KR20160038320A - Correction apparatus and method for gyro sensor of vehicle - Google Patents

Correction apparatus and method for gyro sensor of vehicle Download PDF

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Publication number
KR20160038320A
KR20160038320A KR1020140130965A KR20140130965A KR20160038320A KR 20160038320 A KR20160038320 A KR 20160038320A KR 1020140130965 A KR1020140130965 A KR 1020140130965A KR 20140130965 A KR20140130965 A KR 20140130965A KR 20160038320 A KR20160038320 A KR 20160038320A
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South Korea
Prior art keywords
vehicle
gyro sensor
turning
radius
angular velocity
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KR1020140130965A
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Korean (ko)
Inventor
한태곤
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현대모비스 주식회사
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Priority to KR1020140130965A priority Critical patent/KR20160038320A/en
Publication of KR20160038320A publication Critical patent/KR20160038320A/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
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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

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  • 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)
  • Gyroscopes (AREA)

Abstract

The present invention relates to a gyro sensor for measuring the angular speed of a vehicle, a vehicle speed sensor for measuring a vehicle speed of the vehicle, a position information receiving unit for receiving position information of the vehicle, Determining whether the vehicle is turning at a predetermined radius if the measured angular velocity is greater than or equal to a predetermined reference value and determining whether the vehicle is turning at a certain radius, And a controller for correcting the gyro sensor based on the calculated turning radius and the vehicle speed measured through the vehicle speed sensor.

Description

Technical Field [0001] The present invention relates to a gyro sensor,

The present invention relates to an apparatus and method for correcting a gyro sensor for a vehicle, and more particularly, to an apparatus and method for correcting a gyro sensor for a vehicle using position information of a vehicle.

Generally, a gyro sensor of a vehicle is used to measure a posture of a vehicle or as one of DR sensors for performing dead reckoning of a navigation system.

Correction of this error is a very important process in order to obtain a precise measurement value of the sensor, since there is a certain amount of error in every general sensor including such a car gyro sensor.

The correction of the conventional gyro sensor for a vehicle is performed by differentiating the heading of the vehicle obtained by using the GPS information of the vehicle or by comparing the estimated position of the vehicle with the position of the vehicle calculated using GPS information and the estimated navigation . However, in the above-described correction methods of the gyro sensor, it is difficult to calculate the accurate value of the calculation of the traveling direction and the vehicle position of the vehicle, and there is a problem that the process is complicated and error is likely to occur. In addition, there has been a problem that a geomagnetic sensor, a sensor capable of measuring a pulse according to the rotation of a vehicle, and the like have to be additionally provided in order to carry out speculative navigation.

On the other hand, the background art of the present invention is disclosed in Korean Patent Laid-open Publication No. 10-2009-0093631 (2009.09.02.).

It is an object of the present invention to provide an apparatus and method for correcting a gyro sensor of a vehicle that can accurately correct a gyro sensor by using sensors commonly used in a vehicle without adding a separate sensor.

The apparatus for correcting a gyro sensor for a vehicle according to the present invention comprises: a gyro sensor for measuring an angular velocity of a vehicle; A vehicle speed sensor for measuring a vehicle speed of the vehicle; A position information receiving unit for receiving position information of the vehicle; And determining whether the vehicle is turning at a certain radius if the angular velocity measured by the gyro sensor is greater than or equal to a preset reference value and if it is determined that the vehicle is turning at a certain radius, And a controller for calculating the turning radius of the vehicle and correcting the gyro sensor based on the calculated turning radius and the vehicle speed measured through the vehicle speed sensor.

When the change of the vehicle speed measured through the vehicle speed sensor is within the first range and the variation of the angular velocity measured through the gyro sensor is within the second range, It is determined that the vehicle is turning at a certain radius.

In the present invention, when calculating the turning radius of the vehicle, the controller stores the position information of the vehicle when it is determined that the vehicle is turning at a certain radius, and when the position information of the stored vehicle is three or more, And calculates the turning radius of the vehicle based on the position information.

In the gyro sensor correction according to the present invention, the controller calculates the angular velocity calculation value based on the calculated turning radius and the vehicle speed, compares the calculated angular velocity calculation value with the angular velocity measured through the gyro sensor, And the correction is performed.

In the present invention, the controller may correct the gyro sensor through linear regression analysis.

