, and/or the measured values of the measuring axes of the acceleration sensor are assigned to the lateral acceleration of the motor vehicle. This refinement of the invention is preferred if the acceleration sensor is a 2D sensor with two measuring axes running perpendicular to one another.
Drawings
Preferred developments emerge from the following description. Embodiments of the invention are explained in detail with the aid of the figures without being restricted thereto. In the drawings:
fig. 1 shows a diagram of a power train of a motor vehicle for demonstrating the invention;
fig. 2 shows a signal flow diagram for further illustrating the present invention.
Detailed Description
Fig. 1 shows in a highly schematic manner the structure of a drive train of a motor vehicle. The powertrain of fig. 1 has a drive assembly 1 and a transmission 2, wherein the transmission 2 is connected between the drive assembly 1 and a driven member 3. The transmission 2 converts rotational speed and torque and prepares to provide tractive force of the drive assembly 1 at the driven member 3. The transmission 2 is preferably an automatic or automated manual transmission, in which gear changes or shifts are carried out in an automatic or automated manner.
The operation of the drive assembly 1 is controlled and/or regulated by a motor control 4 and the operation of the transmission 2 is controlled and/or regulated by a transmission control 5. According to fig. 1, for this purpose the motor control 4 exchanges data with the drive assembly 1 and the transmission control 5 exchanges data with the transmission 2. Further, the motor control device 4 and the transmission control device 5 exchange data with each other.
According to practice, the transmission control device 5 is normally firmly mounted on the transmission 2.
Fig. 1 further shows an acceleration sensor 6. The acceleration sensor 6 is normally firmly mounted in the transmission control device 5. The acceleration sensor 6 can provide, by means of its measuring shaft, measured values of the acceleration, which can then be used by the transmission control device 5 for controlling and/or regulating the operation of the transmission 2.
The acceleration sensor 6 can be installed in the transmission control device 5 in different orientations. The transmission control device 5 or the transmission 2 can also be installed in the motor vehicle in different orientations. Depending on this, the measuring axis of the acceleration sensor then provides measured values in different acceleration directions of the motor vehicle, for example for two accelerations in the case of a 2D acceleration sensor and for three accelerations of the motor vehicle, vertical, lateral and longitudinal acceleration in the case of a 3D acceleration sensor.
The invention now relates to a method for automatically assigning measured values of an acceleration sensor 6 of a motor vehicle to an acceleration direction of the motor vehicle, wherein the acceleration sensor 6 has at least two measuring axes, preferably three measuring axes, by means of which accelerations of the motor vehicle in different directions can be detected in a measurement-technical sense. In this case, the measured values of each measuring axis of the acceleration sensor 6 can be automatically assigned to the acceleration direction of the motor vehicle, i.e. the vertical acceleration or the longitudinal acceleration or the lateral acceleration.
According to the invention, the measured value of the measuring axis of the acceleration sensor 6 is detected in a stationary state of the motor vehicle, wherein the measured value of this measuring axis of the acceleration sensor 6 is assigned to the vertical acceleration of the motor vehicle if this measured value of the measuring axis of the acceleration sensor 6 detected in a stationary state corresponds to the acceleration due to gravity.
Other measured values of the measuring axis of the acceleration sensor 6 are detected during straight-ahead driving of the motor vehicle, wherein a correlation coefficient is derived for such measured values of the vertical acceleration of the or each measuring axis of the acceleration sensor 6 which are detected during straight-ahead driving and which are not assigned to the motor vehicle, and wherein the measured values of the respective measuring axis of the acceleration sensor 6 are assigned to the longitudinal acceleration or the lateral acceleration of the motor vehicle as a function of the or each derived correlation coefficient.
In this case, a linear correlation between the calculated longitudinal acceleration of the motor vehicle and the measured values of the respective measuring axis of the acceleration sensor 6 is preferably determined as the respective correlation coefficient. If the value of the respective correlation coefficient is greater than the first limit value, the measured value of this measuring axis is assigned to the longitudinal acceleration and is used as the longitudinal acceleration measured value.
