CN103632062A - Method and device for determining uphill and downhill running states of vehicle by utilizing acceleration sensor and gyroscope - Google Patents

Abstract

The invention discloses a method and a device for determining uphill and downhill running states of a vehicle by utilizing an acceleration sensor and a gyroscope. The method comprises the following steps of 1, acquiring data such as vehicle speed, a gyroscope reading and accelerometer readings, wherein the vehicle speed is V(t), the gyroscope reading is gyro(t), and the accelerometer readings are ax(t), ay(t) and az(t), and correspond to three directions of a tri-axis accelerometer respectively; 2, calculating turning angular speed according to the gyroscope reading; 3, measuring a mounting angle; 4, calculating a suspension corrected value by using a suspension correction coefficient; 5, calculating a turning corrected value; 6, calculating a real-time slope and an average slope, and judging a slope type. According to the method and the device, a current slope state of the vehicle can be more accurately judged.

Description

A kind of method and apparatus that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement

Technical field

The present invention relates to vehicle electric field, particularly a kind of method and apparatus that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement.

Background technology

Vehicle is when static, and by the measurement data of accelerometer, the impact of cancellation accelerometer established angle just can calculate the gradient of vehicle present position afterwards easily.Vehicle in motion, can be because the variation of the speed of a motor vehicle makes the measured value of accelerometer be subject to the impact of vehicle acceleration and deceleration, and because vehicle suspension is elastic system, the acceleration and deceleration meeting of vehicle produces obviously impact to suspension angle, and then have influence on the measured value of accelerometer.On the other hand, vehicle, can be because of the cause of running attitude when turning, and turning centripetal force has a component making progress at axle for vehicle, and then has influence on the measured value of accelerometer.

In prior art, when the gradient of identification vehicle present position, owing to not considering the impact of accelerometer established angle, make to install when not accurate enough when accelerometer, can cause the gradient precision that calculates not high.When acceleration and deceleration are travelled, because vehicle suspension is elastic system, and the acceleration and deceleration meeting of vehicle produces obviously impact to suspension angle.Vehicle body hypsokinesis when vehicle accelerates, when vehicle deceleration, vehicle body leans forward.Because accelerometer is arranged on vehicle body, thereby the vehicle body angle of measuring will inevitably comprise the angle of vehicle suspension, therefore must on measure to angle make the impact of revising to avoid suspension angle to change.At Ackermann steer angle, can there is centripetal force, and because the front and back wheel of vehicle is not on same straight line, so centripetal force vehicle axially on have one-component, while therefore turning, to revise for the turn condition of vehicle body.Finally, simultaneously, because the climb and fall in reality continues often, the instantaneous gradient is not easy to reflect the type on the slope in reality.During for concrete application, due to the slope of the road in a reality lasting state often, rather than an instantaneous value, therefore, calculate the average instantaneous value of slope of the ratio of slope in a period of time and more can accurately reflect real situation.

Therefore, in prior art, when to vehicle climb and fall condition judgement, there is inaccurate problem.

Summary of the invention

In view of problems of the prior art, the object of the invention is to provide a kind of method and apparatus that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement, thereby judges more accurately gradient state.

According to an aspect of the present invention, provide a kind of method of utilizing acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement, it is characterized in that comprising step:

S1, data acquisition, obtain the speed of a motor vehicle, the gyroscope value of reading, the accelerometer value of reading, wherein the speed of a motor vehicle is V (t), and gyroscope survey value is gyro (t), the accelerometer value of reading is ax (t), ay (t), az (t), respectively three directions of corresponding three axis accelerometer;

S2, according to the gyroscope value of reading, calculate turning rate;

S3, measurement established angle;

S4, use are hung correction factor and are calculated suspension modified value;

S5, calculating turning modified value;

S6, calculate the real-time gradient, mean inclination, judgement gradient type.