In the present invention, the gyro sensor is a yaw rate sensor for measuring a yaw rate of the vehicle.

A method of correcting a gyro sensor for a vehicle according to the present invention comprises the steps of: measuring the angular velocity of the vehicle through a gyro sensor; Determining whether the vehicle is turning at a certain radius when the measured angular velocity is equal to or greater than a preset reference value; Calculating the turning radius of the vehicle based on the positional information of the vehicle when the control unit determines that the vehicle is turning at a certain radius; And the control unit corrects the gyro sensor based on the calculated turning radius and the vehicle speed of the vehicle.

When the variation of the vehicle speed of the vehicle is within the first range and the variation of the angular velocity of the vehicle is within the second range, the control unit determines that the vehicle is turning at a certain radius And judges that the user is operating.

In the present invention, the step of calculating the turning radius of the vehicle may include: storing the position information of the vehicle when the control unit determines that the vehicle is turning at a certain radius; And calculating the turning radius of the vehicle based on the stored position information of the vehicle when the position information of the stored vehicle is three or more.

In the present invention, the step of calibrating the gyro sensor may include: calculating the angular velocity calculation value based on the calculated turning radius and the vehicle speed; And the controller compares the calculated angular velocity calculation value with the angular velocity measured through the gyro sensor to correct the gyro sensor.

The controller may correct the gyro sensor through a linear regression analysis in the step of comparing the calculated angular velocity value calculated by the present invention with the angular velocity measured through the gyro sensor to correct the gyro sensor, do.

The apparatus and method for correcting a gyro sensor according to the present invention can reduce the measurement error of a gyro sensor by calculating the turning radius of the vehicle using the position information of the vehicle and correcting the gyro sensor based on the calculated turning radius and vehicle speed There is an effect.

Also, the apparatus and method for correcting a gyro sensor according to the present invention are capable of correcting each error according to the angular velocity of the vehicle by correcting the gyro sensor by comparing the angular velocity calculated by the calculated angular velocity and the angular velocity measured by the gyro sensor have.

1 is a block diagram showing a configuration of a correction device for a gyro sensor for a vehicle according to an embodiment of the present invention.
2 is a diagram illustrating a process of calculating a turning radius of a vehicle in a correction device for a gyro sensor for a vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a method of correcting a gyro sensor for a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an apparatus and method for correcting a gyro sensor for a vehicle according to the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram showing a configuration of a correction device for a gyro sensor for a vehicle according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of a correction device for a gyro sensor for a vehicle according to an embodiment of the present invention. The gyro sensor according to the present embodiment will now be described with reference to FIG.

1, the apparatus for correcting a gyro sensor for a vehicle according to an embodiment of the present invention includes a controller 100, a gyro sensor 110, a vehicle speed sensor 120, and a position information receiver 130 .

The gyro sensor 110 can measure the angular velocity of the vehicle. In particular, the gyro sensor 110 may be a yaw rate sensor that measures the yaw rate of the vehicle. The yaw rate of the vehicle is also referred to as yaw rate, and refers to the speed at which the rotational angle (yaw angle) changes around a vertical line with respect to the center of the vehicle.

The vehicle speed sensor 120 can measure the speed of the vehicle. For example, the vehicle speed sensor 120 can detect the rotation of the transmission output shaft and measure the speed of the vehicle.

The position information receiving unit 130 receives the position information of the vehicle. The location information receiver 130 can receive information on the location of the vehicle using a GPS (Global Positioning System) or a global navigation satellite system (GLONASS).

The control unit 100 determines whether the angular velocity measured by the gyro sensor 110 is greater than or equal to a preset reference value and whether the vehicle is turning at a certain radius. That is, when the angular velocity of the vehicle is measured to be equal to or greater than the reference value and it is determined that the vehicle is traveling on the curved road, the controller 100 determines whether the vehicle is turning at a certain radius. Here, the reference value may be designed as various values according to the specifications of the vehicle or the gyro sensor 110 and the like as a reference of the angular velocity that the vehicle is considered to be traveling on the curved road. Also, the fact that the vehicle turns at a certain radius does not mean that the vehicle is turning exactly the same radius, but means that the vehicle is turning at a radius within an error range.

