CN114636564A - Method and system for correcting vehicle sensor, and vehicle sensor - Google Patents

Method and system for correcting vehicle sensor, and vehicle sensor Download PDF

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Publication number
CN114636564A
CN114636564A CN202011478006.1A CN202011478006A CN114636564A CN 114636564 A CN114636564 A CN 114636564A CN 202011478006 A CN202011478006 A CN 202011478006A CN 114636564 A CN114636564 A CN 114636564A
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China
Prior art keywords
vehicle
sensor
horizontal state
state
module
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CN202011478006.1A
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Chinese (zh)
Inventor
宋桂华
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Robert Bosch GmbH
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Robert Bosch GmbH
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Priority to CN202011478006.1A priority Critical patent/CN114636564A/en
Priority to DE102021211897.6A priority patent/DE102021211897A1/en
Priority to JP2021202170A priority patent/JP2022094953A/en
Publication of CN114636564A publication Critical patent/CN114636564A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/002—Automatic recalibration
    • G01D18/004—Continuous recalibration
    • 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

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  • General Physics & Mathematics (AREA)
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Abstract

The present invention relates to a method and a system for calibrating a vehicle sensor, and a vehicle sensor. The method for calibrating a vehicle sensor according to the present invention includes: a stationary state judgment step of judging whether the vehicle is in a stationary state; a horizontal state judging step of judging whether the vehicle is in a horizontal state; and a correction step of correcting the vehicle sensor when the vehicle is determined to be in the stationary state determination step and the vehicle is determined to be in the horizontal state determination step. According to the present invention, the vehicle sensor can be continuously corrected after the vehicle is shipped from the factory, thereby improving the accuracy of the sensor.