Preferably, in step S1, use the longer time period to calculate average accekeration, and subsequent calculations is all used this average acceleration value.

Preferably, in step S2, turning rate W=(gyro (t)-mid) * gyro_scale_factor

Wherein mid is gyro intermediate value, and gyro_scale_factor is turning scale factor.

Preferably, in step S3, the computing formula of axial established angle:

$\mathrm{xAngle}=\arcsin \left(\frac{\mathrm{ax}\left(t\right)}{\sqrt{\mathrm{ax}{\left(t\right)}^2+\mathrm{ay}{\left(t\right)}^2+\mathrm{az}{\left(t\right)}^2}}\right)$

Wherein xAngle is axial established angle angle, ax (t), ay (t), az (t), the respectively measured value of three directions of corresponding accelerometer three axis accelerometer.

Preferably, in step S3, the established angle while adopting under a plurality of different temperatures this temperature of measurements and calculations, by the mode of least square fitting straight line, calculates the established angle value under different temperatures.

Preferably, in step S4, the computing formula that hangs modified value is:

change1(t)=av(t)*k1*cos(xAngle)

Wherein k1, for hanging correction factor, draws by vehicle being carried out to linear acceleration and deceleration test, and acquisition pattern is:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out linear acceleration and deceleration and travels, and records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the accekeration av (t) calculating according to speed meter;

The approximate formula that moment is hung correction factor k1 (t) is:

$k1\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{\mathrm{av}\left(t\right)}.$

Preferably, hang the mean value that the k1 using in modified value computing formula can be measurement result, and identical vehicle is done one-shot measurement and calculates.

Preferably, in step S5, the computing formula of turning modified value is:

change2(t)=L*w(t)*w(t)*k2

Wherein L is vehicle axial length, and w (t) is turning rate, and k2 is turning correction factor;

The acquisition pattern of turning correction factor k2:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out at the uniform velocity turning driving, records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the turning rate w (t) going out according to gyroscope survey;

By following formula, calculate

$k2\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{L*w\left(t\right)*w\left(t\right)}.$

Preferably, the mean value that the k2 using in turning modified value computing formula is measurement result, and identical vehicle is done one-shot measurement and calculates.

Preferably, the computing formula of the final instantaneous gradient

ax_new(t)=ax(t)-change1(t)+change2(t)

ay_new(t)=ay(t)

az_new(t)=az(t)-av(t)*sin(xAngle)

$\mathrm{Angle}\left(t\right)=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}\left(t\right)}{\sqrt{\mathrm{ax}\_\mathrm{new}{\left(t\right)}^2+\mathrm{ay}\_\mathrm{new}{\left(t\right)}^2+\mathrm{az}\_\mathrm{new}{\left(t\right)}^2}}\right)-\mathrm{xAngle}$

The computing formula of mean inclination

ax_new(t) _n=ax(t) _n-change1(t) _n+change2(t) _n

ay_new(t) _n=ay(t) _n

az_new(t) _n=az(t) _n-av(t) _n*sin(xAngle)

$\mathrm{Angle}{\left(t\right)}_n=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}{\left(t\right)}_n}{\sqrt{\mathrm{ax}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{ay}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{az}\_\mathrm{new}{{\left(t\right)}_n}^2}}\right)-\mathrm{xAngle}.$

Preferably, in step S1, source data is done to filtering noise reduction process, for the speed of a motor vehicle, the value of reading of gyroscope and accelerometer, by simple low-pass filtering treatment, is output as filtered data.

According to a further aspect in the invention, provide a kind of device that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement, it is characterized in that comprising:

Data acquisition module, be used for carrying out data acquisition, obtain the speed of a motor vehicle, the gyroscope value of reading, the accelerometer value of reading, wherein the speed of a motor vehicle is V (t), gyroscope survey value is gyro (t), the accelerometer value of reading is ax (t), ay (t), az (t), respectively three directions of corresponding three axis accelerometer;

Turning rate computing module, for calculating turning rate according to the gyroscope value of reading;

Established angle measurement module, for measuring established angle;

Hang modified value computing module, for using, hang correction factor calculating suspension modified value;

Turning modified value computing module, for calculating turning modified value;

Gradient judge module, for calculating the real-time gradient, mean inclination, judgement gradient type.