For example, when the change in the vehicle speed measured through the vehicle speed sensor 120 is within the first range and the change in the angular velocity measured through the gyro sensor 110 is within the second range, It can be judged that it is turning. That is, when the change of the vehicle speed and the angular velocity of the vehicle is measured within a certain range, and the vehicle is considered to be performing the constant velocity motion, the control unit 100 may determine that the vehicle is turning at a certain radius. Here, the first range and the second range are basically preset in terms of a change in the vehicle speed and a change in the angular velocity that the vehicle is considered to be performing the constant-velocity motion, and can be designed to various values according to the specifications of the vehicle and the like.

The control unit 100 may calculate the turning radius of the vehicle based on the positional information of the vehicle received through the positional information receiving unit 130, if it is determined that the vehicle is turning at a certain radius. For example, when the controller 100 determines that the vehicle is turning at a certain radius, it stores position information of the vehicle, and when the position information of the stored vehicle is three or more, The radius can be calculated.

Referring to FIG. 2, the control unit 100 calculates the turning radius of the vehicle by substituting the position information of the vehicle stored while the vehicle is turning at a predetermined radius into a circle equation of the plane, The radius, that is, the turning radius of the vehicle, can be calculated. Therefore, the control unit 100 may calculate the turning radius of the vehicle only when at least three pieces of positional information are stored to calculate the radius of the circle.

For example, when five pieces of positional information are stored while the vehicle is turning at a certain radius as in the case shown in FIG. 2, the controller 100 calculates the radius of the circle for each of ten cases in which three of five can be selected And calculating the average value of the calculated radius to calculate the turning radius of the vehicle. Since the more accurate the stored location information is, the controller 100 can store the number of stored location information of the vehicle in order to calculate the turning radius of the vehicle and use it as the reliability. That is, the gyro sensor 110 can be corrected using the number of position information of the vehicle as a weight.

Further, the control unit 100 may calculate the angular speed calculation value based on the calculated turning radius of the vehicle and the vehicle speed measured through the vehicle speed sensor 120. [ Since the speed of the vehicle can be calculated by multiplying the turning radius of the vehicle by the angular speed, the control unit 100 can calculate the angular speed calculation value by dividing the vehicle speed by the calculated turning radius. At this time, since the vehicle speed changes only within the first range, the vehicle speed at a specific time point may be used, but the average value of the measured vehicle speeds when storing the position information of the vehicle may be calculated and used for more accurate calculation.

The control unit 100 may correct the gyro sensor 110 by comparing the calculated angular velocity calculated value with the angular velocity measured through the gyro sensor 110. [ For example, the control unit 100 calculates a linear regression of the calculated angular velocity value and the angular velocity measured through the gyro sensor 110 based on the angular velocity value measured through the gyro sensor 110 when the vehicle is stationary, The gyro sensor 110 can be calibrated through analysis. That is, the control unit 100 calculates a linear equation for the error of the gyro sensor 110 through linear regression analysis, and can calibrate the gyro sensor 110 through the linear equation. In this case, since the angular velocity measured through the gyro sensor 110 changes only within the second range, an angular velocity at a specific time point can be used. However, for accurate calculation, May be calculated and used.

FIG. 3 is a flowchart illustrating a method of correcting a gyro sensor for a vehicle according to an embodiment of the present invention. Referring to FIG. 3, a method of correcting a gyro sensor for a vehicle according to an embodiment of the present invention will now be described.

As shown in FIG. 3, the control unit 100 measures angular speed and vehicle speed of the vehicle (S200). The control unit 100 can measure the angular speed of the vehicle through the gyro sensor 110 and measure the vehicle speed of the vehicle through the vehicle speed sensor 120. [

Next, the control unit 100 determines whether the angular velocity measured in step S200 is equal to or greater than a reference value (S210). In other words, the control unit 100 determines whether the angular velocity of the vehicle is measured to be equal to or greater than a reference value and can see that the vehicle is traveling on a curved road. Here, the reference value is basically set as a reference of the angular velocity that the vehicle is considered to be traveling on the curved road, and may be designed to various values according to the specifications of the vehicle or the gyro sensor 110. [

If it is determined in step S210 that the angular speed measured in step S200 is equal to or greater than the reference value, the controller 100 determines whether the change in the vehicle speed is within the first range based on the vehicle speed measured in step S200 (S220). Here, the first range is a range of changes in the vehicle speed at which the vehicle is considered to be performing the constant-velocity motion, and is basically set in advance, and can be designed to various values according to the specifications of the vehicle and the like.