Description

Method and system for correcting vehicle sensor, and vehicle sensor
Technical Field
The invention relates to a vehicle control technology, in particular to a method and a system for correcting a vehicle sensor and the vehicle sensor.
Background
Various sensors are generally used in vehicles, such as an acceleration sensor and an angular velocity sensor in an airbag electronic control unit, and the like. After the vehicle leaves the factory, the sensor is generally not corrected any more. As vehicle age increases, the accuracy of these sensors may become less accurate.
There is a need for a system and method that enables calibration of a sensor during use of a vehicle after the sensor is installed in the vehicle.
Disclosure of Invention
In view of the above problems, the present invention is directed to a method and a system for correcting a vehicle sensor, and a vehicle sensor, capable of continuously correcting an error of the vehicle sensor during use of the vehicle.
A method for correcting a sensor for a vehicle according to an aspect of the present invention includes:
a stationary state judgment step of judging whether the vehicle is in a stationary state;
a horizontal state judging step of judging whether the vehicle is in a horizontal state; and
a correction step of correcting the vehicle sensor when the vehicle is determined to be in the stationary state determination step and the vehicle is determined to be in the horizontal state determination step.
Optionally, the static state determining step includes:
judging whether an engine ignition signal of the vehicle is extinguished;
judging whether the speed of the vehicle is zero or not;
when the engine ignition signal of the vehicle is judged to be off and the vehicle speed of the vehicle is judged to be zero, the vehicle is judged to be in a static state.
Alternatively, in the horizontal state determination step, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a vertical direction of the vehicle.
Optionally, in the horizontal state judging step, when the gravity acceleration value of the acceleration sensor in the vertical direction is 9.8m/s2The vehicle is determined to be in a horizontal state.
Alternatively, in the horizontal state determination step, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a horizontal direction of the vehicle.
Alternatively, in the horizontal state determining step, it is determined that the vehicle is in the horizontal state when the gravitational acceleration value of the acceleration sensor in the horizontal direction is zero.
Optionally, in the correcting step, the correction of the vehicle sensor is performed by calculating a zero offset based on an average value of the vehicle sensor that collects the measurement target a plurality of times.
A calibration system for a vehicle sensor according to an aspect of the present invention includes:
the static state judging module is used for judging whether the vehicle is in a static state or not;
the horizontal state judging module is used for judging whether the vehicle is in a horizontal state or not; and
and a correction module for correcting the vehicle sensor when the static state judgment module judges that the vehicle is in a static state and the horizontal state judgment module judges that the vehicle is in a horizontal state.
Optionally, the static state determining module includes:
the first submodule is used for judging whether an engine ignition signal of the vehicle is extinguished;
the second submodule is used for judging whether the speed of the vehicle is zero or not; and
and the third sub-module judges that the vehicle is in a static state under the condition that the first sub-module judges that the engine ignition signal of the vehicle is off and the second sub-module judges that the vehicle speed of the vehicle is zero.
Optionally, in the horizontal state determination module, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a vertical direction of the vehicle.
Optionally, in the horizontal state determining module, when the gravity acceleration value of the acceleration sensor in the vertical direction is 9.8m/s2The vehicle is determined to be in a horizontal state.
Optionally, in the horizontal state determination module, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a horizontal direction of the vehicle.
Optionally, in the horizontal state determining module, the vehicle is determined to be in a horizontal state when the gravity acceleration value of the acceleration sensor in the horizontal direction is zero.
A sensor for a vehicle according to an aspect of the present invention includes: the calibration system for a vehicle sensor described above.
The electronic control unit according to an aspect of the present invention is characterized by including the above-described vehicle sensor, wherein the electronic control unit starts operating when the stationary state determination module of the vehicle sensor determines that the vehicle is stationary and when the horizontal state determination module determines that the vehicle is in the horizontal state; the electronic control unit transitions to a sleep mode after the correction module of the vehicle sensor completes the correction.