Preferably, in data acquisition module, use the longer time period to calculate average accekeration, and subsequent calculations is all used this average acceleration value.

Preferably, in turning rate computing module, turning rate

w＝(gyro(t)-mid)*gyrp_scale_factor

Wherein mid is gyro intermediate value, and gyro_scale_factor is turning scale factor.

Preferably, in established angle measurement module, the computing formula of axial established angle:

$\left(\frac{\mathrm{ax}\left(t\right)}{\sqrt{\mathrm{ax}{\left(t\right)}^2+\mathrm{ay}{\left(t\right)}^2+\mathrm{az}{\left(t\right)}^2}}\right)$

Wherein xAngle is axial established angle angle, ax (t), ay (t), az (t), the respectively measured value of three directions of corresponding accelerometer three axis accelerometer.

Preferably, in established angle measurement module, the established angle while adopting under a plurality of different temperatures this temperature of measurements and calculations, by the mode of least square fitting straight line, calculates the established angle value under different temperatures.

Preferably, hang in modified value computing module, the computing formula that hangs modified value is:

change1(t)=av(t)*k1*cos(xAngle)

Wherein k1, for hanging correction factor, draws by vehicle being carried out to linear acceleration and deceleration test, and acquisition pattern is:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out linear acceleration and deceleration and travels, and records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the accekeration av (t) calculating according to speed meter;

The approximate formula that moment is hung correction factor k1 (t) is:

$k1\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{\mathrm{av}\left(t\right)}.$

Preferably, hang the mean value that the k1 using in modified value computing formula can be measurement result, and identical vehicle is done one-shot measurement and calculates.

Preferably, in turning modified value computing module, the computing formula of turning modified value is:

change2(t)=L*w(t)*w(t)*k2

Wherein L is vehicle axial length, and w (t) is turning rate, and k2 is turning correction factor;

The acquisition pattern of turning correction factor k2:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out at the uniform velocity turning driving, records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the turning rate w (t) going out according to gyroscope survey;

By following formula, calculate

$k2\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{L*w\left(t\right)*w\left(t\right)}.$

Preferably, the mean value that the k2 using in turning modified value computing formula is measurement result, and identical vehicle is done one-shot measurement and calculates.

Preferably, the computing formula of the final instantaneous gradient

ax_new(t)=ax(t)-change1(t)+change2(t)

ay_new(t)=ay(t)

az_new(t)=az(t)-av(t)*sin(xAngle)

$\mathrm{Angle}\left(t\right)=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}\left(t\right)}{\sqrt{\mathrm{ax}\_\mathrm{new}{\left(t\right)}^2+\mathrm{ay}\_\mathrm{new}{\left(t\right)}^2+\mathrm{az}\_\mathrm{new}{\left(t\right)}^2}}\right)-\mathrm{xAngel}$

The computing formula of mean inclination

ax_new(t) _n=ax(t) _n-change1(t) _n+change2(t) _n

ay_new(t) _n=ay(t) _n

az_new(t) _n=az(t) _n-av(t) _n*sin(xAngle)

$\mathrm{Angle}{\left(t\right)}_n=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}{\left(t\right)}_n}{\sqrt{\mathrm{ax}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{ay}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{az}\_\mathrm{new}{{\left(t\right)}_n}^2}}\right)-\mathrm{xAngle}.$

Preferably, in data acquisition module, source data is done to filtering noise reduction process, for the speed of a motor vehicle, the value of reading of gyroscope and accelerometer, by simple low-pass filtering treatment, is output as filtered data.