Such a correlation coefficient is between-1 and + 1. The larger the value of the correlation coefficient, the higher the agreement between the calculated longitudinal acceleration and the measured values of the respective measuring axes of the acceleration sensor.
For example, if the value of the correlation coefficient is greater than 0.9, the measured values of the respective measuring axis are assigned to the longitudinal acceleration and the respective measuring axis of the acceleration sensor is therefore defined as longitudinal acceleration measuring axis.
Conversely, if the correlation is numerically small (i.e. less than a limit value), the measured values of the respective measuring axis are not assigned to the longitudinal acceleration and the respective measuring axis of the acceleration sensor is not defined as longitudinal acceleration measuring axis, but rather the respective measuring axis is preferably defined as lateral acceleration measuring axis, in particular if the value of the correlation coefficient is less than a second limit value (preferably less than 0.1).
Depending on the sign of the correlation coefficient, the measured values of the measuring axes (defined as longitudinal acceleration measuring axes) of the acceleration sensor can be calculated by means of the correction coefficient.
For example, if the sign of the correlation coefficient of the respective measuring axis is positive, the measured values of the measuring axes (defined as longitudinal acceleration measuring axes) of the acceleration sensor 6 need not be calculated by means of the correction coefficients. Conversely, if the sign of the correlation coefficient is negative, the measured value assigned to the longitudinal acceleration is multiplied by the correction coefficient-1, thus making the longitudinal acceleration measured by the acceleration sensor 6 correspond to the actual longitudinal acceleration direction of the motor vehicle.
Further details of the invention are described below with reference to the signal flow diagram of fig. 2 for the case in which the acceleration sensor 6 is a 3D sensor with three measuring axes, by means of which accelerations in three spatial directions, namely the vertical acceleration of the motor vehicle, the lateral acceleration of the motor vehicle and the longitudinal acceleration of the motor vehicle, can thus be detected.
In block 7 of the signal flow diagram of fig. 2, it can be recognized that the drive assembly 1 of the motor vehicle is started, i.e. that the drive assembly 1 has been started.
Next, a timer is started in block 8, wherein it is checked in block 9 whether the monitoring time span of the timer started in block 8 has ended. If this is not the case, i.e. the timer has not yet ended, the process branches from block 9 to block 10, in which case in block 10 the measured values of the acceleration sensor 6 in the three measuring axes are stored. Conversely, if the timer started in block 8 ends, a branch is made from block 9 to block 11.
In block 11, it is checked whether the measured value of one of the measuring axes of the acceleration sensor 6, which has been detected in the stationary state of the motor vehicle, corresponds to the acceleration due to gravity. In a correctly mounted 3D acceleration sensor, this must be the case for one of the measuring axes of the 3D acceleration sensor.
If in block 12 it is determined that the respective measured value detected in the stationary state of the motor vehicle for one measuring axis corresponds to the acceleration due to gravity, block 12 branches to block 13 and this measuring axis is then defined as the vertical acceleration measuring axis. The measured value of this measuring axis is then assigned to the vertical acceleration of the motor vehicle.
Conversely, if in block 12 a vertical acceleration cannot be assigned to any of these measuring axes of the 3D acceleration sensor or to any of the measured values of the measuring axes, a branch is made from block 12 to block 14, in which in block 14 an acceleration sensor installation position error (for example a position inclination in space) is detected and a corresponding error input is subsequently stored in the control device 5. The measured values of the acceleration sensor 6 are then locked in a block 14 for the control function and the control function.
Conversely, if block 12 branches to block 13 and one of the measurement axes of the acceleration sensor 6 is defined as a vertical acceleration measurement axis, then block 13 branches to block 15 and block 16. In block 15, a correlation coefficient is determined for one of the two measuring axes of the acceleration sensor, which is not defined as the measuring axis of the vertical acceleration measuring axis, in particular between the measured value detected in this measuring axis when the motor vehicle is traveling straight and the longitudinal acceleration of the vehicle, which is calculated, for example, on the basis of the wheel speed data. The other of the two measuring axes for the acceleration sensor 6 is not defined as the measuring axis of the vertical acceleration measuring axis, which is performed in block 16 (i.e. the calculation of this correlation coefficient).
