CN103640480B - A kind of vehicle gear recognition method and device - Google Patents

Abstract

The invention discloses a kind of vehicle gear recognition method and device, the method includes: set up car body reference frame and gear reference frame；According to the bodywork reference frame set up, gather car body acceleration signal；According to the gear coordinate system set up, gather gear acceleration signal.Euler's rotation transformation theory according to rectangular coordinate system sets up the rotation transformation relation between bodywork reference frame and gear coordinate system；The equilibrium relationships between car body acceleration vector and gear acceleration is set up according to the rotation transformation relation between bodywork reference frame and gear coordinate system；Further according to the equilibrium relationships set up, calculate the twiddle factor between gear reference frame and car body reference frame, carry out gear identification using twiddle factor as eigenvalue.The method has simple in construction, arranges easily, it is easy to the feature of Project Realization.And be capable of identify that vehicle when actual road conditions travel, the state of gear shifting action finish time gear.

Description

A kind of vehicle gear recognition method and device

Technical field

The present invention relates to automobile gear level identification field, particularly relate to a kind of vehicle gear recognition method and dress Put.

Background technology

In vehicle supervision department's examination to driver, it is desirable to driver must be carried out by the gear of regulation Corresponding operation, the most then can be considered defective or be deducted points.

In order to accurately identify the gear position operation of quasi-driver, in the application technology of existing gear identification, Generally there is following several method: a kind of is the mechanical switching signal detection equipment touching French, is connect by various Tactile or contactless Boolean value output sensor obtains the switching signal of each gear thus judges that driver changes Gear release moment gear state in which, the shortcoming of this scheme is when gear increase will be correspondingly Increase the quantity of driving switch sensor, add difficulty, and the method when actual arrangement sensor Interference free performance is poor, and misoperation once occurs, and when gear-shifting inhaul cable disengages, gear acquisition function is the most just Fail.The most also have and utilize obliquity sensor to divide in measurement gear angular displacement in X-axis and Y-axis Amount judges the current location of gear, and its principle is mainly by measuring shifting position in the two directions The value of shifting formwork analog quantity thus calibrate the position of each gear, its shortcoming is to use two-way analog quantity, accordingly The complexity demarcated also can increase, and identify error-prone when automobile is in climb and fall corner.

Therefore, need a kind of automobile gear level badly and know method for distinguishing to solve vehicle when actual road conditions travel to shelves The identification of position, and there is higher interference free performance.

Summary of the invention

It is an object of the invention to provide a kind of method that can automatically identify automobile gear level, to reach preferable Gear recognition effect, it is possible to identify vehicle when actual road conditions travel, gear shifting action finish time gear State.

For reaching this purpose, the present invention provides a kind of method of automatic identification automobile gear level, and the method includes Following steps:

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

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

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

Step 4, the rotation transformation relation set up according to step 3, set up car body acceleration vector and gear Equilibrium relationships between acceleration；

Step 5, extracts effective acceleration signal, then root from two kinds of acceleration signals that step 2 gathers The equilibrium relationships set up according to step 4, calculates between gear reference frame and car body reference frame Twiddle factor, using twiddle factor as the eigenvalue of automobile gear level identification.

A kind of vehicle gear recognition method according to an aspect of the present invention, it is characterised in that described step 3 The middle rotation transformation relation set up between car body reference frame and gear reference frame includes: car body is joined Examine coordinate system to rotate according to the change over order being previously set, rotate after extremely overlapping with gear reference frame, By each end-state one_to_one corresponding of three corresponding twiddle factors with gear, obtain car body with reference to sitting Rotation transformation relation between mark system and gear reference frame.

A kind of vehicle gear recognition method according to an aspect of the present invention, it is characterised in that described step 5 In from step 2 gather two kinds of acceleration signals extract effective acceleration signal, including:

The car body acceleration signal after arriving target shift position and gear is extracted from the acceleration signal gathered Acceleration signal, and the car body acceleration signal extracted and gear acceleration signal are carried out compensation data And Filtering Processing, obtain effective car body acceleration signal and gear acceleration signal.