One aspect of the present invention is calculated vehicle movement acceleration by the speed of a motor vehicle, for hanging error, revise simultaneously, by gyro, obtain on the other hand the angular velocity of turning, revise the impact of accelerometer because turning, when calculating the gradient, impact that simultaneously can cancellation established angle, and by the Gradient in statistics a period of time, judge the type on the slope in real world.

Accompanying drawing explanation

Fig. 1 is exemplified with a kind of method flow diagram that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement of the embodiment of the present invention.

Fig. 2 is exemplified with a kind of structure drawing of device that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement of the embodiment of the present invention.

Embodiment

For above-mentioned purpose of the present invention, feature and advantage are become apparent more, below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.

Due to the problem that prior art exists as above-mentioned background technology is partly mentioned, the present invention is when utilizing acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement, can from three aspects, to it, revise respectively, that is: accelerometer established angle correction, suspension are revised and are turned and revise.

One side is due to the alignment error of accelerometer, must carry out established angle mensuration for concrete vehicle, on the other hand, more preferred, because the measured value of accelerometer self can be subject to the impact of temperature, need at different temperature, do repeatedly and measure, at the temperature not measured, can go out corresponding measurement data according to data estimation corresponding to the temperature having measured.

Fig. 1 is exemplified with a kind of method flow diagram that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement of the embodiment of the present invention.

As shown in Figure 1, described method can comprise step:

S1, data acquisition, obtain the speed of a motor vehicle, the gyroscope value of reading, the accelerometer value of reading, wherein the speed of a motor vehicle is V (t), and gyroscope survey value is gyro (t), the accelerometer value of reading is ax (t), ay (t), az (t), respectively three directions of corresponding three axis accelerometer;

Preferably, for the precision problem of the speed of a motor vehicle, can calculate average acceleration with the longer time period, thereby reduce the error that the precision of the speed of a motor vehicle own is brought,

According to speed meter, calculate instantaneous acceleration

$\mathrm{av}\left(t\right)=\frac{V\left(t\right)-V(t-1)}{T}$

The speed that wherein V (t) is current time, V (t-1) was the speed of a motor vehicle in a upper moment, T is carved into (t) elapsed time constantly, the interval time that the speed of being defaulted as is obtained while being (t-1).

When using the longer time period,, after getting n speed, can be used for calculating interior during this period of time average acceleration value

$\mathrm{av}{\left(t\right)}_n=\frac{V\left(t\right)-V(t-n)}{T_n}$

Av (t) wherein _nfor average acceleration, the speed that V (t) is current time, V (t-n) is the speed of a motor vehicle before n the moment before, T _nfor the time of experience between V (t) and V (t-n).

The calculating of the mean value of accelerometer:

$\mathrm{ax}{\left(t\right)}_n=\frac{\mathrm{ax}\left(t\right)+\mathrm{ax}(t-1)+...+\mathrm{ax}(t-n)}{T_n}$

$\mathrm{ay}{\left(t\right)}_n=\frac{\mathrm{ay}\left(t\right)+\mathrm{ay}(t-1)+...+\mathrm{ay}(t-n)}{T_n}$

$\mathrm{az}{\left(t\right)}_n=\frac{\mathrm{az}\left(t\right)+\mathrm{az}(t-1)+...+\mathrm{az}(t-n)}{T_n}$

S2, according to the gyroscope value of reading, calculate turning rate;

Different chips has different account forms, and the formula herein preferably using is:

w＝(gyro(t)-mid)*gyro_scale_factor

Wherein mid is gyro intermediate value, and gyro_scale_factor is turning scale factor.

S3, measurement established angle;

The computing formula of axial established angle:

$\left(\frac{\mathrm{ax}\left(t\right)}{\sqrt{\mathrm{ax}{\left(t\right)}^2+\mathrm{ay}{\left(t\right)}^2+\mathrm{az}{\left(t\right)}^2}}\right)$

Wherein xAngle is axial established angle angle, ax (t), ay (t), az (t), the respectively measured value of three directions of corresponding accelerometer three axis accelerometer.