A computer-readable medium of an aspect of the present invention, on which a computer program is stored, is characterized in that the computer program, when executed by a processor, implements the above-described method for correcting a sensor for a vehicle.
A computer device according to an aspect of the present invention includes a storage module, a processor, and a computer program stored on the storage module and executable on the processor, and is characterized in that the processor implements the method for calibrating a sensor for a vehicle described above when executing the computer program.
As described above, according to the method for correcting a sensor for a vehicle of the present invention, it is possible to always perform correction during use of the vehicle after the sensor is mounted on the vehicle. The error of the general sensor can be further deviated along with the increase of the service life, and the accuracy of the sensor can be effectively ensured by continuously correcting the error in the using process of the vehicle by using the correcting method of the vehicle sensor.
Drawings
Fig. 1 is a flowchart showing a method of calibrating a vehicle sensor according to the present invention.
Fig. 2 is a flowchart showing a method of calibrating a vehicle sensor according to an embodiment of the present invention.
Fig. 3 is a block diagram showing a configuration of a system for calibrating a vehicle sensor according to the present invention.
Detailed Description
The following description is of some of the various 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.
For the purposes of brevity and explanation, the principles of the invention are described herein with reference primarily to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to all types of calibration methods for vehicle sensors and calibration systems therefor, vehicle sensors, and that these same principles can be implemented therein, as well as any such variations, without departing from the true spirit and scope of the present patent application.
First, a method of correcting a vehicle sensor according to the present invention will be described.
Fig. 1 is a flowchart showing a method of calibrating a vehicle sensor according to the present invention.
As shown in fig. 1, the method for calibrating a sensor for a vehicle according to the present invention includes:
step S100: judging whether the vehicle is in a static state or not;
step S200: judging whether the vehicle is in a horizontal state or not; and
step S300: when it is determined in step S100 that the vehicle is in a stationary state and it is determined in step S200 that the vehicle is in a horizontal state, the vehicle sensor is corrected.
Here, in step S100, as a method of determining whether the vehicle is in a stationary state, it may be implemented by determining whether an engine ignition signal of the vehicle is off and determining whether a vehicle speed of the vehicle is zero, that is, in a case where the engine ignition signal of the vehicle is determined to be off and the vehicle speed of the vehicle is determined to be zero, determining that the vehicle is in a stationary state.
In step S200, it can be determined whether the vehicle is in a horizontal state by the gravity acceleration value of the acceleration sensor, for example, two cases are listed here: judging whether the vehicle is in a horizontal state or not based on the gravity acceleration value of the acceleration sensor in the vertical direction of the vehicle, and when the gravity acceleration value of the acceleration sensor in the vertical direction is 9.8m/s2In case of (2) judging that the vehicle isA horizontal state; whether the vehicle is in a horizontal state is judged based on a gravity acceleration value of an acceleration sensor in the horizontal direction of the vehicle, and the vehicle is judged to be in the horizontal state when the gravity acceleration value of the acceleration sensor in the horizontal direction is zero.
In step S300, as a method of correcting the vehicle sensor, for example, a plurality of samples are averaged to calculate a zero offset or the like.
In the method for correcting a sensor for a vehicle according to the present invention, the sensor for a vehicle can be continuously corrected in a case where the calibration condition of the sensor for a vehicle is satisfied during use after the sensor for a vehicle is mounted on the vehicle by performing the correction of the sensor for a vehicle in a case where it is determined whether the vehicle is in a stationary state (because the calibration of the sensor for a vehicle needs to be performed in the stationary state of the vehicle) and in a case where it is determined that the vehicle is in a horizontal state (because the calibration of the sensor for a vehicle needs to be performed in the horizontal state) and the vehicle is in the stationary state and also in the horizontal state.
As described above, according to the method for correcting a sensor for a vehicle of the present invention, after the sensor is mounted on the vehicle, the correction can be performed at all times as long as the preset determination condition is satisfied during use of the vehicle. The error of the general sensor can be further deviated along with the increase of the service life, and the correction method of the vehicle sensor can continuously correct the error in the using process of the vehicle, so that the accuracy of the sensor can be effectively ensured for a long time.