According to a further aspect in the invention, a kind of automobile gear level identification device is also provided for, it is characterised in that Including detection module and identification module；

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

Described identification module, its car body acceleration signal receiving the transmission of described detection module and gear accelerate Degree signal, and effectively accelerate for extracting from the car body acceleration signal received and gear acceleration signal Degree signal, and according to effective acceleration signal, based on car body acceleration vector and gear acceleration it Between equilibrium relationships calculate the twiddle factor between gear reference frame and car body reference frame, and Using this twiddle factor as the eigenvalue of automobile gear level identification.

A kind of automobile gear level identification device according to a further aspect of the invention, it is characterised in that described detection Module includes establishment of coordinate system module, car body acceleration signal collecting element, gear acceleration signal collection Element and signal transmission component；Described establishment of coordinate system module, its be used for setting up car body reference frame and Gear reference frame；

Described car body acceleration signal collecting element, it is installed on according to the car body reference frame set up In car body, it is used for gathering car body acceleration signal；

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

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

A kind of automobile gear level identification device according to a further aspect of the invention, it is characterised in that described identification Module includes signal receiving element and master element；

Described signal receiving element, its for receive described detection module transmission car body acceleration signal and Gear acceleration signal；

Described master element, it is for extracting effective acceleration signal from the acceleration signal gathered, And set up car body according to the rotation transformation relation between car body reference frame and gear reference frame and add Equilibrium relationships between velocity and gear acceleration, and combine the equation relation and extract Effective acceleration signal calculates the twiddle factor between gear reference frame and car body reference frame, And using this twiddle factor as the eigenvalue of automobile gear level identification.

A kind of automobile gear level identification device according to a further aspect of the invention, it is characterised in that described detection Car body acceleration signal and the gear acceleration signal of collection are used when being transferred to described identification module by module Wire transmission mode or wireless transmission method.

A kind of automobile gear level identification device according to a further aspect of the invention, it is characterised in that described car body Acceleration signal acquisition elements and described gear acceleration signal acquisition elements are acceleration transducer.

A kind of automobile gear level identification device according to a further aspect of the invention, it is characterised in that described car body The acceleration transducer that acceleration signal acquisition elements uses is 3-axis acceleration sensor；

The acceleration transducer that described gear acceleration signal acquisition elements uses is 3-axis acceleration sensor Or two axle acceleration sensors.

A kind of automobile gear level identification device according to a further aspect of the invention, described master element is with master The master element of processor, and described primary processor includes the MCU of various IP kernel.

Compared with prior art, technical scheme has a following beneficial effect:

The present invention is by setting up gear coordinate system O-X_dY_dZ_dWith bodywork reference frame O-X_vY_vZ_v；Based on institute The coordinate system set up is respectively mounted acceleration signal harvester, according to gear coordinate on car body and gear The O-X of system_dY_dZ_dIn three axial directions relative to bodywork reference frame O-X_vY_vZ_vTwiddle factor ψ, θ, γ As the eigenvalue identifying gear.Compared with other gear measuring methods, sensor is separately mounted to speed change On gearshift and on shift handle, two harvesters have simple in construction, arrange easily, it is easy to work The feature of Cheng Shixian.And be capable of identify that vehicle when actual road conditions travel, gear shifting action finish time shelves The state of position.

Other features and advantages of the present invention will illustrate in the following description, and, partly from froming the perspective of Bright book becomes apparent, or understands by implementing the present invention.The purpose of the present invention is excellent with other Point can be realized by structure specifically noted in description, claims and accompanying drawing and be obtained ?.

Accompanying drawing explanation

Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with this Inventive embodiment is provided commonly for explaining the present invention, is not intended that limitation of the present invention.In the accompanying drawings:

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

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

Fig. 3 is gear identification apparatus module figure；

Fig. 4 is the main processor modules process chart to gathering signal；

Detailed description of the invention

Embodiments of the present invention are described in detail, whereby to the present invention below with reference to drawings and Examples How application technology means solve technical problem, and the process that realizes reaching technique effect can fully understand And implement according to this.As long as it should be noted that do not constitute conflict, each embodiment in the present invention and Each feature in each embodiment can be combined with each other, and the technical scheme formed is all in the protection of the present invention Within the scope of.

