EP2340412A1 - Sensoranordnung und verfahren zum einfachen einbau in ein fahrzeug - Google Patents
Sensoranordnung und verfahren zum einfachen einbau in ein fahrzeugInfo
- Publication number
- EP2340412A1 EP2340412A1 EP09783847A EP09783847A EP2340412A1 EP 2340412 A1 EP2340412 A1 EP 2340412A1 EP 09783847 A EP09783847 A EP 09783847A EP 09783847 A EP09783847 A EP 09783847A EP 2340412 A1 EP2340412 A1 EP 2340412A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor
- sensor arrangement
- vehicle
- control unit
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000009434 installation Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims abstract description 38
- 230000001419 dependent effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 230000009466 transformation Effects 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- 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
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49764—Method of mechanical manufacture with testing or indicating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
Definitions
- the invention relates to a method for installing a sensor arrangement according to the preamble of claim 1, a sensor arrangement according to the preamble of claim 6, as well as the use of the sensor arrangement in motor vehicles and other vehicles.
- the object of the invention has been found to propose a method for easy installation of a sensor arrangement in a vehicle and a corresponding sensor arrangement.
- the attachment of the sensor arrangement is preferably carried out by means of at least one fastening device, which is in particular part of a housing of the sensor arrangement.
- the sensor arrangement preferably has its own housing or alternatively is preferably integrated in an electronic control unit with a corresponding housing.
- the attachment of the sensor arrangement in its own housing or in the housing of an electronic control unit in the vehicle Preferably by screwing and / or snapping, so form-fitting, and / or gluing and / or by a magnetic attachment, in particular combined with a positive attachment.
- the sensor arrangement preferably has a three-dimensionally measuring acceleration sensor or alternatively preferably a combination of two or more one- or two-dimensionally measuring acceleration sensors.
- the sensor arrangement is preferably not designed as a navigation system, but in particular as a sensor arrangement which provides acceleration and / or rotation rate signals for a motor vehicle control system and accordingly has at least one acceleration sensor and at least one rotation rate sensor.
- the vehicle chassis during installation of the sensor assembly and / or during the sensor calibration mode with its Anlagenchassisbodenebene or - base / base level and / or with the set plane on which the vehicle chassis is directly or indirectly, in the Is oriented substantially perpendicular or at a defined angle to the direction of gravitational acceleration.
- the vehicle chassis is placed in particular on wheels on the job level.
- the sensor arrangement preferably comprises one or more yaw rate sensors, for the operation of which one or more calibration values are calculated in the sensor calibration mode and / or stored, which are dependent in particular on the at least one relative positioning parameter.
- the at least one relative positioning parameter and / or the calibration values are expediently in the form of a transformation matrix or coordinate transformation matrix, with which the measurement signals of the at least one acceleration and / or yaw rate sensor are adapted starting from a reference positioning within the vehicle with regard to the actual positioning of the sensor arrangement inside the vehicle.
- the electronic control unit and / or the sensors are / are preferably part of a motor vehicle control system, in particular an electronic motor vehicle brake system or a vehicle chassis acceleration measuring system or a shock absorber control system.
- the installation of the sensor assembly in the vehicle during an assembly process of the vehicle is carried out before the vehicle is regularly put into operation, in particular before the production of the corresponding vehicle, ie at or before "end of tape", or that the installation in During a repair or maintenance of the sensor assembly or in the course of an exchange of the sensor arrangement is carried out.
- the electronic control unit is preferably so lays down that the coordinates and / or position information of at least one attachment point, in particular as a reference point, and / or a fastening axis are stored or stored, on which the sensor arrangement is fastened within the vehicle chassis and that these coordinates and / or position information in Frame of the sensor calibration mode for calculating the relative
- Positioning parameters are used directly or indirectly.
- the sensor arrangement comprises one or more yaw rate sensors and the electronic control unit is designed such that one or more calibration values are calculated and / or stored for the operation of the at least one yaw rate sensor in the sensor calibration mode depend on a relative positioning parameter.
- the sensor arrangement is preferably designed such that the measuring directions of the at least one acceleration sensor are aligned substantially orthogonal to one another.
