CN103640480A - Vehicle gear recognition method and device - Google Patents

Abstract

The invention discloses a vehicle gear recognition method and device. The method includes the steps of building a vehicle body reference coordinate system and a gear reference coordinate system, collecting a vehicle body acceleration signal according to a built vehicle body coordinate system, and collecting a gear acceleration signal according to a built gear coordinate system. According to an Euler rotation transformation theory of a right-angle coordinate system, a rotation transformation relationship between the vehicle body coordinate system and the gear coordinate system is built, an equation relationship between a vehicle body acceleration vector and a gear acceleration vector is built according to the rotation transformation relationship between the vehicle body coordinate system and the gear coordinate system, a rotation factor between the gear reference coordinate system and the vehicle body reference coordinate system is solved according to the built equation relationship, and the rotation factor serves as a feature value for gear recognition. The method has the advantages of being simple in structure, easy to arrange and easy to achieve in a project. The state of a gear can be recognized when a vehicle runs under actual road conditions and a gear shifting motion is finished.

Description

A kind of automobile gear level recognition methods and device

Technical field

The present invention relates to automobile gear level identification field, relate in particular to a kind of automobile gear level recognition methods and device.

Background technology

Traffic management system to the examination of chaufeur in, require the gear that chaufeur must as prescribed to operate accordingly, otherwise can be regarded as nonconformity or be deducted points.

In order accurately to identify the gear position operation of accurate chaufeur, in the application engineering of existing gear identification, conventionally there is following several method: a kind of is the on-off signal check implement that machinery touches French, thereby by various contacts or contactless Boolean value output sensor, obtain the residing state of on-off signal judgement chaufeur gearshift release moment gear of each gear, the shortcoming of this scheme is will correspondingly increase the quantity of driving switch sensor when gear increase, when actual arrangement sensor, increased difficulty, and the method obstacle overcome ability is poor, once generation misoperation, when gear-shifting inhaul cable is thrown off, gear acquisition function had just lost efficacy.Also have in addition and utilize obliquity sensor measuring the angular displacement component of gear in X-axis and Y-axis and judge the current location of gear, thereby its principle is mainly to calibrate each grade of bit position by measuring the value of the shift simulation amount of shifting on both direction, its shortcoming is to adopt two-way analog quantity, corresponding complexity of demarcating also can increase, and identifies during in uphill/downhill corner and easily make mistakes when automobile.

Therefore, need a kind of automobile gear level knowledge method for distinguishing badly and solve vehicle identification to gear when actual road conditions are travelled, and there is higher obstacle overcome ability.

Summary of the invention

The object of this invention is to provide a kind of method that can automatically identify automobile gear level, to reach good gear recognition effect, can identify vehicle when actual road conditions are travelled, gearshift release is the state of gear constantly.

For reaching this object, the invention provides a kind of method of automatic identification automobile gear level, the method comprises the steps:

Step 1, sets up car body reference frame and gear reference frame;

Step 2, according to the car body reference frame of having set up, gathers car body acceleration signal; According to the gear reference frame of having set up, gather gear acceleration signal;

Step 3, sets up the rotation transformation relation between car body reference frame and gear reference frame according to Euler's rotation transformation theory of rectangular coordinate system;

Step 4, the rotation transformation relation of setting up according to step 3, sets up the equation relation between car body acceleration vector and gear acceleration;

Step 5, two kinds of acceleration signals that gather from step 2, extract effective acceleration signal, the equation relation of setting up according to step 4 again, calculates the twiddle factor between gear reference frame and car body reference frame, the eigenwert of identification using twiddle factor as automobile gear level.

A kind of automobile gear level recognition methods according to an aspect of the present invention, it is characterized in that, the rotation transformation relation of setting up in described step 3 between car body reference frame and gear reference frame comprises: car body reference frame sequentially rotates according to the conversion of prior setting, after rotation extremely overlaps with gear reference frame, three twiddle factors of correspondence are corresponding one by one with each final condition of gear, obtain the rotation transformation relation between car body reference frame and gear reference frame.

A kind of automobile gear level recognition methods according to an aspect of the present invention, is characterized in that, two kinds of acceleration signals that gather, extracts effective acceleration signal in described step 5 from step 2, comprising:

From gathered acceleration signal, extract car body acceleration signal and the gear acceleration signal arriving behind target shift position, and the car body acceleration signal extracting and gear acceleration signal carry out compensation data and filtering is processed, and obtain effective car body acceleration signal and gear acceleration signal.