First embodiment

Fig. 1 is the method flow diagram automatically identifying automobile gear level, describes this enforcement in detail below according to Fig. 1 Each step of example.

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

Step S120: according to the bodywork reference frame set up, uses a 3-axis acceleration sensor Sv, is installed in car body；According to the gear coordinate system set up, two axles or three axles are used to add Velocity sensor Sd, is installed on gear；

It is installed on the acceleration transducer of gear preferably, uses 3-axis acceleration sensor.

Step S130: set up bodywork reference frame and shelves according to Euler's rotation transformation theory of rectangular coordinate system Rotation transformation relation between the coordinate system of position.Concrete such as the conversion of Fig. 2 bodywork reference frame Yu gear coordinate system Shown in graph of a relation, method for building up is as follows:

It is provided with a space vector r, in coordinate system O-X_vY_vZ_vInterior is projected as r^v=[r_xv r_yv r_zv]^T, In coordinate system O-X₁Y₁Z₁Interior is projected as [r_x1 r_y1 r_z1]^T, below to this vector in two coordinate systems The relation of projection be analyzed calculating.[r can be obtained by geometrical relationship_x1 r_y1 r_z1]^TWith [r_xv r_yv r_zv]^TPass It is formula, for convenience of calculating as, this relational expression is write matrix form:

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

Vector projection in two coordinate systems and transition matrix are designated as r respectively^v, r¹,That is:

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

So this conversion process can be designated as:

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

Now, it is further assumed that coordinate system O-X₁Y₁Z₁Around X₁Axle obtains coordinate system O-after rotating an angle, θ X₂Y₂Z₂, then transition matrix can be obtained according to similar analysis process:

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

Coordinate transformation relation is:

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

Finally by coordinate system O-X₂Y₂Z₂Around Y₂Axle obtains coordinate system O-after rotating an angle γ X_dY_dZ_d, equally obtaining transition matrix is:

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

Coordinate O-X is can get by three above transition matrix_vY_vZ_vThe most about the z axis, X-axis, Y-axis is revolved Turn ψ, coordinate system O-X obtained after θ, γ angle_dY_dZ_d, transformational relation between the two is:

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

Step S140: according to Mathematical Models equilibrium relationships, resolves twiddle factor；

IfThe most final transition matrix is i.e.:

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

Setting up model in actual applications, the barycenter taking gear is coordinate origin, takes upwardly direction and is Z axis positive direction, front is Y-axis forward, and right is X-axis forward.

ψ, θ, the γ actual physics meaning represented by under this mathematical model is:

ψ represents: the longitudinal axis y of gear coordinate system_dAt bodywork reference frame x_voy_vThe projection of plane and bodywork reference frame Middle y_vBetween angle.

θ represents: the longitudinal axis y of gear coordinate system_dWith bodywork reference frame x_voy_vThe angle of plane.

γ represents: gear coordinate system y_doz_dPlane and y excessively_dBoth perpendicular to car body coordinate x_voy_vThe folder of plane Angle.

In actual car body gear device, due to gear special mechanical structure, in shift process, begin in ψ angle It is approximately 0 eventually.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 sets [x, y, z]_vIt is characterized the coordinate a little in bodywork reference frame, [x, y, z]_dIt is characterized a little Coordinate in gear coordinate system, utilizes 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 existsBetween solution, the angle, θ that can solve, solve γ further, take equally Value.Here θ, γ can be used as the eigenvalue that gear judges.

Step S150: according to the equilibrium relationships set up, resolves twiddle factor, in this, as eigenvalue Carry out gear identification.

Second embodiment

Fig. 3 is gear identification apparatus module figure, illustrates this embodiment referring to Fig. 2.This In bright, mainly include detection module 21 and identification module 22.