If it is determined in step S220 that the change in the vehicle speed is within the first range, the controller 100 determines whether the change in the angular velocity is within the second range based on the angular velocity measured in step S200 (S230) . Here, the second range is a range of changes in angular velocity that the vehicle is considered to be performing a constant-velocity motion, and is basically set in advance, and can be designed to various values according to the specifications of the vehicle and the like. That is, the controller 100 may determine whether the vehicle is performing the constant-velocity motion through the steps S220 and S230.

If it is determined in step S230 that the change in angular velocity is within the second range, the controller 100 stores the position information of the vehicle in step S240. That is, when it is determined that the vehicle is performing the constant-velocity motion, the controller 100 may store the position information of the vehicle.

Then, the control unit 100 returns to step S200 and repeats the measurement from the angular velocity and vehicle speed of the vehicle. That is, the control unit 100 may continuously store the position information of the vehicle while the vehicle is turning the curved road with a certain radius.

If it is determined in step S210 that the angular velocity measured in step S200 is not equal to or greater than the reference value or the change in the vehicle speed is not within the first range as a result of the determination in step S220, , The control unit 100 determines whether the stored position information of the vehicle is three or more (S250). That is, if the vehicle deviates from the state of turning the curved road at a certain radius, the control unit 100 checks the number of the stored vehicle position information to check whether the original equation can be calculated.

If it is determined in step S250 that the location information of the stored vehicle is more than three, the control unit 100 calculates the turning radius of the vehicle based on the stored location information in step S260. For example, the control unit 100 may calculate the radius of the circle, that is, the turning radius of the vehicle, by substituting the position information of the stored vehicle into the equation of the circle of the plane.

Then, the controller 100 calculates an angular velocity calculation value based on the turning radius of the vehicle and the vehicle speed calculated in the step S260 (S270). Since the speed of the vehicle can be calculated by multiplying the turning radius of the vehicle by the angular speed, the control unit 100 can calculate the angular speed calculation value by dividing the vehicle speed by the calculated turning radius.

After the step S270, the controller 100 compares the calculated angular velocity calculated in the step S270 with the angular velocity measured through the gyro sensor 110 to correct the gyro sensor 110 (S280). At this time, the controller 100 may correct the gyro sensor 110 through a linear regression analysis of the angular velocity calculated by the step S270 and the angular velocity measured by the gyro sensor 110. [

If it is determined in step S250 that the location information of the stored vehicle is not more than three, the controller 100 initializes the stored location information in step S290. That is, when the position information of the stored vehicle is less than three, the radius of the circle can not be obtained with the corresponding data, so the control unit 100 initializes the stored position information.

Then, the control unit 100 returns to step S200 and starts again from the angular velocity and vehicle speed measurement of the vehicle. That is, the control unit 100 returns to the beginning and waits for turning of the vehicle on the next curved road.

Meanwhile, the correction method of the gyro sensor for a vehicle according to the present embodiment can be repeated during the operation of the vehicle, so that the gyro sensor 110 can be continuously corrected.

As described above, the apparatus and method for correcting a gyro sensor for a vehicle according to an embodiment of the present invention calculates the turning radius of the vehicle using the position information of the vehicle, calculates the calculated angular velocity based on the calculated turning radius and vehicle speed, The gyro sensor is calibrated by comparing the calculated angular velocity with the angular velocity measured by the gyro sensor, thereby reducing the measurement error of the gyro sensor according to each angular velocity.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

100:
110: Gyro sensor
120: vehicle speed sensor
130: Position information receiver

Claims (11)