According to a further aspect in the invention, also provide a kind of automobile gear level means of identification, it is characterized in that, comprise detection module and identification module;

Described detection module, it is for gathering car body acceleration signal and gear acceleration signal, and the car body acceleration signal of collection and gear acceleration signal are transferred to described identification module;

Described identification module, it receives car body acceleration signal and the gear acceleration signal of described detection module transmission, and for extracting effective acceleration signal from the car body acceleration signal and the gear acceleration signal that receive, and according to effective acceleration signal, equation relation based between car body acceleration vector and gear acceleration calculates the twiddle factor between gear reference frame and car body reference frame, and the eigenwert of the identification using this twiddle factor as automobile gear level.

A kind of automobile gear level means of identification according to a further aspect of the invention, is characterized in that, described detection module comprises establishment of coordinate system module, car body acceleration signal collecting element, gear acceleration signal acquisition elements and signal transmission component; Described establishment of coordinate system module, it is for setting up car body reference frame and gear reference frame;

Described car body acceleration signal collecting element, it is installed in car body according to the car body reference frame of having set up, for gathering car body acceleration signal;

Described gear acceleration signal acquisition elements, it is installed on gear according to the gear reference frame of having set up, for gathering gear acceleration signal;

Described signal transmission component, car body acceleration signal and gear acceleration signal that it gathers respectively for transmitting described car body acceleration signal collecting element and gear acceleration signal acquisition elements.

A kind of automobile gear level means of identification according to a further aspect of the invention, is characterized in that, described identification module comprises signal receiving element and master element;

Described signal receiving element, it is for receiving car body acceleration signal and the gear acceleration signal of described detection module transmission;

Described master element, it extracts effective acceleration signal for the acceleration signal from gathered, and set up the equation relation between car body acceleration vector and gear acceleration according to the rotation transformation relation between car body reference frame and gear reference frame, and calculate the twiddle factor between gear reference frame and car body reference frame in conjunction with this equation relation and the effective acceleration signal that extracts, and using the eigenwert of this twiddle factor as automobile gear level identification.

A kind of automobile gear level means of identification according to a further aspect of the invention, is characterized in that, described detection module adopts wire transmission mode or wireless transmission method when the car body acceleration signal of collection and gear acceleration signal are transferred to described identification module.

A kind of automobile gear level means of identification according to a further aspect of the invention, is characterized in that, described car body acceleration signal collecting element and described gear acceleration signal acquisition elements are acceleration pick-up.

A kind of automobile gear level means of identification according to a further aspect of the invention, is characterized in that, the acceleration pick-up that described car body acceleration signal collecting element adopts is 3-axis acceleration sensor;

The acceleration pick-up that described gear acceleration signal acquisition elements adopts is 3-axis acceleration sensor or two axle acceleration sensors.

A kind of automobile gear level means of identification according to a further aspect of the invention, described master element is the master element with primary processor, and described primary processor comprises the MCU of various IP kernels.

Compared with prior art, technical scheme of the present invention has following beneficial effect:

The present invention is by setting up gear system of axes O-X _dy _dz _dwith bodywork reference frame O-X _vy _vz _v; System of axes based on set up is installed respectively acceleration signal harvester on car body and gear, according to the O-X of gear system of axes _dy _dz _dthree axially on respect to bodywork reference frame O-X _vy _vz _vtwiddle factor ψ, θ, γ as identification gear eigenwert.Compare with other gear method of measurement, sensor be arranged on respectively in gear shift mechanism and shift handle on, it is simple in structure that two harvesters have, and arranges easily, is easy to the feature of Project Realization.And can identify vehicle when actual road conditions are travelled, gearshift release is the state of gear constantly.

Other features and advantages of the present invention will be set forth in the following description, and, partly from specification sheets, become apparent, or understand by implementing the present invention.Object of the present invention and other advantages can be realized and be obtained by specifically noted structure in specification sheets, claims and accompanying drawing.