In block 17 and block 18, respectively, it is checked whether the value of the respective correlation coefficient is greater than a limit value. If this is the case, the measuring axis of the acceleration sensor 6 (for which the derived correlation coefficient is greater than the limit value) is defined as the longitudinal acceleration measuring axis and the remaining measuring axis as the transverse acceleration measuring axis in block 19 or 20.
A branch is then made to block 21, in which the method ends in block 21 and one of the accelerations (vertical acceleration, longitudinal acceleration and lateral acceleration) can be assigned to all three measuring axes of the 3D acceleration sensor.
The acceleration direction of the motor vehicle can therefore be unambiguously assigned to each measuring axis of the acceleration sensor 6 for the 3D acceleration sensor 6 in the manner and method described above.
Furthermore, depending on the sign of the correlation between the measured values of the acceleration sensor 6 assigned to the measuring axis of the longitudinal acceleration of the motor vehicle and the measured longitudinal acceleration, it is still possible to calculate the measured values of the longitudinal acceleration measuring axis by means of a correction factor in order to adapt the direction of the longitudinal acceleration measured by the acceleration sensor to the actual longitudinal acceleration direction with respect to this sign.
The invention is not limited to 3D acceleration sensors, but can also be used in 2D acceleration sensors with two measuring axes.
In a similar manner to the method described above, it is checked whether the measured value detected for one of the two measuring axes of the 2D acceleration sensor in the stationary state of the motor vehicle corresponds to the acceleration due to gravity.
If this is the case, this measuring axis of the acceleration sensor 6 corresponds to the vertical acceleration measuring axis and is defined as the vertical acceleration measuring axis. The measured value of this measuring axis of the acceleration sensor 6, which corresponds to the acceleration due to gravity, is assigned to the vertical acceleration of the motor vehicle.
Conversely, if it is not the case that the measured value detected in the stationary state for any of the measuring axes of the 2D acceleration sensor does not correspond to the gravitational acceleration, then none of the two measuring axes of the acceleration sensor 6 is defined as a vertical acceleration measuring axis.
It is then checked whether the measured value of the acceleration sensor 6, which is detected during straight travel and whose correlation coefficient with the calculated longitudinal acceleration is greater than a defined limit value, for the or each measuring axis, which is not defined as a vertical acceleration measuring axis. Depending on deriving a respective correlation coefficient for the or each measurement axis, which is not defined as a vertical acceleration measurement axis, the respective measurement axis may be defined as a longitudinal acceleration measurement axis or a lateral acceleration measurement axis.
For example, if, in the case of a 2D acceleration sensor, the measured values of the two measuring axes detected in the stationary state of the motor vehicle are based on without defining either of the two measuring axes as a vertical acceleration measuring axis, the corresponding correlation coefficient is derived for the two measuring axes of the 2D acceleration sensor on the basis of the measured values detected during straight travel, and depending on this one of the measuring axes is defined as a longitudinal acceleration measuring axis and the other measuring axis is defined as a lateral acceleration measuring axis.
Conversely, if one of the two measuring axes of the 2D acceleration sensor is not defined as a vertical acceleration measuring axis on the basis of the measured values detected in the stationary state of the motor vehicle, the corresponding correlation coefficient is derived only for the other or the remaining measuring axis of the two measuring axes of the acceleration sensor and, depending on this, this measuring axis is defined as a longitudinal acceleration measuring axis or a lateral acceleration measuring axis.
The invention also relates to a control device of a motor vehicle, which is configured to carry out the above-mentioned method. The control device is preferably an electronic transmission control device, in which an acceleration sensor is integrated, the measuring axes of which are to be automatically assigned to different acceleration directions. However, the acceleration sensor can also be installed outside the control unit in the transmission and exchange data with the control unit 5 via a corresponding data interface.