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

Described detection module includes 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 used for setting up car body reference frame and gear reference frame；

Car body acceleration signal collecting element 212, it is installed on car according to the car body reference frame set up Internal, it is used for gathering car body acceleration signal；

Described gear acceleration signal acquisition elements 213, it is according to the gear reference frame peace set up It is loaded on gear, is used for gathering gear acceleration signal；

Described signal transmission component 214, it is used for transmitting described car body acceleration signal collecting element and shelves Car body acceleration signal that positioner acceleration signal collecting element gathers respectively and gear acceleration signal.

Identification module 22, its car body acceleration signal receiving the transmission of described detection module and gear accelerate Degree signal, and effectively accelerate for extracting from the car body acceleration signal received and gear acceleration signal Degree signal, and according to effective acceleration signal, based on car body acceleration vector and gear acceleration it Between equilibrium relationships calculate the twiddle factor between gear reference frame and car body reference frame, and Using this twiddle factor as the eigenvalue of automobile gear level identification.

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

Signal receiving element 221, its for receive described detection module transmission car body acceleration signal and Gear acceleration signal；

Master element 222, it is for extracting effective acceleration signal from the acceleration signal gathered, And set up car body according to the rotation transformation relation between car body reference frame and gear reference frame and add Equilibrium relationships between velocity and gear acceleration, and combine the equation relation and extract Effective acceleration signal calculates the twiddle factor between gear reference frame and car body reference frame, And using this twiddle factor as the eigenvalue of automobile gear level identification.

Car body acceleration signal collecting element and described gear acceleration signal acquisition elements are acceleration and pass Sensor.

The acceleration transducer that gear acceleration signal acquisition elements uses is 3-axis acceleration sensor or two Axle acceleration sensor.The acceleration transducer that car body acceleration signal collecting element uses is that three axles accelerate Degree sensor；

Detection module 21, is transferred to identify mould by car body acceleration signal and the gear acceleration signal of collection Block 22, wherein signal transmission both can use wire transmission mode, it is possible to uses wireless transmission method, In the present invention, it is considered on the premise of cost-effective, employing wire transmission mode, but in being embodied as also It is not limited to this embodiment.

Identification module 22, receives the signal that detection module 21 is transmitted, wherein, main in identification module 22 Control element 222 is with primary processor, and uses at the signal that detection module gathered by primary processor Reason.And described primary processor includes the MCU of various IP kernel.

Illustrate that the signal gathered is processed by identification module below in conjunction with Fig. 4:

Step S221: initialize system and ancillary 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, " it is data field delimiter, data LEN represent frame length, Including characters all between $ and *.

CTRL is that 1 expression begins with, and is that 0 expression terminates sampling.

Check word SUM is a byte, be all characters between $ and * total XOR and,<CR> <LF>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-axis output data value, and in like manner YYY.YY is that y-axis data are defeated Go out value.

Step S224: sensing data compensates and filtering；Extract the acceleration of gear shifting action finish time The useful signal that signal processes as gear recognizer in step S225.

Preferably, compensation data uses temperature-compensating, and incubator can be used to carry out data mark at a temperature of many groups Fixed, and use linear interpolation algorithm to compensate.

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

Step S225: gear recognizer processes；Primary processor carries out process to collection signal and is used Recognizer be step S130 in embodiment one, twiddle factor calculation method described in S140.

Step S226: display gear result；

In the present embodiment, it is contemplated that reduce Financial cost, preferably by atmega88 as this Bright processor, IDE the most preferably uses Keil, hardware debugging acid preferably to use ulink。

Additionally, the primary processor of the present invention refers to include the MCU of various IP kernel.Including such as 51 cores Sheet, AVR chip, MIPS chip, ARM chip etc..

Those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with logical Single chip computer device realize, so, the present invention be not restricted to any specific hardware and software knot Close.

Although the embodiment that disclosed herein is as above, but described content is only to facilitate understand this The embodiment invented and use, is not limited to the present invention.In any the technical field of the invention Technical staff, on the premise of without departing from the spirit and scope that disclosed herein, can implement And make any amendment and change in details in form, but the scope of patent protection of the present invention, still must be with institute Attached claims are defined in the range of standard.