Accompanying drawing explanation

Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets,, jointly for explaining the present invention, is not construed as limiting the invention with embodiments of the invention.In the accompanying drawings:

Fig. 1 is according to the method flow diagram of the automatic identification automobile gear level of the first embodiment of the present invention;

Fig. 2 is the transformation relation figure of bodywork reference frame and gear system of axes;

Fig. 3 is gear means of identification module map;

Fig. 4 is the processing flow chart of main processor modules to collection signal;

The specific embodiment

Below with reference to drawings and Examples, describe embodiments of the present invention in detail, to the present invention, how application engineering means solve technical matters whereby, and the implementation procedure of reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each embodiment in the present invention and each feature in each embodiment can mutually combine, and formed technical scheme is all within protection scope of the present invention.

the first embodiment

Fig. 1 is the method flow diagram of automatically identifying automobile gear level, describes each step of the present embodiment below according to Fig. 1 in detail.

Step S110: set up car body reference frame O-XvYvZv and gear reference frame O-XdYdZd;

Step S120: according to the bodywork reference frame of having set up, adopt a 3-axis acceleration sensor Sv, be installed in car body; According to the gear system of axes of having set up, adopt a diaxon or 3-axis acceleration sensor Sd, be installed on gear;

Be installed on the acceleration pick-up of gear preferably, adopt 3-axis acceleration sensor.

Step S130: set up the rotation transformation relation between bodywork reference frame and gear system of axes according to Euler's rotation transformation theory of rectangular coordinate system.Specifically, as shown in the transformation relation figure of Fig. 2 bodywork reference frame and gear system of axes, method for building up is as follows:

Be provided with a space vector r, at system of axes O-X _vy _vz _vin be projected as r ^v=[r _xvr _yvr _zv] ^t, at system of axes O-X ₁y ₁z ₁in be projected as [r _x1r _y1r _z1] ^t, the relation of the projection in two system of axess to this vector is carried out analytical calculation below.By geometric relationship, can obtain [r _x1r _y1r _z1] ^twith [r _xvr _yvr _zv] ^trelational expression, for convenience of calculating, write this relational expression as matrix form:

$\left[\begin{array}{c}{r}_{x_1}\\ r_{y_1}\\ r_{z_1}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\Ψ}& \sin \mathrm{\Ψ}& 0\\ -\sin \mathrm{\Ψ}& \cos \mathrm{\Ψ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}{r}_{x_v}\\ r_{y_v}\\ r_{z_v}\end{array}\right]$

Projection and transition matrix by vector in two system of axess are designated as respectively r ^v, r ¹,

, that is:

$r^v=\left[\begin{array}{c}{r}_{x_v}\\ r_{y_v}\\ r_{z_v}\end{array}\right],r^1=\left[\begin{array}{c}{r}_{x_1}\\ r_{y_1}\\ r_{z_1}\end{array}\right],R_v^1=\left[\begin{array}{ccc}\cos \mathrm{\Ψ}& \sin \mathrm{\Ψ}& 0\\ -\sin \mathrm{\Ψ}& \cos \mathrm{\Ψ}& 0\\ 0& 0& 1\end{array}\right]$

This conversion process can be designated as so:

$r^1=R_v^1{r}^v$

Now, then false coordinate be O-X ₁y ₁z ₁around X ₁after an angle θ of axle rotation, obtain system of axes O-X ₂y ₂z ₂, according to similar analytic process, can obtain transition matrix so:

$R_1^2=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ 0& -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]$

Coordinate transformation relation is:

$r^2=R_1^2{r}^1$

Finally by system of axes O-X ₂y ₂z ₂around Y ₂after an angle γ of axle rotation, obtain system of axes O-X _dy _dz _d, can obtain equally transition matrix and be:

$R_2^d=\left[\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ 0& 1& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right]$

By above three transition matrixes, can obtain coordinate O-X _vy _vz _vsuccessively around Z axis, X-axis, Y-axis rotation Ψ, θ, resulting system of axes O-X after γ angle _dy _dz _d, transformational relation is between the two:

$r^d=R_2^d{R}_1^2{R}_v^1{r}^v$

Step S140: according to Mathematical Models equation relation, resolve twiddle factor;

If

so final transition matrix is:

$\begin{array}{c}{R}_v^d=\left[\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ 0& 1& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ 0& -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\Ψ}& \sin \mathrm{\Ψ}& 0\\ -\sin \mathrm{\Ψ}& \cos \mathrm{\Ψ}& 0\\ 0& 0& 1\end{array}\right]\\ =\left[\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\Ψ}+\sin \mathrm{\γ}\sin \mathrm{\Ψ}\sin \mathrm{\θ}& -\cos \mathrm{\γ}\sin \mathrm{\Ψ}+\sin \mathrm{\γ}\cos \mathrm{\Ψ}\sin \mathrm{\θ}& -\sin \mathrm{\γ}\cos \mathrm{\θ}\\ \sin \mathrm{\Ψ}\cos \mathrm{\θ}& \cos \mathrm{\Ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ \sin \mathrm{\γ}\cos \mathrm{\Ψ}-\cos \mathrm{\γ}\sin \mathrm{\Ψ}\sin \mathrm{\θ}& -\sin \mathrm{\γ}\sin \mathrm{\Ψ}-\cos \mathrm{\γ}\cos \mathrm{\Ψ}\sin \mathrm{\θ}& \cos \mathrm{\γ}\cos \mathrm{\θ}\end{array}\right]\end{array}$

Set up in actual applications model, the barycenter of getting gear is coordinate origin, and the direction in orientation is Z axis positive dirction, and the place ahead is Y-axis forward, and right-hand is X-axis forward.

ψ, θ, γ represented actual physics meaning under this math modeling is:

ψ represents: the longitudinal axis y of gear system of axes _dat bodywork reference frame x _voy _vy in the projection of plane and bodywork reference frame _vbetween angle.

θ represents: the longitudinal axis y of gear system of axes _dwith bodywork reference frame x _voy _vthe angle of plane.

γ represents: gear system of axes y _doz _dplane and excessively y _dsimultaneously perpendicular to car body coordinate x _voy _vthe angle of plane.

In actual car body gear device, due to gear special mechanical structure, in shift process, ψ angle is approximately 0 all the time.Therefore above formula can be reduced to

$R_v^d=\left[\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ 0& 1& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ 0& -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\γ}& \sin \mathrm{\γ}\sin \mathrm{\θ}& -\sin \mathrm{\γ}\cos \mathrm{\θ}\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ \sin \mathrm{\γ}& -\cos \mathrm{\γ}\sin \mathrm{\θ}& \cos \mathrm{\γ}\cos \mathrm{\θ}\end{array}\right]---\left(2.9\right)$

Native system is set [x, y, z] _vfor the coordinate of unique point in bodywork reference frame, [x, y, z] _dfor the coordinate of unique point in gear system of axes, utilize one group of collection point can calculate θ, γ according to this model.

${\left[\begin{array}{c}x\\ y\\ z\end{array}\right]}_v=\left[\begin{array}{ccc}\cos \mathrm{\γ}& \sin \mathrm{\γ}\sin \mathrm{\θ}& -\sin \mathrm{\γ}\cos \mathrm{\θ}\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ \sin \mathrm{\γ}& -\cos \mathrm{\γ}\sin \mathrm{\θ}& \cos \mathrm{\γ}\cos \mathrm{\θ}\end{array}\right]{\left[\begin{array}{c}x\\ y\\ z\end{array}\right]}_d---\left(2.10\right)$

$\sin \mathrm{\θ}=\frac{y_v{z}_d\±\sqrt{y_v^2{z}_d^2-(y_d^2+z_d^2)(y_v^2-y_d^2)}}{y_d+z_d}---\left(2.11\right)$

θ value exists

between solution, the angle θ that can separate, further solves γ, gets equally

value.Here θ, γ can be used as the eigenwert of gear judgement.

Step S150: according to the equation relation of having set up, resolve twiddle factor, using that this carries out gear identification as eigenwert.

the second embodiment

Fig. 3 is gear means of identification module map, below with reference to Fig. 2, this embodiment is described.In the present invention, mainly comprise checking module 21 and identification module 22.

Detection module 21, it is for gathering car body acceleration signal and gear acceleration signal, and the car body acceleration signal of collection and gear acceleration signal are transferred to identification module 22;

Described detection module comprises establishment of coordinate system module 211, car body acceleration signal collecting element 212, gear acceleration signal acquisition elements 213 and signal transmission component 214;

Establishment of coordinate system module 211, it is for setting up car body reference frame and gear reference frame;

Car body acceleration signal collecting element 212, it is installed in car body according to the car body reference frame of setting up, for gathering car body acceleration signal;

Described gear acceleration signal acquisition elements 213, it is installed on gear according to the gear reference frame of setting up, for gathering gear acceleration signal;

Described signal transmission component 214, car body acceleration signal and gear acceleration signal that it gathers respectively for transmitting described car body acceleration signal collecting element and gear acceleration signal acquisition elements.