The control device detects or receives the measured values of the measuring axes of the acceleration sensors in the stationary state of the motor vehicle and when the motor vehicle is traveling straight and evaluates these measured values. If the measured value of the measuring axis of the acceleration sensor, which is detected in the stationary state of the motor vehicle, corresponds to the acceleration due to gravity, the control device assigns the measured value of this measuring axis of the acceleration sensor to the vertical acceleration of the motor vehicle. The control device derives a correlation coefficient for other measured values of the vertical acceleration of the or each measuring axis of the acceleration sensor, which are detected when the motor vehicle is travelling straight, which are not assigned to the motor vehicle, and wherein the control device assigns the measured values of the respective measuring axis of the acceleration sensor to the longitudinal acceleration and/or the lateral acceleration of the motor vehicle depending on this or each derived correlation coefficient.
By means of the invention, the measured values of the measuring axes of the acceleration sensor 6 can be unambiguously identified as longitudinal, lateral or vertical acceleration measured values, irrespective of the actually selected installation position of the acceleration sensor 6 (for example in the control unit or in the transmission and therefore in the drive train).
List of reference numerals
1 drive assembly
2 speed variator
3 driven member
4 Motor control device
5 Transmission control device
6 acceleration sensor
7 square frame
8 square frame
9 Block (B)
10 block (B)
11 square frame
12 block (B)
13 block (1)
14 block (B)
15 square frame
16 block
17 block (B)
18 square frame
19 Block (B)
20 square box
21 block (B)

Claims (10)

1. Method for automatically assigning measured values of an acceleration sensor (6) of a motor vehicle to an acceleration direction of the motor vehicle, wherein the acceleration sensor (6) has at least two measuring axes, preferably three measuring axes, by means of which accelerations of the motor vehicle in different directions can be detected in a measuring-technical sense, having the following steps:
detecting a measured value of a measuring axis of the acceleration sensor (6) in a stationary state of the motor vehicle, wherein the measured value of the measuring axis of the acceleration sensor (6) is assigned to a vertical acceleration of the motor vehicle if the measured value of the measuring axis of the acceleration sensor (6) corresponds to a gravitational acceleration,
detecting further measured values of the measuring axes of the acceleration sensor (6) while the motor vehicle is traveling straight, wherein a correlation coefficient is derived for measured values of the or each measuring axis of the acceleration sensor (6) which are not assigned to the vertical acceleration of the motor vehicle, and wherein the measured values of the respective measuring axis of the acceleration sensor (6) are assigned to the longitudinal acceleration and/or the lateral acceleration of the motor vehicle depending on the derived correlation coefficient or each correlation coefficient.
2. The method of claim 1,
determining a linear correlation between the longitudinal acceleration of the motor vehicle and the measured values of the respective measuring axis of the acceleration sensor (6) as a respective correlation coefficient, wherein the measured values of the measuring axis are assigned to the longitudinal acceleration of the motor vehicle if the value of the correlation coefficient is greater than a limit value.
3. The method of claim 2,
depending on the sign of the correlation coefficient, a measured value of the longitudinal acceleration of the measuring shaft of the acceleration sensor (6) assigned to the motor vehicle is calculated by means of a correction coefficient.
4. The method according to one of claims 1 to 3,
the acceleration sensor (6) is a 3D sensor having three measuring axes, by means of which the vertical, lateral and longitudinal accelerations of the motor vehicle can be detected,
detecting a measured value of a measuring axis of the acceleration sensor (6) in a stationary state of the motor vehicle and assigning a measured value of the measuring axis of the acceleration sensor (6) corresponding to the acceleration of gravity to a vertical acceleration of the motor vehicle,
detecting further measured values of the measuring axes of the acceleration sensor (6) while the motor vehicle is traveling in a straight line, wherein a correlation coefficient is derived for the measured values of the two measuring axes of the acceleration sensor which are not assigned to vertical acceleration, and wherein the measured value of one of the measuring axes of the acceleration sensor (6) is assigned to the longitudinal acceleration of the motor vehicle and the measured value of the other of the measuring axes of the acceleration sensor (6) is assigned to the lateral acceleration of the motor vehicle as a function of the correlation coefficient.