Because the established angle of other both directions generally can be very little, so ignore herein.

Temperature can be brought impact for the value of reading of accelerometer, Different Effects depending on chip is also different, consider that the variation that accelerometer brings with temperature is linear relationship substantially, established angle in the time of can adopting under a plurality of different temperatures this temperature of measurements and calculations herein, by the mode of least square fitting straight line, calculate the established angle value under different temperatures, subsequent calculations use to established angle xAngle, all can refer to the corresponding established angle calculating under corresponding working temperature.

S4, use are hung correction factor and are calculated suspension modified value;

Because the deformation extent and the acceleration that hang are substantially linear, therefore the computing formula of instantaneous modified value is:

change1(t)=av(t)*k1*cos(xAngle)

Wherein k1, for hanging correction factor, draws by vehicle being carried out to linear acceleration and deceleration test, and acquisition pattern is:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out linear acceleration and deceleration and travels, and records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the accekeration av (t) calculating according to speed meter;

The approximate formula that moment is hung correction factor k1 (t) is:

$k1\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{\mathrm{av}\left(t\right)}$

In order to reduce complexity, the k1 using in instantaneous modified value computing formula can be the mean value of measurement result, and identical vehicle does one-shot measurement and calculate,

$k1=\frac{k1\left(0\right)+k1\left(1\right)+...+k1\left(n\right)}{n}$

Average modified value

change1(t) _n=av(t) _n*k1*cos(xAngle)

S5, calculating turning modified value;

At Ackermann steer angle, can there is centripetal force, and because the front and back wheel of vehicle is not on same straight line, so centripetal force vehicle axially on have one-component, the instantaneous modified value that this component is corresponding is:

change2(t)=L*w(t)*w(t)*k2

Wherein L is vehicle axial length, and w (t) is turning rate, and k2 is turning correction factor.

Average modified value is

change2(t) _n=L*w(t) _n*w(t) _n*k2

The acquisition pattern of turning correction factor:

A. by manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

B. vehicle carries out at the uniform velocity turning driving, records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the turning rate w (t) going out according to gyroscope survey;

C. due to the difference of the installation site of accelerometer, the difference of vehicle itself, need to measure targetedly for different vehicles.And because accelerometer not necessarily can be arranged on the axis of vehicle, so the correction factor of left-hand rotation and right-hand rotation can be different, computing formula is consistent

$k2\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{L*w\left(t\right)*w\left(t\right)}$

In order to reduce complexity, the mean value that the k2 using in instantaneous modified value computing formula is measurement result, and identical vehicle does one-shot measurement and calculates,

$k2=\frac{k2\left(0\right)+k2\left(1\right)+...+k2\left(n\right)}{n}$

S6, calculate the real-time gradient, mean inclination, judgement gradient type.

The computing formula of the final instantaneous gradient

ax_new(t)=ax(t)-change1(t)+change2(t)

ay_new(t)=ay(t)

az_new(t)=az(t)-av(t)*sin(xAngle)

$\mathrm{Angle}\left(t\right)=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}\left(t\right)}{\sqrt{\mathrm{ax}\_\mathrm{new}{\left(t\right)}^2+\mathrm{ay}\_\mathrm{new}{\left(t\right)}^2+\mathrm{az}\_\mathrm{new}{\left(t\right)}^2}}\right)-\mathrm{xAngle}$

The computing formula of mean inclination

ax_new(t) _n=ax(t) _n-change1(t) _n+change2(t) _n

ay_new(t) _n=ay(t) _n

az_new(t) _n=az(t) _n-av(t) _n*sin(xAngle)

$\mathrm{Angle}{\left(t\right)}_n=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}{\left(t\right)}_n}{\sqrt{\mathrm{ax}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{ay}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{az}\_\mathrm{new}{{\left(t\right)}_n}^2}}\right)-\mathrm{xAngle}$

Preferably, can do filtering noise reduction process to source data, for the speed of a motor vehicle, the value of reading of gyroscope and accelerometer can, by simple low-pass filtering treatment, be output as filtered data.