A gyro sensor for measuring an angular velocity of the vehicle;
A vehicle speed sensor for measuring a vehicle speed of the vehicle;
A position information receiving unit for receiving position information of the vehicle; And
Determining whether the vehicle is turning at a predetermined radius if the angular velocity measured by the gyro sensor is greater than or equal to a preset reference value and determining whether the vehicle is turning at a predetermined radius, And a control unit for calculating the turning radius of the vehicle and correcting the gyro sensor based on the calculated turning radius and the vehicle speed measured through the vehicle speed sensor.
The method according to claim 1,
When the change in the vehicle speed measured through the vehicle speed sensor is within the first range and the change in the angular speed measured through the gyro sensor is within the second range when the vehicle is turning at a certain radius, Wherein the determination means determines that the vehicle is turning at a predetermined radius.
The method according to claim 1,
Wherein the control unit stores the position information of the vehicle when it is determined that the vehicle is turning at a certain radius when the turning radius of the vehicle is calculated and if the position information of the stored vehicle is three or more, And the turning radius of the vehicle is calculated based on the turning radius of the vehicle.
The method according to claim 1,
The controller calculates the angular speed calculation value based on the calculated turning radius and the vehicle speed and compares the calculated angular speed calculated value with the angular speed measured through the gyro sensor to correct the gyro sensor Wherein the gyro sensor is mounted on a vehicle.
5. The method of claim 4,
Wherein the controller corrects the gyro sensor through a linear regression analysis.
The method according to claim 1,
Wherein the gyro sensor is a yaw rate sensor for measuring a yaw rate of the vehicle.
The control unit measuring the angular velocity of the vehicle through the gyro sensor;
Determining whether the vehicle is turning at a certain radius when the measured angular velocity is equal to or greater than a preset reference value;
Calculating the turning radius of the vehicle based on the positional information of the vehicle when the control unit determines that the vehicle is turning at a certain radius; And
And the controller corrects the gyro sensor based on the calculated turning radius and the vehicle speed of the vehicle.
8. The method of claim 7,
The controller determines that the vehicle is turning at a certain radius when the change in the vehicle speed of the vehicle is within the first range and the change in the angular speed of the vehicle is within the second range, Wherein the gyro sensor is mounted on a vehicle.
8. The method of claim 7,
Wherein the step of calculating the turning radius of the vehicle comprises:
Storing the position information of the vehicle when the controller determines that the vehicle is turning at a certain radius; And
And calculating the turning radius of the vehicle based on the positional information of the stored vehicle when the positional information of the stored vehicle is three or more.
8. The method of claim 7,
Wherein the step of calibrating the gyro sensor comprises:
Calculating the angular velocity calculation value based on the calculated turning radius and the vehicle speed; And
And the controller corrects the gyro sensor by comparing the calculated angular velocity calculated value with the angular velocity measured through the gyro sensor.
11. The method of claim 10,
Wherein the controller corrects the gyro sensor through linear regression analysis in the step of comparing the calculated angular velocity calculated value with the angular velocity measured through the gyro sensor and correcting the gyro sensor. Calibration method of the sensor.
KR1020140130965A 2014-09-30 2014-09-30 Correction apparatus and method for gyro sensor of vehicle KR20160038320A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019004537A1 (en) 2017-06-30 2019-01-03 현대엠엔소프트 주식회사 Method for calibrating gyro sensor on basis of vehicle speed
KR20190003265A (en) * 2017-06-30 2019-01-09 현대엠엔소프트 주식회사 Inertia sensor calibration method
KR20190060575A (en) 2017-11-24 2019-06-03 현대오트론 주식회사 Apparatus and method for estimating position of vehicle using yawrate sensor
KR102358695B1 (en) * 2020-09-07 2022-02-07 포티투닷 주식회사 Compensation Device and Method for Vehicle Motion Sensor Capable of Frequent Correction for Each Lane Keeping Section Extracted Based on Image Information, and Medium Being Recorded with Program for Executing the Method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019004537A1 (en) 2017-06-30 2019-01-03 현대엠엔소프트 주식회사 Method for calibrating gyro sensor on basis of vehicle speed
KR20190003265A (en) * 2017-06-30 2019-01-09 현대엠엔소프트 주식회사 Inertia sensor calibration method
US11454515B2 (en) 2017-06-30 2022-09-27 Hyundai Autoever Corp. Method for calibrating gyro sensor on basis of vehicle speed
KR20190060575A (en) 2017-11-24 2019-06-03 현대오트론 주식회사 Apparatus and method for estimating position of vehicle using yawrate sensor
KR102358695B1 (en) * 2020-09-07 2022-02-07 포티투닷 주식회사 Compensation Device and Method for Vehicle Motion Sensor Capable of Frequent Correction for Each Lane Keeping Section Extracted Based on Image Information, and Medium Being Recorded with Program for Executing the Method

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