Identification module 22, it receives car body acceleration signal and the gear acceleration signal of described detection module transmission, and for extracting effective acceleration signal from the car body acceleration signal and the gear acceleration signal that receive, and according to effective acceleration signal, equation relation based between car body acceleration vector and gear acceleration calculates the twiddle factor between gear reference frame and car body reference frame, and the eigenwert of the identification using this twiddle factor as automobile gear level.

Identification module comprises signal receiving element 221 and master element 222;

Signal receiving element 221, it is for receiving car body acceleration signal and the gear acceleration signal of described detection module transmission;

Master element 222, it extracts effective acceleration signal for the acceleration signal from gathered, and set up the equation relation between car body acceleration vector and gear acceleration according to the rotation transformation relation between car body reference frame and gear reference frame, and calculate the twiddle factor between gear reference frame and car body reference frame in conjunction with this equation relation and the effective acceleration signal that extracts, and using the eigenwert of this twiddle factor as automobile gear level identification.

Car body acceleration signal collecting element and described gear acceleration signal acquisition elements are acceleration pick-up.

The acceleration pick-up that gear acceleration signal acquisition elements adopts is 3-axis acceleration sensor or two axle acceleration sensors.The acceleration pick-up that car body acceleration signal collecting element adopts is 3-axis acceleration sensor;

Detection module 21, the car body acceleration signal of collection and gear acceleration signal are transferred to identification module 22, wherein signal transmission both can adopt wire transmission mode, also can adopt wireless transmission method, in the present invention, consider under cost-saving prerequisite, adopt wire transmission mode, but be not limited to this embodiment in concrete enforcement.

Identification module 22, receives the signal that detection module 21 transmits, and wherein, in identification module 22, master element 222 is with primary processor, and the signal that adopts primary processor to gather detection module is processed.And described primary processor comprises the MCU of various IP kernels.

Below in conjunction with Fig. 4, illustrate that identification module processes the signal gathering:

Step S221: initialization system and external equipment;

Step S222: send sensor sample command frame;

Command frame format is as follows:

$CYML，LEN,CTRL*SUM<CR><LF>

Wherein $ is beginning character, comma, " be data field delimiter, data LEN represents frame length, comprises all characters between $ and *.

CTRL is that 1 expression starts to adopt, and is that 0 expression finishes sampling.

Check word SUM is a byte, be all characters between $ and * total XOR and, <CR><LFGreatT.Gr eaT.GT is carriage return and newline.

Step S223: read sensor reply data frame;

Reply data frame format:

$YDSJ，LEN,XXX.XX,YYY.YY,ZZZ.ZZ*SUM<CR><LF>

Wherein XXX.XX represents sensor x axle output data value, and in like manner YYY.YY is y axis data output valve.

Step S224: sensing data compensation and filtering; Extract the useful signal that gearshift release acceleration signal is constantly processed as gear recognizer in step S225.

Preferably, compensation data adopts temperature compensating, can use incubator to carry out data scaling at many group temperature, and adopt linear interpolation algorithm to compensate.

Preferably, filtering algorithm adopts digital low-pass filtering, as Butterworth LPF.

Step S225: gear recognizer is processed; Primary processor is processed adopted recognizer to collection signal and is step S130 in embodiment mono-, twiddle factor calculation method described in S140.

Step S226: show gear result;

In the present embodiment, consider minimizing financial cost, preferably adopt atmega88 as treater of the present invention, IDE is preferably used Keil, and hardware debug instrument preferably uses ulink.

In addition, primary processor of the present invention refers to comprise the MCU of various IP kernels.Comprise such as 51 chips, AVR chip, MIPS chip, ARM chip etc.

It is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with general single chip computer device, like this, the present invention is not restricted to any specific hardware and software combination.

Although the disclosed embodiment of the present invention as above, the embodiment that described content just adopts for the ease of understanding the present invention, not in order to limit the present invention.Technical personnel in any the technical field of the invention; do not departing under the prerequisite of the disclosed spirit and scope of the present invention; can do any modification and variation what implement in form and in details; but scope of patent protection of the present invention, still must be as the criterion with the scope that appending claims was defined.