Fig. 2 is exemplified with a kind of structure drawing of device that utilizes acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement of the embodiment of the present invention.

As shown in Figure 2, described device comprises:

Data acquisition module, be used for carrying out data acquisition, obtain the speed of a motor vehicle, the gyroscope value of reading, the accelerometer value of reading, wherein the speed of a motor vehicle is V (t), gyroscope survey value is gyro (t), the accelerometer value of reading is ax (t), ay (t), az (t), respectively three directions of corresponding three axis accelerometer;

Turning rate computing module, for calculating turning rate according to the gyroscope value of reading;

Established angle measurement module, for measuring established angle;

Hang modified value computing module, for using, hang correction factor calculating suspension modified value;

Turning modified value computing module, for calculating turning modified value;

Gradient judge module, for calculating the real-time gradient, mean inclination, judgement gradient type.

Because apparatus and method of the present invention are supporting execution, its ins and outs are also corresponding one by one, and the detail in embodiment of the method all can be applicable to device embodiment, repeats no longer one by one here to repeat, and protection scope of the present invention is as the criterion with claims.

It is more than the detailed description that the preferred embodiments of the present invention are carried out, but those of ordinary skill in the art is to be appreciated that, within the scope of the present invention, and guided by the spirit, various improvement, interpolation and replacement are all possible, such as use can realize functional purpose of the same race algorithm, use that different programming language (as C, C++, Java etc.) is realized etc.In these protection domains that all limit in claim of the present invention.

Claims (22)

1. utilize acceleration transducer and gyro to carry out a method for Vehicle Driving Cycle climb and fall condition judgement, it is characterized in that comprising step:

S1, data acquisition, obtain the speed of a motor vehicle, the gyroscope value of reading, the accelerometer value of reading, wherein the speed of a motor vehicle is V (t), and gyroscope survey value is gyro (t), the accelerometer value of reading is ax (t), ay (t), az (t), respectively three directions of corresponding three axis accelerometer;

S2, according to the gyroscope value of reading, calculate turning rate;

S3, measurement established angle;

S4, use are hung correction factor and are calculated suspension modified value;

S5, calculating turning modified value;

S6, calculate the real-time gradient, mean inclination, judgement gradient type.

2. the method for claim 1, is characterized in that:

In step S1, use the longer time period to calculate average accekeration, and subsequent calculations is all used this average acceleration value.

3. the method for claim 1, is characterized in that:

In step S2, turning rate w=(gyro (t)-mid) * gyro_scale_factor

Wherein mid is gyro intermediate value, and gyro_scale_factor is turning scale factor.

4. method as claimed in claim 3, is characterized in that:

In step S3, the computing formula of axial established angle:

$\left(\frac{\mathrm{ax}\left(t\right)}{\sqrt{\mathrm{ax}{\left(t\right)}^2+\mathrm{ay}{\left(t\right)}^2+\mathrm{az}{\left(t\right)}^2}}\right)$

Wherein xAmgle is axial established angle angle, ax (t), ay (t), az (t), the respectively measured value of three directions of corresponding accelerometer three axis accelerometer.

5. the method for claim 1, is characterized in that:

In step S3, the established angle while adopting under a plurality of different temperatures this temperature of measurements and calculations, by the mode of least square fitting straight line, calculates the established angle value under different temperatures.