Next, a method of correcting a vehicle sensor according to an embodiment will be described.
Fig. 2 is a flowchart showing a method of calibrating a vehicle sensor according to an embodiment of the present invention.
As shown in fig. 2, a method for calibrating a vehicle sensor according to an embodiment of the present invention includes the steps of:
step S1: judging whether an engine ignition signal of the vehicle is extinguished, if so (Y in the figure, the same below), continuing to step S2, wherein the engine ignition signal CAN be received from a CAN bus of the whole vehicle;
step S2: judging whether the vehicle speed of the vehicle is 0 or not, if so, continuing to step S3, wherein a vehicle speed signal CAN be received from a CAN bus of the whole vehicle;
step S3: judging whether the gravity acceleration value of the acceleration sensor in the vertical direction of the vehicle is 9.8m/s2If yes, go to step S4;
step S4: triggering a vehicle sensor to correct;
step S5: finishing the correction;
step S6: an Electronic Control Unit (ECU) shifts to a sleep mode.
Next, a system for calibrating a vehicle sensor according to the present invention will be described.
Fig. 3 is a block diagram showing a configuration of a system for calibrating a vehicle sensor according to the present invention.
As shown in fig. 3, the calibration system for a vehicle sensor according to the present invention includes:
a static state judgment module 100, configured to judge whether the vehicle is in a static state;
the horizontal state judging module 200 is used for judging whether the vehicle is in a horizontal state; and
and a correction module 300 for correcting the vehicle sensor when the stationary state judgment module 100 judges that the vehicle is in the stationary state and the horizontal state judgment module 200 judges that the vehicle is in the horizontal state.
The static state determining module 100 includes:
a first sub-module 110 for determining whether an engine ignition signal of the vehicle is off;
a second sub-module 120 for determining whether the vehicle speed is zero; and
the third sub-module 130 determines that the vehicle is in a stationary state if the first sub-module 110 determines that the engine ignition signal of the vehicle is off and if the second sub-module 120 determines that the vehicle speed of the vehicle is zero.
In the horizontal state determination module 300, the vehicle is based on the verticalJudging whether the vehicle is in a horizontal state or not by the gravity acceleration value of the acceleration sensor in the straight direction, and when the gravity acceleration value of the acceleration sensor in the vertical direction is 9.8m/s2Judging that the vehicle is in a horizontal state under the condition of (1); alternatively, in the horizontal state determining module 300, it is determined whether the vehicle is in the horizontal state based on the gravitational acceleration value of the acceleration sensor in the horizontal direction of the vehicle, and the vehicle is determined to be in the horizontal state when the gravitational acceleration value of the acceleration sensor in the horizontal direction is zero.
As described above, according to the calibration system for a vehicle sensor of the present invention, calibration can be performed all the time after the sensor is mounted on a vehicle (i.e., after the vehicle is shipped), and the accuracy of the sensor can be effectively ensured, so that the performance of the product can be improved, or a low-accuracy sensor can be used to reduce the cost.
The present invention also provides a sensor for a vehicle, comprising: the calibration system for a vehicle sensor described above. The sensor for a vehicle of the present invention may be applied to various types of sensors in a vehicle, for example, an air bag sensor, a throttle position sensor, an intake pressure sensor, a crank position sensor, an engine speed sensor, a knock sensor, and the like.
The invention also provides an electric control unit, which comprises the vehicle sensor, wherein in the electric control unit, when the static state judgment module of the vehicle sensor judges that the vehicle is in a static state and the horizontal state judgment module judges that the vehicle is in a horizontal state, the electric control unit starts to work; the electronic control unit transitions to a sleep mode after the correction module of the vehicle sensor completes the correction. For example, an Electronic Control Unit (ECU) of an airbag sensor and the like are exemplified. The present invention also provides a computer-readable medium on which a computer program is stored, which computer program, when executed by a processor, implements the method of correcting a sensor for a vehicle described above.
The invention also provides computer equipment comprising a storage module, a processor and a computer program which is stored on the storage module and can run on the processor, and is characterized in that the processor executes the computer program to realize the method for correcting the vehicle sensor.
The above examples mainly describe the calibration method for the vehicle sensor, the calibration system for the vehicle sensor, and the vehicle sensor 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 (17)