5. The method of claim 4,
if the measured value of any one of the three measuring axes of the acceleration sensor (6) does not correspond to the acceleration due to gravity in the stationary state of the motor vehicle, a conclusion is made that the installation position of the acceleration sensor (6) is incorrect.
6. The method according to one of claims 1 to 3,
the acceleration sensor (6) is a 2D sensor having two measuring axes, by means of which the acceleration of the motor vehicle can be detected,
detecting the measured values of the measuring axes of the acceleration sensor (6) in a stationary state of the motor vehicle and checking whether the measured value of one of the two measuring axes corresponds to the acceleration due to gravity, wherein if this is the case, the measured value of the measuring axis of the acceleration sensor (6) corresponding to the acceleration due to gravity is assigned to the vertical acceleration of the motor vehicle; if this is not the case, on the contrary, the measurement values of either of the two measuring axes are not assigned to a vertical acceleration,
detecting further measured values of the measuring axes of the acceleration sensor (6) while the motor vehicle is traveling in a straight line, wherein a correlation coefficient is respectively derived for the measured values of the vertical acceleration of the or each measuring axis of the acceleration sensor which are not assigned to the motor vehicle, and wherein the measured values of the measuring axes of the acceleration sensor (6) are assigned to the longitudinal acceleration of the motor vehicle and/or the measured values of the measuring axes of the acceleration sensor (6) are assigned to the lateral acceleration of the motor vehicle as a function of the or each correlation coefficient.
7. Method according to claim 6, characterized in that if in the stationary state the measured values of neither of the two measuring axes of the acceleration sensor (6) correspond to the acceleration due to gravity, a correlation coefficient is derived for the measured values of each of the two measuring axes of the acceleration sensor (6) on subsequent straight runs, and the measured values of one measuring axis of the acceleration sensor (6) are assigned to the longitudinal acceleration of the motor vehicle and the measured values of the other measuring axis of the acceleration sensor (6) are assigned to the lateral acceleration of the motor vehicle in dependence on the correlation coefficients.
8. The method according to claim 6 or 7, characterized in that if the measured value of one of the two measuring axes of the acceleration sensor (6) corresponds to the acceleration due to gravity in the stationary state, a correlation coefficient is derived for the measured value of the other of the two measuring axes of the acceleration sensor (6) during subsequent straight-line travel, and the measured value of the measuring axis of the acceleration sensor (6) is assigned to the longitudinal acceleration of the motor vehicle or the lateral acceleration of the motor vehicle depending on the correlation coefficient.
9. A control device (5) of a motor vehicle, having an acceleration sensor with at least two measuring axes, preferably three measuring axes, wherein
The control device assigns the measured value of the measuring shaft of the acceleration sensor to the vertical acceleration of the motor vehicle if the measured value of the measuring shaft of the acceleration sensor detected in the stationary state of the motor vehicle corresponds to the gravitational acceleration,
the control device derives a correlation coefficient for other measured values of the or each measuring axis of the acceleration sensor, which are detected while the motor vehicle is travelling straight, which are not assigned to the vertical acceleration of the motor vehicle, and wherein the control device assigns the measured values of the respective measuring axis of the acceleration sensor to the longitudinal acceleration and/or the lateral acceleration of the motor vehicle depending on the derived correlation coefficient or each correlation coefficient.
10. Control arrangement according to claim 9, characterized in that the control arrangement is configured for performing the method according to one of claims 1 to 8.
CN202011081947.1A 2019-10-11 2020-10-12 Method and control device for assigning measured values of an acceleration sensor Pending CN112729278A (en)

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