6. method as claimed in claim 4, is characterized in that:

In step S4, the computing formula that hangs modified value is:

change1(t)＝av(t)*k1*cos(xAngle)

Wherein k1, for hanging correction factor, draws by vehicle being carried out to linear acceleration and deceleration test, and acquisition pattern is:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out linear acceleration and deceleration and travels, and records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the accekeration av (t) calculating according to speed meter;

The approximate formula that moment is hung correction factor k1 (t) is:

$1\left(t\right)\frac{\mathrm{ax}\left(t\right)}{\mathrm{av}\left(t\right)}$

7. method as claimed in claim 6, is characterized in that:

Hang the mean value that the k1 using in modified value computing formula can be measurement result, and identical vehicle is done one-shot measurement and calculates.

8. method as claimed in claim 6, is characterized in that:

In step S5, the computing formula of turning modified value is:

change2(t)＝L*w(t)*w(t)*k2

Wherein L is vehicle axial length, and w (t) is turning rate, and k2 is turning correction factor;

The acquisition pattern of turning correction factor k2:

A. by manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

B. vehicle carries out at the uniform velocity turning driving, records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the turning rate w (t) going out according to gyroscope survey;

C. by following formula, calculate

$k2\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{L*w\left(t\right)*w\left(t\right)}.$

9. method as claimed in claim 8, is characterized in that:

The mean value that the k2 using in turning modified value computing formula is measurement result, and identical vehicle is done one-shot measurement and calculates.

10. method as claimed in claim 8, is characterized in that:

The computing formula of the final instantaneous gradient

ax_new(t)＝ax(t)-change1(t)+change2(t)

ay_nwe(t)＝ay(t)

az_new(t)＝az(t)-av(t)*sin(xAngle)

$\mathrm{Angle}\left(t\right)=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}\left(t\right)}{\sqrt{\mathrm{ax}\_\mathrm{new}{\left(t\right)}^2+\mathrm{ay}\_\mathrm{new}{\left(t\right)}^2+\mathrm{az}\_\mathrm{new}{\left(t\right)}^2}}\right)-\mathrm{xAngle}$

The computing formula of mean inclination

az_new(t) _n=ax(t) _n-change1(t) _n+change2(t) _n

ay_new(t) _n=ay(t) _n

az_new(t) _n=az(t) _n-av(t) _n*sin(xAngle)

$\mathrm{Angle}{\left(t\right)}_n=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}{\left(t\right)}_n}{\sqrt{\mathrm{ax}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{ay}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{az}\_\mathrm{new}{{\left(t\right)}_n}^2}}\right)-\mathrm{xAngle}.$

11. the method for claim 1, is characterized in that:

In step S1, source data is done to filtering noise reduction process, for the speed of a motor vehicle, the value of reading of gyroscope and accelerometer, by simple low-pass filtering treatment, is output as filtered data.

12. 1 kinds of devices that utilize acceleration transducer and gyro to carry out Vehicle Driving Cycle climb and fall condition judgement, is characterized in that comprising:

Data acquisition module, be used for carrying out data acquisition, obtain the speed of a motor vehicle, the gyroscope value of reading, the accelerometer value of reading, wherein the speed of a motor vehicle is V (t), gyroscope survey value is gyro (t), the accelerometer value of reading is ax (t), ay (t), az (t), respectively three directions of corresponding three axis accelerometer;

Turning rate computing module, for calculating turning rate according to the gyroscope value of reading;

Established angle measurement module, for measuring established angle;

Hang modified value computing module, for using, hang correction factor calculating suspension modified value;

Turning modified value computing module, for calculating turning modified value;

Gradient judge module, for calculating the real-time gradient, mean inclination, judgement gradient type.

13. devices as claimed in claim 12, is characterized in that:

In data acquisition module, use the longer time period to calculate average accekeration, and subsequent calculations is all used this average acceleration value.

14. devices as claimed in claim 12, is characterized in that:

In turning rate computing module, turning rate

w＝(gyro(t)-nid)*gyro_scale_factor

Wherein mid is gyro intermediate value, and gyro_scale_factor is turning scale factor.