1. A method of calibrating a sensor for a vehicle, comprising:
a stationary state judgment step of judging whether the vehicle is in a stationary state;
a horizontal state judging step of judging whether the vehicle is in a horizontal state; and
a correction step of correcting the vehicle sensor when the vehicle is determined to be in a stationary state in the stationary state determination step and when the vehicle is determined to be in a horizontal state in the horizontal state determination step.
2. The method of correcting a sensor for a vehicle according to claim 1, wherein the stationary state determining step includes:
judging whether an engine ignition signal of the vehicle is extinguished;
judging whether the speed of the vehicle is zero or not; and
when the engine ignition signal of the vehicle is judged to be off and the vehicle speed of the vehicle is judged to be zero, the vehicle is judged to be in a static state.
3. The calibration method for a sensor for a vehicle according to claim 1,
in the horizontal state determining step, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a vertical direction of the vehicle.
4. The method of calibrating a sensor for a vehicle according to claim 1,
in the horizontal state judging step, when the gravity acceleration value of the acceleration sensor in the vertical direction is 9.8m/s2The vehicle is determined to be in a horizontal state.
5. The calibration method for a sensor for a vehicle according to claim 1,
in the horizontal state determining step, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a horizontal direction of the vehicle.
6. The calibration method for a sensor for a vehicle according to claim 5,
in the horizontal state determining step, it is determined that the vehicle is in a horizontal state when the gravitational acceleration value of the acceleration sensor in the horizontal direction is zero.
7. The calibration method for a sensor for a vehicle according to claim 5,
in the calibration step, the vehicle sensor is calibrated by calculating a zero offset based on an average value of measurement objects acquired by the vehicle sensor a plurality of times.
8. A calibration system for a sensor for a vehicle, comprising:
the static state judging module is used for judging whether the vehicle is in a static state or not;
the horizontal state judging module is used for judging whether the vehicle is in a horizontal state or not; and
and a correction module for correcting the vehicle sensor when the stationary state judgment module judges that the vehicle is in a stationary state and when the horizontal state judgment module judges that the vehicle is in a horizontal state.
9. The system for correcting a sensor for a vehicle according to claim 8, wherein the standstill state determination module includes:
the first submodule is used for judging whether an engine ignition signal of the vehicle is extinguished;
the second submodule is used for judging whether the speed of the vehicle is zero or not; and
and the third submodule judges that the vehicle is in a static state under the condition that the first submodule judges that the engine ignition signal of the vehicle is off and the second submodule judges that the vehicle speed of the vehicle is zero.
10. The system for correcting a sensor for a vehicle according to claim 8,
in the horizontal state determination module, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a vertical direction of the vehicle.
11. The system for correcting a sensor for a vehicle according to claim 10,
in the horizontal state judging module, when the gravity acceleration value of the acceleration sensor in the vertical direction is 9.8m/s2The vehicle is determined to be in a horizontal state.
12. The system for correcting a sensor for a vehicle according to claim 8,
in the horizontal state determination module, it is determined whether the vehicle is in a horizontal state based on a gravitational acceleration value of an acceleration sensor in a horizontal direction of the vehicle.
13. The system for correcting a sensor for a vehicle according to claim 12,
and in the horizontal state judging module, judging that the vehicle is in a horizontal state under the condition that the gravity acceleration value of the acceleration sensor in the horizontal direction is zero.
14. A sensor for a vehicle, characterized by comprising: the system for calibrating a sensor for a vehicle according to any one of claims 8 to 13.
15. An electronic control unit, characterized by comprising the vehicle sensor of claim 14,
in the electronic control unit, when the static state judgment module of the vehicle sensor judges that the vehicle is in a static state and the horizontal state judgment module judges that the vehicle is in a horizontal state, the electronic control unit starts to work; the electronic control unit transitions to a sleep mode after the correction module of the vehicle sensor completes the correction.
16. A computer-readable medium, having stored thereon a computer program,
the computer program, when executed by a processor, implements the method for calibrating a vehicle sensor according to any one of claims 1 to 7.
17. A computer device comprising a storage module, a processor and a computer program stored on the storage module and executable on the processor, wherein the processor implements the method of calibrating a sensor for a vehicle according to any one of claims 1 to 7 when executing the computer program.
CN202011478006.1A 2020-12-15 2020-12-15 Method and system for correcting vehicle sensor, and vehicle sensor Pending CN114636564A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202011478006.1A CN114636564A (en) 2020-12-15 2020-12-15 Method and system for correcting vehicle sensor, and vehicle sensor
DE102021211897.6A DE102021211897A1 (en) 2020-12-15 2021-10-21 Calibration method for a vehicle sensor, calibration system therefor and vehicle sensor
JP2021202170A JP2022094953A (en) 2020-12-15 2021-12-14 Vehicle sensor calibration method, vehicle sensor calibration system and vehicle sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011478006.1A CN114636564A (en) 2020-12-15 2020-12-15 Method and system for correcting vehicle sensor, and vehicle sensor

Publications (1)

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CN114636564A true CN114636564A (en) 2022-06-17

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CN (1) CN114636564A (en)
DE (1) DE102021211897A1 (en)

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Publication number Priority date Publication date Assignee Title
CN116086498B (en) * 2023-04-12 2023-08-08 盛瑞传动股份有限公司 Slope sensor zeroing method and device, computer equipment and storage medium
CN116560339B (en) * 2023-05-11 2023-12-12 中山市博测达电子科技有限公司 Remote ADAS calibration method and system

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JP2022094953A (en) 2022-06-27

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