- the sensor arrangement comprises one or more yaw rate sensors with one or more measuring axes, wherein the at least one yaw rate sensor is arranged in particular such that the yaw rate about the vertical axis of the vehicle can be detected, ie the yaw rate, and / or about the longitudinal and / or Transverse axis of the vehicle.
- the proposed sensor arrangement and the method are also particularly advantageous because hitherto the measuring axis has been used for generating Formation of the yaw rate had to be aligned relatively precisely perpendicular to the vehicle floor level and the rotation rate sensor had to be installed with relatively high precision positioned accordingly.
- the calibration by means of the relative positioning parameters or of the at least one calibration value, deviations from this orientation can be compensated by the signal processing of the electronic control unit.
- a measuring axis or measuring direction of the acceleration sensor and / or the yaw rate sensor prefferably be parallel to a fastening axis, with respect to which the sensor arrangement is fastened and positioned in a defined manner.
- the at least one acceleration sensor is expediently designed as a linear acceleration sensor.
- the invention also relates to the use of the sensor arrangement in a motor vehicle, in particular a passenger car or truck or in a motorcycle, or in an aircraft or in a boat or ship or in a rail vehicle.
- FIG. 1 shows an embodiment of a sensor arrangement with ideal alignment of the sensors
- Fig. 2 shows an exemplary sensor arrangement which is aligned in a twisted manner.
- the exemplary sensor arrangement shown in FIG. 1 has an ideal orientation of the sensors 1, 2.
- the sensor arrangement comprises a 3-axis acceleration sensor 1, a 2-axis rotation rate sensor 2 and an electronic control unit 3, for example, as a board equipped with chips shown.
- the acceleration sensor within the sensor arrangement is arranged such that the measuring direction b of the acceleration sensor 1 is aligned parallel to the fastening axis n a and the measuring axis c of the acceleration sensor 1 is parallel to the gravitational acceleration g.
- the measuring axes a, c, around which the rotation rate sensor detects the rotation rates ⁇ l and ⁇ 2, are also aligned parallel to the acceleration due to gravity g and perpendicular to the acceleration due to gravity and perpendicular to the attachment axis n a .
- the measuring axes of the acceleration sensor a, b, c are each perpendicular to each other.
- the attachment of the sensor assembly which can be done for example by screwing, snapping, gluing etc. in the vehicle may now be performed according to the invention in any rotation to the mounting axis n a , as exemplified in Fig. 2, wherein the mounting axis n a turn any, is uniquely determined on the vehicle chassis with the exception parallel to the direction of the gravitational acceleration g, can be oriented in the vehicle, so that acquired by the direction of gravitational acceleration g and the direction of the mounting axis n a is the position in space.
- only one attachment point is required for positioning and, moreover, essentially no further alignment of the sensor arrangement is necessary.
- a calibration of the sensor signals of the acceleration sensor and the yaw rate sensor takes place, for example, by means of coordinate transformation parameters which influence the sensor signals as if they had been produced in an ideal installation position.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008052194 | 2008-10-17 | ||
PCT/EP2009/063089 WO2010043537A1 (de) | 2008-10-17 | 2009-10-08 | Sensoranordnung und verfahren zum einfachen einbau in ein fahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2340412A1 true EP2340412A1 (de) | 2011-07-06 |
Family
ID=41435281
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09783847A Withdrawn EP2340412A1 (de) | 2008-10-17 | 2009-10-08 | Sensoranordnung und verfahren zum einfachen einbau in ein fahrzeug |
Country Status (4)
Country | Link |
---|---|
US (1) | US20110197414A1 (de) |