15. devices as claimed in claim 14, is characterized in that:

In established angle measurement module, the computing formula of axial established angle:

$\mathrm{xAngle}=\arcsin \left(\frac{\mathrm{ax}\left(t\right)}{\sqrt{\mathrm{ax}{\left(t\right)}^2+\mathrm{ay}{\left(t\right)}^2+\mathrm{az}{\left(t\right)}^2}}\right)$

Wherein xAngle is axial established angle angle, ax (t), ay (t), az (t), the respectively measured value of three directions of corresponding accelerometer three axis accelerometer.

16. devices as claimed in claim 12, is characterized in that:

In established angle measurement module, the established angle while adopting under a plurality of different temperatures this temperature of measurements and calculations, by the mode of least square fitting straight line, calculates the established angle value under different temperatures.

17. devices as claimed in claim 15, is characterized in that:

Hang in modified value computing module, the computing formula that hangs modified value is:

change1(t)=av(t)*k1*cos(xAngle)

Wherein k1, for hanging correction factor, draws by vehicle being carried out to linear acceleration and deceleration test, and acquisition pattern is:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out linear acceleration and deceleration and travels, and records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the accekeration av (t) calculating according to speed meter;

The approximate formula that moment is hung correction factor k1 (t) is:

$k1\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{\mathrm{av}\left(t\right)}.$

18. devices as claimed in claim 17, is characterized in that:

Hang the mean value that the k1 using in modified value computing formula can be measurement result, and identical vehicle is done one-shot measurement and calculates.

19. devices as claimed in claim 17, is characterized in that:

In turning modified value computing module, the computing formula of turning modified value is:

change2(t)=L*w(t)*w(t)*k2

Wherein L is vehicle axial length, and w (t) is turning rate, and k2 is turning correction factor;

The acquisition pattern of turning correction factor k2:

By manual adjustment, make accelerometer basically identical in three directions and vehicle itself;

Vehicle carries out at the uniform velocity turning driving, records the accekeration ax (t) in the vehicle forward direction that acceleration measuring measures and the turning rate w (t) going out according to gyroscope survey;

By following formula, calculate

$k2\left(t\right)=\frac{\mathrm{ax}\left(t\right)}{L*w\left(t\right)*w\left(t\right)}.$

20. devices as claimed in claim 19, is characterized in that:

The mean value that the k2 using in turning modified value computing formula is measurement result, and identical vehicle is done one-shot measurement and calculates.

21. devices as claimed in claim 19, is characterized in that:

The computing formula of the final instantaneous gradient

ax_new(t)=ax(t)-change1(t)+changee(t)

ay_new(t)=ay(t)

az_new(t)=az(t)-av(t)*sin(xAngle)

$\mathrm{Angle}\left(t\right)=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}\left(t\right)}{\sqrt{\mathrm{ax}\_\mathrm{new}{\left(t\right)}^2+\mathrm{ay}\_\mathrm{new}{\left(t\right)}^2+\mathrm{az}\_\mathrm{new}{\left(t\right)}^2}}\right)-\mathrm{xAngle}$

The computing formula of mean inclination

ax_new(t) _n=ax(t) _n-change1(t) _n+change2(t) _n

ay_new(t) _n=ay(t) _n

az_new(t) _n=az(t) _n-av(t) _n*sin(xAngle)

$\mathrm{Angle}{\left(t\right)}_n=\arcsin \left(\frac{\mathrm{ax}\_\mathrm{new}{\left(t\right)}_n}{\sqrt{\mathrm{ax}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{ay}\_\mathrm{new}{{\left(t\right)}_n}^2+\mathrm{az}\_\mathrm{new}{{\left(t\right)}_n}^2}}\right)-\mathrm{xAngle}.$

22. devices as claimed in claim 12, is characterized in that:

In data acquisition module, source data is done to filtering noise reduction process, for the speed of a motor vehicle, the value of reading of gyroscope and accelerometer, by simple low-pass filtering treatment, is output as filtered data.

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