Claims (10)

1. a vehicle gear recognition method, it is characterised in that comprise the steps:

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

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

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

Step 4, the rotation transformation relation set up according to step 3, set up car body acceleration vector and gear Equilibrium relationships between acceleration；

Step 5, extracts effective acceleration signal, then root from two kinds of acceleration signals that step 2 gathers The equilibrium relationships set up according to step 4, calculates between gear reference frame and car body reference frame Twiddle factor, using twiddle factor as the eigenvalue of automobile gear level identification.

A kind of vehicle gear recognition method the most according to claim 1, it is characterised in that described step The rotation transformation relation set up in rapid 3 between car body reference frame and gear reference frame includes: car Body reference frame rotates according to the change over order being previously set, and rotates to overlapping with gear reference frame After, by each end-state one_to_one corresponding of three corresponding twiddle factors with gear, obtain car body ginseng Examine the rotation transformation relation between coordinate system and gear reference frame.

A kind of vehicle gear recognition method the most according to claim 1, it is characterised in that described step From two kinds of acceleration signals that step 2 gathers, effective acceleration signal is extracted in rapid 5, including:

The car body acceleration signal after arriving target shift position and gear is extracted from the acceleration signal gathered Acceleration signal, and the car body acceleration signal extracted and gear acceleration signal are carried out compensation data And Filtering Processing, obtain effective car body acceleration signal and gear acceleration signal.

4. an automobile gear level identification device, it is characterised in that include detection module and identification module；

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

Described identification module, its car body acceleration signal receiving the transmission of described detection module and gear accelerate Degree signal, and effectively accelerate for extracting from the car body acceleration signal received and gear acceleration signal Degree signal, and according to effective acceleration signal, based on car body acceleration vector and gear acceleration it Between equilibrium relationships calculate the twiddle factor between gear reference frame and car body reference frame, and Using this twiddle factor as the eigenvalue of automobile gear level identification.

A kind of automobile gear level identification device the most according to claim 4, it is characterised in that described inspection Survey module and include that establishment of coordinate system module, car body acceleration signal collecting element, gear acceleration signal are adopted Collection element and signal transmission component；Described establishment of coordinate system module, it is used for setting up car body reference frame With gear reference frame；

Described car body acceleration signal collecting element, it is installed on according to the car body reference frame set up In car body, it is used for gathering car body acceleration signal；

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

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

A kind of automobile gear level identification device the most according to claim 4, it is characterised in that described knowledge Other module includes signal receiving element and master element；

Described signal receiving element, its for receive described detection module transmission car body acceleration signal and Gear acceleration signal；

Described master element, it is for extracting effective acceleration signal from the acceleration signal gathered, And set up car body according to the rotation transformation relation between car body reference frame and gear reference frame and add Equilibrium relationships between velocity and gear acceleration, and combine the equation relation and extract Effective acceleration signal calculates the twiddle factor between gear reference frame and car body reference frame, And using this twiddle factor as the eigenvalue of automobile gear level identification.

A kind of automobile gear level identification device the most according to claim 4, it is characterised in that described inspection Survey module car body acceleration signal and the gear acceleration signal of collection to be adopted when being transferred to described identification module With wire transmission mode or wireless transmission method.

A kind of automobile gear level identification device the most according to claim 5, it is characterised in that described car Body acceleration signal acquisition elements and described gear acceleration signal acquisition elements are acceleration transducer.

A kind of automobile gear level identification device the most according to claim 8, it is characterised in that described car The acceleration transducer that body acceleration signal acquisition elements uses is 3-axis acceleration sensor；

The acceleration transducer that described gear acceleration signal acquisition elements uses is 3-axis acceleration sensor Or two axle acceleration sensors.

A kind of automobile gear level identification device the most according to claim 6, described master element be with The master element of primary processor, and described primary processor includes the MCU of various IP kernel.