Claims (10)

1. an automobile gear level recognition methods, is characterized in that, comprises the steps:

Step 1, sets up car body reference frame and gear reference frame;

Step 2, according to the car body reference frame of having set up, gathers car body acceleration signal; According to the gear reference frame of having set up, gather gear acceleration signal;

Step 3, sets up the rotation transformation relation between car body reference frame and gear reference frame according to Euler's rotation transformation theory of rectangular coordinate system;

Step 4, the rotation transformation relation of setting up according to step 3, sets up the equation relation between car body acceleration vector and gear acceleration;

Step 5, two kinds of acceleration signals that gather from step 2, extract effective acceleration signal, the equation relation of setting up according to step 4 again, calculates the twiddle factor between gear reference frame and car body reference frame, the eigenwert of identification using twiddle factor as automobile gear level.

2. a kind of automobile gear level recognition methods according to claim 1, it is characterized in that, the rotation transformation relation of setting up in described step 3 between car body reference frame and gear reference frame comprises: car body reference frame sequentially rotates according to the conversion of prior setting, after rotation extremely overlaps with gear reference frame, three twiddle factors of correspondence are corresponding one by one with each final condition of gear, obtain the rotation transformation relation between car body reference frame and gear reference frame.

3. a kind of automobile gear level recognition methods according to claim 1, is characterized in that, two kinds of acceleration signals that gather, extracts effective acceleration signal in described step 5 from step 2, comprising:

From gathered acceleration signal, extract car body acceleration signal and the gear acceleration signal arriving behind target shift position, and the car body acceleration signal extracting and gear acceleration signal carry out compensation data and filtering is processed, and obtain effective car body acceleration signal and gear acceleration signal.

4. an automobile gear level means of identification, is characterized in that, comprises detection module and identification module;

Described detection module, it is for gathering car body acceleration signal and gear acceleration signal, and the car body acceleration signal of collection and gear acceleration signal are transferred to described identification module;

Described identification module, it receives car body acceleration signal and the gear acceleration signal of described detection module transmission, and for extracting effective acceleration signal from the car body acceleration signal and the gear acceleration signal that receive, and according to effective acceleration signal, equation relation based between car body acceleration vector and gear acceleration calculates the twiddle factor between gear reference frame and car body reference frame, and the eigenwert of the identification using this twiddle factor as automobile gear level.

5. a kind of automobile gear level means of identification according to claim 4, is characterized in that, described detection module comprises establishment of coordinate system module, car body acceleration signal collecting element, gear acceleration signal acquisition elements and signal transmission component; Described establishment of coordinate system module, it is for setting up car body reference frame and gear reference frame;

Described car body acceleration signal collecting element, it is installed in car body according to the car body reference frame of having set up, for gathering car body acceleration signal;

Described gear acceleration signal acquisition elements, it is installed on gear according to the gear reference frame that is installed on foundation, for gathering gear acceleration signal;

Described signal transmission component, car body acceleration signal and gear acceleration signal that it gathers respectively for transmitting described car body acceleration signal collecting element and gear acceleration signal acquisition elements.

6. a kind of automobile gear level means of identification according to claim 4, is characterized in that, described identification module comprises signal receiving element and master element;

Described signal receiving element, it is for receiving car body acceleration signal and the gear acceleration signal of described detection module transmission;

Described master element, it extracts effective acceleration signal for the acceleration signal from gathered, and set up the equation relation between car body acceleration vector and gear acceleration according to the rotation transformation relation between car body reference frame and gear reference frame, and calculate the twiddle factor between gear reference frame and car body reference frame in conjunction with this equation relation and the effective acceleration signal that extracts, and using the eigenwert of this twiddle factor as automobile gear level identification.

7. a kind of automobile gear level means of identification according to claim 4, is characterized in that, described detection module adopts wire transmission mode or wireless transmission method when the car body acceleration signal of collection and gear acceleration signal are transferred to described identification module.

8. a kind of automobile gear level means of identification according to claim 5, is characterized in that, described car body acceleration signal collecting element and described gear acceleration signal acquisition elements are acceleration pick-up.

9. a kind of automobile gear level means of identification according to claim 8, is characterized in that, the acceleration pick-up that described car body acceleration signal collecting element adopts is 3-axis acceleration sensor;

The acceleration pick-up that described gear acceleration signal acquisition elements adopts is 3-axis acceleration sensor or two axle acceleration sensors.

10. a kind of automobile gear level means of identification according to claim 6, described master element is the master element with primary processor, and described primary processor comprises the MCU of various IP kernels.

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