EP (1) | EP2340412A1 (de) |
DE (1) | DE102009045493A1 (de) |
WO (1) | WO2010043537A1 (de) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NZ631286A (en) * | 2014-02-17 | 2015-01-30 | Redarc Technologies Pty Ltd | Brake controller for towed vehicle braking system and method |
AT515511B8 (de) * | 2014-02-25 | 2015-11-15 | Siemens Ag Oesterreich | Mauterfassungsgerät eines satellitengestützten Mautsystems |
US20160054355A1 (en) * | 2014-08-20 | 2016-02-25 | Honeywell International Inc. | Compact inertial measurement unit with interface adapter |
DE102015119129B4 (de) * | 2015-11-06 | 2021-06-24 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Vorrichtung und Verfahren zur Bestimmung der Höhe eines Fahrzeugfahrgestells |
CN107084719B (zh) * | 2017-05-08 | 2020-02-21 | 中国船舶重工集团公司第七0七研究所 | 一种旋转式捷联惯导旋转数据同步策略 |
DE102018201744A1 (de) * | 2018-02-05 | 2019-08-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Kalibrieren eines Umfeldsensors eines Fahrzeugs und Sensorsystem für ein Fahrzeug |
DE102019117089A1 (de) * | 2019-06-25 | 2020-12-31 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Verfahren zur Kalibrierung der Orientierung eines in einem Fahrzeug vorgesehenen Beschleunigungssensors |
EP4033218B1 (de) * | 2021-01-21 | 2024-04-03 | Siemens Aktiengesellschaft | Verfahren und vorrichtung zum überwachen des betriebs eines technischen objekts |
DE102021205565A1 (de) * | 2021-06-01 | 2022-12-01 | Contitech Luftfedersysteme Gmbh | Verfahren zum Kalibrieren einer luftgefederten Vorrichtung in einem kartesischen Vorrichtungskoordinatensystem |
CN117110649A (zh) * | 2023-08-02 | 2023-11-24 | 中国科学院自动化研究所 | 一种运动数据的质量增强方法、装置和*** |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19731360A1 (de) * | 1997-07-22 | 1999-01-28 | Bosch Gmbh Robert | Ortungsgerät für Landfahrzeuge |
DE19858621C2 (de) * | 1998-12-18 | 2001-02-01 | Autoflug Gmbh | Verfahren zum Verbessern der Meßwerte eines inertialen Meßsystems |
DE19925434C2 (de) * | 1999-06-02 | 2001-09-27 | Bosch Gmbh Robert | Navigationssystem und Verfahren zur Detektion der Einbaulage eines Navigationssystems im Kraftfahrzeug |
US6282496B1 (en) * | 1999-10-29 | 2001-08-28 | Visteon Technologies, Llc | Method and apparatus for inertial guidance for an automobile navigation system |
US6729176B2 (en) * | 2000-03-31 | 2004-05-04 | Magellan Dis, Inc. | Calibration of orthogonal sensor suite |
US20030061859A1 (en) * | 2001-01-29 | 2003-04-03 | Ford Global Technologies, Inc. | Accelerometer calibration |
DE60139881D1 (de) * | 2001-11-13 | 2009-10-22 | Nokia Corp | Verfahren, Vorrichtung und System zur Kalibrierung von Winkelratenmesssensoren |
DE112005002094T5 (de) * | 2004-08-31 | 2007-07-26 | Kelsey-Hayes Co., Livonia | Verfahren zur Korrektur von Montageversatz bei einem Trägheitssensor |
JP2006176084A (ja) * | 2004-12-24 | 2006-07-06 | Advics:Kk | 車両挙動センサの検出値補正方法 |
DE102005033237B4 (de) * | 2005-07-15 | 2007-09-20 | Siemens Ag | Verfahren zur Bestimmung und Korrektur von Fehlorientierungen und Offsets der Sensoren einer Inertial Measurement Unit in einem Landfahrzeug |
-
2009
- 2009-10-08 EP EP09783847A patent/EP2340412A1/de not_active Withdrawn
- 2009-10-08 US US13/123,964 patent/US20110197414A1/en not_active Abandoned
- 2009-10-08 DE DE102009045493A patent/DE102009045493A1/de not_active Withdrawn
- 2009-10-08 WO PCT/EP2009/063089 patent/WO2010043537A1/de active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO2010043537A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102009045493A1 (de) | 2010-04-29 |
WO2010043537A1 (de) | 2010-04-22 |
US20110197414A1 (en) | 2011-08-18 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20110517 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR |
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AX | Request for extension of the european patent |
Extension state: AL BA RS |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: THEOBALD, DIRK Inventor name: HEIMEL, JOERG Inventor name: SCHMID, BERNHARD Inventor name: BURGHARDT, ROLAND Inventor name: HILSER, ROLAND |
|
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20111207 |